forked from Qortal/Brooklyn
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
1299 lines
35 KiB
1299 lines
35 KiB
// SPDX-License-Identifier: GPL-2.0-only |
|
/* |
|
* CAN driver for PEAK System PCAN-USB FD / PCAN-USB Pro FD adapter |
|
* |
|
* Copyright (C) 2013-2014 Stephane Grosjean <[email protected]> |
|
*/ |
|
#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 <linux/can/dev/peak_canfd.h> |
|
|
|
#include "pcan_usb_core.h" |
|
#include "pcan_usb_pro.h" |
|
|
|
#define PCAN_USBPROFD_CHANNEL_COUNT 2 |
|
#define PCAN_USBFD_CHANNEL_COUNT 1 |
|
|
|
/* PCAN-USB Pro FD adapter internal clock (Hz) */ |
|
#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_CMD_TIMEOUT_MS 1000 |
|
|
|
/* PCAN-USB Pro FD rx/tx buffers size */ |
|
#define PCAN_UFD_RX_BUFFER_SIZE 2048 |
|
#define PCAN_UFD_TX_BUFFER_SIZE 512 |
|
|
|
/* read some versions info from the hw device */ |
|
struct __packed pcan_ufd_fw_info { |
|
__le16 size_of; /* sizeof this */ |
|
__le16 type; /* type of this 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 */ |
|
__le32 dev_id[2]; /* "device id" per CAN */ |
|
__le32 ser_no; /* S/N */ |
|
__le32 flags; /* special functions */ |
|
}; |
|
|
|
/* handle device specific info used by the netdevices */ |
|
struct pcan_usb_fd_if { |
|
struct peak_usb_device *dev[PCAN_USB_MAX_CHANNEL]; |
|
struct pcan_ufd_fw_info fw_info; |
|
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 can_berr_counter bec; |
|
struct pcan_usb_fd_if *usb_if; |
|
u8 *cmd_buffer_addr; |
|
}; |
|
|
|
/* Extended USB 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 { |
|
__le16 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 { |
|
__le16 opcode_channel; |
|
|
|
u8 mode; |
|
u8 unused[5]; |
|
}; |
|
|
|
/* Extended usage of uCAN commands CMD_xxx_xx_OPTION for PCAN-USB Pro FD */ |
|
#define PCAN_UFD_FLTEXT_CALIBRATION 0x8000 |
|
|
|
struct __packed pcan_ufd_options { |
|
__le16 opcode_channel; |
|
|
|
__le16 ucan_mask; |
|
u16 unused; |
|
__le16 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]; |
|
}; |
|
|
|
static inline int pufd_omsg_get_channel(struct pcan_ufd_ovr_msg *om) |
|
{ |
|
return om->channel & 0xf; |
|
} |
|
|
|
/* Clock mode frequency 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 |
|
}; |
|
|
|
/* 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 err = 0; |
|
u8 *packet_ptr; |
|
int packet_len; |
|
ptrdiff_t cmd_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 - sizeof(u64))) { |
|
memset(cmd_tail, 0xff, sizeof(u64)); |
|
cmd_len += sizeof(u64); |
|
} |
|
|
|
packet_ptr = cmd_head; |
|
packet_len = cmd_len; |
|
|
|
/* firmware is not able to re-assemble 512 bytes buffer in full-speed */ |
|
if (unlikely(dev->udev->speed != USB_SPEED_HIGH)) |
|
packet_len = min(packet_len, PCAN_UFD_LOSPD_PKT_SIZE); |
|
|
|
do { |
|
err = usb_bulk_msg(dev->udev, |
|
usb_sndbulkpipe(dev->udev, |
|
PCAN_USBPRO_EP_CMDOUT), |
|
packet_ptr, packet_len, |
|
NULL, PCAN_UFD_CMD_TIMEOUT_MS); |
|
if (err) { |
|
netdev_err(dev->netdev, |
|
"sending command failure: %d\n", err); |
|
break; |
|
} |
|
|
|
packet_ptr += packet_len; |
|
cmd_len -= packet_len; |
|
|
|
if (cmd_len < PCAN_UFD_LOSPD_PKT_SIZE) |
|
packet_len = cmd_len; |
|
|
|
} while (packet_len > 0); |
|
|
|
return err; |
|
} |
|
|
|
/* build the commands list in the given buffer, to enter operational mode */ |
|
static int pcan_usb_fd_build_restart_cmd(struct peak_usb_device *dev, u8 *buf) |
|
{ |
|
struct pucan_wr_err_cnt *prc; |
|
struct pucan_command *cmd; |
|
u8 *pc = buf; |
|
|
|
/* 1st, reset error counters: */ |
|
prc = (struct pucan_wr_err_cnt *)pc; |
|
prc->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx, |
|
PUCAN_CMD_WR_ERR_CNT); |
|
|
|
/* select both counters */ |
|
prc->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE|PUCAN_WRERRCNT_RE); |
|
|
|
/* and reset their values */ |
|
prc->tx_counter = 0; |
|
prc->rx_counter = 0; |
|
|
|
/* moves the pointer forward */ |
|
pc += sizeof(struct pucan_wr_err_cnt); |
|
|
|
/* add command to switch from ISO to non-ISO mode, if fw allows it */ |
|
if (dev->can.ctrlmode_supported & CAN_CTRLMODE_FD_NON_ISO) { |
|
struct pucan_options *puo = (struct pucan_options *)pc; |
|
|
|
puo->opcode_channel = |
|
(dev->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) ? |
|
pucan_cmd_opcode_channel(dev->ctrl_idx, |
|
PUCAN_CMD_CLR_DIS_OPTION) : |
|
pucan_cmd_opcode_channel(dev->ctrl_idx, |
|
PUCAN_CMD_SET_EN_OPTION); |
|
|
|
puo->options = cpu_to_le16(PUCAN_OPTION_CANDFDISO); |
|
|
|
/* to be sure that no other extended bits will be taken into |
|
* account |
|
*/ |
|
puo->unused = 0; |
|
|
|
/* moves the pointer forward */ |
|
pc += sizeof(struct pucan_options); |
|
} |
|
|
|
/* next, go back to operational mode */ |
|
cmd = (struct pucan_command *)pc; |
|
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); |
|
pc += sizeof(struct pucan_command); |
|
|
|
return pc - buf; |
|
} |
|
|
|
/* set CAN bus on/off */ |
|
static int pcan_usb_fd_set_bus(struct peak_usb_device *dev, u8 onoff) |
|
{ |
|
u8 *pc = pcan_usb_fd_cmd_buffer(dev); |
|
int l; |
|
|
|
if (onoff) { |
|
/* build the cmds list to enter operational mode */ |
|
l = pcan_usb_fd_build_restart_cmd(dev, pc); |
|
} else { |
|
struct pucan_command *cmd = (struct pucan_command *)pc; |
|
|
|
/* build cmd to go back to reset mode */ |
|
cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx, |
|
PUCAN_CMD_RESET_MODE); |
|
l = sizeof(struct pucan_command); |
|
} |
|
|
|
/* send the command */ |
|
return pcan_usb_fd_send_cmd(dev, pc + l); |
|
} |
|
|
|
/* set filtering masks: |
|
* |
|
* idx in range [0..63] selects a row #idx, all rows otherwise |
|
* mask in range [0..0xffffffff] defines up to 32 CANIDs in the row(s) |
|
* |
|
* Each bit of this 64 x 32 bits array defines a CANID value: |
|
* |
|
* bit[i,j] = 1 implies that CANID=(i x 32)+j will be received, while |
|
* bit[i,j] = 0 implies that CANID=(i x 32)+j will be discarded. |
|
*/ |
|
static int pcan_usb_fd_set_filter_std(struct peak_usb_device *dev, int idx, |
|
u32 mask) |
|
{ |
|
struct pucan_filter_std *cmd = pcan_usb_fd_cmd_buffer(dev); |
|
int i, n; |
|
|
|
/* select all rows when idx is out of range [0..63] */ |
|
if ((idx < 0) || (idx >= (1 << PUCAN_FLTSTD_ROW_IDX_BITS))) { |
|
n = 1 << PUCAN_FLTSTD_ROW_IDX_BITS; |
|
idx = 0; |
|
|
|
/* select the row (and only the row) otherwise */ |
|
} else { |
|
n = idx + 1; |
|
} |
|
|
|
for (i = idx; i < n; i++, cmd++) { |
|
cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx, |
|
PUCAN_CMD_FILTER_STD); |
|
cmd->idx = cpu_to_le16(i); |
|
cmd->mask = cpu_to_le32(mask); |
|
} |
|
|
|
/* send the command */ |
|
return pcan_usb_fd_send_cmd(dev, cmd); |
|
} |
|
|
|
/* set/unset options |
|
* |
|
* onoff set(1)/unset(0) options |
|
* mask each bit defines a kind of options to set/unset |
|
*/ |
|
static int pcan_usb_fd_set_options(struct peak_usb_device *dev, |
|
bool onoff, u16 ucan_mask, u16 usb_mask) |
|
{ |
|
struct pcan_ufd_options *cmd = pcan_usb_fd_cmd_buffer(dev); |
|
|
|
cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx, |
|
(onoff) ? PUCAN_CMD_SET_EN_OPTION : |
|
PUCAN_CMD_CLR_DIS_OPTION); |
|
|
|
cmd->ucan_mask = cpu_to_le16(ucan_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 = cpu_to_le16(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 = cpu_to_le16(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 asynchronous request) |
|
*/ |
|
static int pcan_usb_fd_restart_async(struct peak_usb_device *dev, |
|
struct urb *urb, u8 *buf) |
|
{ |
|
u8 *pc = buf; |
|
|
|
/* build the entire cmds list in the provided buffer, to go back into |
|
* operational mode. |
|
*/ |
|
pc += pcan_usb_fd_build_restart_cmd(dev, pc); |
|
|
|
/* add EOC */ |
|
memset(pc, 0xff, sizeof(struct pucan_command)); |
|
pc += sizeof(struct pucan_command); |
|
|
|
/* complete the URB */ |
|
usb_fill_bulk_urb(urb, dev->udev, |
|
usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT), |
|
buf, pc - buf, |
|
pcan_usb_pro_restart_complete, dev); |
|
|
|
/* and submit it. */ |
|
return usb_submit_urb(urb, GFP_ATOMIC); |
|
} |
|
|
|
static int pcan_usb_fd_drv_loaded(struct peak_usb_device *dev, bool 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; |
|
struct net_device *netdev; |
|
struct canfd_frame *cfd; |
|
struct sk_buff *skb; |
|
const u16 rx_msg_flags = le16_to_cpu(rm->flags); |
|
|
|
if (pucan_msg_get_channel(rm) >= ARRAY_SIZE(usb_if->dev)) |
|
return -ENOMEM; |
|
|
|
dev = usb_if->dev[pucan_msg_get_channel(rm)]; |
|
netdev = dev->netdev; |
|
|
|
if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) { |
|
/* CANFD frame case */ |
|
skb = alloc_canfd_skb(netdev, &cfd); |
|
if (!skb) |
|
return -ENOMEM; |
|
|
|
if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH) |
|
cfd->flags |= CANFD_BRS; |
|
|
|
if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND) |
|
cfd->flags |= CANFD_ESI; |
|
|
|
cfd->len = can_fd_dlc2len(pucan_msg_get_dlc(rm)); |
|
} else { |
|
/* CAN 2.0 frame case */ |
|
skb = alloc_can_skb(netdev, (struct can_frame **)&cfd); |
|
if (!skb) |
|
return -ENOMEM; |
|
|
|
can_frame_set_cc_len((struct can_frame *)cfd, |
|
pucan_msg_get_dlc(rm), |
|
dev->can.ctrlmode); |
|
} |
|
|
|
cfd->can_id = le32_to_cpu(rm->can_id); |
|
|
|
if (rx_msg_flags & PUCAN_MSG_EXT_ID) |
|
cfd->can_id |= CAN_EFF_FLAG; |
|
|
|
if (rx_msg_flags & PUCAN_MSG_RTR) |
|
cfd->can_id |= CAN_RTR_FLAG; |
|
else |
|
memcpy(cfd->data, rm->d, cfd->len); |
|
|
|
netdev->stats.rx_packets++; |
|
netdev->stats.rx_bytes += cfd->len; |
|
|
|
peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(rm->ts_low)); |
|
|
|
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 *sm = (struct pucan_status_msg *)rx_msg; |
|
struct pcan_usb_fd_device *pdev; |
|
enum can_state new_state = CAN_STATE_ERROR_ACTIVE; |
|
enum can_state rx_state, tx_state; |
|
struct peak_usb_device *dev; |
|
struct net_device *netdev; |
|
struct can_frame *cf; |
|
struct sk_buff *skb; |
|
|
|
if (pucan_stmsg_get_channel(sm) >= ARRAY_SIZE(usb_if->dev)) |
|
return -ENOMEM; |
|
|
|
dev = usb_if->dev[pucan_stmsg_get_channel(sm)]; |
|
pdev = container_of(dev, struct pcan_usb_fd_device, dev); |
|
netdev = dev->netdev; |
|
|
|
/* nothing should be sent while in BUS_OFF state */ |
|
if (dev->can.state == CAN_STATE_BUS_OFF) |
|
return 0; |
|
|
|
if (sm->channel_p_w_b & PUCAN_BUS_BUSOFF) { |
|
new_state = CAN_STATE_BUS_OFF; |
|
} else if (sm->channel_p_w_b & PUCAN_BUS_PASSIVE) { |
|
new_state = CAN_STATE_ERROR_PASSIVE; |
|
} else if (sm->channel_p_w_b & PUCAN_BUS_WARNING) { |
|
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->bec.txerr = 0; |
|
pdev->bec.rxerr = 0; |
|
return 0; |
|
} |
|
|
|
/* state hasn't changed */ |
|
if (new_state == dev->can.state) |
|
return 0; |
|
|
|
/* handle bus state change */ |
|
tx_state = (pdev->bec.txerr >= pdev->bec.rxerr) ? new_state : 0; |
|
rx_state = (pdev->bec.txerr <= pdev->bec.rxerr) ? new_state : 0; |
|
|
|
/* allocate an skb to store the error frame */ |
|
skb = alloc_can_err_skb(netdev, &cf); |
|
if (skb) |
|
can_change_state(netdev, cf, tx_state, rx_state); |
|
|
|
/* things must be done even in case of OOM */ |
|
if (new_state == CAN_STATE_BUS_OFF) |
|
can_bus_off(netdev); |
|
|
|
if (!skb) |
|
return -ENOMEM; |
|
|
|
netdev->stats.rx_packets++; |
|
netdev->stats.rx_bytes += cf->len; |
|
|
|
peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(sm->ts_low)); |
|
|
|
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 pcan_usb_fd_device *pdev; |
|
struct peak_usb_device *dev; |
|
|
|
if (pucan_ermsg_get_channel(er) >= ARRAY_SIZE(usb_if->dev)) |
|
return -EINVAL; |
|
|
|
dev = usb_if->dev[pucan_ermsg_get_channel(er)]; |
|
pdev = container_of(dev, struct pcan_usb_fd_device, dev); |
|
|
|
/* keep a trace of tx and rx error counters for later use */ |
|
pdev->bec.txerr = er->tx_err_cnt; |
|
pdev->bec.rxerr = 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; |
|
struct net_device *netdev; |
|
struct can_frame *cf; |
|
struct sk_buff *skb; |
|
|
|
if (pufd_omsg_get_channel(ov) >= ARRAY_SIZE(usb_if->dev)) |
|
return -EINVAL; |
|
|
|
dev = usb_if->dev[pufd_omsg_get_channel(ov)]; |
|
netdev = dev->netdev; |
|
|
|
/* 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)); |
|
|
|
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, tx_msg_flags; |
|
u8 dlc; |
|
|
|
if (cfd->len > CANFD_MAX_DLEN) |
|
return -EINVAL; |
|
|
|
tx_msg_size = ALIGN(sizeof(struct pucan_tx_msg) + cfd->len, 4); |
|
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 (can_is_canfd_skb(skb)) { |
|
/* considering a CANFD frame */ |
|
dlc = can_fd_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 */ |
|
dlc = can_get_cc_dlc((struct can_frame *)cfd, |
|
dev->can.ctrlmode); |
|
|
|
if (cfd->can_id & CAN_RTR_FLAG) |
|
tx_msg_flags |= PUCAN_MSG_RTR; |
|
} |
|
|
|
tx_msg->flags = cpu_to_le16(tx_msg_flags); |
|
tx_msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(dev->ctrl_idx, 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_options(dev, 1, |
|
PUCAN_OPTION_ERROR, |
|
PCAN_UFD_FLTEXT_CALIBRATION); |
|
} |
|
|
|
pdev->usb_if->dev_opened_count++; |
|
|
|
/* reset cached error counters */ |
|
pdev->bec.txerr = 0; |
|
pdev->bec.rxerr = 0; |
|
|
|
return err; |
|
} |
|
|
|
/* socket callback used to copy berr counters values received through USB */ |
|
static int pcan_usb_fd_get_berr_counter(const struct net_device *netdev, |
|
struct can_berr_counter *bec) |
|
{ |
|
struct peak_usb_device *dev = netdev_priv(netdev); |
|
struct pcan_usb_fd_device *pdev = |
|
container_of(dev, struct pcan_usb_fd_device, dev); |
|
|
|
*bec = pdev->bec; |
|
|
|
/* must return 0 */ |
|
return 0; |
|
} |
|
|
|
/* 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_options(dev, 0, |
|
PUCAN_OPTION_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) { |
|
/* 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 = kzalloc(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; |
|
|
|
err = pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_INFO, |
|
PCAN_USBPRO_INFO_FW, |
|
&pdev->usb_if->fw_info, |
|
sizeof(pdev->usb_if->fw_info)); |
|
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; |
|
} |
|
|
|
/* explicit use of dev_xxx() instead of netdev_xxx() here: |
|
* information displayed are related to the device itself, not |
|
* to the canx (channel) device. |
|
*/ |
|
dev_info(dev->netdev->dev.parent, |
|
"PEAK-System %s v%u fw v%u.%u.%u (%u channels)\n", |
|
dev->adapter->name, pdev->usb_if->fw_info.hw_version, |
|
pdev->usb_if->fw_info.fw_version[0], |
|
pdev->usb_if->fw_info.fw_version[1], |
|
pdev->usb_if->fw_info.fw_version[2], |
|
dev->adapter->ctrl_count); |
|
|
|
/* check for ability to switch between ISO/non-ISO modes */ |
|
if (pdev->usb_if->fw_info.fw_version[0] >= 2) { |
|
/* firmware >= 2.x supports ISO/non-ISO switching */ |
|
dev->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO; |
|
} else { |
|
/* firmware < 2.x only supports fixed(!) non-ISO */ |
|
dev->can.ctrlmode |= CAN_CTRLMODE_FD_NON_ISO; |
|
} |
|
|
|
/* tell the hardware 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; |
|
|
|
/* do a copy of the ctrlmode[_supported] too */ |
|
dev->can.ctrlmode = ppdev->dev.can.ctrlmode; |
|
dev->can.ctrlmode_supported = ppdev->dev.can.ctrlmode_supported; |
|
} |
|
|
|
pdev->usb_if->dev[dev->ctrl_idx] = dev; |
|
dev->device_number = |
|
le32_to_cpu(pdev->usb_if->fw_info.dev_id[dev->ctrl_idx]); |
|
|
|
/* 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_options(dev, 0, |
|
PUCAN_OPTION_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 */ |
|
static const struct can_bittiming_const pcan_usb_fd_const = { |
|
.name = "pcan_usb_fd", |
|
.tseg1_min = 1, |
|
.tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS), |
|
.tseg2_min = 1, |
|
.tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS), |
|
.sjw_max = (1 << PUCAN_TSLOW_SJW_BITS), |
|
.brp_min = 1, |
|
.brp_max = (1 << PUCAN_TSLOW_BRP_BITS), |
|
.brp_inc = 1, |
|
}; |
|
|
|
static const struct can_bittiming_const pcan_usb_fd_data_const = { |
|
.name = "pcan_usb_fd", |
|
.tseg1_min = 1, |
|
.tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS), |
|
.tseg2_min = 1, |
|
.tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS), |
|
.sjw_max = (1 << PUCAN_TFAST_SJW_BITS), |
|
.brp_min = 1, |
|
.brp_max = (1 << PUCAN_TFAST_BRP_BITS), |
|
.brp_inc = 1, |
|
}; |
|
|
|
const 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 | |
|
CAN_CTRLMODE_CC_LEN8_DLC, |
|
.clock = { |
|
.freq = PCAN_UFD_CRYSTAL_HZ, |
|
}, |
|
.bittiming_const = &pcan_usb_fd_const, |
|
.data_bittiming_const = &pcan_usb_fd_data_const, |
|
|
|
/* 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, |
|
|
|
.do_get_berr_counter = pcan_usb_fd_get_berr_counter, |
|
}; |
|
|
|
/* describes the PCAN-CHIP USB */ |
|
static const struct can_bittiming_const pcan_usb_chip_const = { |
|
.name = "pcan_chip_usb", |
|
.tseg1_min = 1, |
|
.tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS), |
|
.tseg2_min = 1, |
|
.tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS), |
|
.sjw_max = (1 << PUCAN_TSLOW_SJW_BITS), |
|
.brp_min = 1, |
|
.brp_max = (1 << PUCAN_TSLOW_BRP_BITS), |
|
.brp_inc = 1, |
|
}; |
|
|
|
static const struct can_bittiming_const pcan_usb_chip_data_const = { |
|
.name = "pcan_chip_usb", |
|
.tseg1_min = 1, |
|
.tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS), |
|
.tseg2_min = 1, |
|
.tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS), |
|
.sjw_max = (1 << PUCAN_TFAST_SJW_BITS), |
|
.brp_min = 1, |
|
.brp_max = (1 << PUCAN_TFAST_BRP_BITS), |
|
.brp_inc = 1, |
|
}; |
|
|
|
const struct peak_usb_adapter pcan_usb_chip = { |
|
.name = "PCAN-Chip USB", |
|
.device_id = PCAN_USBCHIP_PRODUCT_ID, |
|
.ctrl_count = PCAN_USBFD_CHANNEL_COUNT, |
|
.ctrlmode_supported = CAN_CTRLMODE_FD | |
|
CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY | |
|
CAN_CTRLMODE_CC_LEN8_DLC, |
|
.clock = { |
|
.freq = PCAN_UFD_CRYSTAL_HZ, |
|
}, |
|
.bittiming_const = &pcan_usb_chip_const, |
|
.data_bittiming_const = &pcan_usb_chip_data_const, |
|
|
|
/* 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, |
|
|
|
.do_get_berr_counter = pcan_usb_fd_get_berr_counter, |
|
}; |
|
|
|
/* describes the PCAN-USB Pro FD adapter */ |
|
static const struct can_bittiming_const pcan_usb_pro_fd_const = { |
|
.name = "pcan_usb_pro_fd", |
|
.tseg1_min = 1, |
|
.tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS), |
|
.tseg2_min = 1, |
|
.tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS), |
|
.sjw_max = (1 << PUCAN_TSLOW_SJW_BITS), |
|
.brp_min = 1, |
|
.brp_max = (1 << PUCAN_TSLOW_BRP_BITS), |
|
.brp_inc = 1, |
|
}; |
|
|
|
static const struct can_bittiming_const pcan_usb_pro_fd_data_const = { |
|
.name = "pcan_usb_pro_fd", |
|
.tseg1_min = 1, |
|
.tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS), |
|
.tseg2_min = 1, |
|
.tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS), |
|
.sjw_max = (1 << PUCAN_TFAST_SJW_BITS), |
|
.brp_min = 1, |
|
.brp_max = (1 << PUCAN_TFAST_BRP_BITS), |
|
.brp_inc = 1, |
|
}; |
|
|
|
const 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 | |
|
CAN_CTRLMODE_CC_LEN8_DLC, |
|
.clock = { |
|
.freq = PCAN_UFD_CRYSTAL_HZ, |
|
}, |
|
.bittiming_const = &pcan_usb_pro_fd_const, |
|
.data_bittiming_const = &pcan_usb_pro_fd_data_const, |
|
|
|
/* 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, |
|
|
|
.do_get_berr_counter = pcan_usb_fd_get_berr_counter, |
|
}; |
|
|
|
/* describes the PCAN-USB X6 adapter */ |
|
static const struct can_bittiming_const pcan_usb_x6_const = { |
|
.name = "pcan_usb_x6", |
|
.tseg1_min = 1, |
|
.tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS), |
|
.tseg2_min = 1, |
|
.tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS), |
|
.sjw_max = (1 << PUCAN_TSLOW_SJW_BITS), |
|
.brp_min = 1, |
|
.brp_max = (1 << PUCAN_TSLOW_BRP_BITS), |
|
.brp_inc = 1, |
|
}; |
|
|
|
static const struct can_bittiming_const pcan_usb_x6_data_const = { |
|
.name = "pcan_usb_x6", |
|
.tseg1_min = 1, |
|
.tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS), |
|
.tseg2_min = 1, |
|
.tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS), |
|
.sjw_max = (1 << PUCAN_TFAST_SJW_BITS), |
|
.brp_min = 1, |
|
.brp_max = (1 << PUCAN_TFAST_BRP_BITS), |
|
.brp_inc = 1, |
|
}; |
|
|
|
const struct peak_usb_adapter pcan_usb_x6 = { |
|
.name = "PCAN-USB X6", |
|
.device_id = PCAN_USBX6_PRODUCT_ID, |
|
.ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT, |
|
.ctrlmode_supported = CAN_CTRLMODE_FD | |
|
CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY | |
|
CAN_CTRLMODE_CC_LEN8_DLC, |
|
.clock = { |
|
.freq = PCAN_UFD_CRYSTAL_HZ, |
|
}, |
|
.bittiming_const = &pcan_usb_x6_const, |
|
.data_bittiming_const = &pcan_usb_x6_data_const, |
|
|
|
/* 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, |
|
|
|
.do_get_berr_counter = pcan_usb_fd_get_berr_counter, |
|
};
|
|
|