[Xenial,SRU,1/2] UBUNTU: SAUCE: (no-up) Support IXXAT USB SocketCAN device

Message ID 20180601054759.14851-2-shrirang.bagul@canonical.com
State New
Headers show
Series
  • Support SocketCAN over USB on Dell IoT 300x Gateways
Related show

Commit Message

Shrirang Bagul June 1, 2018, 5:47 a.m.
BugLink: http://bugs.launchpad.net/bugs/1774563

This driver from IXXAT adds support for SocketCAN over USB.
(https://www.ixxat.com)

Signed-off-by: Shrirang Bagul <shrirang.bagul@canonical.com>
---
 ubuntu/Kconfig              |    3 +-
 ubuntu/Makefile             |    5 +-
 ubuntu/ixxat/Kconfig        |    8 +
 ubuntu/ixxat/Makefile       |    4 +
 ubuntu/ixxat/ixx_usb_core.c |  923 +++++++++++++++++++
 ubuntu/ixxat/ixx_usb_core.h |  289 ++++++
 ubuntu/ixxat/ixx_usb_fd.c   | 1673 +++++++++++++++++++++++++++++++++++
 ubuntu/ixxat/ixx_usb_v2.c   | 1450 ++++++++++++++++++++++++++++++
 8 files changed, 4353 insertions(+), 2 deletions(-)
 create mode 100644 ubuntu/ixxat/Kconfig
 create mode 100644 ubuntu/ixxat/Makefile
 create mode 100644 ubuntu/ixxat/ixx_usb_core.c
 create mode 100644 ubuntu/ixxat/ixx_usb_core.h
 create mode 100644 ubuntu/ixxat/ixx_usb_fd.c
 create mode 100644 ubuntu/ixxat/ixx_usb_v2.c

Patch

diff --git a/ubuntu/Kconfig b/ubuntu/Kconfig
index bc2fb5530593..a3ad3d87ce53 100644
--- a/ubuntu/Kconfig
+++ b/ubuntu/Kconfig
@@ -30,10 +30,11 @@  source "ubuntu/opennsl/Kconfig"
 ##
 ##
 ##
+source "ubuntu/bnxt/Kconfig"
 ##
 ##
 ##
-source "ubuntu/bnxt/Kconfig"
+source "ubuntu/ixxat/Kconfig"
 ##
 ##
 ##
diff --git a/ubuntu/Makefile b/ubuntu/Makefile
index 85e1c900735c..62dd1e1b7b46 100644
--- a/ubuntu/Makefile
+++ b/ubuntu/Makefile
@@ -44,11 +44,14 @@  obj-$(CONFIG_OPENNSL) += opennsl/
 ##
 ##
 ##
-##
 obj-$(CONFIG_BNXT_BPO) += bnxt/
 ##
 ##
 ##
+obj-$(CONFIG_CAN_HMS_USB) += ixxat/
+##
+##
+##
 ##
 ##
 ##
diff --git a/ubuntu/ixxat/Kconfig b/ubuntu/ixxat/Kconfig
new file mode 100644
index 000000000000..63ff0d054d9e
--- /dev/null
+++ b/ubuntu/ixxat/Kconfig
@@ -0,0 +1,8 @@ 
+config CAN_HMS_USB
+	tristate "HMS USB SocketCAN"
+	depends on X86 || X86_64
+	depends on USB && CAN_DEV
+	---help---
+	This driver is from IXXAT and supports SocketCAN over USB.
+	(https://www.ixxat.com)
+
diff --git a/ubuntu/ixxat/Makefile b/ubuntu/ixxat/Makefile
new file mode 100644
index 000000000000..d4ee67ebdd24
--- /dev/null
+++ b/ubuntu/ixxat/Makefile
@@ -0,0 +1,4 @@ 
+mod-name += ixx_usb
+obj-m += ixx_usb.o
+ixx_usb-objs := ixx_usb_v2.o ixx_usb_fd.o ixx_usb_core.o
+
diff --git a/ubuntu/ixxat/ixx_usb_core.c b/ubuntu/ixxat/ixx_usb_core.c
new file mode 100644
index 000000000000..d258b6e46453
--- /dev/null
+++ b/ubuntu/ixxat/ixx_usb_core.c
@@ -0,0 +1,923 @@ 
+/*
+ * CAN driver for IXXAT USB-to-CAN V2 adapters
+ *
+ * Copyright (C) 2003-2014 Michael Hengler IXXAT Automation GmbH
+ *
+ * Based on code originally by pcan_usb_core
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ */
+#include <linux/init.h>
+#include <linux/signal.h>
+#include <linux/slab.h>
+#include <linux/module.h>
+#include <linux/netdevice.h>
+#include <linux/usb.h>
+#include <linux/errno.h>
+#include <linux/skbuff.h>
+#include <linux/types.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/can/error.h>
+#include <asm-generic/errno.h>
+
+#include "ixx_usb_core.h"
+
+MODULE_AUTHOR("Michael Hengler <mhengler@ixxat.de>");
+MODULE_DESCRIPTION("CAN driver for IXXAT USB-to-CAN V2 adapters");
+MODULE_LICENSE("GPL v2");
+
+#define IXXAT_USB_DRIVER_NAME	"ixx_usb"
+
+#define IXXAT_USB_BUS_CAN	1 // CAN
+#define IXXAT_USB_BUS_TYPE(BusCtrl)  (u8)  ( ((BusCtrl) >> 8) & 0x00FF )
+#define IXXAT_USB_VENDOR_ID	0x08d8
+
+#define IXXAT_USB_STATE_CONNECTED 0x00000001
+#define IXXAT_USB_STATE_STARTED   0x00000002
+
+
+/* Table of devices that work with this driver */
+static struct usb_device_id ixxat_usb_table[] = {
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, USB_TO_CAN_V2_COMPACT_PRODUCT_ID)},
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, USB_TO_CAN_V2_EMBEDDED_PRODUCT_ID)},
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, USB_TO_CAN_V2_PROFESSIONAL_PRODUCT_ID)},
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, USB_TO_CAN_V2_AUTOMOTIVE_PRODUCT_ID)},
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, USB_TO_LIN_V2_PRODUCT_ID)},
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, USB_TO_KLINE_V2_PRODUCT_ID)},
+#ifdef CANFD_CAPABLE
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, USB_TO_CAN_FD_AUTOMOTIVE_PRODUCT_ID)},
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, USB_TO_CAN_FD_COMPACT_PRODUCT_ID)},
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, USB_TO_CAN_FD_PROFESSIONAL_PRODUCT_ID)},
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, USB_TO_CAN_FD_PCIE_MINI_PRODUCT_ID)},
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, USB_TO_CAR_ID)},
+	{USB_DEVICE(IXXAT_USB_VENDOR_ID, DELL_EDGE_GW3002_PRODUCT_ID)},
+#endif
+	{} /* Terminating entry */
+};
+
+MODULE_DEVICE_TABLE(usb, ixxat_usb_table);
+
+/* List of supported IXX-USB adapters (NULL terminated list) */
+static struct ixx_usb_adapter *ixx_usb_adapters_list[] = {
+	&usb_to_can_v2_compact,
+	&usb_to_can_v2_automotive,
+	&usb_to_can_v2_embedded,
+	&usb_to_can_v2_professional,
+	&usb_to_can_v2_low_speed,
+	&usb_to_can_v2_extended,
+#ifdef CANFD_CAPABLE
+	&usb_to_can_fd_automotive,
+	&usb_to_can_fd_compact,
+	&usb_to_can_fd_professional,
+	&usb_to_can_fd_pcie_mini,
+	&usb_to_car,
+	&dell_edge_gw3002,
+#endif
+	NULL,
+};
+
+/*
+ * dump memory
+ */
+#define DUMP_WIDTH    16
+void ixxat_dump_mem(char *prompt, void *p, int l)
+{
+	pr_info("%s dumping %s (%d bytes):\n",
+			IXXAT_USB_DRIVER_NAME, prompt ? prompt : "memory", l);
+	print_hex_dump(KERN_INFO, IXXAT_USB_DRIVER_NAME " ", DUMP_PREFIX_NONE,
+			DUMP_WIDTH, 1, p, l, false);
+}
+
+static void ixxat_usb_add_us(struct timeval *tv, u64 delta_us)
+{
+	/* number of s. to add to final time */
+	u32 delta_s = div_u64(delta_us, 1000000);
+
+	delta_us -= delta_s * 1000000;
+
+	tv->tv_usec += delta_us;
+	if (tv->tv_usec >= 1000000) {
+		tv->tv_usec -= 1000000;
+		delta_s++;
+	}
+	tv->tv_sec += delta_s;
+}
+
+void ixxat_usb_get_ts_tv(struct ixx_usb_device *dev, u32 ts, ktime_t *k_time)
+{
+	struct timeval tv = dev->time_ref.tv_host_0;
+
+	if (ts < dev->time_ref.ts_dev_last) {
+		ixxat_usb_update_ts_now(dev, ts);
+	}
+
+	dev->time_ref.ts_dev_last = ts;
+	ixxat_usb_add_us(&tv, ts - dev->time_ref.ts_dev_0);
+
+	if(k_time)
+		*k_time = timeval_to_ktime(tv);
+}
+
+void ixxat_usb_update_ts_now(struct ixx_usb_device *dev, u32 hw_time_base)
+{
+	u64 timebase;
+
+	timebase = (u64)0x00000000FFFFFFFF - (u64)dev->time_ref.ts_dev_0 + (u64)hw_time_base;
+
+	ixxat_usb_add_us(&dev->time_ref.tv_host_0, timebase);
+
+	dev->time_ref.ts_dev_0 = hw_time_base;
+}
+
+void ixxat_usb_set_ts_now(struct ixx_usb_device *dev, u32 hw_time_base)
+{
+	dev->time_ref.ts_dev_0 = hw_time_base;
+	do_gettimeofday(&dev->time_ref.tv_host_0);
+	dev->time_ref.ts_dev_last = hw_time_base;
+}
+
+/*
+ * callback for bulk Rx urb
+ */
+static void ixxat_usb_read_bulk_callback(struct urb *urb)
+{
+	struct ixx_usb_device *dev = urb->context;
+	struct net_device *netdev;
+	int err;
+
+	netdev = dev->netdev;
+
+	if (!netif_device_present(netdev))
+		return;
+
+	/* check reception status */
+	switch (urb->status) {
+		case 0:
+			/* success */
+			break;
+
+		case -EILSEQ:
+		case -ENOENT:
+		case -ECONNRESET:
+		case -ESHUTDOWN:
+			return;
+
+		default:
+			if (net_ratelimit())
+				netdev_err(netdev, "Rx urb aborted (%d)\n",
+						urb->status);
+			goto resubmit_urb;
+	}
+
+	/* protect from any incoming empty msgs */
+	if ((urb->actual_length > 0) && (dev->adapter->dev_decode_buf)) {
+		/* handle these kinds of msgs only if _start callback called */
+		if (dev->state & IXXAT_USB_STATE_STARTED)
+			err = dev->adapter->dev_decode_buf(dev, urb);
+	}
+
+resubmit_urb: usb_fill_bulk_urb(urb, dev->udev,
+			      usb_rcvbulkpipe(dev->udev, dev->ep_msg_in),
+			      urb->transfer_buffer, dev->adapter->rx_buffer_size,
+			      ixxat_usb_read_bulk_callback, dev);
+
+	      usb_anchor_urb(urb, &dev->rx_submitted);
+	      err = usb_submit_urb(urb, GFP_ATOMIC);
+	      if (!err)
+		      return;
+
+	      usb_unanchor_urb(urb);
+
+	      if (err == -ENODEV)
+		      netif_device_detach(netdev);
+	      else
+		      netdev_err(netdev, "failed resubmitting read bulk urb: %d\n",
+				      err);
+}
+
+/*
+ * callback for bulk Tx urb
+ */
+static void ixxat_usb_write_bulk_callback(struct urb *urb)
+{
+	struct ixx_tx_urb_context *context = urb->context;
+	struct ixx_usb_device *dev;
+	struct net_device *netdev;
+
+	BUG_ON(!context);
+
+	dev = context->dev;
+	netdev = dev->netdev;
+
+	atomic_dec(&dev->active_tx_urbs);
+
+	if (!netif_device_present(netdev))
+		return;
+
+	/* check tx status */
+	switch (urb->status) {
+		case 0:
+			/* transmission complete */
+			netdev->stats.tx_packets += context->count;
+			netdev->stats.tx_bytes += context->dlc;
+
+			/* prevent tx timeout */
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(4, 7, 0)
+			netif_trans_update(netdev);
+#else
+			netdev->trans_start = jiffies;
+#endif
+			break;
+
+
+		case -EPROTO:
+		case -ENOENT:
+		case -ECONNRESET:
+		case -ESHUTDOWN:
+			break;
+		default:
+			if (net_ratelimit())
+				netdev_err(netdev, "Tx urb aborted (%d)\n",
+						urb->status);
+			break;
+	}
+
+	/* should always release echo skb and corresponding context */
+	can_get_echo_skb(netdev, context->echo_index);
+	context->echo_index = IXXAT_USB_MAX_TX_URBS;
+
+	/* do wakeup tx queue in case of success only */
+	if (!urb->status)
+		netif_wake_queue(netdev);
+}
+
+/*
+ * called by netdev to send one skb on the CAN interface.
+ */
+static netdev_tx_t ixxat_usb_ndo_start_xmit(struct sk_buff *skb,
+		struct net_device *netdev)
+{
+	struct ixx_usb_device *dev = netdev_priv(netdev);
+	struct ixx_tx_urb_context *context = NULL;
+	struct net_device_stats *stats = &netdev->stats;
+	struct canfd_frame *cf = (struct canfd_frame *) skb->data;
+	struct urb *urb;
+	u8 *obuf;
+	int i, err;
+	size_t size = dev->adapter->tx_buffer_size;
+
+	if (can_dropped_invalid_skb(netdev, skb))
+		return NETDEV_TX_OK;
+
+	for (i = 0; i < IXXAT_USB_MAX_TX_URBS; i++) {
+		if (dev->tx_contexts[i].echo_index == IXXAT_USB_MAX_TX_URBS) {
+			context = dev->tx_contexts + i;
+			break;
+		}
+	}
+
+	if (!context) {
+		/* should not occur except during restart */
+		return NETDEV_TX_BUSY;
+	}
+
+	urb = context->urb;
+	obuf = urb->transfer_buffer;
+
+	err = dev->adapter->dev_encode_msg(dev, skb, obuf, &size);
+
+	context->echo_index = i;
+	context->dlc = cf->len;
+	context->count = 1;
+
+	urb->transfer_buffer_length = size;
+
+	if (err) {
+		if (net_ratelimit())
+			netdev_err(netdev, "packet dropped\n");
+		dev_kfree_skb(skb);
+		stats->tx_dropped++;
+		return NETDEV_TX_OK;
+	}
+
+	usb_anchor_urb(urb, &dev->tx_submitted);
+
+	can_put_echo_skb(skb, netdev, context->echo_index);
+
+	atomic_inc(&dev->active_tx_urbs);
+
+	err = usb_submit_urb(urb, GFP_ATOMIC);
+	if (err) {
+		can_free_echo_skb(netdev, context->echo_index);
+
+		usb_unanchor_urb(urb);
+
+		/* this context is not used in fact */
+		context->echo_index = IXXAT_USB_MAX_TX_URBS;
+
+		atomic_dec(&dev->active_tx_urbs);
+
+		switch (err) {
+			case -ENODEV:
+				netif_device_detach(netdev);
+				break;
+			case -ENOENT:
+				/* cable unplugged */
+				stats->tx_dropped++;
+				break;
+			default:
+				stats->tx_dropped++;
+				netdev_warn(netdev, "tx urb submitting failed err=%d\n",
+						err);
+		}
+	} else {
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(4, 7, 0)
+		netif_trans_update(netdev);
+#else
+		netdev->trans_start = jiffies;
+#endif
+
+		/* slow down tx path */
+		if (atomic_read(&dev->active_tx_urbs) >= IXXAT_USB_MAX_TX_URBS)
+			netif_stop_queue(netdev);
+	}
+
+	return NETDEV_TX_OK;
+}
+
+/*
+ * start the CAN interface.
+ * Rx and Tx urbs are allocated here. Rx urbs are submitted here.
+ */
+static int ixxat_usb_start(struct ixx_usb_device *dev)
+{
+	struct net_device *netdev = dev->netdev;
+	int err, i;
+
+	for (i = 0; i < IXXAT_USB_MAX_RX_URBS; i++) {
+		struct urb *urb;
+		u8 *buf;
+
+		/* create a URB, and a buffer for it, to receive usb messages */
+		urb = usb_alloc_urb(0, GFP_KERNEL);
+		if (!urb) {
+			netdev_err(netdev, "No memory left for URBs\n");
+			err = -ENOMEM;
+			break;
+		}
+
+		buf = kmalloc(dev->adapter->rx_buffer_size, GFP_KERNEL);
+		if (!buf) {
+			usb_free_urb(urb);
+			err = -ENOMEM;
+			break;
+		}
+
+		usb_fill_bulk_urb(urb, dev->udev,
+				usb_rcvbulkpipe(dev->udev, dev->ep_msg_in), buf,
+				dev->adapter->rx_buffer_size,
+				ixxat_usb_read_bulk_callback, dev);
+
+		/* ask last usb_free_urb() to also kfree() transfer_buffer */
+		urb->transfer_flags |= URB_FREE_BUFFER;
+		usb_anchor_urb(urb, &dev->rx_submitted);
+
+		err = usb_submit_urb(urb, GFP_KERNEL);
+		if (err) {
+			if (err == -ENODEV)
+				netif_device_detach(dev->netdev);
+
+			usb_unanchor_urb(urb);
+			kfree(buf);
+			usb_free_urb(urb);
+			break;
+		}
+
+		/* drop reference, USB core will take care of freeing it */
+		usb_free_urb(urb);
+	}
+
+	/* did we submit any URBs? Warn if we was not able to submit all urbs */
+	if (i < IXXAT_USB_MAX_RX_URBS) {
+		if (i == 0) {
+			netdev_err(netdev, "couldn't setup any rx URB\n");
+			return err;
+		}
+
+		netdev_warn(netdev, "rx performance may be slow\n");
+	}
+
+	/* pre-alloc tx buffers and corresponding urbs */
+	for (i = 0; i < IXXAT_USB_MAX_TX_URBS; i++) {
+		struct ixx_tx_urb_context *context;
+		struct urb *urb;
+		u8 *buf;
+
+		/* create a URB and a buffer for it, to transmit usb messages */
+		urb = usb_alloc_urb(0, GFP_KERNEL);
+		if (!urb) {
+			netdev_err(netdev, "No memory left for URBs\n");
+			err = -ENOMEM;
+			break;
+		}
+
+		buf = kmalloc(dev->adapter->tx_buffer_size, GFP_KERNEL);
+		if (!buf) {
+			usb_free_urb(urb);
+			err = -ENOMEM;
+			break;
+		}
+
+		context = dev->tx_contexts + i;
+		context->dev = dev;
+		context->urb = urb;
+
+		usb_fill_bulk_urb(urb, dev->udev,
+				usb_sndbulkpipe(dev->udev, dev->ep_msg_out),
+				buf, dev->adapter->tx_buffer_size,
+				ixxat_usb_write_bulk_callback, context);
+
+		/* ask last usb_free_urb() to also kfree() transfer_buffer */
+		urb->transfer_flags |= URB_FREE_BUFFER;
+	}
+
+	/* warn if we were not able to allocate enough tx contexts */
+	if (i < IXXAT_USB_MAX_TX_URBS) {
+		if (i == 0) {
+			netdev_err(netdev, "couldn't setup any tx URB\n");
+			goto err_tx;
+		}
+
+		netdev_warn(netdev, "tx performance may be slow\n");
+	}
+
+	if (dev->adapter->dev_start) {
+		err = dev->adapter->dev_start(dev);
+		if (err)
+			goto err_adapter;
+	}
+
+	dev->state |= IXXAT_USB_STATE_STARTED;
+
+	dev->can.state = CAN_STATE_ERROR_ACTIVE;
+
+	return 0;
+
+err_adapter: if (err == -ENODEV)
+		     netif_device_detach(dev->netdev);
+
+	     netdev_warn(netdev, "couldn't submit control: %d\n", err);
+
+	     for (i = 0; i < IXXAT_USB_MAX_TX_URBS; i++) {
+		     usb_free_urb(dev->tx_contexts[i].urb);
+		     dev->tx_contexts[i].urb = NULL;
+	     }
+err_tx: usb_kill_anchored_urbs(&dev->rx_submitted);
+
+	return err;
+}
+
+/*
+ * called by netdev to open the corresponding CAN interface.
+ */
+static int ixxat_usb_ndo_open(struct net_device *netdev)
+{
+	struct ixx_usb_device *dev = netdev_priv(netdev);
+	int err;
+
+	/* common open */
+	err = open_candev(netdev);
+	if (err)
+		return err;
+
+	/* finally start device */
+	err = ixxat_usb_start(dev);
+	if (err) {
+		netdev_err(netdev, "couldn't start device: %d\n", err);
+		close_candev(netdev);
+		return err;
+	}
+
+	netif_start_queue(netdev);
+
+	return 0;
+}
+
+/*
+ * unlink in-flight Rx and Tx urbs and free their memory.
+ */
+static void ixxat_usb_unlink_all_urbs(struct ixx_usb_device *dev)
+{
+	int i;
+
+	/* free all Rx (submitted) urbs */
+	usb_kill_anchored_urbs(&dev->rx_submitted);
+
+	/* free unsubmitted Tx urbs first */
+	for (i = 0; i < IXXAT_USB_MAX_TX_URBS; i++) {
+		struct urb *urb = dev->tx_contexts[i].urb;
+
+		if (!urb
+				|| dev->tx_contexts[i].echo_index
+				!= IXXAT_USB_MAX_TX_URBS) {
+			/*
+			 * this urb is already released or always submitted,
+			 * let usb core free by itself
+			 */
+			continue;
+		}
+
+		usb_free_urb(urb);
+		dev->tx_contexts[i].urb = NULL;
+	}
+
+	/* then free all submitted Tx urbs */
+	usb_kill_anchored_urbs(&dev->tx_submitted);
+	atomic_set(&dev->active_tx_urbs, 0);
+}
+
+/*
+ * called by netdev to close the corresponding CAN interface.
+ */
+static int ixxat_usb_ndo_stop(struct net_device *netdev)
+{
+	struct ixx_usb_device *dev = netdev_priv(netdev);
+
+	dev->state &= ~IXXAT_USB_STATE_STARTED;
+	netif_stop_queue(netdev);
+
+	/* unlink all pending urbs and free used memory */
+	ixxat_usb_unlink_all_urbs(dev);
+
+	if (dev->adapter->dev_stop)
+		dev->adapter->dev_stop(dev);
+
+	close_candev(netdev);
+
+	dev->can.state = CAN_STATE_STOPPED;
+
+	return 0;
+}
+
+/*
+ * handle end of waiting for the device to reset
+ */
+void ixxat_usb_restart_complete(struct ixx_usb_device *dev)
+{
+	/* finally MUST update can state */
+	dev->can.state = CAN_STATE_ERROR_ACTIVE;
+
+	/* netdev queue can be awaken now */
+	netif_wake_queue(dev->netdev);
+}
+
+void ixxat_usb_async_complete(struct urb *urb)
+{
+	kfree(urb->transfer_buffer);
+	usb_free_urb(urb);
+}
+
+/*
+ * candev callback used to change CAN mode.
+ * Warning: this is called from a timer context!
+ */
+static int ixxat_usb_set_mode(struct net_device *netdev, enum can_mode mode)
+{
+	struct ixx_usb_device *dev = netdev_priv(netdev);
+	int err = 0;
+
+	switch (mode) {
+		case CAN_MODE_START:
+			dev->restart_flag = 1;
+			wake_up_interruptible(&dev->wait_queue);
+			break;
+		default:
+			return -EOPNOTSUPP;
+	}
+
+	return err;
+}
+
+/*
+ * candev callback used to set device bitrate.
+ */
+static int ixxat_usb_set_bittiming(struct net_device *netdev)
+{
+	struct ixx_usb_device* dev = (struct ixx_usb_device*) netdev_priv(
+			netdev);
+	struct can_bittiming *bt = &dev->can.bittiming;
+
+	if (dev->adapter->dev_set_bittiming) {
+		int err = dev->adapter->dev_set_bittiming(dev, bt);
+
+		if (err)
+			netdev_info(netdev, "couldn't set bitrate (err %d)\n",
+					err);
+		return err;
+	}
+
+	return 0;
+}
+
+/*
+ * candev callback used to set error counters.
+ */
+static int ixxat_usb_get_berr_counter(const struct net_device *netdev,
+		struct can_berr_counter *bec)
+{
+	struct ixx_usb_device* dev = (struct ixx_usb_device*) netdev_priv(
+			netdev);
+
+	*bec = dev->bec;
+
+	return 0;
+}
+
+static const struct net_device_ops ixx_usb_netdev_ops = { .ndo_open =
+	ixxat_usb_ndo_open, .ndo_stop = ixxat_usb_ndo_stop,
+	.ndo_start_xmit = ixxat_usb_ndo_start_xmit,
+#ifdef CANFD_CAPABLE
+	.ndo_change_mtu = can_change_mtu,
+#endif
+};
+
+/*
+ * create one device which is attached to CAN controller #ctrl_idx of the
+ * usb adapter.
+ */
+static int ixxat_usb_create_dev(struct ixx_usb_adapter *ixx_usb_adapter,
+		struct usb_interface *intf, int ctrl_idx)
+{
+	struct usb_device *usb_dev = interface_to_usbdev(intf);
+	int sizeof_candev = ixx_usb_adapter->sizeof_dev_private;
+	struct ixx_usb_device *dev;
+	struct net_device *netdev;
+	int i, err = 0, ep_off = 0;
+	u16 tmp16;
+
+	if (sizeof_candev < sizeof(struct ixx_usb_device))
+		sizeof_candev = sizeof(struct ixx_usb_device);
+
+	netdev = alloc_candev(sizeof_candev, IXXAT_USB_MAX_TX_URBS);
+	if (!netdev) {
+		dev_err(&intf->dev, "%s: couldn't alloc candev\n",
+				IXXAT_USB_DRIVER_NAME);
+		return -ENOMEM;
+	}
+
+	dev = netdev_priv(netdev);
+
+	dev->transmit_ptr = 0;
+	dev->transmit_dlc = 0;
+	dev->transmit_count = 0;
+
+	dev->restart_flag = 0;
+	dev->restart_task = 0;
+	dev->must_quit = 0;
+	init_waitqueue_head(&dev->wait_queue);
+
+	dev->ctrl_opened_count = 0;
+
+	dev->udev = usb_dev;
+	dev->netdev = netdev;
+	dev->adapter = ixx_usb_adapter;
+	dev->ctrl_idx = ctrl_idx;
+	dev->state = IXXAT_USB_STATE_CONNECTED;
+
+	ep_off = ixx_usb_adapter->has_bgi_ep ? 1 : 0;
+
+	/* Add +1 because of the bgi endpoint */
+	dev->ep_msg_in = ixx_usb_adapter->ep_msg_in[ctrl_idx+ep_off];
+	dev->ep_msg_out = ixx_usb_adapter->ep_msg_out[ctrl_idx+ep_off];
+
+	dev->can.clock = ixx_usb_adapter->clock;
+	dev->can.bittiming_const = &ixx_usb_adapter->bittiming_const;
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(3, 19, 3)
+	dev->can.data_bittiming_const = &ixx_usb_adapter->data_bittiming_const;
+#endif
+
+	dev->can.do_set_bittiming = ixxat_usb_set_bittiming;
+	dev->can.do_set_mode = ixxat_usb_set_mode;
+	dev->can.do_get_berr_counter = ixxat_usb_get_berr_counter;
+
+	dev->can.ctrlmode_supported = ixx_usb_adapter->ctrlmode_supported;
+
+	netdev->netdev_ops = &ixx_usb_netdev_ops;
+
+	netdev->flags |= IFF_ECHO; /* we support local echo */
+
+	init_usb_anchor(&dev->rx_submitted);
+
+	init_usb_anchor(&dev->tx_submitted);
+	atomic_set(&dev->active_tx_urbs, 0);
+
+	for (i = 0; i < IXXAT_USB_MAX_TX_URBS; i++)
+		dev->tx_contexts[i].echo_index = IXXAT_USB_MAX_TX_URBS;
+
+	dev->prev_siblings = usb_get_intfdata(intf);
+	usb_set_intfdata(intf, dev);
+
+	SET_NETDEV_DEV(netdev, &intf->dev);
+
+	err = register_candev(netdev);
+	if (err) {
+		dev_err(&intf->dev, "couldn't register CAN device: %d\n", err);
+		goto lbl_set_intf_data;
+	}
+
+	if (dev->prev_siblings)
+		(dev->prev_siblings)->next_siblings = dev;
+
+	/* keep hw revision into the netdevice */
+	tmp16 = le16_to_cpu(usb_dev->descriptor.bcdDevice);
+	dev->device_rev = tmp16 >> 8;
+
+	if (dev->adapter->dev_init) {
+		err = dev->adapter->dev_init(dev);
+		if (err)
+			goto lbl_set_intf_data;
+	}
+
+	if (dev->adapter->intf_get_info)
+		dev->adapter->intf_get_info(dev,
+				&dev->dev_info);
+
+	netdev_info(netdev, "attached to %s channel %u (device %s)\n",
+			dev->dev_info.device_name, ctrl_idx,
+			dev->dev_info.device_id);
+
+	return 0;
+
+lbl_set_intf_data: usb_set_intfdata(intf, dev->prev_siblings);
+		   free_candev(netdev);
+
+		   return err;
+}
+
+/*
+ * called by the usb core when the device is unplugged from the system
+ */
+static void ixxat_usb_disconnect(struct usb_interface *intf)
+{
+	struct ixx_usb_device *dev;
+	struct ixx_usb_device *dev_prev_siblings;
+
+	/* unregister as many netdev devices as siblings */
+	for (dev = usb_get_intfdata(intf); dev; dev = dev_prev_siblings) {
+		struct net_device *netdev = dev->netdev;
+		char name[IFNAMSIZ];
+
+		dev_prev_siblings = dev->prev_siblings;
+		dev->state &= ~IXXAT_USB_STATE_CONNECTED;
+		strncpy(name, netdev->name, IFNAMSIZ);
+
+		unregister_netdev(netdev);
+
+		dev->next_siblings = NULL;
+		if (dev->adapter->dev_free)
+			dev->adapter->dev_free(dev);
+
+		free_candev(netdev);
+		dev_dbg(&intf->dev, "%s removed\n", name);
+	}
+
+	usb_set_intfdata(intf, NULL);
+}
+
+/*
+ * probe function for new ixxat-usb devices
+ */
+static int ixxat_usb_probe(struct usb_interface *intf,
+		const struct usb_device_id *id)
+{
+	struct usb_device *usb_dev = interface_to_usbdev(intf);
+	struct ixx_usb_adapter *ixx_usb_adapter, **pp;
+	int i, err = -ENOMEM;
+	struct ixx_dev_caps dev_caps;
+
+	usb_dev = interface_to_usbdev(intf);
+
+	usb_reset_configuration(usb_dev);
+
+	/* get corresponding IXX-USB adapter */
+	for (pp = ixx_usb_adapters_list; *pp; pp++)
+		if ((*pp)->device_id == le16_to_cpu(usb_dev->descriptor.idProduct))
+			break;
+
+	ixx_usb_adapter = *pp;
+	if (!ixx_usb_adapter) {
+		/* should never come except device_id bad usage in this file */
+		pr_err("%s: didn't find device id. 0x%x in devices list\n",
+				IXXAT_USB_DRIVER_NAME, le16_to_cpu(usb_dev->descriptor.idProduct));
+		return -ENODEV;
+	}
+
+	/* got corresponding adapter: check if it handles current interface */
+	if (ixx_usb_adapter->intf_probe) {
+		err = ixx_usb_adapter->intf_probe(intf);
+		if (err)
+			return err;
+	}
+
+	if (ixx_usb_adapter->dev_power) {
+		err = ixx_usb_adapter->dev_power(usb_dev, IXXAT_USB_POWER_WAKEUP);
+		if (err)
+			return err;
+
+		/* Give usb device some time to start its can controllers */
+		msleep(500);
+	}
+
+	/* got corresponding adapter: check the available controllers */
+	if (ixx_usb_adapter->dev_get_dev_caps) {
+		err = ixx_usb_adapter->dev_get_dev_caps(usb_dev, &dev_caps);
+		if (err)
+			return err;
+
+		for (i = 0; i < dev_caps.bus_ctrl_count; i++) {
+			if ( IXXAT_USB_BUS_CAN
+					== IXXAT_USB_BUS_TYPE(dev_caps.bus_ctrl_types[i]))
+				ixx_usb_adapter->ctrl_count++;
+		}
+
+		for (i = 0; i < dev_caps.bus_ctrl_count; i++) {
+			if ( IXXAT_USB_BUS_CAN == IXXAT_USB_BUS_TYPE(dev_caps.bus_ctrl_types[i]))
+				err = ixxat_usb_create_dev(ixx_usb_adapter, intf, i);
+			if (err) {
+				/* deregister already created devices */
+				ixxat_usb_disconnect(intf);
+				break;
+			}
+		}
+	}
+
+	return err;
+}
+
+/* usb specific object needed to register this driver with the usb subsystem */
+static struct usb_driver ixx_usb_driver = {
+	.name = IXXAT_USB_DRIVER_NAME,
+	.disconnect = ixxat_usb_disconnect,
+	.probe = ixxat_usb_probe,
+	.id_table = ixxat_usb_table,
+};
+
+static int __init ixx_usb_init(void)
+{
+	int err;
+
+	/* register this driver with the USB subsystem */
+	err = usb_register(&ixx_usb_driver);
+	if (err)
+		pr_err("%s: usb_register failed (err %d)\n",
+				IXXAT_USB_DRIVER_NAME, err);
+
+	return err;
+}
+
+static int ixxat_usb_do_device_exit(struct device *d, void *arg)
+{
+	struct usb_interface
+		*intf = (struct usb_interface*)to_usb_interface(d);
+	struct ixx_usb_device *dev;
+
+	/* stop as many netdev devices as siblings */
+	for (dev = usb_get_intfdata(intf); dev; dev = dev->prev_siblings) {
+		struct net_device *netdev = dev->netdev;
+
+		if (netif_device_present(netdev))
+			if (dev->adapter->dev_exit)
+				dev->adapter->dev_exit(dev);
+	}
+
+	return 0;
+}
+
+static void __exit ixx_usb_exit(void)
+{
+	int err;
+
+	/* last chance do send any synchronous commands here */
+	err = driver_for_each_device(&ixx_usb_driver.drvwrap.driver, NULL,
+			NULL, ixxat_usb_do_device_exit);
+	if (err)
+		pr_err("%s: failed to stop all can devices (err %d)\n",
+				IXXAT_USB_DRIVER_NAME, err);
+
+	/* deregister this driver with the USB subsystem */
+	usb_deregister(&ixx_usb_driver);
+
+	pr_info("%s: IXX-USB interfaces driver unloaded\n",
+			IXXAT_USB_DRIVER_NAME);
+}
+
+module_init(ixx_usb_init);
+module_exit(ixx_usb_exit);
diff --git a/ubuntu/ixxat/ixx_usb_core.h b/ubuntu/ixxat/ixx_usb_core.h
new file mode 100644
index 000000000000..79c11d8f1ea8
--- /dev/null
+++ b/ubuntu/ixxat/ixx_usb_core.h
@@ -0,0 +1,289 @@ 
+/*
+ * CAN driver for IXXAT USB-to-CAN V2 adapters
+ *
+ * Copyright (C) 2003-2014 Michael Hengler IXXAT Automation GmbH
+ *
+ * Based on code originally by pcan_usb_core
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ */
+#ifndef IXX_USB_CORE_H
+#define IXX_USB_CORE_H
+
+#include <linux/version.h>
+
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(3, 19, 3)
+#define CANFD_CAPABLE 1
+#endif
+
+extern struct ixx_usb_adapter usb_to_can_v2_compact;
+extern struct ixx_usb_adapter usb_to_can_v2_automotive;
+extern struct ixx_usb_adapter usb_to_can_v2_embedded;
+extern struct ixx_usb_adapter usb_to_can_v2_professional;
+extern struct ixx_usb_adapter usb_to_can_v2_low_speed;
+extern struct ixx_usb_adapter usb_to_can_v2_extended;
+
+#ifdef CANFD_CAPABLE
+extern struct ixx_usb_adapter usb_to_can_fd_automotive;
+extern struct ixx_usb_adapter usb_to_can_fd_compact;
+extern struct ixx_usb_adapter usb_to_can_fd_professional;
+extern struct ixx_usb_adapter usb_to_can_fd_pcie_mini;
+extern struct ixx_usb_adapter usb_to_car;
+extern struct ixx_usb_adapter dell_edge_gw3002;
+#endif
+
+#ifndef CAN_MAX_DLEN
+#define CAN_MAX_DLEN 8
+#endif
+
+#ifndef CANFD_MAX_DLEN
+#define CANFD_MAX_DLEN 64
+#endif
+
+
+/* supported device ids. */
+#define USB_TO_CAN_V2_COMPACT_PRODUCT_ID       0x0008
+#define USB_TO_CAN_V2_EMBEDDED_PRODUCT_ID      0x0009
+#define USB_TO_CAN_V2_PROFESSIONAL_PRODUCT_ID  0x000A
+#define USB_TO_CAN_V2_AUTOMOTIVE_PRODUCT_ID    0x000B
+#define USB_TO_LIN_V2_PRODUCT_ID               0x000C
+#define USB_TO_KLINE_V2_PRODUCT_ID             0x000D
+#define USB_TO_CAN_V2_LOW_SPEED_PRODUCT_ID     0xFFFF
+#define USB_TO_CAN_V2_EXTENDED_PRODUCT_ID      0x000E
+
+#define USB_TO_CAN_FD_COMPACT_PRODUCT_ID       0x0014
+#define USB_TO_CAN_FD_PROFESSIONAL_PRODUCT_ID  0x0016
+#define USB_TO_CAN_FD_AUTOMOTIVE_PRODUCT_ID    0x0017
+#define USB_TO_CAN_FD_PCIE_MINI_PRODUCT_ID     0x001B
+#define USB_TO_CAR_ID                          0x001C
+#define DELL_EDGE_GW3002_PRODUCT_ID            0xFF11
+
+#define IXXAT_USB_MAX_CHANNEL  5
+
+/* number of urbs that are submitted for rx/tx per channel */
+#define IXXAT_USB_MAX_RX_URBS             4
+#define IXXAT_USB_MAX_TX_URBS             10
+
+#define IXX_BTMODE_NAT 0x01
+
+#define IXXAT_USB_POWER_WAKEUP    0
+#define IXXAT_USB_POWER_SLEEP     1
+
+struct ixx_usb_device;
+
+struct ixx_dev_caps
+{
+	u16 bus_ctrl_count;
+	u16 bus_ctrl_types[32];
+} __packed;
+
+struct ixx_ctrl_caps
+{
+	u16 ctrl_type;
+	u16 bus_coupling;
+	u32 features;
+	u32 clock_freq;
+	u32 tsc_divisor;
+	u32 cms_divisor;
+	u32 cms_max_ticks;
+	u32 dtx_divisor;
+	u32 dtx_max_ticks;
+} __packed;
+
+struct canbtp
+{
+	u32 mode;   // timing mode (see CAN_BTMODE_ const)
+	u32 bps;    // bits per second or prescaler (see CAN_BTMODE_)
+	u16 ts1;    // length of time segment 1 in quantas
+	u16 ts2;    // length of time segment 2 in quantas
+	u16 sjw;    // re-synchronisation jump width in quantas
+	u16 tdo;    // transceiver delay compensation offset in quantas
+	// (0 = disabled)
+} __packed;
+
+struct ixx_ctrl_caps_v2
+{
+	u16 ctrl_type;
+	u16 bus_coupling;
+	u32 features;
+
+	u32 clock_freq;
+	struct canbtp sdr_range_min;
+	struct canbtp sdr_range_max;
+	struct canbtp fdr_range_min;
+	struct canbtp fdr_range_max;
+
+	u32 tsc_freq;
+	u32 tsc_divisor;
+
+	u32 cms_freq;
+	u32 cms_divisor;
+	u32 cms_max_ticks;
+
+	u32 dtx_freq;
+	u32 dtx_divisor;
+	u32 dtx_max_ticks;
+} __packed;
+
+struct ixx_intf_info
+{
+	char   device_name[16];       // device name
+	char   device_id[16];         // device identification ( unique device id)
+	u16    device_version;        // device version ( 0, 1, ...)
+	u32    device_fpga_version;   // device version of FPGA design
+} __packed;
+
+struct ixx_intf_fw_info
+{
+	u32 firmware_type;  // type of currently running firmware
+	u16 reserved;       // reserved
+	u16 major_version;  // major firmware version number
+	u16 minor_version;  // minor firmware version number
+	u16 build_version;  // build firmware version number
+} __packed;
+
+struct ixx_usb_adapter {
+	char *name;
+	u32 device_id;
+	struct can_clock clock;
+	const struct can_bittiming_const bittiming_const;
+	const struct can_bittiming_const data_bittiming_const;
+
+	unsigned int ctrl_count;
+
+	u32 ctrlmode_supported;
+
+	int (*intf_probe)(struct usb_interface *intf);
+
+	int (*dev_get_dev_caps)(struct usb_device *usb_dev, struct ixx_dev_caps* dev_caps);
+	int (*dev_get_ctrl_caps)(struct usb_device *usb_dev, struct ixx_ctrl_caps* ctrl_caps, int index);
+
+	int (*intf_get_info)(struct ixx_usb_device *dev, struct ixx_intf_info* intf_info);
+	int (*intf_get_fw_info)(struct ixx_usb_device *dev, struct ixx_intf_fw_info* fw_info);
+
+	int (*dev_init)(struct ixx_usb_device *dev);
+	void (*dev_exit)(struct ixx_usb_device *dev);
+	void (*dev_free)(struct ixx_usb_device *dev);
+	int (*dev_open)(struct ixx_usb_device *dev);
+	int (*dev_close)(struct ixx_usb_device *dev);
+	int (*dev_set_bittiming)(struct ixx_usb_device *dev, struct can_bittiming *bt);
+	int (*dev_set_bus)(struct ixx_usb_device *dev, u8 onoff);
+	int (*dev_decode_buf)(struct ixx_usb_device *dev, struct urb *urb);
+	int (*dev_encode_msg)(struct ixx_usb_device *dev, struct sk_buff *skb,
+			u8 *obuf, size_t *size);
+	int (*dev_start)(struct ixx_usb_device *dev);
+	int (*dev_stop)(struct ixx_usb_device *dev);
+	int (*dev_restart_async)(struct ixx_usb_device *dev, struct urb *urb,
+			u8 *buf);
+	int (*dev_power)(struct usb_device *usb_dev, u8 mode);
+	u8 ep_msg_in[IXXAT_USB_MAX_CHANNEL];
+	u8 ep_msg_out[IXXAT_USB_MAX_CHANNEL];
+
+	int rx_buffer_size;
+	int tx_buffer_size;
+	int sizeof_dev_private;
+
+	int has_bgi_ep;
+
+};
+
+struct ixx_time_ref {
+	struct timeval tv_host_0;
+	u32 ts_dev_0;
+	u32 ts_dev_last;
+};
+
+struct ixx_tx_urb_context {
+	struct ixx_usb_device *dev;
+	u32 echo_index;
+	u8 dlc;
+	u8 count;
+	struct urb *urb;
+};
+
+/*IXXAT USB device */
+struct ixx_usb_device {
+	struct can_priv can;
+	struct ixx_usb_adapter *adapter;
+	unsigned int ctrl_idx;
+	u32 state;
+
+	struct sk_buff *echo_skb[IXXAT_USB_MAX_TX_URBS];
+
+	struct usb_device *udev;
+	struct net_device *netdev;
+
+	atomic_t active_tx_urbs;
+	struct usb_anchor tx_submitted;
+	struct ixx_tx_urb_context tx_contexts[IXXAT_USB_MAX_TX_URBS];
+
+	struct usb_anchor rx_submitted;
+
+	u32 device_number;
+	u8 device_rev;
+
+	u8 ep_msg_in;
+	u8 ep_msg_out;
+
+	u8 transmit_buffer[256];
+	u8 transmit_ptr;
+	u8 transmit_count;
+	u8 transmit_dlc;
+
+	struct task_struct *restart_task;
+	u8 restart_flag;
+	u8 must_quit;
+	wait_queue_head_t wait_queue;
+
+	struct ixx_usb_device *prev_siblings;
+	struct ixx_usb_device *next_siblings;
+
+	u8 btr0;
+	u8 btr1;
+
+	int ctrl_opened_count;
+
+	struct ixx_time_ref time_ref;
+
+	struct ixx_intf_info dev_info;
+	struct ixx_intf_fw_info fw_info;
+
+	struct can_berr_counter bec;
+};
+
+struct ixx_can_msg
+{
+	u8  size;
+	u32 time;
+	u32 msg_id;
+	u32 flags;
+	u8  data[CAN_MAX_DLEN];
+} __packed;
+
+struct ixx_can_msg_v2
+{
+	u8  size;
+	u32 time;
+	u32 msg_id;
+	u32 flags;
+	u32 client_id;
+	u8  data[CANFD_MAX_DLEN];
+} __packed;
+
+void ixxat_dump_mem(char *prompt, void *p, int l);
+
+void ixxat_usb_update_ts_now(struct ixx_usb_device *dev, u32 ts_now);
+void ixxat_usb_set_ts_now(struct ixx_usb_device *dev, u32 ts_now);
+void ixxat_usb_get_ts_tv(struct ixx_usb_device *dev, u32 ts,
+		ktime_t* k_time);
+
+void ixxat_usb_async_complete(struct urb *urb);
+void ixxat_usb_restart_complete(struct ixx_usb_device *dev);
+#endif
diff --git a/ubuntu/ixxat/ixx_usb_fd.c b/ubuntu/ixxat/ixx_usb_fd.c
new file mode 100644
index 000000000000..63d5b9944a85
--- /dev/null
+++ b/ubuntu/ixxat/ixx_usb_fd.c
@@ -0,0 +1,1673 @@ 
+/*
+ * CAN driver for IXXAT USB-to-CAN FD
+ *
+ * Copyright (C) 2017 Michael Hengler <mhengler@ixxat.de>
+ *
+ * Based on code originally by pcan_usb_core
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ */
+#include <linux/netdevice.h>
+#include <linux/usb.h>
+#include <linux/module.h>
+#include <linux/delay.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/can/error.h>
+#include <linux/kthread.h>
+#include <linux/sched.h>
+#include <linux/wait.h>
+#include <linux/types.h>
+#include <linux/gfp.h>
+#include <asm-generic/errno.h>
+#include <stdarg.h>
+
+#include "ixx_usb_core.h"
+
+#ifdef CANFD_CAPABLE
+
+MODULE_SUPPORTED_DEVICE("IXXAT Automation GmbH USB-to-CAN FD");
+
+/* use ifi can fd clock due to internal bittiming calculations */
+#define IFIFD_CRYSTAL_HZ	      80000000
+
+/* usb-to-can fd Endpoints */
+#define IXXAT_USBFD_EP_CMDOUT   0
+#define IXXAT_USBFD_EP_CMDIN    (IXXAT_USBFD_EP_CMDOUT | USB_DIR_IN)
+#define IXXAT_USBFD_EP_MSGOUT_0 1
+#define IXXAT_USBFD_EP_MSGIN_0  (IXXAT_USBFD_EP_MSGOUT_0 | USB_DIR_IN)
+#define IXXAT_USBFD_EP_MSGOUT_1 2
+#define IXXAT_USBFD_EP_MSGIN_1  (IXXAT_USBFD_EP_MSGOUT_1 | USB_DIR_IN)
+#define IXXAT_USBFD_EP_MSGOUT_2 3
+#define IXXAT_USBFD_EP_MSGIN_2  (IXXAT_USBFD_EP_MSGOUT_2 | USB_DIR_IN)
+#define IXXAT_USBFD_EP_MSGOUT_3 4
+#define IXXAT_USBFD_EP_MSGIN_3  (IXXAT_USBFD_EP_MSGOUT_3 | USB_DIR_IN)
+#define IXXAT_USBFD_EP_MSGOUT_4 5
+#define IXXAT_USBFD_EP_MSGIN_4  (IXXAT_USBFD_EP_MSGOUT_4 | USB_DIR_IN)
+
+/* DELL Edge GW3002 Endpoints */
+#define DELL_EDGE_GW3002_EP_MSGOUT_0 1
+#define DELL_EDGE_GW3002_EP_MSGIN_0  (2 | USB_DIR_IN)
+#define DELL_EDGE_GW3002_EP_MSGOUT_1 3
+#define DELL_EDGE_GW3002_EP_MSGIN_1  (4 | USB_DIR_IN)
+#define DELL_EDGE_GW3002_EP_MSGOUT_2 5
+#define DELL_EDGE_GW3002_EP_MSGIN_2  (6 | USB_DIR_IN)
+#define DELL_EDGE_GW3002_EP_MSGOUT_3 7
+#define DELL_EDGE_GW3002_EP_MSGIN_3  (8 | USB_DIR_IN)
+#define DELL_EDGE_GW3002_EP_MSGOUT_4 9
+#define DELL_EDGE_GW3002_EP_MSGIN_4  (10 | USB_DIR_IN)
+
+/* usb-to-can fd rx/tx buffers size */
+#define IXXAT_USBFD_RX_BUFFER_SIZE          512
+#define IXXAT_USBFD_TX_BUFFER_SIZE          512
+
+#define IXXAT_USBFD_CMD_BUFFER_SIZE         256
+
+/* reception of 11-bit id messages */
+#define IXXAT_USBFD_OPMODE_STANDARD         0x01
+/* reception of 29-bit id messages */
+#define IXXAT_USBFD_OPMODE_EXTENDED         0x02
+/* enable reception of error frames */
+#define IXXAT_USBFD_OPMODE_ERRFRAME         0x04
+/* listen only mode (TX passive) */
+#define IXXAT_USBFD_OPMODE_LISTONLY         0x08
+
+/* no extended operation */
+#define IXXAT_USBFD_EXMODE_DISABLED         0x00
+/* extended data length */
+#define IXXAT_USBFD_EXMODE_EXTDATA          0x01
+/* fast data bit rate */
+#define IXXAT_USBFD_EXMODE_FASTDATA         0x02
+/* ISO conform CAN-FD frame */
+#define IXXAT_USBFD_EXMODE_ISOFD            0x04
+
+/* Stuff error */
+#define IXXAT_USBFD_CAN_ERROR_STUFF         1
+/* Form error */
+#define IXXAT_USBFD_CAN_ERROR_FORM          2
+/* Acknowledgment error */
+#define IXXAT_USBFD_CAN_ERROR_ACK           3
+/* Bit error */
+#define IXXAT_USBFD_CAN_ERROR_BIT           4
+/* Fast data bit rate error */
+#define IXXAT_USBFD_CAN_ERROR_FAST_DATA     5
+/* CRC error */
+#define IXXAT_USBFD_CAN_ERROR_CRC           6
+/* Other (unspecified) error */
+#define IXXAT_USBFD_CAN_ERROR_OTHER         7
+
+/* Data overrun occurred */
+#define IXXAT_USBFD_CAN_STATUS_OVRRUN    0x02
+/* Error warning limit exceeded */
+#define IXXAT_USBFD_CAN_STATUS_ERRLIM    0x04
+/* Bus off status */
+#define IXXAT_USBFD_CAN_STATUS_BUSOFF    0x08
+
+#define IXXAT_USBFD_CAN_DATA             0x00
+#define IXXAT_USBFD_CAN_INFO             0x01
+#define IXXAT_USBFD_CAN_ERROR            0x02
+#define IXXAT_USBFD_CAN_STATUS           0x03
+#define IXXAT_USBFD_CAN_WAKEUP           0x04
+#define IXXAT_USBFD_CAN_TIMEOVR          0x05
+#define IXXAT_USBFD_CAN_TIMERST          0x06
+
+
+#define IXXAT_USBFD_MSG_FLAGS_TYPE   0x000000FF
+#define IXXAT_USBFD_MSG_FLAGS_SSM    0x00000100
+#define IXXAT_USBFD_MSG_FLAGS_HPM    0x00000200
+#define IXXAT_USBFD_MSG_FLAGS_EDL    0x00000400
+#define IXXAT_USBFD_MSG_FLAGS_FDR    0x00000800
+#define IXXAT_USBFD_MSG_FLAGS_ESI    0x00001000
+#define IXXAT_USBFD_MSG_FLAGS_RES    0x0000E000
+#define IXXAT_USBFD_MSG_FLAGS_DLC    0x000F0000
+#define IXXAT_USBFD_MSG_FLAGS_OVR    0x00100000
+#define IXXAT_USBFD_MSG_FLAGS_SRR    0x00200000
+#define IXXAT_USBFD_MSG_FLAGS_RTR    0x00400000
+#define IXXAT_USBFD_MSG_FLAGS_EXT    0x00800000
+#define IXXAT_USBFD_MSG_FLAGS_AFC    0xFF000000
+
+#define IXXAT_USBFD_BAL_CMD_CLASS    3
+#define IXXAT_USBFD_BRD_CMD_CLASS    4
+
+#define IXXAT_USBFD_BRD_CMD_CAT      0
+#define IXXAT_USBFD_CAN_CMD_CAT      1
+
+#define IXXAT_USBFD_VCI_CMD_CODE(Class, Function) \
+	((u32) (((Class) << 8) | (Function)))
+
+#define IXXAT_USBFD_BRD_CMD_CODE(Category, Function) \
+	IXXAT_USBFD_VCI_CMD_CODE(IXXAT_USBFD_BRD_CMD_CLASS, \
+		((Category) << 5) | (Function))
+
+#define IXXAT_USBFD_BAL_CMD_CODE(Category, Function) \
+	IXXAT_USBFD_VCI_CMD_CODE(IXXAT_USBFD_BAL_CMD_CLASS, \
+		((Category) << 5) | (Function))
+
+#define IXXAT_USBFD_CAN_GET_CAPS_CMD \
+	IXXAT_USBFD_BAL_CMD_CODE(IXXAT_USBFD_CAN_CMD_CAT, 0)
+#define IXXAT_USBFD_POWER_CMD \
+	IXXAT_USBFD_BRD_CMD_CODE(IXXAT_USBFD_CAN_CMD_CAT, 1)
+#define IXXAT_USBFD_CAN_INIT_CMD \
+	IXXAT_USBFD_BAL_CMD_CODE(IXXAT_USBFD_CAN_CMD_CAT, 5)
+#define IXXAT_USBFD_CAN_START_CMD \
+	IXXAT_USBFD_BAL_CMD_CODE(IXXAT_USBFD_CAN_CMD_CAT, 6)
+#define IXXAT_USBFD_CAN_STOP_CMD \
+	IXXAT_USBFD_BAL_CMD_CODE(IXXAT_USBFD_CAN_CMD_CAT, 7)
+#define IXXAT_USBFD_CAN_RESET_CMD \
+	IXXAT_USBFD_BAL_CMD_CODE(IXXAT_USBFD_CAN_CMD_CAT, 8)
+/* Additional commands for USB-to-CAN FD */
+#define IXXAT_USBFD_INIT_V2_CMD \
+	IXXAT_USBFD_BAL_CMD_CODE(IXXAT_USBFD_CAN_CMD_CAT, 23)
+
+#define IXXAT_USBFD_BRD_GET_FWINFO_CMD \
+	IXXAT_USBFD_BRD_CMD_CODE(IXXAT_USBFD_BRD_CMD_CAT, 0)
+#define IXXAT_USBFD_BRD_GET_DEVCAPS_CMD \
+	IXXAT_USBFD_BRD_CMD_CODE(IXXAT_USBFD_BRD_CMD_CAT, 1)
+#define IXXAT_USBFD_BRD_GET_DEVINFO_CMD \
+	IXXAT_USBFD_BRD_CMD_CODE(IXXAT_USBFD_BRD_CMD_CAT, 2)
+
+struct ixx_usbfd_dal_req {
+	u32 req_size;
+	u16 req_port;
+	u16 req_socket;
+	u32 req_code;
+} __packed;
+
+struct ixx_usbfd_dal_res {
+	u32 res_size;
+	u32 ret_size;
+	u32 ret_code;
+} __packed;
+
+// Additional structures for the for USB-to-CAN FD
+
+struct ixx_usbfd_dev_power_req {
+	struct ixx_usbfd_dal_req dal_req;
+	u8  mode;
+	u8  _padding1;
+	u16 _padding2;
+} __packed;
+
+struct ixx_usbfd_dev_power_res {
+	struct ixx_usbfd_dal_res dal_res;
+} __packed;
+
+struct ixx_usbfd_ctrl_init_v2_req {
+	struct ixx_usbfd_dal_req dal_req;
+	u8                opmode;
+	u8                exmode;
+	struct canbtp	    sdr;
+	struct canbtp	    fdr;
+	u16		      _padding;
+} __packed;
+
+struct ixx_usbfd_ctrl_init_v2_res {
+	struct ixx_usbfd_dal_res dal_res;
+} __packed;
+
+struct ixx_usbfd_dev_caps_req {
+	struct ixx_usbfd_dal_req dal_req;
+} __packed;
+
+struct ixx_usbfd_dev_caps_res {
+	struct ixx_usbfd_dal_res dal_res;
+	struct ixx_dev_caps dev_caps;
+} __packed;
+
+struct ixx_usbfd_ctrl_caps_req {
+	struct ixx_usbfd_dal_req dal_req;
+} __packed;
+
+struct ixx_usbfd_ctrl_caps_res {
+	struct ixx_usbfd_dal_res dal_res;
+	struct ixx_ctrl_caps ctrl_caps;
+} __packed;
+
+struct ixx_usbfd_ctrl_init_req {
+	struct ixx_usbfd_dal_req dal_req;
+	u8 mode;
+	u8 btr0;
+	u8 btr1;
+	u8 padding;
+} __packed;
+
+struct ixx_usbfd_ctrl_init_res {
+	struct ixx_usbfd_dal_res dal_res;
+} __packed;
+
+struct ixx_usbfd_ctrl_start_req {
+	struct ixx_usbfd_dal_req dal_req;
+} __packed;
+
+struct ixx_usbfd_ctrl_start_res {
+	struct ixx_usbfd_dal_res dal_res;
+	u32 start_time;
+} __packed;
+
+struct ixx_usbfd_ctrl_stop_req {
+	struct ixx_usbfd_dal_req dal_req;
+	u32 action;
+} __packed;
+
+struct ixx_usbfd_ctrl_stop_res {
+	struct ixx_usbfd_dal_res dal_res;
+} __packed;
+
+struct ixx_usbfd_brd_get_fwinfo_req {
+	struct ixx_usbfd_dal_req dal_req;
+} __packed;
+
+struct ixx_usbfd_brd_get_fwinfo_res {
+	struct ixx_usbfd_dal_res dal_res;
+	struct ixx_intf_fw_info fwinfo;
+} __packed;
+
+struct ixx_usbfd_brd_get_intf_info_req {
+	struct ixx_usbfd_dal_req dal_req;
+} __packed;
+
+struct ixx_usbfd_brd_get_intf_info_res {
+	struct ixx_usbfd_dal_res dal_res;
+	struct ixx_intf_info info;
+} __packed;
+
+/*
+ * send usb-to-can fd command synchronously
+ */
+static int ixx_usbfd_send_cmd(struct usb_device *dev,
+		struct ixx_usbfd_dal_req *dal_req)
+{
+	int err, i;
+	u16 size, value;
+	u8  request, requesttype;
+	u8 *buf;
+
+	request     = 0xff;
+	requesttype = USB_TYPE_VENDOR | USB_DIR_OUT;
+	value       = le16_to_cpu(dal_req->req_port);
+	size        = le32_to_cpu(dal_req->req_size) +
+		sizeof(const struct ixx_usbfd_dal_res);
+
+	buf = kmalloc(size, GFP_KERNEL);
+	if(!buf)
+		return -ENOMEM;
+	memcpy(buf, (u8 *)dal_req, size);
+
+	for (i = 0; i < 10; ++i) {
+		err = usb_control_msg(dev, usb_sndctrlpipe(dev, 0), request,
+			requesttype,
+			value,
+			0,
+			buf,
+			size,
+			msecs_to_jiffies(50));
+
+		if (err < 0)
+			msleep(20);
+		else
+			break;
+	}
+
+	kfree(buf);
+
+	if (err < 0) {
+		dev_err(&dev->dev, "sending command failure: %d\n", err);
+		return err;
+	}
+
+	return 0;
+}
+
+/*
+ * receive usb-to-can fd command synchronously
+ */
+static int ixx_usbfd_rcv_cmd(struct usb_device *dev,
+		struct ixx_usbfd_dal_res *dal_res, int value)
+{
+	int err, res_size, i, size_to_read;
+	u8  request, requesttype;
+	u8 *buf;
+
+	request      = 0xff;
+	requesttype  = USB_TYPE_VENDOR | USB_DIR_IN;
+	res_size     = 0;
+	size_to_read = le32_to_cpu(dal_res->res_size);
+
+	buf = kmalloc(size_to_read, GFP_KERNEL);
+	if(!buf)
+		return -ENOMEM;
+
+	for (i = 0; i < 10; ++i) {
+		err = usb_control_msg(dev, usb_rcvctrlpipe(dev, 0), request,
+				requesttype, value,
+				0, buf + (u8) res_size,
+				size_to_read - res_size, msecs_to_jiffies(50));
+
+		if (err < 0) {
+			msleep(20);
+			continue;
+		}
+
+		res_size += err;
+		if (res_size < size_to_read)
+			msleep(20);
+		else
+			break;
+	}
+
+	if (res_size != size_to_read)
+		err = -EBADMSG;
+
+	if (err < 0) {
+		dev_err(&dev->dev, "receiving command failure: %d\n", err);
+		kfree(buf);
+		return err;
+	}
+
+	memcpy((u8 *)dal_res, buf, size_to_read);
+	kfree(buf);
+
+	return err;
+}
+
+static int ixx_usbfd_init_ctrl(struct ixx_usb_device *dev, u8 mode,
+			u8 exmode,
+			struct can_bittiming *arbitration_phase,
+			struct can_bittiming *data_phase)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBFD_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbfd_ctrl_init_v2_req *ctrl_init_req;
+	struct ixx_usbfd_ctrl_init_v2_res *ctrl_init_res;
+	u32 req_size = sizeof(*ctrl_init_req);
+
+	ctrl_init_req = (struct ixx_usbfd_ctrl_init_v2_req *) data;
+	ctrl_init_res = (struct ixx_usbfd_ctrl_init_v2_res *)(data + req_size);
+
+	ctrl_init_req->dal_req.req_size   = cpu_to_le32(req_size);
+	ctrl_init_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBFD_INIT_V2_CMD);
+	ctrl_init_req->dal_req.req_port   = cpu_to_le16(dev->ctrl_idx);
+	ctrl_init_req->dal_req.req_socket = 0xffff;
+	ctrl_init_req->opmode             = mode;
+	ctrl_init_req->exmode             = exmode;
+
+	ctrl_init_req->sdr.mode = cpu_to_le32(IXX_BTMODE_NAT);
+	ctrl_init_req->sdr.bps  = cpu_to_le32(arbitration_phase->brp);
+	ctrl_init_req->sdr.ts1  =
+		cpu_to_le16(arbitration_phase->prop_seg +
+		arbitration_phase->phase_seg1);
+	ctrl_init_req->sdr.ts2  = cpu_to_le16(arbitration_phase->phase_seg2);
+	ctrl_init_req->sdr.sjw  = cpu_to_le16(arbitration_phase->sjw);
+	ctrl_init_req->sdr.tdo  = 0;
+
+	if (exmode) {
+		ctrl_init_req->fdr.mode = cpu_to_le32(IXX_BTMODE_NAT);
+		ctrl_init_req->fdr.bps  = cpu_to_le32(data_phase->brp);
+		ctrl_init_req->fdr.ts1  =
+			cpu_to_le16(data_phase->prop_seg +
+			data_phase->phase_seg1);
+		ctrl_init_req->fdr.ts2  = cpu_to_le16(data_phase->phase_seg2);
+		ctrl_init_req->fdr.sjw  = cpu_to_le16(data_phase->sjw);
+		ctrl_init_req->fdr.tdo  =
+			cpu_to_le16((1 + data_phase->phase_seg1 +
+				data_phase->prop_seg) *
+			data_phase->brp);
+	}
+
+	ctrl_init_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*ctrl_init_res));
+	ctrl_init_res->dal_res.ret_size = 0;
+	ctrl_init_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbfd_send_cmd(dev->udev, &ctrl_init_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbfd_rcv_cmd(dev->udev,
+		&ctrl_init_res->dal_res,
+		dev->ctrl_idx);
+	if (err < 0)
+		return err;
+
+	return le32_to_cpu(ctrl_init_res->dal_res.ret_code);
+}
+
+static int ixx_usbfd_start_ctrl(struct ixx_usb_device *dev, u32 *time_ref)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBFD_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbfd_ctrl_start_req *ctrl_start_req;
+	struct ixx_usbfd_ctrl_start_res *ctrl_start_res;
+	u32 req_size = sizeof(*ctrl_start_req);
+
+	ctrl_start_req = (struct ixx_usbfd_ctrl_start_req *) data;
+	ctrl_start_res = (struct ixx_usbfd_ctrl_start_res *)(data + req_size);
+
+	ctrl_start_req->dal_req.req_size   = cpu_to_le32(req_size);
+	ctrl_start_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBFD_CAN_START_CMD);
+	ctrl_start_req->dal_req.req_port   = cpu_to_le16(dev->ctrl_idx);
+	ctrl_start_req->dal_req.req_socket = 0xffff;
+
+	ctrl_start_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*ctrl_start_res));
+	ctrl_start_res->dal_res.ret_size = 0;
+	ctrl_start_res->dal_res.ret_code = 0xffffffff;
+	ctrl_start_res->start_time       = 0;
+
+	err = ixx_usbfd_send_cmd(dev->udev, &ctrl_start_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbfd_rcv_cmd(dev->udev,
+		&ctrl_start_res->dal_res,
+		dev->ctrl_idx);
+	if (err < 0)
+		return err;
+
+	if (time_ref)
+		*time_ref = le32_to_cpu(ctrl_start_res->start_time);
+
+	return le32_to_cpu(ctrl_start_res->dal_res.ret_code);
+}
+
+static int ixx_usbfd_stop_ctrl(struct ixx_usb_device *dev)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBFD_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbfd_ctrl_stop_req *ctrl_stop_req;
+	struct ixx_usbfd_ctrl_stop_res *ctrl_stop_res;
+	u32 req_size = sizeof(*ctrl_stop_req);
+
+	ctrl_stop_req = (struct ixx_usbfd_ctrl_stop_req *) data;
+	ctrl_stop_res = (struct ixx_usbfd_ctrl_stop_res *)(data + req_size);
+
+	ctrl_stop_req->dal_req.req_size   = cpu_to_le32(req_size);
+	ctrl_stop_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBFD_CAN_STOP_CMD);
+	ctrl_stop_req->dal_req.req_port   = cpu_to_le16(dev->ctrl_idx);
+	ctrl_stop_req->dal_req.req_socket = 0xffff;
+	ctrl_stop_req->action             = cpu_to_le32(0x3);
+
+	ctrl_stop_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*ctrl_stop_res));
+	ctrl_stop_res->dal_res.ret_size = 0;
+	ctrl_stop_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbfd_send_cmd(dev->udev, &ctrl_stop_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbfd_rcv_cmd(dev->udev,
+		&ctrl_stop_res->dal_res,
+		dev->ctrl_idx);
+	if (err < 0)
+		return err;
+
+	if (!le32_to_cpu(ctrl_stop_res->dal_res.ret_code))
+		dev->can.state = CAN_STATE_STOPPED;
+
+	return le32_to_cpu(ctrl_stop_res->dal_res.ret_code);
+}
+
+static int ixx_usbfd_reset_ctrl(struct ixx_usb_device *dev)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBFD_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbfd_dal_req *dal_req;
+	struct ixx_usbfd_dal_res *dal_res;
+	u32 req_size = sizeof(*dal_req);
+
+	dal_req = (struct ixx_usbfd_dal_req *) data;
+	dal_res = (struct ixx_usbfd_dal_res *)(data + req_size);
+
+	dal_req->req_size   = cpu_to_le32(req_size);
+	dal_req->req_code   = cpu_to_le32(IXXAT_USBFD_CAN_RESET_CMD);
+	dal_req->req_port   = cpu_to_le16(dev->ctrl_idx);
+	dal_req->req_socket = 0xffff;
+
+	dal_res->res_size = cpu_to_le32(sizeof(*dal_res));
+	dal_res->ret_size = 0;
+	dal_res->ret_code = 0xffffffff;
+
+	err = ixx_usbfd_send_cmd(dev->udev, dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbfd_rcv_cmd(dev->udev, dal_res,
+			dev->ctrl_idx);
+	if (err < 0)
+		return err;
+
+	return le32_to_cpu(dal_res->ret_code);
+}
+
+static int ixx_usbfd_power_ctrl(struct usb_device *dev, u8 mode)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBFD_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbfd_dev_power_req *ctrl_power_req;
+	struct ixx_usbfd_dev_power_res *ctrl_power_res;
+	u32 req_size = sizeof(*ctrl_power_req);
+
+	ctrl_power_req = (struct ixx_usbfd_dev_power_req *) data;
+	ctrl_power_res = (struct ixx_usbfd_dev_power_res *)(data + req_size);
+
+	ctrl_power_req->dal_req.req_size   = cpu_to_le32(req_size);
+	ctrl_power_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBFD_POWER_CMD);
+	ctrl_power_req->dal_req.req_port   = cpu_to_le16(0xffff);
+	ctrl_power_req->dal_req.req_socket = 0xffff;
+	ctrl_power_req->mode               = mode;
+
+	ctrl_power_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*ctrl_power_res));
+	ctrl_power_res->dal_res.ret_size = 0;
+	ctrl_power_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbfd_send_cmd(dev, &ctrl_power_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbfd_rcv_cmd(dev,
+		&ctrl_power_res->dal_res,
+		0xffff);
+	if (err < 0)
+		return err;
+
+	return le32_to_cpu(ctrl_power_res->dal_res.ret_code);
+}
+
+/*
+ * handle restart but in asynchronously way
+ */
+static int ixx_usbfd_restart_task(void *user_data)
+{
+	u32 time_ref;
+	struct ixx_usb_device *dev = user_data;
+
+	while (!kthread_should_stop()) {
+		if (!dev->must_quit) {
+			wait_event_interruptible(dev->wait_queue,
+					dev->restart_flag);
+			if (!dev->must_quit) {
+				ixx_usbfd_stop_ctrl(dev);
+				ixx_usbfd_start_ctrl(dev, &time_ref);
+				dev->restart_flag = 0;
+				dev->can.state = CAN_STATE_ERROR_ACTIVE;
+			}
+		} else
+			msleep(20);
+	}
+	return 0;
+}
+
+static int ixx_usbfd_handle_canmsg(struct ixx_usb_device *dev,
+		struct ixx_can_msg_v2 *rx)
+{
+	struct net_device *netdev = dev->netdev;
+	struct canfd_frame *can_frame;
+	struct sk_buff *skb;
+	const u32 flags = le32_to_cpu(rx->flags);
+
+	if (flags & IXXAT_USBFD_MSG_FLAGS_EDL)
+		skb = alloc_canfd_skb(netdev, &can_frame);
+	else
+		skb = alloc_can_skb(netdev, (struct can_frame **)&can_frame);
+
+	if (!skb)
+		return -ENOMEM;
+
+	if (flags & IXXAT_USBFD_MSG_FLAGS_EDL) {
+		if (flags & IXXAT_USBFD_MSG_FLAGS_FDR)
+			can_frame->flags |= CANFD_BRS;
+
+		if (flags & IXXAT_USBFD_MSG_FLAGS_ESI)
+			can_frame->flags |= CANFD_ESI;
+
+		can_frame->len =
+			can_dlc2len(
+			get_canfd_dlc((flags & IXXAT_USBFD_MSG_FLAGS_DLC)
+			>> 16));
+	}	else {
+		can_frame->len =
+			get_canfd_dlc((flags & IXXAT_USBFD_MSG_FLAGS_DLC)
+			>> 16);
+	}
+
+	if (flags & IXXAT_USBFD_MSG_FLAGS_OVR) {
+		netdev->stats.rx_over_errors++;
+		netdev->stats.rx_errors++;
+	}
+
+	can_frame->can_id = le32_to_cpu(rx->msg_id);
+
+	if (flags & IXXAT_USBFD_MSG_FLAGS_EXT)
+		can_frame->can_id |= CAN_EFF_FLAG;
+
+	if (flags & IXXAT_USBFD_MSG_FLAGS_RTR)
+		can_frame->can_id |= CAN_RTR_FLAG;
+	else
+		memcpy(can_frame->data, rx->data, can_frame->len);
+
+	ixxat_usb_get_ts_tv(dev, le32_to_cpu(rx->time), &skb->tstamp);
+
+	netif_rx(skb);
+	netdev->stats.rx_packets++;
+	netdev->stats.rx_bytes += can_frame->len;
+
+	return 0;
+}
+
+static int ixx_usbfd_handle_error(struct ixx_usb_device *dev,
+		struct ixx_can_msg_v2 *rx)
+{
+	struct net_device *netdev = dev->netdev;
+	struct can_frame *can_frame;
+	struct sk_buff *skb;
+	u8 raw_status = 0;
+
+	/* nothing should be sent while in BUS_OFF state */
+	if (dev->can.state == CAN_STATE_BUS_OFF)
+		return 0;
+
+	raw_status = rx->data[0];
+
+	/* allocate an skb to store the error frame */
+	skb = alloc_can_err_skb(netdev, &can_frame);
+	if (!skb)
+		return -ENOMEM;
+
+	switch (raw_status) {
+	case IXXAT_USBFD_CAN_ERROR_ACK:
+		can_frame->can_id |= CAN_ERR_ACK;
+		netdev->stats.tx_errors++;
+		break;
+	case IXXAT_USBFD_CAN_ERROR_BIT:
+		can_frame->can_id |= CAN_ERR_PROT;
+		can_frame->data[2] |= CAN_ERR_PROT_BIT;
+		netdev->stats.rx_errors++;
+		break;
+	case IXXAT_USBFD_CAN_ERROR_CRC:
+		can_frame->can_id |= CAN_ERR_PROT;
+		can_frame->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
+		netdev->stats.rx_errors++;
+		break;
+	case IXXAT_USBFD_CAN_ERROR_FORM:
+		can_frame->can_id |= CAN_ERR_PROT;
+		can_frame->data[2] |= CAN_ERR_PROT_FORM;
+		netdev->stats.rx_errors++;
+		break;
+	case IXXAT_USBFD_CAN_ERROR_STUFF:
+		can_frame->can_id |= CAN_ERR_PROT;
+		can_frame->data[2] |= CAN_ERR_PROT_STUFF;
+		netdev->stats.rx_errors++;
+		break;
+	case IXXAT_USBFD_CAN_ERROR_OTHER:
+		can_frame->can_id |= CAN_ERR_PROT;
+		can_frame->data[2] |= CAN_ERR_PROT_UNSPEC;
+		netdev->stats.rx_errors++;
+		break;
+	default:
+		can_frame->can_id |= CAN_ERR_PROT;
+		netdev->stats.rx_errors++;
+	}
+
+	netif_rx(skb);
+	netdev->stats.rx_packets++;
+	netdev->stats.rx_bytes += can_frame->can_dlc;
+
+	dev->bec.txerr = le16_to_cpu(rx->data[1]);
+	dev->bec.rxerr = le16_to_cpu(rx->data[3]);
+
+	return 0;
+}
+
+static int ixx_usbfd_handle_status(struct ixx_usb_device *dev,
+		struct ixx_can_msg_v2 *rx)
+{
+	struct net_device *netdev = dev->netdev;
+	struct can_frame *can_frame;
+	struct sk_buff *skb;
+	u8 raw_status = 0;
+	u32 new_state = 0;
+
+	raw_status = rx->data[0];
+
+	/* nothing should be sent while in BUS_OFF state */
+	if (dev->can.state == CAN_STATE_BUS_OFF)
+		return 0;
+
+	if (!raw_status) {
+		/* no error bit (back to active state) */
+		dev->can.state = CAN_STATE_ERROR_ACTIVE;
+
+		dev->bec.txerr = 0;
+		dev->bec.rxerr = 0;
+		return 0;
+	}
+
+	/* allocate an skb to store the error frame */
+	skb = alloc_can_err_skb(netdev, &can_frame);
+	if (!skb)
+		return -ENOMEM;
+
+	if (raw_status & IXXAT_USBFD_CAN_STATUS_BUSOFF) {
+		can_frame->can_id |= CAN_ERR_BUSOFF;
+		new_state = CAN_STATE_BUS_OFF;
+		dev->can.can_stats.bus_off++;
+		can_bus_off(netdev);
+	} else {
+		if (raw_status & IXXAT_USBFD_CAN_STATUS_ERRLIM) {
+			can_frame->can_id |= CAN_ERR_CRTL;
+			can_frame->data[1] |= CAN_ERR_CRTL_TX_WARNING;
+			can_frame->data[1] |= CAN_ERR_CRTL_RX_WARNING;
+			dev->can.can_stats.error_warning++;
+			new_state = CAN_STATE_ERROR_WARNING;
+		}
+
+		if (raw_status & IXXAT_USBFD_CAN_STATUS_OVRRUN) {
+			can_frame->can_id |= CAN_ERR_PROT;
+			can_frame->data[2] |= CAN_ERR_PROT_OVERLOAD;
+			netdev->stats.rx_over_errors++;
+			netdev->stats.rx_errors++;
+		}
+
+		if (!new_state) {
+			new_state = CAN_STATE_ERROR_ACTIVE;
+
+			dev->bec.txerr = 0;
+			dev->bec.rxerr = 0;
+		}
+	}
+
+	dev->can.state = new_state;
+
+	netif_rx(skb);
+	netdev->stats.rx_packets++;
+	netdev->stats.rx_bytes += can_frame->can_dlc;
+
+	return 0;
+}
+
+/*
+ * callback for bulk IN urb
+ */
+static int ixx_usbfd_decode_buf(struct ixx_usb_device *dev, struct urb *urb)
+{
+	struct net_device *netdev = dev->netdev;
+	struct ixx_can_msg_v2 *can_msg;
+	u32 msg_end;
+	int err = 0;
+	u32 read_size = 0;
+	u8 msg_type;
+
+	u8 *data = urb->transfer_buffer;
+
+	/* loop reading all the records from the incoming message */
+	msg_end = urb->actual_length;
+	for (; msg_end > 0;) {
+		can_msg = (struct ixx_can_msg_v2 *) &data[read_size];
+
+		if (!can_msg || !can_msg->size) {
+			netdev_err(netdev, "got unsupported rec in usb msg:\n");
+			err = -ENOTSUPP;
+			break;
+		}
+
+		/* check if the record goes out of current packet */
+		if ((read_size + can_msg->size + 1) > urb->actual_length) {
+			netdev_err(netdev,
+			"got frag rec: should inc usb rx buf size\n");
+			err = -EBADMSG;
+			break;
+		}
+
+		msg_type = (le32_to_cpu(can_msg->flags) &
+			IXXAT_USBFD_MSG_FLAGS_TYPE);
+
+		switch (msg_type) {
+
+		case IXXAT_USBFD_CAN_DATA:
+			err = ixx_usbfd_handle_canmsg(dev, can_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case IXXAT_USBFD_CAN_STATUS:
+			err = ixx_usbfd_handle_status(dev, can_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case IXXAT_USBFD_CAN_ERROR:
+			err = ixx_usbfd_handle_error(dev, can_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case IXXAT_USBFD_CAN_TIMEOVR:
+			ixxat_usb_get_ts_tv(dev, can_msg->time, NULL);
+			break;
+
+		case IXXAT_USBFD_CAN_INFO:
+		case IXXAT_USBFD_CAN_WAKEUP:
+		case IXXAT_USBFD_CAN_TIMERST:
+			break;
+
+		default:
+			netdev_err(netdev,
+					"unhandled rec type 0x%02x (%d): ignored\n",
+					msg_type, msg_type);
+			break;
+		}
+
+		read_size += can_msg->size + 1;
+		msg_end -= (can_msg->size + 1);
+	}
+
+fail:
+	if (err)
+		ixxat_dump_mem("received msg", urb->transfer_buffer,
+				urb->actual_length);
+
+	return err;
+}
+
+static int ixx_usbfd_encode_msg(struct ixx_usb_device *dev, struct sk_buff *skb,
+		u8 *obuf, size_t *size)
+{
+	struct canfd_frame *cf = (struct canfd_frame *) skb->data;
+	struct ixx_can_msg_v2 can_msg = { 0 };
+
+	if (cf->can_id & CAN_RTR_FLAG)
+		can_msg.flags |= IXXAT_USBFD_MSG_FLAGS_RTR;
+
+	if (cf->can_id & CAN_EFF_FLAG) {
+		can_msg.flags |= IXXAT_USBFD_MSG_FLAGS_EXT;
+		can_msg.msg_id = cf->can_id & CAN_EFF_MASK;
+	} else {
+		can_msg.msg_id = cf->can_id & CAN_SFF_MASK;
+	}
+
+	if (dev->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT)
+		can_msg.flags |= IXXAT_USBFD_MSG_FLAGS_SSM;
+
+	if (skb->len == CANFD_MTU) {
+		can_msg.flags |= IXXAT_USBFD_MSG_FLAGS_EDL;
+
+		if (!(cf->can_id & CAN_RTR_FLAG) && (cf->flags & CANFD_BRS))
+			can_msg.flags |= IXXAT_USBFD_MSG_FLAGS_FDR;
+	}
+
+	can_msg.flags |= (can_len2dlc(cf->len) << 16) &
+		IXXAT_USBFD_MSG_FLAGS_DLC;
+
+	can_msg.flags = cpu_to_le32(can_msg.flags);
+	can_msg.msg_id = cpu_to_le32(can_msg.msg_id);
+
+	memcpy(can_msg.data, cf->data, cf->len);
+	can_msg.size = (u8)(sizeof(can_msg) - 1 - CANFD_MAX_DLEN + cf->len);
+
+	memcpy(obuf, &can_msg, can_msg.size + 1);
+
+	*size = can_msg.size + 1;
+
+	skb->data_len = *size;
+
+	return 0;
+}
+
+static int ixx_usbfd_start(struct ixx_usb_device *dev)
+{
+	int err;
+	u32 time_ref = 0;
+	u8 can_opmode = IXXAT_USBFD_OPMODE_EXTENDED
+			| IXXAT_USBFD_OPMODE_STANDARD;
+	u8 can_exmode = 0;
+
+	if (dev->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING)
+		can_opmode |= IXXAT_USBFD_OPMODE_ERRFRAME;
+	if (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
+		can_opmode |= IXXAT_USBFD_OPMODE_LISTONLY;
+
+	if ((CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO) & dev->can.ctrlmode)
+		can_exmode |= IXXAT_USBFD_EXMODE_EXTDATA |
+			IXXAT_USBFD_EXMODE_FASTDATA;
+
+	if (!(CAN_CTRLMODE_FD_NON_ISO & dev->can.ctrlmode) && can_exmode)
+		can_exmode |= IXXAT_USBFD_EXMODE_ISOFD;
+
+	/* Try to reset the controller, in case it is already initalized
+	   from a previous unclean shutdown */
+	ixx_usbfd_reset_ctrl(dev);
+
+	err = ixx_usbfd_init_ctrl(dev, can_opmode,
+			can_exmode,
+			&dev->can.bittiming,
+			&dev->can.data_bittiming);
+	if (err)
+		return err;
+
+	/* opening first device: */
+	if (dev->ctrl_opened_count == 0) {
+		err = ixx_usbfd_start_ctrl(dev, &time_ref);
+		if (err)
+			return err;
+
+		ixxat_usb_set_ts_now(dev, time_ref);
+	}
+
+	dev->ctrl_opened_count++;
+
+	dev->bec.txerr = 0;
+	dev->bec.rxerr = 0;
+
+	return err;
+}
+
+/*
+ * stop interface
+ * (last chance before set bus off)
+ */
+static int ixx_usbfd_stop(struct ixx_usb_device *dev)
+{
+	int err;
+
+	if (dev->ctrl_opened_count == 1) {
+		err = ixx_usbfd_stop_ctrl(dev);
+		if (err)
+			return err;
+	}
+
+	dev->ctrl_opened_count--;
+
+	return 0;
+}
+
+/*
+ * called when probing to initialize a device object.
+ */
+static int ixx_usbfd_init(struct ixx_usb_device *dev)
+{
+	dev->restart_task = kthread_run(&ixx_usbfd_restart_task, dev,
+			"restart_thread");
+	if (!dev->restart_task)
+		return -ENOBUFS;
+
+	return 0;
+}
+
+static void ixx_usbfd_exit(struct ixx_usb_device *dev)
+{
+	ixx_usbfd_reset_ctrl(dev);
+
+	dev->must_quit = 1;
+	dev->restart_flag = 1;
+	wake_up_interruptible(&dev->wait_queue);
+	if (dev->restart_task)
+		kthread_stop(dev->restart_task);
+}
+
+/*
+ * probe function for new IXXAT USB-to-CAN FD interface
+ */
+static int ixx_usbfd_probe(struct usb_interface *intf)
+{
+	struct usb_host_interface *if_desc;
+	int i;
+
+	if_desc = intf->altsetting;
+
+	/* check interface endpoint addresses */
+	for (i = 0; i < if_desc->desc.bNumEndpoints; i++) {
+		struct usb_endpoint_descriptor *ep = &if_desc->endpoint[i].desc;
+
+		/*
+		 * below is the list of valid ep addreses. Any other ep address
+		 * is considered as not-CAN interface address => no dev created
+		 */
+		switch (ep->bEndpointAddress) {
+		case IXXAT_USBFD_EP_MSGOUT_0:
+		case IXXAT_USBFD_EP_MSGOUT_1:
+		case IXXAT_USBFD_EP_MSGOUT_2:
+		case IXXAT_USBFD_EP_MSGOUT_3:
+		case IXXAT_USBFD_EP_MSGOUT_4:
+		case IXXAT_USBFD_EP_MSGIN_0:
+		case IXXAT_USBFD_EP_MSGIN_1:
+		case IXXAT_USBFD_EP_MSGIN_2:
+		case IXXAT_USBFD_EP_MSGIN_3:
+		case IXXAT_USBFD_EP_MSGIN_4:
+
+			break;
+		default:
+			return -ENODEV;
+		}
+	}
+
+	return 0;
+}
+
+static int ixx_usbfd_get_dev_caps(struct usb_device *dev,
+		struct ixx_dev_caps *dev_caps)
+{
+	int err = -ENODEV, i;
+	u8 data[IXXAT_USBFD_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbfd_dev_caps_req *dev_caps_req;
+	struct ixx_usbfd_dev_caps_res *dev_caps_res;
+	u32 req_size = sizeof(*dev_caps_req);
+
+	dev_caps_req = (struct ixx_usbfd_dev_caps_req *) data;
+	dev_caps_res = (struct ixx_usbfd_dev_caps_res *)(data + req_size);
+
+	dev_caps_req->dal_req.req_size   = cpu_to_le32(req_size);
+	dev_caps_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBFD_BRD_GET_DEVCAPS_CMD);
+	dev_caps_req->dal_req.req_port   = 0xffff;
+	dev_caps_req->dal_req.req_socket = 0xffff;
+
+	dev_caps_res->dal_res.res_size = cpu_to_le32(
+		sizeof(*dev_caps_res));
+	dev_caps_res->dal_res.ret_size = 0;
+	dev_caps_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbfd_send_cmd(dev, &dev_caps_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbfd_rcv_cmd(dev, &dev_caps_res->dal_res,
+			0xffff);
+	if (err < 0)
+		return err;
+
+	dev_caps->bus_ctrl_count =
+		le16_to_cpu(dev_caps_res->dev_caps.bus_ctrl_count);
+	for (i = 0; i < dev_caps->bus_ctrl_count; ++i)
+		dev_caps->bus_ctrl_types[i] =
+			le16_to_cpu(dev_caps_res->dev_caps.bus_ctrl_types[i]);
+
+	return 0;
+}
+
+static int ixx_usbfd_get_ctrl_caps(struct usb_device *dev,
+		struct ixx_ctrl_caps *ctrl_caps, int index)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBFD_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbfd_ctrl_caps_req *ctrl_caps_req;
+	struct ixx_usbfd_ctrl_caps_res *ctrl_caps_res;
+	u32 req_size = sizeof(*ctrl_caps_req);
+
+	ctrl_caps_req = (struct ixx_usbfd_ctrl_caps_req *) data;
+	ctrl_caps_res = (struct ixx_usbfd_ctrl_caps_res *)(data + req_size);
+
+	ctrl_caps_req->dal_req.req_size   = cpu_to_le32(req_size);
+	ctrl_caps_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBFD_CAN_GET_CAPS_CMD);
+	ctrl_caps_req->dal_req.req_port   = cpu_to_le16(index);
+	ctrl_caps_req->dal_req.req_socket = 0xffff;
+
+	ctrl_caps_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*ctrl_caps_res));
+	ctrl_caps_res->dal_res.ret_size = 0;
+	ctrl_caps_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbfd_send_cmd(dev, &ctrl_caps_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbfd_rcv_cmd(dev,
+			&ctrl_caps_res->dal_res,
+			index);
+	if (err < 0)
+		return err;
+
+	ctrl_caps->bus_coupling =
+		le16_to_cpu(ctrl_caps_res->ctrl_caps.bus_coupling);
+	ctrl_caps->clock_freq =
+		le32_to_cpu(ctrl_caps_res->ctrl_caps.clock_freq);
+	ctrl_caps->cms_divisor =
+		le32_to_cpu(ctrl_caps_res->ctrl_caps.cms_divisor);
+	ctrl_caps->cms_max_ticks =
+		le32_to_cpu(ctrl_caps_res->ctrl_caps.cms_max_ticks);
+	ctrl_caps->ctrl_type = le16_to_cpu(ctrl_caps_res->ctrl_caps.ctrl_type);
+	ctrl_caps->dtx_divisor =
+		le32_to_cpu(ctrl_caps_res->ctrl_caps.dtx_divisor);
+	ctrl_caps->dtx_max_ticks =
+		le32_to_cpu(ctrl_caps_res->ctrl_caps.dtx_max_ticks);
+	ctrl_caps->features = le32_to_cpu(ctrl_caps_res->ctrl_caps.features);
+	ctrl_caps->tsc_divisor =
+		le32_to_cpu(ctrl_caps_res->ctrl_caps.tsc_divisor);
+
+	return 0;
+}
+
+static int ixx_usbfd_get_fwinfo(struct ixx_usb_device *dev,
+		struct ixx_intf_fw_info *fwinfo)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBFD_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbfd_brd_get_fwinfo_req *fw_info_req;
+	struct ixx_usbfd_brd_get_fwinfo_res *fw_info_res;
+	u32 req_size = sizeof(*fw_info_req);
+
+	fw_info_req = (struct ixx_usbfd_brd_get_fwinfo_req *) data;
+	fw_info_res = (struct ixx_usbfd_brd_get_fwinfo_res *)(data + req_size);
+
+	fw_info_req->dal_req.req_size   = cpu_to_le32(req_size);
+	fw_info_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBFD_BRD_GET_FWINFO_CMD);
+	fw_info_req->dal_req.req_port   = 0xffff;
+	fw_info_req->dal_req.req_socket = 0xffff;
+
+	fw_info_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*fw_info_res));
+	fw_info_res->dal_res.ret_size = 0;
+	fw_info_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbfd_send_cmd(dev->udev, &fw_info_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbfd_rcv_cmd(dev->udev,
+		&fw_info_res->dal_res, 0xffff);
+	if (err < 0)
+		return err;
+
+	if (fwinfo) {
+		fwinfo->build_version = le16_to_cpu(
+			fw_info_res->fwinfo.build_version);
+		fwinfo->firmware_type = le32_to_cpu(
+			fw_info_res->fwinfo.firmware_type);
+		fwinfo->major_version = le16_to_cpu(
+			fw_info_res->fwinfo.major_version);
+		fwinfo->minor_version = le16_to_cpu(
+			fw_info_res->fwinfo.minor_version);
+		fwinfo->reserved = le16_to_cpu(fw_info_res->fwinfo.reserved);
+	}
+
+	return le32_to_cpu(fw_info_res->dal_res.ret_code);
+}
+
+static int ixx_usbfd_get_dev_info(struct ixx_usb_device *dev,
+		struct ixx_intf_info *dev_info)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBFD_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbfd_brd_get_intf_info_req *dev_info_req;
+	struct ixx_usbfd_brd_get_intf_info_res *dev_info_res;
+	u32 req_size = sizeof(*dev_info_req);
+
+	dev_info_req = (struct ixx_usbfd_brd_get_intf_info_req *) data;
+	dev_info_res =
+		(struct ixx_usbfd_brd_get_intf_info_res *)(data + req_size);
+
+	dev_info_req->dal_req.req_size = cpu_to_le32(req_size);
+	dev_info_req->dal_req.req_code =
+		cpu_to_le32(IXXAT_USBFD_BRD_GET_DEVINFO_CMD);
+	dev_info_req->dal_req.req_port = 0xffff;
+	dev_info_req->dal_req.req_socket = 0xffff;
+
+	dev_info_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*dev_info_res));
+	dev_info_res->dal_res.ret_size = 0;
+	dev_info_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbfd_send_cmd(dev->udev,
+			&dev_info_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbfd_rcv_cmd(dev->udev,
+			&dev_info_res->dal_res,
+			0xffff);
+	if (err < 0)
+		return err;
+
+	if (dev_info) {
+		memcpy(dev_info->device_id, &dev_info_res->info.device_id,
+			sizeof(dev_info_res->info.device_id));
+		memcpy(dev_info->device_name, &dev_info_res->info.device_name,
+			sizeof(dev_info_res->info.device_name));
+		dev_info->device_fpga_version = le16_to_cpu(
+			dev_info_res->info.device_fpga_version);
+		dev_info->device_version = le32_to_cpu(
+			dev_info_res->info.device_version);
+	}
+
+	return le32_to_cpu(dev_info_res->dal_res.ret_code);
+}
+
+/*
+ * describes the USB-to-CAN FD automotive adapter
+ */
+struct ixx_usb_adapter usb_to_can_fd_automotive = {
+	.name = "USB-to-CAN FD automotive",
+	.device_id = USB_TO_CAN_FD_AUTOMOTIVE_PRODUCT_ID,
+	.clock = {
+		.freq = IFIFD_CRYSTAL_HZ,
+	},
+
+	.bittiming_const = {
+		.name = "ifi_can",
+		.tseg1_min = 1,
+		.tseg1_max = 256,
+		.tseg2_min = 1,
+		.tseg2_max = 256,
+		.sjw_max = 128,
+		.brp_min = 2,
+		.brp_max = 513,
+		.brp_inc = 1, },
+
+	.data_bittiming_const = {
+		.name = "ifi_can",
+		.tseg1_min = 1,
+		.tseg1_max = 256,
+		.tseg2_min = 1,
+		.tseg2_max = 256,
+		.sjw_max = 128,
+		.brp_min = 2,
+		.brp_max = 513,
+		.brp_inc = 1, },
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_LISTENONLY |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_BERR_REPORTING |
+		CAN_CTRLMODE_FD |
+		CAN_CTRLMODE_FD_NON_ISO,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(const struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  IXXAT_USBFD_EP_MSGIN_0, IXXAT_USBFD_EP_MSGIN_1,
+			IXXAT_USBFD_EP_MSGIN_2, IXXAT_USBFD_EP_MSGIN_3,
+			IXXAT_USBFD_EP_MSGIN_4 },
+	.ep_msg_out = { IXXAT_USBFD_EP_MSGOUT_0, IXXAT_USBFD_EP_MSGOUT_1,
+			IXXAT_USBFD_EP_MSGOUT_2, IXXAT_USBFD_EP_MSGOUT_3,
+			IXXAT_USBFD_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBFD_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBFD_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbfd_probe,
+	.dev_get_dev_caps = ixx_usbfd_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbfd_get_ctrl_caps,
+	.dev_init = ixx_usbfd_init,
+	.dev_exit = ixx_usbfd_exit,
+	.intf_get_info = ixx_usbfd_get_dev_info,
+	.intf_get_fw_info = ixx_usbfd_get_fwinfo,
+	.dev_decode_buf = ixx_usbfd_decode_buf,
+	.dev_encode_msg = ixx_usbfd_encode_msg,
+	.dev_start = ixx_usbfd_start,
+	.dev_stop = ixx_usbfd_stop,
+	.dev_power = ixx_usbfd_power_ctrl,
+	.has_bgi_ep = 1,
+};
+
+/*
+ * describes the USB-to-CAN FD compact adapter
+ */
+struct ixx_usb_adapter usb_to_can_fd_compact = {
+	.name = "USB-to-CAN FD compact",
+	.device_id = USB_TO_CAN_FD_COMPACT_PRODUCT_ID,
+	.clock = {
+		.freq = IFIFD_CRYSTAL_HZ,
+	},
+
+	.bittiming_const = {
+		.name = "ifi_can",
+		.tseg1_min = 1,
+		.tseg1_max = 256,
+		.tseg2_min = 1,
+		.tseg2_max = 256,
+		.sjw_max = 128,
+		.brp_min = 2,
+		.brp_max = 513,
+		.brp_inc = 1, },
+
+	.data_bittiming_const = {
+		.name = "ifi_can",
+		.tseg1_min = 1,
+		.tseg1_max = 256,
+		.tseg2_min = 1,
+		.tseg2_max = 256,
+		.sjw_max = 128,
+		.brp_min = 2,
+		.brp_max = 513,
+		.brp_inc = 1, },
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_LISTENONLY |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_BERR_REPORTING |
+		CAN_CTRLMODE_FD |
+		CAN_CTRLMODE_FD_NON_ISO,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(const struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  IXXAT_USBFD_EP_MSGIN_0, IXXAT_USBFD_EP_MSGIN_1,
+			IXXAT_USBFD_EP_MSGIN_2, IXXAT_USBFD_EP_MSGIN_3,
+			IXXAT_USBFD_EP_MSGIN_4 },
+	.ep_msg_out = { IXXAT_USBFD_EP_MSGOUT_0, IXXAT_USBFD_EP_MSGOUT_1,
+			IXXAT_USBFD_EP_MSGOUT_2, IXXAT_USBFD_EP_MSGOUT_3,
+			IXXAT_USBFD_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBFD_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBFD_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbfd_probe,
+	.dev_get_dev_caps = ixx_usbfd_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbfd_get_ctrl_caps,
+	.dev_init = ixx_usbfd_init,
+	.dev_exit = ixx_usbfd_exit,
+	.intf_get_info = ixx_usbfd_get_dev_info,
+	.intf_get_fw_info = ixx_usbfd_get_fwinfo,
+	.dev_decode_buf = ixx_usbfd_decode_buf,
+	.dev_encode_msg = ixx_usbfd_encode_msg,
+	.dev_start = ixx_usbfd_start,
+	.dev_stop = ixx_usbfd_stop,
+	.dev_power = ixx_usbfd_power_ctrl,
+	.has_bgi_ep = 1,
+};
+
+/*
+ * describes the DELL Edge GW3002
+ */
+struct ixx_usb_adapter dell_edge_gw3002 = {
+	.name = "USB DELL Edge GW3002",
+	.device_id = DELL_EDGE_GW3002_PRODUCT_ID,
+	.clock = {
+		.freq = IFIFD_CRYSTAL_HZ,
+	},
+
+	.bittiming_const = {
+		.name = "mcan",
+		.tseg1_min = 1,
+		.tseg1_max = 64,
+		.tseg2_min = 1,
+		.tseg2_max = 16,
+		.sjw_max = 16,
+		.brp_min = 1,
+		.brp_max = 1024,
+		.brp_inc = 1, },
+
+	.data_bittiming_const = {
+		.name = "mcan",
+		.tseg1_min = 1,
+		.tseg1_max = 16,
+		.tseg2_min = 1,
+		.tseg2_max = 8,
+		.sjw_max = 4,
+		.brp_min = 1,
+		.brp_max = 32,
+		.brp_inc = 1, },
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_LISTENONLY |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_BERR_REPORTING
+
+		/* currently not supported
+		CAN_CTRLMODE_FD |
+		CAN_CTRLMODE_FD_NON_ISO
+		*/,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(const struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  DELL_EDGE_GW3002_EP_MSGIN_0, DELL_EDGE_GW3002_EP_MSGIN_1,
+			DELL_EDGE_GW3002_EP_MSGIN_2, DELL_EDGE_GW3002_EP_MSGIN_3,
+			DELL_EDGE_GW3002_EP_MSGIN_4 },
+	.ep_msg_out = { DELL_EDGE_GW3002_EP_MSGOUT_0, DELL_EDGE_GW3002_EP_MSGOUT_1,
+			DELL_EDGE_GW3002_EP_MSGOUT_2, DELL_EDGE_GW3002_EP_MSGOUT_3,
+			DELL_EDGE_GW3002_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBFD_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBFD_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbfd_probe,
+	.dev_get_dev_caps = ixx_usbfd_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbfd_get_ctrl_caps,
+	.dev_init = ixx_usbfd_init,
+	.dev_exit = ixx_usbfd_exit,
+	.intf_get_info = ixx_usbfd_get_dev_info,
+	.intf_get_fw_info = ixx_usbfd_get_fwinfo,
+	.dev_decode_buf = ixx_usbfd_decode_buf,
+	.dev_encode_msg = ixx_usbfd_encode_msg,
+	.dev_start = ixx_usbfd_start,
+	.dev_stop = ixx_usbfd_stop,
+	.dev_power = ixx_usbfd_power_ctrl,
+	.has_bgi_ep = 0,
+};
+
+/*
+ * describes the USB-to-CAN FD professional adapter
+ */
+struct ixx_usb_adapter usb_to_can_fd_professional = {
+	.name = "USB-to-CAN FD professional",
+	.device_id = USB_TO_CAN_FD_PROFESSIONAL_PRODUCT_ID,
+	.clock = {
+		.freq = IFIFD_CRYSTAL_HZ,
+	},
+
+	.bittiming_const = {
+		.name = "ifi_can",
+		.tseg1_min = 1,
+		.tseg1_max = 256,
+		.tseg2_min = 1,
+		.tseg2_max = 256,
+		.sjw_max = 128,
+		.brp_min = 2,
+		.brp_max = 513,
+		.brp_inc = 1, },
+
+	.data_bittiming_const = {
+		.name = "ifi_can",
+		.tseg1_min = 1,
+		.tseg1_max = 256,
+		.tseg2_min = 1,
+		.tseg2_max = 256,
+		.sjw_max = 128,
+		.brp_min = 2,
+		.brp_max = 513,
+		.brp_inc = 1, },
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_LISTENONLY |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_BERR_REPORTING |
+		CAN_CTRLMODE_FD |
+		CAN_CTRLMODE_FD_NON_ISO,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(const struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  IXXAT_USBFD_EP_MSGIN_0, IXXAT_USBFD_EP_MSGIN_1,
+			IXXAT_USBFD_EP_MSGIN_2, IXXAT_USBFD_EP_MSGIN_3,
+			IXXAT_USBFD_EP_MSGIN_4 },
+	.ep_msg_out = { IXXAT_USBFD_EP_MSGOUT_0, IXXAT_USBFD_EP_MSGOUT_1,
+			IXXAT_USBFD_EP_MSGOUT_2, IXXAT_USBFD_EP_MSGOUT_3,
+			IXXAT_USBFD_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBFD_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBFD_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbfd_probe,
+	.dev_get_dev_caps = ixx_usbfd_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbfd_get_ctrl_caps,
+	.dev_init = ixx_usbfd_init,
+	.dev_exit = ixx_usbfd_exit,
+	.intf_get_info = ixx_usbfd_get_dev_info,
+	.intf_get_fw_info = ixx_usbfd_get_fwinfo,
+	.dev_decode_buf = ixx_usbfd_decode_buf,
+	.dev_encode_msg = ixx_usbfd_encode_msg,
+	.dev_start = ixx_usbfd_start,
+	.dev_stop = ixx_usbfd_stop,
+	.dev_power = ixx_usbfd_power_ctrl,
+	.has_bgi_ep = 1,
+};
+
+/*
+ * describes the USB-to-CAN FD PCIe mini adapter
+ */
+struct ixx_usb_adapter usb_to_can_fd_pcie_mini = {
+	.name = "USB-to-CAN FD PCIe mini",
+	.device_id = USB_TO_CAN_FD_PCIE_MINI_PRODUCT_ID,
+	.clock = {
+		.freq = IFIFD_CRYSTAL_HZ,
+	},
+
+	.bittiming_const = {
+		.name = "ifi_can",
+		.tseg1_min = 1,
+		.tseg1_max = 256,
+		.tseg2_min = 1,
+		.tseg2_max = 256,
+		.sjw_max = 128,
+		.brp_min = 2,
+		.brp_max = 513,
+		.brp_inc = 1, },
+
+	.data_bittiming_const = {
+		.name = "ifi_can",
+		.tseg1_min = 1,
+		.tseg1_max = 256,
+		.tseg2_min = 1,
+		.tseg2_max = 256,
+		.sjw_max = 128,
+		.brp_min = 2,
+		.brp_max = 513,
+		.brp_inc = 1, },
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_LISTENONLY |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_BERR_REPORTING |
+		CAN_CTRLMODE_FD |
+		CAN_CTRLMODE_FD_NON_ISO,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(const struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  IXXAT_USBFD_EP_MSGIN_0, IXXAT_USBFD_EP_MSGIN_1,
+			IXXAT_USBFD_EP_MSGIN_2, IXXAT_USBFD_EP_MSGIN_3,
+			IXXAT_USBFD_EP_MSGIN_4 },
+	.ep_msg_out = { IXXAT_USBFD_EP_MSGOUT_0, IXXAT_USBFD_EP_MSGOUT_1,
+			IXXAT_USBFD_EP_MSGOUT_2, IXXAT_USBFD_EP_MSGOUT_3,
+			IXXAT_USBFD_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBFD_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBFD_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbfd_probe,
+	.dev_get_dev_caps = ixx_usbfd_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbfd_get_ctrl_caps,
+	.dev_init = ixx_usbfd_init,
+	.dev_exit = ixx_usbfd_exit,
+	.intf_get_info = ixx_usbfd_get_dev_info,
+	.intf_get_fw_info = ixx_usbfd_get_fwinfo,
+	.dev_decode_buf = ixx_usbfd_decode_buf,
+	.dev_encode_msg = ixx_usbfd_encode_msg,
+	.dev_start = ixx_usbfd_start,
+	.dev_stop = ixx_usbfd_stop,
+	.dev_power = ixx_usbfd_power_ctrl,
+	.has_bgi_ep = 1,
+};
+
+/*
+ * describes the USB-to-CAR adapter
+ */
+struct ixx_usb_adapter usb_to_car = {
+	.name = "USB-to-CAR",
+	.device_id = USB_TO_CAR_ID,
+	.clock = {
+		.freq = IFIFD_CRYSTAL_HZ,
+	},
+
+	.bittiming_const = {
+		.name = "ifi_can",
+		.tseg1_min = 1,
+		.tseg1_max = 256,
+		.tseg2_min = 1,
+		.tseg2_max = 256,
+		.sjw_max = 128,
+		.brp_min = 2,
+		.brp_max = 513,
+		.brp_inc = 1, },
+
+	.data_bittiming_const = {
+		.name = "ifi_can",
+		.tseg1_min = 1,
+		.tseg1_max = 256,
+		.tseg2_min = 1,
+		.tseg2_max = 256,
+		.sjw_max = 128,
+		.brp_min = 2,
+		.brp_max = 513,
+		.brp_inc = 1, },
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_LISTENONLY |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_BERR_REPORTING |
+		CAN_CTRLMODE_FD |
+		CAN_CTRLMODE_FD_NON_ISO,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(const struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  IXXAT_USBFD_EP_MSGIN_0, IXXAT_USBFD_EP_MSGIN_1,
+			IXXAT_USBFD_EP_MSGIN_2, IXXAT_USBFD_EP_MSGIN_3,
+			IXXAT_USBFD_EP_MSGIN_4 },
+	.ep_msg_out = { IXXAT_USBFD_EP_MSGOUT_0, IXXAT_USBFD_EP_MSGOUT_1,
+			IXXAT_USBFD_EP_MSGOUT_2, IXXAT_USBFD_EP_MSGOUT_3,
+			IXXAT_USBFD_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBFD_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBFD_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbfd_probe,
+	.dev_get_dev_caps = ixx_usbfd_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbfd_get_ctrl_caps,
+	.dev_init = ixx_usbfd_init,
+	.dev_exit = ixx_usbfd_exit,
+	.intf_get_info = ixx_usbfd_get_dev_info,
+	.intf_get_fw_info = ixx_usbfd_get_fwinfo,
+	.dev_decode_buf = ixx_usbfd_decode_buf,
+	.dev_encode_msg = ixx_usbfd_encode_msg,
+	.dev_start = ixx_usbfd_start,
+	.dev_stop = ixx_usbfd_stop,
+	.dev_power = ixx_usbfd_power_ctrl,
+	.has_bgi_ep = 1,
+};
+
+
+#endif // CANFD_CAPABLE
diff --git a/ubuntu/ixxat/ixx_usb_v2.c b/ubuntu/ixxat/ixx_usb_v2.c
new file mode 100644
index 000000000000..3fe639c5b817
--- /dev/null
+++ b/ubuntu/ixxat/ixx_usb_v2.c
@@ -0,0 +1,1450 @@ 
+/*
+ * CAN driver for IXXAT USB-to-CAN V2
+ *
+ * Copyright (C) 2014 Michael Hengler <mhengler@ixxat.de>
+ *
+ * Based on code originally by pcan_usb_core
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ */
+#include <linux/netdevice.h>
+#include <linux/usb.h>
+#include <linux/module.h>
+#include <linux/delay.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/can/error.h>
+#include <linux/kthread.h>
+#include <linux/sched.h>
+#include <linux/wait.h>
+#include <linux/types.h>
+#include <linux/gfp.h>
+#include <asm-generic/errno.h>
+#include <stdarg.h>
+
+#include "ixx_usb_core.h"
+
+MODULE_SUPPORTED_DEVICE("IXXAT Automation GmbH USB-to-CAN V2");
+
+/* use sja 1000 clock due to internal bittiming calculations */
+#define SJA1000_CRYSTAL_HZ	      8000000
+
+/* usb-to-can v2 Endpoints */
+#define IXXAT_USBV2_EP_CMDOUT   0
+#define IXXAT_USBV2_EP_CMDIN    (IXXAT_USBV2_EP_CMDOUT | USB_DIR_IN)
+#define IXXAT_USBV2_EP_MSGOUT_0 1
+#define IXXAT_USBV2_EP_MSGIN_0  (IXXAT_USBV2_EP_MSGOUT_0 | USB_DIR_IN)
+#define IXXAT_USBV2_EP_MSGOUT_1 2
+#define IXXAT_USBV2_EP_MSGIN_1  (IXXAT_USBV2_EP_MSGOUT_1 | USB_DIR_IN)
+#define IXXAT_USBV2_EP_MSGOUT_2 3
+#define IXXAT_USBV2_EP_MSGIN_2  (IXXAT_USBV2_EP_MSGOUT_2 | USB_DIR_IN)
+#define IXXAT_USBV2_EP_MSGOUT_3 4
+#define IXXAT_USBV2_EP_MSGIN_3  (IXXAT_USBV2_EP_MSGOUT_3 | USB_DIR_IN)
+#define IXXAT_USBV2_EP_MSGOUT_4 5
+#define IXXAT_USBV2_EP_MSGIN_4  (IXXAT_USBV2_EP_MSGOUT_4 | USB_DIR_IN)
+
+/* usb-to-can v2 rx/tx buffers size */
+#define IXXAT_USBV2_RX_BUFFER_SIZE      512
+#define IXXAT_USBV2_TX_BUFFER_SIZE      256
+
+#define IXXAT_USBV2_CMD_BUFFER_SIZE     256
+
+#define IXXAT_USBV2_OPMODE_STANDARD  0x01 /* reception of 11-bit id messages */
+#define IXXAT_USBV2_OPMODE_EXTENDED  0x02 /* reception of 29-bit id messages */
+#define IXXAT_USBV2_OPMODE_ERRFRAME  0x04 /* enable reception of error frames */
+#define IXXAT_USBV2_OPMODE_LISTONLY  0x08 /* listen only mode (TX passive) */
+
+/* Stuff error */
+#define IXXAT_USBV2_CAN_ERROR_STUFF      1
+/* Form error */
+#define IXXAT_USBV2_CAN_ERROR_FORM       2
+/* Acknowledgment error */
+#define IXXAT_USBV2_CAN_ERROR_ACK        3
+/* Bit error */
+#define IXXAT_USBV2_CAN_ERROR_BIT        4
+/* CRC error */
+#define IXXAT_USBV2_CAN_ERROR_CRC        6
+/* Other (unspecified) error */
+#define IXXAT_USBV2_CAN_ERROR_OTHER      7
+
+/* Data overrun occurred */
+#define IXXAT_USBV2_CAN_STATUS_OVRRUN    0x02
+/* Error warning limit exceeded */
+#define IXXAT_USBV2_CAN_STATUS_ERRLIM    0x04
+/* Bus off status */
+#define IXXAT_USBV2_CAN_STATUS_BUSOFF    0x08
+
+#define IXXAT_USBV2_CAN_DATA             0x00
+#define IXXAT_USBV2_CAN_INFO             0x01
+#define IXXAT_USBV2_CAN_ERROR            0x02
+#define IXXAT_USBV2_CAN_STATUS           0x03
+#define IXXAT_USBV2_CAN_WAKEUP           0x04
+#define IXXAT_USBV2_CAN_TIMEOVR          0x05
+#define IXXAT_USBV2_CAN_TIMERST          0x06
+
+#define IXXAT_USBV2_MSG_FLAGS_TYPE       0x000000FF
+#define IXXAT_USBV2_MSG_FLAGS_SSM        0x00000100
+#define IXXAT_USBV2_MSG_FLAGS_HPM        0x00000600
+#define IXXAT_USBV2_MSG_FLAGS_RES        0x0000F800
+#define IXXAT_USBV2_MSG_FLAGS_DLC        0x000F0000
+#define IXXAT_USBV2_MSG_FLAGS_OVR        0x00100000
+#define IXXAT_USBV2_MSG_FLAGS_SRR        0x00200000
+#define IXXAT_USBV2_MSG_FLAGS_RTR        0x00400000
+#define IXXAT_USBV2_MSG_FLAGS_EXT        0x00800000
+#define IXXAT_USBV2_MSG_FLAGS_AFC        0xFF000000
+
+#define IXXAT_USBV2_BAL_CMD_CLASS        3
+#define IXXAT_USBV2_BRD_CMD_CLASS        4
+#define IXXAT_USBV2_BMG_CMD_CLASS        5
+
+#define IXXAT_USBV2_BRD_CMD_CAT          0
+#define IXXAT_USBV2_CAN_CMD_CAT          1
+
+#define IXXAT_USBV2_VCI_CMD_CODE(Class, Function) \
+	((u32) (((Class) << 8) | (Function)))
+
+#define IXXAT_USBV2_BRD_CMD_CODE(Category, Function) \
+	IXXAT_USBV2_VCI_CMD_CODE(IXXAT_USBV2_BRD_CMD_CLASS, \
+		((Category) << 5) | (Function))
+
+#define IXXAT_USBV2_BAL_CMD_CODE(Category, Function) \
+	IXXAT_USBV2_VCI_CMD_CODE(IXXAT_USBV2_BAL_CMD_CLASS, \
+		((Category) << 5) | (Function))
+
+#define IXXAT_USBV2_CAN_GET_CAPS_CMD \
+	IXXAT_USBV2_BAL_CMD_CODE(IXXAT_USBV2_CAN_CMD_CAT, 0)
+#define IXXAT_USBV2_CAN_INIT_CMD \
+	IXXAT_USBV2_BAL_CMD_CODE(IXXAT_USBV2_CAN_CMD_CAT, 5)
+#define IXXAT_USBV2_CAN_START_CMD \
+	IXXAT_USBV2_BAL_CMD_CODE(IXXAT_USBV2_CAN_CMD_CAT, 6)
+#define IXXAT_USBV2_CAN_STOP_CMD \
+	IXXAT_USBV2_BAL_CMD_CODE(IXXAT_USBV2_CAN_CMD_CAT, 7)
+#define IXXAT_USBV2_CAN_RESET_CMD \
+	IXXAT_USBV2_BAL_CMD_CODE(IXXAT_USBV2_CAN_CMD_CAT, 8)
+
+#define IXXAT_USBV2_BRD_GET_FWINFO_CMD \
+	IXXAT_USBV2_BRD_CMD_CODE(IXXAT_USBV2_BRD_CMD_CAT, 0)
+#define IXXAT_USBV2_BRD_GET_DEVCAPS_CMD \
+	IXXAT_USBV2_BRD_CMD_CODE(IXXAT_USBV2_BRD_CMD_CAT, 1)
+#define IXXAT_USBV2_BRD_GET_DEVINFO_CMD \
+	IXXAT_USBV2_BRD_CMD_CODE(IXXAT_USBV2_BRD_CMD_CAT, 2)
+
+struct ixx_usbv2_dal_req {
+	u32 req_size;
+	u16 req_port;
+	u16 req_socket;
+	u32 req_code;
+} __packed;
+
+struct ixx_usbv2_dal_res {
+	u32 res_size;
+	u32 ret_size;
+	u32 ret_code;
+} __packed;
+
+struct ixx_usbv2_dev_caps_req {
+	struct ixx_usbv2_dal_req dal_req;
+} __packed;
+
+struct ixx_usbv2_dev_caps_res {
+	struct ixx_usbv2_dal_res dal_res;
+	struct ixx_dev_caps dev_caps;
+} __packed;
+
+struct ixx_usbv2_ctrl_caps_req {
+	struct ixx_usbv2_dal_req dal_req;
+} __packed;
+
+struct ixx_usbv2_ctrl_caps_res {
+	struct ixx_usbv2_dal_res dal_res;
+	struct ixx_ctrl_caps ctrl_caps;
+} __packed;
+
+struct ixx_usbv2_ctrl_init_req {
+	struct ixx_usbv2_dal_req dal_req;
+	u8 mode;
+	u8 btr0;
+	u8 btr1;
+	u8 padding;
+} __packed;
+
+struct ixx_usbv2_ctrl_init_res {
+	struct ixx_usbv2_dal_res dal_res;
+} __packed;
+
+struct ixx_usbv2_ctrl_start_req {
+	struct ixx_usbv2_dal_req dal_req;
+} __packed;
+
+struct ixx_usbv2_ctrl_start_res {
+	struct ixx_usbv2_dal_res dal_res;
+	u32 start_time;
+} __packed;
+
+struct ixx_usbv2_ctrl_stop_req {
+	struct ixx_usbv2_dal_req dal_req;
+	u32 action;
+} __packed;
+
+struct ixx_usbv2_ctrl_stop_res {
+	struct ixx_usbv2_dal_res dal_res;
+} __packed;
+
+struct ixx_usbv2_brd_get_fwinfo_req {
+	struct ixx_usbv2_dal_req dal_req;
+} __packed;
+
+struct ixx_usbv2_brd_get_fwinfo_res {
+	struct ixx_usbv2_dal_res dal_res;
+	struct ixx_intf_fw_info fwinfo;
+} __packed;
+
+struct ixx_usbv2_brd_get_intf_info_req {
+	struct ixx_usbv2_dal_req dal_req;
+} __packed;
+
+struct ixx_usbv2_brd_get_intf_info_res {
+	struct ixx_usbv2_dal_res dal_res;
+	struct ixx_intf_info info;
+} __packed;
+
+/*
+ * send usb-to-can v2 command synchronously
+ */
+static int ixx_usbv2_send_cmd(struct usb_device *dev,
+		struct ixx_usbv2_dal_req *dal_req)
+{
+	int err, i;
+	u16 size, value;
+	u8  request, requesttype;
+	u8 *buf;
+
+	request     = 0xff;
+	requesttype = USB_TYPE_VENDOR | USB_DIR_OUT;
+	value       = le16_to_cpu(dal_req->req_port);
+	size        = le32_to_cpu(dal_req->req_size) +
+		sizeof(const struct ixx_usbv2_dal_res);
+
+	buf = kmalloc(size, GFP_KERNEL);
+	if(!buf)
+		return -ENOMEM;
+	memcpy(buf, (u8 *)dal_req, size);
+
+
+	for (i = 0; i < 10; ++i) {
+		err = usb_control_msg(dev, usb_sndctrlpipe(dev, 0), request,
+			requesttype,
+			value,
+			0,
+			buf,
+			size,
+			msecs_to_jiffies(50));
+
+		if (err < 0)
+			msleep(20);
+		else
+			break;
+	}
+
+	kfree(buf);
+
+	if (err < 0) {
+		dev_err(&dev->dev, "sending command failure: %d\n", err);
+		return err;
+	}
+
+	return 0;
+}
+
+/*
+ * receive usb-to-can v2 command synchronously
+ */
+static int ixx_usbv2_rcv_cmd(struct usb_device *dev,
+		struct ixx_usbv2_dal_res *dal_res, int value)
+{
+	int err, res_size, i, size_to_read;
+	u8  request, requesttype;
+	u8 *buf;
+
+	request      = 0xff;
+	requesttype  = USB_TYPE_VENDOR | USB_DIR_IN;
+	res_size     = 0;
+	size_to_read = le32_to_cpu(dal_res->res_size);
+
+	buf = kmalloc(size_to_read, GFP_KERNEL);
+	if(!buf)
+		return -ENOMEM;
+
+
+	for (i = 0; i < 10; ++i) {
+		err = usb_control_msg(dev, usb_rcvctrlpipe(dev, 0), request,
+				requesttype, value,
+				0, buf + (u8) res_size,
+				size_to_read - res_size, msecs_to_jiffies(50));
+
+		if (err < 0) {
+			msleep(20);
+			continue;
+		}
+
+		res_size += err;
+		if (res_size < size_to_read)
+			msleep(20);
+		else
+			break;
+	}
+
+	if (res_size != size_to_read)
+		err = -EBADMSG;
+
+	if (err < 0) {
+		dev_err(&dev->dev, "receiving command failure: %d\n", err);
+		kfree(buf);
+		return err;
+	}
+
+	memcpy((u8 *)dal_res, buf, size_to_read);
+	kfree(buf);
+
+	return err;
+}
+
+static int ixx_usbv2_init_ctrl(struct ixx_usb_device *dev, u8 mode, u8 btr0,
+		u8 btr1)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBV2_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbv2_ctrl_init_req *ctrl_init_req;
+	struct ixx_usbv2_ctrl_init_res *ctrl_init_res;
+	u32 req_size = sizeof(*ctrl_init_req);
+
+	ctrl_init_req = (struct ixx_usbv2_ctrl_init_req *) data;
+	ctrl_init_res = (struct ixx_usbv2_ctrl_init_res *)(data + req_size);
+
+	ctrl_init_req->dal_req.req_size   = cpu_to_le32(req_size);
+	ctrl_init_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBV2_CAN_INIT_CMD);
+	ctrl_init_req->dal_req.req_port   = cpu_to_le16(dev->ctrl_idx);
+	ctrl_init_req->dal_req.req_socket = 0xffff;
+	ctrl_init_req->mode               = mode;
+	ctrl_init_req->btr0               = btr0;
+	ctrl_init_req->btr1               = btr1;
+
+	ctrl_init_res->dal_res.res_size = cpu_to_le32(
+		sizeof(*ctrl_init_res));
+	ctrl_init_res->dal_res.ret_size = 0;
+	ctrl_init_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbv2_send_cmd(dev->udev, &ctrl_init_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbv2_rcv_cmd(dev->udev,
+		&ctrl_init_res->dal_res,
+		dev->ctrl_idx);
+	if (err < 0)
+		return err;
+
+	return le32_to_cpu(ctrl_init_res->dal_res.ret_code);
+}
+
+static int ixx_usbv2_start_ctrl(struct ixx_usb_device *dev, u32 *time_ref)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBV2_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbv2_ctrl_start_req *ctrl_start_req;
+	struct ixx_usbv2_ctrl_start_res *ctrl_start_res;
+	u32 req_size = sizeof(*ctrl_start_req);
+
+	ctrl_start_req = (struct ixx_usbv2_ctrl_start_req *) data;
+	ctrl_start_res = (struct ixx_usbv2_ctrl_start_res *)(data + req_size);
+
+	ctrl_start_req->dal_req.req_size   = cpu_to_le32(req_size);
+	ctrl_start_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBV2_CAN_START_CMD);
+	ctrl_start_req->dal_req.req_port   = cpu_to_le16(dev->ctrl_idx);
+	ctrl_start_req->dal_req.req_socket = 0xffff;
+
+	ctrl_start_res->dal_res.res_size = cpu_to_le32(
+		sizeof(*ctrl_start_res));
+	ctrl_start_res->dal_res.ret_size = 0;
+	ctrl_start_res->dal_res.ret_code = 0xffffffff;
+	ctrl_start_res->start_time       = 0;
+
+	err = ixx_usbv2_send_cmd(dev->udev, &ctrl_start_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbv2_rcv_cmd(dev->udev,
+		&ctrl_start_res->dal_res,
+		dev->ctrl_idx);
+	if (err < 0)
+		return err;
+
+	if (time_ref)
+		*time_ref = le32_to_cpu(ctrl_start_res->start_time);
+
+	return le32_to_cpu(ctrl_start_res->dal_res.ret_code);
+}
+
+static int ixx_usbv2_stop_ctrl(struct ixx_usb_device *dev)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBV2_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbv2_ctrl_stop_req *ctrl_stop_req;
+	struct ixx_usbv2_ctrl_stop_res *ctrl_stop_res;
+	u32 req_size = sizeof(struct ixx_usbv2_ctrl_stop_req);
+
+	ctrl_stop_req = (struct ixx_usbv2_ctrl_stop_req *) data;
+	ctrl_stop_res = (struct ixx_usbv2_ctrl_stop_res *)(data + req_size);
+
+	ctrl_stop_req->dal_req.req_size   = cpu_to_le32(req_size);
+	ctrl_stop_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBV2_CAN_STOP_CMD);
+	ctrl_stop_req->dal_req.req_port   = cpu_to_le16(dev->ctrl_idx);
+	ctrl_stop_req->dal_req.req_socket = 0xffff;
+	ctrl_stop_req->action             = cpu_to_le32(0x3);
+
+	ctrl_stop_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*ctrl_stop_res));
+	ctrl_stop_res->dal_res.ret_size = 0;
+	ctrl_stop_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbv2_send_cmd(dev->udev, &ctrl_stop_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbv2_rcv_cmd(dev->udev,
+		&ctrl_stop_res->dal_res,
+		dev->ctrl_idx);
+	if (err < 0)
+		return err;
+
+	if (!le32_to_cpu(ctrl_stop_res->dal_res.ret_code))
+		dev->can.state = CAN_STATE_STOPPED;
+
+	return le32_to_cpu(ctrl_stop_res->dal_res.ret_code);
+}
+
+static int ixx_usbv2_reset_ctrl(struct ixx_usb_device *dev)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBV2_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbv2_dal_req *dal_req;
+	struct ixx_usbv2_dal_res *dal_res;
+	u32 req_size = sizeof(*dal_req);
+
+	dal_req = (struct ixx_usbv2_dal_req *) data;
+	dal_res = (struct ixx_usbv2_dal_res *)(data + req_size);
+
+	dal_req->req_size   = cpu_to_le32(req_size);
+	dal_req->req_code   = cpu_to_le32(IXXAT_USBV2_CAN_RESET_CMD);
+	dal_req->req_port   = cpu_to_le16(dev->ctrl_idx);
+	dal_req->req_socket = 0xffff;
+
+	dal_res->res_size = cpu_to_le32(sizeof(*dal_res));
+	dal_res->ret_size = 0;
+	dal_res->ret_code = 0xffffffff;
+
+	err = ixx_usbv2_send_cmd(dev->udev, dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbv2_rcv_cmd(dev->udev, dal_res,
+			dev->ctrl_idx);
+	if (err < 0)
+		return err;
+
+	return le32_to_cpu(dal_res->ret_code);
+}
+
+static int ixx_usbv2_set_bittiming(struct ixx_usb_device *dev,
+		struct can_bittiming *bt)
+{
+	u8 btr0 = 0, btr1 = 0, can_opmode = 0;
+
+	btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6);
+	btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf)
+			| (((bt->phase_seg2 - 1) & 0x7) << 4);
+	if (dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
+		btr1 |= 0x80;
+
+	can_opmode = IXXAT_USBV2_OPMODE_EXTENDED | IXXAT_USBV2_OPMODE_STANDARD;
+
+	if (dev->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING)
+		can_opmode |= IXXAT_USBV2_OPMODE_ERRFRAME;
+	if (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
+		can_opmode |= IXXAT_USBV2_OPMODE_LISTONLY;
+
+	dev->btr0 = btr0;
+	dev->btr1 = btr1;
+
+	netdev_dbg(dev->netdev, "setting btr0=0x%08x btr1=0x%08x mode=0x%08x\n",
+			btr0, btr1, can_opmode);
+
+	return ixx_usbv2_init_ctrl(dev, can_opmode, btr0, btr1);
+}
+
+/*
+ * handle restart but in asynchronously way
+ */
+static int ixx_usbv2_restart_task(void *user_data)
+{
+	u32 time_ref;
+	struct ixx_usb_device *dev = user_data;
+
+	while (!kthread_should_stop()) {
+		if (!dev->must_quit) {
+			wait_event_interruptible(dev->wait_queue,
+					dev->restart_flag);
+			if (!dev->must_quit) {
+				ixx_usbv2_stop_ctrl(dev);
+				ixx_usbv2_start_ctrl(dev, &time_ref);
+				dev->restart_flag = 0;
+				dev->can.state = CAN_STATE_ERROR_ACTIVE;
+			}
+		} else
+			msleep(20);
+	}
+	return 0;
+}
+
+static int ixx_usbv2_handle_canmsg(struct ixx_usb_device *dev,
+		struct ixx_can_msg *rx)
+{
+	struct net_device *netdev = dev->netdev;
+	struct can_frame *can_frame;
+	struct sk_buff *skb;
+
+	skb = alloc_can_skb(netdev, &can_frame);
+	if (!skb)
+		return -ENOMEM;
+
+	if (le32_to_cpu(rx->flags) & IXXAT_USBV2_MSG_FLAGS_OVR) {
+		netdev->stats.rx_over_errors++;
+		netdev->stats.rx_errors++;
+	}
+
+	can_frame->can_id = le32_to_cpu(rx->msg_id);
+	can_frame->can_dlc =
+		(le32_to_cpu(rx->flags) &
+		IXXAT_USBV2_MSG_FLAGS_DLC) >> 16;
+
+	if (le32_to_cpu(rx->flags) & IXXAT_USBV2_MSG_FLAGS_EXT)
+		can_frame->can_id |= CAN_EFF_FLAG;
+
+	if (le32_to_cpu(rx->flags) & IXXAT_USBV2_MSG_FLAGS_RTR)
+		can_frame->can_id |= CAN_RTR_FLAG;
+	else
+		memcpy(can_frame->data, rx->data, can_frame->can_dlc);
+
+	ixxat_usb_get_ts_tv(dev, le32_to_cpu(rx->time), &skb->tstamp);
+
+	netif_rx(skb);
+	netdev->stats.rx_packets++;
+	netdev->stats.rx_bytes += can_frame->can_dlc;
+
+	return 0;
+}
+
+static int ixx_usbv2_handle_error(struct ixx_usb_device *dev,
+		struct ixx_can_msg *rx)
+{
+	struct net_device *netdev = dev->netdev;
+	struct can_frame *can_frame;
+	struct sk_buff *skb;
+	u8 raw_status = 0;
+
+	/* nothing should be sent while in BUS_OFF state */
+	if (dev->can.state == CAN_STATE_BUS_OFF)
+		return 0;
+
+	raw_status = rx->data[0];
+
+	/* allocate an skb to store the error frame */
+	skb = alloc_can_err_skb(netdev, &can_frame);
+	if (!skb)
+		return -ENOMEM;
+
+	switch (raw_status) {
+	case IXXAT_USBV2_CAN_ERROR_ACK:
+		can_frame->can_id |= CAN_ERR_ACK;
+		netdev->stats.tx_errors++;
+		break;
+	case IXXAT_USBV2_CAN_ERROR_BIT:
+		can_frame->can_id |= CAN_ERR_PROT;
+		can_frame->data[2] |= CAN_ERR_PROT_BIT;
+		netdev->stats.rx_errors++;
+		break;
+	case IXXAT_USBV2_CAN_ERROR_CRC:
+		can_frame->can_id |= CAN_ERR_PROT;
+		can_frame->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
+		netdev->stats.rx_errors++;
+		break;
+	case IXXAT_USBV2_CAN_ERROR_FORM:
+		can_frame->can_id |= CAN_ERR_PROT;
+		can_frame->data[2] |= CAN_ERR_PROT_FORM;
+		netdev->stats.rx_errors++;
+		break;
+	case IXXAT_USBV2_CAN_ERROR_STUFF:
+		can_frame->can_id |= CAN_ERR_PROT;
+		can_frame->data[2] |= CAN_ERR_PROT_STUFF;
+		netdev->stats.rx_errors++;
+		break;
+	case IXXAT_USBV2_CAN_ERROR_OTHER:
+		can_frame->can_id |= CAN_ERR_PROT;
+		can_frame->data[2] |= CAN_ERR_PROT_UNSPEC;
+		netdev->stats.rx_errors++;
+		break;
+	default:
+		can_frame->can_id |= CAN_ERR_PROT;
+		netdev->stats.rx_errors++;
+	}
+
+	netif_rx(skb);
+	netdev->stats.rx_packets++;
+	netdev->stats.rx_bytes += can_frame->can_dlc;
+
+	dev->bec.txerr = le16_to_cpu(rx->data[1]);
+	dev->bec.rxerr = le16_to_cpu(rx->data[3]);
+
+	return 0;
+}
+
+static int ixx_usbv2_handle_status(struct ixx_usb_device *dev,
+		struct ixx_can_msg *rx)
+{
+	struct net_device *netdev = dev->netdev;
+	struct can_frame *can_frame;
+	struct sk_buff *skb;
+	u8 raw_status = 0;
+	u32 new_state = 0;
+
+	raw_status = rx->data[0];
+
+	/* nothing should be sent while in BUS_OFF state */
+	if (dev->can.state == CAN_STATE_BUS_OFF)
+		return 0;
+
+	if (!raw_status) {
+		/* no error bit (back to active state) */
+		dev->can.state = CAN_STATE_ERROR_ACTIVE;
+
+		dev->bec.txerr = 0;
+		dev->bec.rxerr = 0;
+		return 0;
+	}
+
+	/* allocate an skb to store the error frame */
+	skb = alloc_can_err_skb(netdev, &can_frame);
+	if (!skb)
+		return -ENOMEM;
+
+	if (raw_status & IXXAT_USBV2_CAN_STATUS_BUSOFF) {
+		can_frame->can_id |= CAN_ERR_BUSOFF;
+		new_state = CAN_STATE_BUS_OFF;
+		dev->can.can_stats.bus_off++;
+		can_bus_off(netdev);
+	} else {
+		if (raw_status & IXXAT_USBV2_CAN_STATUS_ERRLIM) {
+			can_frame->can_id |= CAN_ERR_CRTL;
+			can_frame->data[1] |= CAN_ERR_CRTL_TX_WARNING;
+			can_frame->data[1] |= CAN_ERR_CRTL_RX_WARNING;
+			dev->can.can_stats.error_warning++;
+			new_state = CAN_STATE_ERROR_WARNING;
+		}
+
+		if (raw_status & IXXAT_USBV2_CAN_STATUS_OVRRUN) {
+			can_frame->can_id |= CAN_ERR_PROT;
+			can_frame->data[2] |= CAN_ERR_PROT_OVERLOAD;
+			netdev->stats.rx_over_errors++;
+			netdev->stats.rx_errors++;
+		}
+
+		if (!new_state) {
+			new_state = CAN_STATE_ERROR_ACTIVE;
+
+			dev->bec.txerr = 0;
+			dev->bec.rxerr = 0;
+		}
+	}
+
+	dev->can.state = new_state;
+
+	netif_rx(skb);
+	netdev->stats.rx_packets++;
+	netdev->stats.rx_bytes += can_frame->can_dlc;
+
+	return 0;
+}
+
+/*
+ * callback for bulk IN urb
+ */
+static int ixx_usbv2_decode_buf(struct ixx_usb_device *dev, struct urb *urb)
+{
+	struct net_device *netdev = dev->netdev;
+	struct ixx_can_msg *can_msg;
+	u32 msg_end;
+	int err = 0;
+	u32 read_size = 0;
+	u8 msg_type;
+	u8 *data;
+
+	data = urb->transfer_buffer;
+
+	/* loop reading all the records from the incoming message */
+	msg_end = urb->actual_length;
+	for (; msg_end > 0;) {
+		can_msg = (struct ixx_can_msg *) &data[read_size];
+
+		if (!can_msg || !can_msg->size) {
+			netdev_err(netdev, "got unsupported rec in usb msg:\n");
+			err = -ENOTSUPP;
+			break;
+		}
+
+		/* check if the record goes out of current packet */
+		if ((read_size + can_msg->size + 1) > urb->actual_length) {
+			netdev_err(netdev,
+			"got frag rec: should inc usb rx buf size\n");
+			err = -EBADMSG;
+			break;
+		}
+
+		msg_type =
+			(le32_to_cpu(can_msg->flags) &
+			IXXAT_USBV2_MSG_FLAGS_TYPE);
+
+		switch (msg_type) {
+
+		case IXXAT_USBV2_CAN_DATA:
+			err = ixx_usbv2_handle_canmsg(dev, can_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case IXXAT_USBV2_CAN_STATUS:
+			err = ixx_usbv2_handle_status(dev, can_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case IXXAT_USBV2_CAN_ERROR:
+			err = ixx_usbv2_handle_error(dev, can_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case IXXAT_USBV2_CAN_TIMEOVR:
+			ixxat_usb_get_ts_tv(dev, can_msg->time, NULL);
+			break;
+
+		case IXXAT_USBV2_CAN_INFO:
+		case IXXAT_USBV2_CAN_WAKEUP:
+		case IXXAT_USBV2_CAN_TIMERST:
+			break;
+
+		default:
+			netdev_err(netdev,
+					"unhandled rec type 0x%02x (%d): ignored\n",
+					msg_type, msg_type);
+			break;
+		}
+
+		read_size += can_msg->size + 1;
+		msg_end -= (can_msg->size + 1);
+	}
+
+fail:
+	if (err)
+		ixxat_dump_mem("received msg", urb->transfer_buffer,
+				urb->actual_length);
+
+	return err;
+}
+
+static int ixx_usbv2_encode_msg(struct ixx_usb_device *dev, struct sk_buff *skb,
+		u8 *obuf, size_t *size)
+{
+	struct can_frame *cf = (struct can_frame *) skb->data;
+	struct ixx_can_msg can_msg = { 0 };
+
+	if (cf->can_id & CAN_RTR_FLAG)
+		can_msg.flags |= IXXAT_USBV2_MSG_FLAGS_RTR;
+
+	if (cf->can_id & CAN_EFF_FLAG) {
+		can_msg.flags |= IXXAT_USBV2_MSG_FLAGS_EXT;
+		can_msg.msg_id = cf->can_id & CAN_EFF_MASK;
+	} else {
+		can_msg.msg_id = cf->can_id & CAN_SFF_MASK;
+	}
+
+	if (dev->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT)
+		can_msg.flags |= IXXAT_USBV2_MSG_FLAGS_SSM;
+
+	can_msg.flags |= (cf->can_dlc << 16) & IXXAT_USBV2_MSG_FLAGS_DLC;
+
+	can_msg.flags = cpu_to_le32(can_msg.flags);
+	can_msg.msg_id = cpu_to_le32(can_msg.msg_id);
+
+	memcpy(can_msg.data, cf->data, cf->can_dlc);
+	can_msg.size = (u8)(sizeof(can_msg) - 1 - CAN_MAX_DLEN + cf->can_dlc);
+
+	memcpy(obuf, &can_msg, can_msg.size + 1);
+
+	*size = can_msg.size + 1;
+
+	skb->data_len = *size;
+
+	return 0;
+}
+
+static int ixx_usbv2_start(struct ixx_usb_device *dev)
+{
+	int err;
+	u32 time_ref = 0;
+	u8 can_opmode = IXXAT_USBV2_OPMODE_EXTENDED
+			| IXXAT_USBV2_OPMODE_STANDARD;
+
+	if (dev->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING)
+		can_opmode |= IXXAT_USBV2_OPMODE_ERRFRAME;
+	if (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
+		can_opmode |= IXXAT_USBV2_OPMODE_LISTONLY;
+
+	err = ixx_usbv2_init_ctrl(dev, can_opmode, dev->btr0, dev->btr1);
+	if (err)
+		return err;
+
+	/* opening first device: */
+	if (dev->ctrl_opened_count == 0) {
+		err = ixx_usbv2_start_ctrl(dev, &time_ref);
+		if (err)
+			return err;
+
+		ixxat_usb_set_ts_now(dev, time_ref);
+	}
+
+	dev->ctrl_opened_count++;
+
+	dev->bec.txerr = 0;
+	dev->bec.rxerr = 0;
+
+	return err;
+}
+
+/*
+ * stop interface
+ * (last chance before set bus off)
+ */
+static int ixx_usbv2_stop(struct ixx_usb_device *dev)
+{
+	int err;
+
+	if (dev->ctrl_opened_count == 1) {
+		err = ixx_usbv2_stop_ctrl(dev);
+		if (err)
+			return err;
+	}
+
+	/* turn off ts msgs for that interface if no other dev opened */
+//	if (pdev->usb_if->dev_opened_count == 1)
+//		ixx_usbv2_set_ts(dev, 0);
+	dev->ctrl_opened_count--;
+
+	return 0;
+}
+
+/*
+ * called when probing to initialize a device object.
+ */
+static int ixx_usbv2_init(struct ixx_usb_device *dev)
+{
+	dev->restart_task = kthread_run(&ixx_usbv2_restart_task, dev,
+		"restart_thread");
+	if (!dev->restart_task)
+		return -ENOBUFS;
+
+	return 0;
+}
+
+static void ixx_usbv2_exit(struct ixx_usb_device *dev)
+{
+	ixx_usbv2_reset_ctrl(dev);
+
+	dev->must_quit = 1;
+	dev->restart_flag = 1;
+	wake_up_interruptible(&dev->wait_queue);
+	if (dev->restart_task)
+		kthread_stop(dev->restart_task);
+}
+
+/*
+ * probe function for new IXXAT USB-to-CAN V2 interface
+ */
+static int ixx_usbv2_probe(struct usb_interface *intf)
+{
+	struct usb_host_interface *if_desc;
+	int i;
+
+	if_desc = intf->altsetting;
+
+	/* check interface endpoint addresses */
+	for (i = 0; i < if_desc->desc.bNumEndpoints; i++) {
+		struct usb_endpoint_descriptor *ep = &if_desc->endpoint[i].desc;
+
+		/*
+		 * below is the list of valid ep addreses. Any other ep address
+		 * is considered as not-CAN interface address => no dev created
+		 */
+		switch (ep->bEndpointAddress) {
+		case IXXAT_USBV2_EP_MSGOUT_0:
+		case IXXAT_USBV2_EP_MSGOUT_1:
+		case IXXAT_USBV2_EP_MSGOUT_2:
+		case IXXAT_USBV2_EP_MSGOUT_3:
+		case IXXAT_USBV2_EP_MSGOUT_4:
+		case IXXAT_USBV2_EP_MSGIN_0:
+		case IXXAT_USBV2_EP_MSGIN_1:
+		case IXXAT_USBV2_EP_MSGIN_2:
+		case IXXAT_USBV2_EP_MSGIN_3:
+		case IXXAT_USBV2_EP_MSGIN_4:
+
+			break;
+		default:
+			return -ENODEV;
+		}
+	}
+
+	return 0;
+}
+
+static int ixx_usbv2_get_dev_caps(struct usb_device *dev,
+		struct ixx_dev_caps *dev_caps)
+{
+	int err = -ENODEV, i;
+	u8 data[IXXAT_USBV2_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbv2_dev_caps_req *dev_caps_req;
+	struct ixx_usbv2_dev_caps_res *dev_caps_res;
+	u32 req_size = sizeof(*dev_caps_req);
+
+	dev_caps_req = (struct ixx_usbv2_dev_caps_req *) data;
+	dev_caps_res = (struct ixx_usbv2_dev_caps_res *)(data + req_size);
+
+	dev_caps_req->dal_req.req_size   = cpu_to_le32(req_size);
+	dev_caps_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBV2_BRD_GET_DEVCAPS_CMD);
+	dev_caps_req->dal_req.req_port   = 0xffff;
+	dev_caps_req->dal_req.req_socket = 0xffff;
+
+	dev_caps_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*dev_caps_res));
+	dev_caps_res->dal_res.ret_size = 0;
+	dev_caps_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbv2_send_cmd(dev, &dev_caps_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbv2_rcv_cmd(dev, &dev_caps_res->dal_res,
+			0xffff);
+	if (err < 0)
+		return err;
+
+	dev_caps->bus_ctrl_count =
+		le16_to_cpu(dev_caps_res->dev_caps.bus_ctrl_count);
+	for (i = 0; i < dev_caps->bus_ctrl_count; ++i)
+		dev_caps->bus_ctrl_types[i] =
+			le16_to_cpu(dev_caps_res->dev_caps.bus_ctrl_types[i]);
+
+	return 0;
+}
+
+static int ixx_usbv2_get_ctrl_caps(struct usb_device *dev,
+		struct ixx_ctrl_caps *ctrl_caps, int index)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBV2_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbv2_ctrl_caps_req *ctrl_caps_req;
+	struct ixx_usbv2_ctrl_caps_res *ctrl_caps_res;
+	u32 req_size = sizeof(*ctrl_caps_req);
+
+	ctrl_caps_req = (struct ixx_usbv2_ctrl_caps_req *) data;
+	ctrl_caps_res = (struct ixx_usbv2_ctrl_caps_res *)(data + req_size);
+
+	ctrl_caps_req->dal_req.req_size   = cpu_to_le32(req_size);
+	ctrl_caps_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBV2_CAN_GET_CAPS_CMD);
+	ctrl_caps_req->dal_req.req_port   = cpu_to_le16(index);
+	ctrl_caps_req->dal_req.req_socket = 0xffff;
+
+	ctrl_caps_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*ctrl_caps_res));
+	ctrl_caps_res->dal_res.ret_size = 0;
+	ctrl_caps_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbv2_send_cmd(dev, &ctrl_caps_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbv2_rcv_cmd(dev, &ctrl_caps_res->dal_res,
+			index);
+	if (err < 0)
+		return err;
+
+	ctrl_caps->bus_coupling = le16_to_cpu(
+			ctrl_caps_res->ctrl_caps.bus_coupling);
+	ctrl_caps->clock_freq =
+		le32_to_cpu(ctrl_caps_res->ctrl_caps.clock_freq);
+	ctrl_caps->cms_divisor = le32_to_cpu(
+		ctrl_caps_res->ctrl_caps.cms_divisor);
+	ctrl_caps->cms_max_ticks = le32_to_cpu(
+		ctrl_caps_res->ctrl_caps.cms_max_ticks);
+	ctrl_caps->ctrl_type = le16_to_cpu(ctrl_caps_res->ctrl_caps.ctrl_type);
+	ctrl_caps->dtx_divisor = le32_to_cpu(
+		ctrl_caps_res->ctrl_caps.dtx_divisor);
+	ctrl_caps->dtx_max_ticks = le32_to_cpu(
+		ctrl_caps_res->ctrl_caps.dtx_max_ticks);
+	ctrl_caps->features = le32_to_cpu(ctrl_caps_res->ctrl_caps.features);
+	ctrl_caps->tsc_divisor = le32_to_cpu(
+		ctrl_caps_res->ctrl_caps.tsc_divisor);
+
+	return 0;
+}
+
+static int ixx_usbv2_get_fwinfo(struct ixx_usb_device *dev,
+		struct ixx_intf_fw_info *fwinfo)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBV2_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbv2_brd_get_fwinfo_req *fw_info_req;
+	struct ixx_usbv2_brd_get_fwinfo_res *fw_info_res;
+	u32 req_size = sizeof(*fw_info_req);
+
+	fw_info_req = (struct ixx_usbv2_brd_get_fwinfo_req *) data;
+	fw_info_res = (struct ixx_usbv2_brd_get_fwinfo_res *)(data + req_size);
+
+	fw_info_req->dal_req.req_size   = cpu_to_le32(req_size);
+	fw_info_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBV2_BRD_GET_FWINFO_CMD);
+	fw_info_req->dal_req.req_port   = 0xffff;
+	fw_info_req->dal_req.req_socket = 0xffff;
+
+	fw_info_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*fw_info_res));
+	fw_info_res->dal_res.ret_size = 0;
+	fw_info_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbv2_send_cmd(dev->udev, &fw_info_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbv2_rcv_cmd(dev->udev,
+		&fw_info_res->dal_res, 0xffff);
+	if (err < 0)
+		return err;
+
+	if (fwinfo) {
+		fwinfo->build_version =
+			le16_to_cpu(fw_info_res->fwinfo.build_version);
+		fwinfo->firmware_type =
+			le32_to_cpu(fw_info_res->fwinfo.firmware_type);
+		fwinfo->major_version =
+			le16_to_cpu(fw_info_res->fwinfo.major_version);
+		fwinfo->minor_version =
+			le16_to_cpu(fw_info_res->fwinfo.minor_version);
+		fwinfo->reserved =
+			le16_to_cpu(fw_info_res->fwinfo.reserved);
+	}
+
+	return le32_to_cpu(fw_info_res->dal_res.ret_code);
+}
+
+static int ixx_usbv2_get_dev_info(struct ixx_usb_device *dev,
+		struct ixx_intf_info *dev_info)
+{
+	int err = -ENODEV;
+	u8 data[IXXAT_USBV2_CMD_BUFFER_SIZE] = { 0 };
+	struct ixx_usbv2_brd_get_intf_info_req *dev_info_req;
+	struct ixx_usbv2_brd_get_intf_info_res *dev_info_res;
+	u32 req_size = sizeof(*dev_info_req);
+
+	dev_info_req = (struct ixx_usbv2_brd_get_intf_info_req *) data;
+	dev_info_res =
+		(struct ixx_usbv2_brd_get_intf_info_res *)(data + req_size);
+
+	dev_info_req->dal_req.req_size   = cpu_to_le32(req_size);
+	dev_info_req->dal_req.req_code   =
+		cpu_to_le32(IXXAT_USBV2_BRD_GET_DEVINFO_CMD);
+	dev_info_req->dal_req.req_port   = 0xffff;
+	dev_info_req->dal_req.req_socket = 0xffff;
+
+	dev_info_res->dal_res.res_size =
+		cpu_to_le32(sizeof(*dev_info_res));
+	dev_info_res->dal_res.ret_size = 0;
+	dev_info_res->dal_res.ret_code = 0xffffffff;
+
+	err = ixx_usbv2_send_cmd(dev->udev, &dev_info_req->dal_req);
+	if (err < 0)
+		return err;
+
+	err = ixx_usbv2_rcv_cmd(dev->udev,
+		&dev_info_res->dal_res, 0xffff);
+	if (err < 0)
+		return err;
+
+	if (dev_info) {
+		memcpy(dev_info->device_id, &dev_info_res->info.device_id,
+			sizeof(dev_info_res->info.device_id));
+		memcpy(dev_info->device_name, &dev_info_res->info.device_name,
+			sizeof(dev_info_res->info.device_name));
+		dev_info->device_fpga_version =
+			le16_to_cpu(dev_info_res->info.device_fpga_version);
+		dev_info->device_version =
+			le32_to_cpu(dev_info_res->info.device_version);
+	}
+
+	return le32_to_cpu(dev_info_res->dal_res.ret_code);
+}
+
+/*
+ * describe the describes the USB-to-CAN V2 compact adapter
+ */
+struct ixx_usb_adapter usb_to_can_v2_compact = {
+	.name = "USB-to-CAN V2 compact",
+	.device_id = USB_TO_CAN_V2_COMPACT_PRODUCT_ID,
+	.clock = {
+		.freq = SJA1000_CRYSTAL_HZ,
+	},
+	.bittiming_const = {
+		.name = "ixxat_usb",
+		.tseg1_min = 1,
+		.tseg1_max = 16,
+		.tseg2_min = 1,
+		.tseg2_max = 8,
+		.sjw_max = 4,
+		.brp_min = 1,
+		.brp_max = 64,
+		.brp_inc = 1,
+	},
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_BERR_REPORTING |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_LISTENONLY,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  IXXAT_USBV2_EP_MSGIN_0, IXXAT_USBV2_EP_MSGIN_1,
+		IXXAT_USBV2_EP_MSGIN_2, IXXAT_USBV2_EP_MSGIN_3,
+		IXXAT_USBV2_EP_MSGIN_4 },
+	.ep_msg_out = { IXXAT_USBV2_EP_MSGOUT_0, IXXAT_USBV2_EP_MSGOUT_1,
+		IXXAT_USBV2_EP_MSGOUT_2, IXXAT_USBV2_EP_MSGOUT_3,
+		IXXAT_USBV2_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBV2_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBV2_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbv2_probe,
+	.dev_get_dev_caps = ixx_usbv2_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbv2_get_ctrl_caps,
+	.dev_init = ixx_usbv2_init,
+	.dev_exit = ixx_usbv2_exit,
+	.dev_set_bittiming = ixx_usbv2_set_bittiming,
+	.intf_get_info = ixx_usbv2_get_dev_info,
+	.intf_get_fw_info = ixx_usbv2_get_fwinfo,
+	.dev_decode_buf = ixx_usbv2_decode_buf,
+	.dev_encode_msg = ixx_usbv2_encode_msg,
+	.dev_start = ixx_usbv2_start,
+	.dev_stop = ixx_usbv2_stop,
+};
+
+/*
+ * describes the USB-to-CAN V2 automotive adapter
+ */
+struct ixx_usb_adapter usb_to_can_v2_automotive = {
+	.name = "USB-to-CAN V2 automotive",
+	.device_id = USB_TO_CAN_V2_AUTOMOTIVE_PRODUCT_ID,
+	.clock = {
+		.freq = SJA1000_CRYSTAL_HZ,
+	},
+	.bittiming_const = {
+		.name = "ixxat_usb",
+		.tseg1_min = 1,
+		.tseg1_max = 16,
+		.tseg2_min = 1,
+		.tseg2_max = 8,
+		.sjw_max = 4,
+		.brp_min = 1,
+		.brp_max = 64,
+		.brp_inc = 1,
+	},
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_BERR_REPORTING |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_LISTENONLY,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  IXXAT_USBV2_EP_MSGIN_0, IXXAT_USBV2_EP_MSGIN_1,
+		IXXAT_USBV2_EP_MSGIN_2, IXXAT_USBV2_EP_MSGIN_3,
+		IXXAT_USBV2_EP_MSGIN_4 },
+	.ep_msg_out = { IXXAT_USBV2_EP_MSGOUT_0, IXXAT_USBV2_EP_MSGOUT_1,
+		IXXAT_USBV2_EP_MSGOUT_2, IXXAT_USBV2_EP_MSGOUT_3,
+		IXXAT_USBV2_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBV2_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBV2_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbv2_probe,
+	.dev_get_dev_caps = ixx_usbv2_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbv2_get_ctrl_caps,
+	.dev_init = ixx_usbv2_init,
+	.dev_exit = ixx_usbv2_exit,
+	.dev_set_bittiming = ixx_usbv2_set_bittiming,
+	.intf_get_info = ixx_usbv2_get_dev_info,
+	.intf_get_fw_info = ixx_usbv2_get_fwinfo,
+	.dev_decode_buf = ixx_usbv2_decode_buf,
+	.dev_encode_msg = ixx_usbv2_encode_msg,
+	.dev_start = ixx_usbv2_start,
+	.dev_stop = ixx_usbv2_stop,
+};
+
+/*
+ * describes the USB-to-CAN V2 embedded adapter
+ */
+struct ixx_usb_adapter usb_to_can_v2_embedded = {
+	.name = "USB-to-CAN V2 embedded",
+	.device_id = USB_TO_CAN_V2_EMBEDDED_PRODUCT_ID,
+	.clock = {
+		.freq = SJA1000_CRYSTAL_HZ,
+	},
+	.bittiming_const = {
+		.name = "ixxat_usb",
+		.tseg1_min = 1,
+		.tseg1_max = 16,
+		.tseg2_min = 1,
+		.tseg2_max = 8,
+		.sjw_max = 4,
+		.brp_min = 1,
+		.brp_max = 64,
+		.brp_inc = 1,
+	},
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_BERR_REPORTING |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_LISTENONLY,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  IXXAT_USBV2_EP_MSGIN_0, IXXAT_USBV2_EP_MSGIN_1,
+		IXXAT_USBV2_EP_MSGIN_2, IXXAT_USBV2_EP_MSGIN_3,
+		IXXAT_USBV2_EP_MSGIN_4 },
+	.ep_msg_out = { IXXAT_USBV2_EP_MSGOUT_0, IXXAT_USBV2_EP_MSGOUT_1,
+		IXXAT_USBV2_EP_MSGOUT_2, IXXAT_USBV2_EP_MSGOUT_3,
+		IXXAT_USBV2_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBV2_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBV2_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbv2_probe,
+	.dev_get_dev_caps = ixx_usbv2_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbv2_get_ctrl_caps,
+	.dev_init = ixx_usbv2_init,
+	.dev_exit = ixx_usbv2_exit,
+	.dev_set_bittiming = ixx_usbv2_set_bittiming,
+	.intf_get_info = ixx_usbv2_get_dev_info,
+	.intf_get_fw_info = ixx_usbv2_get_fwinfo,
+	.dev_decode_buf = ixx_usbv2_decode_buf,
+	.dev_encode_msg = ixx_usbv2_encode_msg,
+	.dev_start = ixx_usbv2_start,
+	.dev_stop = ixx_usbv2_stop,
+};
+
+/*
+ * describes the USB-to-CAN V2 professional adapter
+ */
+struct ixx_usb_adapter usb_to_can_v2_professional = {
+	.name = "USB-to-CAN V2 professional",
+	.device_id = USB_TO_CAN_V2_PROFESSIONAL_PRODUCT_ID,
+	.clock = {
+		.freq = SJA1000_CRYSTAL_HZ,
+	},
+	.bittiming_const = {
+		.name = "ixxat_usb",
+		.tseg1_min = 1,
+		.tseg1_max = 16,
+		.tseg2_min = 1,
+		.tseg2_max = 8,
+		.sjw_max = 4,
+		.brp_min = 1,
+		.brp_max = 64,
+		.brp_inc = 1,
+	},
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_BERR_REPORTING |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_LISTENONLY,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  IXXAT_USBV2_EP_MSGIN_0, IXXAT_USBV2_EP_MSGIN_1,
+		IXXAT_USBV2_EP_MSGIN_2, IXXAT_USBV2_EP_MSGIN_3,
+		IXXAT_USBV2_EP_MSGIN_4 },
+	.ep_msg_out = { IXXAT_USBV2_EP_MSGOUT_0, IXXAT_USBV2_EP_MSGOUT_1,
+		IXXAT_USBV2_EP_MSGOUT_2, IXXAT_USBV2_EP_MSGOUT_3,
+		IXXAT_USBV2_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBV2_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBV2_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbv2_probe,
+	.dev_get_dev_caps = ixx_usbv2_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbv2_get_ctrl_caps,
+	.dev_init = ixx_usbv2_init,
+	.dev_exit = ixx_usbv2_exit,
+	.dev_set_bittiming = ixx_usbv2_set_bittiming,
+	.intf_get_info = ixx_usbv2_get_dev_info,
+	.intf_get_fw_info = ixx_usbv2_get_fwinfo,
+	.dev_decode_buf = ixx_usbv2_decode_buf,
+	.dev_encode_msg = ixx_usbv2_encode_msg,
+	.dev_start = ixx_usbv2_start,
+	.dev_stop = ixx_usbv2_stop,
+};
+
+/*
+ * describes the USB-to-CAN V2 low speed adapter
+ */
+struct ixx_usb_adapter usb_to_can_v2_low_speed = {
+	.name = "USB-to-CAN V2 low speed",
+	.device_id = USB_TO_CAN_V2_LOW_SPEED_PRODUCT_ID,
+	.clock = {
+		.freq = SJA1000_CRYSTAL_HZ,
+	},
+	.bittiming_const = {
+		.name = "ixxat_usb",
+		.tseg1_min = 1,
+		.tseg1_max = 16,
+		.tseg2_min = 1,
+		.tseg2_max = 8,
+		.sjw_max = 4,
+		.brp_min = 1,
+		.brp_max = 64,
+		.brp_inc = 1,
+	},
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_BERR_REPORTING |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_LISTENONLY,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  IXXAT_USBV2_EP_MSGIN_0, IXXAT_USBV2_EP_MSGIN_1,
+		IXXAT_USBV2_EP_MSGIN_2, IXXAT_USBV2_EP_MSGIN_3,
+		IXXAT_USBV2_EP_MSGIN_4 },
+	.ep_msg_out = { IXXAT_USBV2_EP_MSGOUT_0, IXXAT_USBV2_EP_MSGOUT_1,
+		IXXAT_USBV2_EP_MSGOUT_2, IXXAT_USBV2_EP_MSGOUT_3,
+		IXXAT_USBV2_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBV2_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBV2_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbv2_probe,
+	.dev_get_dev_caps = ixx_usbv2_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbv2_get_ctrl_caps,
+	.dev_init = ixx_usbv2_init,
+	.dev_exit = ixx_usbv2_exit,
+	.dev_set_bittiming = ixx_usbv2_set_bittiming,
+	.intf_get_info = ixx_usbv2_get_dev_info,
+	.intf_get_fw_info = ixx_usbv2_get_fwinfo,
+	.dev_decode_buf = ixx_usbv2_decode_buf,
+	.dev_encode_msg = ixx_usbv2_encode_msg,
+	.dev_start = ixx_usbv2_start,
+	.dev_stop = ixx_usbv2_stop,
+};
+
+/*
+ * describes the USB-to-CAN V2 extended adapter
+ */
+struct ixx_usb_adapter usb_to_can_v2_extended = {
+	.name = "USB-to-CAN V2 extended",
+	.device_id = USB_TO_CAN_V2_EXTENDED_PRODUCT_ID,
+	.clock = {
+		.freq = SJA1000_CRYSTAL_HZ,
+	},
+	.bittiming_const = {
+		.name = "ixxat_usb",
+		.tseg1_min = 1,
+		.tseg1_max = 16,
+		.tseg2_min = 1,
+		.tseg2_max = 8,
+		.sjw_max = 4,
+		.brp_min = 1,
+		.brp_max = 64,
+		.brp_inc = 1,
+	},
+
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+		CAN_CTRLMODE_BERR_REPORTING |
+		CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_LISTENONLY,
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(struct ixx_usb_device),
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = {  IXXAT_USBV2_EP_MSGIN_0, IXXAT_USBV2_EP_MSGIN_1,
+		IXXAT_USBV2_EP_MSGIN_2, IXXAT_USBV2_EP_MSGIN_3,
+		IXXAT_USBV2_EP_MSGIN_4 },
+	.ep_msg_out = { IXXAT_USBV2_EP_MSGOUT_0, IXXAT_USBV2_EP_MSGOUT_1,
+		IXXAT_USBV2_EP_MSGOUT_2, IXXAT_USBV2_EP_MSGOUT_3,
+		IXXAT_USBV2_EP_MSGOUT_4 },
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = IXXAT_USBV2_RX_BUFFER_SIZE,
+	.tx_buffer_size = IXXAT_USBV2_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = ixx_usbv2_probe,
+	.dev_get_dev_caps = ixx_usbv2_get_dev_caps,
+	.dev_get_ctrl_caps = ixx_usbv2_get_ctrl_caps,
+	.dev_init = ixx_usbv2_init,
+	.dev_exit = ixx_usbv2_exit,
+	.dev_set_bittiming = ixx_usbv2_set_bittiming,
+	.intf_get_info = ixx_usbv2_get_dev_info,
+	.intf_get_fw_info = ixx_usbv2_get_fwinfo,
+	.dev_decode_buf = ixx_usbv2_decode_buf,
+	.dev_encode_msg = ixx_usbv2_encode_msg,
+	.dev_start = ixx_usbv2_start,
+	.dev_stop = ixx_usbv2_stop,
+};