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Message-ID: <a288e836-7c2f-40e6-dc38-2b9c3623fc31@hartkopp.net>
Date: Sun, 8 Nov 2020 14:03:36 +0100
From: Oliver Hartkopp <socketcan@...tkopp.net>
To: Vincent Mailhol <mailhol.vincent@...adoo.fr>,
linux-can@...r.kernel.org, Marc Kleine-Budde <mkl@...gutronix.de>
Cc: Arunachalam Santhanam <arunachalam.santhanam@...bosch.com>,
Wolfgang Grandegger <wg@...ndegger.com>,
"David S. Miller" <davem@...emloft.net>,
Jakub Kicinski <kuba@...nel.org>,
Masahiro Yamada <masahiroy@...nel.org>,
open list <linux-kernel@...r.kernel.org>,
"open list:NETWORKING DRIVERS" <netdev@...r.kernel.org>
Subject: Re: [PATCH v5] can: usb: etas_es58X: add support for ETAS ES58X CAN
USB interfaces
Hello Vincent,
On 07.11.20 15:18, Vincent Mailhol wrote:
> This driver supports the ES581.4, ES582.1 and ES584.1 interfaces from
> ETAS GmbH (https://www.etas.com/en/products/es58x.php).
>
> Co-developed-by: Arunachalam Santhanam <arunachalam.santhanam@...bosch.com>
> Signed-off-by: Arunachalam Santhanam <arunachalam.santhanam@...bosch.com>
> Signed-off-by: Vincent Mailhol <mailhol.vincent@...adoo.fr>
> --
>
> *Warning*: below patch series are needed to compile:
> * https://lore.kernel.org/linux-can/20201029083218.41505-1-socketcan@hartkopp.net/
> * https://lore.kernel.org/linux-can/20201029133123.2196-1-socketcan@hartkopp.net/
I will send a V5 patch set (only improved comments and documentation)
today or tommorrow morning based on net-next.
Best regards,
Oliver
>
> Changes in v5 (2020-11-07):
> - Add support for DLC greater than 8.
> - All other patches from the previous series were either accepted or
> dismissed. As such, this is not a serie any more but a single
> patch.
>
> Changes in v4 (2020-10-17):
> - Remove struct es58x_abstracted_can_frame.
> branch is already done inside net/can/af_can.c#can_send().
> - Fix formating (spaces, comment style).
> - Transform macros into static inline functions when possible.
> - Fix the ctrlmode_supported flags in es581_4.c and removed
> misleading comments in enum es58x_samples_per_bit.
> - Rename enums according to the type.
> - Remove function es58x_can_put_echo_skb().
> Reference: https://lkml.org/lkml/2020/10/10/53
>
> Changes in v3 (2020-10-03):
> - Remove all the calls to likely() and unlikely().
> Reference: https://lkml.org/lkml/2020/9/30/995
>
> Changes in v2 (2020-09-30):
> - Fixed -W1 warnings (v1 was tested with GCC -WExtra but not with -W1).
> ---
> drivers/net/can/usb/Kconfig | 9 +
> drivers/net/can/usb/Makefile | 1 +
> drivers/net/can/usb/etas_es58x/Makefile | 3 +
> drivers/net/can/usb/etas_es58x/es581_4.c | 552 ++++
> drivers/net/can/usb/etas_es58x/es581_4.h | 206 ++
> drivers/net/can/usb/etas_es58x/es58x_core.c | 2627 +++++++++++++++++++
> drivers/net/can/usb/etas_es58x/es58x_core.h | 712 +++++
> drivers/net/can/usb/etas_es58x/es58x_fd.c | 657 +++++
> drivers/net/can/usb/etas_es58x/es58x_fd.h | 242 ++
> 9 files changed, 5009 insertions(+)
> create mode 100644 drivers/net/can/usb/etas_es58x/Makefile
> create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.c
> create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.h
> create mode 100644 drivers/net/can/usb/etas_es58x/es58x_core.c
> create mode 100644 drivers/net/can/usb/etas_es58x/es58x_core.h
> create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.c
> create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.h
>
> diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig
> index bcb331b0c958..ffb0cd084571 100644
> --- a/drivers/net/can/usb/Kconfig
> +++ b/drivers/net/can/usb/Kconfig
> @@ -20,6 +20,15 @@ config CAN_ESD_USB2
> This driver supports the CAN-USB/2 interface
> from esd electronic system design gmbh (http://www.esd.eu).
>
> +config CAN_ETAS_ES58X
> + tristate "ETAS ES58X CAN/USB interfaces"
> + help
> + This driver supports the ES581.4, ES582.1 and ES584.1 interfaces
> + from ETAS GmbH (https://www.etas.com/en/products/es58x.php).
> +
> + To compile this driver as a module, choose M here: the module
> + will be called etas_es58x.
> +
> config CAN_GS_USB
> tristate "Geschwister Schneider UG interfaces"
> help
> diff --git a/drivers/net/can/usb/Makefile b/drivers/net/can/usb/Makefile
> index aa0f17c0b2ed..748cf31a0d53 100644
> --- a/drivers/net/can/usb/Makefile
> +++ b/drivers/net/can/usb/Makefile
> @@ -6,6 +6,7 @@
> obj-$(CONFIG_CAN_8DEV_USB) += usb_8dev.o
> obj-$(CONFIG_CAN_EMS_USB) += ems_usb.o
> obj-$(CONFIG_CAN_ESD_USB2) += esd_usb2.o
> +obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x/
> obj-$(CONFIG_CAN_GS_USB) += gs_usb.o
> obj-$(CONFIG_CAN_KVASER_USB) += kvaser_usb/
> obj-$(CONFIG_CAN_MCBA_USB) += mcba_usb.o
> diff --git a/drivers/net/can/usb/etas_es58x/Makefile b/drivers/net/can/usb/etas_es58x/Makefile
> new file mode 100644
> index 000000000000..a129b4aa0215
> --- /dev/null
> +++ b/drivers/net/can/usb/etas_es58x/Makefile
> @@ -0,0 +1,3 @@
> +# SPDX-License-Identifier: GPL-2.0
> +obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x.o
> +etas_es58x-y = es58x_core.o es581_4.o es58x_fd.o
> diff --git a/drivers/net/can/usb/etas_es58x/es581_4.c b/drivers/net/can/usb/etas_es58x/es581_4.c
> new file mode 100644
> index 000000000000..ded85b06c31a
> --- /dev/null
> +++ b/drivers/net/can/usb/etas_es58x/es581_4.c
> @@ -0,0 +1,552 @@
> +// SPDX-License-Identifier: GPL-2.0
> +
> +/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
> + *
> + * File es581_4.c: Adds support to ETAS ES581.4.
> + *
> + * Copyright (C) 2019 Robert Bosch Engineering and Business
> + * Solutions. All rights reserved.
> + * Copyright (C) 2020 ETAS K.K.. All rights reserved.
> + */
> +
> +#include <linux/kernel.h>
> +#include <asm/unaligned.h>
> +
> +#include "es58x_core.h"
> +#include "es581_4.h"
> +
> +/**
> + * es58x_sizeof_rx_tx_msg() - Calculate the actual length of the
> + * structure of a rx or tx message.
> + * @msg: message of variable length, must have a dlc field.
> + *
> + * Even if RTR frames have actually no payload, the ES58X devices
> + * still expect it. Must be a macro in order to retrieve the actual
> + * size using offsetof() and typeof().
> + *
> + * Return: length of the message.
> + */
> +#define es581_4_sizeof_rx_tx_msg(msg) \
> + offsetof(typeof(msg), data[can_get_cc_len((msg).dlc)])
> +
> +static u16 es581_4_get_msg_len(const union es58x_urb_cmd *urb_cmd)
> +{
> + return get_unaligned_le16(&urb_cmd->es581_4_urb_cmd.msg_len);
> +}
> +
> +static int es581_4_rx_loopback_msg(struct es58x_device *es58x_dev,
> + const struct es581_4_urb_cmd
> + *es581_4_urb_cmd)
> +{
> + struct net_device *netdev;
> + const struct es581_4_bulk_rx_loopback_msg *bulk_rx_loopback_msg;
> + const struct es581_4_rx_loopback_msg *rx_loopback_msg;
> + u64 *tstamps = es58x_dev->timestamps;
> + u16 msg_len;
> + u32 first_packet_idx, packet_idx;
> + unsigned int dropped = 0;
> + int i, num_element, ret;
> +
> + bulk_rx_loopback_msg = &es581_4_urb_cmd->bulk_rx_loopback_msg;
> + msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len) -
> + sizeof(bulk_rx_loopback_msg->channel_no);
> + num_element =
> + es58x_msg_num_element(es58x_dev->dev,
> + bulk_rx_loopback_msg->rx_loopback_msg,
> + msg_len);
> + if (num_element <= 0)
> + return num_element;
> +
> + ret = es58x_get_netdev(es58x_dev, bulk_rx_loopback_msg->channel_no,
> + &netdev);
> + if (ret)
> + return ret;
> +
> + rx_loopback_msg = &bulk_rx_loopback_msg->rx_loopback_msg[0];
> + first_packet_idx = get_unaligned_le32(&rx_loopback_msg->packet_idx);
> + packet_idx = first_packet_idx;
> + for (i = 0; i < num_element; i++) {
> + rx_loopback_msg = &bulk_rx_loopback_msg->rx_loopback_msg[i];
> + if (get_unaligned_le32(&rx_loopback_msg->packet_idx)
> + == packet_idx - 1) {
> + if (net_ratelimit())
> + netdev_warn(netdev,
> + "Received loopback packet idx %u twice\n",
> + packet_idx - 1);
> + dropped++;
> + continue;
> + }
> + if (get_unaligned_le32(&rx_loopback_msg->packet_idx)
> + != packet_idx) {
> + netdev_err(netdev, "Packet idx jumped from %u to %u\n",
> + packet_idx - 1, rx_loopback_msg->packet_idx);
> + return -EBADMSG;
> + }
> +
> + tstamps[i] = get_unaligned_le64(&rx_loopback_msg->timestamp);
> + packet_idx++;
> + }
> +
> + netdev->stats.tx_dropped += dropped;
> + return es58x_can_get_echo_skb(netdev, first_packet_idx,
> + tstamps, num_element - dropped);
> +}
> +
> +static int es581_4_rx_can_msg(struct es58x_device *es58x_dev,
> + const struct es581_4_urb_cmd *es581_4_urb_cmd,
> + u16 msg_len)
> +{
> + const struct device *dev = es58x_dev->dev;
> + struct net_device *netdev;
> + int pkts, num_element, channel_no, ret;
> +
> + num_element = es58x_msg_num_element(dev, es581_4_urb_cmd->rx_can_msg,
> + msg_len);
> + if (num_element <= 0)
> + return num_element;
> +
> + channel_no = es581_4_urb_cmd->rx_can_msg[0].channel_no;
> + ret = es58x_get_netdev(es58x_dev, channel_no, &netdev);
> + if (ret)
> + return ret;
> +
> + if (!netif_running(netdev)) {
> + if (net_ratelimit())
> + netdev_info(netdev,
> + "%s: %s is down, dropping %d rx packets\n",
> + __func__, netdev->name, num_element);
> + netdev->stats.rx_dropped += num_element;
> + return 0;
> + }
> +
> + for (pkts = 0; pkts < num_element; pkts++) {
> + const struct es581_4_rx_can_msg *rx_can_msg =
> + &es581_4_urb_cmd->rx_can_msg[pkts];
> + u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
> + canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);
> +
> + if (channel_no != rx_can_msg->channel_no) {
> + netdev_err(netdev,
> + "%s: channel_no changed from %d to %d\n",
> + __func__,
> + channel_no, rx_can_msg->channel_no);
> + return -EBADMSG;
> + }
> +
> + ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
> + can_id, rx_can_msg->flags,
> + rx_can_msg->dlc);
> + if (ret)
> + break;
> + }
> +
> + return ret;
> +}
> +
> +static int es581_4_rx_err_msg(struct es58x_device *es58x_dev,
> + const struct es581_4_rx_err_msg *rx_err_msg)
> +{
> + struct net_device *netdev;
> + enum es58x_err error = get_unaligned_le32(&rx_err_msg->error);
> + int ret;
> +
> + ret = es58x_get_netdev(es58x_dev, rx_err_msg->channel_no, &netdev);
> + if (ret)
> + return ret;
> +
> + return es58x_rx_err_msg(netdev, error, 0,
> + get_unaligned_le64(&rx_err_msg->timestamp));
> +}
> +
> +static int es581_4_rx_event_msg(struct es58x_device *es58x_dev,
> + const struct es581_4_rx_event_msg *rx_event_msg)
> +{
> + struct net_device *netdev;
> + enum es58x_event event = get_unaligned_le32(&rx_event_msg->event);
> + int ret;
> +
> + ret = es58x_get_netdev(es58x_dev, rx_event_msg->channel_no, &netdev);
> + if (ret)
> + return ret;
> +
> + return es58x_rx_err_msg(netdev, 0, event,
> + get_unaligned_le64(&rx_event_msg->timestamp));
> +}
> +
> +static int es581_4_rx_cmd_ret_u32(struct es58x_device *es58x_dev,
> + const struct es581_4_urb_cmd *es581_4_urb_cmd,
> + enum es58x_ret_type ret_type)
> +{
> + struct net_device *netdev;
> + const struct es581_4_rx_dev_ret *rx_dev_ret;
> + u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
> + enum es58x_ret_u32 rx_cmd_ret_u32;
> + int ret;
> +
> + ret = es58x_check_msg_len(es58x_dev->dev,
> + es581_4_urb_cmd->rx_dev_ret, msg_len);
> + if (ret)
> + return ret;
> +
> + rx_dev_ret = &es581_4_urb_cmd->rx_dev_ret;
> +
> + ret = es58x_get_netdev(es58x_dev, rx_dev_ret->channel_no, &netdev);
> + if (ret)
> + return ret;
> +
> + rx_cmd_ret_u32 = get_unaligned_le32(&rx_dev_ret->rx_cmd_ret_le32);
> + return es58x_rx_cmd_ret_u32(netdev, ret_type, rx_cmd_ret_u32);
> +}
> +
> +static int es581_4_tx_ack_msg(struct es58x_device *es58x_dev,
> + const struct es581_4_urb_cmd *es581_4_urb_cmd)
> +{
> + struct net_device *netdev;
> + const struct es581_4_tx_ack_msg *tx_ack_msg;
> + u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
> + int ret;
> +
> + tx_ack_msg = &es581_4_urb_cmd->tx_ack_msg;
> + ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
> + if (ret)
> + return ret;
> +
> + if (tx_ack_msg->rx_dev_ret_u8 != ES58X_RET_U8_OK)
> + return es58x_rx_dev_ret_u8(es58x_dev->dev,
> + ES58X_RET_TYPE_TX_MSG,
> + tx_ack_msg->rx_dev_ret_u8);
> +
> + ret = es58x_get_netdev(es58x_dev, tx_ack_msg->channel_no, &netdev);
> + if (ret)
> + return ret;
> +
> + return
> + es58x_tx_ack_msg(netdev,
> + get_unaligned_le16(&tx_ack_msg->tx_free_entries),
> + ES58X_RET_U32_OK);
> +}
> +
> +static int es581_4_dispatch_rx_cmd(struct es58x_device *es58x_dev,
> + const struct es581_4_urb_cmd
> + *es581_4_urb_cmd)
> +{
> + const struct device *dev = es58x_dev->dev;
> + u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
> + enum es581_4_rx_type rx_type = es581_4_urb_cmd->rx_can_msg[0].rx_type;
> + int ret = 0;
> +
> + switch (rx_type) {
> + case ES581_4_RX_TYPE_MESSAGE:
> + return es581_4_rx_can_msg(es58x_dev, es581_4_urb_cmd, msg_len);
> +
> + case ES581_4_RX_TYPE_ERROR:
> + ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_err_msg,
> + msg_len);
> + if (ret < 0)
> + return ret;
> + return es581_4_rx_err_msg(es58x_dev,
> + &es581_4_urb_cmd->rx_err_msg);
> +
> + case ES581_4_RX_TYPE_EVENT:
> + ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_event_msg,
> + msg_len);
> + if (ret < 0)
> + return ret;
> + return es581_4_rx_event_msg(es58x_dev,
> + &es581_4_urb_cmd->rx_event_msg);
> +
> + default:
> + dev_err(dev, "%s: Unknown rx_type 0x%02X\n", __func__, rx_type);
> + return -EBADRQC;
> + }
> +}
> +
> +static int es581_4_handle_urb_cmd(struct es58x_device *es58x_dev,
> + const union es58x_urb_cmd *urb_cmd)
> +{
> + const struct es581_4_urb_cmd *es581_4_urb_cmd;
> + const struct device *dev = es58x_dev->dev;
> + u16 msg_len = es581_4_get_msg_len(urb_cmd);
> + int ret;
> +
> + es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
> +
> + if (es581_4_urb_cmd->cmd_type != ES581_4_CAN_COMMAND_TYPE) {
> + dev_err(dev, "%s: Unknown command type (0x%02X)\n",
> + __func__, es581_4_urb_cmd->cmd_type);
> + return -EBADRQC;
> + }
> +
> + switch ((enum es581_4_cmd_id)es581_4_urb_cmd->cmd_id) {
> + case ES581_4_CMD_ID_SET_BITTIMING:
> + return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
> + ES58X_RET_TYPE_SET_BITTIMING);
> +
> + case ES581_4_CMD_ID_ENABLE_CHANNEL:
> + return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
> + ES58X_RET_TYPE_ENABLE_CHANNEL);
> +
> + case ES581_4_CMD_ID_TX_MSG:
> + return es581_4_tx_ack_msg(es58x_dev, es581_4_urb_cmd);
> +
> + case ES581_4_CMD_ID_RX_MSG:
> + return es581_4_dispatch_rx_cmd(es58x_dev, es581_4_urb_cmd);
> +
> + case ES581_4_CMD_ID_RESET_RX:
> + ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
> + ES58X_RET_TYPE_RESET_RX);
> + return ret;
> +
> + case ES581_4_CMD_ID_RESET_TX:
> + ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
> + ES58X_RET_TYPE_RESET_TX);
> + return ret;
> +
> + case ES581_4_CMD_ID_DISABLE_CHANNEL:
> + return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
> + ES58X_RET_TYPE_DISABLE_CHANNEL);
> +
> + case ES581_4_CMD_ID_TIMESTAMP:
> + ret = es58x_check_msg_len(dev, es581_4_urb_cmd->timestamp,
> + msg_len);
> + if (ret < 0)
> + return ret;
> + return es58x_rx_timestamp(es58x_dev,
> + get_unaligned_le64
> + (&es581_4_urb_cmd->timestamp));
> +
> + case ES581_4_CMD_ID_SELF_RECEPTION:
> + return es581_4_rx_loopback_msg(es58x_dev, es581_4_urb_cmd);
> +
> + case ES581_4_CMD_ID_DEVICE_ERR:
> + ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_dev_ret_u8,
> + msg_len);
> + if (ret)
> + return ret;
> + return es58x_rx_dev_ret_u8(es58x_dev->dev,
> + ES58X_RET_TYPE_DEVICE_ERR,
> + es581_4_urb_cmd->rx_dev_ret_u8);
> +
> + default:
> + dev_warn(dev, "%s: Unexpected command ID: 0x%02X\n",
> + __func__, es581_4_urb_cmd->cmd_id);
> + return -EBADRQC;
> + }
> +}
> +
> +static void es581_4_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
> + u8 cmd_id, u8 channel_idx, u16 msg_len)
> +{
> + struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
> +
> + es581_4_urb_cmd->SOF = cpu_to_le16(es581_4_param.tx_start_of_frame);
> + es581_4_urb_cmd->cmd_type = cmd_type;
> + es581_4_urb_cmd->cmd_id = cmd_id;
> + es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
> +}
> +
> +static int es581_4_tx_can_msg(struct es58x_priv *priv, int channel_idx,
> + u32 packet_idx, const struct sk_buff *skb,
> + union es58x_urb_cmd *urb_cmd, u32 *urb_cmd_len)
> +{
> + struct es58x_device *es58x_dev = priv->es58x_dev;
> + struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
> + struct can_frame *cf = (struct can_frame *)skb->data;
> + struct es581_4_tx_can_msg *tx_can_msg;
> + u16 msg_len;
> + int ret;
> +
> + ret = es58x_check_msg_max_len(es58x_dev->dev,
> + es581_4_urb_cmd->bulk_tx_can_msg,
> + es581_4_get_msg_len(urb_cmd) +
> + sizeof(*tx_can_msg));
> + if (ret)
> + return ret;
> +
> + if (can_is_canfd_skb(skb))
> + return -EMSGSIZE;
> +
> + /* Fill message contents. */
> + if (*urb_cmd_len == es58x_dev->param->urb_cmd_header_len) {
> + es581_4_fill_urb_header(urb_cmd, ES581_4_CAN_COMMAND_TYPE,
> + ES581_4_CMD_ID_TX_MSG,
> + channel_idx, *urb_cmd_len);
> + msg_len = 1;
> + } else {
> + msg_len = le16_to_cpu(es581_4_urb_cmd->msg_len);
> + }
> + tx_can_msg = (struct es581_4_tx_can_msg *)
> + &es581_4_urb_cmd->bulk_tx_can_msg.tx_can_msg_buf[msg_len - 1];
> +
> + put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
> + put_unaligned_le32(packet_idx, &tx_can_msg->packet_idx);
> + put_unaligned_le16((u16)es58x_get_flags(skb), &tx_can_msg->flags);
> + tx_can_msg->channel_no = channel_idx + 1;
> + tx_can_msg->dlc = can_get_cc_dlc(priv->can.ctrlmode,
> + cf->len, cf->len8_dlc);
> +
> + memcpy(tx_can_msg->data, cf->data, cf->len);
> +
> + /* Calculate new sizes. */
> + es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg++;
> + msg_len += es581_4_sizeof_rx_tx_msg(*tx_can_msg);
> + *urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
> + es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
> +
> + return 0;
> +}
> +
> +static void es581_4_print_conf(struct net_device *netdev,
> + struct es581_4_tx_conf_msg *tx_conf_msg)
> +{
> + netdev_vdbg(netdev, "bitrate = %d\n",
> + le32_to_cpu(tx_conf_msg->bitrate));
> + netdev_vdbg(netdev, "sample_point = %d\n",
> + le32_to_cpu(tx_conf_msg->sample_point));
> + netdev_vdbg(netdev, "samples_per_bit = %d\n",
> + le32_to_cpu(tx_conf_msg->samples_per_bit));
> + netdev_vdbg(netdev, "bit_time = %d\n",
> + le32_to_cpu(tx_conf_msg->bit_time));
> + netdev_vdbg(netdev, "sjw = %d\n",
> + le32_to_cpu(tx_conf_msg->sjw));
> + netdev_vdbg(netdev, "sync_edge = %d\n",
> + le32_to_cpu(tx_conf_msg->sync_edge));
> + netdev_vdbg(netdev, "physical_media = %d\n",
> + le32_to_cpu(tx_conf_msg->physical_media));
> + netdev_vdbg(netdev, "self_reception = %d\n",
> + le32_to_cpu(tx_conf_msg->self_reception_mode));
> + netdev_vdbg(netdev, "channel_no = %d\n", tx_conf_msg->channel_no);
> +}
> +
> +static int es581_4_set_bittiming(struct es58x_device *es58x_dev,
> + int channel_idx)
> +{
> + struct es581_4_tx_conf_msg tx_conf_msg = { 0 };
> + struct net_device *netdev = es58x_dev->netdev[channel_idx];
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct can_bittiming *bt = &priv->can.bittiming;
> +
> + tx_conf_msg.bitrate = cpu_to_le32(bt->bitrate);
> + /* bt->sample_point is in tenth of percent. Convert it to percent. */
> + tx_conf_msg.sample_point = cpu_to_le32(bt->sample_point / 10U);
> + tx_conf_msg.samples_per_bit = cpu_to_le32(ES58X_SAMPLES_PER_BIT_ONE);
> + tx_conf_msg.bit_time = cpu_to_le32(can_bit_time(bt));
> + tx_conf_msg.sjw = cpu_to_le32(bt->sjw);
> + tx_conf_msg.sync_edge = cpu_to_le32(ES58X_SYNC_EDGE_SINGLE);
> + tx_conf_msg.physical_media =
> + cpu_to_le32(ES58X_PHYSICAL_MEDIA_HIGH_SPEED);
> + tx_conf_msg.self_reception_mode = cpu_to_le32(ES58X_SELF_RECEPTION_ON);
> + tx_conf_msg.channel_no = channel_idx + es581_4_param.channel_idx_offset;
> +
> + es581_4_print_conf(netdev, &tx_conf_msg);
> +
> + return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
> + ES581_4_CMD_ID_SET_BITTIMING, &tx_conf_msg,
> + sizeof(tx_conf_msg), channel_idx);
> +}
> +
> +static int es581_4_enable_channel(struct es58x_device *es58x_dev,
> + int channel_idx)
> +{
> + u8 msg = channel_idx + 1;
> +
> + return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
> + ES581_4_CMD_ID_ENABLE_CHANNEL, &msg, sizeof(msg),
> + channel_idx);
> +}
> +
> +static int es581_4_disable_channel(struct es58x_device *es58x_dev,
> + int channel_idx)
> +{
> + u8 msg = channel_idx + 1;
> +
> + return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
> + ES581_4_CMD_ID_DISABLE_CHANNEL, &msg, sizeof(msg),
> + channel_idx);
> +}
> +
> +static int es581_4_reset_rx(struct es58x_device *es58x_dev, int channel_idx)
> +{
> + u8 msg = channel_idx + 1;
> +
> + return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
> + ES581_4_CMD_ID_RESET_RX, &msg, sizeof(msg),
> + channel_idx);
> +}
> +
> +static int es581_4_reset_tx(struct es58x_device *es58x_dev, int channel_idx)
> +{
> + u8 msg = channel_idx + 1;
> +
> + return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
> + ES581_4_CMD_ID_RESET_TX, &msg, sizeof(msg),
> + channel_idx);
> +}
> +
> +static int es581_4_get_timestamp(struct es58x_device *es58x_dev)
> +{
> + return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
> + ES581_4_CMD_ID_TIMESTAMP, ES58X_EMPTY_MSG,
> + 0, ES58X_CHANNEL_IDX_NA);
> +}
> +
> +/* struct es581_4_bittiming_const - Nominal bittiming constants.
> + *
> + * Nominal bittiming constants for ES581.4 as specified in the
> + * microcontroller datasheet: "Stellaris(R) LM3S5B91 Microcontroller"
> + * table 17-4 "CAN Protocol Ranges" from Texas Instruments.
> + */
> +static const struct can_bittiming_const es581_4_bittiming_const = {
> + .name = "ES581.4",
> + .tseg1_min = 1,
> + .tseg1_max = 8,
> + .tseg2_min = 1,
> + .tseg2_max = 8,
> + .sjw_max = 4,
> + .brp_min = 1,
> + .brp_max = 128,
> + .brp_inc = 1
> +};
> +
> +const struct es58x_parameters es581_4_param = {
> + .bittiming_const = &es581_4_bittiming_const,
> + .data_bittiming_const = NULL,
> + .bitrate_max = ES58X_MBPS(1),
> + .clock = {.freq = ES58X_MHZ(50)},
> + .ctrlmode_supported =
> + CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_CC_LEN8_DLC,
> + .tx_start_of_frame = 0xAFAF,
> + .rx_start_of_frame = 0xFAFA,
> + .tx_urb_cmd_max_len = ES581_4_TX_URB_CMD_MAX_LEN,
> + .rx_urb_cmd_max_len = ES581_4_RX_URB_CMD_MAX_LEN,
> + /* Size of internal device TX queue is 330.
> + *
> + * However, we witnessed some ES58X_ERR_PROT_CRC errors from
> + * the device and thus, echo_skb_max was lowered to the
> + * empirical value of 75 which seems stable.
> + *
> + * Root cause of those ES58X_ERR_PROT_CRC errors is still
> + * unclear.
> + */
> + .echo_skb_max = 75,
> + /* Empirical value. */
> + .dql_limit_min = ES58X_CAN_FRAME_BYTES_MAX * 50,
> + .tx_bulk_max = ES581_4_TX_BULK_MAX,
> + .urb_cmd_header_len = ES581_4_URB_CMD_HEADER_LEN,
> + .rx_urb_max = ES58X_RX_URBS_MAX,
> + .tx_urb_max = ES58X_TX_URBS_MAX,
> + .channel_idx_offset = 1
> +};
> +
> +const struct es58x_operators es581_4_ops = {
> + .get_msg_len = es581_4_get_msg_len,
> + .handle_urb_cmd = es581_4_handle_urb_cmd,
> + .fill_urb_header = es581_4_fill_urb_header,
> + .tx_can_msg = es581_4_tx_can_msg,
> + .set_bittiming = es581_4_set_bittiming,
> + .enable_channel = es581_4_enable_channel,
> + .disable_channel = es581_4_disable_channel,
> + .reset_rx = es581_4_reset_rx,
> + .reset_tx = es581_4_reset_tx,
> + .get_timestamp = es581_4_get_timestamp
> +};
> diff --git a/drivers/net/can/usb/etas_es58x/es581_4.h b/drivers/net/can/usb/etas_es58x/es581_4.h
> new file mode 100644
> index 000000000000..1fbb41cadeea
> --- /dev/null
> +++ b/drivers/net/can/usb/etas_es58x/es581_4.h
> @@ -0,0 +1,206 @@
> +/* SPDX-License-Identifier: GPL-2.0 */
> +
> +/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
> + *
> + * File es581_4.h: Definitions and declarations specific to ETAS
> + * ES581.4.
> + *
> + * Copyright (C) 2019 Robert Bosch Engineering and Business
> + * Solutions. All rights reserved.
> + * Copyright (C) 2020 ETAS K.K.. All rights reserved.
> + */
> +
> +#ifndef __ES581_4_H__
> +#define __ES581_4_H__
> +
> +#include <linux/types.h>
> +
> +#define ES581_4_NUM_CAN_CH 2
> +
> +#define ES581_4_TX_BULK_MAX 25
> +#define ES581_4_RX_BULK_MAX 30
> +#define ES581_4_RX_LOOPBACK_BULK_MAX 30
> +
> +enum es581_4_cmd_type {
> + ES581_4_CAN_COMMAND_TYPE = 0x45
> +};
> +
> +enum es581_4_cmd_id {
> + ES581_4_CMD_ID_OPEN_CHANNEL = 0x01,
> + ES581_4_CMD_ID_CLOSE_CHANNEL = 0x02,
> + ES581_4_CMD_ID_SET_BITTIMING = 0x03,
> + ES581_4_CMD_ID_ENABLE_CHANNEL = 0x04,
> + ES581_4_CMD_ID_TX_MSG = 0x05,
> + ES581_4_CMD_ID_RX_MSG = 0x06,
> + ES581_4_CMD_ID_RESET_RX = 0x0A,
> + ES581_4_CMD_ID_RESET_TX = 0x0B,
> + ES581_4_CMD_ID_DISABLE_CHANNEL = 0x0C,
> + ES581_4_CMD_ID_TIMESTAMP = 0x0E,
> + ES581_4_CMD_ID_RESET_DEVICE = 0x28,
> + ES581_4_CMD_ID_SELF_RECEPTION = 0x71,
> + ES581_4_CMD_ID_DEVICE_ERR = 0x72
> +};
> +
> +enum es581_4_rx_type {
> + ES581_4_RX_TYPE_MESSAGE = 1,
> + ES581_4_RX_TYPE_ERROR = 3,
> + ES581_4_RX_TYPE_EVENT = 4
> +};
> +
> +/**
> + * struct es581_4_tx_conf_msg - Channel configuration.
> + * @bitrate: Bitrate.
> + * @sample_point: Sample point is in percent [0..100].
> + * @samples_per_bit: type enum es58x_samples_per_bit.
> + * @bit_time: Number of time quanta in one bit.
> + * @sjw: Synchronization Jump Width.
> + * @sync_edge: type enum es58x_sync_edge.
> + * @physical_media: type enum es58x_physical_media.
> + * @self_reception_mode: type enum es58x_self_reception_mode.
> + * @channel_no: Channel number, starting from 1. Not to be confused
> + * with channed_idx of the ES58X FD which starts from 0.
> + */
> +struct es581_4_tx_conf_msg {
> + __le32 bitrate;
> + __le32 sample_point;
> + __le32 samples_per_bit;
> + __le32 bit_time;
> + __le32 sjw;
> + __le32 sync_edge;
> + __le32 physical_media;
> + __le32 self_reception_mode;
> + u8 channel_no;
> +} __packed;
> +
> +struct es581_4_tx_can_msg {
> + __le32 can_id;
> + __le32 packet_idx;
> + __le16 flags;
> + u8 channel_no;
> + u8 dlc;
> + u8 data[CAN_MAX_DLEN];
> +} __packed;
> +
> +/* The ES581.4 allows bulk transfer. */
> +struct es581_4_bulk_tx_can_msg {
> + u8 num_can_msg;
> + /* Using type "u8[]" instead of "struct es581_4_tx_can_msg[]"
> + * for tx_msg_buf because each member has a flexible size.
> + */
> + u8 tx_can_msg_buf[ES581_4_TX_BULK_MAX *
> + sizeof(struct es581_4_tx_can_msg)];
> +} __packed;
> +
> +struct es581_4_rx_loopback_msg {
> + __le64 timestamp;
> + __le32 packet_idx;
> +} __packed;
> +
> +struct es581_4_bulk_rx_loopback_msg {
> + u8 channel_no;
> + struct es581_4_rx_loopback_msg
> + rx_loopback_msg[ES581_4_RX_LOOPBACK_BULK_MAX];
> +} __packed;
> +
> +/* Normal Rx CAN Message */
> +struct es581_4_rx_can_msg {
> + __le64 timestamp;
> + u8 rx_type; /* type enum es581_4_rx_type */
> + u8 flags; /* type enum es58x_flag */
> + u8 channel_no;
> + u8 dlc;
> + __le32 can_id;
> + u8 data[CAN_MAX_DLEN];
> +} __packed;
> +
> +struct es581_4_rx_err_msg {
> + __le64 timestamp;
> + __le16 rx_type; /* type enum es581_4_rx_type */
> + __le16 flags; /* type enum es58x_flag */
> + u8 channel_no;
> + u8 __padding[2];
> + u8 dlc;
> + __le32 tag; /* Related to the CAN filtering. Unused in this module */
> + __le32 can_id;
> + __le32 error; /* type enum es58x_error */
> + __le32 destination; /* Unused in this module */
> +} __packed;
> +
> +struct es581_4_rx_event_msg {
> + __le64 timestamp;
> + __le16 rx_type; /* type enum es581_4_rx_type */
> + u8 channel_no;
> + u8 __padding;
> + __le32 tag; /* Related to the CAN filtering. Unused in this module */
> + __le32 event; /* type enum es58x_event */
> + __le32 destination; /* Unused in this module */
> +} __packed;
> +
> +struct es581_4_tx_ack_msg {
> + __le16 tx_free_entries; /* Number of remaining free entries in the device TX queue */
> + u8 channel_no;
> + u8 rx_dev_ret_u8; /* type enum es58x_dev_ret_code_u8 */
> +} __packed;
> +
> +struct es581_4_rx_dev_ret {
> + __le32 rx_cmd_ret_le32;
> + u8 channel_no;
> + u8 __padding[3];
> +} __packed;
> +
> +/**
> + * struct es581_4_urb_cmd - Commands received from or sent to the
> + * ES581.4 device.
> + * @SOF: Start of Frame.
> + * @cmd_type: Command Type (type: enum es581_4_cmd_type). The CRC
> + * calculation starts at this position.
> + * @cmd_id: Command ID (type: enum es581_4_cmd_id).
> + * @msg_len: Length of the message, excluding CRC (i.e. length of the
> + * union).
> + * @raw_msg: Message raw payload.
> + * @tx_conf_msg: Channel configuration.
> + * @bulk_tx_can_msg: Tx messages.
> + * @rx_can_msg: Array of Rx messages.
> + * @bulk_rx_loopback_msg: Loopback messages.
> + * @rx_err_msg: Error message.
> + * @rx_event_msg: Event message.
> + * @tx_ack_msg: Tx acknowledgment message.
> + * @timestamp: Timestamp reply.
> + * @rx_cmd_ret_u8: Rx 8 bits return code (type: enum
> + * es58x_dev_ret_code_u8).
> + * @reserved_for_crc16_do_not_use: The structure ends with a
> + * CRC16. Because the structures in above union are of variable
> + * lengths, we can not predict the offset of the CRC in
> + * advance. Use functions es58x_get_crc() and es58x_set_crc() to
> + * manipulate it.
> + */
> +struct es581_4_urb_cmd {
> + __le16 SOF;
> + u8 cmd_type;
> + u8 cmd_id;
> + __le16 msg_len;
> +
> + union {
> + struct es581_4_tx_conf_msg tx_conf_msg;
> + struct es581_4_bulk_tx_can_msg bulk_tx_can_msg;
> + struct es581_4_rx_can_msg rx_can_msg[ES581_4_RX_BULK_MAX];
> + struct es581_4_bulk_rx_loopback_msg bulk_rx_loopback_msg;
> + struct es581_4_rx_err_msg rx_err_msg;
> + struct es581_4_rx_event_msg rx_event_msg;
> + struct es581_4_tx_ack_msg tx_ack_msg;
> + struct es581_4_rx_dev_ret rx_dev_ret;
> + __le64 timestamp;
> + u8 rx_dev_ret_u8;
> + u8 raw_msg[0];
> + } __packed;
> +
> + __le16 reserved_for_crc16_do_not_use;
> +} __packed;
> +
> +#define ES581_4_URB_CMD_HEADER_LEN (offsetof(struct es581_4_urb_cmd, raw_msg))
> +#define ES581_4_TX_URB_CMD_MAX_LEN \
> + ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, bulk_tx_can_msg)
> +#define ES581_4_RX_URB_CMD_MAX_LEN \
> + ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, rx_can_msg)
> +
> +#endif /* __ES581_4_H__ */
> diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.c b/drivers/net/can/usb/etas_es58x/es58x_core.c
> new file mode 100644
> index 000000000000..bfe9e94b7fbc
> --- /dev/null
> +++ b/drivers/net/can/usb/etas_es58x/es58x_core.c
> @@ -0,0 +1,2627 @@
> +// SPDX-License-Identifier: GPL-2.0
> +
> +/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
> + *
> + * File es58x_core.c: Core logic to manage the network devices and the
> + * USB interface.
> + *
> + * Copyright (C) 2019 Robert Bosch Engineering and Business
> + * Solutions. All rights reserved.
> + * Copyright (C) 2020 ETAS K.K.. All rights reserved.
> + */
> +
> +#include <linux/kernel.h>
> +#include <linux/module.h>
> +#include <linux/moduleparam.h>
> +#include <linux/usb.h>
> +#include <linux/crc16.h>
> +#include <linux/spinlock.h>
> +#include <asm/unaligned.h>
> +
> +#include "es58x_core.h"
> +
> +#define DRV_VERSION "1.03"
> +MODULE_AUTHOR("Mailhol Vincent <mailhol.vincent@...adoo.fr>");
> +MODULE_AUTHOR("Arunachalam Santhanam <arunachalam.santhanam@...bosch.com>");
> +MODULE_DESCRIPTION("Socket CAN driver for ETAS ES58X USB adapters");
> +MODULE_VERSION(DRV_VERSION);
> +MODULE_LICENSE("GPL v2");
> +
> +/* Vendor and product id */
> +#define ES58X_MODULE_NAME "etas_es58x"
> +#define ES58X_VENDOR_ID 0x108C
> +#define ES581_4_PRODUCT_ID 0x0159
> +#define ES582_1_PRODUCT_ID 0x0168
> +#define ES584_1_PRODUCT_ID 0x0169
> +
> +/* Table of devices which work with this driver */
> +static const struct usb_device_id es58x_id_table[] = {
> + {USB_DEVICE(ES58X_VENDOR_ID, ES581_4_PRODUCT_ID)},
> + {USB_DEVICE(ES58X_VENDOR_ID, ES582_1_PRODUCT_ID)},
> + {USB_DEVICE(ES58X_VENDOR_ID, ES584_1_PRODUCT_ID)},
> + {} /* Terminating entry */
> +};
> +
> +MODULE_DEVICE_TABLE(usb, es58x_id_table);
> +
> +#define es58x_print_hex_dump(buf, len) \
> + print_hex_dump(KERN_DEBUG, \
> + ES58X_MODULE_NAME " " __stringify(buf) ": ", \
> + DUMP_PREFIX_NONE, 16, 1, buf, len, false)
> +
> +#define es58x_print_hex_dump_debug(buf, len) \
> + print_hex_dump_debug(ES58X_MODULE_NAME " " __stringify(buf) ": ",\
> + DUMP_PREFIX_NONE, 16, 1, buf, len, false)
> +
> +/* The last two bytes of an ES58X command is a CRC16. The first two
> + * bytes (the start of frame) are skipped and the CRC calculation
> + * starts on the third byte.
> + */
> +#define ES58X_CRC_CALC_OFFSET 2
> +
> +/**
> + * es58x_calculate_crc() - Compute the crc16 of a given URB.
> + * @urb_cmd: The URB command for which we want to calculate the CRC.
> + * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
> + * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
> + *
> + * Return: crc16 value.
> + */
> +static u16 es58x_calculate_crc(const union es58x_urb_cmd *urb_cmd, u16 urb_len)
> +{
> + u16 crc;
> + ssize_t len = urb_len - ES58X_CRC_CALC_OFFSET - sizeof(crc);
> +
> + WARN_ON(len < 0);
> + crc = crc16(0, &urb_cmd->raw_cmd[ES58X_CRC_CALC_OFFSET], len);
> + return crc;
> +}
> +
> +/**
> + * es58x_get_crc() - Get the CRC value of a given URB.
> + * @urb_cmd: The URB command for which we want to get the CRC.
> + * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
> + * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
> + *
> + * Return: crc16 value.
> + */
> +static u16 es58x_get_crc(const union es58x_urb_cmd *urb_cmd, u16 urb_len)
> +{
> + u16 crc;
> + const __le16 *crc_addr;
> +
> + WARN_ON(urb_len - (ssize_t)sizeof(crc) < 0);
> + crc_addr = (__le16 *)&urb_cmd->raw_cmd[urb_len - sizeof(crc)];
> + crc = get_unaligned_le16(crc_addr);
> + return crc;
> +}
> +
> +/**
> + * es58x_set_crc() - Set the CRC value of a given URB.
> + * @urb_cmd: The URB command for which we want to get the CRC.
> + * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
> + * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
> + */
> +static void es58x_set_crc(union es58x_urb_cmd *urb_cmd, u16 urb_len)
> +{
> + u16 crc;
> + __le16 *crc_addr;
> +
> + crc = es58x_calculate_crc(urb_cmd, urb_len);
> + crc_addr = (__le16 *)&urb_cmd->raw_cmd[urb_len - sizeof(crc)];
> + put_unaligned_le16(crc, crc_addr);
> +}
> +
> +/**
> + * es58x_check_crc() - Validate the CRC value of a given URB.
> + * @es58x_dev: ES58X device.
> + * @urb_cmd: The URB command for which we want to check the CRC.
> + * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
> + * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
> + *
> + * Return: zero on success, -EBADMSG if the CRC check fails.
> + */
> +static int es58x_check_crc(struct es58x_device *es58x_dev,
> + const union es58x_urb_cmd *urb_cmd, u16 urb_len)
> +{
> + u16 calculated_crc = es58x_calculate_crc(urb_cmd, urb_len);
> + u16 expected_crc = es58x_get_crc(urb_cmd, urb_len);
> +
> + if (expected_crc != calculated_crc) {
> + dev_err_ratelimited(es58x_dev->dev,
> + "%s: Bad CRC, urb_len: %d\n",
> + __func__, urb_len);
> + return -EBADMSG;
> + }
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_timestamp_to_ns() - Convert a timestamp value received from a
> + * ES58X device to nanoseconds.
> + * @timestamp: Timestamp received from a ES58X device.
> + *
> + * The timestamp received from ES58X is expressed in multiple of 0.5
> + * micro seconds. This function converts it in to nanoseconds.
> + *
> + * Return: Timestamp value in nanoseconds.
> + */
> +static u64 es58x_timestamp_to_ns(u64 timestamp)
> +{
> + const u64 es58x_timestamp_ns_mult_coef = 500ULL;
> +
> + return es58x_timestamp_ns_mult_coef * timestamp;
> +}
> +
> +/**
> + * es58x_set_skb_timestamp() - Set the hardware timestamp of an skb.
> + * @netdev: CAN network device.
> + * @skb: socket buffer of a CAN message.
> + * @timestamp: Timestamp received from an ES58X device.
> + *
> + * Used for both received and loopback messages.
> + *
> + * Return: zero on success, -EFAULT if @skb is NULL.
> + */
> +static int es58x_set_skb_timestamp(struct net_device *netdev,
> + struct sk_buff *skb, u64 timestamp)
> +{
> + struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
> + struct skb_shared_hwtstamps *hwts;
> +
> + hwts = skb_hwtstamps(skb);
> + /* Ignoring overflow (overflow on 64 bits timestamp with nano
> + * second precision would occur after more than 500 years).
> + */
> + hwts->hwtstamp = ns_to_ktime(es58x_timestamp_to_ns(timestamp) +
> + es58x_dev->realtime_diff_ns);
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_rx_timestamp() - Handle a received timestamp.
> + * @es58x_dev: ES58X device.
> + * @timestamp: Timestamp received from a ES58X device.
> + *
> + * Calculate the difference between the ES58X device and the kernel
> + * internal clocks. This difference will be later used as an offset to
> + * convert the timestamps of RX and loopback messages to match the
> + * kernel system time (e.g. convert to UNIX time).
> + *
> + * Return: zero on success.
> + */
> +int es58x_rx_timestamp(struct es58x_device *es58x_dev, u64 timestamp)
> +{
> + u64 ktime_real_ns = ktime_get_real_ns();
> + u64 device_timestamp = es58x_timestamp_to_ns(timestamp);
> +
> + dev_dbg(es58x_dev->dev, "%s: request round-trip time: %llu\n",
> + __func__, ktime_real_ns - es58x_dev->ktime_req_ns);
> +
> + es58x_dev->realtime_diff_ns =
> + (es58x_dev->ktime_req_ns + ktime_real_ns) / 2 - device_timestamp;
> + es58x_dev->ktime_req_ns = 0;
> +
> + dev_dbg(es58x_dev->dev,
> + "%s: Device timestamp: %llu, diff with kernel: %llu\n",
> + __func__, device_timestamp, es58x_dev->realtime_diff_ns);
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_set_realtime_diff_ns() - Calculate difference between the
> + * clocks of the ES58X device and the kernel
> + * @es58x_dev: ES58X device.
> + *
> + * Request a timestamp from the ES58X device. Once the answer is
> + * received, the timestamp difference will be set by the callback
> + * function es58x_rx_timestamp().
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_set_realtime_diff_ns(struct es58x_device *es58x_dev)
> +{
> + if (es58x_dev->ktime_req_ns) {
> + dev_warn(es58x_dev->dev,
> + "%s: Previous request to set timestamp has not completed yet\n",
> + __func__);
> + return -EBUSY;
> + }
> +
> + es58x_dev->ktime_req_ns = ktime_get_real_ns();
> + return es58x_dev->ops->get_timestamp(es58x_dev);
> +}
> +
> +/**
> + * es58x_is_can_state_active() - Is the network device in an active
> + * CAN state?
> + * @netdev: CAN network device.
> + *
> + * The device is considered active if it is able to send or receive
> + * CAN frames, that is to say if it is in any of
> + * CAN_STATE_ERROR_ACTIVE, CAN_STATE_ERROR_WARNING or
> + * CAN_STATE_ERROR_PASSIVE states.
> + *
> + * Caution: when recovering from a bus-off,
> + * net/core/dev.c#can_restart() will call
> + * net/core/dev.c#can_flush_echo_skb() without using any kind of
> + * locks. For this reason, it is critical to guaranty that no TX or
> + * loopback operations (i.e. any access to priv->echo_skb[]) can be
> + * done while this function is returning false.
> + *
> + * Return: true if the device is active, else returns false.
> + */
> +static bool es58x_is_can_state_active(struct net_device *netdev)
> +{
> + return es58x_priv(netdev)->can.state < CAN_STATE_BUS_OFF;
> +}
> +
> +/**
> + * es58x_echo_skb_stop_threshold() - Determine the limit of how many
> + * skb slots can be taken before we should stop the network
> + * queue.
> + * @priv: ES58X private parameters related to the network device.
> + *
> + * We need to save enough free skb slots in order to be able to do
> + * bulk send. This function can be used to determine when to wake or
> + * stop the network queue in regard to the number of skb slots already
> + * taken if the loopback FIFO.
> + *
> + * Return: stop threshold limit.
> + */
> +static int es58x_echo_skb_stop_threshold(struct es58x_priv *priv)
> +{
> + return priv->can.echo_skb_max - priv->es58x_dev->param->tx_bulk_max + 1;
> +}
> +
> +/**
> + * es58x_netif_wake_queue() - Wake-up the network queue if conditions
> + * are met.
> + * @netdev: CAN network device.
> + *
> + * If the queue is already awoken, do nothing.
> + *
> + * The conditions to wake up the queue are: a.) The device should be
> + * active (e.g. not in bus off state), b.) The network device must be
> + * up, c.) The echo_skb must have enough free slots for a bulk sent
> + * (c.f. es58x_echo_skb_stop_threshold()), d.) Enough idle URBs should
> + * be available.
> + */
> +static void es58x_netif_wake_queue(struct net_device *netdev)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct es58x_device *es58x_dev = priv->es58x_dev;
> + unsigned long echo_skb_flags, tx_urbs_flags;
> +
> + if (!netif_queue_stopped(netdev))
> + return;
> +
> + spin_lock_irqsave(&priv->echo_skb_spinlock, echo_skb_flags);
> + if (!es58x_is_can_state_active(netdev))
> + goto echo_skb_unlock;
> + if (netif_running(netdev) &&
> + priv->num_echo_skb < es58x_echo_skb_stop_threshold(priv)) {
> + /* Confirm that we have at least one idle URB per CAN
> + * network device. Otherwise, we might run into race
> + * conditions in the function es58x_start_xmit() which
> + * would force us to return NETDEV_TX_BUSY.
> + */
> + spin_lock_irqsave(&es58x_dev->tx_urbs_idle.lock, tx_urbs_flags);
> + if (atomic_read(&es58x_dev->tx_urbs_idle_cnt) >=
> + es58x_dev->num_can_ch)
> + netif_wake_queue(netdev);
> + spin_unlock_irqrestore(&es58x_dev->tx_urbs_idle.lock,
> + tx_urbs_flags);
> + }
> + echo_skb_unlock:
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, echo_skb_flags);
> +}
> +
> +/**
> + * es58x_netif_wake_all_queues() - Wake-up all the network queues if
> + * conditions are met.
> + * @es58x_dev: ES58X device.
> + *
> + * Try to wake-up all the queues associated with a ES58X device. This
> + * function should be used when idle URB resources become available.
> + */
> +static void es58x_netif_wake_all_queues(struct es58x_device *es58x_dev)
> +{
> + int i;
> +
> + for (i = 0; i < es58x_dev->num_can_ch; i++)
> + es58x_netif_wake_queue(es58x_dev->netdev[i]);
> +}
> +
> +/**
> + * es58x_netif_stop_all_queues() - Unconditionally stop all the
> + * network queues.
> + * @es58x_dev: ES58X device.
> + *
> + * Stop all the queues associated with a ES58X device. This
> + * function should be used when idle URB resources become unavailable.
> + */
> +static void es58x_netif_stop_all_queues(struct es58x_device *es58x_dev)
> +{
> + int i;
> +
> + for (i = 0; i < es58x_dev->num_can_ch; i++)
> + if (es58x_dev->netdev[i])
> + netif_stop_queue(es58x_dev->netdev[i]);
> +}
> +
> +/**
> + * es58x_can_frame_bytes() - Calculate the CAN frame length in bytes
> + * of a given skb.
> + * @skb: socket buffer of a CAN message.
> + *
> + * Do a rough calculation: bitstuffing is ignored and length in bits
> + * is rounded up to a length in bytes.
> + *
> + * Rationale: this function is to be used for the BQL functions
> + * (__netdev_sent_queue() and netdev_completed_queue()) which expect a
> + * value in bytes. Just using skb->len is insufficient because it will
> + * return the constant value of CAN(FD)_MTU. Doing the bitstuffing
> + * calculation would be too expensive in term of computing resources
> + * for no noticeable gain.
> + *
> + * Remarks: a.)Tthe payload of CAN FD frames with BRS flag are sent at
> + * a different bitrate. Currently, the can-utils canbusload tool does
> + * not support CAN-FD yet and so we could not run any benchmark to
> + * measure the impact. There might be possible improvement here. b.)
> + * The macro ES58X_EFF_BYTES() and ES58X_SFF_BYTES() are for classical
> + * CAN. Need to do the addition for CAN-FD (the value are expected to
> + * be close enough so the impact should be minimal or none).
> + *
> + * Return: length in bytes.
> + */
> +static unsigned int es58x_can_frame_bytes(const struct sk_buff *skb)
> +{
> + const struct canfd_frame *cf = (const struct canfd_frame *)skb->data;
> + u8 len = cf->can_id & CAN_RTR_FLAG ? 0 : cf->len;
> +
> + if (cf->can_id & CAN_EFF_FLAG)
> + return ES58X_EFF_BYTES(len);
> + else
> + return ES58X_SFF_BYTES(len);
> +}
> +
> +/**
> + * es58x_add_skb_idx() - Increment an index of the loopback FIFO.
> + * @priv: ES58X private parameters related to the network device.
> + * @idx: address of the index to be incremented.
> + * @a: the increment. Must be positive and less or equal to
> + * @priv->can.echo_skb_max.
> + *
> + * Do a modulus addition: set *@idx to (*@idx + @a) %
> + * @priv->can.echo_skb_max.
> + *
> + * Rationale: the modulus operator % takes a decent amount of CPU
> + * cycles (c.f. other division functions such as
> + * include/linux/math64.h:iter_div_u64_rem()).
> + */
> +static __always_inline void es58x_add_skb_idx(struct es58x_priv *priv,
> + u16 *idx, u16 a)
> +{
> + *idx += a;
> + if (*idx >= priv->can.echo_skb_max)
> + *idx -= priv->can.echo_skb_max;
> +}
> +
> +/**
> + * es58x_can_free_echo_skb_tail() - Remove the oldest echo skb of the
> + * loopback FIFO.
> + * @netdev: CAN network device.
> + *
> + * Naming convention: the tail is the beginning of the FIFO, i.e. the
> + * first skb to have entered the FIFO.
> + */
> +static void es58x_can_free_echo_skb_tail(struct net_device *netdev)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + u16 tail_idx = priv->echo_skb_tail_idx;
> + struct sk_buff *skb = priv->can.echo_skb[tail_idx];
> + unsigned long flags;
> +
> + netdev_completed_queue(netdev, 1, es58x_can_frame_bytes(skb));
> + can_free_echo_skb(netdev, tail_idx);
> +
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + es58x_add_skb_idx(priv, &priv->echo_skb_tail_idx, 1);
> + priv->num_echo_skb--;
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> +
> + netdev->stats.tx_dropped++;
> +}
> +
> +/**
> + * es58x_can_get_echo_skb_recovery() - Try to re-sync the loopback FIFO.
> + * @netdev: CAN network device.
> + * @packet_idx: Index
> + *
> + * This function should not be called under normal circumstances. In
> + * the unlikely case that one or several URB packages get dropped by
> + * the device, the index will get out of sync. Try to recover by
> + * dropping the echo skb packets with older indexes.
> + *
> + * Return: zero if recovery was successful, -EINVAL otherwise.
> + */
> +static int es58x_can_get_echo_skb_recovery(struct net_device *netdev,
> + u32 packet_idx)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + u32 current_packet_idx, first_packet_idx, num_echo_skb;
> + unsigned long flags;
> + int ret = 0;
> +
> + netdev->stats.tx_errors++;
> +
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + current_packet_idx = priv->current_packet_idx;
> + num_echo_skb = priv->num_echo_skb;
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> + first_packet_idx = current_packet_idx - num_echo_skb;
> +
> + if (net_ratelimit())
> + netdev_warn(netdev,
> + "Bad loopback packet index: %u. First index: %u, end index %u, num_echo_skb: %02u/%02u\n",
> + packet_idx, first_packet_idx,
> + current_packet_idx - 1, num_echo_skb,
> + priv->can.echo_skb_max);
> +
> + if (packet_idx < first_packet_idx) {
> + if (net_ratelimit())
> + netdev_warn(netdev,
> + "Received loopback is from the past. Ignoring it\n");
> + ret = -EINVAL;
> + } else if ((s32)(packet_idx - current_packet_idx) >= 0LL) {
> + if (net_ratelimit())
> + netdev_err(netdev,
> + "Received loopback is from the future. Ignoring it\n");
> + ret = -EINVAL;
> + } else {
> + if (net_ratelimit())
> + netdev_warn(netdev,
> + "Loopback recovery: dropping %u echo skb from index %u to %u\n",
> + packet_idx - first_packet_idx,
> + first_packet_idx, packet_idx - 1);
> + while (first_packet_idx != packet_idx) {
> + if (num_echo_skb == 0)
> + return -EINVAL;
> + es58x_can_free_echo_skb_tail(netdev);
> + first_packet_idx++;
> + num_echo_skb--;
> + }
> + }
> + return ret;
> +}
> +
> +/**
> + * es58x_can_get_echo_skb() - Get the skb from the loopback FIFO and
> + * loop it back locally.
> + * @netdev: CAN network device.
> + * @packet_idx: Index of the first packet.
> + * @tstamps: Array of hardware timestamps received from a ES58X device.
> + * @pkts: Number of packets (and so, length of @tstamps).
> + *
> + * Callback function for when we receive a self reception acknowledgment.
> + * Retrieves the skb from the loopback FIFO, sets its hardware timestamp
> + * (the actual time it was sent) and loops it back locally.
> + *
> + * The device has to be active (i.e. network interface UP and not in
> + * bus off state or restarting).
> + *
> + * Packet indexes must be consecutive (i.e. index of first packet is
> + * @packet_idx, index of second packet is @packet_idx + 1 and index of
> + * last packet is @packet_idx + @pkts - 1).
> + *
> + * Return: zero on success.
> + */
> +int es58x_can_get_echo_skb(struct net_device *netdev, u32 packet_idx,
> + u64 *tstamps, unsigned int pkts)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + u16 tail_idx;
> + u32 first_packet_idx;
> + unsigned long flags;
> + unsigned int frames_bytes = 0;
> + int i;
> + int ret = 0;
> +
> + if (!netif_running(netdev)) {
> + if (net_ratelimit())
> + netdev_info(netdev,
> + "%s: %s is down, dropping %d loopback packets\n",
> + __func__, netdev->name, pkts);
> + netdev->stats.tx_dropped++;
> + return 0;
> + } else if (!es58x_is_can_state_active(netdev)) {
> + if (net_ratelimit())
> + netdev_dbg(netdev,
> + "Bus is off or device is restarting. Ignoring %u loopback packets from index %u\n",
> + pkts, packet_idx);
> + /* stats.tx_dropped will be (or was already)
> + * incremented by
> + * drivers/net/can/net/dev.c:can_flush_echo_skb().
> + */
> + return 0;
> + } else if (priv->num_echo_skb == 0) {
> + if (net_ratelimit())
> + netdev_warn(netdev,
> + "Received %u loopback packets from index: %u but echo skb queue is empty.\n",
> + pkts, packet_idx);
> + netdev->stats.tx_dropped += pkts;
> + return 0;
> + }
> +
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + first_packet_idx = priv->current_packet_idx - priv->num_echo_skb;
> + if (first_packet_idx != packet_idx) {
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> + ret = es58x_can_get_echo_skb_recovery(netdev, packet_idx);
> + if (ret < 0) {
> + if (net_ratelimit())
> + netdev_warn(netdev,
> + "Could not find echo skb for loopback packet index: %u\n",
> + packet_idx);
> + return 0;
> + }
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + first_packet_idx =
> + priv->current_packet_idx - priv->num_echo_skb;
> + WARN_ON(first_packet_idx != packet_idx);
> + }
> + tail_idx = priv->echo_skb_tail_idx;
> + if (priv->num_echo_skb < pkts) {
> + int pkts_drop = pkts - priv->num_echo_skb;
> +
> + if (net_ratelimit())
> + netdev_err(netdev,
> + "Received %u loopback packets but have only %d echo skb. Dropping %d echo skb\n",
> + pkts, priv->num_echo_skb, pkts_drop);
> + netdev->stats.tx_dropped += pkts_drop;
> + pkts -= pkts_drop;
> + }
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> +
> + for (i = 0; i < pkts; i++) {
> + struct sk_buff *skb = priv->can.echo_skb[tail_idx];
> +
> + if (skb) {
> + frames_bytes += es58x_can_frame_bytes(skb);
> + es58x_set_skb_timestamp(netdev, skb, tstamps[i]);
> + }
> + netdev->stats.tx_bytes += can_get_echo_skb(netdev, tail_idx);
> +
> + es58x_add_skb_idx(priv, &tail_idx, 1);
> + }
> +
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + es58x_add_skb_idx(priv, &priv->echo_skb_tail_idx, pkts);
> + priv->num_echo_skb -= pkts;
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> +
> + netdev_completed_queue(netdev, pkts, frames_bytes);
> + netdev->stats.tx_packets += pkts;
> +
> + priv->err_passive_before_rtx_success = 0;
> + es58x_netif_wake_queue(netdev);
> +
> + return ret;
> +}
> +
> +/**
> + * es58x_can_flush_echo_skb() - Reset the loopback FIFO.
> + * @netdev: CAN network device.
> + *
> + * The echo_skb array of struct can_priv will be flushed by
> + * drivers/net/can/dev.c:can_flush_echo_skb(). This function resets
> + * the parameters of the struct es58x_priv of our device and reset the
> + * queue (c.f. BQL).
> + */
> +static void es58x_can_flush_echo_skb(struct net_device *netdev)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + unsigned long flags;
> +
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + priv->current_packet_idx = 0;
> + priv->echo_skb_tail_idx = 0;
> + priv->echo_skb_head_idx = 0;
> + priv->num_echo_skb = 0;
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> +
> + netdev_reset_queue(netdev);
> +}
> +
> +/**
> + * es58x_flush_pending_tx_msg() - Reset the buffer for transmission messages.
> + * @netdev: CAN network device.
> + *
> + * es58x_start_xmit() will queue up to tx_bulk_max messages in
> + * &tx_urb buffer and do a bulk send of all messages in one single URB
> + * (c.f. xmit_more flag). When the device recovers from a bus off
> + * state or when the device stops, the tx_urb buffer might still have
> + * pending messages in it and thus need to be flushed.
> + */
> +static void es58x_flush_pending_tx_msg(struct net_device *netdev)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct es58x_device *es58x_dev = priv->es58x_dev;
> + unsigned long flags;
> + int i;
> +
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + if (priv->tx_urb) {
> + unsigned int frames_bytes = 0;
> + u16 head_idx = priv->echo_skb_head_idx;
> +
> + netdev_warn(netdev,
> + "%s: dropping %d tx_msg that were pending for transmission\n",
> + __func__, priv->tx_can_msg_cnt);
> + for (i = 0; i < priv->tx_can_msg_cnt; i++) {
> + frames_bytes +=
> + es58x_can_frame_bytes(priv->can.echo_skb[head_idx]);
> + can_free_echo_skb(netdev, head_idx);
> + es58x_add_skb_idx(priv, &head_idx, 1);
> + }
> + __netdev_sent_queue(netdev, 0, false);
> + netdev_completed_queue(netdev,
> + priv->tx_can_msg_cnt, frames_bytes);
> + usb_anchor_urb(priv->tx_urb, &priv->es58x_dev->tx_urbs_idle);
> + netdev->stats.tx_dropped += priv->tx_can_msg_cnt;
> +
> + atomic_inc(&es58x_dev->tx_urbs_idle_cnt);
> + usb_free_urb(priv->tx_urb);
> + }
> + priv->tx_urb = NULL;
> + priv->tx_can_msg_cnt = 0;
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> +}
> +
> +/**
> + * es58x_tx_ack_msg() - Handle acknowledgment messages.
> + * @netdev: CAN network device.
> + * @tx_free_entries: Number of free entries in the device transmit FIFO.
> + * @rx_cmd_ret_u32: error code as returned by the ES58X device.
> + *
> + * ES58X sends an acknowledgment message after a transmission request
> + * is done. This is mandatory for the ES581.4 but is optional (and
> + * deactivated in this driver) for the ES58X_FD family.
> + *
> + * Under normal circumstances, this function should never throw an
> + * error message.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +int es58x_tx_ack_msg(struct net_device *netdev, u16 tx_free_entries,
> + enum es58x_ret_u32 rx_cmd_ret_u32)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> +
> + if (tx_free_entries <= priv->es58x_dev->param->tx_bulk_max) {
> + if (net_ratelimit())
> + netdev_err(netdev,
> + "Only %d entries remaining in device queue, echo_skb_max: %d, num_echo_skb: %d, tx_free_entries + num_echo_skb: %d\n",
> + tx_free_entries, priv->can.echo_skb_max,
> + priv->num_echo_skb,
> + tx_free_entries + priv->num_echo_skb);
> + netif_stop_queue(netdev);
> + }
> +
> + return es58x_rx_cmd_ret_u32(netdev, ES58X_RET_TYPE_TX_MSG,
> + rx_cmd_ret_u32);
> +}
> +
> +/**
> + * es58x_rx_can_msg() - Handle a received a CAN message.
> + * @netdev: CAN network device.
> + * @timestamp: Hardware time stamp (only relevant in rx branches).
> + * @data: CAN payload.
> + * @can_id: CAN ID.
> + * @es58x_flags: Please refer to enum es58x_flag.
> + * @dlc: Data Length Code (raw value).
> + *
> + * Fill up a CAN skb and post it.
> + *
> + * This function handles the case where the DLC of a classical CAN
> + * frame is greater than CAN_MAX_DLEN (c.f. the len8_dlc field of
> + * struct can_frame).
> + *
> + * Return: zero on success.
> + */
> +int es58x_rx_can_msg(struct net_device *netdev, u64 timestamp, const u8 *data,
> + canid_t can_id, enum es58x_flag es58x_flags, u8 dlc)
> +{
> + struct canfd_frame *cfd;
> + struct can_frame *ccf;
> + struct sk_buff *skb;
> + u8 len;
> + bool is_can_fd = !!(es58x_flags & ES58X_FLAG_FD_DATA);
> +
> + if (dlc > CAN_MAX_RAW_DLC) {
> + netdev_err(netdev,
> + "%s: DLC is %d but maximum should be %d\n",
> + __func__, dlc, CAN_MAX_RAW_DLC);
> + return -EMSGSIZE;
> + }
> +
> + if (is_can_fd) {
> + len = can_dlc2len(dlc);
> + skb = alloc_canfd_skb(netdev, &cfd);
> + } else {
> + len = can_get_cc_len(dlc);
> + skb = alloc_can_skb(netdev, &ccf);
> + cfd = (struct canfd_frame *)ccf;
> + }
> +
> + if (!skb) {
> + netdev->stats.rx_dropped++;
> + return -ENOMEM;
> + }
> + cfd->can_id = can_id;
> + cfd->len = len;
> + if (es58x_flags & ES58X_FLAG_EFF)
> + cfd->can_id |= CAN_EFF_FLAG;
> + if (is_can_fd) {
> + if (es58x_flags & ES58X_FLAG_FD_BRS)
> + cfd->flags |= CANFD_BRS;
> + if (es58x_flags & ES58X_FLAG_FD_ESI)
> + cfd->flags |= CANFD_ESI;
> + } else {
> + ccf->len8_dlc = can_get_len8_dlc(es58x_priv(netdev)->can.ctrlmode,
> + len, dlc);
> + if (es58x_flags & ES58X_FLAG_RTR) {
> + ccf->can_id |= CAN_RTR_FLAG;
> + len = 0;
> + }
> + }
> + memcpy(cfd->data, data, len);
> + netdev->stats.rx_packets++;
> + netdev->stats.rx_bytes += len;
> +
> + es58x_set_skb_timestamp(netdev, skb, timestamp);
> + netif_rx(skb);
> +
> + es58x_priv(netdev)->err_passive_before_rtx_success = 0;
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_rx_err_msg() - Handle a received CAN event or error message.
> + * @netdev: CAN network device.
> + * @error: Error code.
> + * @event: Event code.
> + * @timestamp: Timestamp received from a ES58X device.
> + *
> + * Handle the errors and events received by the ES58X device, create
> + * a CAN error skb and post it.
> + *
> + * In some rare cases the devices might get stucked alternating between
> + * CAN_STATE_ERROR_PASSIVE and CAN_STATE_ERROR_WARNING. To prevent
> + * this behavior, we force a bus off state if the device goes in
> + * CAN_STATE_ERROR_WARNING for ES58X_MAX_CONSECUTIVE_WARN consecutive
> + * times with no successful transmission or reception in between.
> + *
> + * Once the device is in bus off state, the only way to restart it is
> + * through the drivers/net/can/dev.c:can_restart() function. The
> + * device is technically capable to recover by itself under certain
> + * circumstances, however, allowing self recovery would create
> + * complex race conditions with drivers/net/can/dev.c:can_restart()
> + * and thus was not implemented. To activate automatic restart, please
> + * set the restart-ms parameter (e.g. ip link set can0 type can
> + * restart-ms 100).
> + *
> + * If the bus is really instable, this function would try to send a
> + * lot of log messages. Those are rate limited (i.e. you will see
> + * messages such as "net_ratelimit: XXX callbacks suppressed" in
> + * dmesg).
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +int es58x_rx_err_msg(struct net_device *netdev, enum es58x_err error,
> + enum es58x_event event, u64 timestamp)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct can_priv *can = netdev_priv(netdev);
> + struct can_device_stats *can_stats = &can->can_stats;
> + struct can_frame *cf;
> + struct sk_buff *skb;
> + unsigned long flags;
> +
> + if (!netif_running(netdev)) {
> + if (net_ratelimit())
> + netdev_info(netdev, "%s: %s is down, dropping packet\n",
> + __func__, netdev->name);
> + netdev->stats.rx_dropped++;
> + return 0;
> + }
> +
> + if (error == ES58X_ERR_OK && event == ES58X_EVENT_OK) {
> + netdev_err(netdev, "%s: Both error and event are zero\n",
> + __func__);
> + return -EINVAL;
> + }
> +
> + skb = alloc_can_err_skb(netdev, &cf);
> + if (!skb)
> + return -ENOMEM;
> +
> + switch (error) {
> + case ES58X_ERR_OK: /* 0: No error */
> + break;
> +
> + case ES58X_ERR_PROT_STUFF:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Error BITSUFF\n");
> + cf->data[2] |= CAN_ERR_PROT_STUFF;
> + break;
> +
> + case ES58X_ERR_PROT_FORM:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Error FORMAT\n");
> + cf->data[2] |= CAN_ERR_PROT_FORM;
> + break;
> +
> + case ES58X_ERR_ACK:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Error ACK\n");
> + cf->can_id |= CAN_ERR_ACK;
> + break;
> +
> + case ES58X_ERR_PROT_BIT:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Error BIT\n");
> + cf->data[2] |= CAN_ERR_PROT_BIT;
> + break;
> +
> + case ES58X_ERR_PROT_CRC:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Error CRC\n");
> + cf->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
> + break;
> +
> + case ES58X_ERR_PROT_BIT1:
> + if (net_ratelimit())
> + netdev_dbg(netdev,
> + "Error: expected a recessive bit but monitored a dominant one\n");
> + cf->data[2] |= CAN_ERR_PROT_BIT1;
> + break;
> +
> + case ES58X_ERR_PROT_BIT0:
> + if (net_ratelimit())
> + netdev_dbg(netdev,
> + "Error expected a dominant bit but monitored a recessive one\n");
> + cf->data[2] |= CAN_ERR_PROT_BIT0;
> + break;
> +
> + case ES58X_ERR_PROT_OVERLOAD:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Error OVERLOAD\n");
> + cf->data[2] |= CAN_ERR_PROT_OVERLOAD;
> + break;
> +
> + case ES58X_ERR_PROT_UNSPEC:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Unspecified error\n");
> + cf->can_id |= CAN_ERR_PROT;
> + break;
> +
> + default:
> + if (net_ratelimit())
> + netdev_err(netdev,
> + "%s: Unspecified error code 0x%04X\n",
> + __func__, (int)error);
> + cf->can_id |= CAN_ERR_PROT;
> + break;
> + }
> +
> + switch (event) {
> + case ES58X_EVENT_OK: /* 0: No event */
> + break;
> +
> + case ES58X_EVENT_CRTL_ACTIVE:
> + if (can->state == CAN_STATE_BUS_OFF) {
> + netdev_err(netdev,
> + "%s: state transition: BUS OFF -> ACTIVE\n",
> + __func__);
> + }
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Event CAN BUS ACTIVE\n");
> + cf->data[1] |= CAN_ERR_CRTL_ACTIVE;
> + can->state = CAN_STATE_ERROR_ACTIVE;
> + break;
> +
> + case ES58X_EVENT_CRTL_PASSIVE:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Event CAN BUS PASSIVE\n");
> + /* Either TX or RX error count reached passive state
> + * but we do not know which. Setting both flags by
> + * default.
> + */
> + cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
> + cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
> + if (can->state < CAN_STATE_BUS_OFF)
> + can->state = CAN_STATE_ERROR_PASSIVE;
> + can_stats->error_passive++;
> + if (priv->err_passive_before_rtx_success < U8_MAX)
> + priv->err_passive_before_rtx_success++;
> + break;
> +
> + case ES58X_EVENT_CRTL_WARNING:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Event CAN BUS WARNING\n");
> + /* Either TX or RX error count reached warning state
> + * but we do not know which. Setting both flags by
> + * default.
> + */
> + cf->data[1] |= CAN_ERR_CRTL_RX_WARNING;
> + cf->data[1] |= CAN_ERR_CRTL_TX_WARNING;
> + if (can->state < CAN_STATE_BUS_OFF)
> + can->state = CAN_STATE_ERROR_WARNING;
> + can_stats->error_warning++;
> + break;
> +
> + case ES58X_EVENT_BUSOFF:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Event CAN BUS OFF\n");
> + /* Prevent the network device queue for being woke-up
> + * by another interrupt while we set the bus to off
> + * status.
> + */
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + netif_stop_queue(netdev);
> + if (can->state != CAN_STATE_BUS_OFF) {
> + can->state = CAN_STATE_BUS_OFF;
> + can_bus_off(netdev);
> + }
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> + cf->can_id |= CAN_ERR_BUSOFF;
> + can_stats->bus_off++;
> + break;
> +
> + case ES58X_EVENT_SINGLE_WIRE:
> + if (net_ratelimit())
> + netdev_warn(netdev,
> + "Lost connection on either CAN high or CAN low\n");
> + /* Lost connection on either CAN high or CAN
> + * low. Setting both flags by default.
> + */
> + cf->data[4] |= CAN_ERR_TRX_CANH_NO_WIRE;
> + cf->data[4] |= CAN_ERR_TRX_CANL_NO_WIRE;
> + break;
> +
> + default:
> + if (net_ratelimit())
> + netdev_err(netdev,
> + "%s: Unspecified event code 0x%04X\n",
> + __func__, (int)event);
> + cf->can_id |= CAN_ERR_CRTL;
> + break;
> + }
> +
> + if (cf->data[1])
> + cf->can_id |= CAN_ERR_CRTL;
> + if (cf->data[2] || cf->data[3]) {
> + cf->can_id |= CAN_ERR_PROT;
> + can_stats->bus_error++;
> + }
> + if (cf->data[4])
> + cf->can_id |= CAN_ERR_TRX;
> +
> + /* driver/net/can/dev.c:can_restart() takes in account error
> + * messages in the RX stats. Doing same here for
> + * consistency.
> + */
> + netdev->stats.rx_packets++;
> + netdev->stats.rx_bytes += cf->can_dlc;
> +
> + es58x_set_skb_timestamp(netdev, skb, timestamp);
> + netif_rx(skb);
> +
> + if ((event & ES58X_EVENT_CRTL_PASSIVE) &&
> + priv->err_passive_before_rtx_success ==
> + ES58X_CONSECUTIVE_ERR_PASSIVE_MAX) {
> + netdev_info(netdev,
> + "Got %d consecutive warning events with no successful rx or tx. Forcing bus-off\n",
> + priv->err_passive_before_rtx_success);
> + return es58x_rx_err_msg(netdev, ES58X_ERR_OK,
> + ES58X_EVENT_BUSOFF, timestamp);
> + }
> +
> + return 0;
> +}
> +
> +/* Human readable description of the &enum es58x_cmd_ret_type. */
> +static const char *const es58x_cmd_ret_desc[] = {
> + "Set bittiming",
> + "Enable channel",
> + "Disable channel",
> + "Transmit message",
> + "Reset rx",
> + "Reset tx",
> + "Device error"
> +};
> +
> +/**
> + * es58x_rx_dev_ret_u8() - Handle return codes received from the
> + * ES58X device.
> + * @dev: Device, only used for the dev_XXX() print functions.
> + * @cmd_ret_type: Type of the command which triggered the return code.
> + * @rx_dev_ret_u8: error code as returned by the ES58X device.
> + *
> + * Handles the 8 bits return code. Those are specific to the ES581.4
> + * device. The return value will eventually be used by
> + * es58x_handle_urb_cmd() function which will take proper actions in
> + * case of critical issues such and memory errors or bad CRC values.
> + *
> + * In contrast with es58x_rx_cmd_ret_u32(), the network device is
> + * unknown.
> + *
> + * Return: zero on success, return errno when any error occurs.
> + */
> +int es58x_rx_dev_ret_u8(struct device *dev,
> + enum es58x_ret_type cmd_ret_type,
> + enum es58x_ret_u8 rx_dev_ret_u8)
> +{
> + const char *ret_desc = es58x_cmd_ret_desc[cmd_ret_type];
> +
> + compiletime_assert(ARRAY_SIZE(es58x_cmd_ret_desc) ==
> + ES58X_RET_TYPE_NUM_ENTRIES,
> + "Size mismatch between es58x_cmd_ret_desc and enum es58x_cmd_ret_type");
> +
> + switch (rx_dev_ret_u8) {
> + case ES58X_RET_U8_OK:
> + dev_dbg_ratelimited(dev, "%s: OK\n", ret_desc);
> + break;
> +
> + case ES58X_RET_U8_ERR_UNSPECIFIED_FAILURE:
> + dev_err(dev, "%s: unspecified failure\n", ret_desc);
> + break;
> +
> + case ES58X_RET_U8_ERR_NO_MEM:
> + dev_err(dev, "%s: device ran out of memory\n", ret_desc);
> + return -ENOMEM;
> +
> + case ES58X_RET_U8_ERR_BAD_CRC:
> + dev_err(dev, "%s: CRC of previous command is incorrect\n",
> + ret_desc);
> + return -EIO;
> +
> + default:
> + dev_err(dev, "%s: returned unknown value: 0x%02X\n",
> + ret_desc, rx_dev_ret_u8);
> + break;
> + }
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_rx_dev_ret_u32() - Handle return codes received from the
> + * ES58X device.
> + * @netdev: CAN network device.
> + * @cmd_ret_type: Type of the command which triggered the return code.
> + * @rx_cmd_ret_u32: error code as returned by the ES58X device.
> + *
> + * Handles the 32 bits return code. The return value will eventually
> + * be used by es58x_handle_urb_cmd() function which will take proper
> + * actions in case of critical issues such and memory errors or bad
> + * CRC values.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +int es58x_rx_cmd_ret_u32(struct net_device *netdev,
> + enum es58x_ret_type cmd_ret_type,
> + enum es58x_ret_u32 rx_cmd_ret_u32)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + const char *ret_desc = es58x_cmd_ret_desc[cmd_ret_type];
> +
> + switch (rx_cmd_ret_u32) {
> + case ES58X_RET_U32_OK:
> + switch (cmd_ret_type) {
> + case ES58X_RET_TYPE_ENABLE_CHANNEL:
> + es58x_flush_pending_tx_msg(netdev);
> + es58x_can_flush_echo_skb(netdev);
> + priv->err_passive_before_rtx_success = 0;
> + priv->can.state = CAN_STATE_ERROR_ACTIVE;
> + es58x_netif_wake_queue(netdev);
> + netdev_info(netdev,
> + "%s (Serial Number %s): CAN%d channel becomes ready\n",
> + priv->es58x_dev->udev->product,
> + priv->es58x_dev->udev->serial,
> + priv->channel_idx + 1);
> + break;
> +
> + case ES58X_RET_TYPE_TX_MSG:
> +#ifdef VERBOSE_DEBUG
> + if (net_ratelimit())
> + netdev_vdbg(netdev, "%s: OK\n", ret_desc);
> +#endif
> + break;
> +
> + default:
> + netdev_dbg(netdev, "%s: OK\n", ret_desc);
> + break;
> + }
> + break;
> +
> + case ES58X_RET_U32_ERR_UNSPECIFIED_FAILURE:
> + if (cmd_ret_type == ES58X_RET_TYPE_DISABLE_CHANNEL)
> + netdev_dbg(netdev,
> + "%s: channel is already closed\n", ret_desc);
> + else
> + netdev_err(netdev,
> + "%s: unspecified failure\n", ret_desc);
> + break;
> +
> + case ES58X_RET_U32_ERR_NO_MEM:
> + netdev_err(netdev, "%s: device ran out of memory\n", ret_desc);
> + return -ENOMEM;
> +
> + case ES58X_RET_U32_WARN_PARAM_ADJUSTED:
> + netdev_warn(netdev,
> + "%s: some incompatible parameters have been adjusted\n",
> + ret_desc);
> + break;
> +
> + case ES58X_RET_U32_WARN_TX_MAYBE_REORDER:
> + netdev_warn(netdev,
> + "%s: TX messages might have been reordered\n",
> + ret_desc);
> + break;
> +
> + case ES58X_RET_U32_ERR_TIMEOUT:
> + netdev_err(netdev, "%s: command timed out\n", ret_desc);
> + break;
> +
> + case ES58X_RET_U32_ERR_FIFO_FULL:
> + netdev_warn(netdev, "%s: fifo is full\n", ret_desc);
> + break;
> +
> + case ES58X_RET_U32_ERR_BAD_CONFIG:
> + netdev_err(netdev, "%s: bad configuration\n", ret_desc);
> + return -EINVAL;
> +
> + case ES58X_RET_U32_ERR_NO_RESOURCE:
> + netdev_err(netdev, "%s: no resource available\n", ret_desc);
> + break;
> +
> + default:
> + netdev_err(netdev, "%s returned unknown value: 0x%08X\n",
> + ret_desc, rx_cmd_ret_u32);
> + break;
> + }
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_increment_rx_errors() - Increment the network devices' error
> + * count.
> + * @es58x_dev: ES58X device.
> + *
> + * If an error occurs on the early stages on receiving an URB command,
> + * we might not be able to figure out on which network device the
> + * error occurred. In such case, we arbitrarily increment the error
> + * count of all the network devices attached to our ES58X device.
> + */
> +static void es58x_increment_rx_errors(struct es58x_device *es58x_dev)
> +{
> + int i;
> +
> + for (i = 0; i < es58x_dev->num_can_ch; i++)
> + if (es58x_dev->netdev[i])
> + es58x_dev->netdev[i]->stats.rx_errors++;
> +}
> +
> +/**
> + * es58x_handle_urb_cmd() - Handle the URB command
> + * @es58x_dev: ES58X device.
> + * @urb_cmd: The URB command received from the ES58X device, might not
> + * be aligned.
> + *
> + * Sends the URB command to the device specific function. Manages the
> + * errors throwed back by those functions.
> + */
> +static void es58x_handle_urb_cmd(struct es58x_device *es58x_dev,
> + const union es58x_urb_cmd *urb_cmd)
> +{
> + const struct es58x_operators *ops = es58x_dev->ops;
> + size_t cmd_len;
> + int i, ret;
> +
> + ret = ops->handle_urb_cmd(es58x_dev, urb_cmd);
> + switch (ret) {
> + case 0: /* OK */
> + return;
> +
> + case -ENODEV:
> + dev_err_ratelimited(es58x_dev->dev, "Device is not ready\n");
> + break;
> +
> + case -EINVAL:
> + case -EMSGSIZE:
> + case -EBADRQC:
> + case -EBADMSG:
> + case -ECHRNG:
> + cmd_len = es58x_get_urb_cmd_len(es58x_dev,
> + ops->get_msg_len(urb_cmd));
> + dev_err(es58x_dev->dev,
> + "ops->handle_urb_cmd() returned error %pe",
> + ERR_PTR(ret));
> + es58x_print_hex_dump(urb_cmd, cmd_len);
> + break;
> +
> + case -EFAULT:
> + case -ENOMEM:
> + case -EIO:
> + default:
> + dev_crit(es58x_dev->dev,
> + "ops->handle_urb_cmd() returned error %pe, detaching all network devices\n",
> + ERR_PTR(ret));
> + for (i = 0; i < es58x_dev->num_can_ch; i++)
> + if (es58x_dev->netdev[i])
> + netif_device_detach(es58x_dev->netdev[i]);
> + break;
> + }
> +
> + /* Because the urb command could not fully be parsed,
> + * channel_id is not confirmed. Incrementing rx_errors count
> + * of all channels.
> + */
> + es58x_increment_rx_errors(es58x_dev);
> +}
> +
> +/**
> + * es58x_check_rx_urb() - Check the length and format of the URB command.
> + * @es58x_dev: ES58X device.
> + * @urb_cmd: The URB command received from the ES58X device, might not
> + * be aligned.
> + * @urb_actual_len: The actual length of the URB command.
> + *
> + * Check if the first message of the received urb is valid, that is to
> + * say that both the header and the length are coherent.
> + *
> + * Return:
> + * the length of the first message of the URB on success.
> + *
> + * -ENODATA if the URB command is incomplete (in which case, the URB
> + * command should be buffered and combined with the next URB to try to
> + * reconstitute the URB command).
> + *
> + * -EOVERFLOW if the length is bigger than the maximum expected one.
> + *
> + * -EBADRQC if the start of frame does not match the expected value.
> + */
> +static signed int es58x_check_rx_urb(struct es58x_device *es58x_dev,
> + const union es58x_urb_cmd *urb_cmd,
> + u32 urb_actual_len)
> +{
> + const struct device *dev = es58x_dev->dev;
> + const struct es58x_parameters *param = es58x_dev->param;
> + u16 sof, msg_len;
> + signed int urb_cmd_len, ret;
> +
> + if (urb_actual_len < param->urb_cmd_header_len) {
> + dev_vdbg(dev,
> + "%s: Received %d bytes [%*ph]: header incomplete\n",
> + __func__, urb_actual_len, urb_actual_len,
> + urb_cmd->raw_cmd);
> + return -ENODATA;
> + }
> +
> + sof = get_unaligned_le16(&urb_cmd->sof);
> + if (sof != param->rx_start_of_frame) {
> + dev_err_ratelimited(es58x_dev->dev,
> + "%s: Expected sequence 0x%04X for start of frame but got 0x%04X.\n",
> + __func__, param->rx_start_of_frame, sof);
> + return -EBADRQC;
> + }
> +
> + msg_len = es58x_dev->ops->get_msg_len(urb_cmd);
> + urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
> + if (urb_cmd_len > param->rx_urb_cmd_max_len) {
> + dev_err_ratelimited(es58x_dev->dev,
> + "%s: Biggest expected size for rx urb_cmd is %u but receive a command of size %d\n",
> + __func__,
> + param->rx_urb_cmd_max_len, urb_cmd_len);
> + return -EOVERFLOW;
> + } else if (urb_actual_len < urb_cmd_len) {
> + dev_vdbg(dev, "%s: Received %02d/%02d bytes\n",
> + __func__, urb_actual_len, urb_cmd_len);
> + return -ENODATA;
> + }
> +
> + ret = es58x_check_crc(es58x_dev, urb_cmd, urb_cmd_len);
> + if (ret)
> + return ret;
> +
> + return urb_cmd_len;
> +}
> +
> +/**
> + * es58x_flush_cmd_buf() - Reset the buffer for URB commands.
> + * @es58x_dev: ES58X device.
> + */
> +static void es58x_flush_cmd_buf(struct es58x_device *es58x_dev)
> +{
> + memset(&es58x_dev->rx_cmd_buf, 0, es58x_dev->param->rx_urb_cmd_max_len);
> + es58x_dev->rx_cmd_buf_len = 0;
> +}
> +
> +/**
> + * es58x_copy_to_cmd_buf() - Copy an array to the URB command buffer.
> + * @es58x_dev: ES58X device.
> + * @raw_cmd: the buffer we want to copy.
> + * @raw_cmd_len: length of @raw_cmd.
> + *
> + * Concatenates @raw_cmd_len bytes of @raw_cmd to the end of the URB
> + * command buffer.
> + *
> + * Return: zero on success, -EMSGSIZE if not enough space is available
> + * to do the copy.
> + */
> +static int es58x_copy_to_cmd_buf(struct es58x_device *es58x_dev,
> + u8 *raw_cmd, int raw_cmd_len)
> +{
> + if (es58x_dev->rx_cmd_buf_len + raw_cmd_len >
> + es58x_dev->param->rx_urb_cmd_max_len)
> + return -EMSGSIZE;
> +
> + memcpy(&es58x_dev->rx_cmd_buf.raw_cmd[es58x_dev->rx_cmd_buf_len],
> + raw_cmd, raw_cmd_len);
> + es58x_dev->rx_cmd_buf_len += raw_cmd_len;
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_split_urb_try_recovery() - Try to recover bad URB sequences.
> + * @es58x_dev: ES58X device.
> + * @raw_cmd: pointer to the buffer we want to copy.
> + * @raw_cmd_len: length of @raw_cmd.
> + *
> + * Under some rare conditions, we might get incorrect URBs from the
> + * device. From our observations, one of the valid URB gets replaced
> + * by one from the past. The full root cause is not identified.
> + *
> + * This function looks for the next start of frame in the urb buffer
> + * in order to try to recover.
> + *
> + * Such behavior was not observed on the devices of the ES58X FD
> + * family and only seems to impact the ES581.4.
> + *
> + * Return: the number of bytes dropped on success, -EBADMSG if recovery failed.
> + */
> +static int es58x_split_urb_try_recovery(struct es58x_device *es58x_dev,
> + u8 *raw_cmd, size_t raw_cmd_len)
> +{
> + union es58x_urb_cmd *urb_cmd;
> + signed int urb_cmd_len;
> + u16 sof;
> + int dropped_bytes = 0;
> +
> + es58x_increment_rx_errors(es58x_dev);
> +
> + while (raw_cmd_len > sizeof(sof)) {
> + urb_cmd = (union es58x_urb_cmd *)raw_cmd;
> + sof = get_unaligned_le16(&urb_cmd->sof);
> +
> + if (sof == es58x_dev->param->rx_start_of_frame) {
> + urb_cmd_len = es58x_check_rx_urb(es58x_dev,
> + urb_cmd, raw_cmd_len);
> + if ((urb_cmd_len == -ENODATA) || urb_cmd_len > 0) {
> + dev_info_ratelimited(es58x_dev->dev,
> + "Recovery successful! Dropped %d bytes (urb_cmd_len: %d)\n",
> + dropped_bytes,
> + urb_cmd_len);
> + return dropped_bytes;
> + }
> + }
> + raw_cmd++;
> + raw_cmd_len--;
> + dropped_bytes++;
> + }
> +
> + dev_warn_ratelimited(es58x_dev->dev, "%s: Recovery failed\n", __func__);
> + return -EBADMSG;
> +}
> +
> +/**
> + * es58x_handle_incomplete_cmd() - Reconstitute an URB command from
> + * different URB pieces.
> + * @es58x_dev: ES58X device.
> + * @urb: last urb buffer received.
> + *
> + * The device might split the URB commands in an arbitrary amount of
> + * pieces. This function concatenates those in an URB buffer until a
> + * full URB command is reconstituted and consume it.
> + *
> + * Return:
> + * number of bytes consumed from @urb if successful.
> + *
> + * -ENODATA if the URB command is still incomplete.
> + *
> + * -EBADMSG if the URB command is incorrect.
> + */
> +static signed int es58x_handle_incomplete_cmd(struct es58x_device *es58x_dev,
> + struct urb *urb)
> +{
> + size_t cpy_len;
> + signed int urb_cmd_len, tmp_cmd_buf_len, ret;
> +
> + tmp_cmd_buf_len = es58x_dev->rx_cmd_buf_len;
> + cpy_len = min_t(int, es58x_dev->param->rx_urb_cmd_max_len -
> + es58x_dev->rx_cmd_buf_len, urb->actual_length);
> + ret = es58x_copy_to_cmd_buf(es58x_dev, urb->transfer_buffer, cpy_len);
> + if (ret < 0)
> + return ret;
> +
> + urb_cmd_len = es58x_check_rx_urb(es58x_dev, &es58x_dev->rx_cmd_buf,
> + es58x_dev->rx_cmd_buf_len);
> + if (urb_cmd_len == -ENODATA) {
> + return -ENODATA;
> + } else if (urb_cmd_len < 0) {
> + dev_err_ratelimited(es58x_dev->dev,
> + "Could not reconstitute incomplete command from previous URB, dropping %d bytes\n",
> + tmp_cmd_buf_len + urb->actual_length);
> + dev_err_ratelimited(es58x_dev->dev,
> + "Error code: %pe, es58x_dev->rx_cmd_buf_len: %d, urb->actual_length: %u\n",
> + ERR_PTR(urb_cmd_len),
> + tmp_cmd_buf_len, urb->actual_length);
> + es58x_print_hex_dump(&es58x_dev->rx_cmd_buf, tmp_cmd_buf_len);
> + es58x_print_hex_dump(urb->transfer_buffer, urb->actual_length);
> + return urb->actual_length;
> + }
> +
> + es58x_handle_urb_cmd(es58x_dev, &es58x_dev->rx_cmd_buf);
> + return urb_cmd_len - tmp_cmd_buf_len; /* consumed length */
> +}
> +
> +/**
> + * es58x_split_urb() - Cut the received URB in individual URB commands.
> + * @es58x_dev: ES58X device.
> + * @urb: last urb buffer received.
> + *
> + * The device might send urb in bulk format (i.e. several URB commands
> + * concatenated together). This function will split all the commands
> + * contained in the urb.
> + *
> + * Return:
> + * number of bytes consumed from @urb if successful.
> + *
> + * -ENODATA if the URB command is still incomplete.
> + *
> + * -EBADMSG if the URB command is incorrect.
> + */
> +static signed int es58x_split_urb(struct es58x_device *es58x_dev,
> + struct urb *urb)
> +{
> + const u8 es58x_is_alive = 0x11;
> + union es58x_urb_cmd *urb_cmd;
> + u8 *raw_cmd = urb->transfer_buffer;
> + ssize_t raw_cmd_len = urb->actual_length;
> + int ret;
> +
> + if (es58x_dev->rx_cmd_buf_len != 0) {
> + ret = es58x_handle_incomplete_cmd(es58x_dev, urb);
> + if (ret != -ENODATA)
> + es58x_flush_cmd_buf(es58x_dev);
> + if (ret < 0)
> + return ret;
> +
> + raw_cmd += ret;
> + raw_cmd_len -= ret;
> + }
> +
> + while (raw_cmd_len > 0) {
> + if (raw_cmd[0] == es58x_is_alive) {
> + raw_cmd++;
> + raw_cmd_len--;
> + continue;
> + }
> + urb_cmd = (union es58x_urb_cmd *)raw_cmd;
> + ret = es58x_check_rx_urb(es58x_dev, urb_cmd, raw_cmd_len);
> + if (ret > 0) {
> + es58x_handle_urb_cmd(es58x_dev, urb_cmd);
> + } else if (ret == -ENODATA) {
> + es58x_copy_to_cmd_buf(es58x_dev, raw_cmd, raw_cmd_len);
> + return -ENODATA;
> + } else if (ret < 0) {
> + ret = es58x_split_urb_try_recovery(es58x_dev, raw_cmd,
> + raw_cmd_len);
> + if (ret < 0)
> + return ret;
> + }
> + raw_cmd += ret;
> + raw_cmd_len -= ret;
> + }
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_read_bulk_callback() - Callback for reading data from device.
> + * @urb: last urb buffer received.
> + *
> + * This function gets eventually called each time an URB is received
> + * from the ES58X device.
> + *
> + * Checks urb status, calls read function and resubmits urb read
> + * operation.
> + */
> +static void es58x_read_bulk_callback(struct urb *urb)
> +{
> + struct es58x_device *es58x_dev = urb->context;
> + const struct device *dev = es58x_dev->dev;
> + int i, ret;
> +
> + switch (urb->status) {
> + case 0: /* success */
> + break;
> +
> + case -EOVERFLOW:
> + dev_err_ratelimited(dev, "%s: error %pe\n",
> + __func__, ERR_PTR(urb->status));
> + es58x_print_hex_dump_debug(urb->transfer_buffer,
> + urb->transfer_buffer_length);
> + goto resubmit_urb;
> +
> + case -EPROTO:
> + dev_warn_ratelimited(dev, "%s: error %pe. Device unplugged?\n",
> + __func__, ERR_PTR(urb->status));
> + goto free_urb;
> +
> + case -ENOENT:
> + case -EPIPE:
> + dev_err_ratelimited(dev, "%s: error %pe\n",
> + __func__, ERR_PTR(urb->status));
> + goto free_urb;
> +
> + case -ESHUTDOWN:
> + dev_dbg_ratelimited(dev, "%s: error %pe\n",
> + __func__, ERR_PTR(urb->status));
> + goto free_urb;
> +
> + default:
> + dev_err_ratelimited(dev, "%s: error %pe\n",
> + __func__, ERR_PTR(urb->status));
> + goto resubmit_urb;
> + }
> +
> + ret = es58x_split_urb(es58x_dev, urb);
> + if ((ret != -ENODATA) && ret < 0) {
> + dev_err(es58x_dev->dev, "es58x_split_urb() returned error %pe",
> + ERR_PTR(ret));
> + es58x_print_hex_dump_debug(urb->transfer_buffer,
> + urb->actual_length);
> +
> + /* Because the urb command could not be parsed,
> + * channel_id is not confirmed. Incrementing rx_errors
> + * count of all channels.
> + */
> + es58x_increment_rx_errors(es58x_dev);
> + }
> +
> + resubmit_urb:
> + usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->rx_pipe,
> + urb->transfer_buffer, urb->transfer_buffer_length,
> + es58x_read_bulk_callback, es58x_dev);
> +
> + ret = usb_submit_urb(urb, GFP_ATOMIC);
> + if (ret == -ENODEV) {
> + for (i = 0; i < es58x_dev->num_can_ch; i++)
> + if (es58x_dev->netdev[i])
> + netif_device_detach(es58x_dev->netdev[i]);
> + } else if (ret)
> + dev_err_ratelimited(dev,
> + "Failed resubmitting read bulk urb: %pe\n",
> + ERR_PTR(ret));
> + return;
> +
> + free_urb:
> + usb_free_coherent(urb->dev, urb->transfer_buffer_length,
> + urb->transfer_buffer, urb->transfer_dma);
> +}
> +
> +/**
> + * es58x_write_bulk_callback() - Callback after writing data to the device.
> + * @urb: urb buffer which was previously submitted.
> + *
> + * This function gets eventually called each time an URB was sent to
> + * the ES58X device.
> + *
> + * Puts the @urb back to the urbs idle anchor and tries to restart the
> + * network queue.
> + */
> +static void es58x_write_bulk_callback(struct urb *urb)
> +{
> + struct net_device *netdev = urb->context;
> + struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
> +
> + switch (urb->status) {
> + case 0: /* success */
> + break;
> +
> + case -EOVERFLOW:
> + if (net_ratelimit())
> + netdev_err(netdev, "%s: error %pe\n",
> + __func__, ERR_PTR(urb->status));
> + es58x_print_hex_dump(urb->transfer_buffer,
> + urb->transfer_buffer_length);
> + break;
> +
> + case -ENOENT:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "%s: error %pe\n",
> + __func__, ERR_PTR(urb->status));
> + usb_free_coherent(urb->dev,
> + es58x_dev->param->tx_urb_cmd_max_len,
> + urb->transfer_buffer, urb->transfer_dma);
> + return;
> +
> + default:
> + if (net_ratelimit())
> + netdev_info(netdev, "%s: error %pe\n",
> + __func__, ERR_PTR(urb->status));
> + break;
> + }
> +
> + usb_anchor_urb(urb, &es58x_dev->tx_urbs_idle);
> + /* Wake the queue if it was stopped because of exhaustion of
> + * urb resources.
> + */
> + if (atomic_inc_return(&es58x_dev->tx_urbs_idle_cnt) ==
> + es58x_dev->num_can_ch)
> + es58x_netif_wake_all_queues(es58x_dev);
> +}
> +
> +/**
> + * es58x_alloc_urb() - Allocate memory for an URB and its transfer
> + * buffer.
> + * @es58x_dev: ES58X device.
> + * @urb: URB to be allocated.
> + * @buf: used to return DMA address of buffer.
> + * @buf_len: requested buffer size.
> + * @mem_flags: affect whether allocation may block.
> + *
> + * Allocates an URB and its @transfer_buffer and set its @transfer_dma
> + * address.
> + *
> + * This function is used at start-up to allocate all of our TX and RX
> + * URBs at once (in order to avoid numerous memory allocations during
> + * run time) and might be used during run time under extremely rare
> + * conditions by @es58x_get_tx_urb() (c.f. comments of this function).
> + *
> + * Return: zero on success, -ENOMEM if no memory is available.
> + */
> +static int es58x_alloc_urb(struct es58x_device *es58x_dev, struct urb **urb,
> + u8 **buf, size_t buf_len, gfp_t mem_flags)
> +{
> + *urb = usb_alloc_urb(0, mem_flags);
> + if (!*urb) {
> + dev_err(es58x_dev->dev, "No memory left for URBs\n");
> + return -ENOMEM;
> + }
> +
> + *buf = usb_alloc_coherent(es58x_dev->udev, buf_len,
> + mem_flags, &(*urb)->transfer_dma);
> + if (!*buf) {
> + dev_err(es58x_dev->dev, "No memory left for USB buffer\n");
> + usb_free_urb(*urb);
> + return -ENOMEM;
> + }
> +
> + (*urb)->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_get_tx_urb() - Get an URB for transmission.
> + * @netdev: CAN network device.
> + *
> + * Gets an URB from the idle urbs anchor and stop all network devices'
> + * queue if the idle urbs anchor is nearly empty.
> + *
> + * If the URB anchor is empty, allocates an new URB.
> + *
> + * Under normal circumstances, the network device stop/wake
> + * management should prevent any further request for memory
> + * allocations to occur when trying to send a message.
> + *
> + * Yet, new URB memory allocation might occur after a restart from bus
> + * off status when @es58x_set_mode() tries to disable and re-enable
> + * the device. This would only occur if no idle URBs are available at
> + * the moment (which is highly improbable because
> + * @es58x_write_bulk_callback() should have returned the URBs to the
> + * idle urbs anchor by that point).
> + *
> + * Return: a pointer to an URB on success, NULL if no memory is
> + * available.
> + */
> +static struct urb *es58x_get_tx_urb(struct net_device *netdev)
> +{
> + struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
> + struct urb *urb;
> + unsigned long flags;
> + int ret;
> +
> + urb = usb_get_from_anchor(&es58x_dev->tx_urbs_idle);
> +
> + if (!urb) {
> + size_t tx_buf_len;
> + u8 *buf;
> +
> + netdev_warn(netdev,
> + "%s: Idle TX URB anchor is empty. Allocating an extra URB\n",
> + __func__);
> + tx_buf_len = es58x_dev->param->tx_urb_cmd_max_len;
> + ret = es58x_alloc_urb(es58x_dev, &urb, &buf, tx_buf_len,
> + GFP_ATOMIC);
> + if (ret)
> + urb = NULL;
> + else
> + usb_fill_bulk_urb(urb, es58x_dev->udev,
> + es58x_dev->tx_pipe, buf, tx_buf_len,
> + NULL, NULL);
> + } else {
> + spin_lock_irqsave(&es58x_dev->tx_urbs_idle.lock, flags);
> + if (atomic_dec_return(&es58x_dev->tx_urbs_idle_cnt) <
> + es58x_dev->num_can_ch)
> + es58x_netif_stop_all_queues(es58x_dev);
> + spin_unlock_irqrestore(&es58x_dev->tx_urbs_idle.lock, flags);
> + }
> +
> + return urb;
> +}
> +
> +/**
> + * es58x_submit_urb() - Send data to the device.
> + * @es58x_dev: ES58X device.
> + * @urb: URB to be sent.
> + * @netdev: CAN network device.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_submit_urb(struct es58x_device *es58x_dev, struct urb *urb,
> + struct net_device *netdev)
> +{
> + int ret;
> +
> + es58x_set_crc(urb->transfer_buffer, urb->transfer_buffer_length);
> + usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->tx_pipe,
> + urb->transfer_buffer, urb->transfer_buffer_length,
> + es58x_write_bulk_callback, netdev);
> + usb_anchor_urb(urb, &es58x_dev->tx_urbs_busy);
> + ret = usb_submit_urb(urb, GFP_ATOMIC);
> + if (ret) {
> + netdev_err(netdev, "%s: USB send urb failure: %pe\n",
> + __func__, ERR_PTR(ret));
> + usb_unanchor_urb(urb);
> + usb_free_coherent(urb->dev,
> + es58x_dev->param->tx_urb_cmd_max_len,
> + urb->transfer_buffer, urb->transfer_dma);
> + }
> + usb_free_urb(urb);
> +
> + return ret;
> +}
> +
> +/**
> + * es58x_send_msg() - Prepare an URB and submit it.
> + * @es58x_dev: ES58X device.
> + * @cmd_type: Command type.
> + * @cmd_id: Command ID.
> + * @msg: ES58X message to be sent.
> + * @msg_len: Length of @msg.
> + * @channel_idx: Index of the network device.
> + *
> + * Creates an URB command from a given message, sets the header and the
> + * CRC and then submits it.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +int es58x_send_msg(struct es58x_device *es58x_dev, u8 cmd_type, u8 cmd_id,
> + const void *msg, u16 msg_len, int channel_idx)
> +{
> + struct net_device *netdev;
> + union es58x_urb_cmd *urb_cmd;
> + struct urb *urb;
> + int urb_cmd_len;
> +
> + if (channel_idx == ES58X_CHANNEL_IDX_NA)
> + netdev = es58x_dev->netdev[0]; /* Default to first channel */
> + else
> + netdev = es58x_dev->netdev[channel_idx];
> +
> + urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
> + if (urb_cmd_len > es58x_dev->param->tx_urb_cmd_max_len)
> + return -EOVERFLOW;
> +
> + urb = es58x_get_tx_urb(netdev);
> + if (!urb)
> + return -EBUSY;
> +
> + urb_cmd = urb->transfer_buffer;
> + es58x_dev->ops->fill_urb_header(urb_cmd, cmd_type, cmd_id,
> + channel_idx, msg_len);
> + memcpy(&urb_cmd->raw_cmd[es58x_dev->param->urb_cmd_header_len],
> + msg, msg_len);
> + urb->transfer_buffer_length = urb_cmd_len;
> +
> + return es58x_submit_urb(es58x_dev, urb, netdev);
> +}
> +
> +/**
> + * es58x_start() - Start USB device.
> + * @es58x_dev: ES58X device.
> + *
> + * Allocate URBs for transmission and reception and put them in their
> + * respective anchors.
> + *
> + * This function took a lot of inspiration from the other drivers in
> + * drivers/net/can/usb.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_start(struct es58x_device *es58x_dev)
> +{
> + const struct device *dev = es58x_dev->dev;
> + const struct es58x_parameters *param = es58x_dev->param;
> + size_t rx_buf_len, tx_buf_len;
> + struct urb *urb;
> + u8 *buf;
> + int i;
> + int ret = -EINVAL;
> +
> + rx_buf_len = es58x_dev->rx_max_packet_size;
> + dev_dbg(dev, "%s: Allocation %d rx URBs each of size %zu\n", __func__,
> + param->rx_urb_max, rx_buf_len);
> +
> + for (i = 0; i < param->rx_urb_max; i++) {
> + ret = es58x_alloc_urb(es58x_dev, &urb, &buf, rx_buf_len,
> + GFP_KERNEL);
> + if (ret)
> + break;
> +
> + usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->rx_pipe,
> + buf, rx_buf_len, es58x_read_bulk_callback,
> + es58x_dev);
> + usb_anchor_urb(urb, &es58x_dev->rx_urbs);
> +
> + ret = usb_submit_urb(urb, GFP_KERNEL);
> + if (ret) {
> + usb_unanchor_urb(urb);
> + usb_free_coherent(es58x_dev->udev, rx_buf_len,
> + buf, urb->transfer_dma);
> + usb_free_urb(urb);
> + break;
> + }
> + usb_free_urb(urb);
> + }
> +
> + if (i == 0) {
> + dev_err(dev, "%s: Could not setup any rx URBs\n", __func__);
> + return ret;
> + } else if (i < param->rx_urb_max) {
> + dev_warn(dev,
> + "%s: Could only allocate %d on %d URBs. Rx performance may be slow\n",
> + __func__, i, param->rx_urb_max);
> + }
> +
> + tx_buf_len = es58x_dev->param->tx_urb_cmd_max_len;
> + dev_dbg(dev, "%s: Allocation %d tx URBs each of size %zu\n", __func__,
> + param->tx_urb_max, tx_buf_len);
> +
> + for (i = 0; i < param->tx_urb_max; i++) {
> + ret = es58x_alloc_urb(es58x_dev, &urb, &buf, tx_buf_len,
> + GFP_KERNEL);
> + if (ret)
> + break;
> +
> + usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->tx_pipe,
> + buf, tx_buf_len, NULL, NULL);
> + usb_anchor_urb(urb, &es58x_dev->tx_urbs_idle);
> + usb_free_urb(urb);
> + }
> +
> + if (i == 0) {
> + dev_err(dev, "%s: Could not setup any tx URBs\n", __func__);
> + return ret;
> + } else if (i < param->tx_urb_max) {
> + dev_warn(dev,
> + "%s: Could only allocate %d on %d URBs. Tx performance may be slow\n",
> + __func__, i, param->tx_urb_max);
> + }
> + atomic_set(&es58x_dev->tx_urbs_idle_cnt, i);
> +
> + return ret;
> +}
> +
> +/**
> + * es58x_enable_channel() - Enable the network device.
> + * @netdev: CAN network device.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_enable_channel(struct net_device *netdev)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct es58x_device *es58x_dev = priv->es58x_dev;
> + int ret;
> +
> + ret = es58x_dev->ops->enable_channel(es58x_dev, priv->channel_idx);
> + if (ret)
> + netdev_err(netdev, "%s: Could not enable the channel: %pe\n",
> + __func__, ERR_PTR(ret));
> +
> + return ret;
> +}
> +
> +/**
> + * es58x_open() - Open and start network device.
> + * @netdev: CAN network device.
> + *
> + * Called when the network transitions to the up state.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_open(struct net_device *netdev)
> +{
> + int ret;
> +
> + ret = open_candev(netdev);
> + if (ret)
> + return ret;
> +
> + ret = es58x_enable_channel(netdev);
> + if (ret)
> + return ret;
> +
> + netif_start_queue(netdev);
> +
> + return ret;
> +}
> +
> +/**
> + * es58x_stop() - Disable the network device.
> + * @netdev: CAN network device.
> + *
> + * Called when the network transitions to the down state.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_stop(struct net_device *netdev)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + unsigned long flags;
> +
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + netif_stop_queue(netdev);
> + priv->can.state = CAN_STATE_STOPPED;
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> + es58x_can_flush_echo_skb(netdev);
> + close_candev(netdev);
> +
> + es58x_flush_pending_tx_msg(netdev);
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_xmit_commit() - Send the bulk urb.
> + * @netdev: CAN network device.
> + *
> + * Update the loopback FIFO and do a bulk send.
> + *
> + * Each loopback skb should be put individually with
> + * can_put_echo_skb(). This function should be called only once by
> + * bulk transmission.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_xmit_commit(struct net_device *netdev)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + unsigned long flags;
> + unsigned int pkts = priv->tx_can_msg_cnt;
> + int ret;
> +
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + if (!es58x_is_can_state_active(netdev)) {
> + netdev_warn(netdev,
> + "%s: Device turned to CAN state: %d while preparing to send. Aborting transmission\n",
> + __func__, priv->can.state);
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> + return -ENETDOWN;
> + }
> + priv->num_echo_skb += pkts;
> + priv->current_packet_idx += pkts;
> + es58x_add_skb_idx(priv, &priv->echo_skb_head_idx, pkts);
> + if (priv->num_echo_skb >= es58x_echo_skb_stop_threshold(priv))
> + netif_stop_queue(netdev);
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> +
> + ret = es58x_submit_urb(priv->es58x_dev, priv->tx_urb, netdev);
> + if (ret) {
> + netdev_warn(netdev,
> + "%s: es58x_submit_urb returned failed: %pe priv->num_echo_skb = %u\n",
> + __func__, ERR_PTR(ret), priv->num_echo_skb);
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + priv->num_echo_skb -= pkts;
> + priv->current_packet_idx -= pkts;
> + es58x_add_skb_idx(priv, &priv->echo_skb_head_idx,
> + priv->can.echo_skb_max - pkts);
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> + }
> + priv->tx_urb = NULL;
> +
> + return ret;
> +}
> +
> +/**
> + * es58x_start_xmit() - Transmit an skb.
> + * @skb: socket buffer of a CAN message.
> + * @netdev: CAN network device.
> + *
> + * Called when a packet needs to be transmitted.
> + *
> + * This function relies on Byte Queue Limits (BQL). The main benefit
> + * it to increase the throughput by allowing bulk transfers
> + * (c.f. xmit_more flag).
> + *
> + * Queues up to tx_bulk_max messages in &tx_urb buffer and does
> + * a bulk send of all messages in one single URB.
> + *
> + * Return:
> + * NETDEV_TX_OK if we could manage the @skb (either transmit it or
> + * drop it)
> + *
> + * NETDEV_TX_BUSY if the device is busy (this is a bug, the network
> + * device stop/wake management should prevent this return code to
> + * occur).
> + */
> +static netdev_tx_t es58x_start_xmit(struct sk_buff *skb,
> + struct net_device *netdev)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct es58x_device *es58x_dev = priv->es58x_dev;
> + unsigned int packet_idx, tx_msg_threshold;
> + u16 skb_idx;
> + u8 channel_idx = priv->channel_idx;
> + bool send_doorbell;
> + int ret;
> +
> + if (((struct can_frame *)skb->data)->can_id & CAN_ERR_FLAG) {
> + netdev_info(netdev,
> + "%s: CAN_ERR_FLAG is set but device does not support sending error frames. Dropping message\n",
> + __func__);
> + if (priv->tx_urb && !netdev_xmit_more()) {
> + __netdev_sent_queue(netdev, 0, false);
> + ret = es58x_xmit_commit(netdev);
> + if (ret)
> + goto xmit_failure;
> + }
> + return NETDEV_TX_OK;
> + }
> +
> + if (!priv->tx_urb) {
> + priv->tx_urb = es58x_get_tx_urb(netdev);
> + if (!priv->tx_urb)
> + return NETDEV_TX_BUSY;
> + memset(priv->tx_urb->transfer_buffer, 0,
> + es58x_dev->param->tx_urb_cmd_max_len);
> + priv->tx_urb->transfer_buffer_length =
> + es58x_dev->param->urb_cmd_header_len;
> + priv->tx_can_msg_cnt = 0;
> + priv->tx_can_msg_is_fd = can_is_canfd_skb(skb);
> + } else if (priv->tx_can_msg_is_fd != can_is_canfd_skb(skb)) {
> + /* Can not send bulk message with mixed CAN and CAN-FD
> + * frames.
> + */
> + __netdev_sent_queue(netdev, 0, false);
> + ret = es58x_xmit_commit(netdev);
> + if (ret)
> + goto xmit_failure;
> + return es58x_start_xmit(skb, netdev);
> + }
> +
> + packet_idx = priv->current_packet_idx + priv->tx_can_msg_cnt;
> + ret = es58x_dev->ops->tx_can_msg(priv, channel_idx,
> + packet_idx, skb,
> + priv->tx_urb->transfer_buffer,
> + &priv->tx_urb->transfer_buffer_length);
> + if (ret)
> + goto xmit_failure;
> +
> + skb_idx = priv->echo_skb_head_idx;
> + es58x_add_skb_idx(priv, &skb_idx, priv->tx_can_msg_cnt);
> + skb_tx_timestamp(skb);
> + ret = can_put_echo_skb(skb, netdev, skb_idx);
> + if (ret)
> + goto xmit_failure;
> + priv->tx_can_msg_cnt++;
> +
> + send_doorbell = __netdev_sent_queue(netdev, es58x_can_frame_bytes(skb),
> + netdev_xmit_more());
> + tx_msg_threshold = min_t(unsigned int,
> + es58x_dev->param->tx_bulk_max,
> + priv->can.echo_skb_max - priv->num_echo_skb);
> + if (send_doorbell || priv->tx_can_msg_cnt >= tx_msg_threshold) {
> + ret = es58x_xmit_commit(netdev);
> + if (ret)
> + goto xmit_failure;
> + }
> +
> + return NETDEV_TX_OK;
> +
> + xmit_failure:
> + netdev->stats.tx_errors++;
> + es58x_flush_pending_tx_msg(netdev);
> + netdev_err(netdev, "%s: send message failure: %pe\n",
> + __func__, ERR_PTR(ret));
> + return NETDEV_TX_OK;
> +}
> +
> +static const struct net_device_ops es58x_netdev_ops = {
> + .ndo_open = es58x_open,
> + .ndo_stop = es58x_stop,
> + .ndo_start_xmit = es58x_start_xmit
> +};
> +
> +/**
> + * es58x_set_bittiming() - Configure all the nominal bit timing
> + * parameters.
> + * @netdev: CAN network device.
> + *
> + * Only relevant for ES581.4 (the ES58X FD family sets the bittiming
> + * parameters at the same time as the channel gets enabled).
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_set_bittiming(struct net_device *netdev)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct es58x_device *es58x_dev = priv->es58x_dev;
> + int ret;
> +
> + /* Make sure that channel is closed before sending configuration. */
> + ret = es58x_dev->ops->disable_channel(es58x_dev, priv->channel_idx);
> + if (ret)
> + netdev_err(netdev, "%s: Could not disable the channel: %pe\n",
> + __func__, ERR_PTR(ret));
> + ret = es58x_dev->ops->set_bittiming(es58x_dev, priv->channel_idx);
> + if (ret)
> + netdev_err(netdev, "%s: Could not set bittiming: %pe\n",
> + __func__, ERR_PTR(ret));
> +
> + return ret;
> +}
> +
> +/**
> + * es58x_set_data_bittiming() - Configure all the data bit timing parameters.
> + * @netdev: CAN network device.
> + *
> + * Dummy function: ES58X FD family sets the bittiming
> + * parameters at the same time as the channel gets enabled.
> + *
> + * Return: zero.
> + */
> +static int es58x_set_data_bittiming(struct net_device *netdev)
> +{
> + return 0;
> +}
> +
> +/**
> + * es58x_reset() - Reset one channel of the device.
> + * @netdev: CAN network device.
> + *
> + * Race conditions might appear when trying to use the reset_rx()
> + * and reset_tx() methods (e.g. loopback packets might remain in the
> + * queue causing some use after free issues in
> + * es58x_can_get_echo_skb()). Disabling and reenabling the channel is
> + * safer.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_reset(struct net_device *netdev)
> +{
> + int ret = 0;
> +
> + if (es58x_is_can_state_active(netdev))
> + es58x_priv(netdev)->can.do_set_mode(netdev, CAN_MODE_STOP);
> + WARN_ON(!netif_queue_stopped(netdev));
> +
> + ret = es58x_set_bittiming(netdev);
> + if (ret)
> + goto failure;
> + ret = es58x_enable_channel(netdev);
> + if (ret)
> + goto failure;
> +
> + return ret;
> +
> + failure:
> + netdev_err(netdev, "%s: reset failure: %pe\n", __func__, ERR_PTR(ret));
> + return ret;
> +}
> +
> +/**
> + * es58x_set_mode() - Change network device mode.
> + * @netdev: CAN network device.
> + * @mode: either %CAN_MODE_START, %CAN_MODE_STOP or %CAN_MODE_SLEEP
> + *
> + * This function is used by drivers/net/can/dev.c:can_restart() to
> + * recover from a bus off state. Thus only the only value expected for
> + * @mode is %CAN_MODE_START. None the less, other modes were
> + * implemented as well.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_set_mode(struct net_device *netdev, enum can_mode mode)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct can_priv *can = netdev_priv(netdev);
> + unsigned long flags;
> +
> + netdev_dbg(netdev, "%s: Switching to can_mode %d\n", __func__, mode);
> +
> + switch (mode) {
> + case CAN_MODE_START:
> + switch (can->state) {
> + case CAN_STATE_BUS_OFF:
> + return es58x_reset(netdev);
> +
> + case CAN_STATE_STOPPED:
> + case CAN_STATE_SLEEPING:
> + es58x_netif_wake_queue(netdev);
> + can->state = CAN_STATE_ERROR_ACTIVE;
> + return 0;
> +
> + case CAN_STATE_ERROR_ACTIVE:
> + case CAN_STATE_ERROR_WARNING:
> + case CAN_STATE_ERROR_PASSIVE:
> + default:
> + return 0;
> + }
> +
> + case CAN_MODE_STOP:
> + case CAN_MODE_SLEEP:
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + netif_stop_queue(netdev);
> + can->state = (mode == CAN_MODE_STOP) ?
> + CAN_STATE_STOPPED : CAN_STATE_SLEEPING;
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> + return 0;
> +
> + default:
> + netdev_err(netdev, "%s: Invalid can_mode value: %d\n",
> + __func__, mode);
> + return -EOPNOTSUPP;
> + }
> +}
> +
> +/**
> + * es58x_init_priv() - Initialize private parameters.
> + * @es58x_dev: ES58X device.
> + * @priv: ES58X private parameters related to the network device.
> + * @channel_idx: Index of the network device.
> + */
> +static void es58x_init_priv(struct es58x_device *es58x_dev,
> + struct es58x_priv *priv, int channel_idx)
> +{
> + const struct es58x_parameters *param = es58x_dev->param;
> + struct can_priv *can = &priv->can;
> +
> + priv->es58x_dev = es58x_dev;
> + priv->channel_idx = channel_idx;
> + priv->tx_urb = NULL;
> + priv->tx_can_msg_cnt = 0;
> + spin_lock_init(&priv->echo_skb_spinlock);
> +
> + can->bittiming_const = param->bittiming_const;
> + can->do_set_bittiming = es58x_set_bittiming;
> + if (param->ctrlmode_supported & CAN_CTRLMODE_FD) {
> + can->data_bittiming_const = param->data_bittiming_const;
> + can->do_set_data_bittiming = es58x_set_data_bittiming;
> + }
> + can->bitrate_max = param->bitrate_max;
> + can->clock = param->clock;
> +
> + can->state = CAN_STATE_STOPPED;
> +
> + /* Hardware loopback is always enabled, regardless of the
> + * value of can.ctrlmode & CAN_CTRLMODE_LOOPBACK.
> + */
> + can->ctrlmode_supported = param->ctrlmode_supported;
> + can->do_get_berr_counter = NULL; /* Not supported */
> +
> + can->do_set_mode = es58x_set_mode;
> +}
> +
> +/**
> + * es58x_init_netdev() - Initialize the network device.
> + * @es58x_dev: ES58X device.
> + * @channel_idx: Index of the network device.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_init_netdev(struct es58x_device *es58x_dev, int channel_idx)
> +{
> + struct net_device *netdev;
> + struct device *dev = es58x_dev->dev;
> + int ret;
> +
> + netdev = alloc_candev(sizeof(struct es58x_priv),
> + es58x_dev->param->echo_skb_max);
> + if (!netdev) {
> + dev_err(dev, "Could not allocate candev\n");
> + return -ENOMEM;
> + }
> + SET_NETDEV_DEV(netdev, dev);
> + es58x_dev->netdev[channel_idx] = netdev;
> + es58x_init_priv(es58x_dev, es58x_priv(netdev), channel_idx);
> +
> + netdev->netdev_ops = &es58x_netdev_ops;
> + netdev->flags |= IFF_ECHO; /* we support local echo */
> +
> + ret = register_candev(netdev);
> + if (ret)
> + return ret;
> + netdev_dbg(netdev, "%s: Registered channel %s\n",
> + es58x_dev->udev->product, netdev->name);
> +
> + netdev_get_tx_queue(netdev, 0)->dql.min_limit =
> + es58x_dev->param->dql_limit_min;
> +
> + return ret;
> +}
> +
> +/**
> + * es58x_get_product_info() - Get the product information and print them.
> + * @es58x_dev: ES58X device.
> + *
> + * Do a synchronous call to get the product information.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_get_product_info(struct es58x_device *es58x_dev)
> +{
> + struct usb_device *udev = es58x_dev->udev;
> + const int es58x_prod_info_idx = 6;
> + /* Empirical tests show a prod_info length of maximum 83,
> + * below should be more than enough.
> + */
> + const size_t prod_info_len = 127;
> + char *prod_info;
> + int ret;
> +
> + prod_info = kmalloc(prod_info_len, GFP_KERNEL);
> + if (!prod_info)
> + return -ENOMEM;
> +
> + ret = usb_string(udev, es58x_prod_info_idx, prod_info, prod_info_len);
> + if (ret < 0) {
> + dev_err(es58x_dev->dev,
> + "%s: Could not read the product info: %pe\n",
> + __func__, ERR_PTR(ret));
> + return ret;
> + } else if (ret >= prod_info_len - 1) {
> + dev_warn(es58x_dev->dev,
> + "%s: Buffer is too small, result might be truncated\n",
> + __func__);
> + }
> + dev_info(es58x_dev->dev, "Product info: %s\n", prod_info);
> + kfree(prod_info);
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_init_es58x_dev() - Initialize the ES58X device.
> + * @intf: USB interface
> + * @p_es58x_dev: pointer to the address of the ES58X device.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_init_es58x_dev(struct usb_interface *intf,
> + struct es58x_device **p_es58x_dev)
> +{
> + struct device *dev = &intf->dev;
> + struct es58x_device *es58x_dev;
> + const struct es58x_parameters *param;
> + const struct es58x_operators *ops;
> + struct usb_device *udev = interface_to_usbdev(intf);
> + struct usb_endpoint_descriptor *ep_in, *ep_out;
> + const u16 usb_id_product = le16_to_cpu(udev->descriptor.idProduct);
> + u8 num_can_ch;
> + int ret;
> +
> + dev_info(dev,
> + "Starting %s %s (Serial Number %s) driver version %s\n",
> + udev->manufacturer, udev->product, udev->serial, DRV_VERSION);
> +
> + ret = usb_find_common_endpoints(intf->cur_altsetting, &ep_in, &ep_out,
> + NULL, NULL);
> + if (ret)
> + return ret;
> +
> + switch (usb_id_product) {
> + case ES581_4_PRODUCT_ID: /* 2 Classical CAN channels */
> + param = &es581_4_param;
> + ops = &es581_4_ops;
> + num_can_ch = ES581_4_NUM_CAN_CH;
> + break;
> +
> + case ES582_1_PRODUCT_ID: /* 2 CAN(-FD) channels */
> + param = &es58x_fd_param;
> + ops = &es58x_fd_ops;
> + num_can_ch = ES582_1_NUM_CAN_CH;
> + break;
> +
> + case ES584_1_PRODUCT_ID: /* 1 CAN(-FD) and 1 LIN channel */
> + param = &es58x_fd_param;
> + ops = &es58x_fd_ops;
> + num_can_ch = ES584_1_NUM_CAN_CH;
> + break;
> +
> + default:
> + return -ENODEV;
> + }
> + if (num_can_ch > ARRAY_SIZE(es58x_dev->netdev) ||
> + num_can_ch >= param->echo_skb_max)
> + return -ECHRNG;
> +
> + es58x_dev = kzalloc(es58x_sizeof_es58x_device(param), GFP_KERNEL);
> + if (!es58x_dev)
> + return -ENOMEM;
> +
> + es58x_dev->param = param;
> + es58x_dev->ops = ops;
> + es58x_dev->num_can_ch = num_can_ch;
> + es58x_dev->dev = dev;
> + es58x_dev->udev = udev;
> +
> + init_usb_anchor(&es58x_dev->rx_urbs);
> + init_usb_anchor(&es58x_dev->tx_urbs_idle);
> + init_usb_anchor(&es58x_dev->tx_urbs_busy);
> + usb_set_intfdata(intf, es58x_dev);
> +
> + es58x_dev->rx_pipe = usb_rcvbulkpipe(es58x_dev->udev,
> + ep_in->bEndpointAddress);
> + es58x_dev->tx_pipe = usb_sndbulkpipe(es58x_dev->udev,
> + ep_out->bEndpointAddress);
> + es58x_dev->rx_max_packet_size = le16_to_cpu(ep_in->wMaxPacketSize);
> +
> + *p_es58x_dev = es58x_dev;
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_probe() - Initialize the USB device.
> + * @intf: USB interface
> + * @id: USB device ID
> + *
> + * Return: zero on success, -ENODEV if the interface is not supported
> + * or errno when any other error occurs.
> + */
> +static int es58x_probe(struct usb_interface *intf,
> + const struct usb_device_id *id)
> +{
> + struct es58x_device *es58x_dev;
> + int ch_idx, ret;
> +
> + /* ES58X FD has some interface protocols unsupported by this driver. */
> + if (intf->cur_altsetting->desc.bInterfaceProtocol != 0) {
> + dev_dbg(&intf->dev, "Interface protocol %d is not supported\n",
> + intf->cur_altsetting->desc.bInterfaceProtocol);
> + return -ENODEV;
> + }
> +
> + ret = es58x_init_es58x_dev(intf, &es58x_dev);
> + if (ret)
> + return ret;
> +
> + ret = es58x_get_product_info(es58x_dev);
> + if (ret)
> + goto cleanup_es58x_dev;
> +
> + for (ch_idx = 0; ch_idx < es58x_dev->num_can_ch; ch_idx++) {
> + ret = es58x_init_netdev(es58x_dev, ch_idx);
> + if (ret)
> + goto cleanup_candev;
> + }
> +
> + ret = es58x_start(es58x_dev);
> + if (ret)
> + goto cleanup_candev;
> +
> + es58x_set_realtime_diff_ns(es58x_dev);
> +
> + return ret;
> +
> + cleanup_candev:
> + for (ch_idx = 0; ch_idx < es58x_dev->num_can_ch; ch_idx++)
> + if (es58x_dev->netdev[ch_idx]) {
> + unregister_candev(es58x_dev->netdev[ch_idx]);
> + free_candev(es58x_dev->netdev[ch_idx]);
> + }
> + cleanup_es58x_dev:
> + kfree(es58x_dev);
> +
> + return ret;
> +}
> +
> +/**
> + * es58x_disconnect() - Disconnect the USB device.
> + * @intf: USB interface
> + *
> + * Called by the usb core when driver is unloaded or device is
> + * removed.
> + */
> +static void es58x_disconnect(struct usb_interface *intf)
> +{
> + struct es58x_device *es58x_dev = usb_get_intfdata(intf);
> + struct net_device *netdev;
> + struct urb *urb;
> + int i;
> +
> + dev_info(&intf->dev, "Disconnecting %s %s\n",
> + es58x_dev->udev->manufacturer, es58x_dev->udev->product);
> +
> + for (i = 0; i < es58x_dev->num_can_ch; i++) {
> + netdev = es58x_dev->netdev[i];
> + if (!netdev)
> + continue;
> + netdev_dbg(netdev, "Unregistering %s\n", netdev->name);
> + unregister_candev(netdev);
> + netdev_dbg(netdev, "Freeing %s\n", netdev->name);
> + es58x_dev->netdev[i] = NULL;
> + free_candev(netdev);
> + }
> +
> + dev_dbg(&intf->dev, "Killing TX busy anchored urbs\n");
> + if (!usb_wait_anchor_empty_timeout(&es58x_dev->tx_urbs_busy, 1000)) {
> + dev_err(&intf->dev, "%s: Timeout, some TX urbs still remain\n",
> + __func__);
> + usb_kill_anchored_urbs(&es58x_dev->tx_urbs_busy);
> + }
> +
> + dev_dbg(&intf->dev, "Freeing TX idle anchored urbs\n");
> + while ((urb = usb_get_from_anchor(&es58x_dev->tx_urbs_idle)) != NULL) {
> + usb_free_coherent(urb->dev,
> + es58x_dev->param->tx_urb_cmd_max_len,
> + urb->transfer_buffer, urb->transfer_dma);
> + usb_free_urb(urb);
> + atomic_dec(&es58x_dev->tx_urbs_idle_cnt);
> + }
> + if (atomic_read(&es58x_dev->tx_urbs_idle_cnt) > 0)
> + dev_err(&intf->dev,
> + "All idle urbs were freed but tx_urb_idle_cnt is %u\n",
> + atomic_read(&es58x_dev->tx_urbs_idle_cnt));
> +
> + dev_dbg(&intf->dev, "Unlinking RX anchored urbs\n");
> + usb_kill_anchored_urbs(&es58x_dev->rx_urbs);
> +
> + dev_dbg(&intf->dev, "Freeing %s\n", es58x_dev->udev->product);
> + kfree(es58x_dev);
> + dev_dbg(&intf->dev, "Setting USB interface to NULL\n");
> + usb_set_intfdata(intf, NULL);
> +}
> +
> +static struct usb_driver es58x_driver = {
> + .name = ES58X_MODULE_NAME,
> + .probe = es58x_probe,
> + .disconnect = es58x_disconnect,
> + .id_table = es58x_id_table,
> +};
> +
> +module_usb_driver(es58x_driver);
> diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.h b/drivers/net/can/usb/etas_es58x/es58x_core.h
> new file mode 100644
> index 000000000000..e74fb8bc9dde
> --- /dev/null
> +++ b/drivers/net/can/usb/etas_es58x/es58x_core.h
> @@ -0,0 +1,712 @@
> +/* SPDX-License-Identifier: GPL-2.0 */
> +
> +/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
> + *
> + * File es58x_core.h: All common definitions and declarations.
> + *
> + * Copyright (C) 2019 Robert Bosch Engineering and Business
> + * Solutions. All rights reserved.
> + * Copyright (C) 2020 ETAS K.K.. All rights reserved.
> + */
> +
> +#ifndef __ES58X_COMMON_H__
> +#define __ES58X_COMMON_H__
> +
> +#include <linux/types.h>
> +#include <linux/usb.h>
> +#include <linux/netdevice.h>
> +#include <linux/can.h>
> +#include <linux/can/dev.h>
> +
> +#include "es581_4.h"
> +#include "es58x_fd.h"
> +
> +/* Size of a Classical CAN Standard Frame (rounded up and ignoring
> + * bitsuffing).
> + */
> +#define ES58X_SFF_BYTES(data_len) (DIV_ROUND_UP(47, 8) + (data_len))
> +
> +/* Size of a Classical CAN Extended Frame (rounded up and ignoring
> + * bitsuffing).
> + */
> +#define ES58X_EFF_BYTES(data_len) (DIV_ROUND_UP(67, 8) + (data_len))
> +
> +/* Maximum size of a Classical CAN frame (rounded up and ignoring
> + * bitsuffing).
> + */
> +#define ES58X_CAN_FRAME_BYTES_MAX ES58X_EFF_BYTES(CAN_MAX_DLEN)
> +
> +/* Maximum size of a CAN-FD frame (rough estimation because
> + * ES58X_SFF_BYTES() and ES58X_EFF_BYTES() macros are using the
> + * constant values for Classical CAN, not CAN-FD).
> + */
> +#define ES58X_CANFD_FRAME_BYTES_MAX ES58X_EFF_BYTES(CANFD_MAX_DLEN)
> +
> +/* Driver constants */
> +#define ES58X_RX_URBS_MAX 5 /* Empirical value */
> +#define ES58X_TX_URBS_MAX 8 /* Empirical value */
> +
> +#define ES58X_MAX(param) \
> + (ES581_4_##param > ES58X_FD_##param ? \
> + ES581_4_##param : ES58X_FD_##param)
> +#define ES58X_TX_BULK_MAX ES58X_MAX(TX_BULK_MAX)
> +#define ES58X_RX_BULK_MAX ES58X_MAX(RX_BULK_MAX)
> +#define ES58X_RX_LOOPBACK_BULK_MAX ES58X_MAX(RX_LOOPBACK_BULK_MAX)
> +#define ES58X_NUM_CAN_CH_MAX ES58X_MAX(NUM_CAN_CH)
> +
> +/* Use this when channel index is irrelevant (e.g. device
> + * timestamp).
> + */
> +#define ES58X_CHANNEL_IDX_NA 0xFF
> +#define ES58X_EMPTY_MSG NULL
> +
> +/* Threshold on consecutive CAN_STATE_ERROR_PASSIVE. If we receive
> + * ES58X_CONSECUTIVE_ERR_PASSIVE_MAX times the event
> + * ES58X_ERR_CRTL_PASSIVE in a row without any successful Rx or Tx,
> + * we force the device to switch to CAN_STATE_BUS_OFF state.
> + */
> +#define ES58X_CONSECUTIVE_ERR_PASSIVE_MAX 254
> +
> +enum es58x_self_reception {
> + ES58X_SELF_RECEPTION_OFF = 0,
> + ES58X_SELF_RECEPTION_ON = 1
> +};
> +
> +enum es58x_physical_media {
> + ES58X_PHYSICAL_MEDIA_HIGH_SPEED = 1
> +};
> +
> +enum es58x_samples_per_bit {
> + ES58X_SAMPLES_PER_BIT_ONE = 1,
> + ES58X_SAMPLES_PER_BIT_THREE = 2
> +};
> +
> +/**
> + * enum es58x_sync_edge - Synchronization method.
> + * @ES58X_SYNC_EDGE_SINGLE: ISO CAN specification defines the use of a
> + * single edge synchronization. The synchronization should be
> + * done on recessive to dominant level change.
> + *
> + * Some product of the ETAS portfolio also support a double
> + * synchronization, requiring both recessive to dominant then dominant
> + * to recessive level change. However, the devices of this driver do
> + * not support the option, thus, the enum has only one member.
> + */
> +enum es58x_sync_edge {
> + ES58X_SYNC_EDGE_SINGLE = 1
> +};
> +
> +/**
> + * enum es58x_flag - CAN flags for RX/TX messages.
> + * @ES58X_FLAG_EFF: Extended Frame Format (EFF).
> + * @ES58X_FLAG_RTR: Remote Transmission Request (RTR).
> + * @ES58X_FLAG_FD_BRS: Bit rate switch (BRS): second bitrate for
> + * payload data.
> + * @ES58X_FLAG_FD_ESI: Error State Indicator (ESI): tell if the
> + * transmitting node is in error passive mode.
> + * @ES58X_FLAG_FD_DATA: CAN FD frame.
> + */
> +enum es58x_flag {
> + ES58X_FLAG_EFF = BIT(0),
> + ES58X_FLAG_RTR = BIT(1),
> + ES58X_FLAG_FD_BRS = BIT(3),
> + ES58X_FLAG_FD_ESI = BIT(5),
> + ES58X_FLAG_FD_DATA = BIT(6)
> +};
> +
> +/**
> + * enum es58x_err - CAN error detection.
> + * @ES58X_ERR_OK: No errors.
> + * @ES58X_ERR_PROT_STUFF: Bit stuffing error: more than 5 consecutive
> + * equal bits.
> + * @ES58X_ERR_PROT_FORM: Frame format error.
> + * @ES58X_ERR_ACK: Received no ACK on transmission.
> + * @ES58X_ERR_PROT_BIT: Single bit error.
> + * @ES58X_ERR_PROT_CRC: Incorrect 15, 17 or 21 bits CRC.
> + * @ES58X_ERR_PROT_BIT1: Unable to send recessive bit: tried to send
> + * recessive bit 1 but monitored dominant bit 0.
> + * @ES58X_ERR_PROT_BIT0: Unable to send dominant bit: tried to send
> + * dominant bit 0 but monitored recessive bit 1.
> + * @ES58X_ERR_PROT_OVERLOAD: Bus overload.
> + * @ES58X_ERR_PROT_UNSPEC: Unspecified.
> + *
> + * Please refer to ISO 11898-1:2015, section 10.11 "Error detection"
> + * and section 10.13 "Overload signaling" for additional details.
> + */
> +enum es58x_err {
> + ES58X_ERR_OK = 0,
> + ES58X_ERR_PROT_STUFF = BIT(0),
> + ES58X_ERR_PROT_FORM = BIT(1),
> + ES58X_ERR_ACK = BIT(2),
> + ES58X_ERR_PROT_BIT = BIT(3),
> + ES58X_ERR_PROT_CRC = BIT(4),
> + ES58X_ERR_PROT_BIT1 = BIT(5),
> + ES58X_ERR_PROT_BIT0 = BIT(6),
> + ES58X_ERR_PROT_OVERLOAD = BIT(7),
> + ES58X_ERR_PROT_UNSPEC = BIT(31)
> +};
> +
> +/**
> + * enum es58x_event - CAN error codes returned by the device.
> + * @ES58X_EVENT_OK: No errors.
> + * @ES58X_EVENT_CRTL_ACTIVE: Active state: both TR and RX error count
> + * is less than 128.
> + * @ES58X_EVENT_CRTL_PASSIVE: Passive state: either TX or RX error
> + * count is greater than 127.
> + * @ES58X_EVENT_CRTL_WARNING: Warning state: either TX or RX error
> + * count is greater than 96.
> + * @ES58X_EVENT_BUSOFF: Bus off.
> + * @ES58X_EVENT_SINGLE_WIRE: Lost connection on either CAN high or CAN
> + * low.
> + *
> + * Please refer to ISO 11898-1:2015, section 12.1.4 "Rules of fault
> + * confinement" for additional details.
> + */
> +enum es58x_event {
> + ES58X_EVENT_OK = 0,
> + ES58X_EVENT_CRTL_ACTIVE = BIT(0),
> + ES58X_EVENT_CRTL_PASSIVE = BIT(1),
> + ES58X_EVENT_CRTL_WARNING = BIT(2),
> + ES58X_EVENT_BUSOFF = BIT(3),
> + ES58X_EVENT_SINGLE_WIRE = BIT(4)
> +};
> +
> +/**
> + * enum es58x_ret_u8 - Device return error codes, 8 bit format.
> + *
> + * Specific to ES581.4.
> + */
> +enum es58x_ret_u8 {
> + ES58X_RET_U8_OK = 0x00,
> + ES58X_RET_U8_ERR_UNSPECIFIED_FAILURE = 0x80,
> + ES58X_RET_U8_ERR_NO_MEM = 0x81,
> + ES58X_RET_U8_ERR_BAD_CRC = 0x99
> +};
> +
> +/**
> + * enum es58x_ret_u32 - Device return error codes, 32 bit format.
> + */
> +enum es58x_ret_u32 {
> + ES58X_RET_U32_OK = 0x00000000UL,
> + ES58X_RET_U32_ERR_UNSPECIFIED_FAILURE = 0x80000000UL,
> + ES58X_RET_U32_ERR_NO_MEM = 0x80004001UL,
> + ES58X_RET_U32_WARN_PARAM_ADJUSTED = 0x40004000UL,
> + ES58X_RET_U32_WARN_TX_MAYBE_REORDER = 0x40004001UL,
> + ES58X_RET_U32_ERR_TIMEOUT = 0x80000008UL,
> + ES58X_RET_U32_ERR_FIFO_FULL = 0x80003002UL,
> + ES58X_RET_U32_ERR_BAD_CONFIG = 0x80004000UL,
> + ES58X_RET_U32_ERR_NO_RESOURCE = 0x80004002UL
> +};
> +
> +/**
> + * enum es58x_ret_type - Type of the command returned by the ES58X
> + * device.
> + */
> +enum es58x_ret_type {
> + ES58X_RET_TYPE_SET_BITTIMING,
> + ES58X_RET_TYPE_ENABLE_CHANNEL,
> + ES58X_RET_TYPE_DISABLE_CHANNEL,
> + ES58X_RET_TYPE_TX_MSG,
> + ES58X_RET_TYPE_RESET_RX,
> + ES58X_RET_TYPE_RESET_TX,
> + ES58X_RET_TYPE_DEVICE_ERR,
> + ES58X_RET_TYPE_NUM_ENTRIES
> +};
> +
> +union es58x_urb_cmd {
> + struct es581_4_urb_cmd es581_4_urb_cmd;
> + struct es58x_fd_urb_cmd es58x_fd_urb_cmd;
> + struct { /* Common header parts of all variants */
> + __le16 sof;
> + u8 cmd_type;
> + u8 cmd_id;
> + } __packed;
> + u8 raw_cmd[0];
> +};
> +
> +/**
> + * struct es58x_priv - All information specific to a can channel.
> + * @can: struct can_priv must be the first member (Socket CAN relies
> + * on the fact that function netdev_priv() returns a pointer to
> + * a struct can_priv).
> + * @es58x_dev: pointer to the corresponding ES58X device.
> + * @tx_urb: Used as a buffer to concatenate the TX messages and to do
> + * a bulk send. Please refer to es58x_start_xmit() for more
> + * details.
> + * @echo_skb_spinlock: Spinlock to protect the access to the echo skb
> + * FIFO.
> + * @current_packet_idx: Keeps track of the packet indexes.
> + * @echo_skb_tail_idx: beginning of the echo skb FIFO, i.e. index of
> + * the first element.
> + * @echo_skb_head_idx: end of the echo skb FIFO plus one, i.e. first
> + * free index.
> + * @num_echo_skb: actual number of elements in the FIFO. Thus, the end
> + * of the FIFO is echo_skb_head = (echo_skb_tail_idx +
> + * num_echo_skb) % can.echo_skb_max.
> + * @tx_can_msg_is_fd: false: all messages in @tx_urb are Classical
> + * CAN, true: all messages in @tx_urb are CAN-FD. Rationale:
> + * ES58X FD devices do not allow to mix standard and FD CAN in
> + * one single bulk transmission.
> + * @tx_can_msg_cnt: Number of messages in @tx_urb.
> + * @err_passive_before_rtx_success: The ES58X device might enter in a
> + * state in which it keeps alternating between error passive
> + * and active state. This counter keeps track of the number of
> + * error passive and if it gets bigger than
> + * ES58X_CONSECUTIVE_ERR_PASSIVE_MAX, es58x_rx_err_msg() will
> + * force the status to bus-off.
> + * @channel_idx: Channel index, starts at zero.
> + */
> +struct es58x_priv {
> + struct can_priv can;
> + struct es58x_device *es58x_dev;
> + struct urb *tx_urb;
> +
> + spinlock_t echo_skb_spinlock; /* Comments: c.f. supra */
> + u32 current_packet_idx;
> + u16 echo_skb_tail_idx;
> + u16 echo_skb_head_idx;
> + u16 num_echo_skb;
> +
> + bool tx_can_msg_is_fd;
> + u8 tx_can_msg_cnt;
> +
> + u8 err_passive_before_rtx_success;
> +
> + u8 channel_idx;
> +};
> +
> +/**
> + * struct es58x_parameters - Constant parameters of a given hardware
> + * variant.
> + * @can_bittiming_const: Nominal bittimming parameters.
> + * @data_bittiming_const: Data bittiming parameters.
> + * @bitrate_max: Maximum bitrate supported by the device.
> + * @clock: CAN clock parameters.
> + * @ctrlmode_supported: List of supported modes. Please refer to
> + * can/netlink.h file for additional details.
> + * @tx_start_of_frame: Magic number at the beginning of each TX URB
> + * command.
> + * @rx_start_of_frame: Magic number at the beginning of each RX URB
> + * command.
> + * @tx_urb_cmd_max_len: Maximum length of a TX URB command.
> + * @rx_urb_cmd_max_len: Maximum length of a RX URB command.
> + * @echo_skb_max: Maximum number of echo SKB. This value must not
> + * exceed the maximum size of the device internal TX FIFO
> + * length. This parameter is used to control the network queue
> + * wake/stop logic.
> + * @dql_limit_min: Dynamic Queue Limits (DQL) absolute minimum limit
> + * of bytes allowed to be queued on this network device transmit
> + * queue. Used by the Byte Queue Limits (BQL) to determine how
> + * frequently the xmit_more flag will be set to true in
> + * es58x_start_xmit(). Set this value higher to optimize for
> + * throughput but be aware that it might have a negative impact
> + * on the latency! This value can also be set dynamically. Please
> + * refer to Documentation/ABI/testing/sysfs-class-net-queues for
> + * more details.
> + * @tx_bulk_max: Maximum number of Tx messages that can be sent in one
> + * single URB packet.
> + * @urb_cmd_header_len: Length of the URB command header.
> + * @rx_urb_max: Number of RX URB to be allocated during device probe.
> + * @tx_urb_max: Number of TX URB to be allocated during device probe.
> + * @channel_idx_offset: Some of the ES58x starts channel numbering
> + * from 0 (ES58X FD), others from 1 (ES581.4).
> + */
> +struct es58x_parameters {
> + const struct can_bittiming_const *bittiming_const;
> + const struct can_bittiming_const *data_bittiming_const;
> + u32 bitrate_max;
> + struct can_clock clock;
> + u32 ctrlmode_supported;
> + u16 tx_start_of_frame;
> + u16 rx_start_of_frame;
> + u16 tx_urb_cmd_max_len;
> + u16 rx_urb_cmd_max_len;
> + u16 echo_skb_max;
> + u16 dql_limit_min;
> + u8 tx_bulk_max;
> + u8 urb_cmd_header_len;
> + u8 rx_urb_max;
> + u8 tx_urb_max;
> + u8 channel_idx_offset;
> +};
> +
> +/**
> + * struct es58x_operators - Function pointers used to encode/decode
> + * the TX/RX messages.
> + * @get_msg_len: Get field msg_len of the urb_cmd. The offset of
> + * msg_len inside urb_cmd depends of the device model.
> + * @handle_urb_cmd: Handle URB command received from the device and
> + * manage the return code from device.
> + * @fill_urb_header: Fill the header of urb_cmd.
> + * @tx_can_msg: Encode a TX CAN message and add it to the bulk buffer
> + * cmd_buf of es58x_dev.
> + * @set_bittiming: Encode the bittiming information and send it.
> + * @enable_channel: Start the CAN channel with index channel_idx.
> + * @disable_channel: Stop the CAN channel with index channel_idx.
> + * @reset_rx: Reset the RX queue of the ES58X device.
> + * @reset_tx: Reset the TX queue of the ES58X device.
> + * @get_timestamp: Request a timestamp from the ES58X device.
> + */
> +struct es58x_operators {
> + u16 (*get_msg_len)(const union es58x_urb_cmd *urb_cmd);
> + int (*handle_urb_cmd)(struct es58x_device *es58x_dev,
> + const union es58x_urb_cmd *urb_cmd);
> + void (*fill_urb_header)(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
> + u8 cmd_id, u8 channel_idx, u16 cmd_len);
> + int (*tx_can_msg)(struct es58x_priv *priv, int channel_idx,
> + u32 packet_idx, const struct sk_buff *skb,
> + union es58x_urb_cmd *urb_cmd, u32 *urb_cmd_len);
> + int (*set_bittiming)(struct es58x_device *es58x_dev, int channel_idx);
> + int (*enable_channel)(struct es58x_device *es58x_dev,
> + int channel_idx);
> + int (*disable_channel)(struct es58x_device *es58x_dev,
> + int channel_idx);
> + int (*reset_rx)(struct es58x_device *es58x_dev, int channel_idx);
> + int (*reset_tx)(struct es58x_device *es58x_dev, int channel_idx);
> + int (*get_timestamp)(struct es58x_device *es58x_dev);
> +};
> +
> +/**
> + * struct es58x_device - All information specific to an ES58X device.
> + * @dev: Device information.
> + * @udev: USB device information.
> + * @netdev: Array of our CAN channels.
> + * @param: The constant parameters.
> + * @ops: Operators.
> + * @rx_pipe: USB reception pipe.
> + * @tx_pipe: USB transmission pipe.
> + * @rx_urbs: Anchor for received URBs.
> + * @tx_urbs_busy: Anchor for TX URBs which were send to the device.
> + * @tx_urbs_idle: Anchor for TX USB which are idle. This driver
> + * allocates the memory for the URBs during the probe. When a TX
> + * URB is needed, it can be taken from this anchor. The network
> + * queue wake/stop logic should prevent this URB from getting
> + * empty. Please refer to es58x_get_tx_urb() for more details.
> + * @tx_urbs_idle_cnt: number of urbs in @tx_urbs_idle.
> + * @ktime_req_ns: kernel timestamp when es58x_set_realtime_diff_ns()
> + * was called.
> + * @realtime_diff_ns: difference in nanoseconds between the clocks of
> + * the ES58X device and the kernel.
> + * @timestamps: a temporary buffer to store the time stamps before
> + * feeding them to es58x_can_get_echo_skb(). Can only be used
> + * in rx branches.
> + * @rx_max_packet_size: Maximum length of bulk-in URB.
> + * @num_can_ch: Number of CAN channel (i.e. number of elements of @netdev).
> + * @rx_cmd_buf_len: Length of @rx_cmd_buf.
> + * @rx_cmd_buf: The device might split the URB commands in an
> + * arbitrary amount of pieces. This buffer is used to concatenate
> + * all those pieces. Can only be used in rx branches. This field
> + * has to be the last one of the structure because it is has a
> + * flexible size (c.f. es58x_sizeof_es58x_device() function).
> + */
> +struct es58x_device {
> + struct device *dev;
> + struct usb_device *udev;
> + struct net_device *netdev[ES58X_NUM_CAN_CH_MAX];
> +
> + const struct es58x_parameters *param;
> + const struct es58x_operators *ops;
> +
> + int rx_pipe;
> + int tx_pipe;
> +
> + struct usb_anchor rx_urbs;
> + struct usb_anchor tx_urbs_busy;
> + struct usb_anchor tx_urbs_idle;
> + atomic_t tx_urbs_idle_cnt;
> +
> + u64 ktime_req_ns;
> + s64 realtime_diff_ns;
> +
> + u64 timestamps[ES58X_RX_LOOPBACK_BULK_MAX];
> +
> + u16 rx_max_packet_size;
> + u8 num_can_ch;
> +
> + u16 rx_cmd_buf_len;
> + union es58x_urb_cmd rx_cmd_buf;
> +};
> +
> +/**
> + * es58x_sizeof_es58x_device() - Calculate the maximum length of
> + * struct es58x_device.
> + * @es58x_dev_param: The constant parameters of the device.
> + *
> + * The length of struct es58x_device depends on the length of its last
> + * field: rx_cmd_buf. This macro allows to optimize size for memory
> + * allocation.
> + *
> + * Return: length of struct es58x_device.
> + */
> +static inline size_t es58x_sizeof_es58x_device(const struct es58x_parameters
> + *es58x_dev_param)
> +{
> + return offsetof(struct es58x_device, rx_cmd_buf) +
> + es58x_dev_param->rx_urb_cmd_max_len;
> +}
> +
> +/* Megabit per second (multiply x per one million) */
> +#define ES58X_MBPS(x) (1000000UL * (x))
> +
> +/* Megahertz (multiply x per one million) */
> +#define ES58X_MHZ(x) (1000000UL * (x))
> +
> +static inline int __es58x_check_msg_len(const struct device *dev,
> + const char *stringified_msg,
> + size_t actual_len, size_t expected_len)
> +{
> + if (expected_len != actual_len) {
> + dev_err(dev,
> + "Length of %s is %zu but received command is %zu.\n",
> + stringified_msg, expected_len, actual_len);
> + return -EMSGSIZE;
> + }
> + return 0;
> +}
> +
> +/**
> + * es58x_check_msg_len() - Check the size of a received message.
> + * @dev: Device, used to print error messages.
> + * @msg: Received message, must not be a pointer.
> + * @actual_len: Length of the message as advertised in the command header.
> + *
> + * Must be a macro in order to retrieve the actual size using
> + * sizeof(). Can be use with any of the messages which have a fixed
> + * length. Check for an exact match of the size.
> + *
> + * Return: zero on success, -EMSGSIZE if @actual_len differs from the
> + * expected length.
> + */
> +#define es58x_check_msg_len(dev, msg, actual_len) \
> + __es58x_check_msg_len(dev, __stringify(msg), \
> + actual_len, sizeof(msg))
> +
> +static inline int __es58x_check_msg_max_len(const struct device *dev,
> + const char *stringified_msg,
> + size_t actual_len,
> + size_t expected_len)
> +{
> + if (actual_len > expected_len) {
> + dev_err(dev,
> + "Maximum length for %s is %zu but received command is %zu.\n",
> + stringified_msg, expected_len, actual_len);
> + return -EOVERFLOW;
> + }
> + return 0;
> +}
> +
> +/**
> + * es58x_check_msg_max_len() - Check the maximum size of a received message.
> + * @dev: Device, used to print error messages.
> + * @msg: Received message, must not be a pointer.
> + * @actual_len: Length of the message as advertised in the command header.
> + *
> + * Must be a macro in order to retrieve the actual size using
> + * sizeof(). To be used with the messages of variable sizes. Only
> + * check that the message is not bigger than the maximum expected
> + * size.
> + *
> + * Return: zero on success, -EOVERFLOW if @actual_len is greater than
> + * the expected length.
> + */
> +#define es58x_check_msg_max_len(dev, msg, actual_len) \
> + __es58x_check_msg_max_len(dev, __stringify(msg), \
> + actual_len, sizeof(msg))
> +
> +static inline int __es58x_msg_num_element(const struct device *dev,
> + const char *stringified_msg,
> + size_t actual_len, size_t msg_len,
> + size_t elem_len)
> +{
> + size_t actual_num_elem = actual_len / elem_len;
> + size_t expected_num_elem = msg_len / elem_len;
> +
> + if (actual_num_elem == 0) {
> + dev_err(dev,
> + "Minimum length for %s is %zu but received command is %zu.\n",
> + stringified_msg, elem_len, actual_len);
> + return -EMSGSIZE;
> + } else if ((actual_len % elem_len) != 0) {
> + dev_err(dev,
> + "Received command length: %zu is not a multiple of %s[0]: %zu\n",
> + actual_len, stringified_msg, elem_len);
> + return -EMSGSIZE;
> + } else if (actual_num_elem > expected_num_elem) {
> + dev_err(dev,
> + "Array %s is supposed to have %zu elements each of size %zu...\n",
> + stringified_msg, expected_num_elem, elem_len);
> + dev_err(dev,
> + "... But received command has %zu elements (total length %zu).\n",
> + actual_num_elem, actual_len);
> + return -EOVERFLOW;
> + }
> + return actual_num_elem;
> +}
> +
> +/**
> + * es58x_msg_num_element() - Check size and give the number of
> + * elements in a message of array type.
> + * @dev: Device, used to print error messages.
> + * @msg: Received message, must be an array.
> + * @actual_len: Length of the message as advertised in the command
> + * header.
> + *
> + * Must be a macro in order to retrieve the actual size using
> + * sizeof(). To be used on message of array type. Array's element has
> + * to be of fixed size (else use es58x_check_msg_max_len()). Check
> + * that the total length is an exact multiple of the length of a
> + * single element.
> + *
> + * Return: number of elements in the array on success, -EOVERFLOW if
> + * @actual_len is greater than the expected length, -EMSGSIZE if
> + * @actual_len is not a multiple of a single element.
> + */
> +#define es58x_msg_num_element(dev, msg, actual_len) \
> +({ \
> + size_t __elem_len = sizeof((msg)[0]) + __must_be_array(msg); \
> + __es58x_msg_num_element(dev, __stringify(msg), actual_len, \
> + sizeof(msg), __elem_len); \
> +})
> +
> +/**
> + * es58x_priv() - Get the priv member and cast it to struct es58x_priv.
> + * @netdev: CAN network device.
> + *
> + * Return: ES58X device.
> + */
> +static inline struct es58x_priv *es58x_priv(struct net_device *netdev)
> +{
> + return (struct es58x_priv *)netdev_priv(netdev);
> +}
> +
> +/**
> + * ES58X_SIZEOF_URB_CMD() - Calculate the maximum length of an urb
> + * command for a given message field name.
> + * @es58x_urb_cmd_type: type (either "struct es581_4_urb_cmd" or
> + * "struct es58x_fd_urb_cmd").
> + * @msg_field: name of the message field.
> + *
> + * Must be a macro in order to retrieve the actual size using
> + * offsetof() and sizeof_field().
> + *
> + * Return: length of the urb command.
> + */
> +#define ES58X_SIZEOF_URB_CMD(es58x_urb_cmd_type, msg_field) \
> + (offsetof(es58x_urb_cmd_type, raw_msg) \
> + + sizeof_field(es58x_urb_cmd_type, msg_field) \
> + + sizeof_field(es58x_urb_cmd_type, \
> + reserved_for_crc16_do_not_use))
> +
> +/**
> + * es58x_get_urb_cmd_len() - Calculate the actual length of an urb
> + * command for a given message length.
> + * @es58x_dev: ES58X device.
> + * @msg_len: Length of the message.
> + *
> + * Add the header and CRC lengths to the message length.
> + *
> + * Return: length of the urb command.
> + */
> +static inline size_t es58x_get_urb_cmd_len(struct es58x_device *es58x_dev,
> + u16 msg_len)
> +{
> + /* URB Length = URB header len + Message len + sizeof crc16 */
> + return es58x_dev->param->urb_cmd_header_len + msg_len + sizeof(u16);
> +}
> +
> +/**
> + * es58x_get_netdev() - Get the network device.
> + * @es58x_dev: ES58X device.
> + * @channel_no: The channel number as advertised in the urb command.
> + * @netdev: CAN network device.
> + *
> + * ES581.4 starts the numbering on channels from 1, ES58X FD family
> + * starts it from 0. This method does the sanity check.
> + *
> + * Return: zero on success, -ECHRNG if the received channel number is
> + * out of range and -ENODEV if the network device is not yet
> + * configured.
> + */
> +static inline int es58x_get_netdev(struct es58x_device *es58x_dev,
> + int channel_no, struct net_device **netdev)
> +{
> + int channel_idx = channel_no - es58x_dev->param->channel_idx_offset;
> +
> + *netdev = NULL;
> + if (channel_idx < 0 || channel_idx >= es58x_dev->num_can_ch)
> + return -ECHRNG;
> +
> + *netdev = es58x_dev->netdev[channel_idx];
> + if (!netdev || !netif_device_present(*netdev))
> + return -ENODEV;
> +
> + return 0;
> +}
> +
> +/**
> + * es58x_get_raw_can_id() - Get the CAN ID.
> + * @cf: CAN frame.
> + *
> + * Mask the CAN ID in order to only keep the significant bits.
> + *
> + * Return: the raw value of the CAN ID.
> + */
> +static inline int es58x_get_raw_can_id(const struct can_frame *cf)
> +{
> + if (cf->can_id & CAN_EFF_FLAG)
> + return cf->can_id & CAN_EFF_MASK;
> + else
> + return cf->can_id & CAN_SFF_MASK;
> +}
> +
> +/**
> + * es58x_get_flags() - Get the CAN flags.
> + * @skb: socket buffer of a CAN message.
> + *
> + * Return: the CAN flag as an enum es58x_flag.
> + */
> +static inline enum es58x_flag es58x_get_flags(const struct sk_buff *skb)
> +{
> + struct canfd_frame *cf = (struct canfd_frame *)skb->data;
> + enum es58x_flag es58x_flags = 0;
> +
> + if (cf->can_id & CAN_EFF_FLAG)
> + es58x_flags |= ES58X_FLAG_EFF;
> +
> + if (can_is_canfd_skb(skb)) {
> + es58x_flags |= ES58X_FLAG_FD_DATA;
> + if (cf->flags & CANFD_BRS)
> + es58x_flags |= ES58X_FLAG_FD_BRS;
> + if (cf->flags & CANFD_ESI)
> + es58x_flags |= ES58X_FLAG_FD_ESI;
> + } else if (cf->can_id & CAN_RTR_FLAG)
> + /* Remote frames are only defined in Classical CAN frames */
> + es58x_flags |= ES58X_FLAG_RTR;
> +
> + return es58x_flags;
> +}
> +
> +int es58x_can_get_echo_skb(struct net_device *netdev, u32 packet_idx,
> + u64 *tstamps, unsigned int pkts);
> +int es58x_tx_ack_msg(struct net_device *netdev, u16 tx_free_entries,
> + enum es58x_ret_u32 rx_cmd_ret_u32);
> +int es58x_rx_can_msg(struct net_device *netdev, u64 timestamp, const u8 *data,
> + canid_t can_id, enum es58x_flag es58x_flags, u8 dlc);
> +int es58x_rx_err_msg(struct net_device *netdev, enum es58x_err error,
> + enum es58x_event event, u64 timestamp);
> +int es58x_rx_timestamp(struct es58x_device *es58x_dev, u64 timestamp);
> +int es58x_rx_dev_ret_u8(struct device *dev, enum es58x_ret_type cmd_ret_type,
> + enum es58x_ret_u8 rx_dev_ret_u8);
> +int es58x_rx_cmd_ret_u32(struct net_device *netdev,
> + enum es58x_ret_type cmd_ret_type,
> + enum es58x_ret_u32 rx_cmd_ret_u32);
> +int es58x_send_msg(struct es58x_device *es58x_dev, u8 cmd_type, u8 cmd_id,
> + const void *msg, u16 cmd_len, int channel_idx);
> +
> +extern const struct es58x_parameters es581_4_param;
> +extern const struct es58x_operators es581_4_ops;
> +
> +extern const struct es58x_parameters es58x_fd_param;
> +extern const struct es58x_operators es58x_fd_ops;
> +
> +#endif /* __ES58X_COMMON_H__ */
> diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.c b/drivers/net/can/usb/etas_es58x/es58x_fd.c
> new file mode 100644
> index 000000000000..0c8e850e330b
> --- /dev/null
> +++ b/drivers/net/can/usb/etas_es58x/es58x_fd.c
> @@ -0,0 +1,657 @@
> +// SPDX-License-Identifier: GPL-2.0
> +
> +/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
> + *
> + * File es58x_fd.c: Adds support to ETAS ES582.1 and ES584.1 (naming
> + * convention: we use the term "ES58X FD" when referring to those two
> + * variants together).
> + *
> + * Copyright (C) 2019 Robert Bosch Engineering and Business
> + * Solutions. All rights reserved.
> + * Copyright (C) 2020 ETAS K.K.. All rights reserved.
> + */
> +
> +#include <linux/kernel.h>
> +#include <asm/unaligned.h>
> +
> +#include "es58x_core.h"
> +#include "es58x_fd.h"
> +
> +/**
> + * es58x_sizeof_rx_tx_msg() - Calculate the actual length of the
> + * structure of a rx or tx message.
> + * @msg: message of variable length, must have a dlc and a len fields.
> + *
> + * Even if RTR frames have actually no payload, the ES58X devices
> + * still expect it. Must be a macro in order to retrieve the actual
> + * size using offsetof() and typeof().
> + *
> + * Return: length of the message.
> + */
> +#define es58x_fd_sizeof_rx_tx_msg(msg) \
> +({ \
> + typeof(msg) __msg = (msg); \
> + size_t __msg_len = __msg.flags & ES58X_FLAG_FD_DATA ? \
> + min_t(u8, __msg.len, CANFD_MAX_DLEN) : \
> + can_get_cc_len(__msg.dlc); \
> + (offsetof(typeof(__msg), data[__msg_len])); \
> +})
> +
> +static enum es58x_fd_cmd_type es58x_fd_cmd_type(struct net_device *netdev)
> +{
> + u32 ctrlmode = es58x_priv(netdev)->can.ctrlmode;
> +
> + return ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO) ?
> + ES58X_FD_CMD_TYPE_CANFD : ES58X_FD_CMD_TYPE_CAN;
> +}
> +
> +static u16 es58x_fd_get_msg_len(const union es58x_urb_cmd *urb_cmd)
> +{
> + return get_unaligned_le16(&urb_cmd->es58x_fd_urb_cmd.msg_len);
> +}
> +
> +static int es58x_fd_rx_loopback_msg(struct net_device *netdev,
> + const struct es58x_fd_urb_cmd
> + *es58x_fd_urb_cmd)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + const struct es58x_fd_rx_loopback_msg *rx_loopback_msg;
> + struct es58x_device *es58x_dev = priv->es58x_dev;
> + u64 *tstamps = es58x_dev->timestamps;
> + u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
> + int i, num_element;
> + u32 first_packet_idx, packet_idx;
> + unsigned long flags;
> +
> + const u32 mask = ~(u32)((typeof(rx_loopback_msg->packet_idx))(~0U));
> +
> + num_element = es58x_msg_num_element(es58x_dev->dev,
> + es58x_fd_urb_cmd->rx_loopback_msg,
> + msg_len);
> + if (num_element < 0)
> + return num_element;
> + rx_loopback_msg = es58x_fd_urb_cmd->rx_loopback_msg;
> +
> + spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
> + first_packet_idx = priv->current_packet_idx - priv->num_echo_skb;
> + spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
> +
> + packet_idx = (first_packet_idx & mask) | rx_loopback_msg[0].packet_idx;
> + for (i = 0; i < num_element; i++) {
> + if ((u8)packet_idx != rx_loopback_msg[i].packet_idx) {
> + netdev_err(netdev, "Packet idx jumped from %u to %u\n",
> + (u8)packet_idx - 1,
> + rx_loopback_msg[i].packet_idx);
> + return -EBADMSG;
> + }
> +
> + tstamps[i] = get_unaligned_le64(&rx_loopback_msg[i].timestamp);
> + packet_idx++;
> + }
> +
> + return es58x_can_get_echo_skb(netdev, first_packet_idx,
> + tstamps, num_element);
> +}
> +
> +static int es58x_fd_rx_can_msg(struct net_device *netdev,
> + const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
> +{
> + struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
> + const u8 *rx_can_msg_buf = es58x_fd_urb_cmd->rx_can_msg_buf;
> + u16 rx_can_msg_buf_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
> + int pkts, ret;
> +
> + ret = es58x_check_msg_max_len(es58x_dev->dev,
> + es58x_fd_urb_cmd->rx_can_msg_buf,
> + rx_can_msg_buf_len);
> + if (ret)
> + return ret;
> +
> + for (pkts = 0; rx_can_msg_buf_len > 0; pkts++) {
> + const struct es58x_fd_rx_can_msg *rx_can_msg =
> + (const struct es58x_fd_rx_can_msg *)rx_can_msg_buf;
> + bool is_can_fd = !!(rx_can_msg->flags & ES58X_FLAG_FD_DATA);
> + /* rx_can_msg_len is the length of the rx_can_msg
> + * buffer. Not to be confused with rx_can_msg->len
> + * which is the length of the CAN payload
> + * rx_can_msg->data.
> + */
> + u16 rx_can_msg_len = es58x_fd_sizeof_rx_tx_msg(*rx_can_msg);
> +
> + if (rx_can_msg_len > rx_can_msg_buf_len) {
> + netdev_err(netdev,
> + "%s: Expected a rx_can_msg of size %d but only %d bytes are left in rx_can_msg_buf\n",
> + __func__,
> + rx_can_msg_len, rx_can_msg_buf_len);
> + return -EMSGSIZE;
> + }
> + if (rx_can_msg->len > CANFD_MAX_DLEN) {
> + netdev_err(netdev,
> + "%s: Data length is %d but maximum should be %d\n",
> + __func__, rx_can_msg->len, CANFD_MAX_DLEN);
> + return -EMSGSIZE;
> + }
> +
> + if (netif_running(netdev)) {
> + u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
> + canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);
> + u8 dlc;
> +
> + if (is_can_fd)
> + dlc = can_len2dlc(rx_can_msg->len);
> + else
> + dlc = rx_can_msg->dlc;
> +
> + ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
> + can_id, rx_can_msg->flags, dlc);
> + if (ret)
> + break;
> + }
> +
> + rx_can_msg_buf_len -= rx_can_msg_len;
> + rx_can_msg_buf += rx_can_msg_len;
> + }
> +
> + if (!netif_running(netdev)) {
> + if (net_ratelimit())
> + netdev_info(netdev,
> + "%s: %s is down, dropping %d rx packets\n",
> + __func__, netdev->name, pkts);
> + netdev->stats.rx_dropped += pkts;
> + }
> +
> + return ret;
> +}
> +
> +static int es58x_fd_rx_event_msg(struct net_device *netdev,
> + const struct es58x_fd_urb_cmd
> + *es58x_fd_urb_cmd)
> +{
> + struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
> + u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
> + const struct es58x_fd_rx_event_msg *rx_event_msg;
> + int ret;
> +
> + ret = es58x_check_msg_len(es58x_dev->dev, *rx_event_msg, msg_len);
> + if (ret)
> + return ret;
> +
> + rx_event_msg = &es58x_fd_urb_cmd->rx_event_msg;
> +
> + return es58x_rx_err_msg(netdev, rx_event_msg->error_code,
> + rx_event_msg->event_code,
> + get_unaligned_le64(&rx_event_msg->timestamp));
> +}
> +
> +static int es58x_fd_rx_cmd_ret_u32(struct net_device *netdev,
> + const struct es58x_fd_urb_cmd
> + *es58x_fd_urb_cmd,
> + enum es58x_ret_type cmd_ret_type)
> +{
> + struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
> + u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
> + enum es58x_ret_u32 rx_cmd_ret_u32;
> + int ret;
> +
> + ret = es58x_check_msg_len(es58x_dev->dev,
> + es58x_fd_urb_cmd->rx_cmd_ret_le32, msg_len);
> + if (ret)
> + return ret;
> +
> + rx_cmd_ret_u32 = get_unaligned_le32(&es58x_fd_urb_cmd->rx_cmd_ret_le32);
> +
> + return es58x_rx_cmd_ret_u32(netdev, cmd_ret_type, rx_cmd_ret_u32);
> +}
> +
> +static int es58x_fd_tx_ack_msg(struct net_device *netdev,
> + const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
> +{
> + struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
> + const struct es58x_fd_tx_ack_msg *tx_ack_msg;
> + u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
> + int ret;
> +
> + tx_ack_msg = &es58x_fd_urb_cmd->tx_ack_msg;
> + ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
> + if (ret)
> + return ret;
> +
> + return
> + es58x_tx_ack_msg(netdev,
> + get_unaligned_le16(&tx_ack_msg->tx_free_entries),
> + get_unaligned_le32(&tx_ack_msg->rx_cmd_ret_le32));
> +}
> +
> +static int es58x_fd_can_cmd_id(struct es58x_device *es58x_dev,
> + const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
> +{
> + struct net_device *netdev;
> + int ret;
> +
> + ret = es58x_get_netdev(es58x_dev, es58x_fd_urb_cmd->channel_idx,
> + &netdev);
> + if (ret)
> + return ret;
> +
> + switch ((enum es58x_fd_can_cmd_id)es58x_fd_urb_cmd->cmd_id) {
> + case ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL:
> + return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
> + ES58X_RET_TYPE_ENABLE_CHANNEL);
> +
> + case ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL:
> + return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
> + ES58X_RET_TYPE_DISABLE_CHANNEL);
> +
> + case ES58X_FD_CAN_CMD_ID_TX_MSG:
> + return es58x_fd_tx_ack_msg(netdev, es58x_fd_urb_cmd);
> +
> + case ES58X_FD_CAN_CMD_ID_MSG_SELFRX_ACK:
> + return es58x_fd_rx_loopback_msg(netdev, es58x_fd_urb_cmd);
> +
> + case ES58X_FD_CAN_CMD_ID_RX_MSG:
> + return es58x_fd_rx_can_msg(netdev, es58x_fd_urb_cmd);
> +
> + case ES58X_FD_CAN_CMD_ID_RESET_RX:
> + return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
> + ES58X_RET_TYPE_RESET_RX);
> +
> + case ES58X_FD_CAN_CMD_ID_RESET_TX:
> + return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
> + ES58X_RET_TYPE_RESET_TX);
> +
> + case ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG:
> + return es58x_fd_rx_event_msg(netdev, es58x_fd_urb_cmd);
> +
> + default:
> + return -EBADRQC;
> + }
> +}
> +
> +static int es58x_fd_device_cmd_id(struct es58x_device *es58x_dev,
> + const struct es58x_fd_urb_cmd
> + *es58x_fd_urb_cmd)
> +{
> + u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
> + u64 timestamp;
> + int ret;
> +
> + switch ((enum es58x_fd_dev_cmd_id)es58x_fd_urb_cmd->cmd_id) {
> + case ES58X_FD_DEV_CMD_ID_TIMESTAMP:
> + ret = es58x_check_msg_len(es58x_dev->dev,
> + es58x_fd_urb_cmd->timestamp, msg_len);
> + if (ret)
> + return ret;
> + timestamp = get_unaligned_le64(&es58x_fd_urb_cmd->timestamp);
> + return es58x_rx_timestamp(es58x_dev, timestamp);
> +
> + default:
> + return -EBADRQC;
> + }
> +}
> +
> +static int es58x_fd_handle_urb_cmd(struct es58x_device *es58x_dev,
> + const union es58x_urb_cmd *urb_cmd)
> +{
> + const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd;
> + const struct device *dev = es58x_dev->dev;
> + int ret;
> +
> + es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
> +
> + switch ((enum es58x_fd_cmd_type)es58x_fd_urb_cmd->cmd_type) {
> + case ES58X_FD_CMD_TYPE_CAN:
> + case ES58X_FD_CMD_TYPE_CANFD:
> + ret = es58x_fd_can_cmd_id(es58x_dev, es58x_fd_urb_cmd);
> + break;
> +
> + case ES58X_FD_CMD_TYPE_DEVICE:
> + ret = es58x_fd_device_cmd_id(es58x_dev, es58x_fd_urb_cmd);
> + break;
> +
> + default:
> + ret = -EBADRQC;
> + break;
> + }
> +
> + if (ret == -EBADRQC)
> + dev_err(dev,
> + "%s: Unknown command type (0x%02X) and command ID (0x%02X) combination\n",
> + __func__, es58x_fd_urb_cmd->cmd_type,
> + es58x_fd_urb_cmd->cmd_id);
> +
> + return ret;
> +}
> +
> +static void es58x_fd_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
> + u8 cmd_id, u8 channel_idx, u16 msg_len)
> +{
> + struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
> +
> + es58x_fd_urb_cmd->SOF = cpu_to_le16(es58x_fd_param.tx_start_of_frame);
> + es58x_fd_urb_cmd->cmd_type = cmd_type;
> + es58x_fd_urb_cmd->cmd_id = cmd_id;
> + es58x_fd_urb_cmd->channel_idx = channel_idx;
> + es58x_fd_urb_cmd->msg_len = cpu_to_le16(msg_len);
> +}
> +
> +static int es58x_fd_tx_can_msg(struct es58x_priv *priv, int channel_idx,
> + u32 packet_idx, const struct sk_buff *skb,
> + union es58x_urb_cmd *urb_cmd, u32 *urb_cmd_len)
> +{
> + struct es58x_device *es58x_dev = priv->es58x_dev;
> + struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
> + struct can_frame *cf = (struct can_frame *)skb->data;
> + struct es58x_fd_tx_can_msg *tx_can_msg;
> + bool is_fd = can_is_canfd_skb(skb);
> + u16 msg_len;
> + int ret;
> +
> + ret = es58x_check_msg_max_len(es58x_dev->dev,
> + es58x_fd_urb_cmd->tx_can_msg_buf,
> + es58x_fd_get_msg_len(urb_cmd) +
> + sizeof(*tx_can_msg));
> + if (ret)
> + return ret;
> +
> + msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
> + tx_can_msg = (struct es58x_fd_tx_can_msg *)
> + &es58x_fd_urb_cmd->tx_can_msg_buf[msg_len];
> +
> + /* Fill message contents. */
> + if (*urb_cmd_len == es58x_dev->param->urb_cmd_header_len)
> + es58x_fd_fill_urb_header(urb_cmd,
> + is_fd ? ES58X_FD_CMD_TYPE_CANFD
> + : ES58X_FD_CMD_TYPE_CAN,
> + ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK,
> + channel_idx, *urb_cmd_len);
> + tx_can_msg->packet_idx = packet_idx;
> + put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
> + tx_can_msg->flags = (u8)es58x_get_flags(skb);
> + if (is_fd)
> + tx_can_msg->len = cf->len;
> + else
> + tx_can_msg->dlc = can_get_cc_dlc(priv->can.ctrlmode,
> + cf->len, cf->len8_dlc);
> + memcpy(tx_can_msg->data, cf->data, cf->len);
> +
> + /* Calculate new sizes */
> + msg_len += es58x_fd_sizeof_rx_tx_msg(*tx_can_msg);
> + *urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
> + put_unaligned_le16(msg_len, &es58x_fd_urb_cmd->msg_len);
> +
> + return 0;
> +}
> +
> +/* ES58X uses the same command to set the bittiming parameters and
> + * enable the channel. The modification is done in
> + * es58x_fd_enable_channel().
> + */
> +static int es58x_fd_set_bittiming(struct es58x_device *es58x_dev,
> + int channel_idx)
> +{
> + return 0;
> +}
> +
> +static void es58x_fd_print_bittiming(struct net_device *netdev,
> + struct es58x_fd_bittiming
> + *es58x_fd_bittiming, char *type)
> +{
> + netdev_vdbg(netdev, "bitrate %s = %d\n", type,
> + le32_to_cpu(es58x_fd_bittiming->bitrate));
> + netdev_vdbg(netdev, "tseg1 %s = %d\n", type,
> + le16_to_cpu(es58x_fd_bittiming->tseg1));
> + netdev_vdbg(netdev, "tseg2 %s = %d\n", type,
> + le16_to_cpu(es58x_fd_bittiming->tseg2));
> + netdev_vdbg(netdev, "brp %s = %d\n", type,
> + le16_to_cpu(es58x_fd_bittiming->brp));
> + netdev_vdbg(netdev, "sjw %s = %d\n", type,
> + le16_to_cpu(es58x_fd_bittiming->sjw));
> +}
> +
> +static void es58x_fd_print_conf(struct net_device *netdev,
> + struct es58x_fd_tx_conf_msg *tx_conf_msg)
> +{
> + es58x_fd_print_bittiming(netdev, &tx_conf_msg->nominal_bittiming,
> + "nominal");
> + netdev_vdbg(netdev, "samples_per_bit = %d\n",
> + tx_conf_msg->samples_per_bit);
> + netdev_vdbg(netdev, "sync_edge = %d\n",
> + tx_conf_msg->sync_edge);
> + netdev_vdbg(netdev, "physical_media = %d\n",
> + tx_conf_msg->physical_media);
> + netdev_vdbg(netdev, "self_reception = %d\n",
> + tx_conf_msg->self_reception_mode);
> + netdev_vdbg(netdev, "ctrlmode = %d\n", tx_conf_msg->ctrlmode);
> + netdev_vdbg(netdev, "canfd_enabled = %d\n",
> + tx_conf_msg->canfd_enabled);
> + if (tx_conf_msg->canfd_enabled) {
> + es58x_fd_print_bittiming(netdev,
> + &tx_conf_msg->data_bittiming, "data");
> + netdev_vdbg(netdev,
> + "Transmitter Delay Compensation = %d\n",
> + tx_conf_msg->tdc);
> + netdev_vdbg(netdev,
> + "Transmitter Delay Compensation Offset = %d\n",
> + le16_to_cpu(tx_conf_msg->tdco));
> + netdev_vdbg(netdev,
> + "Transmitter Delay Compensation Filter = %d\n",
> + le16_to_cpu(tx_conf_msg->tdcf));
> + }
> +}
> +
> +static void es58x_fd_convert_bittiming(struct es58x_fd_bittiming *es58x_fd_bt,
> + struct can_bittiming *bt)
> +{
> + /* The actual value set in the hardware registers is one less
> + * than the functional value.
> + */
> + const int offset = 1;
> +
> + es58x_fd_bt->bitrate = cpu_to_le32(bt->bitrate);
> + es58x_fd_bt->tseg1 =
> + cpu_to_le16(bt->prop_seg + bt->phase_seg1 - offset);
> + es58x_fd_bt->tseg2 = cpu_to_le16(bt->phase_seg2 - offset);
> + es58x_fd_bt->brp = cpu_to_le16(bt->brp - offset);
> + es58x_fd_bt->sjw = cpu_to_le16(bt->sjw - offset);
> +}
> +
> +static int es58x_fd_enable_channel(struct es58x_device *es58x_dev,
> + int channel_idx)
> +{
> + struct net_device *netdev = es58x_dev->netdev[channel_idx];
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct es58x_fd_tx_conf_msg tx_conf_msg = { 0 };
> + u32 ctrlmode;
> + bool is_can_fd = false;
> + size_t conf_len = 0;
> +
> + es58x_fd_convert_bittiming(&tx_conf_msg.nominal_bittiming,
> + &priv->can.bittiming);
> + ctrlmode = priv->can.ctrlmode;
> +
> + tx_conf_msg.samples_per_bit =
> + ctrlmode & CAN_CTRLMODE_3_SAMPLES ?
> + ES58X_SAMPLES_PER_BIT_THREE : ES58X_SAMPLES_PER_BIT_ONE;
> + tx_conf_msg.sync_edge = ES58X_SYNC_EDGE_SINGLE;
> + tx_conf_msg.physical_media = ES58X_PHYSICAL_MEDIA_HIGH_SPEED;
> + tx_conf_msg.self_reception_mode = ES58X_SELF_RECEPTION_ON;
> +
> + tx_conf_msg.ctrlmode |=
> + ctrlmode & CAN_CTRLMODE_LISTENONLY ?
> + ES58X_FD_CTRLMODE_PASSIVE : ES58X_FD_CTRLMODE_ACTIVE;
> +
> + conf_len = ES58X_FD_CAN_CONF_LEN;
> + if (ctrlmode & CAN_CTRLMODE_FD) {
> + tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD_ISO;
> + is_can_fd = true;
> + } else if (ctrlmode & CAN_CTRLMODE_FD_NON_ISO) {
> + tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD_NON_ISO;
> + is_can_fd = true;
> + }
> + if (is_can_fd) {
> + struct can_bittiming *dbt = &priv->can.data_bittiming;
> + int tdco = 0;
> +
> + conf_len = ES58X_FD_CANFD_CONF_LEN;
> +
> + tx_conf_msg.canfd_enabled = !!is_can_fd;
> + es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming, dbt);
> +
> + /* As specified in ISO 11898-1 section 11.3.3
> + * "Transmitter delay compensation" (TDC) is only
> + * applicable if data BRP is one or two.
> + */
> + tx_conf_msg.tdc = (dbt->brp == 1) || (dbt->brp == 2);
> + if (tx_conf_msg.tdc) {
> + /* Set the Transmitter Delay Compensation
> + * offset as the duration (in time quanta)
> + * from the start of the bit to the sample
> + * point.
> + */
> + tdco = can_bit_time(dbt) * dbt->sample_point / 1000;
> + }
> + tx_conf_msg.tdco = cpu_to_le16(min_t(u16, 127, tdco));
> + tx_conf_msg.tdcf = cpu_to_le16(0);
> + }
> + es58x_fd_print_conf(netdev, &tx_conf_msg);
> +
> + return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
> + ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL,
> + &tx_conf_msg, conf_len, channel_idx);
> +}
> +
> +static int es58x_fd_disable_channel(struct es58x_device *es58x_dev,
> + int channel_idx)
> +{
> + /* The type (ES58X_FD_CMD_TYPE_CAN or ES58X_FD_CMD_TYPE_CANFD) does
> + * not matter here.
> + */
> + return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_CAN,
> + ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL,
> + ES58X_EMPTY_MSG, 0, channel_idx);
> +}
> +
> +static int es58x_fd_reset_rx(struct es58x_device *es58x_dev, int channel_idx)
> +{
> + struct net_device *netdev;
> + int ret;
> +
> + ret = es58x_get_netdev(es58x_dev, channel_idx, &netdev);
> + if (ret)
> + return ret;
> +
> + return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
> + ES58X_FD_CAN_CMD_ID_RESET_RX, ES58X_EMPTY_MSG,
> + 0, channel_idx);
> +}
> +
> +static int es58x_fd_reset_tx(struct es58x_device *es58x_dev, int channel_idx)
> +{
> + struct net_device *netdev;
> + int ret;
> +
> + ret = es58x_get_netdev(es58x_dev, channel_idx, &netdev);
> + if (ret)
> + return ret;
> +
> + return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
> + ES58X_FD_CAN_CMD_ID_RESET_TX, ES58X_EMPTY_MSG,
> + 0, channel_idx);
> +}
> +
> +static int es58x_fd_get_timestamp(struct es58x_device *es58x_dev)
> +{
> + return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_DEVICE,
> + ES58X_FD_DEV_CMD_ID_TIMESTAMP, ES58X_EMPTY_MSG,
> + 0, ES58X_CHANNEL_IDX_NA);
> +}
> +
> +/* struct es58x_fd_nom_bittiming_const - Nominal bittiming constants.
> + *
> + * Nominal bittiming constants for ES582.1 and ES584.1 as specified in
> + * the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
> + * section 49.6.8 "MCAN Nominal Bit Timing and Prescaler Register"
> + * from Microchip.
> + *
> + * The values from the specification are the hardware register
> + * values. To convert them to the functional values, all ranges were
> + * incremented by 1 (e.g. range [0..n-1] changed to [1..n]).
> + */
> +static const struct can_bittiming_const es58x_fd_nom_bittiming_const = {
> + .name = "ES582.1/ES584.1",
> + .tseg1_min = 2,
> + .tseg1_max = 256,
> + .tseg2_min = 2,
> + .tseg2_max = 128,
> + .sjw_max = 128,
> + .brp_min = 1,
> + .brp_max = 512,
> + .brp_inc = 1
> +};
> +
> +/* struct es58x_fd_data_bittiming_const - Data bittiming constants.
> + *
> + * Data bittiming constants for ES582.1 and ES584.1 as specified in
> + * the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
> + * section 49.6.4 "MCAN Data Bit Timing and Prescaler Register" from
> + * Microchip.
> + */
> +static const struct can_bittiming_const es58x_fd_data_bittiming_const = {
> + .name = "ES582.1/ES584.1",
> + .tseg1_min = 2,
> + .tseg1_max = 32,
> + .tseg2_min = 1,
> + .tseg2_max = 16,
> + .sjw_max = 8,
> + .brp_min = 1,
> + .brp_max = 32,
> + .brp_inc = 1
> +};
> +
> +const struct es58x_parameters es58x_fd_param = {
> + .bittiming_const = &es58x_fd_nom_bittiming_const,
> + .data_bittiming_const = &es58x_fd_data_bittiming_const,
> + .bitrate_max = ES58X_MBPS(8),
> + .clock = {.freq = ES58X_MHZ(80)},
> + .ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
> + CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO |
> + CAN_CTRLMODE_CC_LEN8_DLC,
> + .tx_start_of_frame = 0xCEFA, /* FACE in little endian */
> + .rx_start_of_frame = 0xFECA, /* CAFE in little endian */
> + .tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN,
> + .rx_urb_cmd_max_len = ES58X_FD_RX_URB_CMD_MAX_LEN,
> + /* Size of internal device TX queue is 500.
> + *
> + * However, when reaching value around 278, the device's busy
> + * LED turns on and thus maximum value of 500 is never reached
> + * in practice. Also, when this value is too high, some error
> + * on the rx_loopback_msg were witnessed when the device is
> + * recovering from bus off.
> + *
> + * For above reasons, a value that would prevent the device
> + * from becoming busy was chosen. In practice, BQL would
> + * prevent the value from even getting closer to below
> + * maximum, so no impact on performance was measured.
> + */
> + .echo_skb_max = U8_MAX,
> + /* Empirical value. */
> + .dql_limit_min = ES58X_CAN_FRAME_BYTES_MAX * 15,
> + .tx_bulk_max = ES58X_FD_TX_BULK_MAX,
> + .urb_cmd_header_len = ES58X_FD_URB_CMD_HEADER_LEN,
> + .rx_urb_max = ES58X_RX_URBS_MAX,
> + .tx_urb_max = ES58X_TX_URBS_MAX,
> + .channel_idx_offset = 0
> +};
> +
> +const struct es58x_operators es58x_fd_ops = {
> + .get_msg_len = es58x_fd_get_msg_len,
> + .handle_urb_cmd = es58x_fd_handle_urb_cmd,
> + .fill_urb_header = es58x_fd_fill_urb_header,
> + .tx_can_msg = es58x_fd_tx_can_msg,
> + .set_bittiming = es58x_fd_set_bittiming,
> + .enable_channel = es58x_fd_enable_channel,
> + .disable_channel = es58x_fd_disable_channel,
> + .reset_rx = es58x_fd_reset_rx,
> + .reset_tx = es58x_fd_reset_tx,
> + .get_timestamp = es58x_fd_get_timestamp
> +};
> diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.h b/drivers/net/can/usb/etas_es58x/es58x_fd.h
> new file mode 100644
> index 000000000000..e9457ea542d4
> --- /dev/null
> +++ b/drivers/net/can/usb/etas_es58x/es58x_fd.h
> @@ -0,0 +1,242 @@
> +/* SPDX-License-Identifier: GPL-2.0 */
> +
> +/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
> + *
> + * File es58x_fd.h: Definitions and declarations specific to ETAS
> + * ES582.1 and ES584.1 (naming convention: we use the term "ES58X FD"
> + * when referring to those two variants together).
> + *
> + * Copyright (C) 2019 Robert Bosch Engineering and Business
> + * Solutions. All rights reserved.
> + * Copyright (C) 2020 ETAS K.K.. All rights reserved.
> + */
> +
> +#ifndef __ES58X_FD_H__
> +#define __ES58X_FD_H__
> +
> +#include <linux/types.h>
> +
> +#define ES582_1_NUM_CAN_CH 2
> +#define ES584_1_NUM_CAN_CH 1
> +#define ES58X_FD_NUM_CAN_CH 2
> +
> +#define ES58X_FD_TX_BULK_MAX 100
> +#define ES58X_FD_RX_BULK_MAX 100
> +#define ES58X_FD_RX_LOOPBACK_BULK_MAX 100
> +
> +enum es58x_fd_cmd_type {
> + ES58X_FD_CMD_TYPE_CAN = 0x03,
> + ES58X_FD_CMD_TYPE_CANFD = 0x04,
> + ES58X_FD_CMD_TYPE_DEVICE = 0xFF
> +};
> +
> +/* Command IDs for ES58X_FD_CMD_TYPE_{CAN,CANFD}. */
> +enum es58x_fd_can_cmd_id {
> + ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL = 0x01,
> + ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL = 0x02,
> + ES58X_FD_CAN_CMD_ID_TX_MSG = 0x05,
> + ES58X_FD_CAN_CMD_ID_MSG_SELFRX_ACK = 0x07,
> + ES58X_FD_CAN_CMD_ID_RX_MSG = 0x10,
> + ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG = 0x11,
> + ES58X_FD_CAN_CMD_ID_RESET_RX = 0x20,
> + ES58X_FD_CAN_CMD_ID_RESET_TX = 0x21,
> + ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK = 0x55
> +};
> +
> +/* Command IDs for ES58X_FD_CMD_TYPE_DEVICE. */
> +enum es58x_fd_dev_cmd_id {
> + ES58X_FD_DEV_CMD_ID_GETTIMETICKS = 0x01,
> + ES58X_FD_DEV_CMD_ID_TIMESTAMP = 0x02
> +};
> +
> +/**
> + * enum es58x_fd_ctrlmode - Controller mode.
> + * @ES58X_FD_CTRLMODE_ACTIVE: send and receive messages.
> + * @ES58X_FD_CTRLMODE_PASSIVE: only receive messages (monitor). Do not
> + * send anything, not even the acknowledgment bit.
> + * @ES58X_FD_CTRLMODE_FD_ISO: CAN-FD according to ISO11898-1.
> + * @ES58X_FD_CTRLMODE_FD_NON_ISO: follow Bosch CAN FD Specification
> + * V1.0
> + * @ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING: How to
> + * behave when CAN FD reserved bit is monitored as
> + * dominant. (c.f. ISO 11898-1:2015, section 10.4.2.4 "Control
> + * field", paragraph "r0 bit"). 0 (not disable = enable): send
> + * error frame. 1 (disable): goes into bus integration mode
> + * (c.f. below).
> + * @ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION: 0: Edge
> + * filtering is disabled. 1: Edge filtering is enabled. Two
> + * consecutive dominant bits required to detect an edge for hard
> + * synchronization.
> + */
> +enum es58x_fd_ctrlmode {
> + ES58X_FD_CTRLMODE_ACTIVE = 0,
> + ES58X_FD_CTRLMODE_PASSIVE = BIT(0),
> + ES58X_FD_CTRLMODE_FD_ISO = BIT(4),
> + ES58X_FD_CTRLMODE_FD_NON_ISO = BIT(5),
> + ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING = BIT(6),
> + ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION = BIT(7)
> +};
> +
> +struct es58x_fd_bittiming {
> + __le32 bitrate;
> + __le16 tseg1; /* range: [tseg1_min-1..tseg1_max-1] */
> + __le16 tseg2; /* range: [tseg2_min-1..tseg2_max-1] */
> + __le16 brp; /* range: [brp_min-1..brp_max-1] */
> + __le16 sjw; /* range: [0..sjw_max-1] */
> +} __packed;
> +
> +/**
> + * struct es58x_fd_tx_conf_msg - Channel configuration.
> + * @nominal_bittiming: Nominal bittiming.
> + * @samples_per_bit: type enum es58x_samples_per_bit.
> + * @sync_edge: type enum es58x_sync_edge.
> + * @physical_media: type enum es58x_physical_media.
> + * @self_reception_mode: type enum es58x_self_reception_mode.
> + * @ctrlmode: type enum es58x_fd_ctrlmode.
> + * @canfd_enabled: boolean (0: Classical CAN, 1: CAN and/or CANFD).
> + * @data_bittiming: Bittiming for flexible data-rate transmission.
> + * @tdc: Transmitter Delay Compensation switch (0: disabled, 1:
> + * enabled). On very high bitrates, the delay between when the
> + * bit is sent and received on the CANTX and CANRX pins of the
> + * transceiver start to be significant enough for errors to occur
> + * and thus need to be compensated.
> + * @tdco: Transmitter Delay Compensation Offset. Offset value, in time
> + * quanta, defining the delay between the start of the bit
> + * reception on the CANRX pin of the transceiver and the SSP
> + * (Secondary Sample Point). Valid values: 0 to 127.
> + * @tdcf: Transmitter Delay Compensation Filter window. Defines the
> + * minimum value for the SSP position, in time quanta. The
> + * feature is enabled when TDCF is configured to a value greater
> + * than TDCO. Valid values: 0 to 127.
> + *
> + * Please refer to the microcontroller datasheet: "SAM
> + * E701/S70/V70/V71 Family" section 49 "Controller Area Network
> + * (MCAN)" for additional information.
> + */
> +struct es58x_fd_tx_conf_msg {
> + struct es58x_fd_bittiming nominal_bittiming;
> + u8 samples_per_bit;
> + u8 sync_edge;
> + u8 physical_media;
> + u8 self_reception_mode;
> + u8 ctrlmode;
> + u8 canfd_enabled;
> + struct es58x_fd_bittiming data_bittiming;
> + u8 tdc;
> + __le16 tdco;
> + __le16 tdcf;
> +} __packed;
> +
> +#define ES58X_FD_CAN_CONF_LEN \
> + (offsetof(struct es58x_fd_tx_conf_msg, canfd_enabled))
> +#define ES58X_FD_CANFD_CONF_LEN (sizeof(struct es58x_fd_tx_conf_msg))
> +
> +struct es58x_fd_tx_can_msg {
> + u8 packet_idx;
> + __le32 can_id;
> + u8 flags;
> + union {
> + u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
> + u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
> + } __packed;
> + u8 data[CANFD_MAX_DLEN];
> +} __packed;
> +
> +#define ES58X_FD_CAN_TX_LEN \
> + (offsetof(struct es58x_fd_tx_can_msg, data[CAN_MAX_DLEN]))
> +#define ES58X_FD_CANFD_TX_LEN (sizeof(struct es58x_fd_tx_can_msg))
> +
> +struct es58x_fd_rx_can_msg {
> + __le64 timestamp;
> + __le32 can_id;
> + u8 flags;
> + union {
> + u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
> + u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
> + } __packed;
> + u8 data[CANFD_MAX_DLEN];
> +} __packed;
> +
> +#define ES58X_FD_CAN_RX_LEN \
> + (offsetof(struct es58x_fd_rx_can_msg, data[CAN_MAX_DLEN]))
> +#define ES58X_FD_CANFD_RX_LEN (sizeof(struct es58x_fd_rx_can_msg))
> +
> +struct es58x_fd_rx_loopback_msg {
> + __le64 timestamp;
> + u8 packet_idx;
> +} __packed;
> +
> +struct es58x_fd_rx_event_msg {
> + __le64 timestamp;
> + __le32 can_id;
> + u8 flags; /* type enum es58x_flag */
> + u8 error_type; /* 0: event, 1: error */
> + u8 error_code;
> + u8 event_code;
> +} __packed;
> +
> +struct es58x_fd_tx_ack_msg {
> + __le32 rx_cmd_ret_le32; /* type enum es58x_cmd_ret_code_u32 */
> + __le16 tx_free_entries; /* Number of remaining free entries in the device TX queue */
> +} __packed;
> +
> +/**
> + * struct es58x_fd_urb_cmd - Commands received from or sent to the
> + * ES58X FD device.
> + * @SOF: Start of Frame.
> + * @cmd_type: Command Type (type: enum es58x_fd_cmd_type). The CRC
> + * calculation starts at this position.
> + * @cmd_id: Command ID (type: enum es58x_fd_cmd_id).
> + * @channel_idx: Channel index starting at 0.
> + * @msg_len: Length of the message, excluding CRC (i.e. length of the
> + * union).
> + * @raw_msg: Message raw payload.
> + * @tx_conf_msg: Channel configuration.
> + * @tx_can_msg_buf: Concatenation of Tx messages. Type is "u8[]"
> + * instead of "struct es58x_fd_tx_msg[]" because the structure
> + * has a flexible size.
> + * @rx_can_msg_buf: Concatenation Rx messages. Type is "u8[]" instead
> + * of "struct es58x_fd_rx_msg[]" because the structure has a
> + * flexible size.
> + * @rx_loopback_msg: Array of loopback messages.
> + * @rx_event_msg: Error or event message.
> + * @tx_ack_msg: Tx acknowledgment message.
> + * @timestamp: Timestamp reply.
> + * @rx_cmd_ret_le32: Rx 32 bits return code (type: enum
> + * es58x_cmd_ret_code_u32).
> + * @reserved_for_crc16_do_not_use: The structure ends with a
> + * CRC16. Because the structures in above union are of variable
> + * lengths, we can not predict the offset of the CRC in
> + * advance. Use functions es58x_get_crc() and es58x_set_crc() to
> + * manipulate it.
> + */
> +struct es58x_fd_urb_cmd {
> + __le16 SOF;
> + u8 cmd_type;
> + u8 cmd_id;
> + u8 channel_idx;
> + __le16 msg_len;
> +
> + union {
> + struct es58x_fd_tx_conf_msg tx_conf_msg;
> + u8 tx_can_msg_buf[ES58X_FD_TX_BULK_MAX * ES58X_FD_CANFD_TX_LEN];
> + u8 rx_can_msg_buf[ES58X_FD_RX_BULK_MAX * ES58X_FD_CANFD_RX_LEN];
> + struct es58x_fd_rx_loopback_msg
> + rx_loopback_msg[ES58X_FD_RX_LOOPBACK_BULK_MAX];
> + struct es58x_fd_rx_event_msg rx_event_msg;
> + struct es58x_fd_tx_ack_msg tx_ack_msg;
> + __le64 timestamp;
> + __le32 rx_cmd_ret_le32;
> + u8 raw_msg[0];
> + } __packed;
> +
> + __le16 reserved_for_crc16_do_not_use;
> +} __packed;
> +
> +#define ES58X_FD_URB_CMD_HEADER_LEN (offsetof(struct es58x_fd_urb_cmd, raw_msg))
> +#define ES58X_FD_TX_URB_CMD_MAX_LEN \
> + ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, tx_can_msg_buf)
> +#define ES58X_FD_RX_URB_CMD_MAX_LEN \
> + ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, rx_can_msg_buf)
> +
> +#endif /* __ES58X_FD_H__ */
>
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