* [PATCH v2 2/3] can/peak_usb: CAN-FD: add new adapters specific files
2014-12-02 10:31 [PATCH v2 0/3] Add support for PEAK CAN-FD USB adapters Stephane Grosjean
2014-12-02 10:31 ` [PATCH v2 1/3] can/peak_usb: CAN-FD: existing source files modifications Stephane Grosjean
@ 2014-12-02 10:31 ` Stephane Grosjean
2014-12-02 10:31 ` [PATCH v2 3/3] can/peak_usb: CAN-FD: driver's core modifications Stephane Grosjean
2 siblings, 0 replies; 7+ messages in thread
From: Stephane Grosjean @ 2014-12-02 10:31 UTC (permalink / raw)
To: linux-can; +Cc: Oliver Hartkopp, Stephane Grosjean
This patch adds 3 new files to add support to the following CAN-FD USB adapters
from PEAK-System Technik:
PCAN-USB FD single CAN-FD channel USB adapter
PCAN-USB Pro FD dual CAN-FD channels USB adapter
Signed-off-by: Stephane Grosjean <s.grosjean@peak-system.com>
---
drivers/net/can/usb/peak_usb/pcan_ucan.h | 208 +++++++
drivers/net/can/usb/peak_usb/pcan_usb_fd.c | 955 +++++++++++++++++++++++++++++
drivers/net/can/usb/peak_usb/pcan_usb_fd.h | 108 ++++
3 files changed, 1271 insertions(+)
create mode 100644 drivers/net/can/usb/peak_usb/pcan_ucan.h
create mode 100644 drivers/net/can/usb/peak_usb/pcan_usb_fd.c
create mode 100644 drivers/net/can/usb/peak_usb/pcan_usb_fd.h
diff --git a/drivers/net/can/usb/peak_usb/pcan_ucan.h b/drivers/net/can/usb/peak_usb/pcan_ucan.h
new file mode 100644
index 0000000..2223c05
--- /dev/null
+++ b/drivers/net/can/usb/peak_usb/pcan_ucan.h
@@ -0,0 +1,208 @@
+/*
+ * CAN driver for PEAK System micro-CAN based adapters
+ *
+ * Copyright (C) 2003-2011 PEAK System-Technik GmbH
+ * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com>
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ */
+#ifndef PUCAN_H
+#define PUCAN_H
+
+/* uCAN commands opcodes list (low-order 10 bits) */
+#define PUCAN_CMD_NOP 0x000
+#define PUCAN_CMD_RESET_MODE 0x001
+#define PUCAN_CMD_NORMAL_MODE 0x002
+#define PUCAN_CMD_LISTEN_ONLY_MODE 0x003
+#define PUCAN_CMD_TIMING_SLOW 0x004
+#define PUCAN_CMD_TIMING_FAST 0x005
+#define PUCAN_CMD_FILTER_STD 0x008
+#define PUCAN_CMD_TX_ABORT 0x009
+#define PUCAN_CMD_WR_ERR_CNT 0x00a
+#define PUCAN_CMD_RX_FRAME_ENABLE 0x00b
+#define PUCAN_CMD_RX_FRAME_DISABLE 0x00c
+#define PUCAN_CMD_END_OF_COLLECTION 0x3ff
+
+/* uCAN received messages list */
+#define PUCAN_MSG_CAN_RX 0x0001
+#define PUCAN_MSG_ERROR 0x0002
+#define PUCAN_MSG_STATUS 0x0003
+#define PUCAN_MSG_BUSLOAD 0x0004
+#define PUCAN_MSG_CAN_TX 0x1000
+
+/* uCAN command common header */
+#define PUCAN_CMD_OPCODE(c) ((c)->opcode_channel & 0x3ff)
+#define PUCAN_CMD_CHANNEL(c) ((c)->opcode_channel >> 12)
+#define PUCAN_CMD_OPCODE_CHANNEL(c, o) cpu_to_le16(((c) << 12) | ((o) & 0x3ff))
+
+struct __packed pucan_command {
+ u16 opcode_channel;
+ u16 args[3];
+};
+
+/* uCAN TIMING_SLOW command fields */
+#define PUCAN_TSLOW_SJW_T(s, t) (((s) & 0xf) | ((!!(t)) << 7))
+#define PUCAN_TSLOW_TSEG2(t) ((t) & 0xf)
+#define PUCAN_TSLOW_TSEG1(t) ((t) & 0x3f)
+#define PUCAN_TSLOW_BRP(b) cpu_to_le16((b) & 0x3ff)
+
+struct __packed pucan_timing_slow {
+ u16 opcode_channel;
+
+ u8 ewl; /* Error Warning limit */
+ u8 sjw_t; /* Sync Jump Width + Triple sampling */
+ u8 tseg2; /* Timing SEGment 2 */
+ u8 tseg1; /* Timing SEGment 1 */
+
+ u16 brp; /* BaudRate Prescaler */
+};
+
+/* uCAN TIMING_FAST command fields */
+#define PUCAN_TFAST_SJW(s) ((s) & 0x3)
+#define PUCAN_TFAST_TSEG2(t) ((t) & 0x7)
+#define PUCAN_TFAST_TSEG1(t) ((t) & 0xf)
+#define PUCAN_TFAST_BRP(b) cpu_to_le16((b) & 0x3ff)
+
+struct __packed pucan_timing_fast {
+ u16 opcode_channel;
+
+ u8 unused;
+ u8 sjw; /* Sync Jump Width */
+ u8 tseg2; /* Timing SEGment 2 */
+ u8 tseg1; /* Timing SEGment 1 */
+
+ u16 brp; /* BaudRate Prescaler */
+};
+
+/* uCAN FILTER_STD command fields */
+#define PUCAN_FLTSTD_ROW_IDX_BITS 6
+
+struct __packed pucan_filter_std {
+ u16 opcode_channel;
+
+ u16 idx;
+ u32 mask; /* CAN-ID bitmask in idx range */
+};
+
+/* uCAN WR_ERR_CNT command fields */
+#define PUCAN_WRERRCNT_TE(c) 0x4000 /* Tx error cntr write Enable */
+#define PUCAN_WRERRCNT_RE(c) 0x8000 /* Rx error cntr write Enable */
+
+struct __packed pucan_wr_err_cnt {
+ u16 opcode_channel;
+
+ u16 sel_mask;
+ u8 tx_counter; /* Tx error counter new value */
+ u8 rx_counter; /* Rx error counter new value */
+
+ u16 unused;
+};
+
+/* uCAN RX_FRAME_ENABLE command fields */
+#define PUCAN_FLTEXT_ERROR 0x0001
+#define PUCAN_FLTEXT_BUSLOAD 0x0002
+
+struct __packed pucan_filter_ext {
+ u16 opcode_channel;
+
+ u16 ext_mask;
+ u32 unused;
+};
+
+/* uCAN received messages global format */
+struct __packed pucan_msg {
+ __le16 size;
+ __le16 type;
+ __le32 ts_low;
+ __le32 ts_high;
+};
+
+/* uCAN flags for CAN/CANFD messages */
+#define PUCAN_MSG_SELF_RECEIVE 0x80
+#define PUCAN_MSG_ERROR_STATE_IND 0x40 /* error state indicator */
+#define PUCAN_MSG_BITRATE_SWITCH 0x20 /* bitrate switch */
+#define PUCAN_MSG_EXT_DATA_LEN 0x10 /* extended data length */
+#define PUCAN_MSG_SINGLE_SHOT 0x08
+#define PUCAN_MSG_LOOPED_BACK 0x04
+#define PUCAN_MSG_EXT_ID 0x02
+#define PUCAN_MSG_RTR 0x01
+
+#define PUCAN_MSG_CHANNEL(m) ((m)->channel_dlc & 0xf)
+#define PUCAN_MSG_DLC(m) ((m)->channel_dlc >> 4)
+
+struct __packed pucan_rx_msg {
+ __le16 size;
+ __le16 type;
+ __le32 ts_low;
+ __le32 ts_high;
+ __le32 tag_low;
+ __le32 tag_high;
+ u8 channel_dlc;
+ u8 client;
+ __le16 flags;
+ __le32 can_id;
+ u8 d[0];
+};
+
+/* uCAN error types */
+#define PUCAN_ERMSG_BIT_ERROR 0
+#define PUCAN_ERMSG_FORM_ERROR 1
+#define PUCAN_ERMSG_STUFF_ERROR 2
+#define PUCAN_ERMSG_OTHER_ERROR 3
+#define PUCAN_ERMSG_ERR_CNT_DEC 4
+
+#define PUCAN_ERMSG_CHANNEL(e) ((e)->channel_type_d & 0x0f)
+#define PUCAN_ERMSG_ERRTYPE(e) (((e)->channel_type_d >> 4) & 0x07)
+#define PUCAN_ERMSG_D(e) ((e)->channel_type_d & 0x80)
+
+#define PUCAN_ERMSG_ERRCODE(e) ((e)->code_g & 0x7f)
+#define PUCAN_ERMSG_G(e) ((e)->code_g & 0x80)
+
+struct __packed pucan_error_msg {
+ __le16 size;
+ __le16 type;
+ __le32 ts_low;
+ __le32 ts_high;
+ u8 channel_type_d;
+ u8 code_g;
+ u8 tx_err_cnt;
+ u8 rx_err_cnt;
+};
+
+#define PUCAN_STMSG_CHANNEL(e) ((e)->channel_p_w_b & 0x0f)
+#define PUCAN_STMSG_PASSIVE(e) ((e)->channel_p_w_b & 0x20)
+#define PUCAN_STMSG_WARNING(e) ((e)->channel_p_w_b & 0x40)
+#define PUCAN_STMSG_BUSOFF(e) ((e)->channel_p_w_b & 0x80)
+
+struct __packed pucan_status_msg {
+ __le16 size;
+ __le16 type;
+ __le32 ts_low;
+ __le32 ts_high;
+ u8 channel_p_w_b;
+ u8 unused[3];
+};
+
+/* uCAN transmitted message format */
+#define PUCAN_MSG_CHANNEL_DLC(c, d) (((c) & 0xf) | ((d) << 4))
+
+struct __packed pucan_tx_msg {
+ __le16 size;
+ __le16 type;
+ __le32 tag_low;
+ __le32 tag_high;
+ u8 channel_dlc;
+ u8 client;
+ u16 flags;
+ __le32 can_id;
+ u8 d[0];
+};
+
+#endif
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
new file mode 100644
index 0000000..cc6fc76
--- /dev/null
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
@@ -0,0 +1,955 @@
+/*
+ * CAN driver for PEAK System PCAN-USB FD / PCAN-USB Pro FD adapter
+ *
+ * Copyright (C) 2013-2014 Stephane Grosjean <s.grosjean@peak-system.com>
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ */
+#include <linux/netdevice.h>
+#include <linux/usb.h>
+#include <linux/module.h>
+
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/can/error.h>
+
+#include "pcan_usb_core.h"
+#include "pcan_usb_fd.h"
+
+MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB FD adapter");
+MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB Pro FD adapter");
+
+#define ALIGN32(x) (((x) + 3) & 0xFFFFFFFC)
+
+#define PCAN_USBPROFD_CHANNEL_COUNT 2
+#define PCAN_USBFD_CHANNEL_COUNT 1
+
+/* PCAN-USB Pro FD adapter internal clock (MHz) */
+#define PCAN_UFD_CRYSTAL_HZ 80000000
+
+#define PCAN_UFD_CMD_BUFFER_SIZE 512
+#define PCAN_UFD_LOSPD_PKT_SIZE 64
+
+/* PCAN-USB Pro FD command timeout (ms.) */
+#define PCAN_UFD_COMMAND_TIMEOUT 1000
+
+/* PCAN-USB Pro FD rx/tx buffers size */
+#define PCAN_UFD_RX_BUFFER_SIZE 2048
+#define PCAN_UFD_TX_BUFFER_SIZE 512
+
+/* handle device specific info used by the netdevices */
+struct pcan_usb_fd_if {
+ struct peak_usb_device *dev[PCAN_USB_MAX_CHANNEL];
+ struct peak_time_ref time_ref;
+ int cm_ignore_count;
+ int dev_opened_count;
+};
+
+/* device information */
+struct pcan_usb_fd_device {
+ struct peak_usb_device dev;
+ struct pcan_usb_fd_if *usb_if;
+
+ u8 *cmd_buffer_addr;
+
+ uint tx_error_counter;
+ uint rx_error_counter;
+};
+
+/* Clock mode frequence values */
+static const u32 pcan_usb_fd_clk_freq[6] = {
+ [PCAN_UFD_CLK_80MHZ] = 80000000,
+ [PCAN_UFD_CLK_60MHZ] = 60000000,
+ [PCAN_UFD_CLK_40MHZ] = 40000000,
+ [PCAN_UFD_CLK_30MHZ] = 30000000,
+ [PCAN_UFD_CLK_24MHZ] = 24000000,
+ [PCAN_UFD_CLK_20MHZ] = 20000000
+};
+
+/* functions exported from PCAN-USB Pro interface */
+extern int pcan_usb_pro_probe(struct usb_interface *intf);
+extern int pcan_usb_pro_send_req(struct peak_usb_device *dev, int req_id,
+ int req_value, void *req_addr, int req_size);
+extern void pcan_usb_pro_restart_complete(struct urb *urb);
+
+/* return a device USB interface */
+static inline
+struct pcan_usb_fd_if *pcan_usb_fd_dev_if(struct peak_usb_device *dev)
+{
+ struct pcan_usb_fd_device *pdev =
+ container_of(dev, struct pcan_usb_fd_device, dev);
+ return pdev->usb_if;
+}
+
+/* return a device USB commands buffer */
+static inline void *pcan_usb_fd_cmd_buffer(struct peak_usb_device *dev)
+{
+ struct pcan_usb_fd_device *pdev =
+ container_of(dev, struct pcan_usb_fd_device, dev);
+ return pdev->cmd_buffer_addr;
+}
+
+/* send PCAN-USB Pro FD commands synchronously */
+static int pcan_usb_fd_send_cmd(struct peak_usb_device *dev, void *cmd_tail)
+{
+ void *cmd_head = pcan_usb_fd_cmd_buffer(dev);
+ int actual_length;
+ int err, cmd_len;
+ u8 *packet_ptr;
+ int p, n = 1, packet_len;
+
+ /* usb device unregistered? */
+ if (!(dev->state & PCAN_USB_STATE_CONNECTED))
+ return 0;
+
+ /*
+ * if a packet is not filled completely by commands, the command list
+ * is terminated with an "end of collection" record.
+ */
+ cmd_len = cmd_tail - cmd_head;
+ if (cmd_len < PCAN_UFD_CMD_BUFFER_SIZE) {
+ memset(cmd_tail, 0xff, sizeof(u64));
+ cmd_len += sizeof(u64);
+ }
+
+ packet_ptr = cmd_head;
+
+ /* firmware is not able to re-assemble 512 bytes buffer in full-speed */
+ if ((dev->udev->speed != USB_SPEED_HIGH) &&
+ (cmd_len > PCAN_UFD_LOSPD_PKT_SIZE)) {
+ packet_len = PCAN_UFD_LOSPD_PKT_SIZE;
+ n += cmd_len / packet_len;
+ } else {
+ packet_len = cmd_len;
+ }
+
+ for (p = 1; p <= n; p++) {
+ err = usb_bulk_msg(dev->udev,
+ usb_sndbulkpipe(dev->udev,
+ PCAN_USBPRO_EP_CMDOUT),
+ packet_ptr, packet_len,
+ &actual_length, PCAN_UFD_COMMAND_TIMEOUT);
+ if (err) {
+ netdev_err(dev->netdev,
+ "sending command failure: %d\n", err);
+ break;
+ }
+
+ packet_ptr += packet_len;
+ }
+
+ return err;
+}
+
+static int pcan_usb_fd_set_bus(struct peak_usb_device *dev, u8 onoff)
+{
+ struct pucan_command *cmd = pcan_usb_fd_cmd_buffer(dev);
+ u16 opcode;
+
+ if (onoff) {
+ opcode = (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) ?
+ PUCAN_CMD_LISTEN_ONLY_MODE :
+ PUCAN_CMD_NORMAL_MODE;
+ } else {
+ opcode = PUCAN_CMD_RESET_MODE;
+ }
+
+ cmd->opcode_channel = PUCAN_CMD_OPCODE_CHANNEL(dev->ctrl_idx, opcode);
+
+ /* send the command */
+ return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/*
+ * Set filtering masks:
+ *
+ * idx in range [0..63] selects row #idx, all rows otherwise.
+ * mask in range [0..0xffffffff]
+ *
+ */
+static int pcan_usb_fd_set_filter_std(struct peak_usb_device *dev, int idx,
+ u32 mask)
+{
+ return 0;
+}
+
+/*
+ * set/unset notifications filter:
+ *
+ * onoff sets(1)/unset(0) notifications
+ * mask each bit defines a kind of notification to set/unset
+ */
+static int pcan_usb_fd_set_filter_ext(struct peak_usb_device *dev,
+ int onoff, u16 ext_mask, u16 usb_mask)
+{
+ struct pcan_ufd_filter_ext *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+ cmd->opcode_channel = PUCAN_CMD_OPCODE_CHANNEL(dev->ctrl_idx,
+ (onoff) ? PUCAN_CMD_RX_FRAME_ENABLE :
+ PUCAN_CMD_RX_FRAME_DISABLE);
+
+ cmd->ext_mask = cpu_to_le16(ext_mask);
+ cmd->usb_mask = cpu_to_le16(usb_mask);
+
+ /* send the command */
+ return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* setup LED control */
+static int pcan_usb_fd_set_can_led(struct peak_usb_device *dev, u8 led_mode)
+{
+ struct pcan_ufd_led *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+ cmd->opcode_channel = PUCAN_CMD_OPCODE_CHANNEL(dev->ctrl_idx,
+ PCAN_UFD_CMD_LED_SET);
+ cmd->mode = led_mode;
+
+ /* send the command */
+ return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* set CAN clock domain */
+static int pcan_usb_fd_set_clock_domain(struct peak_usb_device *dev,
+ u8 clk_mode)
+{
+ struct pcan_ufd_clock *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+ cmd->opcode_channel = PUCAN_CMD_OPCODE_CHANNEL(dev->ctrl_idx,
+ PCAN_UFD_CMD_CLK_SET);
+ cmd->mode = clk_mode;
+
+ /* send the command */
+ return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* set bittiming for CAN and CAN-FD header */
+static int pcan_usb_fd_set_bittiming_slow(struct peak_usb_device *dev,
+ struct can_bittiming *bt)
+{
+ struct pucan_timing_slow *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+ cmd->opcode_channel = PUCAN_CMD_OPCODE_CHANNEL(dev->ctrl_idx,
+ PUCAN_CMD_TIMING_SLOW);
+ cmd->sjw_t = PUCAN_TSLOW_SJW_T(bt->sjw - 1,
+ dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES);
+
+ cmd->tseg2 = PUCAN_TSLOW_TSEG2(bt->phase_seg2 - 1);
+ cmd->tseg1 = PUCAN_TSLOW_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
+ cmd->brp = PUCAN_TSLOW_BRP(bt->brp - 1);
+
+ cmd->ewl = 96; /* default */
+
+ /* send the command */
+ return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* set CAN-FD bittiming for data */
+static int pcan_usb_fd_set_bittiming_fast(struct peak_usb_device *dev,
+ struct can_bittiming *bt)
+{
+ struct pucan_timing_fast *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+ cmd->opcode_channel = PUCAN_CMD_OPCODE_CHANNEL(dev->ctrl_idx,
+ PUCAN_CMD_TIMING_FAST);
+ cmd->sjw = PUCAN_TFAST_SJW(bt->sjw - 1);
+ cmd->tseg2 = PUCAN_TFAST_TSEG2(bt->phase_seg2 - 1);
+ cmd->tseg1 = PUCAN_TFAST_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
+ cmd->brp = PUCAN_TFAST_BRP(bt->brp - 1);
+
+ /* send the command */
+ return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/*
+ * handle restart but in asynchronously way
+ * (uses PCAN-USB Pro code to complete)
+ */
+static int pcan_usb_fd_restart_async(struct peak_usb_device *dev,
+ struct urb *urb, u8 *buf)
+{
+ struct pucan_command *cmd = (struct pucan_command *)buf;
+
+ cmd->opcode_channel = PUCAN_CMD_OPCODE_CHANNEL(dev->ctrl_idx,
+ (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) ?
+ PUCAN_CMD_LISTEN_ONLY_MODE :
+ PUCAN_CMD_NORMAL_MODE);
+ /* EOC */
+ memset(cmd+1, 0xff, sizeof(struct pucan_command));
+
+ usb_fill_bulk_urb(urb, dev->udev,
+ usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT),
+ buf, 2 * sizeof(struct pucan_command),
+ pcan_usb_pro_restart_complete, dev);
+
+ return usb_submit_urb(urb, GFP_ATOMIC);
+}
+
+static int pcan_usb_fd_drv_loaded(struct peak_usb_device *dev, int loaded)
+{
+ struct pcan_usb_fd_device *pdev =
+ container_of(dev, struct pcan_usb_fd_device, dev);
+
+ pdev->cmd_buffer_addr[0] = 0;
+ pdev->cmd_buffer_addr[1] = !!loaded;
+
+ return pcan_usb_pro_send_req(dev,
+ PCAN_USBPRO_REQ_FCT,
+ PCAN_USBPRO_FCT_DRVLD,
+ pdev->cmd_buffer_addr,
+ PCAN_USBPRO_FCT_DRVLD_REQ_LEN);
+}
+
+static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if,
+ struct pucan_msg *rx_msg)
+{
+ struct pucan_rx_msg *rm = (struct pucan_rx_msg *)rx_msg;
+ struct peak_usb_device *dev = usb_if->dev[PUCAN_MSG_CHANNEL(rm)];
+ struct net_device *netdev = dev->netdev;
+ struct canfd_frame *cfd;
+ struct sk_buff *skb;
+
+ if (rm->flags & PUCAN_MSG_EXT_DATA_LEN) {
+ /* CANFD frame case */
+ skb = alloc_canfd_skb(netdev, &cfd);
+ if (!skb)
+ return -ENOMEM;
+
+ if (rm->flags & PUCAN_MSG_BITRATE_SWITCH)
+ cfd->flags |= CANFD_BRS;
+
+ if (rm->flags & PUCAN_MSG_ERROR_STATE_IND)
+ cfd->flags |= CANFD_ESI;
+
+ cfd->len = can_dlc2len(PUCAN_MSG_DLC(rm));
+ } else {
+ /* CANFD frame case */
+ skb = alloc_can_skb(netdev, (struct can_frame **)&cfd);
+ if (!skb)
+ return -ENOMEM;
+
+ cfd->len = get_can_dlc(PUCAN_MSG_DLC(rm));
+ }
+
+ cfd->can_id = le32_to_cpu(rm->can_id);
+
+ if (rm->flags & PUCAN_MSG_EXT_ID)
+ cfd->can_id |= CAN_EFF_FLAG;
+
+ if (rm->flags & PUCAN_MSG_RTR)
+ cfd->can_id |= CAN_RTR_FLAG;
+ else
+ memcpy(cfd->data, rm->d, cfd->len);
+
+ peak_usb_netif_rx(skb, &usb_if->time_ref,
+ le32_to_cpu(rm->ts_low), le32_to_cpu(rm->ts_high));
+
+ netdev->stats.rx_packets++;
+ netdev->stats.rx_bytes += cfd->len;
+
+ return 0;
+}
+
+/* handle uCAN status message */
+static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if *usb_if,
+ struct pucan_msg *rx_msg)
+{
+ struct pucan_status_msg *st = (struct pucan_status_msg *)rx_msg;
+ struct peak_usb_device *dev = usb_if->dev[PUCAN_STMSG_CHANNEL(st)];
+ struct pcan_usb_fd_device *pdev =
+ container_of(dev, struct pcan_usb_fd_device, dev);
+ enum can_state new_state = CAN_STATE_ERROR_ACTIVE;
+ struct net_device *netdev = dev->netdev;
+ struct can_frame *cf;
+ struct sk_buff *skb;
+
+ /* nothing should be sent while in BUS_OFF state */
+ if (dev->can.state == CAN_STATE_BUS_OFF)
+ return 0;
+
+ if (PUCAN_STMSG_BUSOFF(st)) {
+ new_state = CAN_STATE_BUS_OFF;
+ } else if (PUCAN_STMSG_PASSIVE(st)) {
+ new_state = CAN_STATE_ERROR_PASSIVE;
+ } else if (PUCAN_STMSG_WARNING(st)) {
+ new_state = CAN_STATE_ERROR_WARNING;
+ } else {
+ /* no error bit (so, no error skb, back to active state) */
+ dev->can.state = CAN_STATE_ERROR_ACTIVE;
+ pdev->tx_error_counter = 0;
+ pdev->rx_error_counter = 0;
+ return 0;
+ }
+
+ /* donot post any error if current state didn't change */
+ if (dev->can.state == new_state)
+ return 0;
+
+ /* allocate an skb to store the error frame */
+ skb = alloc_can_err_skb(netdev, &cf);
+ if (!skb)
+ return -ENOMEM;
+
+ switch (new_state) {
+ case CAN_STATE_BUS_OFF:
+ cf->can_id |= CAN_ERR_BUSOFF;
+ can_bus_off(netdev);
+ break;
+
+ case CAN_STATE_ERROR_PASSIVE:
+ cf->can_id |= CAN_ERR_CRTL;
+ if (pdev->rx_error_counter > 127)
+ cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
+ if (pdev->tx_error_counter > 127)
+ cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
+
+ dev->can.can_stats.error_passive++;
+ break;
+
+ case CAN_STATE_ERROR_WARNING:
+ cf->can_id |= CAN_ERR_CRTL;
+ if (pdev->rx_error_counter > 96)
+ cf->data[1] |= CAN_ERR_CRTL_RX_WARNING;
+ if (pdev->tx_error_counter > 96)
+ cf->data[1] |= CAN_ERR_CRTL_TX_WARNING;
+
+ dev->can.can_stats.error_warning++;
+ break;
+
+ default:
+ /* default case never happens, only for warnings */
+ new_state = CAN_STATE_ERROR_ACTIVE;
+
+ case CAN_STATE_ERROR_ACTIVE: /* fallthrough */
+ pdev->tx_error_counter = 0;
+ pdev->rx_error_counter = 0;
+ break;
+ }
+
+ dev->can.state = new_state;
+
+ peak_usb_netif_rx(skb, &usb_if->time_ref,
+ le32_to_cpu(st->ts_low), le32_to_cpu(st->ts_high));
+
+ netdev->stats.rx_packets++;
+ netdev->stats.rx_bytes += cf->can_dlc;
+
+ return 0;
+}
+
+/* handle uCAN error message */
+static int pcan_usb_fd_decode_error(struct pcan_usb_fd_if *usb_if,
+ struct pucan_msg *rx_msg)
+{
+ struct pucan_error_msg *er = (struct pucan_error_msg *)rx_msg;
+ struct peak_usb_device *dev = usb_if->dev[PUCAN_ERMSG_CHANNEL(er)];
+ struct pcan_usb_fd_device *pdev =
+ container_of(dev, struct pcan_usb_fd_device, dev);
+
+ /* keep a trace of tx and rx error counters for later use */
+ pdev->tx_error_counter = er->tx_err_cnt;
+ pdev->rx_error_counter = er->rx_err_cnt;
+
+ return 0;
+}
+
+/* handle uCAN overrun message */
+static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if *usb_if,
+ struct pucan_msg *rx_msg)
+{
+ struct pcan_ufd_ovr_msg *ov = (struct pcan_ufd_ovr_msg *)rx_msg;
+ struct peak_usb_device *dev = usb_if->dev[PCAN_UFD_OVMSG_CHANNEL(ov)];
+ struct net_device *netdev = dev->netdev;
+ struct can_frame *cf;
+ struct sk_buff *skb;
+
+ /* allocate an skb to store the error frame */
+ skb = alloc_can_err_skb(netdev, &cf);
+ if (!skb)
+ return -ENOMEM;
+
+ cf->can_id |= CAN_ERR_CRTL;
+ cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
+
+ peak_usb_netif_rx(skb, &usb_if->time_ref,
+ le32_to_cpu(ov->ts_low), le32_to_cpu(ov->ts_high));
+
+ netdev->stats.rx_over_errors++;
+ netdev->stats.rx_errors++;
+
+ return 0;
+}
+
+/* handle USB calibration message */
+static void pcan_usb_fd_decode_ts(struct pcan_usb_fd_if *usb_if,
+ struct pucan_msg *rx_msg)
+{
+ struct pcan_ufd_ts_msg *ts = (struct pcan_ufd_ts_msg *)rx_msg;
+
+ /* should wait until clock is stabilized */
+ if (usb_if->cm_ignore_count > 0)
+ usb_if->cm_ignore_count--;
+ else
+ peak_usb_set_ts_now(&usb_if->time_ref, le32_to_cpu(ts->ts_low));
+}
+
+/* callback for bulk IN urb */
+static int pcan_usb_fd_decode_buf(struct peak_usb_device *dev, struct urb *urb)
+{
+ struct pcan_usb_fd_if *usb_if = pcan_usb_fd_dev_if(dev);
+ struct net_device *netdev = dev->netdev;
+ struct pucan_msg *rx_msg;
+ u8 *msg_ptr, *msg_end;
+ int err = 0;
+
+ /* loop reading all the records from the incoming message */
+ msg_ptr = urb->transfer_buffer;
+ msg_end = urb->transfer_buffer + urb->actual_length;
+ for (; msg_ptr < msg_end;) {
+ u16 rx_msg_type, rx_msg_size;
+
+ rx_msg = (struct pucan_msg *)msg_ptr;
+ if (!rx_msg->size) {
+ /* null packet found: end of list */
+ break;
+ }
+
+ rx_msg_size = le16_to_cpu(rx_msg->size);
+ rx_msg_type = le16_to_cpu(rx_msg->type);
+
+ /* check if the record goes out of current packet */
+ if (msg_ptr + rx_msg_size > msg_end) {
+ netdev_err(netdev,
+ "got frag rec: should inc usb rx buf sze\n");
+ err = -EBADMSG;
+ break;
+ }
+
+ switch (rx_msg_type) {
+ case PUCAN_MSG_CAN_RX:
+ err = pcan_usb_fd_decode_canmsg(usb_if, rx_msg);
+ if (err < 0)
+ goto fail;
+ break;
+
+ case PCAN_UFD_MSG_CALIBRATION:
+ pcan_usb_fd_decode_ts(usb_if, rx_msg);
+ break;
+
+ case PUCAN_MSG_ERROR:
+ err = pcan_usb_fd_decode_error(usb_if, rx_msg);
+ if (err < 0)
+ goto fail;
+ break;
+
+ case PUCAN_MSG_STATUS:
+ err = pcan_usb_fd_decode_status(usb_if, rx_msg);
+ if (err < 0)
+ goto fail;
+ break;
+
+ case PCAN_UFD_MSG_OVERRUN:
+ err = pcan_usb_fd_decode_overrun(usb_if, rx_msg);
+ if (err < 0)
+ goto fail;
+ break;
+
+ default:
+ netdev_err(netdev,
+ "unhandled msg type 0x%02x (%d): ignored\n",
+ rx_msg_type, rx_msg_type);
+ break;
+ }
+
+ msg_ptr += rx_msg_size;
+ }
+
+fail:
+ if (err)
+ pcan_dump_mem("received msg",
+ urb->transfer_buffer, urb->actual_length);
+ return err;
+}
+
+/* CAN/CANFD frames encoding callback */
+static int pcan_usb_fd_encode_msg(struct peak_usb_device *dev,
+ struct sk_buff *skb, u8 *obuf, size_t *size)
+{
+ struct pucan_tx_msg *tx_msg = (struct pucan_tx_msg *)obuf;
+ struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
+ u16 tx_msg_size;
+ u8 can_dlc;
+
+ tx_msg_size = ALIGN32(sizeof(struct pucan_tx_msg) + cfd->len);
+ tx_msg->size = cpu_to_le16(tx_msg_size);
+ tx_msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX);
+
+ tx_msg->flags = 0;
+ if (cfd->can_id & CAN_EFF_FLAG) {
+ tx_msg->flags |= PUCAN_MSG_EXT_ID;
+ tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_EFF_MASK);
+ } else {
+ tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_SFF_MASK);
+ }
+
+ if (skb->len == CANFD_MTU) {
+ /* considering a CANFD frame */
+ can_dlc = can_len2dlc(cfd->len);
+
+ tx_msg->flags |= PUCAN_MSG_EXT_DATA_LEN;
+
+ if (cfd->flags & CANFD_BRS)
+ tx_msg->flags |= PUCAN_MSG_BITRATE_SWITCH;
+
+ if (cfd->flags & CANFD_ESI)
+ tx_msg->flags |= PUCAN_MSG_ERROR_STATE_IND;
+ } else {
+ /* CAND 2.0 frames */
+ can_dlc = cfd->len;
+
+ if (cfd->can_id & CAN_RTR_FLAG)
+ tx_msg->flags |= PUCAN_MSG_RTR;
+ }
+
+ tx_msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(dev->ctrl_idx, can_dlc);
+ memcpy(tx_msg->d, cfd->data, cfd->len);
+
+ /* add null size message to tag the end (messages are 32-bits aligned)*/
+ tx_msg = (struct pucan_tx_msg *)(obuf + tx_msg_size);
+
+ tx_msg->size = 0;
+
+ /* set the whole size of the USB packet to send */
+ *size = tx_msg_size + sizeof(u32);
+
+ return 0;
+}
+
+/* start the interface (last chance before set bus on) */
+static int pcan_usb_fd_start(struct peak_usb_device *dev)
+{
+ struct pcan_usb_fd_device *pdev =
+ container_of(dev, struct pcan_usb_fd_device, dev);
+ int err;
+
+ /* set filter mode: all acceptance */
+ err = pcan_usb_fd_set_filter_std(dev, -1, 0xffffffff);
+ if (err)
+ return err;
+
+ /* opening first device: */
+ if (pdev->usb_if->dev_opened_count == 0) {
+ /* reset time_ref */
+ peak_usb_init_time_ref(&pdev->usb_if->time_ref,
+ &pcan_usb_pro_fd);
+
+ /* enable USB calibration messages */
+ err = pcan_usb_fd_set_filter_ext(dev, 1,
+ PUCAN_FLTEXT_ERROR,
+ PCAN_UFD_FLTEXT_CALIBRATION);
+ }
+
+ pdev->usb_if->dev_opened_count++;
+
+ /* reset cached error counters */
+ pdev->tx_error_counter = 0;
+ pdev->rx_error_counter = 0;
+
+ return err;
+}
+
+/* stop interface (last chance before set bus off) */
+static int pcan_usb_fd_stop(struct peak_usb_device *dev)
+{
+ struct pcan_usb_fd_device *pdev =
+ container_of(dev, struct pcan_usb_fd_device, dev);
+
+ /* turn off special msgs for that interface if no other dev opened */
+ if (pdev->usb_if->dev_opened_count == 1)
+ pcan_usb_fd_set_filter_ext(dev, 0,
+ PUCAN_FLTEXT_ERROR,
+ PCAN_UFD_FLTEXT_CALIBRATION);
+ pdev->usb_if->dev_opened_count--;
+
+ return 0;
+}
+
+/* called when probing, to initialize a device object */
+static int pcan_usb_fd_init(struct peak_usb_device *dev)
+{
+ struct pcan_usb_fd_device *pdev =
+ container_of(dev, struct pcan_usb_fd_device, dev);
+ int i, err = -ENOMEM;
+
+ /* do this for 1st channel only */
+ if (!dev->prev_siblings) {
+ struct pcan_ufd_fw_info *fi;
+
+ /* allocate netdevices common structure attached to first one */
+ pdev->usb_if = kzalloc(sizeof(*pdev->usb_if), GFP_KERNEL);
+ if (!pdev->usb_if)
+ goto err_out;
+
+ /* allocate command buffer once for all for the interface */
+ pdev->cmd_buffer_addr = kmalloc(PCAN_UFD_CMD_BUFFER_SIZE,
+ GFP_KERNEL);
+ if (!pdev->cmd_buffer_addr)
+ goto err_out_1;
+
+ /* number of ts msgs to ignore before taking one into account */
+ pdev->usb_if->cm_ignore_count = 5;
+
+ /*
+ * explicit use of dev_xxx() instead of netdev_xxx() here:
+ * information displayed are related to the device itself, not
+ * to the canx netdevices.
+ */
+ fi = (struct pcan_ufd_fw_info *)pdev->cmd_buffer_addr;
+ err = pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_INFO,
+ PCAN_USBPRO_INFO_FW,
+ fi, sizeof(*fi));
+ if (err) {
+ dev_err(dev->netdev->dev.parent,
+ "unable to read %s firmware info (err %d)\n",
+ dev->adapter->name, err);
+ goto err_out_2;
+ }
+
+ dev_info(dev->netdev->dev.parent,
+ "PEAK-System %s v%u fw v%u.%u.%u (%u channels)\n",
+ dev->adapter->name, fi->hw_version,
+ fi->fw_version[0], fi->fw_version[1],
+ fi->fw_version[2], dev->adapter->ctrl_count);
+
+ /* tell the device the can driver is running */
+ err = pcan_usb_fd_drv_loaded(dev, 1);
+ if (err) {
+ dev_err(dev->netdev->dev.parent,
+ "unable to tell %s driver is loaded (err %d)\n",
+ dev->adapter->name, err);
+ goto err_out_2;
+ }
+
+ } else {
+ /* otherwise, simply copy previous sibling's values */
+ struct pcan_usb_fd_device *ppdev =
+ container_of(dev->prev_siblings,
+ struct pcan_usb_fd_device, dev);
+
+ pdev->usb_if = ppdev->usb_if;
+ pdev->cmd_buffer_addr = ppdev->cmd_buffer_addr;
+ }
+
+ pdev->usb_if->dev[dev->ctrl_idx] = dev;
+
+ /* set clock domain */
+ for (i = 0; i < ARRAY_SIZE(pcan_usb_fd_clk_freq); i++)
+ if (dev->adapter->clock.freq == pcan_usb_fd_clk_freq[i])
+ break;
+
+ if (i >= ARRAY_SIZE(pcan_usb_fd_clk_freq)) {
+ dev_warn(dev->netdev->dev.parent,
+ "incompatible clock frequencies\n");
+ err = -EINVAL;
+ goto err_out_2;
+ }
+
+ pcan_usb_fd_set_clock_domain(dev, i);
+
+ /* set LED in default state (end of init phase) */
+ pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_DEF);
+
+ return 0;
+
+err_out_2:
+ kfree(pdev->cmd_buffer_addr);
+err_out_1:
+ kfree(pdev->usb_if);
+err_out:
+ return err;
+}
+
+/* called when driver module is being unloaded */
+static void pcan_usb_fd_exit(struct peak_usb_device *dev)
+{
+ struct pcan_usb_fd_device *pdev =
+ container_of(dev, struct pcan_usb_fd_device, dev);
+
+ /*
+ * when rmmod called before unplug and if down, should reset things
+ * before leaving
+ */
+ if (dev->can.state != CAN_STATE_STOPPED) {
+ /* set bus off on the corresponding channel */
+ pcan_usb_fd_set_bus(dev, 0);
+ }
+
+ /* switch off corresponding CAN LEDs */
+ pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_OFF);
+
+ /* if channel #0 (only) */
+ if (dev->ctrl_idx == 0) {
+ /* turn off calibration message if any device were opened */
+ if (pdev->usb_if->dev_opened_count > 0)
+ pcan_usb_fd_set_filter_ext(dev, 0,
+ PUCAN_FLTEXT_ERROR,
+ PCAN_UFD_FLTEXT_CALIBRATION);
+
+ /* tell USB adapter that the driver is being unloaded */
+ pcan_usb_fd_drv_loaded(dev, 0);
+ }
+}
+
+/* called when the USB adapter is unplugged */
+static void pcan_usb_fd_free(struct peak_usb_device *dev)
+{
+ /* last device: can free shared objects now */
+ if (!dev->prev_siblings && !dev->next_siblings) {
+ struct pcan_usb_fd_device *pdev =
+ container_of(dev, struct pcan_usb_fd_device, dev);
+
+ /* free commands buffer */
+ kfree(pdev->cmd_buffer_addr);
+
+ /* free usb interface object */
+ kfree(pdev->usb_if);
+ }
+}
+
+/* describes the PCAN-USB FD adapter */
+struct peak_usb_adapter pcan_usb_fd = {
+ .name = "PCAN-USB FD",
+ .device_id = PCAN_USBFD_PRODUCT_ID,
+ .ctrl_count = PCAN_USBFD_CHANNEL_COUNT,
+ .ctrlmode_supported = CAN_CTRLMODE_FD |
+ CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
+ .clock = {
+ .freq = PCAN_UFD_CRYSTAL_HZ,
+ },
+ .bittiming_const = {
+ .name = "pcan_usb_fd",
+ .tseg1_min = 1,
+ .tseg1_max = 64,
+ .tseg2_min = 1,
+ .tseg2_max = 16,
+ .sjw_max = 16,
+ .brp_min = 1,
+ .brp_max = 1024,
+ .brp_inc = 1,
+ },
+ .data_bittiming_const = {
+ .name = "pcan_usb_fd",
+ .tseg1_min = 1,
+ .tseg1_max = 16,
+ .tseg2_min = 1,
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 1,
+ .brp_max = 1024,
+ .brp_inc = 1,
+ },
+
+ /* size of device private data */
+ .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
+
+ /* timestamps usage */
+ .ts_used_bits = 32,
+ .ts_period = 1000000, /* calibration period in ts. */
+ .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
+ .us_per_ts_shift = 0,
+
+ /* give here messages in/out endpoints */
+ .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
+ .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0},
+
+ /* size of rx/tx usb buffers */
+ .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
+ .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
+
+ /* device callbacks */
+ .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */
+ .dev_init = pcan_usb_fd_init,
+
+ .dev_exit = pcan_usb_fd_exit,
+ .dev_free = pcan_usb_fd_free,
+ .dev_set_bus = pcan_usb_fd_set_bus,
+ .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
+ .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
+ .dev_decode_buf = pcan_usb_fd_decode_buf,
+ .dev_start = pcan_usb_fd_start,
+ .dev_stop = pcan_usb_fd_stop,
+ .dev_restart_async = pcan_usb_fd_restart_async,
+ .dev_encode_msg = pcan_usb_fd_encode_msg,
+};
+
+/* describes the PCAN-USB Pro FD adapter */
+struct peak_usb_adapter pcan_usb_pro_fd = {
+ .name = "PCAN-USB Pro FD",
+ .device_id = PCAN_USBPROFD_PRODUCT_ID,
+ .ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT,
+ .ctrlmode_supported = CAN_CTRLMODE_FD |
+ CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
+ .clock = {
+ .freq = PCAN_UFD_CRYSTAL_HZ,
+ },
+ .bittiming_const = {
+ .name = "pcan_usb_pro_fd",
+ .tseg1_min = 1,
+ .tseg1_max = 64,
+ .tseg2_min = 1,
+ .tseg2_max = 16,
+ .sjw_max = 16,
+ .brp_min = 1,
+ .brp_max = 1024,
+ .brp_inc = 1,
+ },
+ .data_bittiming_const = {
+ .name = "pcan_usb_pro_fd",
+ .tseg1_min = 1,
+ .tseg1_max = 16,
+ .tseg2_min = 1,
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 1,
+ .brp_max = 1024,
+ .brp_inc = 1,
+ },
+
+ /* size of device private data */
+ .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
+
+ /* timestamps usage */
+ .ts_used_bits = 32,
+ .ts_period = 1000000, /* calibration period in ts. */
+ .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
+ .us_per_ts_shift = 0,
+
+ /* give here messages in/out endpoints */
+ .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
+ .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1},
+
+ /* size of rx/tx usb buffers */
+ .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
+ .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
+
+ /* device callbacks */
+ .intf_probe = pcan_usb_pro_probe, /* same as PCAN-USB Pro */
+ .dev_init = pcan_usb_fd_init,
+
+ .dev_exit = pcan_usb_fd_exit,
+ .dev_free = pcan_usb_fd_free,
+ .dev_set_bus = pcan_usb_fd_set_bus,
+ .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
+ .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
+ .dev_decode_buf = pcan_usb_fd_decode_buf,
+ .dev_start = pcan_usb_fd_start,
+ .dev_stop = pcan_usb_fd_stop,
+ .dev_restart_async = pcan_usb_fd_restart_async,
+ .dev_encode_msg = pcan_usb_fd_encode_msg,
+};
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_fd.h b/drivers/net/can/usb/peak_usb/pcan_usb_fd.h
new file mode 100644
index 0000000..2f66ef9
--- /dev/null
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_fd.h
@@ -0,0 +1,108 @@
+/*
+ * CAN driver for PEAK System PCAN-USB FD / PCAN-USB Pro FD adapter
+ *
+ * Copyright (C) 2003-2011 PEAK System-Technik GmbH
+ * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com>
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ */
+#ifndef PCAN_UFD_H
+#define PCAN_UFD_H
+
+#include "pcan_usb_pro.h"
+#include "pcan_ucan.h"
+
+/* Extended commands (non uCAN commands) */
+
+/* Clock Modes command */
+#define PCAN_UFD_CMD_CLK_SET 0x80
+
+#define PCAN_UFD_CLK_80MHZ 0x0
+#define PCAN_UFD_CLK_60MHZ 0x1
+#define PCAN_UFD_CLK_40MHZ 0x2
+#define PCAN_UFD_CLK_30MHZ 0x3
+#define PCAN_UFD_CLK_24MHZ 0x4
+#define PCAN_UFD_CLK_20MHZ 0x5
+#define PCAN_UFD_CLK_DEF PCAN_UFD_CLK_80MHZ
+
+struct __packed pcan_ufd_clock {
+ u16 opcode_channel;
+
+ u8 mode;
+ u8 unused[5];
+};
+
+/* LED control command */
+#define PCAN_UFD_CMD_LED_SET 0x86
+
+#define PCAN_UFD_LED_DEV 0x00
+#define PCAN_UFD_LED_FAST 0x01
+#define PCAN_UFD_LED_SLOW 0x02
+#define PCAN_UFD_LED_ON 0x03
+#define PCAN_UFD_LED_OFF 0x04
+#define PCAN_UFD_LED_DEF PCAN_UFD_LED_DEV
+
+struct __packed pcan_ufd_led {
+ u16 opcode_channel;
+
+ u8 mode;
+ u8 unused[5];
+};
+
+/* Extended usage of uCAN commands CMD_RX_FRAME_xxxABLE for PCAN-USB Pro FD */
+#define PCAN_UFD_FLTEXT_CALIBRATION 0x8000
+
+struct __packed pcan_ufd_filter_ext {
+ u16 opcode_channel;
+
+ u16 ext_mask;
+ u16 unused;
+ u16 usb_mask;
+};
+
+/* Extended usage of uCAN messages for PCAN-USB Pro FD */
+#define PCAN_UFD_MSG_CALIBRATION 0x100
+
+struct __packed pcan_ufd_ts_msg {
+ __le16 size;
+ __le16 type;
+ __le32 ts_low;
+ __le32 ts_high;
+ __le16 usb_frame_index;
+ u16 unused;
+};
+
+#define PCAN_UFD_MSG_OVERRUN 0x101
+
+#define PCAN_UFD_OVMSG_CHANNEL(o) ((o)->channel & 0xf)
+
+struct __packed pcan_ufd_ovr_msg {
+ __le16 size;
+ __le16 type;
+ __le32 ts_low;
+ __le32 ts_high;
+ u8 channel;
+ u8 unused[3];
+};
+
+/* read some versions info from the hw devcie */
+struct __packed pcan_ufd_fw_info {
+ u16 size_of; /* sizeof this */
+ u16 type; /* type of thsi structure */
+ u8 hw_type; /* Type of hardware (HW_TYPE_xxx) */
+ u8 bl_version[3]; /* Bootloader version */
+ u8 hw_version; /* Hardware version (PCB) */
+ u8 fw_version[3]; /* Firmware version */
+ u32 dev_id[2]; /* "device id" per CAN */
+ u32 ser_no; /* S/N */
+ u32 flags; /* special functions */
+};
+
+#endif
--
1.9.1
^ permalink raw reply related [flat|nested] 7+ messages in thread* [PATCH v2 3/3] can/peak_usb: CAN-FD: driver's core modifications
2014-12-02 10:31 [PATCH v2 0/3] Add support for PEAK CAN-FD USB adapters Stephane Grosjean
2014-12-02 10:31 ` [PATCH v2 1/3] can/peak_usb: CAN-FD: existing source files modifications Stephane Grosjean
2014-12-02 10:31 ` [PATCH v2 2/3] can/peak_usb: CAN-FD: add new adapters specific files Stephane Grosjean
@ 2014-12-02 10:31 ` Stephane Grosjean
2 siblings, 0 replies; 7+ messages in thread
From: Stephane Grosjean @ 2014-12-02 10:31 UTC (permalink / raw)
To: linux-can; +Cc: Oliver Hartkopp, Stephane Grosjean
This patch modifies the core of the PEAK-System CAN USB adapters driver to
include the support the new CAN-FD USB adapters.
Signed-off-by: Stephane Grosjean <s.grosjean@peak-system.com>
---
drivers/net/can/usb/Kconfig | 14 ++++--
drivers/net/can/usb/peak_usb/Makefile | 2 +-
drivers/net/can/usb/peak_usb/pcan_usb_core.c | 71 +++++++++++++++++++++++-----
drivers/net/can/usb/peak_usb/pcan_usb_core.h | 14 +++++-
4 files changed, 82 insertions(+), 19 deletions(-)
diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig
index a77db919..6dbbc85 100644
--- a/drivers/net/can/usb/Kconfig
+++ b/drivers/net/can/usb/Kconfig
@@ -53,10 +53,18 @@ config CAN_KVASER_USB
module will be called kvaser_usb.
config CAN_PEAK_USB
- tristate "PEAK PCAN-USB/USB Pro interfaces"
+ tristate "PEAK PCAN-USB/USB Pro interfaces for CAN 2.0b/CAN-FD"
---help---
- This driver supports the PCAN-USB and PCAN-USB Pro adapters
- from PEAK-System Technik (http://www.peak-system.com).
+ This driver supports the PEAK-System Technik USB adapters that enable
+ access to the CAN bus, with repect to the CAN 2.0b and/or CAN-FD
+ standards, that is:
+
+ PCAN-USB single CAN 2.0b channel USB adapter
+ PCAN-USB Pro dual CAN 2.0b channels USB adapter
+ PCAN-USB FD single CAN-FD channel USB adapter
+ PCAN-USB Pro FD dual CAN-FD channels USB adapter
+
+ (see also http://www.peak-system.com).
config CAN_8DEV_USB
tristate "8 devices USB2CAN interface"
diff --git a/drivers/net/can/usb/peak_usb/Makefile b/drivers/net/can/usb/peak_usb/Makefile
index 1aefbc8..1839e9c 100644
--- a/drivers/net/can/usb/peak_usb/Makefile
+++ b/drivers/net/can/usb/peak_usb/Makefile
@@ -1,2 +1,2 @@
obj-$(CONFIG_CAN_PEAK_USB) += peak_usb.o
-peak_usb-y = pcan_usb_core.o pcan_usb.o pcan_usb_pro.o
+peak_usb-y = pcan_usb_core.o pcan_usb.o pcan_usb_pro.o pcan_usb_fd.o
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_core.c b/drivers/net/can/usb/peak_usb/pcan_usb_core.c
index dc807e1..3398903 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_core.c
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_core.c
@@ -37,6 +37,8 @@ MODULE_LICENSE("GPL v2");
static struct usb_device_id peak_usb_table[] = {
{USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USB_PRODUCT_ID)},
{USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USBPRO_PRODUCT_ID)},
+ {USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USBPROFD_PRODUCT_ID)},
+ {USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USBFD_PRODUCT_ID)},
{} /* Terminating entry */
};
@@ -46,6 +48,8 @@ MODULE_DEVICE_TABLE(usb, peak_usb_table);
static struct peak_usb_adapter *peak_usb_adapters_list[] = {
&pcan_usb,
&pcan_usb_pro,
+ &pcan_usb_pro_fd,
+ &pcan_usb_fd,
NULL,
};
@@ -89,7 +93,7 @@ static void peak_usb_add_us(struct timeval *tv, u32 delta_us)
}
/*
- * sometimes, another now may be more recent than current one...
+ * sometimes, another "now" may be more recent than current one...
*/
void peak_usb_update_ts_now(struct peak_time_ref *time_ref, u32 ts_now)
{
@@ -107,7 +111,7 @@ void peak_usb_update_ts_now(struct peak_time_ref *time_ref, u32 ts_now)
}
/*
- * register device timestamp as now
+ * register device timestamp as "now"
*/
void peak_usb_set_ts_now(struct peak_time_ref *time_ref, u32 ts_now)
{
@@ -165,6 +169,21 @@ void peak_usb_get_ts_tv(struct peak_time_ref *time_ref, u32 ts,
}
/*
+ * post received skb after having set any hw timestamp
+ */
+int peak_usb_netif_rx(struct sk_buff *skb,
+ struct peak_time_ref *time_ref, u32 ts_low, u32 ts_high)
+{
+ struct skb_shared_hwtstamps *hwts = skb_hwtstamps(skb);
+ struct timeval tv;
+
+ peak_usb_get_ts_tv(time_ref, ts_low, &tv);
+ hwts->hwtstamp = timeval_to_ktime(tv);
+
+ return netif_rx(skb);
+}
+
+/*
* callback for bulk Rx urb
*/
static void peak_usb_read_bulk_callback(struct urb *urb)
@@ -253,7 +272,7 @@ static void peak_usb_write_bulk_callback(struct urb *urb)
case 0:
/* transmission complete */
netdev->stats.tx_packets++;
- netdev->stats.tx_bytes += context->dlc;
+ netdev->stats.tx_bytes += context->data_len;
/* prevent tx timeout */
netdev->trans_start = jiffies;
@@ -289,7 +308,7 @@ static netdev_tx_t peak_usb_ndo_start_xmit(struct sk_buff *skb,
struct peak_usb_device *dev = netdev_priv(netdev);
struct peak_tx_urb_context *context = NULL;
struct net_device_stats *stats = &netdev->stats;
- struct can_frame *cf = (struct can_frame *)skb->data;
+ struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
struct urb *urb;
u8 *obuf;
int i, err;
@@ -322,7 +341,9 @@ static netdev_tx_t peak_usb_ndo_start_xmit(struct sk_buff *skb,
}
context->echo_index = i;
- context->dlc = cf->can_dlc;
+
+ /* Note: this works with CANFD frames too */
+ context->data_len = cfd->len;
usb_anchor_urb(urb, &dev->tx_submitted);
@@ -679,19 +700,43 @@ static int peak_usb_set_mode(struct net_device *netdev, enum can_mode mode)
}
/*
- * candev callback used to set device bitrate.
+ * candev callback used to set device nominal/arbitration bitrate.
*/
static int peak_usb_set_bittiming(struct net_device *netdev)
{
struct peak_usb_device *dev = netdev_priv(netdev);
- struct can_bittiming *bt = &dev->can.bittiming;
+ struct peak_usb_adapter *pa = dev->adapter;
- if (dev->adapter->dev_set_bittiming) {
- int err = dev->adapter->dev_set_bittiming(dev, bt);
+ if (pa->dev_set_bittiming) {
+ struct can_bittiming *bt = &dev->can.bittiming;
+ int err = pa->dev_set_bittiming(dev, bt);
if (err)
netdev_info(netdev, "couldn't set bitrate (err %d)\n",
- err);
+ err);
+ return err;
+ }
+
+ return 0;
+}
+
+/*
+ * candev callback used to set device data bitrate.
+ */
+static int peak_usb_set_data_bittiming(struct net_device *netdev)
+{
+ struct peak_usb_device *dev = netdev_priv(netdev);
+ struct peak_usb_adapter *pa = dev->adapter;
+
+ if (pa->dev_set_data_bittiming) {
+ struct can_bittiming *bt = &dev->can.data_bittiming;
+ int err = pa->dev_set_data_bittiming(dev, bt);
+
+ if (err)
+ netdev_info(netdev,
+ "couldn't set data bitrate (err %d)\n",
+ err);
+
return err;
}
@@ -750,9 +795,10 @@ static int peak_usb_create_dev(struct peak_usb_adapter *peak_usb_adapter,
dev->can.clock = peak_usb_adapter->clock;
dev->can.bittiming_const = &peak_usb_adapter->bittiming_const;
dev->can.do_set_bittiming = peak_usb_set_bittiming;
+ dev->can.data_bittiming_const = &peak_usb_adapter->data_bittiming_const;
+ dev->can.do_set_data_bittiming = peak_usb_set_data_bittiming;
dev->can.do_set_mode = peak_usb_set_mode;
- dev->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
- CAN_CTRLMODE_LISTENONLY;
+ dev->can.ctrlmode_supported = peak_usb_adapter->ctrlmode_supported;
netdev->netdev_ops = &peak_usb_netdev_ops;
@@ -770,7 +816,6 @@ static int peak_usb_create_dev(struct peak_usb_adapter *peak_usb_adapter,
usb_set_intfdata(intf, dev);
SET_NETDEV_DEV(netdev, &intf->dev);
- netdev->dev_id = ctrl_idx;
err = register_candev(netdev);
if (err) {
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_core.h b/drivers/net/can/usb/peak_usb/pcan_usb_core.h
index 073b47f..13d44a5 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_core.h
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_core.h
@@ -25,6 +25,8 @@
/* supported device ids. */
#define PCAN_USB_PRODUCT_ID 0x000c
#define PCAN_USBPRO_PRODUCT_ID 0x000d
+#define PCAN_USBPROFD_PRODUCT_ID 0x0011
+#define PCAN_USBFD_PRODUCT_ID 0x0012
#define PCAN_USB_DRIVER_NAME "peak_usb"
@@ -44,8 +46,10 @@ struct peak_usb_device;
struct peak_usb_adapter {
char *name;
u32 device_id;
+ u32 ctrlmode_supported;
struct can_clock clock;
const struct can_bittiming_const bittiming_const;
+ const struct can_bittiming_const data_bittiming_const;
unsigned int ctrl_count;
int (*intf_probe)(struct usb_interface *intf);
@@ -57,6 +61,8 @@ struct peak_usb_adapter {
int (*dev_close)(struct peak_usb_device *dev);
int (*dev_set_bittiming)(struct peak_usb_device *dev,
struct can_bittiming *bt);
+ int (*dev_set_data_bittiming)(struct peak_usb_device *dev,
+ struct can_bittiming *bt);
int (*dev_set_bus)(struct peak_usb_device *dev, u8 onoff);
int (*dev_get_device_id)(struct peak_usb_device *dev, u32 *device_id);
int (*dev_decode_buf)(struct peak_usb_device *dev, struct urb *urb);
@@ -80,6 +86,8 @@ struct peak_usb_adapter {
extern struct peak_usb_adapter pcan_usb;
extern struct peak_usb_adapter pcan_usb_pro;
+extern struct peak_usb_adapter pcan_usb_pro_fd;
+extern struct peak_usb_adapter pcan_usb_fd;
struct peak_time_ref {
struct timeval tv_host_0, tv_host;
@@ -92,7 +100,7 @@ struct peak_time_ref {
struct peak_tx_urb_context {
struct peak_usb_device *dev;
u32 echo_index;
- u8 dlc;
+ u8 data_len;
struct urb *urb;
};
@@ -139,7 +147,9 @@ void peak_usb_update_ts_now(struct peak_time_ref *time_ref, u32 ts_now);
void peak_usb_set_ts_now(struct peak_time_ref *time_ref, u32 ts_now);
void peak_usb_get_ts_tv(struct peak_time_ref *time_ref, u32 ts,
struct timeval *tv);
-
+int peak_usb_netif_rx(struct sk_buff *skb,
+ struct peak_time_ref *time_ref, u32 ts_low, u32 ts_high);
void peak_usb_async_complete(struct urb *urb);
void peak_usb_restart_complete(struct peak_usb_device *dev);
+
#endif
--
1.9.1
^ permalink raw reply related [flat|nested] 7+ messages in thread