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Date: Mon, 30 Jul 2012 13:11:46 +0200
From: Marc Kleine-Budde <mkl@...gutronix.de>
To: Olivier Sobrie <olivier@...rie.be>
CC: Wolfgang Grandegger <wg@...ndegger.com>, linux-can@...r.kernel.org,
netdev@...r.kernel.org
Subject: Re: [PATCH] can: kvaser_usb: Add support for Kvaser CAN/USB devices
On 07/30/2012 07:32 AM, Olivier Sobrie wrote:
> This driver provides support for several Kvaser CAN/USB devices.
> Such kind of devices supports up to three can network interfaces.
>
> It has been tested with a Kvaser USB Leaf Light (one network interface)
> connected to a pch_can interface.
> The firmware version of the Kvaser device was 2.5.205.
Please add linux-usb@...r.kernel.org to Cc for review of the USB part.
Please combine .h and .c file. Please make use of netdev_LEVEL() for
error printing, not dev_LEVEL().
Please review if all members of the struct kvaser_msg are properly
aligned. You never access the struct kvaser_msg_* members directly, as
they are unaligned. Please check for le16 and le32 access. You missed to
convert the bitrate.
Please check if your driver survives hot-unplugging while sending and
receiving CAN frames at maximum laod.
More comments inline,
regards, Marc
> List of Kvaser devices supported by the driver:
> - Kvaser Leaf prototype (P010v2 and v3)
> - Kvaser Leaf Light (P010v3)
> - Kvaser Leaf Professional HS
> - Kvaser Leaf SemiPro HS
> - Kvaser Leaf Professional LS
> - Kvaser Leaf Professional SWC
> - Kvaser Leaf Professional LIN
> - Kvaser Leaf SemiPro LS
> - Kvaser Leaf SemiPro SWC
> - Kvaser Memorator II, Prototype
> - Kvaser Memorator II HS/HS
> - Kvaser USBcan Professional HS/HS
> - Kvaser Leaf Light GI
> - Kvaser Leaf Professional HS (OBD-II connector)
> - Kvaser Memorator Professional HS/LS
> - Kvaser Leaf Light "China"
> - Kvaser BlackBird SemiPro
> - Kvaser OEM Mercury
> - Kvaser OEM Leaf
> - Kvaser USBcan R
>
> Signed-off-by: Olivier Sobrie <olivier@...rie.be>
> ---
> drivers/net/can/usb/Kconfig | 33 ++
> drivers/net/can/usb/Makefile | 1 +
> drivers/net/can/usb/kvaser_usb.c | 1062 ++++++++++++++++++++++++++++++++++++++
> drivers/net/can/usb/kvaser_usb.h | 237 +++++++++
> 4 files changed, 1333 insertions(+)
> create mode 100644 drivers/net/can/usb/kvaser_usb.c
> create mode 100644 drivers/net/can/usb/kvaser_usb.h
>
> diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig
> index 0a68768..578955f 100644
> --- a/drivers/net/can/usb/Kconfig
> +++ b/drivers/net/can/usb/Kconfig
> @@ -13,6 +13,39 @@ config CAN_ESD_USB2
> This driver supports the CAN-USB/2 interface
> from esd electronic system design gmbh (http://www.esd.eu).
>
> +config CAN_KVASER_USB
> + tristate "Kvaser CAN/USB interface"
> + ---help---
> + This driver adds support for Kvaser CAN/USB devices like Kvaser
> + Leaf Light.
> +
> + The driver gives support for the following devices:
> + - Kvaser Leaf prototype (P010v2 and v3)
> + - Kvaser Leaf Light (P010v3)
> + - Kvaser Leaf Professional HS
> + - Kvaser Leaf SemiPro HS
> + - Kvaser Leaf Professional LS
> + - Kvaser Leaf Professional SWC
> + - Kvaser Leaf Professional LIN
> + - Kvaser Leaf SemiPro LS
> + - Kvaser Leaf SemiPro SWC
> + - Kvaser Memorator II, Prototype
> + - Kvaser Memorator II HS/HS
> + - Kvaser USBcan Professional HS/HS
> + - Kvaser Leaf Light GI
> + - Kvaser Leaf Professional HS (OBD-II connector)
> + - Kvaser Memorator Professional HS/LS
> + - Kvaser Leaf Light "China"
> + - Kvaser BlackBird SemiPro
> + - Kvaser OEM Mercury
> + - Kvaser OEM Leaf
> + - Kvaser USBcan R
> +
> + If unsure, say N.
> +
> + To compile this driver as a module, choose M here: the
> + module will be called kvaser_usb.
> +
> config CAN_PEAK_USB
> tristate "PEAK PCAN-USB/USB Pro interfaces"
> ---help---
> diff --git a/drivers/net/can/usb/Makefile b/drivers/net/can/usb/Makefile
> index da6d1d3..80a2ee4 100644
> --- a/drivers/net/can/usb/Makefile
> +++ b/drivers/net/can/usb/Makefile
> @@ -4,6 +4,7 @@
>
> obj-$(CONFIG_CAN_EMS_USB) += ems_usb.o
> obj-$(CONFIG_CAN_ESD_USB2) += esd_usb2.o
> +obj-$(CONFIG_CAN_KVASER_USB) += kvaser_usb.o
> obj-$(CONFIG_CAN_PEAK_USB) += peak_usb/
>
> ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG
> diff --git a/drivers/net/can/usb/kvaser_usb.c b/drivers/net/can/usb/kvaser_usb.c
> new file mode 100644
> index 0000000..4965480
> --- /dev/null
> +++ b/drivers/net/can/usb/kvaser_usb.c
> @@ -0,0 +1,1062 @@
> +/*
Please add a license statement and probably your copyright:
* 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.
You also should copy the copyright from the drivers you used:
> + * Parts of this driver are based on the following:
> + * - Kvaser linux leaf driver (version 4.78)
I just downloaded their driver and noticed that it's quite sparse on
stating the license the code is released under.
"doc/HTMLhelp/copyright.htx" is quite restrictive, the word GPL occurs 3
times, all in MODULE_LICENSE("GPL"). Running modinfo on the usbcan.ko
shows "license: GPL"
> + * - CAN driver for esd CAN-USB/2
> + */
> +
> +#include <linux/init.h>
> +#include <linux/completion.h>
> +#include <linux/module.h>
> +#include <linux/netdevice.h>
> +#include <linux/usb.h>
> +
> +#include <linux/can.h>
> +#include <linux/can/dev.h>
> +#include <linux/can/error.h>
> +
> +#include "kvaser_usb.h"
> +
> +struct kvaser_usb_tx_urb_context {
> + struct kvaser_usb_net_priv *priv;
Huh - how does this work without forward declaration?
> + u32 echo_index;
> + int dlc;
> +};
> +
> +struct kvaser_usb {
> + struct usb_device *udev;
> + struct kvaser_usb_net_priv *nets[MAX_NET_DEVICES];
> +
> + struct usb_anchor rx_submitted;
> +
> + u32 fw_version;
> + unsigned int nchannels;
> +
> + bool rxinitdone;
> +};
> +
> +struct kvaser_usb_net_priv {
> + struct can_priv can;
> +
> + atomic_t active_tx_urbs;
> + struct usb_anchor tx_submitted;
> + struct kvaser_usb_tx_urb_context tx_contexts[MAX_TX_URBS];
> +
> + int open_time;
please remove open_time
> + struct completion start_stop_comp;
> +
> + struct kvaser_usb *dev;
> + struct net_device *netdev;
> + int channel;
> + struct can_berr_counter bec;
> +};
> +
> +static struct usb_device_id kvaser_usb_table[] = {
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_DEVEL_PRODUCT_ID) },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_PRODUCT_ID) },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_PRODUCT_ID),
> + .driver_info = KVASER_HAS_SILENT_MODE },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_PRODUCT_ID),
> + .driver_info = KVASER_HAS_SILENT_MODE },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_LS_PRODUCT_ID),
> + .driver_info = KVASER_HAS_SILENT_MODE },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_SWC_PRODUCT_ID),
> + .driver_info = KVASER_HAS_SILENT_MODE },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_LIN_PRODUCT_ID),
> + .driver_info = KVASER_HAS_SILENT_MODE },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_LS_PRODUCT_ID),
> + .driver_info = KVASER_HAS_SILENT_MODE },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_SWC_PRODUCT_ID),
> + .driver_info = KVASER_HAS_SILENT_MODE },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_DEVEL_PRODUCT_ID),
> + .driver_info = KVASER_HAS_SILENT_MODE },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_HSHS_PRODUCT_ID),
> + .driver_info = KVASER_HAS_SILENT_MODE },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_UPRO_HSHS_PRODUCT_ID) },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_GI_PRODUCT_ID) },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_OBDII_PRODUCT_ID),
> + .driver_info = KVASER_HAS_SILENT_MODE },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_HSLS_PRODUCT_ID) },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_CH_PRODUCT_ID) },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_BLACKBIRD_SPRO_PRODUCT_ID) },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_OEM_MERCURY_PRODUCT_ID) },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_OEM_LEAF_PRODUCT_ID) },
> + { USB_DEVICE(KVASER_VENDOR_ID, USB_CAN_R_PRODUCT_ID) },
> + { }
> +};
> +MODULE_DEVICE_TABLE(usb, kvaser_usb_table);
> +
> +static int kvaser_usb_send_msg(const struct kvaser_usb *dev,
> + struct kvaser_msg *msg)
inline?
> +{
> + int actual_len;
> +
> + return usb_bulk_msg(dev->udev, usb_sndbulkpipe(dev->udev, 1),
^
Can you please introduce a #define for this.
> + msg, msg->len, &actual_len, USB_SEND_TIMEOUT);
> +}
> +
> +static int kvaser_usb_wait_msg(const struct kvaser_usb *dev, u8 id,
> + struct kvaser_msg *msg)
> +{
> + struct kvaser_msg *tmp;
> + void *buf;
> + int actual_len;
> + int err;
> + int pos = 0;
> +
> + buf = kzalloc(RX_BUFFER_SIZE, GFP_KERNEL);
> + if (!buf)
> + return -ENOMEM;
> +
> + err = usb_bulk_msg(dev->udev, usb_rcvbulkpipe(dev->udev, 129),
^^^
dito
> + buf, RX_BUFFER_SIZE, &actual_len,
> + USB_RECEIVE_TIMEOUT);
> + if (err < 0) {
> + kfree(buf);
> + return err;
> + }
> +
> + while (pos < actual_len) {
Please check that pos + sizeof(*msg) is < actual_len, as you fill access
it later.
> + tmp = buf + pos;
> +
> + if (!tmp->len)
> + break;
> +
> + if (tmp->id == id) {
> + memcpy(msg, tmp, sizeof(*msg));
> + kfree(buf);
> + return 0;
> + }
> +
> + pos += tmp->len;
> + }
> +
> + kfree(buf);
> +
> + return -EINVAL;
> +}
> +
> +static int kvaser_usb_send_simple_msg(const struct kvaser_usb *dev,
> + u8 msg_id, int channel)
> +{
> + struct kvaser_msg msg;
> + int err;
> +
> + msg.len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_simple);
> + msg.id = msg_id;
> + msg.u.simple.channel = channel;
> + msg.u.simple.tid = 0xff;
Please use C99 struct initializer.
struct kvaser_msg msg = {
.len = ,
.id =,
};
> +
> + err = kvaser_usb_send_msg(dev, &msg);
just:
return err;
> + if (err)
> + return err;
> +
> + return 0;
> +}
> +
> +static int kvaser_usb_get_software_info(struct kvaser_usb *dev)
> +{
> + struct kvaser_msg msg;
> + int err;
> +
> + err = kvaser_usb_send_simple_msg(dev, CMD_GET_SOFTWARE_INFO, 0);
> + if (err)
> + return err;
> +
> + err = kvaser_usb_wait_msg(dev, CMD_GET_SOFTWARE_INFO_REPLY, &msg);
> + if (err)
> + return err;
> +
> + dev->fw_version = le32_to_cpu(msg.u.softinfo.fw_version);
> +
> + return 0;
> +}
> +
> +static int kvaser_usb_get_card_info(struct kvaser_usb *dev)
> +{
> + struct kvaser_msg msg;
> + int err;
> +
> + err = kvaser_usb_send_simple_msg(dev, CMD_GET_CARD_INFO, 0);
> + if (err)
> + return err;
> +
> + err = kvaser_usb_wait_msg(dev, CMD_GET_CARD_INFO_REPLY, &msg);
> + if (err)
> + return err;
> +
> + dev->nchannels = msg.u.cardinfo.nchannels;
> +
> + return 0;
> +}
> +
> +static void kvaser_usb_tx_acknowledge(const struct kvaser_usb *dev,
> + const struct kvaser_msg *msg)
> +{
> + struct net_device_stats *stats;
> + struct kvaser_usb_tx_urb_context *context;
> + struct kvaser_usb_net_priv *priv;
> + u8 channel = msg->u.tx_acknowledge.channel;
> + u8 tid = msg->u.tx_acknowledge.tid;
> +
> + if (channel >= dev->nchannels) {
> + dev_err(dev->udev->dev.parent,
> + "Invalid channel number (%d)\n", channel);
> + return;
> + }
can you do a check for (channel >= dev->nchannels), in a central place?
e.g. kvaser_usb_handle_message()?
> +
> + priv = dev->nets[channel];
> +
> + if (!netif_device_present(priv->netdev))
> + return;
> +
> + stats = &priv->netdev->stats;
> +
> + context = &priv->tx_contexts[tid % MAX_TX_URBS];
> +
> + /*
> + * It looks like the firmware never sets the flags field of the
> + * tx_acknowledge frame and never reports a transmit failure.
> + * If the can message can't be transmited (e.g. incompatible
> + * bitrates), a frame CMD_CAN_ERROR_EVENT is sent (with a null
> + * tid) and the firmware tries to transmit again the packet until
> + * it succeeds. Once the packet is successfully transmitted, then
> + * the tx_acknowledge frame is sent.
> + */
> +
> + stats->tx_packets++;
> + stats->tx_bytes += context->dlc;
> + can_get_echo_skb(priv->netdev, context->echo_index);
> +
> + context->echo_index = MAX_TX_URBS;
> + atomic_dec(&priv->active_tx_urbs);
> +
> + netif_wake_queue(priv->netdev);
> +}
> +
> +static void kvaser_usb_rx_error(const struct kvaser_usb *dev,
> + const struct kvaser_msg *msg)
> +{
> + struct can_frame *cf;
> + struct sk_buff *skb;
> + struct net_device_stats *stats;
> + struct kvaser_usb_net_priv *priv;
> + u8 channel, status, txerr, rxerr;
> +
> + if (msg->id == CMD_CAN_ERROR_EVENT) {
> + channel = msg->u.error_event.channel;
> + status = msg->u.error_event.status;
> + txerr = msg->u.error_event.tx_errors_count;
> + rxerr = msg->u.error_event.rx_errors_count;
> + } else {
> + channel = msg->u.chip_state_event.channel;
> + status = msg->u.chip_state_event.status;
> + txerr = msg->u.chip_state_event.tx_errors_count;
> + rxerr = msg->u.chip_state_event.rx_errors_count;
> + }
> +
> + if (channel >= dev->nchannels) {
> + dev_err(dev->udev->dev.parent,
> + "Invalid channel number (%d)\n", channel);
> + return;
> + }
> +
> + priv = dev->nets[channel];
> + stats = &priv->netdev->stats;
> +
> + skb = alloc_can_err_skb(priv->netdev, &cf);
> + if (!skb) {
> + stats->rx_dropped++;
> + return;
> + }
> +
> + if ((status & M16C_STATE_BUS_OFF) ||
> + (status & M16C_STATE_BUS_RESET)) {
> + priv->can.state = CAN_STATE_BUS_OFF;
> + cf->can_id |= CAN_ERR_BUSOFF;
> + can_bus_off(priv->netdev);
> + } else if (status & M16C_STATE_BUS_ERROR) {
> + priv->can.state = CAN_STATE_ERROR_WARNING;
> + priv->can.can_stats.error_warning++;
> + } else if (status & M16C_STATE_BUS_PASSIVE) {
> + priv->can.state = CAN_STATE_ERROR_PASSIVE;
> + priv->can.can_stats.error_passive++;
> + } else {
> + priv->can.state = CAN_STATE_ERROR_ACTIVE;
> + cf->can_id |= CAN_ERR_PROT;
> + cf->data[2] = CAN_ERR_PROT_ACTIVE;
> + }
> +
> + if (msg->id == CMD_CAN_ERROR_EVENT) {
> + u8 error_factor = msg->u.error_event.error_factor;
> +
> + priv->can.can_stats.bus_error++;
> + stats->rx_errors++;
> +
> + cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
> +
> + if ((priv->can.state == CAN_STATE_ERROR_WARNING) ||
> + (priv->can.state == CAN_STATE_ERROR_PASSIVE)) {
> + cf->data[1] = (txerr > rxerr) ?
> + CAN_ERR_CRTL_TX_PASSIVE
> + : CAN_ERR_CRTL_RX_PASSIVE;
> + }
> +
> + if (error_factor & M16C_EF_ACKE)
> + cf->data[3] |= (CAN_ERR_PROT_LOC_ACK |
> + CAN_ERR_PROT_LOC_ACK_DEL);
> + if (error_factor & M16C_EF_CRCE)
> + cf->data[3] |= (CAN_ERR_PROT_LOC_CRC_SEQ |
> + CAN_ERR_PROT_LOC_CRC_DEL);
> + if (error_factor & M16C_EF_FORME)
> + cf->data[2] |= CAN_ERR_PROT_FORM;
> + if (error_factor & M16C_EF_STFE)
> + cf->data[2] |= CAN_ERR_PROT_STUFF;
> + if (error_factor & M16C_EF_BITE0)
> + cf->data[2] |= CAN_ERR_PROT_BIT0;
> + if (error_factor & M16C_EF_BITE1)
> + cf->data[2] |= CAN_ERR_PROT_BIT1;
> + if (error_factor & M16C_EF_TRE)
> + cf->data[2] |= CAN_ERR_PROT_TX;
> + }
> +
> + cf->data[6] = txerr;
> + cf->data[7] = rxerr;
> +
> + netif_rx(skb);
> +
> + priv->bec.txerr = txerr;
> + priv->bec.rxerr = rxerr;
> +
> + stats->rx_packets++;
> + stats->rx_bytes += cf->can_dlc;
> +}
> +
> +static void kvaser_usb_rx_can_msg(const struct kvaser_usb *dev,
> + const struct kvaser_msg *msg)
> +{
> + struct kvaser_usb_net_priv *priv;
> + struct can_frame *cf;
> + struct sk_buff *skb;
> + struct net_device_stats *stats;
> + u8 channel = msg->u.rx_can.channel;
> +
> + if (channel >= dev->nchannels) {
> + dev_err(dev->udev->dev.parent,
> + "Invalid channel number (%d)\n", channel);
> + return;
> + }
> +
> + priv = dev->nets[channel];
> + stats = &priv->netdev->stats;
> +
> + skb = alloc_can_skb(priv->netdev, &cf);
> + if (skb == NULL) {
> + stats->tx_dropped++;
> + return;
> + }
> +
> + cf->can_id = ((msg->u.rx_can.msg[0] & 0x1f) << 6) |
> + (msg->u.rx_can.msg[1] & 0x3f);
> + cf->can_dlc = get_can_dlc(msg->u.rx_can.msg[5]);
> +
> + if (msg->id == CMD_RX_EXT_MESSAGE) {
> + cf->can_id <<= 18;
> + cf->can_id += ((msg->u.rx_can.msg[2] & 0x0f) << 14) |
|=
is more appropriate here
> + ((msg->u.rx_can.msg[3] & 0xff) << 6) |
> + (msg->u.rx_can.msg[4] & 0x3f);
> + cf->can_id |= CAN_EFF_FLAG;
> + }
> +
> + if (msg->u.rx_can.flag & MSG_FLAG_REMOTE_FRAME) {
> + cf->can_id |= CAN_RTR_FLAG;
> + } else if (msg->u.rx_can.flag & (MSG_FLAG_ERROR_FRAME |
> + MSG_FLAG_NERR)) {
> + cf->can_id |= CAN_ERR_FLAG;
> + cf->can_dlc = CAN_ERR_DLC;
What kind of error is this? Can you set cf->data? What about the
original cd->can_id? What about the stats->rx_*error* stats?
> + } else if (msg->u.rx_can.flag & MSG_FLAG_OVERRUN) {
> + cf->can_id = CAN_ERR_FLAG | CAN_ERR_CRTL;
> + cf->can_dlc = CAN_ERR_DLC;
> + cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
> +
> + stats->rx_over_errors++;
> + stats->rx_errors++;
> + } else if (!msg->u.rx_can.flag) {
> + memcpy(cf->data, &msg->u.rx_can.msg[6], cf->can_dlc);
> + } else {
> + kfree_skb(skb);
> + return;
> + }
> +
> + netif_rx(skb);
> +
> + stats->rx_packets++;
> + stats->rx_bytes += cf->can_dlc;
> +}
> +
> +static void kvaser_usb_start_stop_chip_reply(const struct kvaser_usb *dev,
> + const struct kvaser_msg *msg)
> +{
> + struct kvaser_usb_net_priv *priv;
> + u8 channel = msg->u.simple.channel;
> +
> + if (channel >= dev->nchannels) {
> + dev_err(dev->udev->dev.parent,
> + "Invalid channel number (%d)\n", channel);
> + return;
> + }
> +
> + priv = dev->nets[channel];
> +
> + complete(&priv->start_stop_comp);
> +}
> +
> +static void kvaser_usb_handle_message(const struct kvaser_usb *dev,
> + const struct kvaser_msg *msg)
> +{
> + switch (msg->id) {
> + case CMD_START_CHIP_REPLY:
> + case CMD_STOP_CHIP_REPLY:
> + kvaser_usb_start_stop_chip_reply(dev, msg);
> + break;
> +
> + case CMD_RX_STD_MESSAGE:
> + case CMD_RX_EXT_MESSAGE:
> + kvaser_usb_rx_can_msg(dev, msg);
> + break;
> +
> + case CMD_CHIP_STATE_EVENT:
> + case CMD_CAN_ERROR_EVENT:
> + kvaser_usb_rx_error(dev, msg);
> + break;
> +
> + case CMD_TX_ACKNOWLEDGE:
> + kvaser_usb_tx_acknowledge(dev, msg);
> + break;
> +
> + default:
> + dev_warn(dev->udev->dev.parent,
> + "Unhandled message (%d)\n", msg->id);
> + break;
> + }
> +}
> +
> +static void kvaser_usb_read_bulk_callback(struct urb *urb)
> +{
> + struct kvaser_usb *dev = urb->context;
> + struct kvaser_msg *msg;
> + int pos = 0;
> + int err, i;
> +
> + switch (urb->status) {
> + case 0:
> + break;
> + case -ENOENT:
> + case -ESHUTDOWN:
> + return;
> + default:
> + dev_info(dev->udev->dev.parent, "Rx URB aborted (%d)\n",
> + urb->status);
> + goto resubmit_urb;
> + }
> +
> + while (pos < urb->actual_length) {
please check here for pos + sizeof(*msg), too
> + msg = urb->transfer_buffer + pos;
> +
> + if (!msg->len)
> + break;
> +
> + kvaser_usb_handle_message(dev, msg);
> +
> + if (pos > urb->actual_length) {
> + dev_err(dev->udev->dev.parent, "Format error\n");
> + break;
> + }
> +
> + pos += msg->len;
> + }
> +
> +resubmit_urb:
> + usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 129),
^^^
use #define
> + urb->transfer_buffer, RX_BUFFER_SIZE,
> + kvaser_usb_read_bulk_callback, dev);
> +
> + err = usb_submit_urb(urb, GFP_ATOMIC);
> + if (err == -ENODEV) {
> + for (i = 0; i < dev->nchannels; i++) {
> + if (!dev->nets[i])
> + continue;
> +
> + netif_device_detach(dev->nets[i]->netdev);
> + }
> + } else if (err) {
> + dev_err(dev->udev->dev.parent,
> + "Failed resubmitting read bulk urb: %d\n", err);
> + }
> +
> + return;
> +}
> +
> +static int kvaser_usb_setup_rx_urbs(struct kvaser_usb *dev)
> +{
> + int i, err = 0;
> +
> + if (dev->rxinitdone)
> + return 0;
> +
> + for (i = 0; i < MAX_RX_URBS; i++) {
> + struct urb *urb = NULL;
> + u8 *buf = NULL;
> +
> + urb = usb_alloc_urb(0, GFP_KERNEL);
> + if (!urb) {
> + dev_warn(dev->udev->dev.parent,
> + "No memory left for URBs\n");
> + err = -ENOMEM;
> + break;
> + }
> +
> + buf = usb_alloc_coherent(dev->udev, RX_BUFFER_SIZE,
> + GFP_KERNEL, &urb->transfer_dma);
> + if (!buf) {
> + dev_warn(dev->udev->dev.parent,
> + "No memory left for USB buffer\n");
> + usb_free_urb(urb);
> + err = -ENOMEM;
> + break;
> + }
> +
> + usb_fill_bulk_urb(urb, dev->udev,
> + usb_rcvbulkpipe(dev->udev, 129),
use #define
> + buf, RX_BUFFER_SIZE,
> + kvaser_usb_read_bulk_callback, dev);
> + urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
> + usb_anchor_urb(urb, &dev->rx_submitted);
> +
> + err = usb_submit_urb(urb, GFP_KERNEL);
> + if (err) {
> + usb_unanchor_urb(urb);
> + usb_free_coherent(dev->udev, RX_BUFFER_SIZE, buf,
> + urb->transfer_dma);
> + break;
> + }
> +
> + usb_free_urb(urb);
> + }
> +
> + if (i == 0) {
> + dev_warn(dev->udev->dev.parent,
> + "Cannot setup read URBs, error %d\n", err);
> + return err;
> + } else if (i < MAX_RX_URBS) {
> + dev_warn(dev->udev->dev.parent,
> + "RX performances may be slow\n");
> + }
> +
> + dev->rxinitdone = true;
> +
> + return 0;
> +}
> +
> +static int kvaser_usb_set_opt_mode(const struct kvaser_usb_net_priv *priv)
> +{
> + struct kvaser_msg msg;
> +
> + memset(&msg, 0x00, sizeof(msg));
> + msg.id = CMD_SET_CTRL_MODE;
> + msg.len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_ctrl_mode);
> + msg.u.ctrl_mode.tid = 0xff;
> + msg.u.ctrl_mode.channel = priv->channel;
please use C99 struct initializers
> +
> + if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
> + msg.u.ctrl_mode.ctrl_mode = KVASER_CTRL_MODE_SILENT;
> + else
> + msg.u.ctrl_mode.ctrl_mode = KVASER_CTRL_MODE_NORMAL;
> +
> + return kvaser_usb_send_msg(priv->dev, &msg);
> +}
> +
> +static int kvaser_usb_start_chip(struct kvaser_usb_net_priv *priv)
> +{
> + int err;
> +
> + init_completion(&priv->start_stop_comp);
> +
> + err = kvaser_usb_send_simple_msg(priv->dev, CMD_START_CHIP,
> + priv->channel);
> + if (err)
> + return err;
> +
> + if (!wait_for_completion_timeout(&priv->start_stop_comp,
> + msecs_to_jiffies(START_TIMEOUT)))
> + return -ETIMEDOUT;
> +
> + return 0;
> +}
> +
> +static int kvaser_usb_open(struct net_device *netdev)
> +{
> + struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
> + struct kvaser_usb *dev = priv->dev;
> + int err;
> +
> + err = open_candev(netdev);
> + if (err)
> + return err;
> +
> + err = kvaser_usb_setup_rx_urbs(dev);
> + if (err)
> + return err;
> +
> + err = kvaser_usb_set_opt_mode(priv);
> + if (err)
> + return err;
> +
> + err = kvaser_usb_start_chip(priv);
> + if (err) {
> + netdev_warn(netdev, "Cannot start device, error %d\n", err);
> + close_candev(netdev);
> + return err;
> + }
> +
> + priv->can.state = CAN_STATE_ERROR_ACTIVE;
> + priv->open_time = jiffies;
> + netif_start_queue(netdev);
> +
> + return 0;
> +}
> +
> +static void kvaser_usb_unlink_tx_urbs(struct kvaser_usb_net_priv *priv)
> +{
> + int i;
> +
> + usb_kill_anchored_urbs(&priv->tx_submitted);
> + atomic_set(&priv->active_tx_urbs, 0);
> +
> + for (i = 0; i < MAX_TX_URBS; i++)
ARRAY_SIZE(priv->tx_contexts) instead of MAX_TX_URBS
> + priv->tx_contexts[i].echo_index = MAX_TX_URBS;
> +}
> +
> +static void kvaser_usb_unlink_all_urbs(struct kvaser_usb *dev)
> +{
> + int i;
> +
> + usb_kill_anchored_urbs(&dev->rx_submitted);
> +
> + for (i = 0; i < MAX_NET_DEVICES; i++) {
ARRAY_SIZE()
> + struct kvaser_usb_net_priv *priv = dev->nets[i];
> +
> + if (priv)
> + kvaser_usb_unlink_tx_urbs(priv);
> + }
> +}
> +
> +static int kvaser_usb_stop_chip(struct kvaser_usb_net_priv *priv)
> +{
> + int err;
> +
> + init_completion(&priv->start_stop_comp);
> +
> + err = kvaser_usb_send_simple_msg(priv->dev, CMD_STOP_CHIP,
> + priv->channel);
> + if (err)
> + return err;
> +
> + if (!wait_for_completion_timeout(&priv->start_stop_comp,
> + msecs_to_jiffies(STOP_TIMEOUT)))
> + return -ETIMEDOUT;
> +
> + return 0;
> +}
> +
> +static int kvaser_usb_flush_queue(struct kvaser_usb_net_priv *priv)
> +{
> + struct kvaser_msg msg;
> +
> + memset(&msg, 0x00, sizeof(msg));
> + msg.id = CMD_FLUSH_QUEUE;
> + msg.len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_flush_queue);
> + msg.u.flush_queue.channel = priv->channel;
C99 initialziers, please
> +
> + return kvaser_usb_send_msg(priv->dev, &msg);
> +}
> +
> +static int kvaser_usb_close(struct net_device *netdev)
> +{
> + struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
> + int err;
> +
> + netif_stop_queue(netdev);
> +
> + err = kvaser_usb_flush_queue(priv);
> + if (err)
> + netdev_warn(netdev, "Cannot flush queue, error %d\n", err);
> +
> + err = kvaser_usb_stop_chip(priv);
> + if (err) {
> + netdev_warn(netdev, "Cannot stop device, error %d\n", err);
> + return err;
> + }
> +
> + kvaser_usb_unlink_tx_urbs(priv);
> +
> + priv->can.state = CAN_STATE_STOPPED;
> + close_candev(priv->netdev);
> + priv->open_time = 0;
> +
> + return 0;
> +}
> +
> +static void kvaser_usb_write_bulk_callback(struct urb *urb)
> +{
> + struct kvaser_usb_tx_urb_context *context = urb->context;
> + struct kvaser_usb_net_priv *priv;
> + struct net_device *netdev;
> +
> + if (WARN_ON(!context))
> + return;
> +
> + priv = context->priv;
> + netdev = priv->netdev;
> +
> + usb_free_coherent(urb->dev, urb->transfer_buffer_length,
> + urb->transfer_buffer, urb->transfer_dma);
> +
> + if (!netif_device_present(netdev))
> + return;
> +
> + if (urb->status)
> + netdev_info(netdev, "Tx URB aborted (%d)\n", urb->status);
> +
> + netdev->trans_start = jiffies;
Is trans_start needed? at least for non-usb devices it works without.
> +}
> +
> +static netdev_tx_t kvaser_usb_start_xmit(struct sk_buff *skb,
> + struct net_device *netdev)
> +{
> + struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
> + struct kvaser_usb *dev = priv->dev;
> + struct net_device_stats *stats = &netdev->stats;
> + struct can_frame *cf = (struct can_frame *)skb->data;
> + struct kvaser_usb_tx_urb_context *context = NULL;
> + struct urb *urb;
> + void *buf;
> + struct kvaser_msg *msg;
> + int i, err;
> + int ret = NETDEV_TX_OK;
> +
> + if (can_dropped_invalid_skb(netdev, skb))
> + return NETDEV_TX_OK;
> +
> + urb = usb_alloc_urb(0, GFP_ATOMIC);
> + if (!urb) {
> + netdev_err(netdev, "No memory left for URBs\n");
> + stats->tx_dropped++;
> + dev_kfree_skb(skb);
> + goto nourbmem;
> + }
> +
> + buf = usb_alloc_coherent(dev->udev, sizeof(struct kvaser_msg),
> + GFP_ATOMIC, &urb->transfer_dma);
> + if (!buf) {
> + netdev_err(netdev, "No memory left for USB buffer\n");
> + stats->tx_dropped++;
> + dev_kfree_skb(skb);
> + goto nobufmem;
> + }
> +
> + msg = (struct kvaser_msg *)buf;
> + msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_tx_can);
> + msg->u.tx_can.flags = 0;
> + msg->u.tx_can.channel = priv->channel;
> +
> + if (cf->can_id & CAN_EFF_FLAG) {
> + msg->id = CMD_TX_EXT_MESSAGE;
> + msg->u.tx_can.msg[0] = (cf->can_id >> 24) & 0x1f;
> + msg->u.tx_can.msg[1] = (cf->can_id >> 18) & 0x3f;
> + msg->u.tx_can.msg[2] = (cf->can_id >> 14) & 0x0f;
> + msg->u.tx_can.msg[3] = (cf->can_id >> 6) & 0xff;
> + msg->u.tx_can.msg[4] = cf->can_id & 0x3f;
> + } else {
> + msg->id = CMD_TX_STD_MESSAGE;
> + msg->u.tx_can.msg[0] = (cf->can_id >> 6) & 0x1f;
> + msg->u.tx_can.msg[1] = cf->can_id & 0x3f;
> + }
> +
> + msg->u.tx_can.msg[5] = cf->can_dlc;
> + memcpy(&msg->u.tx_can.msg[6], cf->data, cf->can_dlc);
> +
> + if (cf->can_id & CAN_RTR_FLAG)
> + msg->u.tx_can.flags |= MSG_FLAG_REMOTE_FRAME;
> +
> + for (i = 0; i < MAX_TX_URBS; i++) {
ARRAY_SIZE
> + if (priv->tx_contexts[i].echo_index == MAX_TX_URBS) {
> + context = &priv->tx_contexts[i];
> + break;
> + }
> + }
> +
> + if (!context) {
> + netdev_warn(netdev, "cannot find free context\n");
> + ret = NETDEV_TX_BUSY;
> + goto releasebuf;
> + }
> +
> + context->priv = priv;
> + context->echo_index = i;
> + context->dlc = cf->can_dlc;
> +
> + msg->u.tx_can.tid = context->echo_index;
> +
> + usb_fill_bulk_urb(urb, dev->udev, usb_sndbulkpipe(dev->udev, 1),
> + buf, msg->len,
> + kvaser_usb_write_bulk_callback, context);
> + urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
> + usb_anchor_urb(urb, &priv->tx_submitted);
> +
> + can_put_echo_skb(skb, netdev, context->echo_index);
> +
> + atomic_inc(&priv->active_tx_urbs);
> +
> + if (atomic_read(&priv->active_tx_urbs) >= MAX_TX_URBS)
> + netif_stop_queue(netdev);
> +
> + err = usb_submit_urb(urb, GFP_ATOMIC);
> + if (unlikely(err)) {
> + can_free_echo_skb(netdev, context->echo_index);
> +
> + atomic_dec(&priv->active_tx_urbs);
> + usb_unanchor_urb(urb);
> +
> + stats->tx_dropped++;
> +
> + if (err == -ENODEV)
> + netif_device_detach(netdev);
> + else
> + netdev_warn(netdev, "Failed tx_urb %d\n", err);
> +
> + goto releasebuf;
> + }
> +
> + netdev->trans_start = jiffies;
> +
> + usb_free_urb(urb);
> +
> + return NETDEV_TX_OK;
> +
> +releasebuf:
> + usb_free_coherent(dev->udev, sizeof(struct kvaser_msg),
> + buf, urb->transfer_dma);
> +nobufmem:
> + usb_free_urb(urb);
> +nourbmem:
> + return ret;
> +}
> +
> +static const struct net_device_ops kvaser_usb_netdev_ops = {
> + .ndo_open = kvaser_usb_open,
> + .ndo_stop = kvaser_usb_close,
> + .ndo_start_xmit = kvaser_usb_start_xmit,
> +};
> +
> +static struct can_bittiming_const kvaser_usb_bittiming_const = {
> + .name = "kvaser_usb",
> + .tseg1_min = KVASER_USB_TSEG1_MIN,
> + .tseg1_max = KVASER_USB_TSEG1_MAX,
> + .tseg2_min = KVASER_USB_TSEG2_MIN,
> + .tseg2_max = KVASER_USB_TSEG2_MAX,
> + .sjw_max = KVASER_USB_SJW_MAX,
> + .brp_min = KVASER_USB_BRP_MIN,
> + .brp_max = KVASER_USB_BRP_MAX,
> + .brp_inc = KVASER_USB_BRP_INC,
> +};
> +
> +static int kvaser_usb_set_bittiming(struct net_device *netdev)
> +{
> + struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
> + struct can_bittiming *bt = &priv->can.bittiming;
> + struct kvaser_usb *dev = priv->dev;
> + struct kvaser_msg msg;
> +
> + msg.id = CMD_SET_BUS_PARAMS;
> + msg.len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_busparams);
> + msg.u.busparams.channel = priv->channel;
> + msg.u.busparams.tid = 0xff;
> + msg.u.busparams.bitrate = bt->bitrate;
bitrate is le32
> + msg.u.busparams.sjw = bt->sjw;
> + msg.u.busparams.tseg1 = bt->prop_seg + bt->phase_seg1;
> + msg.u.busparams.tseg2 = bt->phase_seg2;
C99 initializers, please
> +
> + if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
> + msg.u.busparams.no_samp = 3;
> + else
> + msg.u.busparams.no_samp = 1;
> +
> + return kvaser_usb_send_msg(dev, &msg);
> +}
> +
> +static int kvaser_usb_set_mode(struct net_device *netdev,
> + enum can_mode mode)
> +{
> + struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
> +
> + if (!priv->open_time)
> + return -EINVAL;
> +
> + switch (mode) {
> + case CAN_MODE_START:
> + if (netif_queue_stopped(netdev))
> + netif_wake_queue(netdev);
No need to restart your USB device?
> + break;
> + default:
> + return -EOPNOTSUPP;
> + }
> +
> + return 0;
> +}
> +
> +static int kvaser_usb_get_berr_counter(const struct net_device *netdev,
> + struct can_berr_counter *bec)
> +{
> + struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
> +
> + bec->txerr = priv->bec.txerr;
> + bec->rxerr = priv->bec.rxerr;
> +
> + return 0;
> +}
> +
> +static int kvaser_usb_init_one(struct usb_interface *intf,
> + const struct usb_device_id *id, int channel)
> +{
> + struct kvaser_usb *dev = usb_get_intfdata(intf);
> + struct net_device *netdev;
> + struct kvaser_usb_net_priv *priv;
> + int i, err;
> +
> + netdev = alloc_candev(sizeof(*priv), MAX_TX_URBS);
> + if (!netdev) {
> + dev_err(&intf->dev, "Cannot alloc candev\n");
> + return -ENOMEM;
> + }
> +
> + priv = netdev_priv(netdev);
> +
> + init_usb_anchor(&priv->tx_submitted);
> + atomic_set(&priv->active_tx_urbs, 0);
> +
> + for (i = 0; i < MAX_TX_URBS; i++)
> + priv->tx_contexts[i].echo_index = MAX_TX_URBS;
> +
> + priv->dev = dev;
> + priv->netdev = netdev;
> + priv->channel = channel;
> +
> + priv->can.state = CAN_STATE_STOPPED;
> + priv->can.clock.freq = CAN_USB_CLOCK;
> + priv->can.bittiming_const = &kvaser_usb_bittiming_const;
> + priv->can.do_set_bittiming = kvaser_usb_set_bittiming;
> + priv->can.do_set_mode = kvaser_usb_set_mode;
> + priv->can.do_get_berr_counter = kvaser_usb_get_berr_counter;
> + priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES;
> + if (id->driver_info & KVASER_HAS_SILENT_MODE)
> + priv->can.ctrlmode_supported |= CAN_CTRLMODE_LISTENONLY;
> +
> + netdev->flags |= IFF_ECHO;
> +
> + netdev->netdev_ops = &kvaser_usb_netdev_ops;
> +
> + SET_NETDEV_DEV(netdev, &intf->dev);
> +
> + err = register_candev(netdev);
> + if (err) {
> + dev_err(&intf->dev, "Failed to register can device\n");
> + free_candev(netdev);
> + return err;
> + }
> +
> + dev->nets[channel] = priv;
> + netdev_info(netdev, "device %s registered\n", netdev->name);
netdev_info should take care of printing the device's name.
> +
> + return 0;
> +}
> +
> +static int kvaser_usb_probe(struct usb_interface *intf,
> + const struct usb_device_id *id)
> +{
> + struct kvaser_usb *dev;
> + int err = -ENOMEM;
> + int i;
> +
> + dev = kzalloc(sizeof(*dev), GFP_KERNEL);
Who will free dev on driver unload? Please make use of devm_kzalloc().
> + if (!dev)
> + return -ENOMEM;
> +
> + dev->udev = interface_to_usbdev(intf);
> +
> + init_usb_anchor(&dev->rx_submitted);
> +
> + usb_set_intfdata(intf, dev);
> +
> + if (kvaser_usb_send_simple_msg(dev, CMD_RESET_CHIP, 0)) {
> + dev_err(&intf->dev, "Cannot reset kvaser\n");
> + goto error;
> + }
> +
> + if (kvaser_usb_get_software_info(dev)) {
> + dev_err(&intf->dev, "Cannot get software infos\n");
> + goto error;
> + }
> +
> + if (kvaser_usb_get_card_info(dev)) {
> + dev_err(&intf->dev, "Cannot get card infos\n");
> + goto error;
> + }
> +
> + dev_dbg(&intf->dev, "Firmware version: %d.%d.%d\n",
> + ((dev->fw_version >> 24) & 0xff),
> + ((dev->fw_version >> 16) & 0xff),
> + (dev->fw_version & 0xffff));
> +
> + for (i = 0; i < dev->nchannels; i++)
> + kvaser_usb_init_one(intf, id, i);
> +
> + return 0;
> +
> +error:
> + kfree(dev);
> + return err;
> +}
> +
> +static void kvaser_usb_disconnect(struct usb_interface *intf)
> +{
> + struct kvaser_usb *dev = usb_get_intfdata(intf);
> + int i;
> +
> + usb_set_intfdata(intf, NULL);
> +
> + if (!dev)
> + return;
> +
> + for (i = 0; i < dev->nchannels; i++) {
> + if (!dev->nets[i])
> + continue;
> +
> + unregister_netdev(dev->nets[i]->netdev);
> + free_candev(dev->nets[i]->netdev);
> + }
> +
> + kvaser_usb_unlink_all_urbs(dev);
> +}
> +
> +static struct usb_driver kvaser_usb_driver = {
> + .name = "kvaser_usb",
> + .probe = kvaser_usb_probe,
> + .disconnect = kvaser_usb_disconnect,
> + .id_table = kvaser_usb_table
> +};
> +
> +module_usb_driver(kvaser_usb_driver);
> +
> +MODULE_AUTHOR("Olivier Sobrie <olivier@...rie.be>");
> +MODULE_DESCRIPTION("Can driver for Kvaser CAN/USB devices");
> +MODULE_LICENSE("GPL v2");
> diff --git a/drivers/net/can/usb/kvaser_usb.h b/drivers/net/can/usb/kvaser_usb.h
> new file mode 100644
> index 0000000..8e0b6ab
> --- /dev/null
> +++ b/drivers/net/can/usb/kvaser_usb.h
> @@ -0,0 +1,237 @@
> +#ifndef _KVASER_USB_H_
> +#define _KVASER_USB_H_
> +
> +#define MAX_TX_URBS 16
Please no tab between define and macro name
> +#define MAX_RX_URBS 4
> +#define START_TIMEOUT 1000
> +#define STOP_TIMEOUT 1000
> +#define USB_SEND_TIMEOUT 1000
> +#define USB_RECEIVE_TIMEOUT 1000
> +#define RX_BUFFER_SIZE 3072
> +#define CAN_USB_CLOCK 8000000
> +#define MAX_NET_DEVICES 3
> +
> +/* Kvaser USB devices */
> +#define KVASER_VENDOR_ID 0x0bfd
> +#define USB_LEAF_DEVEL_PRODUCT_ID 10
> +#define USB_LEAF_LITE_PRODUCT_ID 11
> +#define USB_LEAF_PRO_PRODUCT_ID 12
> +#define USB_LEAF_SPRO_PRODUCT_ID 14
> +#define USB_LEAF_PRO_LS_PRODUCT_ID 15
> +#define USB_LEAF_PRO_SWC_PRODUCT_ID 16
> +#define USB_LEAF_PRO_LIN_PRODUCT_ID 17
> +#define USB_LEAF_SPRO_LS_PRODUCT_ID 18
> +#define USB_LEAF_SPRO_SWC_PRODUCT_ID 19
> +#define USB_MEMO2_DEVEL_PRODUCT_ID 22
> +#define USB_MEMO2_HSHS_PRODUCT_ID 23
> +#define USB_UPRO_HSHS_PRODUCT_ID 24
> +#define USB_LEAF_LITE_GI_PRODUCT_ID 25
> +#define USB_LEAF_PRO_OBDII_PRODUCT_ID 26
> +#define USB_MEMO2_HSLS_PRODUCT_ID 27
> +#define USB_LEAF_LITE_CH_PRODUCT_ID 28
> +#define USB_BLACKBIRD_SPRO_PRODUCT_ID 29
> +#define USB_OEM_MERCURY_PRODUCT_ID 34
> +#define USB_OEM_LEAF_PRODUCT_ID 35
> +#define USB_CAN_R_PRODUCT_ID 39
> +
> +/* USB devices features */
> +#define KVASER_HAS_SILENT_MODE (1 << 0)
pleae use BIT(0)
> +
> +/* Message header size */
> +#define MSG_HEADER_LEN 2
> +
> +/* Can message flags */
> +#define MSG_FLAG_ERROR_FRAME (1 << 0)
> +#define MSG_FLAG_OVERRUN (1 << 1)
> +#define MSG_FLAG_NERR (1 << 2)
> +#define MSG_FLAG_WAKEUP (1 << 3)
> +#define MSG_FLAG_REMOTE_FRAME (1 << 4)
> +#define MSG_FLAG_RESERVED (1 << 5)
> +#define MSG_FLAG_TX_ACK (1 << 6)
> +#define MSG_FLAG_TX_REQUEST (1 << 7)
> +
> +/* Can states */
> +#define M16C_STATE_BUS_RESET (1 << 0)
> +#define M16C_STATE_BUS_ERROR (1 << 4)
> +#define M16C_STATE_BUS_PASSIVE (1 << 5)
> +#define M16C_STATE_BUS_OFF (1 << 6)
> +
> +/* Can msg ids */
> +#define CMD_RX_STD_MESSAGE 12
> +#define CMD_TX_STD_MESSAGE 13
> +#define CMD_RX_EXT_MESSAGE 14
> +#define CMD_TX_EXT_MESSAGE 15
> +#define CMD_SET_BUS_PARAMS 16
> +#define CMD_GET_BUS_PARAMS 17
> +#define CMD_GET_BUS_PARAMS_REPLY 18
> +#define CMD_GET_CHIP_STATE 19
> +#define CMD_CHIP_STATE_EVENT 20
> +#define CMD_SET_CTRL_MODE 21
> +#define CMD_GET_CTRL_MODE 22
> +#define CMD_GET_CTRL_MODE_REPLY 23
> +#define CMD_RESET_CHIP 24
> +#define CMD_RESET_CHIP_REPLY 25
> +#define CMD_START_CHIP 26
> +#define CMD_START_CHIP_REPLY 27
> +#define CMD_STOP_CHIP 28
> +#define CMD_STOP_CHIP_REPLY 29
> +#define CMD_GET_CARD_INFO2 32
> +#define CMD_GET_CARD_INFO 34
> +#define CMD_GET_CARD_INFO_REPLY 35
> +#define CMD_GET_SOFTWARE_INFO 38
> +#define CMD_GET_SOFTWARE_INFO_REPLY 39
> +#define CMD_ERROR_EVENT 45
> +#define CMD_FLUSH_QUEUE 48
> +#define CMD_TX_ACKNOWLEDGE 50
> +#define CMD_CAN_ERROR_EVENT 51
> +#define CMD_USB_THROTTLE 77
> +
> +/* error factors */
> +#define M16C_EF_ACKE (1 << 0)
> +#define M16C_EF_CRCE (1 << 1)
> +#define M16C_EF_FORME (1 << 2)
> +#define M16C_EF_STFE (1 << 3)
> +#define M16C_EF_BITE0 (1 << 4)
> +#define M16C_EF_BITE1 (1 << 5)
> +#define M16C_EF_RCVE (1 << 6)
> +#define M16C_EF_TRE (1 << 7)
> +
> +/* bittiming parameters */
> +#define KVASER_USB_TSEG1_MIN 1
> +#define KVASER_USB_TSEG1_MAX 16
> +#define KVASER_USB_TSEG2_MIN 1
> +#define KVASER_USB_TSEG2_MAX 8
> +#define KVASER_USB_SJW_MAX 4
> +#define KVASER_USB_BRP_MIN 1
> +#define KVASER_USB_BRP_MAX 64
> +#define KVASER_USB_BRP_INC 1
> +
> +/* ctrl modes */
> +#define KVASER_CTRL_MODE_NORMAL 1
> +#define KVASER_CTRL_MODE_SILENT 2
> +#define KVASER_CTRL_MODE_SELFRECEPTION 3
> +#define KVASER_CTRL_MODE_OFF 4
> +
> +struct kvaser_msg_simple {
> + u8 tid;
> + u8 channel;
> +} __packed;
> +
> +struct kvaser_msg_cardinfo {
> + u8 tid;
> + u8 nchannels;
> + __le32 serial_number;
> + __le32 padding;
> + __le32 clock_resolution;
> + __le32 mfgdate;
> + u8 ean[8];
> + u8 hw_revision;
> + u8 usb_hs_mode;
> + __le16 padding2;
> +} __packed;
> +
> +struct kvaser_msg_cardinfo2 {
> + u8 tid;
> + u8 channel;
> + u8 pcb_id[24];
> + __le32 oem_unlock_code;
> +} __packed;
> +
> +struct kvaser_msg_softinfo {
> + u8 tid;
> + u8 channel;
> + __le32 sw_options;
> + __le32 fw_version;
> + __le16 max_outstanding_tx;
> + __le16 padding[9];
> +} __packed;
> +
> +struct kvaser_msg_busparams {
> + u8 tid;
> + u8 channel;
> + __le32 bitrate;
> + u8 tseg1;
> + u8 tseg2;
> + u8 sjw;
> + u8 no_samp;
> +} __packed;
> +
> +struct kvaser_msg_tx_can {
> + u8 channel;
> + u8 tid;
> + u8 msg[14];
> + u8 padding;
> + u8 flags;
> +} __packed;
> +
> +struct kvaser_msg_rx_can {
> + u8 channel;
> + u8 flag;
> + __le16 time[3];
> + u8 msg[14];
> +} __packed;
> +
> +struct kvaser_msg_chip_state_event {
> + u8 tid;
> + u8 channel;
> + __le16 time[3];
> + u8 tx_errors_count;
> + u8 rx_errors_count;
> + u8 status;
> + u8 padding[3];
> +} __packed;
> +
> +struct kvaser_msg_tx_acknowledge {
> + u8 channel;
> + u8 tid;
> + __le16 time[3];
> + u8 flags;
> + u8 time_offset;
> +} __packed;
> +
> +struct kvaser_msg_error_event {
> + u8 tid;
> + u8 flags;
> + __le16 time[3];
> + u8 channel;
> + u8 padding;
> + u8 tx_errors_count;
> + u8 rx_errors_count;
> + u8 status;
> + u8 error_factor;
> +} __packed;
> +
> +struct kvaser_msg_ctrl_mode {
> + u8 tid;
> + u8 channel;
> + u8 ctrl_mode;
> + u8 padding[3];
> +} __packed;
> +
> +struct kvaser_msg_flush_queue {
> + u8 tid;
> + u8 channel;
> + u8 flags;
> + u8 padding[3];
> +} __packed;
> +
> +struct kvaser_msg {
> + u8 len;
> + u8 id;
> + union {
> + struct kvaser_msg_simple simple;
> + struct kvaser_msg_cardinfo cardinfo;
> + struct kvaser_msg_cardinfo2 cardinfo2;
> + struct kvaser_msg_softinfo softinfo;
> + struct kvaser_msg_busparams busparams;
> + struct kvaser_msg_tx_can tx_can;
> + struct kvaser_msg_rx_can rx_can;
> + struct kvaser_msg_chip_state_event chip_state_event;
> + struct kvaser_msg_tx_acknowledge tx_acknowledge;
> + struct kvaser_msg_error_event error_event;
> + struct kvaser_msg_ctrl_mode ctrl_mode;
> + struct kvaser_msg_ctrl_mode flush_queue;
> + } u;
> +} __packed;
> +
> +#endif
>
--
Pengutronix e.K. | Marc Kleine-Budde |
Industrial Linux Solutions | Phone: +49-231-2826-924 |
Vertretung West/Dortmund | Fax: +49-5121-206917-5555 |
Amtsgericht Hildesheim, HRA 2686 | http://www.pengutronix.de |
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