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Message-Id: <20230504154414.1864615-3-frank.jungclaus@esd.eu>
Date: Thu, 4 May 2023 17:44:14 +0200
From: Frank Jungclaus <frank.jungclaus@....eu>
To: linux-can@...r.kernel.org,
Marc Kleine-Budde <mkl@...gutronix.de>,
Wolfgang Grandegger <wg@...ndegger.com>,
Vincent Mailhol <mailhol.vincent@...adoo.fr>
Cc: Stefan Mätje <stefan.maetje@....eu>,
netdev@...r.kernel.org,
linux-kernel@...r.kernel.org,
Frank Jungclaus <frank.jungclaus@....eu>
Subject: [PATCH 2/2] can: esd_usb: Add support for esd CAN-USB/3
Add support for esd CAN-USB/3 and CAN FD to esd_usb.
Signed-off-by: Frank Jungclaus <frank.jungclaus@....eu>
---
drivers/net/can/usb/esd_usb.c | 282 ++++++++++++++++++++++++++++++----
1 file changed, 249 insertions(+), 33 deletions(-)
diff --git a/drivers/net/can/usb/esd_usb.c b/drivers/net/can/usb/esd_usb.c
index e24fa48b9b42..48cf5e88d216 100644
--- a/drivers/net/can/usb/esd_usb.c
+++ b/drivers/net/can/usb/esd_usb.c
@@ -1,6 +1,6 @@
// SPDX-License-Identifier: GPL-2.0-only
/*
- * CAN driver for esd electronics gmbh CAN-USB/2 and CAN-USB/Micro
+ * CAN driver for esd electronics gmbh CAN-USB/2, CAN-USB/3 and CAN-USB/Micro
*
* Copyright (C) 2010-2012 esd electronic system design gmbh, Matthias Fuchs <socketcan@....eu>
* Copyright (C) 2022-2023 esd electronics gmbh, Frank Jungclaus <frank.jungclaus@....eu>
@@ -18,17 +18,19 @@
MODULE_AUTHOR("Matthias Fuchs <socketcan@....eu>");
MODULE_AUTHOR("Frank Jungclaus <frank.jungclaus@....eu>");
-MODULE_DESCRIPTION("CAN driver for esd electronics gmbh CAN-USB/2 and CAN-USB/Micro interfaces");
+MODULE_DESCRIPTION("CAN driver for esd electronics gmbh CAN-USB/2, CAN-USB/3 and CAN-USB/Micro interfaces");
MODULE_LICENSE("GPL v2");
/* USB vendor and product ID */
#define USB_ESDGMBH_VENDOR_ID 0x0ab4
#define USB_CANUSB2_PRODUCT_ID 0x0010
#define USB_CANUSBM_PRODUCT_ID 0x0011
+#define USB_CANUSB3_PRODUCT_ID 0x0014
/* CAN controller clock frequencies */
#define ESD_USB2_CAN_CLOCK 60000000
#define ESD_USBM_CAN_CLOCK 36000000
+#define ESD_USB3_CAN_CLOCK 80000000
/* Maximum number of CAN nets */
#define ESD_USB_MAX_NETS 2
@@ -43,6 +45,9 @@ MODULE_LICENSE("GPL v2");
/* esd CAN message flags - dlc field */
#define ESD_DLC_RTR 0x10
+#define ESD_DLC_NO_BRS 0x10
+#define ESD_DLC_ESI 0x20
+#define ESD_DLC_FD 0x80
/* esd CAN message flags - id field */
#define ESD_EXTID 0x20000000
@@ -72,6 +77,28 @@ MODULE_LICENSE("GPL v2");
#define ESD_USB2_BRP_INC 1
#define ESD_USB2_3_SAMPLES 0x00800000
+/* Bit timing CAN-USB/3 */
+#define ESD_USB3_TSEG1_MIN 1
+#define ESD_USB3_TSEG1_MAX 256
+#define ESD_USB3_TSEG2_MIN 1
+#define ESD_USB3_TSEG2_MAX 128
+#define ESD_USB3_SJW_MAX 128
+#define ESD_USB3_BRP_MIN 1
+#define ESD_USB3_BRP_MAX 1024
+#define ESD_USB3_BRP_INC 1
+/* Bit timing CAN-USB/3, data phase */
+#define ESD_USB3_DATA_TSEG1_MIN 1
+#define ESD_USB3_DATA_TSEG1_MAX 32
+#define ESD_USB3_DATA_TSEG2_MIN 1
+#define ESD_USB3_DATA_TSEG2_MAX 16
+#define ESD_USB3_DATA_SJW_MAX 8
+#define ESD_USB3_DATA_BRP_MIN 1
+#define ESD_USB3_DATA_BRP_MAX 32
+#define ESD_USB3_DATA_BRP_INC 1
+
+/* Transmitter Delay Compensation */
+#define ESD_TDC_MODE_AUTO 0
+
/* esd IDADD message */
#define ESD_ID_ENABLE 0x80
#define ESD_MAX_ID_SEGMENT 64
@@ -95,6 +122,21 @@ MODULE_LICENSE("GPL v2");
#define MAX_RX_URBS 4
#define MAX_TX_URBS 16 /* must be power of 2 */
+/* Modes for NTCAN_BAUDRATE_X */
+#define ESD_BAUDRATE_MODE_DISABLE 0 /* remove from bus */
+#define ESD_BAUDRATE_MODE_INDEX 1 /* ESD (CiA) bit rate idx */
+#define ESD_BAUDRATE_MODE_BTR_CTRL 2 /* BTR values (Controller)*/
+#define ESD_BAUDRATE_MODE_BTR_CANONICAL 3 /* BTR values (Canonical) */
+#define ESD_BAUDRATE_MODE_NUM 4 /* numerical bit rate */
+#define ESD_BAUDRATE_MODE_AUTOBAUD 5 /* autobaud */
+
+/* Flags for NTCAN_BAUDRATE_X */
+#define ESD_BAUDRATE_FLAG_FD 0x0001 /* enable CAN FD Mode */
+#define ESD_BAUDRATE_FLAG_LOM 0x0002 /* enable Listen Only mode */
+#define ESD_BAUDRATE_FLAG_STM 0x0004 /* enable Self test mode */
+#define ESD_BAUDRATE_FLAG_TRS 0x0008 /* enable Triple Sampling */
+#define ESD_BAUDRATE_FLAG_TXP 0x0010 /* enable Transmit Pause */
+
struct header_msg {
u8 len; /* len is always the total message length in 32bit words */
u8 cmd;
@@ -129,6 +171,7 @@ struct rx_msg {
__le32 id; /* upper 3 bits contain flags */
union {
u8 data[8];
+ u8 data_fd[64];
struct {
u8 status; /* CAN Controller Status */
u8 ecc; /* Error Capture Register */
@@ -144,8 +187,11 @@ struct tx_msg {
u8 net;
u8 dlc;
u32 hnd; /* opaque handle, not used by device */
- __le32 id; /* upper 3 bits contain flags */
- u8 data[8];
+ __le32 id; /* upper 3 bits contain flags */
+ union {
+ u8 data[8];
+ u8 data_fd[64];
+ };
};
struct tx_done_msg {
@@ -165,12 +211,37 @@ struct id_filter_msg {
__le32 mask[ESD_MAX_ID_SEGMENT + 1];
};
+struct baudrate_x_cfg {
+ __le16 brp; /* bit rate pre-scaler */
+ __le16 tseg1; /* TSEG1 register */
+ __le16 tseg2; /* TSEG2 register */
+ __le16 sjw; /* SJW register */
+};
+
+struct tdc_cfg {
+ u8 tdc_mode; /* transmitter Delay Compensation mode */
+ u8 ssp_offset; /* secondary Sample Point offset in mtq */
+ s8 ssp_shift; /* secondary Sample Point shift in mtq */
+ u8 tdc_filter; /* Transmitter Delay Compensation */
+};
+
+struct baudrate_x {
+ __le16 mode; /* mode word */
+ __le16 flags; /* control flags */
+ struct tdc_cfg tdc; /* TDC configuration */
+ struct baudrate_x_cfg arb; /* bit rate during arbitration phase */
+ struct baudrate_x_cfg data; /* bit rate during data phase */
+};
+
struct set_baudrate_msg {
u8 len;
u8 cmd;
u8 net;
u8 rsvd;
- __le32 baud;
+ union {
+ __le32 baud;
+ struct baudrate_x baud_x;
+ };
};
/* Main message type used between library and application */
@@ -188,6 +259,7 @@ union __packed esd_usb_msg {
static struct usb_device_id esd_usb_table[] = {
{USB_DEVICE(USB_ESDGMBH_VENDOR_ID, USB_CANUSB2_PRODUCT_ID)},
{USB_DEVICE(USB_ESDGMBH_VENDOR_ID, USB_CANUSBM_PRODUCT_ID)},
+ {USB_DEVICE(USB_ESDGMBH_VENDOR_ID, USB_CANUSB3_PRODUCT_ID)},
{}
};
MODULE_DEVICE_TABLE(usb, esd_usb_table);
@@ -326,11 +398,13 @@ static void esd_usb_rx_event(struct esd_usb_net_priv *priv,
static void esd_usb_rx_can_msg(struct esd_usb_net_priv *priv,
union esd_usb_msg *msg)
{
+ bool is_canfd = msg->rx.dlc & ESD_DLC_FD ? true : false;
struct net_device_stats *stats = &priv->netdev->stats;
struct can_frame *cf;
+ struct canfd_frame *cfd;
struct sk_buff *skb;
- int i;
u32 id;
+ u8 len;
if (!netif_device_present(priv->netdev))
return;
@@ -340,27 +414,42 @@ static void esd_usb_rx_can_msg(struct esd_usb_net_priv *priv,
if (id & ESD_EVENT) {
esd_usb_rx_event(priv, msg);
} else {
- skb = alloc_can_skb(priv->netdev, &cf);
+ if (is_canfd) {
+ skb = alloc_canfd_skb(priv->netdev, &cfd);
+ } else {
+ skb = alloc_can_skb(priv->netdev, &cf);
+ cfd = (struct canfd_frame *)cf;
+ }
+
if (skb == NULL) {
stats->rx_dropped++;
return;
}
- cf->can_id = id & ESD_IDMASK;
- can_frame_set_cc_len(cf, msg->rx.dlc & ~ESD_DLC_RTR,
- priv->can.ctrlmode);
-
- if (id & ESD_EXTID)
- cf->can_id |= CAN_EFF_FLAG;
+ cfd->can_id = id & ESD_IDMASK;
- if (msg->rx.dlc & ESD_DLC_RTR) {
- cf->can_id |= CAN_RTR_FLAG;
+ if (is_canfd) {
+ /* masking by 0x0F is already done within can_fd_dlc2len() */
+ cfd->len = can_fd_dlc2len(msg->rx.dlc);
+ len = cfd->len;
+ if ((msg->rx.dlc & ESD_DLC_NO_BRS) == 0)
+ cfd->flags |= CANFD_BRS;
+ if (msg->rx.dlc & ESD_DLC_ESI)
+ cfd->flags |= CANFD_ESI;
} else {
- for (i = 0; i < cf->len; i++)
- cf->data[i] = msg->rx.data[i];
-
- stats->rx_bytes += cf->len;
+ can_frame_set_cc_len(cf, msg->rx.dlc & ~ESD_DLC_RTR, priv->can.ctrlmode);
+ len = cf->len;
+ if (msg->rx.dlc & ESD_DLC_RTR) {
+ cf->can_id |= CAN_RTR_FLAG;
+ len = 0;
+ }
}
+
+ if (id & ESD_EXTID)
+ cfd->can_id |= CAN_EFF_FLAG;
+
+ memcpy(cfd->data, msg->rx.data_fd, len);
+ stats->rx_bytes += len;
stats->rx_packets++;
netif_rx(skb);
@@ -735,7 +824,7 @@ static netdev_tx_t esd_usb_start_xmit(struct sk_buff *skb,
struct esd_usb *dev = priv->usb;
struct esd_tx_urb_context *context = NULL;
struct net_device_stats *stats = &netdev->stats;
- struct can_frame *cf = (struct can_frame *)skb->data;
+ struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
union esd_usb_msg *msg;
struct urb *urb;
u8 *buf;
@@ -768,19 +857,28 @@ static netdev_tx_t esd_usb_start_xmit(struct sk_buff *skb,
msg->hdr.len = 3; /* minimal length */
msg->hdr.cmd = CMD_CAN_TX;
msg->tx.net = priv->index;
- msg->tx.dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
- msg->tx.id = cpu_to_le32(cf->can_id & CAN_ERR_MASK);
- if (cf->can_id & CAN_RTR_FLAG)
- msg->tx.dlc |= ESD_DLC_RTR;
+ if (can_is_canfd_skb(skb)) {
+ msg->tx.dlc = can_fd_len2dlc(cfd->len);
+ msg->tx.dlc |= ESD_DLC_FD;
+
+ if ((cfd->flags & CANFD_BRS) == 0)
+ msg->tx.dlc |= ESD_DLC_NO_BRS;
+ } else {
+ msg->tx.dlc = can_get_cc_dlc((struct can_frame *)cfd, priv->can.ctrlmode);
+
+ if (cfd->can_id & CAN_RTR_FLAG)
+ msg->tx.dlc |= ESD_DLC_RTR;
+ }
- if (cf->can_id & CAN_EFF_FLAG)
+ msg->tx.id = cpu_to_le32(cfd->can_id & CAN_ERR_MASK);
+
+ if (cfd->can_id & CAN_EFF_FLAG)
msg->tx.id |= cpu_to_le32(ESD_EXTID);
- for (i = 0; i < cf->len; i++)
- msg->tx.data[i] = cf->data[i];
+ memcpy(msg->tx.data_fd, cfd->data, cfd->len);
- msg->hdr.len += (cf->len + 3) >> 2;
+ msg->hdr.len += (cfd->len + 3) >> 2;
for (i = 0; i < MAX_TX_URBS; i++) {
if (priv->tx_contexts[i].echo_index == MAX_TX_URBS) {
@@ -966,6 +1064,108 @@ static int esd_usb2_set_bittiming(struct net_device *netdev)
return err;
}
+static const struct can_bittiming_const esd_usb3_bittiming_const = {
+ .name = "esd_usb3",
+ .tseg1_min = ESD_USB3_TSEG1_MIN,
+ .tseg1_max = ESD_USB3_TSEG1_MAX,
+ .tseg2_min = ESD_USB3_TSEG2_MIN,
+ .tseg2_max = ESD_USB3_TSEG2_MAX,
+ .sjw_max = ESD_USB3_SJW_MAX,
+ .brp_min = ESD_USB3_BRP_MIN,
+ .brp_max = ESD_USB3_BRP_MAX,
+ .brp_inc = ESD_USB3_BRP_INC,
+};
+
+static const struct can_bittiming_const esd_usb3_data_bittiming_const = {
+ .name = "esd_usb3",
+ .tseg1_min = ESD_USB3_DATA_TSEG1_MIN,
+ .tseg1_max = ESD_USB3_DATA_TSEG1_MAX,
+ .tseg2_min = ESD_USB3_DATA_TSEG2_MIN,
+ .tseg2_max = ESD_USB3_DATA_TSEG2_MAX,
+ .sjw_max = ESD_USB3_DATA_SJW_MAX,
+ .brp_min = ESD_USB3_DATA_BRP_MIN,
+ .brp_max = ESD_USB3_DATA_BRP_MAX,
+ .brp_inc = ESD_USB3_DATA_BRP_INC,
+};
+
+static int esd_usb3_set_bittiming(struct net_device *netdev)
+{
+ struct esd_usb_net_priv *priv = netdev_priv(netdev);
+ struct can_bittiming *bt = &priv->can.bittiming;
+ struct can_bittiming *d_bt = &priv->can.data_bittiming;
+ union esd_usb_msg *msg;
+ int err;
+ u16 mode;
+ u16 flags = 0;
+ u16 brp, tseg1, tseg2, sjw;
+ u16 d_brp, d_tseg1, d_tseg2, d_sjw;
+
+ msg = kmalloc(sizeof(*msg), GFP_KERNEL);
+ if (!msg)
+ return -ENOMEM;
+
+ /* Canonical is the most reasonable mode for SocketCAN on CAN-USB/3 ... */
+ mode = ESD_BAUDRATE_MODE_BTR_CANONICAL;
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
+ flags |= ESD_BAUDRATE_FLAG_LOM;
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
+ flags |= ESD_BAUDRATE_FLAG_TRS;
+
+ brp = bt->brp & (ESD_USB3_BRP_MAX - 1);
+ sjw = bt->sjw & (ESD_USB3_SJW_MAX - 1);
+ tseg1 = (bt->prop_seg + bt->phase_seg1) & (ESD_USB3_TSEG1_MAX - 1);
+ tseg2 = bt->phase_seg2 & (ESD_USB3_TSEG2_MAX - 1);
+
+ msg->setbaud.baud_x.arb.brp = cpu_to_le16(brp);
+ msg->setbaud.baud_x.arb.sjw = cpu_to_le16(sjw);
+ msg->setbaud.baud_x.arb.tseg1 = cpu_to_le16(tseg1);
+ msg->setbaud.baud_x.arb.tseg2 = cpu_to_le16(tseg2);
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
+ d_brp = d_bt->brp & (ESD_USB3_DATA_BRP_MAX - 1);
+ d_sjw = d_bt->sjw & (ESD_USB3_DATA_SJW_MAX - 1);
+ d_tseg1 = (d_bt->prop_seg + d_bt->phase_seg1) & (ESD_USB3_DATA_TSEG1_MAX - 1);
+ d_tseg2 = d_bt->phase_seg2 & (ESD_USB3_DATA_TSEG2_MAX - 1);
+ flags |= ESD_BAUDRATE_FLAG_FD;
+ } else {
+ d_brp = 0;
+ d_sjw = 0;
+ d_tseg1 = 0;
+ d_tseg2 = 0;
+ }
+
+ msg->setbaud.baud_x.data.brp = cpu_to_le16(d_brp);
+ msg->setbaud.baud_x.data.sjw = cpu_to_le16(d_sjw);
+ msg->setbaud.baud_x.data.tseg1 = cpu_to_le16(d_tseg1);
+ msg->setbaud.baud_x.data.tseg2 = cpu_to_le16(d_tseg2);
+ msg->setbaud.baud_x.mode = cpu_to_le16(mode);
+ msg->setbaud.baud_x.flags = cpu_to_le16(flags);
+ msg->setbaud.baud_x.tdc.tdc_mode = ESD_TDC_MODE_AUTO;
+ msg->setbaud.baud_x.tdc.ssp_offset = 0;
+ msg->setbaud.baud_x.tdc.ssp_shift = 0;
+ msg->setbaud.baud_x.tdc.tdc_filter = 0;
+
+ msg->hdr.len = 7;
+ msg->hdr.cmd = CMD_SETBAUD;
+
+ msg->setbaud.net = priv->index;
+ msg->setbaud.rsvd = 0;
+
+ netdev_info(netdev,
+ "ctrlmode=%#x/%#x, esd-net=%u, esd-mode=%#x, esd-flg=%#x, arb: brp=%u, ts1=%u, ts2=%u, sjw=%u, data: dbrp=%u, dts1=%u, dts2=%u dsjw=%u\n",
+ priv->can.ctrlmode, priv->can.ctrlmode_supported,
+ priv->index, mode, flags,
+ brp, tseg1, tseg2, sjw,
+ d_brp, d_tseg1, d_tseg2, d_sjw);
+
+ err = esd_usb_send_msg(priv->usb, msg);
+
+ kfree(msg);
+ return err;
+}
+
static int esd_usb_get_berr_counter(const struct net_device *netdev,
struct can_berr_counter *bec)
{
@@ -1023,16 +1223,32 @@ static int esd_usb_probe_one_net(struct usb_interface *intf, int index)
CAN_CTRLMODE_CC_LEN8_DLC |
CAN_CTRLMODE_BERR_REPORTING;
- if (le16_to_cpu(dev->udev->descriptor.idProduct) ==
- USB_CANUSBM_PRODUCT_ID)
+ switch (le16_to_cpu(dev->udev->descriptor.idProduct)) {
+ case USB_CANUSB3_PRODUCT_ID:
+ priv->can.clock.freq = ESD_USB3_CAN_CLOCK;
+ priv->can.ctrlmode_supported |= CAN_CTRLMODE_3_SAMPLES;
+ priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
+ priv->can.bittiming_const = &esd_usb3_bittiming_const;
+ priv->can.data_bittiming_const = &esd_usb3_data_bittiming_const;
+ priv->can.do_set_bittiming = esd_usb3_set_bittiming;
+ priv->can.do_set_data_bittiming = esd_usb3_set_bittiming;
+ break;
+
+ case USB_CANUSBM_PRODUCT_ID:
priv->can.clock.freq = ESD_USBM_CAN_CLOCK;
- else {
+ priv->can.bittiming_const = &esd_usb2_bittiming_const;
+ priv->can.do_set_bittiming = esd_usb2_set_bittiming;
+ break;
+
+ case USB_CANUSB2_PRODUCT_ID:
+ default:
priv->can.clock.freq = ESD_USB2_CAN_CLOCK;
priv->can.ctrlmode_supported |= CAN_CTRLMODE_3_SAMPLES;
+ priv->can.bittiming_const = &esd_usb2_bittiming_const;
+ priv->can.do_set_bittiming = esd_usb2_set_bittiming;
+ break;
}
- priv->can.bittiming_const = &esd_usb2_bittiming_const;
- priv->can.do_set_bittiming = esd_usb2_set_bittiming;
priv->can.do_set_mode = esd_usb_set_mode;
priv->can.do_get_berr_counter = esd_usb_get_berr_counter;
--
2.25.1
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