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1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 | // SPDX-License-Identifier: GPL-2.0-only /* * 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@esd.eu> * Copyright (C) 2022-2023 esd electronics gmbh, Frank Jungclaus <frank.jungclaus@esd.eu> */ #include <linux/can.h> #include <linux/can/dev.h> #include <linux/can/error.h> #include <linux/ethtool.h> #include <linux/module.h> #include <linux/netdevice.h> #include <linux/signal.h> #include <linux/slab.h> #include <linux/units.h> #include <linux/usb.h> MODULE_AUTHOR("Matthias Fuchs <socketcan@esd.eu>"); MODULE_AUTHOR("Frank Jungclaus <frank.jungclaus@esd.eu>"); 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 ESD_USB_ESDGMBH_VENDOR_ID 0x0ab4 #define ESD_USB_CANUSB2_PRODUCT_ID 0x0010 #define ESD_USB_CANUSBM_PRODUCT_ID 0x0011 #define ESD_USB_CANUSB3_PRODUCT_ID 0x0014 /* CAN controller clock frequencies */ #define ESD_USB_2_CAN_CLOCK (60 * MEGA) /* Hz */ #define ESD_USB_M_CAN_CLOCK (36 * MEGA) /* Hz */ #define ESD_USB_3_CAN_CLOCK (80 * MEGA) /* Hz */ /* Maximum number of CAN nets */ #define ESD_USB_MAX_NETS 2 /* USB commands */ #define ESD_USB_CMD_VERSION 1 /* also used for VERSION_REPLY */ #define ESD_USB_CMD_CAN_RX 2 /* device to host only */ #define ESD_USB_CMD_CAN_TX 3 /* also used for TX_DONE */ #define ESD_USB_CMD_SETBAUD 4 /* also used for SETBAUD_REPLY */ #define ESD_USB_CMD_TS 5 /* also used for TS_REPLY */ #define ESD_USB_CMD_IDADD 6 /* also used for IDADD_REPLY */ /* esd CAN message flags - dlc field */ #define ESD_USB_RTR BIT(4) #define ESD_USB_NO_BRS BIT(4) #define ESD_USB_ESI BIT(5) #define ESD_USB_FD BIT(7) /* esd CAN message flags - id field */ #define ESD_USB_EXTID BIT(29) #define ESD_USB_EVENT BIT(30) #define ESD_USB_IDMASK GENMASK(28, 0) /* esd CAN event ids */ #define ESD_USB_EV_CAN_ERROR_EXT 2 /* CAN controller specific diagnostic data */ /* baudrate message flags */ #define ESD_USB_LOM BIT(30) /* Listen Only Mode */ #define ESD_USB_UBR BIT(31) /* User Bit Rate (controller BTR) in bits 0..27 */ #define ESD_USB_NO_BAUDRATE GENMASK(30, 0) /* bit rate unconfigured */ /* bit timing esd CAN-USB */ #define ESD_USB_2_TSEG1_SHIFT 16 #define ESD_USB_2_TSEG2_SHIFT 20 #define ESD_USB_2_SJW_SHIFT 14 #define ESD_USB_M_SJW_SHIFT 24 #define ESD_USB_TRIPLE_SAMPLES BIT(23) /* Transmitter Delay Compensation */ #define ESD_USB_3_TDC_MODE_AUTO 0 /* esd IDADD message */ #define ESD_USB_ID_ENABLE BIT(7) #define ESD_USB_MAX_ID_SEGMENT 64 /* SJA1000 ECC register (emulated by usb firmware) */ #define ESD_USB_SJA1000_ECC_SEG GENMASK(4, 0) #define ESD_USB_SJA1000_ECC_DIR BIT(5) #define ESD_USB_SJA1000_ECC_ERR BIT(2, 1) #define ESD_USB_SJA1000_ECC_BIT 0x00 #define ESD_USB_SJA1000_ECC_FORM BIT(6) #define ESD_USB_SJA1000_ECC_STUFF BIT(7) #define ESD_USB_SJA1000_ECC_MASK GENMASK(7, 6) /* esd bus state event codes */ #define ESD_USB_BUSSTATE_MASK GENMASK(7, 6) #define ESD_USB_BUSSTATE_WARN BIT(6) #define ESD_USB_BUSSTATE_ERRPASSIVE BIT(7) #define ESD_USB_BUSSTATE_BUSOFF GENMASK(7, 6) #define ESD_USB_RX_BUFFER_SIZE 1024 #define ESD_USB_MAX_RX_URBS 4 #define ESD_USB_MAX_TX_URBS 16 /* must be power of 2 */ /* Modes for CAN-USB/3, to be used for esd_usb_3_set_baudrate_msg_x.mode */ #define ESD_USB_3_BAUDRATE_MODE_DISABLE 0 /* remove from bus */ #define ESD_USB_3_BAUDRATE_MODE_INDEX 1 /* ESD (CiA) bit rate idx */ #define ESD_USB_3_BAUDRATE_MODE_BTR_CTRL 2 /* BTR values (controller)*/ #define ESD_USB_3_BAUDRATE_MODE_BTR_CANONICAL 3 /* BTR values (canonical) */ #define ESD_USB_3_BAUDRATE_MODE_NUM 4 /* numerical bit rate */ #define ESD_USB_3_BAUDRATE_MODE_AUTOBAUD 5 /* autobaud */ /* Flags for CAN-USB/3, to be used for esd_usb_3_set_baudrate_msg_x.flags */ #define ESD_USB_3_BAUDRATE_FLAG_FD BIT(0) /* enable CAN FD mode */ #define ESD_USB_3_BAUDRATE_FLAG_LOM BIT(1) /* enable listen only mode */ #define ESD_USB_3_BAUDRATE_FLAG_STM BIT(2) /* enable self test mode */ #define ESD_USB_3_BAUDRATE_FLAG_TRS BIT(3) /* enable triple sampling */ #define ESD_USB_3_BAUDRATE_FLAG_TXP BIT(4) /* enable transmit pause */ struct esd_usb_header_msg { u8 len; /* total message length in 32bit words */ u8 cmd; u8 rsvd[2]; }; struct esd_usb_version_msg { u8 len; /* total message length in 32bit words */ u8 cmd; u8 rsvd; u8 flags; __le32 drv_version; }; struct esd_usb_version_reply_msg { u8 len; /* total message length in 32bit words */ u8 cmd; u8 nets; u8 features; __le32 version; u8 name[16]; __le32 rsvd; __le32 ts; }; struct esd_usb_rx_msg { u8 len; /* total message length in 32bit words */ u8 cmd; u8 net; u8 dlc; __le32 ts; __le32 id; /* upper 3 bits contain flags */ union { u8 data[CAN_MAX_DLEN]; u8 data_fd[CANFD_MAX_DLEN]; struct { u8 status; /* CAN Controller Status */ u8 ecc; /* Error Capture Register */ u8 rec; /* RX Error Counter */ u8 tec; /* TX Error Counter */ } ev_can_err_ext; /* For ESD_EV_CAN_ERROR_EXT */ }; }; struct esd_usb_tx_msg { u8 len; /* total message length in 32bit words */ u8 cmd; u8 net; u8 dlc; u32 hnd; /* opaque handle, not used by device */ __le32 id; /* upper 3 bits contain flags */ union { u8 data[CAN_MAX_DLEN]; u8 data_fd[CANFD_MAX_DLEN]; }; }; struct esd_usb_tx_done_msg { u8 len; /* total message length in 32bit words */ u8 cmd; u8 net; u8 status; u32 hnd; /* opaque handle, not used by device */ __le32 ts; }; struct esd_usb_id_filter_msg { u8 len; /* total message length in 32bit words */ u8 cmd; u8 net; u8 option; __le32 mask[ESD_USB_MAX_ID_SEGMENT + 1]; /* +1 for 29bit extended IDs */ }; struct esd_usb_set_baudrate_msg { u8 len; /* total message length in 32bit words */ u8 cmd; u8 net; u8 rsvd; __le32 baud; }; /* CAN-USB/3 baudrate configuration, used for nominal as well as for data bit rate */ struct esd_usb_3_baudrate_cfg { __le16 brp; /* bit rate pre-scaler */ __le16 tseg1; /* time segment before sample point */ __le16 tseg2; /* time segment after sample point */ __le16 sjw; /* synchronization jump Width */ }; /* In principle, the esd CAN-USB/3 supports Transmitter Delay Compensation (TDC), * but currently only the automatic TDC mode is supported by this driver. * An implementation for manual TDC configuration will follow. * * For information about struct esd_usb_3_tdc_cfg, see * NTCAN Application Developers Manual, 6.2.25 NTCAN_TDC_CFG + related chapters * https://esd.eu/fileadmin/esd/docs/manuals/NTCAN_Part1_Function_API_Manual_en_56.pdf */ struct esd_usb_3_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; /* TDC filter in mtq */ }; /* Extended version of the above set_baudrate_msg for a CAN-USB/3 * to define the CAN bit timing configuration of the CAN controller in * CAN FD mode as well as in Classical CAN mode. * * The payload of this command is a NTCAN_BAUDRATE_X structure according to * esd electronics gmbh, NTCAN Application Developers Manual, 6.2.15 NTCAN_BAUDRATE_X * https://esd.eu/fileadmin/esd/docs/manuals/NTCAN_Part1_Function_API_Manual_en_56.pdf */ struct esd_usb_3_set_baudrate_msg_x { u8 len; /* total message length in 32bit words */ u8 cmd; u8 net; u8 rsvd; /*reserved */ /* Payload ... */ __le16 mode; /* mode word, see ESD_USB_3_BAUDRATE_MODE_xxx */ __le16 flags; /* control flags, see ESD_USB_3_BAUDRATE_FLAG_xxx */ struct esd_usb_3_tdc_cfg tdc; /* TDC configuration */ struct esd_usb_3_baudrate_cfg nom; /* nominal bit rate */ struct esd_usb_3_baudrate_cfg data; /* data bit rate */ }; /* Main message type used between library and application */ union __packed esd_usb_msg { struct esd_usb_header_msg hdr; struct esd_usb_version_msg version; struct esd_usb_version_reply_msg version_reply; struct esd_usb_rx_msg rx; struct esd_usb_tx_msg tx; struct esd_usb_tx_done_msg txdone; struct esd_usb_set_baudrate_msg setbaud; struct esd_usb_3_set_baudrate_msg_x setbaud_x; struct esd_usb_id_filter_msg filter; }; static struct usb_device_id esd_usb_table[] = { {USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSB2_PRODUCT_ID)}, {USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSBM_PRODUCT_ID)}, {USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSB3_PRODUCT_ID)}, {} }; MODULE_DEVICE_TABLE(usb, esd_usb_table); struct esd_usb_net_priv; struct esd_tx_urb_context { struct esd_usb_net_priv *priv; u32 echo_index; }; struct esd_usb { struct usb_device *udev; struct esd_usb_net_priv *nets[ESD_USB_MAX_NETS]; struct usb_anchor rx_submitted; int net_count; u32 version; int rxinitdone; void *rxbuf[ESD_USB_MAX_RX_URBS]; dma_addr_t rxbuf_dma[ESD_USB_MAX_RX_URBS]; }; struct esd_usb_net_priv { struct can_priv can; /* must be the first member */ atomic_t active_tx_jobs; struct usb_anchor tx_submitted; struct esd_tx_urb_context tx_contexts[ESD_USB_MAX_TX_URBS]; struct esd_usb *usb; struct net_device *netdev; int index; u8 old_state; struct can_berr_counter bec; }; static void esd_usb_rx_event(struct esd_usb_net_priv *priv, union esd_usb_msg *msg) { struct net_device_stats *stats = &priv->netdev->stats; struct can_frame *cf; struct sk_buff *skb; u32 id = le32_to_cpu(msg->rx.id) & ESD_USB_IDMASK; if (id == ESD_USB_EV_CAN_ERROR_EXT) { u8 state = msg->rx.ev_can_err_ext.status; u8 ecc = msg->rx.ev_can_err_ext.ecc; priv->bec.rxerr = msg->rx.ev_can_err_ext.rec; priv->bec.txerr = msg->rx.ev_can_err_ext.tec; netdev_dbg(priv->netdev, "CAN_ERR_EV_EXT: dlc=%#02x state=%02x ecc=%02x rec=%02x tec=%02x\n", msg->rx.dlc, state, ecc, priv->bec.rxerr, priv->bec.txerr); /* if berr-reporting is off, only pass through on state change ... */ if (!(priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING) && state == priv->old_state) return; skb = alloc_can_err_skb(priv->netdev, &cf); if (!skb) stats->rx_dropped++; if (state != priv->old_state) { enum can_state tx_state, rx_state; enum can_state new_state = CAN_STATE_ERROR_ACTIVE; priv->old_state = state; switch (state & ESD_USB_BUSSTATE_MASK) { case ESD_USB_BUSSTATE_BUSOFF: new_state = CAN_STATE_BUS_OFF; can_bus_off(priv->netdev); break; case ESD_USB_BUSSTATE_WARN: new_state = CAN_STATE_ERROR_WARNING; break; case ESD_USB_BUSSTATE_ERRPASSIVE: new_state = CAN_STATE_ERROR_PASSIVE; break; default: new_state = CAN_STATE_ERROR_ACTIVE; priv->bec.txerr = 0; priv->bec.rxerr = 0; break; } if (new_state != priv->can.state) { tx_state = (priv->bec.txerr >= priv->bec.rxerr) ? new_state : 0; rx_state = (priv->bec.txerr <= priv->bec.rxerr) ? new_state : 0; can_change_state(priv->netdev, cf, tx_state, rx_state); } } else if (skb) { priv->can.can_stats.bus_error++; stats->rx_errors++; cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; switch (ecc & ESD_USB_SJA1000_ECC_MASK) { case ESD_USB_SJA1000_ECC_BIT: cf->data[2] |= CAN_ERR_PROT_BIT; break; case ESD_USB_SJA1000_ECC_FORM: cf->data[2] |= CAN_ERR_PROT_FORM; break; case ESD_USB_SJA1000_ECC_STUFF: cf->data[2] |= CAN_ERR_PROT_STUFF; break; default: break; } /* Error occurred during transmission? */ if (!(ecc & ESD_USB_SJA1000_ECC_DIR)) cf->data[2] |= CAN_ERR_PROT_TX; /* Bit stream position in CAN frame as the error was detected */ cf->data[3] = ecc & ESD_USB_SJA1000_ECC_SEG; } if (skb) { cf->can_id |= CAN_ERR_CNT; cf->data[6] = priv->bec.txerr; cf->data[7] = priv->bec.rxerr; netif_rx(skb); } } } static void esd_usb_rx_can_msg(struct esd_usb_net_priv *priv, union esd_usb_msg *msg) { struct net_device_stats *stats = &priv->netdev->stats; struct can_frame *cf; struct canfd_frame *cfd; struct sk_buff *skb; u32 id; u8 len; if (!netif_device_present(priv->netdev)) return; id = le32_to_cpu(msg->rx.id); if (id & ESD_USB_EVENT) { esd_usb_rx_event(priv, msg); } else { if (msg->rx.dlc & ESD_USB_FD) { 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; } cfd->can_id = id & ESD_USB_IDMASK; if (msg->rx.dlc & ESD_USB_FD) { /* 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_USB_NO_BRS) == 0) cfd->flags |= CANFD_BRS; if (msg->rx.dlc & ESD_USB_ESI) cfd->flags |= CANFD_ESI; } else { can_frame_set_cc_len(cf, msg->rx.dlc & ~ESD_USB_RTR, priv->can.ctrlmode); len = cf->len; if (msg->rx.dlc & ESD_USB_RTR) { cf->can_id |= CAN_RTR_FLAG; len = 0; } } if (id & ESD_USB_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); } } static void esd_usb_tx_done_msg(struct esd_usb_net_priv *priv, union esd_usb_msg *msg) { struct net_device_stats *stats = &priv->netdev->stats; struct net_device *netdev = priv->netdev; struct esd_tx_urb_context *context; if (!netif_device_present(netdev)) return; context = &priv->tx_contexts[msg->txdone.hnd & (ESD_USB_MAX_TX_URBS - 1)]; if (!msg->txdone.status) { stats->tx_packets++; stats->tx_bytes += can_get_echo_skb(netdev, context->echo_index, NULL); } else { stats->tx_errors++; can_free_echo_skb(netdev, context->echo_index, NULL); } /* Release context */ context->echo_index = ESD_USB_MAX_TX_URBS; atomic_dec(&priv->active_tx_jobs); netif_wake_queue(netdev); } static void esd_usb_read_bulk_callback(struct urb *urb) { struct esd_usb *dev = urb->context; int retval; int pos = 0; int i; switch (urb->status) { case 0: /* success */ break; case -ENOENT: case -EPIPE: case -EPROTO: case -ESHUTDOWN: return; default: dev_info(dev->udev->dev.parent, "Rx URB aborted (%d)\n", urb->status); goto resubmit_urb; } while (pos < urb->actual_length) { union esd_usb_msg *msg; msg = (union esd_usb_msg *)(urb->transfer_buffer + pos); switch (msg->hdr.cmd) { case ESD_USB_CMD_CAN_RX: if (msg->rx.net >= dev->net_count) { dev_err(dev->udev->dev.parent, "format error\n"); break; } esd_usb_rx_can_msg(dev->nets[msg->rx.net], msg); break; case ESD_USB_CMD_CAN_TX: if (msg->txdone.net >= dev->net_count) { dev_err(dev->udev->dev.parent, "format error\n"); break; } esd_usb_tx_done_msg(dev->nets[msg->txdone.net], msg); break; } pos += msg->hdr.len * sizeof(u32); /* convert to # of bytes */ if (pos > urb->actual_length) { dev_err(dev->udev->dev.parent, "format error\n"); break; } } resubmit_urb: usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 1), urb->transfer_buffer, ESD_USB_RX_BUFFER_SIZE, esd_usb_read_bulk_callback, dev); retval = usb_submit_urb(urb, GFP_ATOMIC); if (retval == -ENODEV) { for (i = 0; i < dev->net_count; i++) { if (dev->nets[i]) netif_device_detach(dev->nets[i]->netdev); } } else if (retval) { dev_err(dev->udev->dev.parent, "failed resubmitting read bulk urb: %d\n", retval); } } /* callback for bulk IN urb */ static void esd_usb_write_bulk_callback(struct urb *urb) { struct esd_tx_urb_context *context = urb->context; struct esd_usb_net_priv *priv; struct net_device *netdev; size_t size = sizeof(union esd_usb_msg); WARN_ON(!context); priv = context->priv; netdev = priv->netdev; /* free up our allocated buffer */ usb_free_coherent(urb->dev, size, urb->transfer_buffer, urb->transfer_dma); if (!netif_device_present(netdev)) return; if (urb->status) netdev_info(netdev, "Tx URB aborted (%d)\n", urb->status); netif_trans_update(netdev); } static ssize_t firmware_show(struct device *d, struct device_attribute *attr, char *buf) { struct usb_interface *intf = to_usb_interface(d); struct esd_usb *dev = usb_get_intfdata(intf); return sprintf(buf, "%d.%d.%d\n", (dev->version >> 12) & 0xf, (dev->version >> 8) & 0xf, dev->version & 0xff); } static DEVICE_ATTR_RO(firmware); static ssize_t hardware_show(struct device *d, struct device_attribute *attr, char *buf) { struct usb_interface *intf = to_usb_interface(d); struct esd_usb *dev = usb_get_intfdata(intf); return sprintf(buf, "%d.%d.%d\n", (dev->version >> 28) & 0xf, (dev->version >> 24) & 0xf, (dev->version >> 16) & 0xff); } static DEVICE_ATTR_RO(hardware); static ssize_t nets_show(struct device *d, struct device_attribute *attr, char *buf) { struct usb_interface *intf = to_usb_interface(d); struct esd_usb *dev = usb_get_intfdata(intf); return sprintf(buf, "%d", dev->net_count); } static DEVICE_ATTR_RO(nets); static int esd_usb_send_msg(struct esd_usb *dev, union esd_usb_msg *msg) { int actual_length; return usb_bulk_msg(dev->udev, usb_sndbulkpipe(dev->udev, 2), msg, msg->hdr.len * sizeof(u32), /* convert to # of bytes */ &actual_length, 1000); } static int esd_usb_wait_msg(struct esd_usb *dev, union esd_usb_msg *msg) { int actual_length; return usb_bulk_msg(dev->udev, usb_rcvbulkpipe(dev->udev, 1), msg, sizeof(*msg), &actual_length, 1000); } static int esd_usb_setup_rx_urbs(struct esd_usb *dev) { int i, err = 0; if (dev->rxinitdone) return 0; for (i = 0; i < ESD_USB_MAX_RX_URBS; i++) { struct urb *urb = NULL; u8 *buf = NULL; dma_addr_t buf_dma; /* create a URB, and a buffer for it */ urb = usb_alloc_urb(0, GFP_KERNEL); if (!urb) { err = -ENOMEM; break; } buf = usb_alloc_coherent(dev->udev, ESD_USB_RX_BUFFER_SIZE, GFP_KERNEL, &buf_dma); if (!buf) { dev_warn(dev->udev->dev.parent, "No memory left for USB buffer\n"); err = -ENOMEM; goto freeurb; } urb->transfer_dma = buf_dma; usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 1), buf, ESD_USB_RX_BUFFER_SIZE, esd_usb_read_bulk_callback, dev); urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; usb_anchor_urb(urb, &dev->rx_submitted); err = usb_submit_urb(urb, GFP_KERNEL); if (err) { usb_unanchor_urb(urb); usb_free_coherent(dev->udev, ESD_USB_RX_BUFFER_SIZE, buf, urb->transfer_dma); goto freeurb; } dev->rxbuf[i] = buf; dev->rxbuf_dma[i] = buf_dma; freeurb: /* Drop reference, USB core will take care of freeing it */ usb_free_urb(urb); if (err) break; } /* Did we submit any URBs */ if (i == 0) { dev_err(dev->udev->dev.parent, "couldn't setup read URBs\n"); return err; } /* Warn if we've couldn't transmit all the URBs */ if (i < ESD_USB_MAX_RX_URBS) { dev_warn(dev->udev->dev.parent, "rx performance may be slow\n"); } dev->rxinitdone = 1; return 0; } /* Start interface */ static int esd_usb_start(struct esd_usb_net_priv *priv) { struct esd_usb *dev = priv->usb; struct net_device *netdev = priv->netdev; union esd_usb_msg *msg; int err, i; msg = kmalloc(sizeof(*msg), GFP_KERNEL); if (!msg) { err = -ENOMEM; goto out; } /* Enable all IDs * The IDADD message takes up to 64 32 bit bitmasks (2048 bits). * Each bit represents one 11 bit CAN identifier. A set bit * enables reception of the corresponding CAN identifier. A cleared * bit disabled this identifier. An additional bitmask value * following the CAN 2.0A bits is used to enable reception of * extended CAN frames. Only the LSB of this final mask is checked * for the complete 29 bit ID range. The IDADD message also allows * filter configuration for an ID subset. In this case you can add * the number of the starting bitmask (0..64) to the filter.option * field followed by only some bitmasks. */ msg->hdr.cmd = ESD_USB_CMD_IDADD; msg->hdr.len = sizeof(struct esd_usb_id_filter_msg) / sizeof(u32); /* # of 32bit words */ msg->filter.net = priv->index; msg->filter.option = ESD_USB_ID_ENABLE; /* start with segment 0 */ for (i = 0; i < ESD_USB_MAX_ID_SEGMENT; i++) msg->filter.mask[i] = cpu_to_le32(GENMASK(31, 0)); /* enable 29bit extended IDs */ msg->filter.mask[ESD_USB_MAX_ID_SEGMENT] = cpu_to_le32(BIT(0)); err = esd_usb_send_msg(dev, msg); if (err) goto out; err = esd_usb_setup_rx_urbs(dev); if (err) goto out; priv->can.state = CAN_STATE_ERROR_ACTIVE; out: if (err == -ENODEV) netif_device_detach(netdev); if (err) netdev_err(netdev, "couldn't start device: %d\n", err); kfree(msg); return err; } static void unlink_all_urbs(struct esd_usb *dev) { struct esd_usb_net_priv *priv; int i, j; usb_kill_anchored_urbs(&dev->rx_submitted); for (i = 0; i < ESD_USB_MAX_RX_URBS; ++i) usb_free_coherent(dev->udev, ESD_USB_RX_BUFFER_SIZE, dev->rxbuf[i], dev->rxbuf_dma[i]); for (i = 0; i < dev->net_count; i++) { priv = dev->nets[i]; if (priv) { usb_kill_anchored_urbs(&priv->tx_submitted); atomic_set(&priv->active_tx_jobs, 0); for (j = 0; j < ESD_USB_MAX_TX_URBS; j++) priv->tx_contexts[j].echo_index = ESD_USB_MAX_TX_URBS; } } } static int esd_usb_open(struct net_device *netdev) { struct esd_usb_net_priv *priv = netdev_priv(netdev); int err; /* common open */ err = open_candev(netdev); if (err) return err; /* finally start device */ err = esd_usb_start(priv); if (err) { netdev_warn(netdev, "couldn't start device: %d\n", err); close_candev(netdev); return err; } netif_start_queue(netdev); return 0; } static netdev_tx_t esd_usb_start_xmit(struct sk_buff *skb, struct net_device *netdev) { struct esd_usb_net_priv *priv = netdev_priv(netdev); struct esd_usb *dev = priv->usb; struct esd_tx_urb_context *context = NULL; struct net_device_stats *stats = &netdev->stats; struct canfd_frame *cfd = (struct canfd_frame *)skb->data; union esd_usb_msg *msg; struct urb *urb; u8 *buf; int i, err; int ret = NETDEV_TX_OK; size_t size = sizeof(union esd_usb_msg); if (can_dev_dropped_skb(netdev, skb)) return NETDEV_TX_OK; /* create a URB, and a buffer for it, and copy the data to the URB */ urb = usb_alloc_urb(0, GFP_ATOMIC); if (!urb) { stats->tx_dropped++; dev_kfree_skb(skb); goto nourbmem; } buf = usb_alloc_coherent(dev->udev, size, GFP_ATOMIC, &urb->transfer_dma); if (!buf) { netdev_err(netdev, "No memory left for USB buffer\n"); stats->tx_dropped++; dev_kfree_skb(skb); goto nobufmem; } msg = (union esd_usb_msg *)buf; /* minimal length as # of 32bit words */ msg->hdr.len = offsetof(struct esd_usb_tx_msg, data) / sizeof(u32); msg->hdr.cmd = ESD_USB_CMD_CAN_TX; msg->tx.net = priv->index; if (can_is_canfd_skb(skb)) { msg->tx.dlc = can_fd_len2dlc(cfd->len); msg->tx.dlc |= ESD_USB_FD; if ((cfd->flags & CANFD_BRS) == 0) msg->tx.dlc |= ESD_USB_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_USB_RTR; } 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_USB_EXTID); memcpy(msg->tx.data_fd, cfd->data, cfd->len); /* round up, then divide by 4 to add the payload length as # of 32bit words */ msg->hdr.len += DIV_ROUND_UP(cfd->len, sizeof(u32)); for (i = 0; i < ESD_USB_MAX_TX_URBS; i++) { if (priv->tx_contexts[i].echo_index == ESD_USB_MAX_TX_URBS) { context = &priv->tx_contexts[i]; break; } } /* This may never happen */ if (!context) { netdev_warn(netdev, "couldn't find free context\n"); ret = NETDEV_TX_BUSY; goto releasebuf; } context->priv = priv; context->echo_index = i; /* hnd must not be 0 - MSB is stripped in txdone handling */ msg->tx.hnd = BIT(31) | i; /* returned in TX done message */ usb_fill_bulk_urb(urb, dev->udev, usb_sndbulkpipe(dev->udev, 2), buf, msg->hdr.len * sizeof(u32), /* convert to # of bytes */ esd_usb_write_bulk_callback, context); urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; usb_anchor_urb(urb, &priv->tx_submitted); can_put_echo_skb(skb, netdev, context->echo_index, 0); atomic_inc(&priv->active_tx_jobs); /* Slow down tx path */ if (atomic_read(&priv->active_tx_jobs) >= ESD_USB_MAX_TX_URBS) netif_stop_queue(netdev); err = usb_submit_urb(urb, GFP_ATOMIC); if (err) { can_free_echo_skb(netdev, context->echo_index, NULL); atomic_dec(&priv->active_tx_jobs); usb_unanchor_urb(urb); stats->tx_dropped++; if (err == -ENODEV) netif_device_detach(netdev); else netdev_warn(netdev, "failed tx_urb %d\n", err); goto releasebuf; } netif_trans_update(netdev); /* Release our reference to this URB, the USB core will eventually free * it entirely. */ usb_free_urb(urb); return NETDEV_TX_OK; releasebuf: usb_free_coherent(dev->udev, size, buf, urb->transfer_dma); nobufmem: usb_free_urb(urb); nourbmem: return ret; } static int esd_usb_close(struct net_device *netdev) { struct esd_usb_net_priv *priv = netdev_priv(netdev); union esd_usb_msg *msg; int i; msg = kmalloc(sizeof(*msg), GFP_KERNEL); if (!msg) return -ENOMEM; /* Disable all IDs (see esd_usb_start()) */ msg->hdr.cmd = ESD_USB_CMD_IDADD; msg->hdr.len = sizeof(struct esd_usb_id_filter_msg) / sizeof(u32);/* # of 32bit words */ msg->filter.net = priv->index; msg->filter.option = ESD_USB_ID_ENABLE; /* start with segment 0 */ for (i = 0; i <= ESD_USB_MAX_ID_SEGMENT; i++) msg->filter.mask[i] = 0; if (esd_usb_send_msg(priv->usb, msg) < 0) netdev_err(netdev, "sending idadd message failed\n"); /* set CAN controller to reset mode */ msg->hdr.len = sizeof(struct esd_usb_set_baudrate_msg) / sizeof(u32); /* # of 32bit words */ msg->hdr.cmd = ESD_USB_CMD_SETBAUD; msg->setbaud.net = priv->index; msg->setbaud.rsvd = 0; msg->setbaud.baud = cpu_to_le32(ESD_USB_NO_BAUDRATE); if (esd_usb_send_msg(priv->usb, msg) < 0) netdev_err(netdev, "sending setbaud message failed\n"); priv->can.state = CAN_STATE_STOPPED; netif_stop_queue(netdev); close_candev(netdev); kfree(msg); return 0; } static const struct net_device_ops esd_usb_netdev_ops = { .ndo_open = esd_usb_open, .ndo_stop = esd_usb_close, .ndo_start_xmit = esd_usb_start_xmit, .ndo_change_mtu = can_change_mtu, }; static const struct ethtool_ops esd_usb_ethtool_ops = { .get_ts_info = ethtool_op_get_ts_info, }; static const struct can_bittiming_const esd_usb_2_bittiming_const = { .name = "esd_usb_2", .tseg1_min = 1, .tseg1_max = 16, .tseg2_min = 1, .tseg2_max = 8, .sjw_max = 4, .brp_min = 1, .brp_max = 1024, .brp_inc = 1, }; static int esd_usb_2_set_bittiming(struct net_device *netdev) { const struct can_bittiming_const *btc = &esd_usb_2_bittiming_const; struct esd_usb_net_priv *priv = netdev_priv(netdev); struct can_bittiming *bt = &priv->can.bittiming; union esd_usb_msg *msg; int err; u32 canbtr; int sjw_shift; canbtr = ESD_USB_UBR; if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) canbtr |= ESD_USB_LOM; canbtr |= (bt->brp - 1) & (btc->brp_max - 1); if (le16_to_cpu(priv->usb->udev->descriptor.idProduct) == ESD_USB_CANUSBM_PRODUCT_ID) sjw_shift = ESD_USB_M_SJW_SHIFT; else sjw_shift = ESD_USB_2_SJW_SHIFT; canbtr |= ((bt->sjw - 1) & (btc->sjw_max - 1)) << sjw_shift; canbtr |= ((bt->prop_seg + bt->phase_seg1 - 1) & (btc->tseg1_max - 1)) << ESD_USB_2_TSEG1_SHIFT; canbtr |= ((bt->phase_seg2 - 1) & (btc->tseg2_max - 1)) << ESD_USB_2_TSEG2_SHIFT; if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES) canbtr |= ESD_USB_TRIPLE_SAMPLES; msg = kmalloc(sizeof(*msg), GFP_KERNEL); if (!msg) return -ENOMEM; msg->hdr.len = sizeof(struct esd_usb_set_baudrate_msg) / sizeof(u32); /* # of 32bit words */ msg->hdr.cmd = ESD_USB_CMD_SETBAUD; msg->setbaud.net = priv->index; msg->setbaud.rsvd = 0; msg->setbaud.baud = cpu_to_le32(canbtr); netdev_dbg(netdev, "setting BTR=%#x\n", canbtr); err = esd_usb_send_msg(priv->usb, msg); kfree(msg); return err; } /* Nominal bittiming constants, see * Microchip SAM E70/S70/V70/V71, Data Sheet, Rev. G - 07/2022 * 48.6.8 MCAN Nominal Bit Timing and Prescaler Register */ static const struct can_bittiming_const esd_usb_3_nom_bittiming_const = { .name = "esd_usb_3", .tseg1_min = 2, .tseg1_max = 256, .tseg2_min = 2, .tseg2_max = 128, .sjw_max = 128, .brp_min = 1, .brp_max = 512, .brp_inc = 1, }; /* Data bittiming constants, see * Microchip SAM E70/S70/V70/V71, Data Sheet, Rev. G - 07/2022 * 48.6.4 MCAN Data Bit Timing and Prescaler Register */ static const struct can_bittiming_const esd_usb_3_data_bittiming_const = { .name = "esd_usb_3", .tseg1_min = 2, .tseg1_max = 32, .tseg2_min = 1, .tseg2_max = 16, .sjw_max = 8, .brp_min = 1, .brp_max = 32, .brp_inc = 1, }; static int esd_usb_3_set_bittiming(struct net_device *netdev) { const struct can_bittiming_const *nom_btc = &esd_usb_3_nom_bittiming_const; const struct can_bittiming_const *data_btc = &esd_usb_3_data_bittiming_const; struct esd_usb_net_priv *priv = netdev_priv(netdev); struct can_bittiming *nom_bt = &priv->can.bittiming; struct can_bittiming *data_bt = &priv->can.data_bittiming; struct esd_usb_3_set_baudrate_msg_x *baud_x; union esd_usb_msg *msg; u16 flags = 0; int err; msg = kmalloc(sizeof(*msg), GFP_KERNEL); if (!msg) return -ENOMEM; baud_x = &msg->setbaud_x; /* Canonical is the most reasonable mode for SocketCAN on CAN-USB/3 ... */ baud_x->mode = cpu_to_le16(ESD_USB_3_BAUDRATE_MODE_BTR_CANONICAL); if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) flags |= ESD_USB_3_BAUDRATE_FLAG_LOM; if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES) flags |= ESD_USB_3_BAUDRATE_FLAG_TRS; baud_x->nom.brp = cpu_to_le16(nom_bt->brp & (nom_btc->brp_max - 1)); baud_x->nom.sjw = cpu_to_le16(nom_bt->sjw & (nom_btc->sjw_max - 1)); baud_x->nom.tseg1 = cpu_to_le16((nom_bt->prop_seg + nom_bt->phase_seg1) & (nom_btc->tseg1_max - 1)); baud_x->nom.tseg2 = cpu_to_le16(nom_bt->phase_seg2 & (nom_btc->tseg2_max - 1)); if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { baud_x->data.brp = cpu_to_le16(data_bt->brp & (data_btc->brp_max - 1)); baud_x->data.sjw = cpu_to_le16(data_bt->sjw & (data_btc->sjw_max - 1)); baud_x->data.tseg1 = cpu_to_le16((data_bt->prop_seg + data_bt->phase_seg1) & (data_btc->tseg1_max - 1)); baud_x->data.tseg2 = cpu_to_le16(data_bt->phase_seg2 & (data_btc->tseg2_max - 1)); flags |= ESD_USB_3_BAUDRATE_FLAG_FD; } /* Currently this driver only supports the automatic TDC mode */ baud_x->tdc.tdc_mode = ESD_USB_3_TDC_MODE_AUTO; baud_x->tdc.ssp_offset = 0; baud_x->tdc.ssp_shift = 0; baud_x->tdc.tdc_filter = 0; baud_x->flags = cpu_to_le16(flags); baud_x->net = priv->index; baud_x->rsvd = 0; /* set len as # of 32bit words */ msg->hdr.len = sizeof(struct esd_usb_3_set_baudrate_msg_x) / sizeof(u32); msg->hdr.cmd = ESD_USB_CMD_SETBAUD; netdev_dbg(netdev, "ctrlmode=%#x/%#x, esd-net=%u, esd-mode=%#x, esd-flags=%#x\n", priv->can.ctrlmode, priv->can.ctrlmode_supported, priv->index, le16_to_cpu(baud_x->mode), flags); 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) { struct esd_usb_net_priv *priv = netdev_priv(netdev); bec->txerr = priv->bec.txerr; bec->rxerr = priv->bec.rxerr; return 0; } static int esd_usb_set_mode(struct net_device *netdev, enum can_mode mode) { switch (mode) { case CAN_MODE_START: netif_wake_queue(netdev); break; default: return -EOPNOTSUPP; } return 0; } static int esd_usb_probe_one_net(struct usb_interface *intf, int index) { struct esd_usb *dev = usb_get_intfdata(intf); struct net_device *netdev; struct esd_usb_net_priv *priv; int err = 0; int i; netdev = alloc_candev(sizeof(*priv), ESD_USB_MAX_TX_URBS); if (!netdev) { dev_err(&intf->dev, "couldn't alloc candev\n"); err = -ENOMEM; goto done; } priv = netdev_priv(netdev); init_usb_anchor(&priv->tx_submitted); atomic_set(&priv->active_tx_jobs, 0); for (i = 0; i < ESD_USB_MAX_TX_URBS; i++) priv->tx_contexts[i].echo_index = ESD_USB_MAX_TX_URBS; priv->usb = dev; priv->netdev = netdev; priv->index = index; priv->can.state = CAN_STATE_STOPPED; priv->can.ctrlmode_supported = CAN_CTRLMODE_LISTENONLY | CAN_CTRLMODE_CC_LEN8_DLC | CAN_CTRLMODE_BERR_REPORTING; switch (le16_to_cpu(dev->udev->descriptor.idProduct)) { case ESD_USB_CANUSB3_PRODUCT_ID: priv->can.clock.freq = ESD_USB_3_CAN_CLOCK; priv->can.ctrlmode_supported |= CAN_CTRLMODE_3_SAMPLES; priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD; priv->can.bittiming_const = &esd_usb_3_nom_bittiming_const; priv->can.data_bittiming_const = &esd_usb_3_data_bittiming_const; priv->can.do_set_bittiming = esd_usb_3_set_bittiming; priv->can.do_set_data_bittiming = esd_usb_3_set_bittiming; break; case ESD_USB_CANUSBM_PRODUCT_ID: priv->can.clock.freq = ESD_USB_M_CAN_CLOCK; priv->can.bittiming_const = &esd_usb_2_bittiming_const; priv->can.do_set_bittiming = esd_usb_2_set_bittiming; break; case ESD_USB_CANUSB2_PRODUCT_ID: default: priv->can.clock.freq = ESD_USB_2_CAN_CLOCK; priv->can.ctrlmode_supported |= CAN_CTRLMODE_3_SAMPLES; priv->can.bittiming_const = &esd_usb_2_bittiming_const; priv->can.do_set_bittiming = esd_usb_2_set_bittiming; break; } priv->can.do_set_mode = esd_usb_set_mode; priv->can.do_get_berr_counter = esd_usb_get_berr_counter; netdev->flags |= IFF_ECHO; /* we support local echo */ netdev->netdev_ops = &esd_usb_netdev_ops; netdev->ethtool_ops = &esd_usb_ethtool_ops; SET_NETDEV_DEV(netdev, &intf->dev); netdev->dev_id = index; err = register_candev(netdev); if (err) { dev_err(&intf->dev, "couldn't register CAN device: %d\n", err); free_candev(netdev); err = -ENOMEM; goto done; } dev->nets[index] = priv; netdev_info(netdev, "device %s registered\n", netdev->name); done: return err; } /* probe function for new USB devices * * check version information and number of available * CAN interfaces */ static int esd_usb_probe(struct usb_interface *intf, const struct usb_device_id *id) { struct esd_usb *dev; union esd_usb_msg *msg; int i, err; dev = kzalloc(sizeof(*dev), GFP_KERNEL); if (!dev) { err = -ENOMEM; goto done; } dev->udev = interface_to_usbdev(intf); init_usb_anchor(&dev->rx_submitted); usb_set_intfdata(intf, dev); msg = kmalloc(sizeof(*msg), GFP_KERNEL); if (!msg) { err = -ENOMEM; goto free_msg; } /* query number of CAN interfaces (nets) */ msg->hdr.cmd = ESD_USB_CMD_VERSION; msg->hdr.len = sizeof(struct esd_usb_version_msg) / sizeof(u32); /* # of 32bit words */ msg->version.rsvd = 0; msg->version.flags = 0; msg->version.drv_version = 0; err = esd_usb_send_msg(dev, msg); if (err < 0) { dev_err(&intf->dev, "sending version message failed\n"); goto free_msg; } err = esd_usb_wait_msg(dev, msg); if (err < 0) { dev_err(&intf->dev, "no version message answer\n"); goto free_msg; } dev->net_count = (int)msg->version_reply.nets; dev->version = le32_to_cpu(msg->version_reply.version); if (device_create_file(&intf->dev, &dev_attr_firmware)) dev_err(&intf->dev, "Couldn't create device file for firmware\n"); if (device_create_file(&intf->dev, &dev_attr_hardware)) dev_err(&intf->dev, "Couldn't create device file for hardware\n"); if (device_create_file(&intf->dev, &dev_attr_nets)) dev_err(&intf->dev, "Couldn't create device file for nets\n"); /* do per device probing */ for (i = 0; i < dev->net_count; i++) esd_usb_probe_one_net(intf, i); free_msg: kfree(msg); if (err) kfree(dev); done: return err; } /* called by the usb core when the device is removed from the system */ static void esd_usb_disconnect(struct usb_interface *intf) { struct esd_usb *dev = usb_get_intfdata(intf); struct net_device *netdev; int i; device_remove_file(&intf->dev, &dev_attr_firmware); device_remove_file(&intf->dev, &dev_attr_hardware); device_remove_file(&intf->dev, &dev_attr_nets); usb_set_intfdata(intf, NULL); if (dev) { for (i = 0; i < dev->net_count; i++) { if (dev->nets[i]) { netdev = dev->nets[i]->netdev; unregister_netdev(netdev); free_candev(netdev); } } unlink_all_urbs(dev); kfree(dev); } } /* usb specific object needed to register this driver with the usb subsystem */ static struct usb_driver esd_usb_driver = { .name = KBUILD_MODNAME, .probe = esd_usb_probe, .disconnect = esd_usb_disconnect, .id_table = esd_usb_table, }; module_usb_driver(esd_usb_driver); |