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Message-Id: <1344230489-16595-1-git-send-email-olivier@sobrie.be>
Date: Mon, 6 Aug 2012 07:21:29 +0200
From: Olivier Sobrie <olivier@...rie.be>
To: Wolfgang Grandegger <wg@...ndegger.com>,
Marc Kleine-Budde <mkl@...gutronix.de>,
linux-can@...r.kernel.org, linux-usb@...r.kernel.org
Cc: netdev@...r.kernel.org, Olivier Sobrie <olivier@...rie.be>
Subject: [PATCH v2] can: kvaser_usb: Add support for Kvaser CAN/USB devices
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.
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>
---
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}
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}{}}
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}
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
+#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;
+ }
+
+ 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;
+ }
+
+ 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;
+
+ 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) {
+ cf->can_id |= CAN_ERR_CRTL;
+ cf->data[1] = CAN_ERR_CRTL_TX_WARNING |
+ CAN_ERR_CRTL_RX_WARNING;
+
+ 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;
+ }
+
+ 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) {
+ 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;
+
+ 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;
+
+ 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;
+ }
+
+ 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");
+MODULE_LICENSE("GPL v2");
--
1.7.9.5
--
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