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Date: Thu, 10 Mar 2022 15:28:57 +0100
From: Marc Kleine-Budde <mkl@...gutronix.de>
To: netdev@...r.kernel.org
Cc: davem@...emloft.net, kuba@...nel.org, linux-can@...r.kernel.org,
kernel@...gutronix.de, Peter Fink <pfink@...ist-es.de>,
Eric Evenchick <eric@...nchick.com>,
Marc Kleine-Budde <mkl@...gutronix.de>
Subject: [PATCH net-next 23/29] can: gs_usb: add CAN-FD support
From: Peter Fink <pfink@...ist-es.de>
CANtact Pro from Linklayer is the first gs_usb compatible device
supporting CAN-FD with a different HW and re-written candlelight FW.
Support for CAN-FD is indicated by the device setting the
GS_CAN_FEATURE_FD flag. CAN-FD support is requested by the driver with
the GS_CAN_MODE_FD flag. The CAN-FD specific data bit timing
parameters are set with the GS_USB_BREQ_DATA_BITTIMING control
message.
This patch is based on the Eric Evenchick's gs_usb_fd driver (which
itself is a fork of gs_usb). The gs_usb_fd code base was reintegrated
into the gs_usb driver, and reworked to not break the existing
classical-CAN only hardware.
Link: https://lore.kernel.org/all/20220309124132.291861-16-mkl@pengutronix.de
Link: https://github.com/linklayer/gs_usb_fd/issues/2
Co-developed-by: Eric Evenchick <eric@...nchick.com>
Signed-off-by: Eric Evenchick <eric@...nchick.com>
Signed-off-by: Peter Fink <pfink@...ist-es.de>
Signed-off-by: Marc Kleine-Budde <mkl@...gutronix.de>
---
drivers/net/can/usb/gs_usb.c | 124 ++++++++++++++++++++++++++++++-----
1 file changed, 108 insertions(+), 16 deletions(-)
diff --git a/drivers/net/can/usb/gs_usb.c b/drivers/net/can/usb/gs_usb.c
index 1fe9d9f08c17..29389de99326 100644
--- a/drivers/net/can/usb/gs_usb.c
+++ b/drivers/net/can/usb/gs_usb.c
@@ -42,6 +42,7 @@ enum gs_usb_breq {
GS_USB_BREQ_IDENTIFY,
GS_USB_BREQ_GET_USER_ID,
GS_USB_BREQ_SET_USER_ID,
+ GS_USB_BREQ_DATA_BITTIMING,
};
enum gs_can_mode {
@@ -98,6 +99,7 @@ struct gs_device_config {
/* GS_CAN_FEATURE_IDENTIFY BIT(5) */
/* GS_CAN_FEATURE_USER_ID BIT(6) */
#define GS_CAN_MODE_PAD_PKTS_TO_MAX_PKT_SIZE BIT(7)
+#define GS_CAN_MODE_FD BIT(8)
struct gs_device_mode {
__le32 mode;
@@ -130,6 +132,7 @@ struct gs_identify_mode {
#define GS_CAN_FEATURE_IDENTIFY BIT(5)
#define GS_CAN_FEATURE_USER_ID BIT(6)
#define GS_CAN_FEATURE_PAD_PKTS_TO_MAX_PKT_SIZE BIT(7)
+#define GS_CAN_FEATURE_FD BIT(8)
struct gs_device_bt_const {
__le32 feature;
@@ -145,11 +148,18 @@ struct gs_device_bt_const {
} __packed;
#define GS_CAN_FLAG_OVERFLOW BIT(0)
+#define GS_CAN_FLAG_FD BIT(1)
+#define GS_CAN_FLAG_BRS BIT(2)
+#define GS_CAN_FLAG_ESI BIT(3)
struct classic_can {
u8 data[8];
} __packed;
+struct canfd {
+ u8 data[64];
+} __packed;
+
struct gs_host_frame {
u32 echo_id;
__le32 can_id;
@@ -161,6 +171,7 @@ struct gs_host_frame {
union {
DECLARE_FLEX_ARRAY(struct classic_can, classic_can);
+ DECLARE_FLEX_ARRAY(struct canfd, canfd);
};
} __packed;
/* The GS USB devices make use of the same flags and masks as in
@@ -317,6 +328,7 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
struct gs_host_frame *hf = urb->transfer_buffer;
struct gs_tx_context *txc;
struct can_frame *cf;
+ struct canfd_frame *cfd;
struct sk_buff *skb;
BUG_ON(!usbcan);
@@ -345,18 +357,33 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
return;
if (hf->echo_id == -1) { /* normal rx */
- skb = alloc_can_skb(dev->netdev, &cf);
- if (!skb)
- return;
+ if (hf->flags & GS_CAN_FLAG_FD) {
+ skb = alloc_canfd_skb(dev->netdev, &cfd);
+ if (!skb)
+ return;
+
+ cfd->can_id = le32_to_cpu(hf->can_id);
+ cfd->len = can_fd_dlc2len(hf->can_dlc);
+ if (hf->flags & GS_CAN_FLAG_BRS)
+ cfd->flags |= CANFD_BRS;
+ if (hf->flags & GS_CAN_FLAG_ESI)
+ cfd->flags |= CANFD_ESI;
+
+ memcpy(cfd->data, hf->canfd->data, cfd->len);
+ } else {
+ skb = alloc_can_skb(dev->netdev, &cf);
+ if (!skb)
+ return;
- cf->can_id = le32_to_cpu(hf->can_id);
+ cf->can_id = le32_to_cpu(hf->can_id);
+ can_frame_set_cc_len(cf, hf->can_dlc, dev->can.ctrlmode);
- can_frame_set_cc_len(cf, hf->can_dlc, dev->can.ctrlmode);
- memcpy(cf->data, hf->classic_can->data, 8);
+ memcpy(cf->data, hf->classic_can->data, 8);
- /* ERROR frames tell us information about the controller */
- if (le32_to_cpu(hf->can_id) & CAN_ERR_FLAG)
- gs_update_state(dev, cf);
+ /* ERROR frames tell us information about the controller */
+ if (le32_to_cpu(hf->can_id) & CAN_ERR_FLAG)
+ gs_update_state(dev, cf);
+ }
netdev->stats.rx_packets++;
netdev->stats.rx_bytes += hf->can_dlc;
@@ -456,6 +483,40 @@ static int gs_usb_set_bittiming(struct net_device *netdev)
return (rc > 0) ? 0 : rc;
}
+static int gs_usb_set_data_bittiming(struct net_device *netdev)
+{
+ struct gs_can *dev = netdev_priv(netdev);
+ struct can_bittiming *bt = &dev->can.data_bittiming;
+ struct usb_interface *intf = dev->iface;
+ struct gs_device_bittiming *dbt;
+ int rc;
+
+ dbt = kmalloc(sizeof(*dbt), GFP_KERNEL);
+ if (!dbt)
+ return -ENOMEM;
+
+ dbt->prop_seg = cpu_to_le32(bt->prop_seg);
+ dbt->phase_seg1 = cpu_to_le32(bt->phase_seg1);
+ dbt->phase_seg2 = cpu_to_le32(bt->phase_seg2);
+ dbt->sjw = cpu_to_le32(bt->sjw);
+ dbt->brp = cpu_to_le32(bt->brp);
+
+ /* request bit timings */
+ rc = usb_control_msg(interface_to_usbdev(intf),
+ usb_sndctrlpipe(interface_to_usbdev(intf), 0),
+ GS_USB_BREQ_DATA_BITTIMING,
+ USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_INTERFACE,
+ dev->channel, 0, dbt, sizeof(*dbt), 1000);
+
+ kfree(dbt);
+
+ if (rc < 0)
+ dev_err(netdev->dev.parent,
+ "Couldn't set data bittimings (err=%d)", rc);
+
+ return (rc > 0) ? 0 : rc;
+}
+
static void gs_usb_xmit_callback(struct urb *urb)
{
struct gs_tx_context *txc = urb->context;
@@ -477,6 +538,7 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
struct urb *urb;
struct gs_host_frame *hf;
struct can_frame *cf;
+ struct canfd_frame *cfd;
int rc;
unsigned int idx;
struct gs_tx_context *txc;
@@ -513,12 +575,26 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
hf->flags = 0;
hf->reserved = 0;
- cf = (struct can_frame *)skb->data;
+ if (can_is_canfd_skb(skb)) {
+ cfd = (struct canfd_frame *)skb->data;
+
+ hf->can_id = cpu_to_le32(cfd->can_id);
+ hf->can_dlc = can_fd_len2dlc(cfd->len);
+ hf->flags |= GS_CAN_FLAG_FD;
+ if (cfd->flags & CANFD_BRS)
+ hf->flags |= GS_CAN_FLAG_BRS;
+ if (cfd->flags & CANFD_ESI)
+ hf->flags |= GS_CAN_FLAG_ESI;
- hf->can_id = cpu_to_le32(cf->can_id);
- hf->can_dlc = can_get_cc_dlc(cf, dev->can.ctrlmode);
+ memcpy(hf->canfd->data, cfd->data, cfd->len);
+ } else {
+ cf = (struct can_frame *)skb->data;
- memcpy(hf->classic_can->data, cf->data, cf->len);
+ hf->can_id = cpu_to_le32(cf->can_id);
+ hf->can_dlc = can_get_cc_dlc(cf, dev->can.ctrlmode);
+
+ memcpy(hf->classic_can->data, cf->data, cf->len);
+ }
usb_fill_bulk_urb(urb, dev->udev,
usb_sndbulkpipe(dev->udev, GSUSB_ENDPOINT_OUT),
@@ -587,7 +663,13 @@ static int gs_can_open(struct net_device *netdev)
if (rc)
return rc;
- dev->hf_size_tx = struct_size(hf, classic_can, 1);
+ ctrlmode = dev->can.ctrlmode;
+ if (ctrlmode & CAN_CTRLMODE_FD) {
+ flags |= GS_CAN_MODE_FD;
+ dev->hf_size_tx = struct_size(hf, canfd, 1);
+ } else {
+ dev->hf_size_tx = struct_size(hf, classic_can, 1);
+ }
if (!parent->active_channels) {
for (i = 0; i < GS_MAX_RX_URBS; i++) {
@@ -648,8 +730,6 @@ static int gs_can_open(struct net_device *netdev)
return -ENOMEM;
/* flags */
- ctrlmode = dev->can.ctrlmode;
-
if (ctrlmode & CAN_CTRLMODE_LOOPBACK)
flags |= GS_CAN_MODE_LOOP_BACK;
else if (ctrlmode & CAN_CTRLMODE_LISTENONLY)
@@ -870,6 +950,12 @@ static struct gs_can *gs_make_candev(unsigned int channel,
if (feature & GS_CAN_FEATURE_ONE_SHOT)
dev->can.ctrlmode_supported |= CAN_CTRLMODE_ONE_SHOT;
+ if (feature & GS_CAN_FEATURE_FD) {
+ dev->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
+ dev->can.data_bittiming_const = &dev->bt_const;
+ dev->can.do_set_data_bittiming = gs_usb_set_data_bittiming;
+ }
+
if (le32_to_cpu(dconf->sw_version) > 1)
if (feature & GS_CAN_FEATURE_IDENTIFY)
netdev->ethtool_ops = &gs_usb_ethtool_ops;
@@ -961,6 +1047,9 @@ static int gs_usb_probe(struct usb_interface *intf,
}
init_usb_anchor(&dev->rx_submitted);
+ /* default to classic CAN, switch to CAN-FD if at least one of
+ * our channels support CAN-FD.
+ */
dev->hf_size_rx = struct_size(hf, classic_can, 1);
usb_set_intfdata(intf, dev);
@@ -983,6 +1072,9 @@ static int gs_usb_probe(struct usb_interface *intf,
return rc;
}
dev->canch[i]->parent = dev;
+
+ if (dev->canch[i]->can.ctrlmode_supported & CAN_CTRLMODE_FD)
+ dev->hf_size_rx = struct_size(hf, canfd, 1);
}
kfree(dconf);
--
2.35.1
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