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Date: Tue, 07 Aug 2012 08:26:38 +0200
From: Wolfgang Grandegger <wg@...ndegger.com>
To: Olivier Sobrie <olivier@...rie.be>
CC: Marc Kleine-Budde <mkl@...gutronix.de>, linux-can@...r.kernel.org,
linux-usb@...r.kernel.org, netdev@...r.kernel.org
Subject: Re: [PATCH v2] can: kvaser_usb: Add support for Kvaser CAN/USB devices
On 08/06/2012 07:21 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.
s/can/CAN/
> 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.
>
> 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
Impressive list! What CAN controllers are used inside the devices? SJA1000?
> Signed-off-by: Olivier Sobrie <olivier@...rie.be>
> ---
> Changes since v1:
> - added copyrights
> - kvaser_usb.h merged into kvaser.c
> - added kvaser_usb_get_endpoints to find eindpoints instead of
> hardcoding their address
> - some cleanup and comestic changes
> - fixed issues with errors handling
> - fixed restart-ms == 0 case
> - removed do_get_berr_counter method since the hardware doens't return
> good values for txerr and rxerr.
>
> If someone in the linux-usb mailing can review it, it would be nice.
>
> Concerning the errors, it behaves like that now:
>
> 1) Short-circuit CAN-H and CAN-L and restart-ms = 0
>
> t0: short-circuit + 'cansend can1 123#112233'
>
> can1 2000008C [8] 00 0C 90 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-warning,tx-error-warning}
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-error
> can1 2000008C [8] 00 30 90 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-passive,tx-error-passive}
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-error
> can1 200000C8 [8] 00 00 90 00 00 00 00 00 ERRORFRAME
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-off
> bus-error
>
> t1: remove short-circuit + 'ip link set can1 type can restart'
>
> can1 20000100 [8] 00 00 00 00 00 00 00 00 ERRORFRAME
> restarted-after-bus-off
> can1 20000004 [8] 00 0C 00 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-warning,tx-error-warning}
Why do we get the last error message? Maybe the firmware does it that
way (going down passive->warning->active).
> 2) Short-circuit CAN-H and CAN-L and restart-ms = 100
>
> t0: short-circuit + cansend can1 123#112233
>
> can1 2000008C [8] 00 0C 90 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-warning,tx-error-warning}
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-error
> can1 2000008C [8] 00 30 90 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-passive,tx-error-passive}
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-error
> can1 200000C8 [8] 00 00 90 00 00 00 00 00 ERRORFRAME
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-off
> bus-error
> can1 2000018C [8] 00 0C 90 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-warning,tx-error-warning}
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-error
> restarted-after-bus-off
> can1 2000008C [8] 00 0C 90 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-warning,tx-error-warning}
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-error
> can1 2000008C [8] 00 30 90 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-passive,tx-error-passive}
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-error
> can1 200000C8 [8] 00 00 90 00 00 00 00 00 ERRORFRAME
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-off
> bus-error
> ...
>
> can1 2000018C [8] 00 0C 90 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-warning,tx-error-warning}
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-error
> restarted-after-bus-off
> can1 2000008C [8] 00 0C 90 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-warning,tx-error-warning}
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-error
> can1 2000008C [8] 00 30 90 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-passive,tx-error-passive}
> protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> bus-error
>
> t1: remove short-circuit
>
> can1 123 [3] 11 22 33
> can1 20000008 [8] 00 00 40 00 00 00 00 00 ERRORFRAME
> protocol-violation{{back-to-error-active}{}}
The order is still inverted but likely the firmware is doing it that way.
> 3) CAN-H and CAN-L disconnected
>
> t0: CAN-H and CAN-L disconnected + cansend can1 123#112233
>
> can1 20000004 [8] 00 30 00 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-passive,tx-error-passive}
> can1 2000008C [8] 00 30 80 1B 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-passive,tx-error-passive}
> protocol-violation{{error-on-tx}{acknowledge-delimiter}}
> bus-error
>
> t1: CAN-H and CAN-L reconnected
>
> can1 123 [3] 11 22 33
> can1 20000004 [8] 00 30 00 00 00 00 00 00 ERRORFRAME
> controller-problem{rx-error-passive,tx-error-passive}
Why do we get an error-passive message? Now I will have a closer look to
the code...
> Let me know if it is correct.
>
> Thanks,
>
> Olivier
>
> drivers/net/can/usb/Kconfig | 33 +
> drivers/net/can/usb/Makefile | 1 +
> drivers/net/can/usb/kvaser_usb.c | 1437 ++++++++++++++++++++++++++++++++++++++
> 3 files changed, 1471 insertions(+)
> create mode 100644 drivers/net/can/usb/kvaser_usb.c
>
> 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..eea0655
> --- /dev/null
> +++ b/drivers/net/can/usb/kvaser_usb.c
> @@ -0,0 +1,1437 @@
> +/*
> + * 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.
> + *
> + * Parts of this driver are based on the following:
> + * - Kvaser linux leaf driver (version 4.78)
> + * - CAN driver for esd CAN-USB/2
> + *
> + * Copyright (C) 2002-2006 KVASER AB, Sweden. All rights reserved.
> + * Copyright (C) 2010 Matthias Fuchs <matthias.fuchs@....eu>, esd gmbh
> + * Copyright (C) 2012 Olivier Sobrie <olivier@...rie.be>
> + */
> +
> +#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>
> +
> +#define MAX_TX_URBS 16
> +#define MAX_RX_URBS 4
> +#define START_TIMEOUT 1000
> +#define STOP_TIMEOUT 1000
> +#define USB_SEND_TIMEOUT 1000
> +#define USB_RECV_TIMEOUT 1000
A comment on the units would be nice!
> +#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 BIT(0)
> +
> +/* Message header size */
> +#define MSG_HEADER_LEN 2
> +
> +/* Can message flags */
> +#define MSG_FLAG_ERROR_FRAME BIT(0)
> +#define MSG_FLAG_OVERRUN BIT(1)
> +#define MSG_FLAG_NERR BIT(2)
> +#define MSG_FLAG_WAKEUP BIT(3)
> +#define MSG_FLAG_REMOTE_FRAME BIT(4)
> +#define MSG_FLAG_RESERVED BIT(5)
> +#define MSG_FLAG_TX_ACK BIT(6)
> +#define MSG_FLAG_TX_REQUEST BIT(7)
> +
> +/* Can states */
> +#define M16C_STATE_BUS_RESET BIT(0)
> +#define M16C_STATE_BUS_ERROR BIT(4)
> +#define M16C_STATE_BUS_PASSIVE BIT(5)
> +#define M16C_STATE_BUS_OFF BIT(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_CARD 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_RESET_ERROR_COUNTER 49
> +#define CMD_TX_ACKNOWLEDGE 50
> +#define CMD_CAN_ERROR_EVENT 51
> +#define CMD_USB_THROTTLE 77
> +
> +/* error factors */
> +#define M16C_EF_ACKE BIT(0)
> +#define M16C_EF_CRCE BIT(1)
> +#define M16C_EF_FORME BIT(2)
> +#define M16C_EF_STFE BIT(3)
> +#define M16C_EF_BITE0 BIT(4)
> +#define M16C_EF_BITE1 BIT(5)
> +#define M16C_EF_RCVE BIT(6)
> +#define M16C_EF_TRE BIT(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_flush_queue flush_queue;
> + } u;
> +} __packed;
> +
> +struct kvaser_usb_tx_urb_context {
> + struct kvaser_usb_net_priv *priv;
> + u32 echo_index;
> + int dlc;
> +};
> +
> +struct kvaser_usb {
> + struct usb_device *udev;
> + struct kvaser_usb_net_priv *nets[MAX_NET_DEVICES];
> +
> + struct usb_endpoint_descriptor *bulk_in, *bulk_out;
> + 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];
> +
> + struct completion start_comp, stop_comp;
> +
> + struct kvaser_usb *dev;
> + struct net_device *netdev;
> + int channel;
> +
> + struct can_frame cf_err_old;
> +};
> +
> +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 inline int kvaser_usb_send_msg(const struct kvaser_usb *dev,
> + struct kvaser_msg *msg)
> +{
> + int actual_len;
> +
> + return usb_bulk_msg(dev->udev,
> + usb_sndbulkpipe(dev->udev,
> + dev->bulk_out->bEndpointAddress),
> + 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,
> + dev->bulk_in->bEndpointAddress),
> + buf, RX_BUFFER_SIZE, &actual_len,
> + USB_RECV_TIMEOUT);
> + if (err < 0) {
> + kfree(buf);
> + return err;
> + }
goto might be more elegant/efficient here.
> +
> + while (pos <= actual_len - MSG_HEADER_LEN) {
> + tmp = buf + pos;
> +
> + if (!tmp->len)
> + break;
> +
> + if (pos + tmp->len > actual_len) {
> + dev_err(dev->udev->dev.parent, "Format error\n");
> + break;
> + }
> +
> + if (tmp->id == id) {
> + memcpy(msg, tmp, tmp->len);
> + 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 = {
> + .len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_simple),
> + .id = msg_id,
> + .u.simple.channel = channel,
> + .u.simple.tid = 0xff,
> + };
> +
> + return kvaser_usb_send_msg(dev, &msg);
> +}
> +
> +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;
> + }
> +
> + 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_simple_msg_callback(struct urb *urb)
> +{
> + struct net_device *netdev = urb->context;
> +
> + if (urb->status)
> + netdev_warn(netdev, "urb status received: %d\n",
> + urb->status);
> +}
> +
> +static int kvaser_usb_simple_msg_async(struct kvaser_usb_net_priv *priv,
> + u8 msg_id)
> +{
> + struct kvaser_usb *dev = priv->dev;
> + struct net_device *netdev = priv->netdev;
> + struct kvaser_msg *msg;
> + struct urb *urb;
> + void *buf;
> + int err;
> +
> + urb = usb_alloc_urb(0, GFP_ATOMIC);
> + if (!urb) {
> + netdev_err(netdev, "No memory left for URBs\n");
> + return -ENOMEM;
> + }
> +
> + 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");
> + return -ENOMEM;
> + }
> +
> + msg = (struct kvaser_msg *)buf;
> + msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_simple);
> + msg->id = msg_id;
> + msg->u.simple.channel = priv->channel;
> +
> + usb_fill_bulk_urb(urb, dev->udev,
> + usb_sndbulkpipe(dev->udev,
> + dev->bulk_out->bEndpointAddress),
> + buf, msg->len,
> + kvaser_usb_simple_msg_callback, priv);
> + urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
> + usb_anchor_urb(urb, &priv->tx_submitted);
> +
> + err = usb_submit_urb(urb, GFP_ATOMIC);
> + if (err) {
> + netdev_err(netdev, "Error transmitting URB\n");
> + usb_unanchor_urb(urb);
> + return err;
> + }
> +
> + 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++)
> + priv->tx_contexts[i].echo_index = MAX_TX_URBS;
> +}
> +
> +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;
> + unsigned int new_state;
> + u8 channel, status;
> +
> + if (msg->id == CMD_CAN_ERROR_EVENT) {
> + channel = msg->u.error_event.channel;
> + status = msg->u.error_event.status;
> + } else {
> + channel = msg->u.chip_state_event.channel;
> + status = msg->u.chip_state_event.status;
> + }
> +
> + 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;
> +
> + if (status & M16C_STATE_BUS_RESET) {
> + kvaser_usb_unlink_tx_urbs(priv);
> + return;
> + }
> + skb = alloc_can_err_skb(priv->netdev, &cf);
> + if (!skb) {
> + stats->rx_dropped++;
> + return;
Cleanup? kvaser_usb_unlink_tx_urbs()?
> + }
> +
> + if (status & M16C_STATE_BUS_OFF) {
> + cf->can_id |= CAN_ERR_BUSOFF;
> +
> + if (!priv->can.restart_ms)
> + kvaser_usb_simple_msg_async(priv, CMD_STOP_CHIP);
> +
> + if (!priv->can.state != CAN_ERR_BUSOFF) {
> + priv->can.can_stats.bus_off++;
> + netif_carrier_off(priv->netdev);
> + }
> +
> + new_state = CAN_STATE_BUS_OFF;
> + } else if (status & M16C_STATE_BUS_PASSIVE) {
> + cf->can_id |= CAN_ERR_CRTL;
> + cf->data[1] = CAN_ERR_CRTL_TX_PASSIVE |
> + CAN_ERR_CRTL_RX_PASSIVE;
State changes should only be report when the state really changes.
Therefore it should go under the if block below.
> + if (priv->can.state != CAN_STATE_ERROR_PASSIVE)
> + priv->can.can_stats.error_passive++;
> +
> + new_state = CAN_STATE_ERROR_PASSIVE;
> + } else if (status & M16C_STATE_BUS_ERROR) {
Hm, strange, a bus error is not a state change. You use here if...else
if... Isn't it possible that more than one bit is set.
> + cf->can_id |= CAN_ERR_CRTL;
> + cf->data[1] = CAN_ERR_CRTL_TX_WARNING |
> + CAN_ERR_CRTL_RX_WARNING;
See above.
> + if (priv->can.state != CAN_STATE_ERROR_WARNING)
> + priv->can.can_stats.error_warning++;
> +
> + new_state = CAN_STATE_ERROR_WARNING;
> + } else {
> + cf->can_id |= CAN_ERR_PROT;
> + cf->data[2] = CAN_ERR_PROT_ACTIVE;
> +
> + new_state = CAN_STATE_ERROR_ACTIVE;
> + }
> +
> + if (priv->can.restart_ms &&
> + (priv->can.state >= CAN_STATE_BUS_OFF) &&
> + (new_state < CAN_STATE_BUS_OFF)) {
> + cf->can_id |= CAN_ERR_RESTARTED;
> + priv->can.can_stats.restarts++;
> + netif_carrier_on(priv->netdev);
> + }
> +
> + 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 (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;
> + }
> +
> + priv->can.state = new_state;
> +
> + if (!memcmp(cf, &priv->cf_err_old, sizeof(*cf))) {
> + kfree_skb(skb);
> + return;
> + }
Hm, the firmware seems not to clear error conditions? Anyway, state
change and error reporting is magic on many CAN controllers. Just the
SJA1000 is doing it nicely.
> + netif_rx(skb);
> +
> + priv->cf_err_old = *cf;
> +
> + 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) {
s/skb == NULL)/!skb/ ?
> + 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) |
> + ((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;
> + cf->data[1] = CAN_ERR_CRTL_UNSPEC;
What is the meaning of such errors? A comment, netdev_err() or
netdev_dbg() would be nice.
> +
> + stats->rx_errors++;
> + } 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_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];
> +
> + 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_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->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:
> + kvaser_usb_start_chip_reply(dev, msg);
> + break;
> +
> + case CMD_STOP_CHIP_REPLY:
> + kvaser_usb_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 - MSG_HEADER_LEN) {
> + msg = urb->transfer_buffer + pos;
> +
> + if (!msg->len)
> + break;
> +
> + if (pos + msg->len > urb->actual_length) {
> + dev_err(dev->udev->dev.parent, "Format error\n");
> + break;
> + }
> +
> + kvaser_usb_handle_message(dev, msg);
> +
> + pos += msg->len;
> + }
> +
> +resubmit_urb:
> + usb_fill_bulk_urb(urb, dev->udev,
> + usb_rcvbulkpipe(dev->udev,
> + dev->bulk_in->bEndpointAddress),
> + 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,
> + dev->bulk_in->bEndpointAddress),
> + 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 = {
> + .id = CMD_SET_CTRL_MODE,
> + .len = MSG_HEADER_LEN +
> + sizeof(struct kvaser_msg_ctrl_mode),
> + .u.ctrl_mode.tid = 0xff,
> + .u.ctrl_mode.channel = priv->channel,
> + };
> +
> + 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_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_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;
close_candev()? Using "goto" is preferred for error handling.
> +
> + 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;
> +
> + return 0;
> +}
> +
> +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++) {
> + 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->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->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 = {
> + .id = CMD_FLUSH_QUEUE,
> + .len = MSG_HEADER_LEN +
> + sizeof(struct kvaser_msg_flush_queue),
> + .u.flush_queue.channel = priv->channel,
> + .u.flush_queue.flags = 0x00,
> + };
> +
> + 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);
> + struct kvaser_usb *dev = priv->dev;
> + int err;
> +
> + netif_stop_queue(netdev);
> +
> + err = kvaser_usb_flush_queue(priv);
> + if (err)
> + netdev_warn(netdev, "Cannot flush queue, error %d\n", err);
> +
> + if (kvaser_usb_send_simple_msg(dev, CMD_RESET_CHIP, priv->channel))
> + netdev_warn(netdev, "Cannot reset card, error %d\n", err);
> +
> + err = kvaser_usb_stop_chip(priv);
> + if (err) {
> + netdev_warn(netdev, "Cannot stop device, error %d\n", err);
> + return err;
close_candev()? Returning here is maybe not a good idea?
> + }
> +
> + priv->can.state = CAN_STATE_STOPPED;
> + close_candev(priv->netdev);
> +
> + 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);
> +}
> +
> +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);
> + return NETDEV_TX_OK;
> + }
> +
> + 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 < ARRAY_SIZE(priv->tx_contexts); i++) {
> + 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,
> + dev->bulk_out->bEndpointAddress),
> + 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);
> + 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 = {
> + .id = CMD_SET_BUS_PARAMS,
> + .len = MSG_HEADER_LEN +
> + sizeof(struct kvaser_msg_busparams),
> + .u.busparams.channel = priv->channel,
> + .u.busparams.tid = 0xff,
> + .u.busparams.bitrate = cpu_to_le32(bt->bitrate),
> + .u.busparams.sjw = bt->sjw,
> + .u.busparams.tseg1 = bt->prop_seg + bt->phase_seg1,
> + .u.busparams.tseg2 = bt->phase_seg2,
> + };
> +
> + 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);
> + int err;
> +
> + switch (mode) {
> + case CAN_MODE_START:
> + err = kvaser_usb_simple_msg_async(priv, CMD_START_CHIP);
> + if (err)
> + return err;
> + break;
> + default:
> + return -EOPNOTSUPP;
> + }
> +
> + 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_completion(&priv->start_comp);
> + init_completion(&priv->stop_comp);
> +
> + init_usb_anchor(&priv->tx_submitted);
> + atomic_set(&priv->active_tx_urbs, 0);
> +
> + for (i = 0; i < ARRAY_SIZE(priv->tx_contexts); 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.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_dbg(netdev, "device registered\n");
> +
> + return 0;
> +}
> +
> +static void kvaser_usb_get_endpoints(const struct usb_interface *intf,
> + struct usb_endpoint_descriptor **in,
> + struct usb_endpoint_descriptor **out)
> +{
> + const struct usb_host_interface *iface_desc;
> + struct usb_endpoint_descriptor *endpoint;
> + int i;
> +
> + iface_desc = &intf->altsetting[0];
> +
> + for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
> + endpoint = &iface_desc->endpoint[i].desc;
> +
> + if (usb_endpoint_is_bulk_in(endpoint))
> + *in = endpoint;
> +
> + if (usb_endpoint_is_bulk_out(endpoint))
> + *out = endpoint;
> + }
> +}
> +
> +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 = devm_kzalloc(&intf->dev, sizeof(*dev), GFP_KERNEL);
> + if (!dev)
> + return -ENOMEM;
> +
> + kvaser_usb_get_endpoints(intf, &dev->bulk_in, &dev->bulk_out);
> + if (!dev->bulk_in || !dev->bulk_out) {
> + dev_err(&intf->dev, "Cannot get usb endpoint(s)");
> + return err;
> + }
> +
> + dev->udev = interface_to_usbdev(intf);
> +
> + init_usb_anchor(&dev->rx_submitted);
> +
> + usb_set_intfdata(intf, dev);
> +
> + for (i = 0; i < MAX_NET_DEVICES; i++)
> + kvaser_usb_send_simple_msg(dev, CMD_RESET_CHIP, i);
> +
> + err = kvaser_usb_get_software_info(dev);
> + if (err) {
> + dev_err(&intf->dev,
> + "Cannot get software infos, error %d\n", err);
> + return err;
> + }
> +
> + err = kvaser_usb_get_card_info(dev);
> + if (err) {
> + dev_err(&intf->dev,
> + "Cannot get card infos, error %d\n", err);
> + return err;
> + }
> +
> + 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;
> +}
> +
> +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");
s/Can/CAN/
> +MODULE_LICENSE("GPL v2");
Wolfgang.
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