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[23.128.96.18]) by mx.google.com with ESMTP id q28si10019896edc.389.2021.03.09.04.14.13; Tue, 09 Mar 2021 04:14:36 -0800 (PST) Received-SPF: pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 23.128.96.18 as permitted sender) client-ip=23.128.96.18; Authentication-Results: mx.google.com; spf=pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 23.128.96.18 as permitted sender) smtp.mailfrom=linux-kernel-owner@vger.kernel.org Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S231960AbhCIMLR (ORCPT + 99 others); Tue, 9 Mar 2021 07:11:17 -0500 Received: from smtp11.smtpout.orange.fr ([80.12.242.133]:47270 "EHLO smtp.smtpout.orange.fr" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S231282AbhCIMKk (ORCPT ); Tue, 9 Mar 2021 07:10:40 -0500 Received: from localhost.localdomain ([153.202.107.157]) by mwinf5d34 with ME id eC9p240093PnFJp03CAY2D; Tue, 09 Mar 2021 13:10:37 +0100 X-ME-Helo: localhost.localdomain X-ME-Auth: bWFpbGhvbC52aW5jZW50QHdhbmFkb28uZnI= X-ME-Date: Tue, 09 Mar 2021 13:10:37 +0100 X-ME-IP: 153.202.107.157 From: Vincent Mailhol To: Marc Kleine-Budde , linux-can@vger.kernel.org Cc: Arunachalam Santhanam , linux-kernel@vger.kernel.org, Jimmy Assarsson , Vincent Mailhol Subject: [RESEND v12] can: usb: etas_es58X: add support for ETAS ES58X CAN USB interfaces Date: Tue, 9 Mar 2021 21:09:46 +0900 Message-Id: <20210309120946.1640-2-mailhol.vincent@wanadoo.fr> X-Mailer: git-send-email 2.26.2 In-Reply-To: <20210309120946.1640-1-mailhol.vincent@wanadoo.fr> References: <20210309120946.1640-1-mailhol.vincent@wanadoo.fr> MIME-Version: 1.0 Content-Transfer-Encoding: 8bit Precedence: bulk List-ID: X-Mailing-List: linux-kernel@vger.kernel.org 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 Signed-off-by: Arunachalam Santhanam Signed-off-by: Vincent Mailhol --- drivers/net/can/usb/Kconfig | 10 + drivers/net/can/usb/Makefile | 1 + drivers/net/can/usb/etas_es58x/Makefile | 3 + drivers/net/can/usb/etas_es58x/es581_4.c | 525 ++++ drivers/net/can/usb/etas_es58x/es581_4.h | 208 ++ drivers/net/can/usb/etas_es58x/es58x_core.c | 2404 +++++++++++++++++++ drivers/net/can/usb/etas_es58x/es58x_core.h | 690 ++++++ drivers/net/can/usb/etas_es58x/es58x_fd.c | 600 +++++ drivers/net/can/usb/etas_es58x/es58x_fd.h | 243 ++ 9 files changed, 4684 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 c1e5d5b570b6..978746ce8873 100644 --- a/drivers/net/can/usb/Kconfig +++ b/drivers/net/can/usb/Kconfig @@ -20,6 +20,16 @@ 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" + select CRC16 + 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..ea900491e9c4 --- /dev/null +++ b/drivers/net/can/usb/etas_es58x/es581_4.c @@ -0,0 +1,525 @@ +// 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. + * Copyright (c) 2020, 2021 Vincent Mailhol + */ + +#include +#include + +#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 accept several types + * (struct es581_4_tx_can_msg and struct es581_4_rx_can_msg) as an + * input. + * + * Return: length of the message. + */ +#define es581_4_sizeof_rx_tx_msg(msg) \ + offsetof(typeof(msg), data[can_cc_dlc2len((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, + ES581_4_CHANNEL_IDX_OFFSET, &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, + ES581_4_CHANNEL_IDX_OFFSET, &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) + 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, + ES581_4_CHANNEL_IDX_OFFSET, &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, + ES581_4_CHANNEL_IDX_OFFSET, &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, + ES581_4_CHANNEL_IDX_OFFSET, &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, + ES581_4_CHANNEL_IDX_OFFSET, &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, + const struct sk_buff *skb) +{ + struct es58x_device *es58x_dev = priv->es58x_dev; + union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer; + struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd; + u32 *urb_cmd_len = &priv->tx_urb->transfer_buffer_length; + 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, + priv->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(priv->tx_head + priv->tx_can_msg_cnt, + &tx_can_msg->packet_idx); + put_unaligned_le16((u16)es58x_get_flags(skb), &tx_can_msg->flags); + tx_can_msg->channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET; + tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode); + + 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 int es581_4_set_bittiming(struct es58x_priv *priv) +{ + struct es581_4_tx_conf_msg tx_conf_msg = { 0 }; + 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_layer = + cpu_to_le32(ES58X_PHYSICAL_LAYER_HIGH_SPEED); + tx_conf_msg.self_reception_mode = cpu_to_le32(ES58X_SELF_RECEPTION_ON); + tx_conf_msg.channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET; + + return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE, + ES581_4_CMD_ID_SET_BITTIMING, &tx_conf_msg, + sizeof(tx_conf_msg), priv->channel_idx); +} + +static int es581_4_enable_channel(struct es58x_priv *priv) +{ + u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET; + + return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE, + ES581_4_CMD_ID_ENABLE_CHANNEL, &msg, sizeof(msg), + priv->channel_idx); +} + +static int es581_4_disable_channel(struct es58x_priv *priv) +{ + u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET; + + return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE, + ES581_4_CMD_ID_DISABLE_CHANNEL, &msg, sizeof(msg), + priv->channel_idx); +} + +static int es581_4_reset_rx(struct es58x_priv *priv) +{ + u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET; + + return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE, + ES581_4_CMD_ID_RESET_RX, &msg, sizeof(msg), + priv->channel_idx); +} + +static int es581_4_reset_tx(struct es58x_priv *priv) +{ + u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET; + + return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE, + ES581_4_CMD_ID_RESET_TX, &msg, sizeof(msg), + priv->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); +} + +/* 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, + .tdc_const = NULL, + .bitrate_max = 1 * CAN_MBPS, + .clock = {.freq = 50 * CAN_MHZ}, + .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 and then rounded + * down to become a power of two. + * + * Root cause of those ES58X_ERR_PROT_CRC errors is still + * unclear. + */ + .fifo_mask = 63, /* echo_skb_max = 64 */ +#ifdef CONFIG_BQL + /* Empirical value. */ + .dql_limit_min = CAN_FRAME_LEN_MAX * 50, +#endif + .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 +}; + +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..388f9b31bea0 --- /dev/null +++ b/drivers/net/can/usb/etas_es58x/es581_4.h @@ -0,0 +1,208 @@ +/* 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. + * Copyright (c) 2020, 2021 Vincent Mailhol + */ + +#ifndef __ES581_4_H__ +#define __ES581_4_H__ + +#include + +#define ES581_4_NUM_CAN_CH 2 +#define ES581_4_CHANNEL_IDX_OFFSET 1 + +#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_layer: type enum es58x_physical_layer. + * @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_layer; + __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). + * @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. + * @rx_dev_ret: Device return code. + * @timestamp: Timestamp reply. + * @rx_dev_ret_u8: Rx 8 bits return code (type: enum + * es58x_dev_ret_code_u8). + * @raw_msg: Message raw payload. + * @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..31f907a7b75f --- /dev/null +++ b/drivers/net/can/usb/etas_es58x/es58x_core.c @@ -0,0 +1,2404 @@ +// 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. + * Copyright (c) 2020, 2021 Vincent Mailhol + */ + +#include +#include +#include +#include +#include + +#include "es58x_core.h" + +#define DRV_VERSION "1.00" +MODULE_AUTHOR("Mailhol Vincent "); +MODULE_AUTHOR("Arunachalam Santhanam "); +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); + + 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; + + 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 ns\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_is_echo_skb_threshold_reached() - 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: boolean. + */ +static bool es58x_is_echo_skb_threshold_reached(struct es58x_priv *priv) +{ + unsigned long num_echo_skb = priv->tx_head - priv->tx_tail; + unsigned long threshold = priv->can.echo_skb_max - + priv->es58x_dev->param->tx_bulk_max + 1; + + return num_echo_skb >= threshold; +} + +/** + * 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 fifo_mask = priv->es58x_dev->param->fifo_mask; + struct sk_buff *skb = priv->can.echo_skb[priv->tx_tail & fifo_mask]; + + netdev_completed_queue(netdev, 1, can_skb_prv(skb)->frame_len); + can_free_echo_skb(netdev, priv->tx_tail & fifo_mask); + + priv->tx_tail++; + + netdev->stats.tx_dropped++; +} + +/** + * es58x_can_get_echo_skb_recovery() - Try to re-sync the loopback FIFO. + * @netdev: CAN network device. + * @rcv_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 rcv_packet_idx) +{ + struct es58x_priv *priv = es58x_priv(netdev); + int ret = 0; + + netdev->stats.tx_errors++; + + if (net_ratelimit()) + netdev_warn(netdev, + "Bad loopback packet index: %u. First index: %u, end index %u, num_echo_skb: %02u/%02u\n", + rcv_packet_idx, priv->tx_tail, priv->tx_head, + priv->tx_head - priv->tx_tail, + priv->can.echo_skb_max); + + if (rcv_packet_idx < priv->tx_tail) { + if (net_ratelimit()) + netdev_warn(netdev, + "Received loopback is from the past. Ignoring it\n"); + ret = -EINVAL; + } else if ((s32)(rcv_packet_idx - priv->tx_head) >= 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", + rcv_packet_idx - priv->tx_tail, + priv->tx_tail, rcv_packet_idx - 1); + while (priv->tx_tail != rcv_packet_idx) { + if (priv->tx_tail == priv->tx_head) + return -EINVAL; + es58x_can_free_echo_skb_tail(netdev); + } + } + return ret; +} + +/** + * es58x_can_get_echo_skb() - Get the skb from the loopback FIFO and + * loop it back locally. + * @netdev: CAN network device. + * @rcv_packet_idx: Index of the first packet received from the device. + * @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 + * @rcv_packet_idx, index of second packet is @rcv_packet_idx + 1 and + * index of last packet is @rcv_packet_idx + @pkts - 1). + * + * Return: zero on success. + */ +int es58x_can_get_echo_skb(struct net_device *netdev, u32 rcv_packet_idx, + u64 *tstamps, unsigned int pkts) +{ + struct es58x_priv *priv = es58x_priv(netdev); + unsigned int rx_total_frame_len = 0; + unsigned int num_echo_skb = priv->tx_head - priv->tx_tail; + int i; + int ret = 0; + u16 fifo_mask = priv->es58x_dev->param->fifo_mask; + + 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, rcv_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 (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, rcv_packet_idx); + netdev->stats.tx_dropped += pkts; + return 0; + } + + if (priv->tx_tail != rcv_packet_idx) { + ret = es58x_can_get_echo_skb_recovery(netdev, rcv_packet_idx); + if (ret < 0) { + if (net_ratelimit()) + netdev_warn(netdev, + "Could not find echo skb for loopback packet index: %u\n", + rcv_packet_idx); + return 0; + } + } + if (num_echo_skb < pkts) { + int pkts_drop = pkts - 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, num_echo_skb, pkts_drop); + netdev->stats.tx_dropped += pkts_drop; + pkts -= pkts_drop; + } + + for (i = 0; i < pkts; i++) { + unsigned int skb_idx = priv->tx_tail & fifo_mask; + struct sk_buff *skb = priv->can.echo_skb[skb_idx]; + unsigned int frame_len = 0; + + if (skb) + es58x_set_skb_timestamp(netdev, skb, tstamps[i]); + + netdev->stats.tx_bytes += can_get_echo_skb(netdev, skb_idx, + &frame_len); + rx_total_frame_len += frame_len; + + priv->tx_tail++; + } + + netdev_completed_queue(netdev, pkts, rx_total_frame_len); + netdev->stats.tx_packets += pkts; + + priv->err_passive_before_rtx_success = 0; + if (!es58x_is_echo_skb_threshold_reached(priv)) + 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); + + priv->tx_tail = 0; + priv->tx_head = 0; + 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; + int i; + u16 fifo_mask = priv->es58x_dev->param->fifo_mask; + + if (priv->tx_urb) { + netdev_warn(netdev, "%s: dropping %d TX messages\n", + __func__, priv->tx_can_msg_cnt); + netdev->stats.tx_dropped += priv->tx_can_msg_cnt; + for (i = priv->tx_head; + i < priv->tx_head + priv->tx_can_msg_cnt; i++) + can_free_echo_skb(netdev, i & fifo_mask); + + usb_anchor_urb(priv->tx_urb, &priv->es58x_dev->tx_urbs_idle); + atomic_inc(&es58x_dev->tx_urbs_idle_cnt); + usb_free_urb(priv->tx_urb); + } + priv->tx_urb = NULL; +} + +/** + * 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 left in device queue, num_echo_skb: %d/%d\n", + tx_free_entries, + priv->tx_head - priv->tx_tail, + priv->can.echo_skb_max); + 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_fd_dlc2len(dlc); + skb = alloc_canfd_skb(netdev, &cfd); + } else { + len = can_cc_dlc2len(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; + if (es58x_flags & ES58X_FLAG_EFF) + cfd->can_id |= CAN_EFF_FLAG; + if (is_can_fd) { + cfd->len = len; + if (es58x_flags & ES58X_FLAG_FD_BRS) + cfd->flags |= CANFD_BRS; + if (es58x_flags & ES58X_FLAG_FD_ESI) + cfd->flags |= CANFD_ESI; + } else { + can_frame_set_cc_len(ccf, dlc, es58x_priv(netdev)->can.ctrlmode); + 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; + + 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"); + netif_stop_queue(netdev); + if (can->state != CAN_STATE_BUS_OFF) { + can->state = CAN_STATE_BUS_OFF; + can_bus_off(netdev); + } + 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; + 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); + atomic_inc(&es58x_dev->tx_urbs_idle_cnt); +} + +/** + * 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 RX URBs at once + * and during run time for TX URBs. + * + * 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. + * @es58x_dev: ES58X device. + * + * Gets an URB from the idle urbs anchor or allocate a new one if the + * anchor is empty. + * + * If there are more than ES58X_TX_URBS_MAX in the idle anchor, do + * some garbage collection. The garbage collection is done here + * instead of within es58x_write_bulk_callback() because + * usb_free_coherent() should not be used in IRQ context: + * c.f. WARN_ON(irqs_disabled()) in dma_free_attrs(). + * + * Return: a pointer to an URB on success, NULL if no memory is + * available. + */ +static struct urb *es58x_get_tx_urb(struct es58x_device *es58x_dev) +{ + atomic_t *idle_cnt = &es58x_dev->tx_urbs_idle_cnt; + struct urb *urb = usb_get_from_anchor(&es58x_dev->tx_urbs_idle); + + if (!urb) { + size_t tx_buf_len; + u8 *buf; + + tx_buf_len = es58x_dev->param->tx_urb_cmd_max_len; + if (es58x_alloc_urb(es58x_dev, &urb, &buf, tx_buf_len, + GFP_ATOMIC)) + return NULL; + + usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->tx_pipe, + buf, tx_buf_len, NULL, NULL); + return urb; + } + + while (atomic_dec_return(idle_cnt) > ES58X_TX_URBS_MAX) { + /* Garbage collector */ + struct urb *tmp = usb_get_from_anchor(&es58x_dev->tx_urbs_idle); + + if (!tmp) + break; + usb_free_coherent(tmp->dev, + es58x_dev->param->tx_urb_cmd_max_len, + tmp->transfer_buffer, tmp->transfer_dma); + usb_free_urb(tmp); + } + + 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(es58x_dev); + if (!urb) + return -ENOMEM; + + 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 reception and anchor them. + * + * 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; + 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); + } + + 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(priv); + 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); + + netif_stop_queue(netdev); + priv->can.state = CAN_STATE_STOPPED; + 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. 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); + int ret; + + if (!es58x_is_can_state_active(netdev)) { + netdev_warn(netdev, + "%s: Device turned to %s while preparing to send. Aborting transmission\n", + __func__, can_get_state_str(priv->can.state)); + return -ENETDOWN; + } + priv->tx_head += priv->tx_can_msg_cnt; + if (es58x_is_echo_skb_threshold_reached(priv)) + netif_stop_queue(netdev); + + netdev_sent_queue(netdev, priv->tx_total_frame_len); + ret = es58x_submit_urb(priv->es58x_dev, priv->tx_urb, netdev); + if (ret) { + netdev_completed_queue(netdev, priv->tx_can_msg_cnt, + priv->tx_total_frame_len); + priv->tx_head -= priv->tx_can_msg_cnt; + } else { + priv->tx_urb = NULL; + } + + return ret; +} + +/** + * es58x_xmit_more() - Can we put more packets? + * @priv: ES58X private parameters related to the network device. + * + * Return: true if we can put more, false if it is time to send. + */ +static bool es58x_xmit_more(struct es58x_priv *priv) +{ + unsigned int free_slots = + priv->can.echo_skb_max - (priv->tx_head - priv->tx_tail); + + return netdev_xmit_more() && + priv->tx_can_msg_cnt < free_slots && + priv->tx_can_msg_cnt < priv->es58x_dev->param->tx_bulk_max; +} + +/** + * 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, frame_len; + int ret; + + if (can_dropped_invalid_skb(netdev, skb)) { + if (priv->tx_urb) + goto xmit_commit; + return NETDEV_TX_OK; + } + + if (!priv->tx_urb) { + priv->tx_urb = es58x_get_tx_urb(es58x_dev); + if (!priv->tx_urb) { + ret = -ENOMEM; + goto drop_skb; + } + 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_total_frame_len = 0; + 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 do bulk send with mixed CAN and CAN FD frames. */ + ret = es58x_xmit_commit(netdev); + if (ret) + goto drop_skb; + return es58x_start_xmit(skb, netdev); + } + + ret = es58x_dev->ops->tx_can_msg(priv, skb); + if (ret) + goto drop_skb; + + frame_len = can_skb_get_frame_len(skb); + priv->tx_total_frame_len += frame_len; + packet_idx = priv->tx_head + priv->tx_can_msg_cnt; + ret = can_put_echo_skb(skb, netdev, + packet_idx & es58x_dev->param->fifo_mask, + frame_len); + if (ret) + goto xmit_failure; + + priv->tx_can_msg_cnt++; + + xmit_commit: + if (!es58x_xmit_more(priv)) { + ret = es58x_xmit_commit(netdev); + if (ret) + goto xmit_failure; + } + + return NETDEV_TX_OK; + + drop_skb: + dev_kfree_skb(skb); + netdev->stats.tx_dropped++; + xmit_failure: + netdev->stats.tx_errors++; + es58x_flush_pending_tx_msg(netdev); + netdev_warn(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(priv); + if (ret) + netdev_err(netdev, "%s: Could not disable the channel: %pe\n", + __func__, ERR_PTR(ret)); + ret = es58x_dev->ops->set_bittiming(priv); + 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); + + 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 can_priv *can = netdev_priv(netdev); + + 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: + 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: + netif_stop_queue(netdev); + if (mode == CAN_MODE_STOP) + can->state = CAN_STATE_STOPPED; + else + can->state = CAN_STATE_SLEEPING; + 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; + + 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->tdc_const = param->tdc_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->fifo_mask + 1); + 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); + +#ifdef CONFIG_BQL + netdev_get_tx_queue(netdev, 0)->dql.min_limit = + es58x_dev->param->dql_limit_min; +#endif + + 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)) + 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); + atomic_set(&es58x_dev->tx_urbs_idle_cnt, 0); + 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)) + dev_err(&intf->dev, + "All idle urbs were freed but tx_urb_idle_cnt is %d\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..28e50a048934 --- /dev/null +++ b/drivers/net/can/usb/etas_es58x/es58x_core.h @@ -0,0 +1,690 @@ +/* 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. + * Copyright (c) 2020, 2021 Vincent Mailhol + */ + +#ifndef __ES58X_COMMON_H__ +#define __ES58X_COMMON_H__ + +#include +#include +#include +#include +#include + +#include "es581_4.h" +#include "es58x_fd.h" + +/* Driver constants */ +#define ES58X_RX_URBS_MAX 5 /* Empirical value */ +#define ES58X_TX_URBS_MAX 6 /* 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_layer - Type of the physical layer. + * @ES58X_PHYSICAL_LAYER_HIGH_SPEED: High-speed CAN (c.f. ISO + * 11898-2). + * + * Some products of the ETAS portfolio also support low-speed CAN + * (c.f. ISO 11898-3). However, all the devices in scope of this + * driver do not support the option, thus, the enum has only one + * member. + */ +enum es58x_physical_layer { + ES58X_PHYSICAL_LAYER_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. + * + * For information, ES582.1 and ES584.1 also support a double + * synchronization, requiring both recessive to dominant then dominant + * to recessive level change. However, this is not supported in + * SocketCAN framework, 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. + * @tx_tail: Index of the oldest packet still pending for + * completion. @tx_tail & echo_skb_mask represents the beginning + * of the echo skb FIFO, i.e. index of the first element. + * @tx_head: Index of the next packet to be sent to the + * device. @tx_head & echo_skb_mask represents the end of the + * echo skb FIFO plus one, i.e. the first free index. + * @tx_total_frame_len: sum, in bytes, of the length of each of the + * CAN messages contained in @tx_urb. To be used as an input of + * netdev_sent_queue() for BQL. + * @tx_can_msg_cnt: Number of messages in @tx_urb. + * @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 Classical CAN and FD CAN + * frames in one single bulk transmission. + * @err_passive_before_rtx_success: The ES58X device might enter in a + * state in which it keeps alternating between error passive + * and active states. 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; + + u32 tx_tail; + u32 tx_head; + + u16 tx_total_frame_len; + u8 tx_can_msg_cnt; + bool tx_can_msg_is_fd; + + u8 err_passive_before_rtx_success; + + u8 channel_idx; +}; + +/** + * struct es58x_parameters - Constant parameters of a given hardware + * variant. + * @bittiming_const: Nominal bittimming constant parameters. + * @data_bittiming_const: Data bittiming constant parameters. + * @tdc_const: Transmission Delay Compensation constant 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. + * @fifo_mask: Bit mask to quickly convert the tx_tail and tx_head + * field of the struct es58x_priv into echo_skb + * indexes. Properties: @fifo_mask = echos_skb_max - 1 where + * echo_skb_max must be a power of two. Also, echo_skb_max 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. + */ +struct es58x_parameters { + const struct can_bittiming_const *bittiming_const; + const struct can_bittiming_const *data_bittiming_const; + const struct can_tdc_const *tdc_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 fifo_mask; +#ifdef CONFIG_BQL + u16 dql_limit_min; +#endif + u8 tx_bulk_max; + u8 urb_cmd_header_len; + u8 rx_urb_max; + u8 tx_urb_max; +}; + +/** + * 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: Decode the 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. + * @disable_channel: Stop the CAN channel. + * @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, const struct sk_buff *skb); + int (*set_bittiming)(struct es58x_priv *priv); + int (*enable_channel)(struct es58x_priv *priv); + int (*disable_channel)(struct es58x_priv *priv); + int (*reset_rx)(struct es58x_priv *priv); + int (*reset_tx)(struct es58x_priv *priv); + 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; +} + +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 accept the different types of messages + * as an input. 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 accept the different types of messages + * as an input. 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 accept the different types of messages + * as an input. 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 accept the different command types as + * an input. + * + * 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) +{ + 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. + * @channel_idx_offset: Some of the ES58x starts channel numbering + * from 0 (ES58X FD), others from 1 (ES581.4). + * @netdev: CAN network device. + * + * Do a sanity check on the index provided by the device. + * + * 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, int channel_idx_offset, + struct net_device **netdev) +{ + int channel_idx = channel_no - 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..dc8d7afd09f3 --- /dev/null +++ b/drivers/net/can/usb/etas_es58x/es58x_fd.c @@ -0,0 +1,600 @@ +// 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. + * Copyright (c) 2020, 2021 Vincent Mailhol + */ + +#include +#include + +#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 accept several types + * (struct es58x_fd_tx_can_msg and struct es58x_fd_rx_can_msg) as an + * input. + * + * Return: length of the message. + */ +#define es58x_fd_sizeof_rx_tx_msg(msg) \ +({ \ + typeof(msg) __msg = (msg); \ + size_t __msg_len; \ + \ + if (__msg.flags & ES58X_FLAG_FD_DATA) \ + __msg_len = canfd_sanitize_len(__msg.len); \ + else \ + __msg_len = can_cc_dlc2len(__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; + + if (ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO)) + return ES58X_FD_CMD_TYPE_CANFD; + else + return 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 rcv_packet_idx; + + const u32 mask = GENMASK(31, sizeof(rx_loopback_msg->packet_idx) * 8); + + 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; + + rcv_packet_idx = (priv->tx_tail & mask) | rx_loopback_msg[0].packet_idx; + for (i = 0; i < num_element; i++) { + if ((u8)rcv_packet_idx != rx_loopback_msg[i].packet_idx) { + netdev_err(netdev, "Packet idx jumped from %u to %u\n", + (u8)rcv_packet_idx - 1, + rx_loopback_msg[i].packet_idx); + return -EBADMSG; + } + + tstamps[i] = get_unaligned_le64(&rx_loopback_msg[i].timestamp); + rcv_packet_idx++; + } + + return es58x_can_get_echo_skb(netdev, priv->tx_tail, 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_fd_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, + ES58X_FD_CHANNEL_IDX_OFFSET, &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, + const struct sk_buff *skb) +{ + struct es58x_device *es58x_dev = priv->es58x_dev; + union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer; + struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd; + u32 *urb_cmd_len = &priv->tx_urb->transfer_buffer_length; + 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, + priv->channel_idx, *urb_cmd_len); + tx_can_msg->packet_idx = priv->tx_head + priv->tx_can_msg_cnt; + 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(cf, priv->can.ctrlmode); + 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_priv *priv) +{ + return 0; +} + +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_priv *priv) +{ + struct es58x_device *es58x_dev = priv->es58x_dev; + struct net_device *netdev = es58x_dev->netdev[priv->channel_idx]; + struct es58x_fd_tx_conf_msg tx_conf_msg = { 0 }; + u32 ctrlmode; + size_t conf_len = 0; + + es58x_fd_convert_bittiming(&tx_conf_msg.nominal_bittiming, + &priv->can.bittiming); + ctrlmode = priv->can.ctrlmode; + + if (ctrlmode & CAN_CTRLMODE_3_SAMPLES) + tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_THREE; + else + tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_ONE; + tx_conf_msg.sync_edge = ES58X_SYNC_EDGE_SINGLE; + tx_conf_msg.physical_layer = ES58X_PHYSICAL_LAYER_HIGH_SPEED; + tx_conf_msg.self_reception_mode = ES58X_SELF_RECEPTION_ON; + if (ctrlmode & CAN_CTRLMODE_LISTENONLY) + tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_PASSIVE; + else + tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_ACTIVE; + + if (ctrlmode & CAN_CTRLMODE_FD_NON_ISO) { + tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD_NON_ISO; + tx_conf_msg.canfd_enabled = 1; + } else if (ctrlmode & CAN_CTRLMODE_FD) { + tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD; + tx_conf_msg.canfd_enabled = 1; + } + + if (tx_conf_msg.canfd_enabled) { + es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming, + &priv->can.data_bittiming); + + if (priv->can.tdc.tdco) { + tx_conf_msg.tdc_enabled = 1; + tx_conf_msg.tdco = cpu_to_le16(priv->can.tdc.tdco); + tx_conf_msg.tdcf = cpu_to_le16(priv->can.tdc.tdcf); + } + + conf_len = ES58X_FD_CANFD_CONF_LEN; + } else { + conf_len = ES58X_FD_CAN_CONF_LEN; + } + + return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev), + ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL, + &tx_conf_msg, conf_len, priv->channel_idx); +} + +static int es58x_fd_disable_channel(struct es58x_priv *priv) +{ + /* The type (ES58X_FD_CMD_TYPE_CAN or ES58X_FD_CMD_TYPE_CANFD) does + * not matter here. + */ + return es58x_send_msg(priv->es58x_dev, ES58X_FD_CMD_TYPE_CAN, + ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL, + ES58X_EMPTY_MSG, 0, priv->channel_idx); +} + +static int es58x_fd_reset_rx(struct es58x_priv *priv) +{ + struct net_device *netdev = priv->es58x_dev->netdev[priv->channel_idx]; + + return es58x_send_msg(priv->es58x_dev, es58x_fd_cmd_type(netdev), + ES58X_FD_CAN_CMD_ID_RESET_RX, ES58X_EMPTY_MSG, + 0, priv->channel_idx); +} + +static int es58x_fd_reset_tx(struct es58x_priv *priv) +{ + struct net_device *netdev = priv->es58x_dev->netdev[priv->channel_idx]; + + return es58x_send_msg(priv->es58x_dev, es58x_fd_cmd_type(netdev), + ES58X_FD_CAN_CMD_ID_RESET_TX, ES58X_EMPTY_MSG, + 0, priv->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); +} + +/* 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 +}; + +/* 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 +}; + +/* Transmission Delay Compensation constants for ES582.1 and ES584.1 + * as specified in the microcontroller datasheet: "SAM + * E701/S70/V70/V71 Family" section 49.6.15 "MCAN Transmitter Delay + * Compensation Register" from Microchip. + */ +static const struct can_tdc_const es58x_tdc_const = { + .tdcv_max = 0, /* Manual mode not supported. */ + .tdco_max = 127, + .tdcf_max = 127 +}; + +const struct es58x_parameters es58x_fd_param = { + .bittiming_const = &es58x_fd_nom_bittiming_const, + .data_bittiming_const = &es58x_fd_data_bittiming_const, + .tdc_const = &es58x_tdc_const, + /* The devices use NXP TJA1044G transievers which guarantee + * the timing for data rates up to 5 Mbps. Bitrates up to 8 + * Mbps work in an optimal environment but are not recommended + * for production environment. + */ + .bitrate_max = 8 * CAN_MBPS, + .clock = {.freq = 80 * CAN_MHZ}, + .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. + */ + .fifo_mask = 255, /* echo_skb_max = 256 */ +#ifdef CONFIG_BQL + /* Empirical value. */ + .dql_limit_min = CAN_FRAME_LEN_MAX * 15, +#endif + .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 +}; + +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..fdd458250e09 --- /dev/null +++ b/drivers/net/can/usb/etas_es58x/es58x_fd.h @@ -0,0 +1,243 @@ +/* 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. + * Copyright (c) 2020, 2021 Vincent Mailhol + */ + +#ifndef __ES58X_FD_H__ +#define __ES58X_FD_H__ + +#include + +#define ES582_1_NUM_CAN_CH 2 +#define ES584_1_NUM_CAN_CH 1 +#define ES58X_FD_NUM_CAN_CH 2 +#define ES58X_FD_CHANNEL_IDX_OFFSET 0 + +#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: 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 = 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_layer: type enum es58x_physical_layer. + * @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_enabled: 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_layer; + u8 self_reception_mode; + u8 ctrlmode; + u8 canfd_enabled; + struct es58x_fd_bittiming data_bittiming; + u8 tdc_enabled; + __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). + * @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). + * @raw_msg: Message raw payload. + * @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__ */ base-commit: e627e562c8d764a426b99a47b42d4e9f394f23bc prerequisite-patch-id: 0ce44c0600bff103810eb09cdcd42285c85d365c prerequisite-patch-id: d5ae23ff6cf14d07ea646d33f9f0ecf3a6f9e7e1 prerequisite-patch-id: 38fd449c0a0bc7c8346f25567e974edbd5243606 prerequisite-patch-id: f40a6871ffc879f75586ba04b3056ec0b5d8590a prerequisite-patch-id: f3244bc526a5131c9b6b689dfc1b758126a0a99f prerequisite-patch-id: 9a1a7334fd4c337d7fc9af5c89db128a54ec9c8d prerequisite-patch-id: a2a2a06a29ac02e4796bf8bb8bebe04aa968113e prerequisite-patch-id: 3381611eb10fd16725435b7dcce288c16d2fcb28 prerequisite-patch-id: f01462cc6867bb197ea80f3c6a14f0c28828550d prerequisite-patch-id: fbcf50987c0bf12599657af5ea4b8f1b72cd4dae prerequisite-patch-id: 27f813c54fcb64781e729f30beba394cb6324101 prerequisite-patch-id: f9996d1fb2545c8b0ee39afd2db6dca0b659e811 prerequisite-patch-id: 03759de4308f541a3cd3c9eb89c4ac1bcd6c36a0 prerequisite-patch-id: 91dfc83cc1eab008eef5658a638a970be13a6d4d prerequisite-patch-id: 6f8fc8b8d9f794bc3e039a15d5d0f752c7044f65 prerequisite-patch-id: 607cb1c602ec6ce3f36ed573e6a4c23471da934d prerequisite-patch-id: a5060baf10c13d07812b04a059dcd0108c144dd2 prerequisite-patch-id: 946baf14dd974293570f1f2e2c8aa81780b0b22e prerequisite-patch-id: d2db79eff80fb8aa8728a1df5adf292bdc988953 prerequisite-patch-id: cd7663a0f2c16b829eb5116d4353a20867b32c4e prerequisite-patch-id: 99606eec325782fb50338ca09a8c08ad79832e36 prerequisite-patch-id: 09e03c5f5daf820f5337bb9340071c41f60ea6fb prerequisite-patch-id: 5f004d320a3121d2b999b6b3088671f670370d59 prerequisite-patch-id: ceb46ad3d3d00b333ebae335762ff4f01601adb5 prerequisite-patch-id: 94e90c8ddb8696e3cc469388e27a3c142fe07b23 -- 2.26.2