openkylin
/
linux
mirror of https://gitee.com/openkylin/linux.git
9
0
Fork 0
Code Issues Projects Releases Wiki Activity
linux/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c

2029 lines
51 KiB
C
Raw Blame History

// SPDX-License-Identifier: GPL-2.0
/* Parts of this driver are based on the following:
* - Kvaser linux mhydra driver (version 5.24)
* - CAN driver for esd CAN-USB/2
*
* Copyright (C) 2018 KVASER AB, Sweden. All rights reserved.
* Copyright (C) 2010 Matthias Fuchs <matthias.fuchs@esd.eu>, esd gmbh
*
* Known issues:
* - Transition from CAN_STATE_ERROR_WARNING to CAN_STATE_ERROR_ACTIVE is only
* reported after a call to do_get_berr_counter(), since firmware does not
* distinguish between ERROR_WARNING and ERROR_ACTIVE.
* - Hardware timestamps are not set for CAN Tx frames.
*/
#include <linux/completion.h>
#include <linux/device.h>
#include <linux/gfp.h>
#include <linux/jiffies.h>
#include <linux/kernel.h>
#include <linux/netdevice.h>
#include <linux/spinlock.h>
#include <linux/string.h>
#include <linux/types.h>
#include <linux/usb.h>
#include <linux/can.h>
#include <linux/can/dev.h>
#include <linux/can/error.h>
#include <linux/can/netlink.h>
#include "kvaser_usb.h"
/* Forward declarations */
static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_kcan;
static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_flexc;
#define KVASER_USB_HYDRA_BULK_EP_IN_ADDR 0x82
#define KVASER_USB_HYDRA_BULK_EP_OUT_ADDR 0x02
#define KVASER_USB_HYDRA_MAX_TRANSID 0xff
#define KVASER_USB_HYDRA_MIN_TRANSID 0x01
/* Minihydra command IDs */
#define CMD_SET_BUSPARAMS_REQ 16
#define CMD_GET_CHIP_STATE_REQ 19
#define CMD_CHIP_STATE_EVENT 20
#define CMD_SET_DRIVERMODE_REQ 21
#define CMD_START_CHIP_REQ 26
#define CMD_START_CHIP_RESP 27
#define CMD_STOP_CHIP_REQ 28
#define CMD_STOP_CHIP_RESP 29
#define CMD_TX_CAN_MESSAGE 33
#define CMD_GET_CARD_INFO_REQ 34
#define CMD_GET_CARD_INFO_RESP 35
#define CMD_GET_SOFTWARE_INFO_REQ 38
#define CMD_GET_SOFTWARE_INFO_RESP 39
#define CMD_ERROR_EVENT 45
#define CMD_FLUSH_QUEUE 48
#define CMD_TX_ACKNOWLEDGE 50
#define CMD_FLUSH_QUEUE_RESP 66
#define CMD_SET_BUSPARAMS_FD_REQ 69
#define CMD_SET_BUSPARAMS_FD_RESP 70
#define CMD_SET_BUSPARAMS_RESP 85
#define CMD_GET_CAPABILITIES_REQ 95
#define CMD_GET_CAPABILITIES_RESP 96
#define CMD_RX_MESSAGE 106
#define CMD_MAP_CHANNEL_REQ 200
#define CMD_MAP_CHANNEL_RESP 201
#define CMD_GET_SOFTWARE_DETAILS_REQ 202
#define CMD_GET_SOFTWARE_DETAILS_RESP 203
#define CMD_EXTENDED 255
/* Minihydra extended command IDs */
#define CMD_TX_CAN_MESSAGE_FD 224
#define CMD_TX_ACKNOWLEDGE_FD 225
#define CMD_RX_MESSAGE_FD 226
/* Hydra commands are handled by different threads in firmware.
* The threads are denoted hydra entity (HE). Each HE got a unique 6-bit
* address. The address is used in hydra commands to get/set source and
* destination HE. There are two predefined HE addresses, the remaining
* addresses are different between devices and firmware versions. Hence, we need
* to enumerate the addresses (see kvaser_usb_hydra_map_channel()).
*/
/* Well-known HE addresses */
#define KVASER_USB_HYDRA_HE_ADDRESS_ROUTER 0x00
#define KVASER_USB_HYDRA_HE_ADDRESS_ILLEGAL 0x3e
#define KVASER_USB_HYDRA_TRANSID_CANHE 0x40
#define KVASER_USB_HYDRA_TRANSID_SYSDBG 0x61
struct kvaser_cmd_map_ch_req {
char name[16];
u8 channel;
u8 reserved[11];
} __packed;
struct kvaser_cmd_map_ch_res {
u8 he_addr;
u8 channel;
u8 reserved[26];
} __packed;
struct kvaser_cmd_card_info {
__le32 serial_number;
__le32 clock_res;
__le32 mfg_date;
__le32 ean[2];
u8 hw_version;
u8 usb_mode;
u8 hw_type;
u8 reserved0;
u8 nchannels;
u8 reserved1[3];
} __packed;
struct kvaser_cmd_sw_info {
u8 reserved0[8];
__le16 max_outstanding_tx;
u8 reserved1[18];
} __packed;
struct kvaser_cmd_sw_detail_req {
u8 use_ext_cmd;
u8 reserved[27];
} __packed;
/* Software detail flags */
#define KVASER_USB_HYDRA_SW_FLAG_FW_BETA BIT(2)
#define KVASER_USB_HYDRA_SW_FLAG_FW_BAD BIT(4)
#define KVASER_USB_HYDRA_SW_FLAG_FREQ_80M BIT(5)
#define KVASER_USB_HYDRA_SW_FLAG_EXT_CMD BIT(9)
#define KVASER_USB_HYDRA_SW_FLAG_CANFD BIT(10)
#define KVASER_USB_HYDRA_SW_FLAG_NONISO BIT(11)
#define KVASER_USB_HYDRA_SW_FLAG_EXT_CAP BIT(12)
struct kvaser_cmd_sw_detail_res {
__le32 sw_flags;
__le32 sw_version;
__le32 sw_name;
__le32 ean[2];
__le32 max_bitrate;
u8 reserved[4];
} __packed;
/* Sub commands for cap_req and cap_res */
#define KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE 0x02
#define KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT 0x05
#define KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT 0x06
struct kvaser_cmd_cap_req {
__le16 cap_cmd;
u8 reserved[26];
} __packed;
/* Status codes for cap_res */
#define KVASER_USB_HYDRA_CAP_STAT_OK 0x00
#define KVASER_USB_HYDRA_CAP_STAT_NOT_IMPL 0x01
#define KVASER_USB_HYDRA_CAP_STAT_UNAVAIL 0x02
struct kvaser_cmd_cap_res {
__le16 cap_cmd;
__le16 status;
__le32 mask;
__le32 value;
u8 reserved[16];
} __packed;
/* CMD_ERROR_EVENT error codes */
#define KVASER_USB_HYDRA_ERROR_EVENT_CAN 0x01
#define KVASER_USB_HYDRA_ERROR_EVENT_PARAM 0x09
struct kvaser_cmd_error_event {
__le16 timestamp[3];
u8 reserved;
u8 error_code;
__le16 info1;
__le16 info2;
} __packed;
/* Chip state status flags. Used for chip_state_event and err_frame_data. */
#define KVASER_USB_HYDRA_BUS_ERR_ACT 0x00
#define KVASER_USB_HYDRA_BUS_ERR_PASS BIT(5)
#define KVASER_USB_HYDRA_BUS_BUS_OFF BIT(6)
struct kvaser_cmd_chip_state_event {
__le16 timestamp[3];
u8 tx_err_counter;
u8 rx_err_counter;
u8 bus_status;
u8 reserved[19];
} __packed;
/* Busparam modes */
#define KVASER_USB_HYDRA_BUS_MODE_CAN 0x00
#define KVASER_USB_HYDRA_BUS_MODE_CANFD_ISO 0x01
#define KVASER_USB_HYDRA_BUS_MODE_NONISO 0x02
struct kvaser_cmd_set_busparams {
__le32 bitrate;
u8 tseg1;
u8 tseg2;
u8 sjw;
u8 nsamples;
u8 reserved0[4];
__le32 bitrate_d;
u8 tseg1_d;
u8 tseg2_d;
u8 sjw_d;
u8 nsamples_d;
u8 canfd_mode;
u8 reserved1[7];
} __packed;
/* Ctrl modes */
#define KVASER_USB_HYDRA_CTRLMODE_NORMAL 0x01
#define KVASER_USB_HYDRA_CTRLMODE_LISTEN 0x02
struct kvaser_cmd_set_ctrlmode {
u8 mode;
u8 reserved[27];
} __packed;
struct kvaser_err_frame_data {
u8 bus_status;
u8 reserved0;
u8 tx_err_counter;
u8 rx_err_counter;
u8 reserved1[4];
} __packed;
struct kvaser_cmd_rx_can {
u8 cmd_len;
u8 cmd_no;
u8 channel;
u8 flags;
__le16 timestamp[3];
u8 dlc;
u8 padding;
__le32 id;
union {
u8 data[8];
struct kvaser_err_frame_data err_frame_data;
};
} __packed;
/* Extended CAN ID flag. Used in rx_can and tx_can */
#define KVASER_USB_HYDRA_EXTENDED_FRAME_ID BIT(31)
struct kvaser_cmd_tx_can {
__le32 id;
u8 data[8];
u8 dlc;
u8 flags;
__le16 transid;
u8 channel;
u8 reserved[11];
} __packed;
struct kvaser_cmd_header {
u8 cmd_no;
/* The destination HE address is stored in 0..5 of he_addr.
* The upper part of source HE address is stored in 6..7 of he_addr, and
* the lower part is stored in 12..15 of transid.
*/
u8 he_addr;
__le16 transid;
} __packed;
struct kvaser_cmd {
struct kvaser_cmd_header header;
union {
struct kvaser_cmd_map_ch_req map_ch_req;
struct kvaser_cmd_map_ch_res map_ch_res;
struct kvaser_cmd_card_info card_info;
struct kvaser_cmd_sw_info sw_info;
struct kvaser_cmd_sw_detail_req sw_detail_req;
struct kvaser_cmd_sw_detail_res sw_detail_res;
struct kvaser_cmd_cap_req cap_req;
struct kvaser_cmd_cap_res cap_res;
struct kvaser_cmd_error_event error_event;
struct kvaser_cmd_set_busparams set_busparams_req;
struct kvaser_cmd_chip_state_event chip_state_event;
struct kvaser_cmd_set_ctrlmode set_ctrlmode;
struct kvaser_cmd_rx_can rx_can;
struct kvaser_cmd_tx_can tx_can;
} __packed;
} __packed;
/* CAN frame flags. Used in rx_can, ext_rx_can, tx_can and ext_tx_can */
#define KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME BIT(0)
#define KVASER_USB_HYDRA_CF_FLAG_OVERRUN BIT(1)
#define KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME BIT(4)
#define KVASER_USB_HYDRA_CF_FLAG_EXTENDED_ID BIT(5)
/* CAN frame flags. Used in ext_rx_can and ext_tx_can */
#define KVASER_USB_HYDRA_CF_FLAG_OSM_NACK BIT(12)
#define KVASER_USB_HYDRA_CF_FLAG_ABL BIT(13)
#define KVASER_USB_HYDRA_CF_FLAG_FDF BIT(16)
#define KVASER_USB_HYDRA_CF_FLAG_BRS BIT(17)
#define KVASER_USB_HYDRA_CF_FLAG_ESI BIT(18)
/* KCAN packet header macros. Used in ext_rx_can and ext_tx_can */
#define KVASER_USB_KCAN_DATA_DLC_BITS 4
#define KVASER_USB_KCAN_DATA_DLC_SHIFT 8
#define KVASER_USB_KCAN_DATA_DLC_MASK \
GENMASK(KVASER_USB_KCAN_DATA_DLC_BITS - 1 + \
KVASER_USB_KCAN_DATA_DLC_SHIFT, \
KVASER_USB_KCAN_DATA_DLC_SHIFT)
#define KVASER_USB_KCAN_DATA_BRS BIT(14)
#define KVASER_USB_KCAN_DATA_FDF BIT(15)
#define KVASER_USB_KCAN_DATA_OSM BIT(16)
#define KVASER_USB_KCAN_DATA_AREQ BIT(31)
#define KVASER_USB_KCAN_DATA_SRR BIT(31)
#define KVASER_USB_KCAN_DATA_RTR BIT(29)
#define KVASER_USB_KCAN_DATA_IDE BIT(30)
struct kvaser_cmd_ext_rx_can {
__le32 flags;
__le32 id;
__le32 kcan_id;
__le32 kcan_header;
__le64 timestamp;
union {
u8 kcan_payload[64];
struct kvaser_err_frame_data err_frame_data;
};
} __packed;
struct kvaser_cmd_ext_tx_can {
__le32 flags;
__le32 id;
__le32 kcan_id;
__le32 kcan_header;
u8 databytes;
u8 dlc;
u8 reserved[6];
u8 kcan_payload[64];
} __packed;
struct kvaser_cmd_ext_tx_ack {
__le32 flags;
u8 reserved0[4];
__le64 timestamp;
u8 reserved1[8];
} __packed;
/* struct for extended commands (CMD_EXTENDED) */
struct kvaser_cmd_ext {
struct kvaser_cmd_header header;
__le16 len;
u8 cmd_no_ext;
u8 reserved;
union {
struct kvaser_cmd_ext_rx_can rx_can;
struct kvaser_cmd_ext_tx_can tx_can;
struct kvaser_cmd_ext_tx_ack tx_ack;
} __packed;
} __packed;
static const struct can_bittiming_const kvaser_usb_hydra_kcan_bittiming_c = {
.name = "kvaser_usb_kcan",
.tseg1_min = 1,
.tseg1_max = 255,
.tseg2_min = 1,
.tseg2_max = 32,
.sjw_max = 16,
.brp_min = 1,
.brp_max = 4096,
.brp_inc = 1,
};
static const struct can_bittiming_const kvaser_usb_hydra_flexc_bittiming_c = {
.name = "kvaser_usb_flex",
.tseg1_min = 4,
.tseg1_max = 16,
.tseg2_min = 2,
.tseg2_max = 8,
.sjw_max = 4,
.brp_min = 1,
.brp_max = 256,
.brp_inc = 1,
};
#define KVASER_USB_HYDRA_TRANSID_BITS 12
#define KVASER_USB_HYDRA_TRANSID_MASK \
GENMASK(KVASER_USB_HYDRA_TRANSID_BITS - 1, 0)
#define KVASER_USB_HYDRA_HE_ADDR_SRC_MASK GENMASK(7, 6)
#define KVASER_USB_HYDRA_HE_ADDR_DEST_MASK GENMASK(5, 0)
#define KVASER_USB_HYDRA_HE_ADDR_SRC_BITS 2
static inline u16 kvaser_usb_hydra_get_cmd_transid(const struct kvaser_cmd *cmd)
{
return le16_to_cpu(cmd->header.transid) & KVASER_USB_HYDRA_TRANSID_MASK;
}
static inline void kvaser_usb_hydra_set_cmd_transid(struct kvaser_cmd *cmd,
u16 transid)
{
cmd->header.transid =
cpu_to_le16(transid & KVASER_USB_HYDRA_TRANSID_MASK);
}
static inline u8 kvaser_usb_hydra_get_cmd_src_he(const struct kvaser_cmd *cmd)
{
return (cmd->header.he_addr & KVASER_USB_HYDRA_HE_ADDR_SRC_MASK) >>
KVASER_USB_HYDRA_HE_ADDR_SRC_BITS |
le16_to_cpu(cmd->header.transid) >>
KVASER_USB_HYDRA_TRANSID_BITS;
}
static inline void kvaser_usb_hydra_set_cmd_dest_he(struct kvaser_cmd *cmd,
u8 dest_he)
{
cmd->header.he_addr =
(cmd->header.he_addr & KVASER_USB_HYDRA_HE_ADDR_SRC_MASK) |
(dest_he & KVASER_USB_HYDRA_HE_ADDR_DEST_MASK);
}
static u8 kvaser_usb_hydra_channel_from_cmd(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
int i;
u8 channel = 0xff;
u8 src_he = kvaser_usb_hydra_get_cmd_src_he(cmd);
for (i = 0; i < KVASER_USB_MAX_NET_DEVICES; i++) {
if (dev->card_data.hydra.channel_to_he[i] == src_he) {
channel = i;
break;
}
}
return channel;
}
static u16 kvaser_usb_hydra_get_next_transid(struct kvaser_usb *dev)
{
unsigned long flags;
u16 transid;
struct kvaser_usb_dev_card_data_hydra *card_data =
&dev->card_data.hydra;
spin_lock_irqsave(&card_data->transid_lock, flags);
transid = card_data->transid;
if (transid >= KVASER_USB_HYDRA_MAX_TRANSID)
transid = KVASER_USB_HYDRA_MIN_TRANSID;
else
transid++;
card_data->transid = transid;
spin_unlock_irqrestore(&card_data->transid_lock, flags);
return transid;
}
static size_t kvaser_usb_hydra_cmd_size(struct kvaser_cmd *cmd)
{
size_t ret;
if (cmd->header.cmd_no == CMD_EXTENDED)
ret = le16_to_cpu(((struct kvaser_cmd_ext *)cmd)->len);
else
ret = sizeof(struct kvaser_cmd);
return ret;
}
static struct kvaser_usb_net_priv *
kvaser_usb_hydra_net_priv_from_cmd(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
struct kvaser_usb_net_priv *priv = NULL;
u8 channel = kvaser_usb_hydra_channel_from_cmd(dev, cmd);
if (channel >= dev->nchannels)
dev_err(&dev->intf->dev,
"Invalid channel number (%d)\n", channel);
else
priv = dev->nets[channel];
return priv;
}
static ktime_t
kvaser_usb_hydra_ktime_from_rx_cmd(const struct kvaser_usb_dev_cfg *cfg,
const struct kvaser_cmd *cmd)
{
u64 ticks;
if (cmd->header.cmd_no == CMD_EXTENDED) {
struct kvaser_cmd_ext *cmd_ext = (struct kvaser_cmd_ext *)cmd;
ticks = le64_to_cpu(cmd_ext->rx_can.timestamp);
} else {
ticks = le16_to_cpu(cmd->rx_can.timestamp[0]);
ticks += (u64)(le16_to_cpu(cmd->rx_can.timestamp[1])) << 16;
ticks += (u64)(le16_to_cpu(cmd->rx_can.timestamp[2])) << 32;
}
return ns_to_ktime(div_u64(ticks * 1000, cfg->timestamp_freq));
}
static int kvaser_usb_hydra_send_simple_cmd(struct kvaser_usb *dev,
u8 cmd_no, int channel)
{
struct kvaser_cmd *cmd;
int err;
cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
if (!cmd)
return -ENOMEM;
cmd->header.cmd_no = cmd_no;
if (channel < 0) {
kvaser_usb_hydra_set_cmd_dest_he
(cmd, KVASER_USB_HYDRA_HE_ADDRESS_ILLEGAL);
} else {
if (channel >= KVASER_USB_MAX_NET_DEVICES) {
dev_err(&dev->intf->dev, "channel (%d) out of range.\n",
channel);
err = -EINVAL;
goto end;
}
kvaser_usb_hydra_set_cmd_dest_he
(cmd, dev->card_data.hydra.channel_to_he[channel]);
}
kvaser_usb_hydra_set_cmd_transid
(cmd, kvaser_usb_hydra_get_next_transid(dev));
err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
if (err)
goto end;
end:
kfree(cmd);
return err;
}
static int
kvaser_usb_hydra_send_simple_cmd_async(struct kvaser_usb_net_priv *priv,
u8 cmd_no)
{
struct kvaser_cmd *cmd;
struct kvaser_usb *dev = priv->dev;
int err;
cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_ATOMIC);
if (!cmd)
return -ENOMEM;
cmd->header.cmd_no = cmd_no;
kvaser_usb_hydra_set_cmd_dest_he
(cmd, dev->card_data.hydra.channel_to_he[priv->channel]);
kvaser_usb_hydra_set_cmd_transid
(cmd, kvaser_usb_hydra_get_next_transid(dev));
err = kvaser_usb_send_cmd_async(priv, cmd,
kvaser_usb_hydra_cmd_size(cmd));
if (err)
kfree(cmd);
return err;
}
/* This function is used for synchronously waiting on hydra control commands.
* Note: Compared to kvaser_usb_hydra_read_bulk_callback(), we never need to
* handle partial hydra commands. Since hydra control commands are always
* non-extended commands.
*/
static int kvaser_usb_hydra_wait_cmd(const struct kvaser_usb *dev, u8 cmd_no,
struct kvaser_cmd *cmd)
{
void *buf;
int err;
unsigned long timeout = jiffies + msecs_to_jiffies(KVASER_USB_TIMEOUT);
if (cmd->header.cmd_no == CMD_EXTENDED) {
dev_err(&dev->intf->dev, "Wait for CMD_EXTENDED not allowed\n");
return -EINVAL;
}
buf = kzalloc(KVASER_USB_RX_BUFFER_SIZE, GFP_KERNEL);
if (!buf)
return -ENOMEM;
do {
int actual_len = 0;
int pos = 0;
err = kvaser_usb_recv_cmd(dev, buf, KVASER_USB_RX_BUFFER_SIZE,
&actual_len);
if (err < 0)
goto end;
while (pos < actual_len) {
struct kvaser_cmd *tmp_cmd;
size_t cmd_len;
tmp_cmd = buf + pos;
cmd_len = kvaser_usb_hydra_cmd_size(tmp_cmd);
if (pos + cmd_len > actual_len) {
dev_err_ratelimited(&dev->intf->dev,
"Format error\n");
break;
}
if (tmp_cmd->header.cmd_no == cmd_no) {
memcpy(cmd, tmp_cmd, cmd_len);
goto end;
}
pos += cmd_len;
}
} while (time_before(jiffies, timeout));
err = -EINVAL;
end:
kfree(buf);
return err;
}
static int kvaser_usb_hydra_map_channel_resp(struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
u8 he, channel;
u16 transid = kvaser_usb_hydra_get_cmd_transid(cmd);
struct kvaser_usb_dev_card_data_hydra *card_data =
&dev->card_data.hydra;
if (transid > 0x007f || transid < 0x0040) {
dev_err(&dev->intf->dev,
"CMD_MAP_CHANNEL_RESP, invalid transid: 0x%x\n",
transid);
return -EINVAL;
}
switch (transid) {
case KVASER_USB_HYDRA_TRANSID_CANHE:
case KVASER_USB_HYDRA_TRANSID_CANHE + 1:
case KVASER_USB_HYDRA_TRANSID_CANHE + 2:
case KVASER_USB_HYDRA_TRANSID_CANHE + 3:
case KVASER_USB_HYDRA_TRANSID_CANHE + 4:
channel = transid & 0x000f;
he = cmd->map_ch_res.he_addr;
card_data->channel_to_he[channel] = he;
break;
case KVASER_USB_HYDRA_TRANSID_SYSDBG:
card_data->sysdbg_he = cmd->map_ch_res.he_addr;
break;
default:
dev_warn(&dev->intf->dev,
"Unknown CMD_MAP_CHANNEL_RESP transid=0x%x\n",
transid);
break;
}
return 0;
}
static int kvaser_usb_hydra_map_channel(struct kvaser_usb *dev, u16 transid,
u8 channel, const char *name)
{
struct kvaser_cmd *cmd;
int err;
cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
if (!cmd)
return -ENOMEM;
strcpy(cmd->map_ch_req.name, name);
cmd->header.cmd_no = CMD_MAP_CHANNEL_REQ;
kvaser_usb_hydra_set_cmd_dest_he
(cmd, KVASER_USB_HYDRA_HE_ADDRESS_ROUTER);
cmd->map_ch_req.channel = channel;
kvaser_usb_hydra_set_cmd_transid(cmd, transid);
err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
if (err)
goto end;
err = kvaser_usb_hydra_wait_cmd(dev, CMD_MAP_CHANNEL_RESP, cmd);
if (err)
goto end;
err = kvaser_usb_hydra_map_channel_resp(dev, cmd);
if (err)
goto end;
end:
kfree(cmd);
return err;
}
static int kvaser_usb_hydra_get_single_capability(struct kvaser_usb *dev,
u16 cap_cmd_req, u16 *status)
{
struct kvaser_usb_dev_card_data *card_data = &dev->card_data;
struct kvaser_cmd *cmd;
u32 value = 0;
u32 mask = 0;
u16 cap_cmd_res;
int err;
int i;
cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
if (!cmd)
return -ENOMEM;
cmd->header.cmd_no = CMD_GET_CAPABILITIES_REQ;
cmd->cap_req.cap_cmd = cpu_to_le16(cap_cmd_req);
kvaser_usb_hydra_set_cmd_dest_he(cmd, card_data->hydra.sysdbg_he);
kvaser_usb_hydra_set_cmd_transid
(cmd, kvaser_usb_hydra_get_next_transid(dev));
err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
if (err)
goto end;
err = kvaser_usb_hydra_wait_cmd(dev, CMD_GET_CAPABILITIES_RESP, cmd);
if (err)
goto end;
*status = le16_to_cpu(cmd->cap_res.status);
if (*status != KVASER_USB_HYDRA_CAP_STAT_OK)
goto end;
cap_cmd_res = le16_to_cpu(cmd->cap_res.cap_cmd);
switch (cap_cmd_res) {
case KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE:
case KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT:
case KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT:
value = le32_to_cpu(cmd->cap_res.value);
mask = le32_to_cpu(cmd->cap_res.mask);
break;
default:
dev_warn(&dev->intf->dev, "Unknown capability command %u\n",
cap_cmd_res);
break;
}
for (i = 0; i < dev->nchannels; i++) {
if (BIT(i) & (value & mask)) {
switch (cap_cmd_res) {
case KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE:
card_data->ctrlmode_supported |=
CAN_CTRLMODE_LISTENONLY;
break;
case KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT:
card_data->capabilities |=
KVASER_USB_CAP_BERR_CAP;
break;
case KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT:
card_data->ctrlmode_supported |=
CAN_CTRLMODE_ONE_SHOT;
break;
}
}
}
end:
kfree(cmd);
return err;
}
static void kvaser_usb_hydra_start_chip_reply(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
struct kvaser_usb_net_priv *priv;
priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
if (!priv)
return;
if (completion_done(&priv->start_comp) &&
netif_queue_stopped(priv->netdev)) {
netif_wake_queue(priv->netdev);
} else {
netif_start_queue(priv->netdev);
complete(&priv->start_comp);
}
}
static void kvaser_usb_hydra_stop_chip_reply(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
struct kvaser_usb_net_priv *priv;
priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
if (!priv)
return;
complete(&priv->stop_comp);
}
static void kvaser_usb_hydra_flush_queue_reply(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
struct kvaser_usb_net_priv *priv;
priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
if (!priv)
return;
complete(&priv->flush_comp);
}
static void
kvaser_usb_hydra_bus_status_to_can_state(const struct kvaser_usb_net_priv *priv,
u8 bus_status,
const struct can_berr_counter *bec,
enum can_state *new_state)
{
if (bus_status & KVASER_USB_HYDRA_BUS_BUS_OFF) {
*new_state = CAN_STATE_BUS_OFF;
} else if (bus_status & KVASER_USB_HYDRA_BUS_ERR_PASS) {
*new_state = CAN_STATE_ERROR_PASSIVE;
} else if (bus_status == KVASER_USB_HYDRA_BUS_ERR_ACT) {
if (bec->txerr >= 128 || bec->rxerr >= 128) {
netdev_warn(priv->netdev,
"ERR_ACTIVE but err tx=%u or rx=%u >=128\n",
bec->txerr, bec->rxerr);
*new_state = CAN_STATE_ERROR_PASSIVE;
} else if (bec->txerr >= 96 || bec->rxerr >= 96) {
*new_state = CAN_STATE_ERROR_WARNING;
} else {
*new_state = CAN_STATE_ERROR_ACTIVE;
}
}
}
static void kvaser_usb_hydra_update_state(struct kvaser_usb_net_priv *priv,
u8 bus_status,
const struct can_berr_counter *bec)
{
struct net_device *netdev = priv->netdev;
struct can_frame *cf;
struct sk_buff *skb;
struct net_device_stats *stats;
enum can_state new_state, old_state;
old_state = priv->can.state;
kvaser_usb_hydra_bus_status_to_can_state(priv, bus_status, bec,
&new_state);
if (new_state == old_state)
return;
/* Ignore state change if previous state was STOPPED and the new state
* is BUS_OFF. Firmware always report this as BUS_OFF, since firmware
* does not distinguish between BUS_OFF and STOPPED.
*/
if (old_state == CAN_STATE_STOPPED && new_state == CAN_STATE_BUS_OFF)
return;
skb = alloc_can_err_skb(netdev, &cf);
if (skb) {
enum can_state tx_state, rx_state;
tx_state = (bec->txerr >= bec->rxerr) ?
new_state : CAN_STATE_ERROR_ACTIVE;
rx_state = (bec->txerr <= bec->rxerr) ?
new_state : CAN_STATE_ERROR_ACTIVE;
can_change_state(netdev, cf, tx_state, rx_state);
}
if (new_state == CAN_STATE_BUS_OFF && old_state < CAN_STATE_BUS_OFF) {
if (!priv->can.restart_ms)
kvaser_usb_hydra_send_simple_cmd_async
(priv, CMD_STOP_CHIP_REQ);
can_bus_off(netdev);
}
if (!skb) {
netdev_warn(netdev, "No memory left for err_skb\n");
return;
}
if (priv->can.restart_ms &&
old_state >= CAN_STATE_BUS_OFF &&
new_state < CAN_STATE_BUS_OFF)
priv->can.can_stats.restarts++;
cf->data[6] = bec->txerr;
cf->data[7] = bec->rxerr;
stats = &netdev->stats;
stats->rx_packets++;
stats->rx_bytes += cf->can_dlc;
netif_rx(skb);
}
static void kvaser_usb_hydra_state_event(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
struct kvaser_usb_net_priv *priv;
struct can_berr_counter bec;
u8 bus_status;
priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
if (!priv)
return;
bus_status = cmd->chip_state_event.bus_status;
bec.txerr = cmd->chip_state_event.tx_err_counter;
bec.rxerr = cmd->chip_state_event.rx_err_counter;
kvaser_usb_hydra_update_state(priv, bus_status, &bec);
priv->bec.txerr = bec.txerr;
priv->bec.rxerr = bec.rxerr;
}
static void kvaser_usb_hydra_error_event_parameter(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
/* info1 will contain the offending cmd_no */
switch (le16_to_cpu(cmd->error_event.info1)) {
case CMD_START_CHIP_REQ:
dev_warn(&dev->intf->dev,
"CMD_START_CHIP_REQ error in parameter\n");
break;
case CMD_STOP_CHIP_REQ:
dev_warn(&dev->intf->dev,
"CMD_STOP_CHIP_REQ error in parameter\n");
break;
case CMD_FLUSH_QUEUE:
dev_warn(&dev->intf->dev,
"CMD_FLUSH_QUEUE error in parameter\n");
break;
case CMD_SET_BUSPARAMS_REQ:
dev_warn(&dev->intf->dev,
"Set bittiming failed. Error in parameter\n");
break;
case CMD_SET_BUSPARAMS_FD_REQ:
dev_warn(&dev->intf->dev,
"Set data bittiming failed. Error in parameter\n");
break;
default:
dev_warn(&dev->intf->dev,
"Unhandled parameter error event cmd_no (%u)\n",
le16_to_cpu(cmd->error_event.info1));
break;
}
}
static void kvaser_usb_hydra_error_event(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
switch (cmd->error_event.error_code) {
case KVASER_USB_HYDRA_ERROR_EVENT_PARAM:
kvaser_usb_hydra_error_event_parameter(dev, cmd);
break;
case KVASER_USB_HYDRA_ERROR_EVENT_CAN:
/* Wrong channel mapping?! This should never happen!
* info1 will contain the offending cmd_no
*/
dev_err(&dev->intf->dev,
"Received CAN error event for cmd_no (%u)\n",
le16_to_cpu(cmd->error_event.info1));
break;
default:
dev_warn(&dev->intf->dev,
"Unhandled error event (%d)\n",
cmd->error_event.error_code);
break;
}
}
static void
kvaser_usb_hydra_error_frame(struct kvaser_usb_net_priv *priv,
const struct kvaser_err_frame_data *err_frame_data,
ktime_t hwtstamp)
{
struct net_device *netdev = priv->netdev;
struct net_device_stats *stats = &netdev->stats;
struct can_frame *cf;
struct sk_buff *skb;
struct skb_shared_hwtstamps *shhwtstamps;
struct can_berr_counter bec;
enum can_state new_state, old_state;
u8 bus_status;
priv->can.can_stats.bus_error++;
stats->rx_errors++;
bus_status = err_frame_data->bus_status;
bec.txerr = err_frame_data->tx_err_counter;
bec.rxerr = err_frame_data->rx_err_counter;
old_state = priv->can.state;
kvaser_usb_hydra_bus_status_to_can_state(priv, bus_status, &bec,
&new_state);
skb = alloc_can_err_skb(netdev, &cf);
if (new_state != old_state) {
if (skb) {
enum can_state tx_state, rx_state;
tx_state = (bec.txerr >= bec.rxerr) ?
new_state : CAN_STATE_ERROR_ACTIVE;
rx_state = (bec.txerr <= bec.rxerr) ?
new_state : CAN_STATE_ERROR_ACTIVE;
can_change_state(netdev, cf, tx_state, rx_state);
if (priv->can.restart_ms &&
old_state >= CAN_STATE_BUS_OFF &&
new_state < CAN_STATE_BUS_OFF)
cf->can_id |= CAN_ERR_RESTARTED;
}
if (new_state == CAN_STATE_BUS_OFF) {
if (!priv->can.restart_ms)
kvaser_usb_hydra_send_simple_cmd_async
(priv, CMD_STOP_CHIP_REQ);
can_bus_off(netdev);
}
}
if (!skb) {
stats->rx_dropped++;
netdev_warn(netdev, "No memory left for err_skb\n");
return;
}
shhwtstamps = skb_hwtstamps(skb);
shhwtstamps->hwtstamp = hwtstamp;
cf->can_id |= CAN_ERR_BUSERROR;
cf->data[6] = bec.txerr;
cf->data[7] = bec.rxerr;
stats->rx_packets++;
stats->rx_bytes += cf->can_dlc;
netif_rx(skb);
priv->bec.txerr = bec.txerr;
priv->bec.rxerr = bec.rxerr;
}
static void kvaser_usb_hydra_one_shot_fail(struct kvaser_usb_net_priv *priv,
const struct kvaser_cmd_ext *cmd)
{
struct net_device *netdev = priv->netdev;
struct net_device_stats *stats = &netdev->stats;
struct can_frame *cf;
struct sk_buff *skb;
u32 flags;
skb = alloc_can_err_skb(netdev, &cf);
if (!skb) {
stats->rx_dropped++;
netdev_warn(netdev, "No memory left for err_skb\n");
return;
}
cf->can_id |= CAN_ERR_BUSERROR;
flags = le32_to_cpu(cmd->tx_ack.flags);
if (flags & KVASER_USB_HYDRA_CF_FLAG_OSM_NACK)
cf->can_id |= CAN_ERR_ACK;
if (flags & KVASER_USB_HYDRA_CF_FLAG_ABL) {
cf->can_id |= CAN_ERR_LOSTARB;
priv->can.can_stats.arbitration_lost++;
}
stats->tx_errors++;
stats->rx_packets++;
stats->rx_bytes += cf->can_dlc;
netif_rx(skb);
}
static void kvaser_usb_hydra_tx_acknowledge(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
struct kvaser_usb_tx_urb_context *context;
struct kvaser_usb_net_priv *priv;
unsigned long irq_flags;
bool one_shot_fail = false;
u16 transid = kvaser_usb_hydra_get_cmd_transid(cmd);
priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
if (!priv)
return;
if (!netif_device_present(priv->netdev))
return;
if (cmd->header.cmd_no == CMD_EXTENDED) {
struct kvaser_cmd_ext *cmd_ext = (struct kvaser_cmd_ext *)cmd;
u32 flags = le32_to_cpu(cmd_ext->tx_ack.flags);
if (flags & (KVASER_USB_HYDRA_CF_FLAG_OSM_NACK |
KVASER_USB_HYDRA_CF_FLAG_ABL)) {
kvaser_usb_hydra_one_shot_fail(priv, cmd_ext);
one_shot_fail = true;
}
}
context = &priv->tx_contexts[transid % dev->max_tx_urbs];
if (!one_shot_fail) {
struct net_device_stats *stats = &priv->netdev->stats;
stats->tx_packets++;
stats->tx_bytes += can_dlc2len(context->dlc);
}
spin_lock_irqsave(&priv->tx_contexts_lock, irq_flags);
can_get_echo_skb(priv->netdev, context->echo_index);
context->echo_index = dev->max_tx_urbs;
--priv->active_tx_contexts;
netif_wake_queue(priv->netdev);
spin_unlock_irqrestore(&priv->tx_contexts_lock, irq_flags);
}
static void kvaser_usb_hydra_rx_msg_std(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
struct kvaser_usb_net_priv *priv = NULL;
struct can_frame *cf;
struct sk_buff *skb;
struct skb_shared_hwtstamps *shhwtstamps;
struct net_device_stats *stats;
u8 flags;
ktime_t hwtstamp;
priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
if (!priv)
return;
stats = &priv->netdev->stats;
flags = cmd->rx_can.flags;
hwtstamp = kvaser_usb_hydra_ktime_from_rx_cmd(dev->cfg, cmd);
if (flags & KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME) {
kvaser_usb_hydra_error_frame(priv, &cmd->rx_can.err_frame_data,
hwtstamp);
return;
}
skb = alloc_can_skb(priv->netdev, &cf);
if (!skb) {
stats->rx_dropped++;
return;
}
shhwtstamps = skb_hwtstamps(skb);
shhwtstamps->hwtstamp = hwtstamp;
cf->can_id = le32_to_cpu(cmd->rx_can.id);
if (cf->can_id & KVASER_USB_HYDRA_EXTENDED_FRAME_ID) {
cf->can_id &= CAN_EFF_MASK;
cf->can_id |= CAN_EFF_FLAG;
} else {
cf->can_id &= CAN_SFF_MASK;
}
if (flags & KVASER_USB_HYDRA_CF_FLAG_OVERRUN)
kvaser_usb_can_rx_over_error(priv->netdev);
cf->can_dlc = get_can_dlc(cmd->rx_can.dlc);
if (flags & KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME)
cf->can_id |= CAN_RTR_FLAG;
else
memcpy(cf->data, cmd->rx_can.data, cf->can_dlc);
stats->rx_packets++;
stats->rx_bytes += cf->can_dlc;
netif_rx(skb);
}
static void kvaser_usb_hydra_rx_msg_ext(const struct kvaser_usb *dev,
const struct kvaser_cmd_ext *cmd)
{
struct kvaser_cmd *std_cmd = (struct kvaser_cmd *)cmd;
struct kvaser_usb_net_priv *priv;
struct canfd_frame *cf;
struct sk_buff *skb;
struct skb_shared_hwtstamps *shhwtstamps;
struct net_device_stats *stats;
u32 flags;
u8 dlc;
u32 kcan_header;
ktime_t hwtstamp;
priv = kvaser_usb_hydra_net_priv_from_cmd(dev, std_cmd);
if (!priv)
return;
stats = &priv->netdev->stats;
kcan_header = le32_to_cpu(cmd->rx_can.kcan_header);
dlc = (kcan_header & KVASER_USB_KCAN_DATA_DLC_MASK) >>
KVASER_USB_KCAN_DATA_DLC_SHIFT;
flags = le32_to_cpu(cmd->rx_can.flags);
hwtstamp = kvaser_usb_hydra_ktime_from_rx_cmd(dev->cfg, std_cmd);
if (flags & KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME) {
kvaser_usb_hydra_error_frame(priv, &cmd->rx_can.err_frame_data,
hwtstamp);
return;
}
if (flags & KVASER_USB_HYDRA_CF_FLAG_FDF)
skb = alloc_canfd_skb(priv->netdev, &cf);
else
skb = alloc_can_skb(priv->netdev, (struct can_frame **)&cf);
if (!skb) {
stats->rx_dropped++;
return;
}
shhwtstamps = skb_hwtstamps(skb);
shhwtstamps->hwtstamp = hwtstamp;
cf->can_id = le32_to_cpu(cmd->rx_can.id);
if (flags & KVASER_USB_HYDRA_CF_FLAG_EXTENDED_ID) {
cf->can_id &= CAN_EFF_MASK;
cf->can_id |= CAN_EFF_FLAG;
} else {
cf->can_id &= CAN_SFF_MASK;
}
if (flags & KVASER_USB_HYDRA_CF_FLAG_OVERRUN)
kvaser_usb_can_rx_over_error(priv->netdev);
if (flags & KVASER_USB_HYDRA_CF_FLAG_FDF) {
cf->len = can_dlc2len(get_canfd_dlc(dlc));
if (flags & KVASER_USB_HYDRA_CF_FLAG_BRS)
cf->flags |= CANFD_BRS;
if (flags & KVASER_USB_HYDRA_CF_FLAG_ESI)
cf->flags |= CANFD_ESI;
} else {
cf->len = get_can_dlc(dlc);
}
if (flags & KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME)
cf->can_id |= CAN_RTR_FLAG;
else
memcpy(cf->data, cmd->rx_can.kcan_payload, cf->len);
stats->rx_packets++;
stats->rx_bytes += cf->len;
netif_rx(skb);
}
static void kvaser_usb_hydra_handle_cmd_std(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
switch (cmd->header.cmd_no) {
case CMD_START_CHIP_RESP:
kvaser_usb_hydra_start_chip_reply(dev, cmd);
break;
case CMD_STOP_CHIP_RESP:
kvaser_usb_hydra_stop_chip_reply(dev, cmd);
break;
case CMD_FLUSH_QUEUE_RESP:
kvaser_usb_hydra_flush_queue_reply(dev, cmd);
break;
case CMD_CHIP_STATE_EVENT:
kvaser_usb_hydra_state_event(dev, cmd);
break;
case CMD_ERROR_EVENT:
kvaser_usb_hydra_error_event(dev, cmd);
break;
case CMD_TX_ACKNOWLEDGE:
kvaser_usb_hydra_tx_acknowledge(dev, cmd);
break;
case CMD_RX_MESSAGE:
kvaser_usb_hydra_rx_msg_std(dev, cmd);
break;
/* Ignored commands */
case CMD_SET_BUSPARAMS_RESP:
case CMD_SET_BUSPARAMS_FD_RESP:
break;
default:
dev_warn(&dev->intf->dev, "Unhandled command (%d)\n",
cmd->header.cmd_no);
break;
}
}
static void kvaser_usb_hydra_handle_cmd_ext(const struct kvaser_usb *dev,
const struct kvaser_cmd_ext *cmd)
{
switch (cmd->cmd_no_ext) {
case CMD_TX_ACKNOWLEDGE_FD:
kvaser_usb_hydra_tx_acknowledge(dev, (struct kvaser_cmd *)cmd);
break;
case CMD_RX_MESSAGE_FD:
kvaser_usb_hydra_rx_msg_ext(dev, cmd);
break;
default:
dev_warn(&dev->intf->dev, "Unhandled extended command (%d)\n",
cmd->header.cmd_no);
break;
}
}
static void kvaser_usb_hydra_handle_cmd(const struct kvaser_usb *dev,
const struct kvaser_cmd *cmd)
{
if (cmd->header.cmd_no == CMD_EXTENDED)
kvaser_usb_hydra_handle_cmd_ext
(dev, (struct kvaser_cmd_ext *)cmd);
else
kvaser_usb_hydra_handle_cmd_std(dev, cmd);
}
static void *
kvaser_usb_hydra_frame_to_cmd_ext(const struct kvaser_usb_net_priv *priv,
const struct sk_buff *skb, int *frame_len,
int *cmd_len, u16 transid)
{
struct kvaser_usb *dev = priv->dev;
struct kvaser_cmd_ext *cmd;
struct canfd_frame *cf = (struct canfd_frame *)skb->data;
u8 dlc = can_len2dlc(cf->len);
u8 nbr_of_bytes = cf->len;
u32 flags;
u32 id;
u32 kcan_id;
u32 kcan_header;
*frame_len = nbr_of_bytes;
cmd = kcalloc(1, sizeof(struct kvaser_cmd_ext), GFP_ATOMIC);
if (!cmd)
return NULL;
kvaser_usb_hydra_set_cmd_dest_he
((struct kvaser_cmd *)cmd,
dev->card_data.hydra.channel_to_he[priv->channel]);
kvaser_usb_hydra_set_cmd_transid((struct kvaser_cmd *)cmd, transid);
cmd->header.cmd_no = CMD_EXTENDED;
cmd->cmd_no_ext = CMD_TX_CAN_MESSAGE_FD;
*cmd_len = ALIGN(sizeof(struct kvaser_cmd_ext) -
sizeof(cmd->tx_can.kcan_payload) + nbr_of_bytes,
8);
cmd->len = cpu_to_le16(*cmd_len);
cmd->tx_can.databytes = nbr_of_bytes;
cmd->tx_can.dlc = dlc;
if (cf->can_id & CAN_EFF_FLAG) {
id = cf->can_id & CAN_EFF_MASK;
flags = KVASER_USB_HYDRA_CF_FLAG_EXTENDED_ID;
kcan_id = (cf->can_id & CAN_EFF_MASK) |
KVASER_USB_KCAN_DATA_IDE | KVASER_USB_KCAN_DATA_SRR;
} else {
id = cf->can_id & CAN_SFF_MASK;
flags = 0;
kcan_id = cf->can_id & CAN_SFF_MASK;
}
if (cf->can_id & CAN_ERR_FLAG)
flags |= KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME;
kcan_header = ((dlc << KVASER_USB_KCAN_DATA_DLC_SHIFT) &
KVASER_USB_KCAN_DATA_DLC_MASK) |
KVASER_USB_KCAN_DATA_AREQ |
(priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT ?
KVASER_USB_KCAN_DATA_OSM : 0);
if (can_is_canfd_skb(skb)) {
kcan_header |= KVASER_USB_KCAN_DATA_FDF |
(cf->flags & CANFD_BRS ?
KVASER_USB_KCAN_DATA_BRS : 0);
} else {
if (cf->can_id & CAN_RTR_FLAG) {
kcan_id |= KVASER_USB_KCAN_DATA_RTR;
cmd->tx_can.databytes = 0;
flags |= KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME;
}
}
cmd->tx_can.kcan_id = cpu_to_le32(kcan_id);
cmd->tx_can.id = cpu_to_le32(id);
cmd->tx_can.flags = cpu_to_le32(flags);
cmd->tx_can.kcan_header = cpu_to_le32(kcan_header);
memcpy(cmd->tx_can.kcan_payload, cf->data, nbr_of_bytes);
return cmd;
}
static void *
kvaser_usb_hydra_frame_to_cmd_std(const struct kvaser_usb_net_priv *priv,
const struct sk_buff *skb, int *frame_len,
int *cmd_len, u16 transid)
{
struct kvaser_usb *dev = priv->dev;
struct kvaser_cmd *cmd;
struct can_frame *cf = (struct can_frame *)skb->data;
u32 flags;
u32 id;
*frame_len = cf->can_dlc;
cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_ATOMIC);
if (!cmd)
return NULL;
kvaser_usb_hydra_set_cmd_dest_he
(cmd, dev->card_data.hydra.channel_to_he[priv->channel]);
kvaser_usb_hydra_set_cmd_transid(cmd, transid);
cmd->header.cmd_no = CMD_TX_CAN_MESSAGE;
*cmd_len = ALIGN(sizeof(struct kvaser_cmd), 8);
if (cf->can_id & CAN_EFF_FLAG) {
id = (cf->can_id & CAN_EFF_MASK);
id |= KVASER_USB_HYDRA_EXTENDED_FRAME_ID;
} else {
id = cf->can_id & CAN_SFF_MASK;
}
cmd->tx_can.dlc = cf->can_dlc;
flags = (cf->can_id & CAN_EFF_FLAG ?
KVASER_USB_HYDRA_CF_FLAG_EXTENDED_ID : 0);
if (cf->can_id & CAN_RTR_FLAG)
flags |= KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME;
flags |= (cf->can_id & CAN_ERR_FLAG ?
KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME : 0);
cmd->tx_can.id = cpu_to_le32(id);
cmd->tx_can.flags = flags;
memcpy(cmd->tx_can.data, cf->data, *frame_len);
return cmd;
}
static int kvaser_usb_hydra_set_mode(struct net_device *netdev,
enum can_mode mode)
{
int err = 0;
switch (mode) {
case CAN_MODE_START:
/* CAN controller automatically recovers from BUS_OFF */
break;
default:
err = -EOPNOTSUPP;
}
return err;
}
static int kvaser_usb_hydra_set_bittiming(struct net_device *netdev)
{
struct kvaser_cmd *cmd;
struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
struct can_bittiming *bt = &priv->can.bittiming;
struct kvaser_usb *dev = priv->dev;
int tseg1 = bt->prop_seg + bt->phase_seg1;
int tseg2 = bt->phase_seg2;
int sjw = bt->sjw;
int err;
cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
if (!cmd)
return -ENOMEM;
cmd->header.cmd_no = CMD_SET_BUSPARAMS_REQ;
cmd->set_busparams_req.bitrate = cpu_to_le32(bt->bitrate);
cmd->set_busparams_req.sjw = (u8)sjw;
cmd->set_busparams_req.tseg1 = (u8)tseg1;
cmd->set_busparams_req.tseg2 = (u8)tseg2;
cmd->set_busparams_req.nsamples = 1;
kvaser_usb_hydra_set_cmd_dest_he
(cmd, dev->card_data.hydra.channel_to_he[priv->channel]);
kvaser_usb_hydra_set_cmd_transid
(cmd, kvaser_usb_hydra_get_next_transid(dev));
err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
kfree(cmd);
return err;
}
static int kvaser_usb_hydra_set_data_bittiming(struct net_device *netdev)
{
struct kvaser_cmd *cmd;
struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
struct can_bittiming *dbt = &priv->can.data_bittiming;
struct kvaser_usb *dev = priv->dev;
int tseg1 = dbt->prop_seg + dbt->phase_seg1;
int tseg2 = dbt->phase_seg2;
int sjw = dbt->sjw;
int err;
cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
if (!cmd)
return -ENOMEM;
cmd->header.cmd_no = CMD_SET_BUSPARAMS_FD_REQ;
cmd->set_busparams_req.bitrate_d = cpu_to_le32(dbt->bitrate);
cmd->set_busparams_req.sjw_d = (u8)sjw;
cmd->set_busparams_req.tseg1_d = (u8)tseg1;
cmd->set_busparams_req.tseg2_d = (u8)tseg2;
cmd->set_busparams_req.nsamples_d = 1;
if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)
cmd->set_busparams_req.canfd_mode =
KVASER_USB_HYDRA_BUS_MODE_NONISO;
else
cmd->set_busparams_req.canfd_mode =
KVASER_USB_HYDRA_BUS_MODE_CANFD_ISO;
}
kvaser_usb_hydra_set_cmd_dest_he
(cmd, dev->card_data.hydra.channel_to_he[priv->channel]);
kvaser_usb_hydra_set_cmd_transid
(cmd, kvaser_usb_hydra_get_next_transid(dev));
err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
kfree(cmd);
return err;
}
static int kvaser_usb_hydra_get_berr_counter(const struct net_device *netdev,
struct can_berr_counter *bec)
{
struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
int err;
err = kvaser_usb_hydra_send_simple_cmd(priv->dev,
CMD_GET_CHIP_STATE_REQ,
priv->channel);
if (err)
return err;
*bec = priv->bec;
return 0;
}
static int kvaser_usb_hydra_setup_endpoints(struct kvaser_usb *dev)
{
const struct usb_host_interface *iface_desc;
struct usb_endpoint_descriptor *ep;
int i;
iface_desc = dev->intf->cur_altsetting;
for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
ep = &iface_desc->endpoint[i].desc;
if (!dev->bulk_in && usb_endpoint_is_bulk_in(ep) &&
ep->bEndpointAddress == KVASER_USB_HYDRA_BULK_EP_IN_ADDR)
dev->bulk_in = ep;
if (!dev->bulk_out && usb_endpoint_is_bulk_out(ep) &&
ep->bEndpointAddress == KVASER_USB_HYDRA_BULK_EP_OUT_ADDR)
dev->bulk_out = ep;
if (dev->bulk_in && dev->bulk_out)
return 0;
}
return -ENODEV;
}
static int kvaser_usb_hydra_init_card(struct kvaser_usb *dev)
{
int err;
unsigned int i;
struct kvaser_usb_dev_card_data_hydra *card_data =
&dev->card_data.hydra;
card_data->transid = KVASER_USB_HYDRA_MIN_TRANSID;
spin_lock_init(&card_data->transid_lock);
memset(card_data->usb_rx_leftover, 0, KVASER_USB_HYDRA_MAX_CMD_LEN);
card_data->usb_rx_leftover_len = 0;
spin_lock_init(&card_data->usb_rx_leftover_lock);
memset(card_data->channel_to_he, KVASER_USB_HYDRA_HE_ADDRESS_ILLEGAL,
sizeof(card_data->channel_to_he));
card_data->sysdbg_he = 0;
for (i = 0; i < KVASER_USB_MAX_NET_DEVICES; i++) {
err = kvaser_usb_hydra_map_channel
(dev,
(KVASER_USB_HYDRA_TRANSID_CANHE | i),
i, "CAN");
if (err) {
dev_err(&dev->intf->dev,
"CMD_MAP_CHANNEL_REQ failed for CAN%u\n", i);
return err;
}
}
err = kvaser_usb_hydra_map_channel(dev, KVASER_USB_HYDRA_TRANSID_SYSDBG,
0, "SYSDBG");
if (err) {
dev_err(&dev->intf->dev,
"CMD_MAP_CHANNEL_REQ failed for SYSDBG\n");
return err;
}
return 0;
}
static int kvaser_usb_hydra_get_software_info(struct kvaser_usb *dev)
{
struct kvaser_cmd cmd;
int err;
err = kvaser_usb_hydra_send_simple_cmd(dev, CMD_GET_SOFTWARE_INFO_REQ,
-1);
if (err)
return err;
memset(&cmd, 0, sizeof(struct kvaser_cmd));
err = kvaser_usb_hydra_wait_cmd(dev, CMD_GET_SOFTWARE_INFO_RESP, &cmd);
if (err)
return err;
dev->max_tx_urbs = min_t(unsigned int, KVASER_USB_MAX_TX_URBS,
le16_to_cpu(cmd.sw_info.max_outstanding_tx));
return 0;
}
static int kvaser_usb_hydra_get_software_details(struct kvaser_usb *dev)
{
struct kvaser_cmd *cmd;
int err;
u32 flags;
struct kvaser_usb_dev_card_data *card_data = &dev->card_data;
cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
if (!cmd)
return -ENOMEM;
cmd->header.cmd_no = CMD_GET_SOFTWARE_DETAILS_REQ;
cmd->sw_detail_req.use_ext_cmd = 1;
kvaser_usb_hydra_set_cmd_dest_he
(cmd, KVASER_USB_HYDRA_HE_ADDRESS_ILLEGAL);
kvaser_usb_hydra_set_cmd_transid
(cmd, kvaser_usb_hydra_get_next_transid(dev));
err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
if (err)
goto end;
err = kvaser_usb_hydra_wait_cmd(dev, CMD_GET_SOFTWARE_DETAILS_RESP,
cmd);
if (err)
goto end;
dev->fw_version = le32_to_cpu(cmd->sw_detail_res.sw_version);
flags = le32_to_cpu(cmd->sw_detail_res.sw_flags);
if (flags & KVASER_USB_HYDRA_SW_FLAG_FW_BAD) {
dev_err(&dev->intf->dev,
"Bad firmware, device refuse to run!\n");
err = -EINVAL;
goto end;
}
if (flags & KVASER_USB_HYDRA_SW_FLAG_FW_BETA)
dev_info(&dev->intf->dev, "Beta firmware in use\n");
if (flags & KVASER_USB_HYDRA_SW_FLAG_EXT_CAP)
card_data->capabilities |= KVASER_USB_CAP_EXT_CAP;
if (flags & KVASER_USB_HYDRA_SW_FLAG_EXT_CMD)
card_data->capabilities |= KVASER_USB_HYDRA_CAP_EXT_CMD;
if (flags & KVASER_USB_HYDRA_SW_FLAG_CANFD)
card_data->ctrlmode_supported |= CAN_CTRLMODE_FD;
if (flags & KVASER_USB_HYDRA_SW_FLAG_NONISO)
card_data->ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO;
if (flags & KVASER_USB_HYDRA_SW_FLAG_FREQ_80M)
dev->cfg = &kvaser_usb_hydra_dev_cfg_kcan;
else
dev->cfg = &kvaser_usb_hydra_dev_cfg_flexc;
end:
kfree(cmd);
return err;
}
static int kvaser_usb_hydra_get_card_info(struct kvaser_usb *dev)
{
struct kvaser_cmd cmd;
int err;
err = kvaser_usb_hydra_send_simple_cmd(dev, CMD_GET_CARD_INFO_REQ, -1);
if (err)
return err;
memset(&cmd, 0, sizeof(struct kvaser_cmd));
err = kvaser_usb_hydra_wait_cmd(dev, CMD_GET_CARD_INFO_RESP, &cmd);
if (err)
return err;
dev->nchannels = cmd.card_info.nchannels;
if (dev->nchannels > KVASER_USB_MAX_NET_DEVICES)
return -EINVAL;
return 0;
}
static int kvaser_usb_hydra_get_capabilities(struct kvaser_usb *dev)
{
int err;
u16 status;
if (!(dev->card_data.capabilities & KVASER_USB_CAP_EXT_CAP)) {
dev_info(&dev->intf->dev,
"No extended capability support. Upgrade your device.\n");
return 0;
}
err = kvaser_usb_hydra_get_single_capability
(dev,
KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE,
&status);
if (err)
return err;
if (status)
dev_info(&dev->intf->dev,
"KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE failed %u\n",
status);
err = kvaser_usb_hydra_get_single_capability
(dev,
KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT,
&status);
if (err)
return err;
if (status)
dev_info(&dev->intf->dev,
"KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT failed %u\n",
status);
err = kvaser_usb_hydra_get_single_capability
(dev, KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT,
&status);
if (err)
return err;
if (status)
dev_info(&dev->intf->dev,
"KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT failed %u\n",
status);
return 0;
}
static int kvaser_usb_hydra_set_opt_mode(const struct kvaser_usb_net_priv *priv)
{
struct kvaser_usb *dev = priv->dev;
struct kvaser_cmd *cmd;
int err;
if ((priv->can.ctrlmode &
(CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO)) ==
CAN_CTRLMODE_FD_NON_ISO) {
netdev_warn(priv->netdev,
"CTRLMODE_FD shall be on if CTRLMODE_FD_NON_ISO is on\n");
return -EINVAL;
}
cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
if (!cmd)
return -ENOMEM;
cmd->header.cmd_no = CMD_SET_DRIVERMODE_REQ;
kvaser_usb_hydra_set_cmd_dest_he
(cmd, dev->card_data.hydra.channel_to_he[priv->channel]);
kvaser_usb_hydra_set_cmd_transid
(cmd, kvaser_usb_hydra_get_next_transid(dev));
if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
cmd->set_ctrlmode.mode = KVASER_USB_HYDRA_CTRLMODE_LISTEN;
else
cmd->set_ctrlmode.mode = KVASER_USB_HYDRA_CTRLMODE_NORMAL;
err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
kfree(cmd);
return err;
}
static int kvaser_usb_hydra_start_chip(struct kvaser_usb_net_priv *priv)
{
int err;
init_completion(&priv->start_comp);
err = kvaser_usb_hydra_send_simple_cmd(priv->dev, CMD_START_CHIP_REQ,
priv->channel);
if (err)
return err;
if (!wait_for_completion_timeout(&priv->start_comp,
msecs_to_jiffies(KVASER_USB_TIMEOUT)))
return -ETIMEDOUT;
return 0;
}
static int kvaser_usb_hydra_stop_chip(struct kvaser_usb_net_priv *priv)
{
int err;
init_completion(&priv->stop_comp);
/* Make sure we do not report invalid BUS_OFF from CMD_CHIP_STATE_EVENT
* see comment in kvaser_usb_hydra_update_state()
*/
priv->can.state = CAN_STATE_STOPPED;
err = kvaser_usb_hydra_send_simple_cmd(priv->dev, CMD_STOP_CHIP_REQ,
priv->channel);
if (err)
return err;
if (!wait_for_completion_timeout(&priv->stop_comp,
msecs_to_jiffies(KVASER_USB_TIMEOUT)))
return -ETIMEDOUT;
return 0;
}
static int kvaser_usb_hydra_flush_queue(struct kvaser_usb_net_priv *priv)
{
int err;
init_completion(&priv->flush_comp);
err = kvaser_usb_hydra_send_simple_cmd(priv->dev, CMD_FLUSH_QUEUE,
priv->channel);
if (err)
return err;
if (!wait_for_completion_timeout(&priv->flush_comp,
msecs_to_jiffies(KVASER_USB_TIMEOUT)))
return -ETIMEDOUT;
return 0;
}
/* A single extended hydra command can be transmitted in multiple transfers
* We have to buffer partial hydra commands, and handle them on next callback.
*/
static void kvaser_usb_hydra_read_bulk_callback(struct kvaser_usb *dev,
void *buf, int len)
{
unsigned long irq_flags;
struct kvaser_cmd *cmd;
int pos = 0;
size_t cmd_len;
struct kvaser_usb_dev_card_data_hydra *card_data =
&dev->card_data.hydra;
int usb_rx_leftover_len;
spinlock_t *usb_rx_leftover_lock = &card_data->usb_rx_leftover_lock;
spin_lock_irqsave(usb_rx_leftover_lock, irq_flags);
usb_rx_leftover_len = card_data->usb_rx_leftover_len;
if (usb_rx_leftover_len) {
int remaining_bytes;
cmd = (struct kvaser_cmd *)card_data->usb_rx_leftover;
cmd_len = kvaser_usb_hydra_cmd_size(cmd);
remaining_bytes = min_t(unsigned int, len,
cmd_len - usb_rx_leftover_len);
/* Make sure we do not overflow usb_rx_leftover */
if (remaining_bytes + usb_rx_leftover_len >
KVASER_USB_HYDRA_MAX_CMD_LEN) {
dev_err(&dev->intf->dev, "Format error\n");
spin_unlock_irqrestore(usb_rx_leftover_lock, irq_flags);
return;
}
memcpy(card_data->usb_rx_leftover + usb_rx_leftover_len, buf,
remaining_bytes);
pos += remaining_bytes;
if (remaining_bytes + usb_rx_leftover_len == cmd_len) {
kvaser_usb_hydra_handle_cmd(dev, cmd);
usb_rx_leftover_len = 0;
} else {
/* Command still not complete */
usb_rx_leftover_len += remaining_bytes;
}
card_data->usb_rx_leftover_len = usb_rx_leftover_len;
}
spin_unlock_irqrestore(usb_rx_leftover_lock, irq_flags);
while (pos < len) {
cmd = buf + pos;
cmd_len = kvaser_usb_hydra_cmd_size(cmd);
if (pos + cmd_len > len) {
/* We got first part of a command */
int leftover_bytes;
leftover_bytes = len - pos;
/* Make sure we do not overflow usb_rx_leftover */
if (leftover_bytes > KVASER_USB_HYDRA_MAX_CMD_LEN) {
dev_err(&dev->intf->dev, "Format error\n");
return;
}
spin_lock_irqsave(usb_rx_leftover_lock, irq_flags);
memcpy(card_data->usb_rx_leftover, buf + pos,
leftover_bytes);
card_data->usb_rx_leftover_len = leftover_bytes;
spin_unlock_irqrestore(usb_rx_leftover_lock, irq_flags);
break;
}
kvaser_usb_hydra_handle_cmd(dev, cmd);
pos += cmd_len;
}
}
static void *
kvaser_usb_hydra_frame_to_cmd(const struct kvaser_usb_net_priv *priv,
const struct sk_buff *skb, int *frame_len,
int *cmd_len, u16 transid)
{
void *buf;
if (priv->dev->card_data.capabilities & KVASER_USB_HYDRA_CAP_EXT_CMD)
buf = kvaser_usb_hydra_frame_to_cmd_ext(priv, skb, frame_len,
cmd_len, transid);
else
buf = kvaser_usb_hydra_frame_to_cmd_std(priv, skb, frame_len,
cmd_len, transid);
return buf;
}
const struct kvaser_usb_dev_ops kvaser_usb_hydra_dev_ops = {
.dev_set_mode = kvaser_usb_hydra_set_mode,
.dev_set_bittiming = kvaser_usb_hydra_set_bittiming,
.dev_set_data_bittiming = kvaser_usb_hydra_set_data_bittiming,
.dev_get_berr_counter = kvaser_usb_hydra_get_berr_counter,
.dev_setup_endpoints = kvaser_usb_hydra_setup_endpoints,
.dev_init_card = kvaser_usb_hydra_init_card,
.dev_get_software_info = kvaser_usb_hydra_get_software_info,
.dev_get_software_details = kvaser_usb_hydra_get_software_details,
.dev_get_card_info = kvaser_usb_hydra_get_card_info,
.dev_get_capabilities = kvaser_usb_hydra_get_capabilities,
.dev_set_opt_mode = kvaser_usb_hydra_set_opt_mode,
.dev_start_chip = kvaser_usb_hydra_start_chip,
.dev_stop_chip = kvaser_usb_hydra_stop_chip,
.dev_reset_chip = NULL,
.dev_flush_queue = kvaser_usb_hydra_flush_queue,
.dev_read_bulk_callback = kvaser_usb_hydra_read_bulk_callback,
.dev_frame_to_cmd = kvaser_usb_hydra_frame_to_cmd,
};
static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_kcan = {
.clock = {
.freq = 80000000,
},
.timestamp_freq = 80,
.bittiming_const = &kvaser_usb_hydra_kcan_bittiming_c,
.data_bittiming_const = &kvaser_usb_hydra_kcan_bittiming_c,
};
static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_flexc = {
.clock = {
.freq = 24000000,
},
.timestamp_freq = 1,
.bittiming_const = &kvaser_usb_hydra_flexc_bittiming_c,
};
Reference in New Issue View Git Blame Copy Permalink