From patchwork Fri Feb 28 07:54:35 2020 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 8bit X-Patchwork-Submitter: Shrirang Bagul X-Patchwork-Id: 1246337 Return-Path: X-Original-To: incoming@patchwork.ozlabs.org Delivered-To: patchwork-incoming@bilbo.ozlabs.org Authentication-Results: ozlabs.org; spf=none (no SPF record) smtp.mailfrom=lists.ubuntu.com (client-ip=91.189.94.19; helo=huckleberry.canonical.com; envelope-from=kernel-team-bounces@lists.ubuntu.com; receiver=) Authentication-Results: ozlabs.org; dmarc=fail (p=none dis=none) header.from=canonical.com Received: from huckleberry.canonical.com (huckleberry.canonical.com [91.189.94.19]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by ozlabs.org (Postfix) with ESMTPS id 48TMJg0wKPz9sRt; Fri, 28 Feb 2020 18:54:59 +1100 (AEDT) Received: from localhost ([127.0.0.1] helo=huckleberry.canonical.com) by huckleberry.canonical.com with esmtp (Exim 4.86_2) (envelope-from ) id 1j7aU3-00034n-Rh; Fri, 28 Feb 2020 07:54:55 +0000 Received: from youngberry.canonical.com ([91.189.89.112]) by huckleberry.canonical.com with esmtps (TLS1.2:ECDHE_RSA_AES_128_GCM_SHA256:128) (Exim 4.86_2) (envelope-from ) id 1j7aTy-00033s-0U for kernel-team@lists.ubuntu.com; Fri, 28 Feb 2020 07:54:50 +0000 Received: from 1.general.shrirang--bagul.uk.vpn ([10.172.198.4] helo=localhost.localdomain) by youngberry.canonical.com with esmtpsa (TLS1.2:ECDHE_RSA_AES_128_GCM_SHA256:128) (Exim 4.86_2) (envelope-from ) id 1j7aTw-0002CQ-Cf for kernel-team@lists.ubuntu.com; Fri, 28 Feb 2020 07:54:49 +0000 From: Shrirang Bagul To: kernel-team@lists.ubuntu.com Subject: [RESEND][SRU][B][PATCH 1/1] UBUNTU: SAUCE: (no-up) add IXXAT USB-to-CAN driver Date: Fri, 28 Feb 2020 15:54:35 +0800 Message-Id: <20200228075435.13912-2-shrirang.bagul@canonical.com> X-Mailer: git-send-email 2.17.1 In-Reply-To: <20200228075435.13912-1-shrirang.bagul@canonical.com> References: <20200228075435.13912-1-shrirang.bagul@canonical.com> MIME-Version: 1.0 X-BeenThere: kernel-team@lists.ubuntu.com X-Mailman-Version: 2.1.20 Precedence: list List-Id: Kernel team discussions List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Errors-To: kernel-team-bounces@lists.ubuntu.com Sender: "kernel-team" From: Wen-chien Jesse Sung BugLink: https://bugs.launchpad.net/bugs/1864157 Import the driver for IXXAT USB-to-CAN devices. linux-oem buglink: https://launchpad.net/bugs/1807339 Signed-off-by: Wen-chien Jesse Sung Acked-by: Chia-Lin Kao (AceLan) Signed-off-by: AceLan Kao (cherry picked from commit 0f3c600ddd1dce5d0ed0dabdeb3608faa9b8b2b7) (source tag: Ubuntu-oem-4.15.0-1073.83) Signed-off-by: Shrirang Bagul --- ubuntu/Makefile | 6 + ubuntu/ixxat-usb2can/Makefile | 3 + ubuntu/ixxat-usb2can/ReleaseNotes.txt | 77 ++ ubuntu/ixxat-usb2can/ixxat_usb_cl1.c | 132 +++ ubuntu/ixxat-usb2can/ixxat_usb_cl2.c | 255 +++++ ubuntu/ixxat-usb2can/ixxat_usb_core.c | 1302 +++++++++++++++++++++++++ ubuntu/ixxat-usb2can/ixxat_usb_core.h | 521 ++++++++++ 7 files changed, 2296 insertions(+) create mode 100644 ubuntu/ixxat-usb2can/Makefile create mode 100644 ubuntu/ixxat-usb2can/ReleaseNotes.txt create mode 100644 ubuntu/ixxat-usb2can/ixxat_usb_cl1.c create mode 100644 ubuntu/ixxat-usb2can/ixxat_usb_cl2.c create mode 100644 ubuntu/ixxat-usb2can/ixxat_usb_core.c create mode 100644 ubuntu/ixxat-usb2can/ixxat_usb_core.h diff --git a/ubuntu/Makefile b/ubuntu/Makefile index 2c1e696f87c8..cda415d95905 100644 --- a/ubuntu/Makefile +++ b/ubuntu/Makefile @@ -31,6 +31,12 @@ endif ## ## ## +ifeq ($(ARCH),x86) +obj-m += ixxat-usb2can/ +endif +## +## +## ## ## ## diff --git a/ubuntu/ixxat-usb2can/Makefile b/ubuntu/ixxat-usb2can/Makefile new file mode 100644 index 000000000000..cf85de09eeb2 --- /dev/null +++ b/ubuntu/ixxat-usb2can/Makefile @@ -0,0 +1,3 @@ +mod-name += ixxat_usb2can +obj-m += ixxat_usb2can.o +ixxat_usb2can-objs := ixxat_usb_cl1.o ixxat_usb_cl2.o ixxat_usb_core.o diff --git a/ubuntu/ixxat-usb2can/ReleaseNotes.txt b/ubuntu/ixxat-usb2can/ReleaseNotes.txt new file mode 100644 index 000000000000..d959105a4c13 --- /dev/null +++ b/ubuntu/ixxat-usb2can/ReleaseNotes.txt @@ -0,0 +1,77 @@ +Release Notes 4th July: +- In order to get the driver ready for the linux mainline kernel it was completely rewritten. +- The filenames and also the driver name itself changed. + + The driver name in the old driver was "ixx_usb" and the filenames were: + ixx_usb_core.c / ixx_usb_core.h: The core module for all IXXAT USB-to-CAN devices + ixx_usb_fd.c: Adapter implementations for IXXAT devices with CL2 (new communication layer) interface (including DELL hardware). + ixx_usb_v2.c: Adapter implementations for IXXAT devices with CL1 (old communication layer) interface. + Only the CL2 adapter is CAN-FD capable (except the DELL hardware wasn’t CAN-FD capable at this point). + There was also a module for pci devices which wasn't relevant for the RevA delivery. + + The driver name in the new driver is "ixxat_usb2can". + We changed this to point out the IXXAT brand name and the USB-to-CAN product line. + The filenames are: + ixxat_usb_cl1.c: Adapter implementation for IXXAT devices with CL1 (old communication layer) interface. + ixxat_usb_cl2.c: Adapter implementation for IXXAT devices with CL2 (new communication layer) interface (including DELL hardware). + ixxat_usb_core.c / ixxat_usb_core.h: The core module for all IXXAT USB-to-CAN devices. + +- Fixed Linux kernel coding style issues +- Using ktime API for timestamps +- Removed CAN-IDM100 support (Microchip RevA microcontroller) +- Added CAN-IDM101 support (Microchip RevB microcontroller, now CAN-FD capable) +- Added Error-Passive recognition +- Moved CAN messages handling to the core module + +Release Notes 9th July: +- Using “if (err)” instead of “if (ret < 0)” when appropriate +- Using __le types when appropriate +- Preinitializing variables in their declaration when appropriate +- Removed unnecessary preinitialization of variables +- Using a device command structure which contains the request and response block of a command +- Using a helper function to initialize device commands +- Removed unnecessary type casts +- Using a union for CL1/CL2 CAN messages +- Removed unnecessary restart task +- Better cleanup code in ixxat_usb_create_dev() + +Release Notes 17th September: +- Fixed sparse errors. +- Using just one space after macro/define names. +- Cleaned up code for setting exmode in "ixxat_usb_init_ctrl" + (ixxat_usb2can_cl2.c). +- Preventing array out of bounds access in "ixxat_usb_get_dev_caps". +- Removed unnecessary variables in "ixxat_usb_get_dev_info". +- Doing the stats before allocating the skb in can message handling. +- Renamed "ixxat_usb_snd_cmd" to "ixxat_usb_send_cmd" +- Using just one function for usb_control_msg handling. +- Stating CAN FD capability in module description. +- Making sure that skb is always freed in ixxat_usb_handle_error(). +- Removed unnecessary modification of skb in ixxat_usb_encode_msg(). +- Omitted the use of the unlikely macro. +- Removed unnecessary preinitialisation of variables. +- Fixed concurrency issue in ixxat_usb_write_bulk_callback(). +- Removed comment above bit-timing calculation in + ixxat_usb_init_ctrl() (ixxat_usb_cl1.c) +- Moved all variable declaration to the beginning of the function. +- Check size of received usb messages to prevent accessing memory outside of the + message. +- Return the size of the encoded message in ixxat_usb_encode_msg() instead of + using a pointer. +- Using the BIT() macro where appropriate. +- Removed ctrl_open flag in struct ixxat_usb_device and using the state variable instead. +- Added IDM200 support. +- Fixed Busoff-Recovery. + +Known issues: +On Ubuntu 18.04 LTS sending can messages on high busload leads to message loss. +Also we never get ENOBUFS regardless how much can messages are sent. + +Tested with: + sudo ip link set can0 up type can bitrate 1000000 + sudo ip link set txqueuelen 10 dev can0 + cangen -g 0 -Ii -L8 -Di -n 1000 -i -x can0 + +This behaviour seems to ocurr only on Ubuntu 18.04 regardless of installed kernel version. +This was tested with a self compiled 4.17.0 kernel on both Ubuntu 18.04.1 LTS and Ubuntu 16.04.5 LTS. +The behaviour was also observed with a PEAK usb controller (and it's socketcan driver). \ No newline at end of file diff --git a/ubuntu/ixxat-usb2can/ixxat_usb_cl1.c b/ubuntu/ixxat-usb2can/ixxat_usb_cl1.c new file mode 100644 index 000000000000..98bb5521f6db --- /dev/null +++ b/ubuntu/ixxat-usb2can/ixxat_usb_cl1.c @@ -0,0 +1,132 @@ +// SPDX-License-Identifier: GPL-2.0 + +/* CAN driver adapter for IXXAT USB-to-CAN CL1 + * + * Copyright (C) 2018 HMS Industrial Networks + * + * 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 +#include +#include + +#include "ixxat_usb_core.h" + +#define IXXAT_USB_CLOCK 8000000 + +#define IXXAT_USB_BUFFER_SIZE_RX 512 +#define IXXAT_USB_BUFFER_SIZE_TX 256 + +#define IXXAT_USB_MODES (CAN_CTRLMODE_3_SAMPLES | \ + CAN_CTRLMODE_BERR_REPORTING | \ + CAN_CTRLMODE_LISTENONLY) \ + +#define IXXAT_USB_BTMODE_TSM_CL1 0x80 + +/* bittiming parameters */ +#define IXXAT_USB2CAN_TSEG1_MIN 1 +#define IXXAT_USB2CAN_TSEG1_MAX 16 +#define IXXAT_USB2CAN_TSEG2_MIN 1 +#define IXXAT_USB2CAN_TSEG2_MAX 8 +#define IXXAT_USB2CAN_SJW_MAX 4 +#define IXXAT_USB2CAN_BRP_MIN 1 +#define IXXAT_USB2CAN_BRP_MAX 64 +#define IXXAT_USB2CAN_BRP_INC 1 + +/* USB endpoint mapping for CL1 */ +#define IXXAT_USB2CAN_EP1_IN (1 | USB_DIR_IN) +#define IXXAT_USB2CAN_EP2_IN (2 | USB_DIR_IN) +#define IXXAT_USB2CAN_EP3_IN (3 | USB_DIR_IN) +#define IXXAT_USB2CAN_EP4_IN (4 | USB_DIR_IN) +#define IXXAT_USB2CAN_EP5_IN (5 | USB_DIR_IN) + +#define IXXAT_USB2CAN_EP1_OUT (1 | USB_DIR_OUT) +#define IXXAT_USB2CAN_EP2_OUT (2 | USB_DIR_OUT) +#define IXXAT_USB2CAN_EP3_OUT (3 | USB_DIR_OUT) +#define IXXAT_USB2CAN_EP4_OUT (4 | USB_DIR_OUT) +#define IXXAT_USB2CAN_EP5_OUT (5 | USB_DIR_OUT) + +#define IXXAT_USB_CAN_CMD_INIT 0x325 + +static const struct can_bittiming_const usb2can_bt = { + .name = IXXAT_USB_CTRL_NAME, + .tseg1_min = IXXAT_USB2CAN_TSEG1_MIN, + .tseg1_max = IXXAT_USB2CAN_TSEG1_MAX, + .tseg2_min = IXXAT_USB2CAN_TSEG2_MIN, + .tseg2_max = IXXAT_USB2CAN_TSEG2_MAX, + .sjw_max = IXXAT_USB2CAN_SJW_MAX, + .brp_min = IXXAT_USB2CAN_BRP_MIN, + .brp_max = IXXAT_USB2CAN_BRP_MAX, + .brp_inc = IXXAT_USB2CAN_BRP_INC, +}; + +static int ixxat_usb_init_ctrl(struct ixxat_usb_device *dev) +{ + const struct can_bittiming *bt = &dev->can.bittiming; + const u16 port = dev->ctrl_index; + int err; + struct ixxat_usb_init_cl1_cmd *cmd; + const u32 rcv_size = sizeof(cmd->res); + const u32 snd_size = sizeof(*cmd); + u8 opmode = IXXAT_USB_OPMODE_EXTENDED | IXXAT_USB_OPMODE_STANDARD; + u8 btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6); + u8 btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) | + (((bt->phase_seg2 - 1) & 0x7) << 4); + + cmd = kmalloc(snd_size, GFP_KERNEL); + if (!cmd) + return -ENOMEM; + + if (dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES) + btr1 |= IXXAT_USB_BTMODE_TSM_CL1; + if (dev->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING) + opmode |= IXXAT_USB_OPMODE_ERRFRAME; + if (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) + opmode |= IXXAT_USB_OPMODE_LISTONLY; + + ixxat_usb_setup_cmd(&cmd->req, &cmd->res); + cmd->req.size = cpu_to_le32(snd_size - rcv_size); + cmd->req.code = cpu_to_le32(IXXAT_USB_CAN_CMD_INIT); + cmd->req.port = cpu_to_le16(port); + cmd->mode = opmode; + cmd->btr0 = btr0; + cmd->btr1 = btr1; + + err = ixxat_usb_send_cmd(dev->udev, port, cmd, snd_size, &cmd->res, + rcv_size); + kfree(cmd); + return err; +} + +const struct ixxat_usb_adapter usb2can_cl1 = { + .clock = IXXAT_USB_CLOCK, + .bt = &usb2can_bt, + .btd = NULL, + .modes = IXXAT_USB_MODES, + .buffer_size_rx = IXXAT_USB_BUFFER_SIZE_RX, + .buffer_size_tx = IXXAT_USB_BUFFER_SIZE_TX, + .ep_msg_in = { + IXXAT_USB2CAN_EP1_IN, + IXXAT_USB2CAN_EP2_IN, + IXXAT_USB2CAN_EP3_IN, + IXXAT_USB2CAN_EP4_IN, + IXXAT_USB2CAN_EP5_IN + }, + .ep_msg_out = { + IXXAT_USB2CAN_EP1_OUT, + IXXAT_USB2CAN_EP2_OUT, + IXXAT_USB2CAN_EP3_OUT, + IXXAT_USB2CAN_EP4_OUT, + IXXAT_USB2CAN_EP5_OUT + }, + .ep_offs = 0, + .init_ctrl = ixxat_usb_init_ctrl +}; diff --git a/ubuntu/ixxat-usb2can/ixxat_usb_cl2.c b/ubuntu/ixxat-usb2can/ixxat_usb_cl2.c new file mode 100644 index 000000000000..6a2fe041f9f9 --- /dev/null +++ b/ubuntu/ixxat-usb2can/ixxat_usb_cl2.c @@ -0,0 +1,255 @@ +// SPDX-License-Identifier: GPL-2.0 + +/* CAN driver adapter for IXXAT USB-to-CAN CL2 + * + * Copyright (C) 2018 HMS Industrial Networks + * + * 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 +#include +#include + +#include "ixxat_usb_core.h" + +#define IXXAT_USB_CLOCK 80000000 + +#define IXXAT_USB_BUFFER_SIZE_RX 512 +#define IXXAT_USB_BUFFER_SIZE_TX 512 + +#define IXXAT_USB_MODES (CAN_CTRLMODE_3_SAMPLES | \ + CAN_CTRLMODE_LISTENONLY | \ + CAN_CTRLMODE_BERR_REPORTING | \ + CAN_CTRLMODE_FD | \ + CAN_CTRLMODE_FD_NON_ISO) + +/* bittiming parameters CL2 */ +#define IXXAT_USB2CAN_TSEG1_MIN 1 +#define IXXAT_USB2CAN_TSEG1_MAX 256 +#define IXXAT_USB2CAN_TSEG2_MIN 1 +#define IXXAT_USB2CAN_TSEG2_MAX 256 +#define IXXAT_USB2CAN_SJW_MAX 128 +#define IXXAT_USB2CAN_BRP_MIN 2 +#define IXXAT_USB2CAN_BRP_MAX 513 +#define IXXAT_USB2CAN_BRP_INC 1 + +#define IXXAT_USB2CAN_TSEG1_MIN_DATA 1 +#define IXXAT_USB2CAN_TSEG1_MAX_DATA 256 +#define IXXAT_USB2CAN_TSEG2_MIN_DATA 1 +#define IXXAT_USB2CAN_TSEG2_MAX_DATA 256 +#define IXXAT_USB2CAN_SJW_MAX_DATA 128 +#define IXXAT_USB2CAN_BRP_MIN_DATA 2 +#define IXXAT_USB2CAN_BRP_MAX_DATA 513 +#define IXXAT_USB2CAN_BRP_INC_DATA 1 + +/* bittiming parameters CAN IDM */ +#define IXXAT_CANIDM_TSEG1_MIN 1 +#define IXXAT_CANIDM_TSEG1_MAX 256 +#define IXXAT_CANIDM_TSEG2_MIN 1 +#define IXXAT_CANIDM_TSEG2_MAX 128 +#define IXXAT_CANIDM_SJW_MAX 128 +#define IXXAT_CANIDM_BRP_MIN 1 +#define IXXAT_CANIDM_BRP_MAX 512 +#define IXXAT_CANIDM_BRP_INC 1 + +#define IXXAT_CANIDM_TSEG1_MIN_DATA 1 +#define IXXAT_CANIDM_TSEG1_MAX_DATA 32 +#define IXXAT_CANIDM_TSEG2_MIN_DATA 1 +#define IXXAT_CANIDM_TSEG2_MAX_DATA 16 +#define IXXAT_CANIDM_SJW_MAX_DATA 8 +#define IXXAT_CANIDM_BRP_MIN_DATA 1 +#define IXXAT_CANIDM_BRP_MAX_DATA 32 +#define IXXAT_CANIDM_BRP_INC_DATA 1 + +/* USB endpoint mapping for CL2 */ +#define IXXAT_USB2CAN_EP1_IN (1 | USB_DIR_IN) +#define IXXAT_USB2CAN_EP2_IN (2 | USB_DIR_IN) +#define IXXAT_USB2CAN_EP3_IN (3 | USB_DIR_IN) +#define IXXAT_USB2CAN_EP4_IN (4 | USB_DIR_IN) +#define IXXAT_USB2CAN_EP5_IN (5 | USB_DIR_IN) + +#define IXXAT_USB2CAN_EP1_OUT (1 | USB_DIR_OUT) +#define IXXAT_USB2CAN_EP2_OUT (2 | USB_DIR_OUT) +#define IXXAT_USB2CAN_EP3_OUT (3 | USB_DIR_OUT) +#define IXXAT_USB2CAN_EP4_OUT (4 | USB_DIR_OUT) +#define IXXAT_USB2CAN_EP5_OUT (5 | USB_DIR_OUT) + +/* USB endpoint mapping for CAN IDM */ +#define IXXAT_CANIDM_EP1_IN (2 | USB_DIR_IN) +#define IXXAT_CANIDM_EP2_IN (4 | USB_DIR_IN) +#define IXXAT_CANIDM_EP3_IN (6 | USB_DIR_IN) +#define IXXAT_CANIDM_EP4_IN (8 | USB_DIR_IN) +#define IXXAT_CANIDM_EP5_IN (10 | USB_DIR_IN) + +#define IXXAT_CANIDM_EP1_OUT (1 | USB_DIR_OUT) +#define IXXAT_CANIDM_EP2_OUT (3 | USB_DIR_OUT) +#define IXXAT_CANIDM_EP3_OUT (5 | USB_DIR_OUT) +#define IXXAT_CANIDM_EP4_OUT (7 | USB_DIR_OUT) +#define IXXAT_CANIDM_EP5_OUT (9 | USB_DIR_OUT) + +#define IXXAT_USB_CAN_CMD_INIT 0x337 + +static const struct can_bittiming_const usb2can_bt = { + .name = IXXAT_USB_CTRL_NAME, + .tseg1_min = IXXAT_USB2CAN_TSEG1_MIN, + .tseg1_max = IXXAT_USB2CAN_TSEG1_MAX, + .tseg2_min = IXXAT_USB2CAN_TSEG2_MIN, + .tseg2_max = IXXAT_USB2CAN_TSEG2_MAX, + .sjw_max = IXXAT_USB2CAN_SJW_MAX, + .brp_min = IXXAT_USB2CAN_BRP_MIN, + .brp_max = IXXAT_USB2CAN_BRP_MAX, + .brp_inc = IXXAT_USB2CAN_BRP_INC, +}; + +static const struct can_bittiming_const usb2can_btd = { + .name = IXXAT_USB_CTRL_NAME, + .tseg1_min = IXXAT_USB2CAN_TSEG1_MIN_DATA, + .tseg1_max = IXXAT_USB2CAN_TSEG1_MAX_DATA, + .tseg2_min = IXXAT_USB2CAN_TSEG2_MIN_DATA, + .tseg2_max = IXXAT_USB2CAN_TSEG2_MAX_DATA, + .sjw_max = IXXAT_USB2CAN_SJW_MAX_DATA, + .brp_min = IXXAT_USB2CAN_BRP_MIN_DATA, + .brp_max = IXXAT_USB2CAN_BRP_MAX_DATA, + .brp_inc = IXXAT_USB2CAN_BRP_INC_DATA, +}; + +static const struct can_bittiming_const canidm_bt = { + .name = IXXAT_USB_CTRL_NAME, + .tseg1_min = IXXAT_CANIDM_TSEG1_MIN, + .tseg1_max = IXXAT_CANIDM_TSEG1_MAX, + .tseg2_min = IXXAT_CANIDM_TSEG2_MIN, + .tseg2_max = IXXAT_CANIDM_TSEG2_MAX, + .sjw_max = IXXAT_CANIDM_SJW_MAX, + .brp_min = IXXAT_CANIDM_BRP_MIN, + .brp_max = IXXAT_CANIDM_BRP_MAX, + .brp_inc = IXXAT_CANIDM_BRP_INC +}; + +static const struct can_bittiming_const canidm_btd = { + .name = IXXAT_USB_CTRL_NAME, + .tseg1_min = IXXAT_CANIDM_TSEG1_MIN_DATA, + .tseg1_max = IXXAT_CANIDM_TSEG1_MAX_DATA, + .tseg2_min = IXXAT_CANIDM_TSEG2_MIN_DATA, + .tseg2_max = IXXAT_CANIDM_TSEG2_MAX_DATA, + .sjw_max = IXXAT_CANIDM_SJW_MAX_DATA, + .brp_min = IXXAT_CANIDM_BRP_MIN_DATA, + .brp_max = IXXAT_CANIDM_BRP_MAX_DATA, + .brp_inc = IXXAT_CANIDM_BRP_INC_DATA +}; + +static int ixxat_usb_init_ctrl(struct ixxat_usb_device *dev) +{ + const struct can_bittiming *bt = &dev->can.bittiming; + const struct can_bittiming *btd = &dev->can.data_bittiming; + const u16 port = dev->ctrl_index; + int err; + struct ixxat_usb_init_cl2_cmd *cmd; + const u32 rcv_size = sizeof(cmd->res); + const u32 snd_size = sizeof(*cmd); + u32 btmode = IXXAT_USB_BTMODE_NAT; + u8 exmode = 0; + u8 opmode = IXXAT_USB_OPMODE_EXTENDED | IXXAT_USB_OPMODE_STANDARD; + + cmd = kmalloc(snd_size, GFP_KERNEL); + if (!cmd) + return -ENOMEM; + + if (dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES) + btmode = IXXAT_USB_BTMODE_TSM; + if (dev->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING) + opmode |= IXXAT_USB_OPMODE_ERRFRAME; + if (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) + opmode |= IXXAT_USB_OPMODE_LISTONLY; + if (dev->can.ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO)) { + exmode |= IXXAT_USB_EXMODE_EXTDATA | IXXAT_USB_EXMODE_FASTDATA; + + if (!(dev->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)) + exmode |= IXXAT_USB_EXMODE_ISOFD; + } + + ixxat_usb_setup_cmd(&cmd->req, &cmd->res); + cmd->req.size = cpu_to_le32(snd_size - rcv_size); + cmd->req.code = cpu_to_le32(IXXAT_USB_CAN_CMD_INIT); + cmd->req.port = cpu_to_le16(port); + cmd->opmode = opmode; + cmd->exmode = exmode; + cmd->sdr.mode = cpu_to_le32(btmode); + cmd->sdr.bps = cpu_to_le32(bt->brp); + cmd->sdr.ts1 = cpu_to_le16(bt->prop_seg + bt->phase_seg1); + cmd->sdr.ts2 = cpu_to_le16(bt->phase_seg2); + cmd->sdr.sjw = cpu_to_le16(bt->sjw); + cmd->sdr.tdo = 0; + + if (exmode) { + cmd->fdr.mode = cpu_to_le32(btmode); + cmd->fdr.bps = cpu_to_le32(btd->brp); + cmd->fdr.ts1 = cpu_to_le16(btd->prop_seg + btd->phase_seg1); + cmd->fdr.ts2 = cpu_to_le16(btd->phase_seg2); + cmd->fdr.sjw = cpu_to_le16(btd->sjw); + cmd->fdr.tdo = cpu_to_le16(btd->brp * (btd->phase_seg1 + 1 + + btd->prop_seg)); + } + + err = ixxat_usb_send_cmd(dev->udev, port, cmd, snd_size, &cmd->res, + rcv_size); + kfree(cmd); + return err; +} + +const struct ixxat_usb_adapter usb2can_cl2 = { + .clock = IXXAT_USB_CLOCK, + .bt = &usb2can_bt, + .btd = &usb2can_btd, + .modes = IXXAT_USB_MODES, + .buffer_size_rx = IXXAT_USB_BUFFER_SIZE_RX, + .buffer_size_tx = IXXAT_USB_BUFFER_SIZE_TX, + .ep_msg_in = { + IXXAT_USB2CAN_EP1_IN, + IXXAT_USB2CAN_EP2_IN, + IXXAT_USB2CAN_EP3_IN, + IXXAT_USB2CAN_EP4_IN, + IXXAT_USB2CAN_EP5_IN + }, + .ep_msg_out = { + IXXAT_USB2CAN_EP1_OUT, + IXXAT_USB2CAN_EP2_OUT, + IXXAT_USB2CAN_EP3_OUT, + IXXAT_USB2CAN_EP4_OUT, + IXXAT_USB2CAN_EP5_OUT + }, + .ep_offs = 1, + .init_ctrl = ixxat_usb_init_ctrl +}; + +const struct ixxat_usb_adapter can_idm = { + .clock = IXXAT_USB_CLOCK, + .bt = &canidm_bt, + .btd = &canidm_btd, + .modes = IXXAT_USB_MODES, + .buffer_size_rx = IXXAT_USB_BUFFER_SIZE_RX, + .buffer_size_tx = IXXAT_USB_BUFFER_SIZE_TX, + .ep_msg_in = { + IXXAT_CANIDM_EP1_IN, + IXXAT_CANIDM_EP2_IN, + IXXAT_CANIDM_EP3_IN, + IXXAT_CANIDM_EP4_IN, + IXXAT_CANIDM_EP5_IN + }, + .ep_msg_out = { + IXXAT_CANIDM_EP1_OUT, + IXXAT_CANIDM_EP2_OUT, + IXXAT_CANIDM_EP3_OUT, + IXXAT_CANIDM_EP4_OUT, + IXXAT_CANIDM_EP5_OUT + }, + .ep_offs = 0, + .init_ctrl = ixxat_usb_init_ctrl +}; diff --git a/ubuntu/ixxat-usb2can/ixxat_usb_core.c b/ubuntu/ixxat-usb2can/ixxat_usb_core.c new file mode 100644 index 000000000000..c04075aede93 --- /dev/null +++ b/ubuntu/ixxat-usb2can/ixxat_usb_core.c @@ -0,0 +1,1302 @@ +// SPDX-License-Identifier: GPL-2.0 + +/* CAN driver for IXXAT USB-to-CAN + * + * Copyright (C) 2018 HMS Industrial Networks + * + * 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 +#include +#include +#include +#include + +#include "ixxat_usb_core.h" + +MODULE_AUTHOR("Marcel Schmidt "); +MODULE_DESCRIPTION("CAN driver for IXXAT USB-to-CAN / CAN FD adapters"); +MODULE_LICENSE("GPL v2"); + +/* Table of devices that work with this driver */ +static const struct usb_device_id ixxat_usb_table[] = { + { USB_DEVICE(IXXAT_USB_VENDOR_ID, USB2CAN_COMPACT_PRODUCT_ID) }, + { USB_DEVICE(IXXAT_USB_VENDOR_ID, USB2CAN_EMBEDDED_PRODUCT_ID) }, + { USB_DEVICE(IXXAT_USB_VENDOR_ID, USB2CAN_PROFESSIONAL_PRODUCT_ID) }, + { USB_DEVICE(IXXAT_USB_VENDOR_ID, USB2CAN_AUTOMOTIVE_PRODUCT_ID) }, + { USB_DEVICE(IXXAT_USB_VENDOR_ID, USB2CAN_FD_COMPACT_PRODUCT_ID) }, + { USB_DEVICE(IXXAT_USB_VENDOR_ID, USB2CAN_FD_PROFESSIONAL_PRODUCT_ID) }, + { USB_DEVICE(IXXAT_USB_VENDOR_ID, USB2CAN_FD_AUTOMOTIVE_PRODUCT_ID) }, + { USB_DEVICE(IXXAT_USB_VENDOR_ID, USB2CAN_FD_PCIE_MINI_PRODUCT_ID) }, + { USB_DEVICE(IXXAT_USB_VENDOR_ID, USB2CAR_PRODUCT_ID) }, + { USB_DEVICE(IXXAT_USB_VENDOR_ID, CAN_IDM101_PRODUCT_ID) }, + { USB_DEVICE(IXXAT_USB_VENDOR_ID, CAN_IDM200_PRODUCT_ID) }, + { } /* Terminating entry */ +}; + +MODULE_DEVICE_TABLE(usb, ixxat_usb_table); + +void ixxat_usb_setup_cmd(struct ixxat_usb_dal_req *req, + struct ixxat_usb_dal_res *res) +{ + req->size = cpu_to_le32(sizeof(*req)); + req->port = cpu_to_le16(0xffff); + req->socket = cpu_to_le16(0xffff); + req->code = cpu_to_le32(0); + + res->res_size = cpu_to_le32(sizeof(*res)); + res->ret_size = cpu_to_le32(0); + res->code = cpu_to_le32(0xffffffff); +} + +int ixxat_usb_send_cmd(struct usb_device *dev, const u16 port, void *req, + const u16 req_size, void *res, const u16 res_size) +{ + const int to = msecs_to_jiffies(IXXAT_USB_MSG_TIMEOUT); + const u8 rq = 0xff; + const u8 rti = USB_TYPE_VENDOR | USB_DIR_IN; + const u8 rto = USB_TYPE_VENDOR | USB_DIR_OUT; + int i; + int pos = 0; + int rcp = usb_rcvctrlpipe(dev, 0); + int scp = usb_sndctrlpipe(dev, 0); + int ret = 0; + struct ixxat_usb_dal_res *dal_res = res; + + for (i = 0; i < IXXAT_USB_MAX_COM_REQ; ++i) { + ret = usb_control_msg(dev, scp, rq, rto, port, 0, req, req_size, + to); + if (ret < 0) + msleep(IXXAT_USB_MSG_CYCLE); + else + break; + } + + if (ret < 0) { + dev_err(&dev->dev, "Error %d: TX command failure\n", ret); + goto fail; + } + + for (i = 0; i < IXXAT_USB_MAX_COM_REQ; ++i) { + const int rs = res_size - pos; + void *rb = res + pos; + + ret = usb_control_msg(dev, rcp, rq, rti, port, 0, rb, rs, to); + if (ret < 0) { + msleep(IXXAT_USB_MSG_CYCLE); + continue; + } + + pos += ret; + if (pos < res_size) + msleep(IXXAT_USB_MSG_CYCLE); + else + break; + } + + if (pos != res_size) + ret = -EBADMSG; + + if (ret < 0) { + dev_err(&dev->dev, "Error %d: RX command failure\n", ret); + goto fail; + } + + ret = le32_to_cpu(dal_res->code); + +fail: + return ret; +} + +static void ixxat_usb_update_ts_now(struct ixxat_usb_device *dev, u32 ts_now) +{ + u32 *ts_dev = &dev->time_ref.ts_dev_0; + ktime_t *kt_host = &dev->time_ref.kt_host_0; + u64 timebase = (u64)0x00000000FFFFFFFF - (u64)(*ts_dev) + (u64)ts_now; + + *kt_host = ktime_add_us(*kt_host, timebase); + *ts_dev = ts_now; +} + +static void ixxat_usb_get_ts_tv(struct ixxat_usb_device *dev, u32 ts, + ktime_t *k_time) +{ + ktime_t tmp_time = dev->time_ref.kt_host_0; + + if (ts < dev->time_ref.ts_dev_last) + ixxat_usb_update_ts_now(dev, ts); + + dev->time_ref.ts_dev_last = ts; + tmp_time = ktime_add_us(tmp_time, ts - dev->time_ref.ts_dev_0); + + if (k_time) + *k_time = tmp_time; +} + +static void ixxat_usb_set_ts_now(struct ixxat_usb_device *dev, u32 ts_now) +{ + dev->time_ref.ts_dev_0 = ts_now; + dev->time_ref.kt_host_0 = ktime_get_real(); + dev->time_ref.ts_dev_last = ts_now; +} + +static int ixxat_usb_get_dev_caps(struct usb_device *dev, + struct ixxat_dev_caps *dev_caps) +{ + int i; + int err; + struct ixxat_usb_caps_cmd *cmd; + const u32 cmd_size = sizeof(*cmd); + const u32 req_size = sizeof(cmd->req); + const u32 rcv_size = cmd_size - req_size; + const u32 snd_size = req_size + sizeof(cmd->res); + u16 num_ctrl; + + cmd = kmalloc(cmd_size, GFP_KERNEL); + if (!cmd) + return -ENOMEM; + + ixxat_usb_setup_cmd(&cmd->req, &cmd->res); + cmd->req.code = cpu_to_le32(IXXAT_USB_BRD_CMD_GET_DEVCAPS); + cmd->res.res_size = cpu_to_le32(rcv_size); + + err = ixxat_usb_send_cmd(dev, le16_to_cpu(cmd->req.port), cmd, snd_size, + &cmd->res, rcv_size); + if (err) + goto fail; + + dev_caps->bus_ctrl_count = cmd->caps.bus_ctrl_count; + num_ctrl = le16_to_cpu(dev_caps->bus_ctrl_count); + if (num_ctrl > ARRAY_SIZE(dev_caps->bus_ctrl_types)) { + err = -EINVAL; + goto fail; + } + + for (i = 0; i < num_ctrl; i++) + dev_caps->bus_ctrl_types[i] = cmd->caps.bus_ctrl_types[i]; + +fail: + kfree(cmd); + return err; +} + +static int ixxat_usb_get_dev_info(struct usb_device *dev, + struct ixxat_dev_info *dev_info) +{ + int err; + struct ixxat_usb_info_cmd *cmd; + const u32 cmd_size = sizeof(*cmd); + const u32 req_size = sizeof(cmd->req); + const u32 rcv_size = cmd_size - req_size; + const u32 snd_size = req_size + sizeof(cmd->res); + + cmd = kmalloc(cmd_size, GFP_KERNEL); + if (!cmd) + return -ENOMEM; + + ixxat_usb_setup_cmd(&cmd->req, &cmd->res); + cmd->req.code = cpu_to_le32(IXXAT_USB_BRD_CMD_GET_DEVINFO); + cmd->res.res_size = cpu_to_le32(rcv_size); + + err = ixxat_usb_send_cmd(dev, le16_to_cpu(cmd->req.port), cmd, snd_size, + &cmd->res, rcv_size); + if (err) + goto fail; + + if (dev_info) { + memcpy(dev_info->device_id, &cmd->info.device_id, + sizeof(cmd->info.device_id)); + memcpy(dev_info->device_name, &cmd->info.device_name, + sizeof(cmd->info.device_name)); + dev_info->device_fpga_version = cmd->info.device_fpga_version; + dev_info->device_version = cmd->info.device_version; + } + +fail: + kfree(cmd); + return err; +} + +static int ixxat_usb_start_ctrl(struct ixxat_usb_device *dev, u32 *time_ref) +{ + const u16 port = dev->ctrl_index; + int err; + struct ixxat_usb_start_cmd *cmd; + const u32 cmd_size = sizeof(*cmd); + const u32 req_size = sizeof(cmd->req); + const u32 rcv_size = cmd_size - req_size; + const u32 snd_size = req_size + sizeof(cmd->res); + + cmd = kmalloc(cmd_size, GFP_KERNEL); + if (!cmd) + return -ENOMEM; + + ixxat_usb_setup_cmd(&cmd->req, &cmd->res); + cmd->req.code = cpu_to_le32(IXXAT_USB_CAN_CMD_START); + cmd->req.port = cpu_to_le16(port); + cmd->res.res_size = cpu_to_le32(rcv_size); + cmd->time = 0; + + err = ixxat_usb_send_cmd(dev->udev, port, cmd, snd_size, &cmd->res, + rcv_size); + if (err) + goto fail; + + if (time_ref) + *time_ref = le32_to_cpu(cmd->time); + +fail: + kfree(cmd); + return err; +} + +static int ixxat_usb_stop_ctrl(struct ixxat_usb_device *dev) +{ + const u16 port = dev->ctrl_index; + int err; + struct ixxat_usb_stop_cmd *cmd; + const u32 rcv_size = sizeof(cmd->res); + const u32 snd_size = sizeof(*cmd); + + cmd = kmalloc(snd_size, GFP_KERNEL); + if (!cmd) + return -ENOMEM; + + ixxat_usb_setup_cmd(&cmd->req, &cmd->res); + cmd->req.size = cpu_to_le32(snd_size - rcv_size); + cmd->req.code = cpu_to_le32(IXXAT_USB_CAN_CMD_STOP); + cmd->req.port = cpu_to_le16(port); + cmd->action = cpu_to_le32(IXXAT_USB_STOP_ACTION_CLEARALL); + + err = ixxat_usb_send_cmd(dev->udev, port, cmd, snd_size, &cmd->res, + rcv_size); + kfree(cmd); + return err; +} + +static int ixxat_usb_power_ctrl(struct usb_device *dev, u8 mode) +{ + int err; + struct ixxat_usb_power_cmd *cmd; + const u32 rcv_size = sizeof(cmd->res); + const u32 snd_size = sizeof(*cmd); + + cmd = kmalloc(snd_size, GFP_KERNEL); + if (!cmd) + return -ENOMEM; + + ixxat_usb_setup_cmd(&cmd->req, &cmd->res); + cmd->req.size = cpu_to_le32(snd_size - rcv_size); + cmd->req.code = cpu_to_le32(IXXAT_USB_BRD_CMD_POWER); + cmd->mode = mode; + + err = ixxat_usb_send_cmd(dev, le16_to_cpu(cmd->req.port), cmd, snd_size, + &cmd->res, rcv_size); + kfree(cmd); + return err; +} + +static int ixxat_usb_reset_ctrl(struct ixxat_usb_device *dev) +{ + const u16 port = dev->ctrl_index; + int err; + struct ixxat_usb_dal_cmd *cmd; + const u32 snd_size = sizeof(*cmd); + const u32 rcv_size = sizeof(cmd->res); + + cmd = kmalloc(snd_size, GFP_KERNEL); + if (!cmd) + return -ENOMEM; + + ixxat_usb_setup_cmd(&cmd->req, &cmd->res); + cmd->req.code = cpu_to_le32(IXXAT_USB_CAN_CMD_RESET); + cmd->req.port = cpu_to_le16(port); + + err = ixxat_usb_send_cmd(dev->udev, port, cmd, snd_size, &cmd->res, + rcv_size); + kfree(cmd); + return err; +} + +static void ixxat_usb_stop_queue(struct ixxat_usb_device *dev) +{ + struct net_device *netdev = dev->netdev; + u32 i; + + netif_stop_queue(netdev); + usb_kill_anchored_urbs(&dev->rx_submitted); + usb_kill_anchored_urbs(&dev->tx_submitted); + atomic_set(&dev->active_tx_urbs, 0); + for (i = 0; i < IXXAT_USB_MAX_TX_URBS; i++) { + if (dev->tx_contexts[i].echo_index != IXXAT_USB_MAX_TX_URBS) { + can_free_echo_skb(netdev, i); + dev->tx_contexts[i].echo_index = IXXAT_USB_MAX_TX_URBS; + } + } +} + +static int ixxat_usb_restart(struct ixxat_usb_device *dev) +{ + int err; + struct net_device *netdev = dev->netdev; + u32 t; + + ixxat_usb_stop_queue(dev); + err = ixxat_usb_stop_ctrl(dev); + if (err) + goto fail; + + err = ixxat_usb_start_ctrl(dev, &t); + if (err) + goto fail; + + dev->can.state = CAN_STATE_ERROR_ACTIVE; + netif_wake_queue(netdev); + +fail: + return err; +} + +static int ixxat_usb_set_mode(struct net_device *netdev, enum can_mode mode) +{ + struct ixxat_usb_device *dev = netdev_priv(netdev); + + if (mode != CAN_MODE_START) + return -EOPNOTSUPP; + + return ixxat_usb_restart(dev); +} + +static int ixxat_usb_get_berr_counter(const struct net_device *netdev, + struct can_berr_counter *bec) +{ + struct ixxat_usb_device *dev = netdev_priv(netdev); + + *bec = dev->bec; + return 0; +} + +static int ixxat_usb_handle_canmsg(struct ixxat_usb_device *dev, + struct ixxat_can_msg *rx) +{ + const u32 ixx_flags = le32_to_cpu(rx->base.flags); + const u8 dlc = IXXAT_USB_DECODE_DLC(ixx_flags); + struct canfd_frame *cf; + struct net_device *netdev = dev->netdev; + struct sk_buff *skb; + u8 flags = 0; + u8 len; + u8 min_size; + + if (ixx_flags & IXXAT_USB_FDMSG_FLAGS_EDL) { + if (ixx_flags & IXXAT_USB_FDMSG_FLAGS_FDR) + flags |= CANFD_BRS; + + if (ixx_flags & IXXAT_USB_FDMSG_FLAGS_ESI) + flags |= CANFD_ESI; + + len = can_dlc2len(get_canfd_dlc(dlc)); + } else { + len = get_can_dlc(dlc); + } + + min_size = sizeof(rx->base) + len; + + if (dev->adapter == &usb2can_cl1) + min_size += sizeof(rx->cl1) - sizeof(rx->cl1.data); + else + min_size += sizeof(rx->cl2) - sizeof(rx->cl2.data); + + if (rx->base.size < (min_size - 1)) { + netdev_err(netdev, "Error: Invalid can data message size\n"); + return -EBADMSG; + } + + if (ixx_flags & IXXAT_USB_MSG_FLAGS_OVR) { + netdev->stats.rx_over_errors++; + netdev->stats.rx_errors++; + netdev_err(netdev, "Error: Message overflow\n"); + } + + if (ixx_flags & IXXAT_USB_FDMSG_FLAGS_EDL) + skb = alloc_canfd_skb(netdev, &cf); + else + skb = alloc_can_skb(netdev, (struct can_frame **)&cf); + + if (!skb) + return -ENOMEM; + + cf->can_id = le32_to_cpu(rx->base.msg_id); + cf->len = len; + cf->flags |= flags; + + if (ixx_flags & IXXAT_USB_MSG_FLAGS_EXT) + cf->can_id |= CAN_EFF_FLAG; + + if (ixx_flags & IXXAT_USB_MSG_FLAGS_RTR) { + cf->can_id |= CAN_RTR_FLAG; + } else { + if (dev->adapter == &usb2can_cl1) + memcpy(cf->data, rx->cl1.data, len); + else + memcpy(cf->data, rx->cl2.data, len); + } + + ixxat_usb_get_ts_tv(dev, le32_to_cpu(rx->base.time), &skb->tstamp); + + netdev->stats.rx_packets++; + netdev->stats.rx_bytes += cf->len; + netif_rx(skb); + + return 0; +} + +static int ixxat_usb_handle_status(struct ixxat_usb_device *dev, + struct ixxat_can_msg *rx) +{ + struct net_device *netdev = dev->netdev; + struct can_frame *can_frame; + struct sk_buff *skb; + enum can_state new_state = CAN_STATE_ERROR_ACTIVE; + u32 raw_status; + u8 min_size = sizeof(rx->base) + sizeof(raw_status); + + if (dev->adapter == &usb2can_cl1) + min_size += sizeof(rx->cl1) - sizeof(rx->cl1.data); + else + min_size += sizeof(rx->cl2) - sizeof(rx->cl2.data); + + if (rx->base.size < (min_size - 1)) { + netdev_err(netdev, "Error: Invalid can status message size\n"); + return -EBADMSG; + } + + if (dev->adapter == &usb2can_cl1) + raw_status = le32_to_cpup((__le32 *)rx->cl1.data); + else + raw_status = le32_to_cpup((__le32 *)rx->cl2.data); + + if (raw_status != IXXAT_USB_CAN_STATUS_OK) { + if (raw_status & IXXAT_USB_CAN_STATUS_BUSOFF) { + dev->can.can_stats.bus_off++; + new_state = CAN_STATE_BUS_OFF; + can_bus_off(netdev); + } else { + if (raw_status & IXXAT_USB_CAN_STATUS_ERRLIM) { + dev->can.can_stats.error_warning++; + new_state = CAN_STATE_ERROR_WARNING; + } + + if (raw_status & IXXAT_USB_CAN_STATUS_ERR_PAS) { + dev->can.can_stats.error_passive++; + new_state = CAN_STATE_ERROR_PASSIVE; + } + + if (raw_status & IXXAT_USB_CAN_STATUS_OVERRUN) + new_state = CAN_STATE_MAX; + } + } + + if (new_state == CAN_STATE_ERROR_ACTIVE) { + dev->bec.txerr = 0; + dev->bec.rxerr = 0; + } + + if (new_state != CAN_STATE_MAX) + dev->can.state = new_state; + + skb = alloc_can_err_skb(netdev, &can_frame); + if (!skb) + return -ENOMEM; + + switch (new_state) { + case CAN_STATE_ERROR_ACTIVE: + can_frame->can_id |= CAN_ERR_CRTL; + can_frame->data[1] |= CAN_ERR_CRTL_ACTIVE; + break; + case CAN_STATE_ERROR_WARNING: + 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; + break; + case CAN_STATE_ERROR_PASSIVE: + can_frame->can_id |= CAN_ERR_CRTL; + can_frame->data[1] |= CAN_ERR_CRTL_TX_PASSIVE; + can_frame->data[1] |= CAN_ERR_CRTL_RX_PASSIVE; + break; + case CAN_STATE_BUS_OFF: + can_frame->can_id |= CAN_ERR_BUSOFF; + break; + case CAN_STATE_MAX: + can_frame->can_id |= CAN_ERR_CRTL; + can_frame->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW; + break; + default: + netdev_err(netdev, "Error: Unhandled can status %d\n", + new_state); + break; + } + + netdev->stats.rx_packets++; + netdev->stats.rx_bytes += can_frame->can_dlc; + netif_rx(skb); + + return 0; +} + +static int ixxat_usb_handle_error(struct ixxat_usb_device *dev, + struct ixxat_can_msg *rx) +{ + struct net_device *netdev = dev->netdev; + struct can_frame *can_frame; + struct sk_buff *skb; + u8 raw_error; + u8 min_size = sizeof(rx->base) + IXXAT_USB_CAN_ERROR_LEN; + + if (dev->adapter == &usb2can_cl1) + min_size += sizeof(rx->cl1) - sizeof(rx->cl1.data); + else + min_size += sizeof(rx->cl2) - sizeof(rx->cl2.data); + + if (rx->base.size < (min_size - 1)) { + netdev_err(netdev, "Error: Invalid can error message size\n"); + return -EBADMSG; + } + + if (dev->can.state == CAN_STATE_BUS_OFF) + return 0; + + if (dev->adapter == &usb2can_cl1) { + raw_error = rx->cl1.data[IXXAT_USB_CAN_ERROR_CODE]; + dev->bec.rxerr = rx->cl1.data[IXXAT_USB_CAN_ERROR_COUNTER_RX]; + dev->bec.txerr = rx->cl1.data[IXXAT_USB_CAN_ERROR_COUNTER_TX]; + } else { + raw_error = rx->cl2.data[IXXAT_USB_CAN_ERROR_CODE]; + dev->bec.rxerr = rx->cl2.data[IXXAT_USB_CAN_ERROR_COUNTER_RX]; + dev->bec.txerr = rx->cl2.data[IXXAT_USB_CAN_ERROR_COUNTER_TX]; + } + + if (raw_error == IXXAT_USB_CAN_ERROR_ACK) + netdev->stats.tx_errors++; + else + netdev->stats.rx_errors++; + + skb = alloc_can_err_skb(netdev, &can_frame); + if (!skb) + return -ENOMEM; + + switch (raw_error) { + case IXXAT_USB_CAN_ERROR_ACK: + can_frame->can_id |= CAN_ERR_ACK; + break; + case IXXAT_USB_CAN_ERROR_BIT: + can_frame->can_id |= CAN_ERR_PROT; + can_frame->data[2] |= CAN_ERR_PROT_BIT; + break; + case IXXAT_USB_CAN_ERROR_CRC: + can_frame->can_id |= CAN_ERR_PROT; + can_frame->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ; + break; + case IXXAT_USB_CAN_ERROR_FORM: + can_frame->can_id |= CAN_ERR_PROT; + can_frame->data[2] |= CAN_ERR_PROT_FORM; + break; + case IXXAT_USB_CAN_ERROR_STUFF: + can_frame->can_id |= CAN_ERR_PROT; + can_frame->data[2] |= CAN_ERR_PROT_STUFF; + break; + default: + can_frame->can_id |= CAN_ERR_PROT; + can_frame->data[2] |= CAN_ERR_PROT_UNSPEC; + break; + } + + netdev->stats.rx_packets++; + netdev->stats.rx_bytes += can_frame->can_dlc; + netif_rx(skb); + + return 0; +} + +static void ixxat_usb_decode_buf(struct urb *urb) +{ + struct ixxat_usb_device *dev = urb->context; + struct net_device *netdev = dev->netdev; + struct ixxat_can_msg *can_msg; + int err = 0; + u32 pos = 0; + u8 *data = urb->transfer_buffer; + + while (pos < urb->actual_length) { + u32 time; + u8 size; + u8 type; + + can_msg = (struct ixxat_can_msg *)&data[pos]; + if (!can_msg || !can_msg->base.size) { + err = -ENOTSUPP; + netdev_err(netdev, "Error %d: Unsupported usb msg\n", + err); + break; + } + + size = can_msg->base.size + 1; + if (size < sizeof(can_msg->base) || + (pos + size) > urb->actual_length) { + err = -EBADMSG; + netdev_err(netdev, + "Error %d: Invalid usb message size\n", + err); + break; + } + + type = le32_to_cpu(can_msg->base.flags); + type &= IXXAT_USB_MSG_FLAGS_TYPE; + time = le32_to_cpu(can_msg->base.time); + + switch (type) { + case IXXAT_USB_CAN_DATA: + err = ixxat_usb_handle_canmsg(dev, can_msg); + if (err) + goto fail; + break; + case IXXAT_USB_CAN_STATUS: + err = ixxat_usb_handle_status(dev, can_msg); + if (err) + goto fail; + break; + case IXXAT_USB_CAN_ERROR: + err = ixxat_usb_handle_error(dev, can_msg); + if (err) + goto fail; + break; + case IXXAT_USB_CAN_TIMEOVR: + ixxat_usb_get_ts_tv(dev, time, NULL); + break; + case IXXAT_USB_CAN_INFO: + case IXXAT_USB_CAN_WAKEUP: + case IXXAT_USB_CAN_TIMERST: + break; + default: + netdev_err(netdev, + "Unhandled rec type 0x%02x (%d): ignored\n", + type, type); + break; + } + + pos += size; + } + +fail: + if (err) + netdev_err(netdev, "Error %d: Buffer decoding failed\n", err); +} + +static int ixxat_usb_encode_msg(struct ixxat_usb_device *dev, + struct sk_buff *skb, u8 *obuf) +{ + int size; + struct canfd_frame *cf = (struct canfd_frame *)skb->data; + struct ixxat_can_msg can_msg = { {0} }; + struct ixxat_can_msg_base *msg_base = &can_msg.base; + u32 flags = 0; + u32 msg_id = 0; + + if (cf->can_id & CAN_RTR_FLAG) + flags |= IXXAT_USB_MSG_FLAGS_RTR; + + if (cf->can_id & CAN_EFF_FLAG) { + flags |= IXXAT_USB_MSG_FLAGS_EXT; + msg_id = cf->can_id & CAN_EFF_MASK; + } else { + msg_id = cf->can_id & CAN_SFF_MASK; + } + + if (can_is_canfd_skb(skb)) { + flags |= IXXAT_USB_FDMSG_FLAGS_EDL; + + if (!(cf->can_id & CAN_RTR_FLAG) && (cf->flags & CANFD_BRS)) + flags |= IXXAT_USB_FDMSG_FLAGS_FDR; + + flags |= IXXAT_USB_ENCODE_DLC(can_len2dlc(cf->len)); + } else { + flags |= IXXAT_USB_ENCODE_DLC(cf->len); + } + + msg_base->flags = cpu_to_le32(flags); + msg_base->msg_id = cpu_to_le32(msg_id); + msg_base->size = sizeof(*msg_base) + cf->len - 1; + if (dev->adapter == &usb2can_cl1) { + msg_base->size += sizeof(can_msg.cl1); + msg_base->size -= sizeof(can_msg.cl1.data); + memcpy(can_msg.cl1.data, cf->data, cf->len); + } else { + msg_base->size += sizeof(can_msg.cl2); + msg_base->size -= sizeof(can_msg.cl2.data); + memcpy(can_msg.cl2.data, cf->data, cf->len); + } + + size = msg_base->size + 1; + memcpy(obuf, &can_msg, size); + return size; +} + +static void ixxat_usb_read_bulk_callback(struct urb *urb) +{ + struct ixxat_usb_device *dev = urb->context; + const struct ixxat_usb_adapter *adapter = dev->adapter; + struct net_device *netdev = dev->netdev; + struct usb_device *udev = dev->udev; + int err; + + if (!netif_device_present(netdev)) + return; + + switch (urb->status) { + case 0: /* success */ + break; + case -EPROTO: + case -EILSEQ: + case -ENOENT: + case -ECONNRESET: + case -ESHUTDOWN: + return; + default: + netdev_err(netdev, "Rx urb aborted /(%d)\n", urb->status); + goto resubmit_urb; + } + + if (urb->actual_length > 0) + if (dev->state & IXXAT_USB_STATE_STARTED) + ixxat_usb_decode_buf(urb); + +resubmit_urb: + usb_fill_bulk_urb(urb, udev, usb_rcvbulkpipe(udev, dev->ep_msg_in), + urb->transfer_buffer, adapter->buffer_size_rx, + 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, + "Error %d: Failed to resubmit read bulk urb\n", err); +} + +static void ixxat_usb_write_bulk_callback(struct urb *urb) +{ + struct ixxat_tx_urb_context *context = urb->context; + struct ixxat_usb_device *dev; + struct net_device *netdev; + + if (WARN_ON(!context)) + return; + + dev = context->dev; + netdev = dev->netdev; + + if (!netif_device_present(netdev)) + return; + + if (!urb->status) { + netdev->stats.tx_packets += context->count; + netdev->stats.tx_bytes += context->dlc; + } else { + netdev_err(netdev, "Error %d: Tx urb aborted\n", urb->status); + } + + can_get_echo_skb(netdev, context->echo_index); + context->echo_index = IXXAT_USB_MAX_TX_URBS; + atomic_dec(&dev->active_tx_urbs); + + if (!urb->status) + netif_wake_queue(netdev); +} + +static netdev_tx_t ixxat_usb_start_xmit(struct sk_buff *skb, + struct net_device *netdev) +{ + int err; + int size; + struct ixxat_usb_device *dev = netdev_priv(netdev); + struct ixxat_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; + u32 i; + + 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 (WARN_ON_ONCE(!context)) + return NETDEV_TX_BUSY; + + urb = context->urb; + obuf = urb->transfer_buffer; + + size = ixxat_usb_encode_msg(dev, skb, obuf); + + context->echo_index = i; + context->dlc = cf->len; + context->count = 1; + + urb->transfer_buffer_length = size; + usb_anchor_urb(urb, &dev->tx_submitted); + can_put_echo_skb(skb, netdev, i); + atomic_inc(&dev->active_tx_urbs); + + err = usb_submit_urb(urb, GFP_ATOMIC); + if (err) { + can_free_echo_skb(netdev, i); + usb_unanchor_urb(urb); + atomic_dec(&dev->active_tx_urbs); + + context->echo_index = IXXAT_USB_MAX_TX_URBS; + + if (err == -ENODEV) { + netif_device_detach(netdev); + } else { + stats->tx_dropped++; + netdev_err(netdev, + "Error %d: Submitting tx-urb failed\n", err); + } + } else { + if (atomic_read(&dev->active_tx_urbs) >= IXXAT_USB_MAX_TX_URBS) + netif_stop_queue(netdev); + } + + return NETDEV_TX_OK; +} + +static int ixxat_usb_setup_rx_urbs(struct ixxat_usb_device *dev) +{ + int i; + int err = 0; + const struct ixxat_usb_adapter *adapter = dev->adapter; + struct net_device *netdev = dev->netdev; + struct usb_device *udev = dev->udev; + + for (i = 0; i < IXXAT_USB_MAX_RX_URBS; i++) { + struct urb *urb; + u8 *buf; + + urb = usb_alloc_urb(0, GFP_KERNEL); + if (!urb) { + err = -ENOMEM; + netdev_err(netdev, "Error %d: No memory for URBs\n", + err); + break; + } + + buf = kmalloc(adapter->buffer_size_rx, GFP_KERNEL); + if (!buf) { + usb_free_urb(urb); + err = -ENOMEM; + netdev_err(netdev, + "Error %d: No memory for USB-buffer\n", err); + break; + } + + usb_fill_bulk_urb(urb, udev, + usb_rcvbulkpipe(udev, dev->ep_msg_in), buf, + adapter->buffer_size_rx, + ixxat_usb_read_bulk_callback, dev); + + urb->transfer_flags |= URB_FREE_BUFFER; + usb_anchor_urb(urb, &dev->rx_submitted); + + err = usb_submit_urb(urb, GFP_KERNEL); + if (err) { + usb_unanchor_urb(urb); + kfree(buf); + usb_free_urb(urb); + + if (err == -ENODEV) + netif_device_detach(netdev); + + break; + } + + usb_free_urb(urb); + } + + if (i == 0) + netdev_err(netdev, "Error: Couldn't setup any rx-URBs\n"); + + return err; +} + +static int ixxat_usb_setup_tx_urbs(struct ixxat_usb_device *dev) +{ + int i; + int ret = 0; + const struct ixxat_usb_adapter *adapter = dev->adapter; + struct net_device *netdev = dev->netdev; + struct usb_device *udev = dev->udev; + + for (i = 0; i < IXXAT_USB_MAX_TX_URBS; i++) { + struct ixxat_tx_urb_context *context; + struct urb *urb; + u8 *buf; + + urb = usb_alloc_urb(0, GFP_KERNEL); + if (!urb) { + ret = -ENOMEM; + netdev_err(netdev, "Error %d: No memory for URBs\n", + ret); + break; + } + + buf = kmalloc(adapter->buffer_size_tx, GFP_KERNEL); + if (!buf) { + usb_free_urb(urb); + ret = -ENOMEM; + netdev_err(netdev, + "Error %d: No memory for USB-buffer\n", ret); + break; + } + + context = dev->tx_contexts + i; + context->dev = dev; + context->urb = urb; + + usb_fill_bulk_urb(urb, udev, + usb_sndbulkpipe(udev, dev->ep_msg_out), buf, + adapter->buffer_size_tx, + ixxat_usb_write_bulk_callback, context); + + urb->transfer_flags |= URB_FREE_BUFFER; + } + + if (i == 0) { + netdev_err(netdev, "Error: Couldn't setup any tx-URBs\n"); + usb_kill_anchored_urbs(&dev->rx_submitted); + } + + return ret; +} + +static void ixxat_usb_disconnect(struct usb_interface *intf) +{ + struct ixxat_usb_device *dev; + struct ixxat_usb_device *prev_dev; + + /* unregister the given device and all previous devices */ + for (dev = usb_get_intfdata(intf); dev; dev = prev_dev) { + prev_dev = dev->prev_dev; + unregister_netdev(dev->netdev); + free_candev(dev->netdev); + } + + usb_set_intfdata(intf, NULL); +} + +static int ixxat_usb_start(struct ixxat_usb_device *dev) +{ + int err; + int i; + u32 time_ref = 0; + const struct ixxat_usb_adapter *adapter = dev->adapter; + + err = ixxat_usb_setup_rx_urbs(dev); + if (err) + return err; + + err = ixxat_usb_setup_tx_urbs(dev); + if (err) + return err; + + /* Try to reset the controller, in case it is already initialized + * from a previous unclean shutdown + */ + ixxat_usb_reset_ctrl(dev); + + if (adapter->init_ctrl) { + err = adapter->init_ctrl(dev); + if (err) + goto fail; + } + + if (!(dev->state & IXXAT_USB_STATE_STARTED)) { + err = ixxat_usb_start_ctrl(dev, &time_ref); + if (err) + goto fail; + + ixxat_usb_set_ts_now(dev, time_ref); + } + + dev->bec.txerr = 0; + dev->bec.rxerr = 0; + + dev->state |= IXXAT_USB_STATE_STARTED; + dev->can.state = CAN_STATE_ERROR_ACTIVE; + return 0; + +fail: + if (err == -ENODEV) + netif_device_detach(dev->netdev); + + netdev_err(dev->netdev, "Error %d: Couldn't submit control\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; + } + + return err; +} + +static int ixxat_usb_open(struct net_device *netdev) +{ + struct ixxat_usb_device *dev = netdev_priv(netdev); + int err; + + /* common open */ + err = open_candev(netdev); + if (err) + goto fail; + + /* finally start device */ + err = ixxat_usb_start(dev); + if (err) { + netdev_err(netdev, "Error %d: Couldn't start device.\n", err); + close_candev(netdev); + goto fail; + } + + netif_start_queue(netdev); + +fail: + return err; +} + +static int ixxat_usb_stop(struct net_device *netdev) +{ + int err = 0; + struct ixxat_usb_device *dev = netdev_priv(netdev); + + ixxat_usb_stop_queue(dev); + if (dev->state & IXXAT_USB_STATE_STARTED) { + err = ixxat_usb_stop_ctrl(dev); + if (err) + netdev_warn(netdev, "Error %d: Cannot stop device\n", + err); + } + + dev->state &= ~IXXAT_USB_STATE_STARTED; + close_candev(netdev); + dev->can.state = CAN_STATE_STOPPED; + return err; +} + +static const struct net_device_ops ixxat_usb_netdev_ops = { + .ndo_open = ixxat_usb_open, + .ndo_stop = ixxat_usb_stop, + .ndo_start_xmit = ixxat_usb_start_xmit +}; + +static const struct ixxat_usb_adapter *ixxat_usb_get_adapter(const u16 id) +{ + switch (id) { + case USB2CAN_COMPACT_PRODUCT_ID: + case USB2CAN_EMBEDDED_PRODUCT_ID: + case USB2CAN_PROFESSIONAL_PRODUCT_ID: + case USB2CAN_AUTOMOTIVE_PRODUCT_ID: + return &usb2can_cl1; + case USB2CAN_FD_COMPACT_PRODUCT_ID: + case USB2CAN_FD_PROFESSIONAL_PRODUCT_ID: + case USB2CAN_FD_AUTOMOTIVE_PRODUCT_ID: + case USB2CAN_FD_PCIE_MINI_PRODUCT_ID: + case USB2CAR_PRODUCT_ID: + return &usb2can_cl2; + case CAN_IDM101_PRODUCT_ID: + case CAN_IDM200_PRODUCT_ID: + return &can_idm; + default: + return NULL; + } +} + +static int ixxat_usb_create_dev(struct usb_interface *intf, + const struct ixxat_usb_adapter *adapter, + u16 ctrl_index) +{ + struct usb_device *udev = interface_to_usbdev(intf); + struct ixxat_usb_device *dev; + struct net_device *netdev; + int err; + int i; + + netdev = alloc_candev(sizeof(*dev), IXXAT_USB_MAX_TX_URBS); + if (!netdev) { + dev_err(&intf->dev, "Cannot allocate candev\n"); + return -ENOMEM; + } + + dev = netdev_priv(netdev); + dev->udev = udev; + dev->netdev = netdev; + dev->adapter = adapter; + dev->ctrl_index = ctrl_index; + dev->state = IXXAT_USB_STATE_CONNECTED; + + i = ctrl_index + adapter->ep_offs; + dev->ep_msg_in = adapter->ep_msg_in[i]; + dev->ep_msg_out = adapter->ep_msg_out[i]; + + dev->can.clock.freq = adapter->clock; + dev->can.bittiming_const = adapter->bt; + dev->can.data_bittiming_const = adapter->btd; + + dev->can.do_set_mode = ixxat_usb_set_mode; + dev->can.do_get_berr_counter = ixxat_usb_get_berr_counter; + + dev->can.ctrlmode_supported = adapter->modes; + + netdev->netdev_ops = &ixxat_usb_netdev_ops; + + netdev->flags |= IFF_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_dev = 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, "Error %d: Failed to register can device\n", + err); + goto free_candev; + } + + if (dev->prev_dev) + (dev->prev_dev)->next_dev = dev; + + err = ixxat_usb_get_dev_info(udev, &dev->dev_info); + if (err) { + dev_err(&intf->dev, + "Error %d: Failed to get device information\n", err); + goto unreg_candev; + } + + netdev_info(netdev, "%s: Connected Channel %u (device %s)\n", + dev->dev_info.device_name, ctrl_index, + dev->dev_info.device_id); + + return 0; + +unreg_candev: + unregister_candev(netdev); +free_candev: + usb_set_intfdata(intf, dev->prev_dev); + free_candev(netdev); + return err; +} + +static int ixxat_usb_probe(struct usb_interface *intf, + const struct usb_device_id *id) +{ + struct usb_device *udev = interface_to_usbdev(intf); + struct usb_host_interface *host_intf = intf->altsetting; + const struct ixxat_usb_adapter *adapter; + struct ixxat_dev_caps dev_caps; + u16 i; + int err; + + usb_reset_configuration(udev); + + adapter = ixxat_usb_get_adapter(id->idProduct); + if (!adapter) { + dev_err(&intf->dev, "%s: Unknown device id %d\n", + IXXAT_USB_DRIVER_NAME, id->idProduct); + return -ENODEV; + } + + for (i = 0; i < host_intf->desc.bNumEndpoints; i++) { + const u8 epaddr = host_intf->endpoint[i].desc.bEndpointAddress; + int match; + u8 j; + + /* Check if usb-endpoint address matches known usb-endpoints */ + for (j = 0; j < IXXAT_USB_MAX_CHANNEL; j++) { + u8 ep_msg_in = adapter->ep_msg_in[j]; + u8 ep_msg_out = adapter->ep_msg_in[j]; + + if (epaddr == ep_msg_in || epaddr == ep_msg_out) { + match = 1; + break; + } + } + + if (!match) + return -ENODEV; + } + + err = ixxat_usb_power_ctrl(udev, IXXAT_USB_POWER_WAKEUP); + if (err) + return err; + + msleep(IXXAT_USB_POWER_WAKEUP_TIME); + + err = ixxat_usb_get_dev_caps(udev, &dev_caps); + if (err) { + dev_err(&intf->dev, + "Error %d: Failed to get device capabilities\n", err); + return err; + } + + err = -ENODEV; + for (i = 0; i < le16_to_cpu(dev_caps.bus_ctrl_count); i++) { + u16 dev_bustype = le16_to_cpu(dev_caps.bus_ctrl_types[i]); + u8 bustype = IXXAT_USB_BUS_TYPE(dev_bustype); + + if (bustype == IXXAT_USB_BUS_CAN) + err = ixxat_usb_create_dev(intf, adapter, i); + + if (err) { + /* deregister already created devices */ + ixxat_usb_disconnect(intf); + return err; + } + } + + return err; +} + +static struct usb_driver ixxat_usb_driver = { + .name = IXXAT_USB_DRIVER_NAME, + .probe = ixxat_usb_probe, + .disconnect = ixxat_usb_disconnect, + .id_table = ixxat_usb_table, +}; + +module_usb_driver(ixxat_usb_driver); diff --git a/ubuntu/ixxat-usb2can/ixxat_usb_core.h b/ubuntu/ixxat-usb2can/ixxat_usb_core.h new file mode 100644 index 000000000000..b6a0c099db8e --- /dev/null +++ b/ubuntu/ixxat-usb2can/ixxat_usb_core.h @@ -0,0 +1,521 @@ +/* SPDX-License-Identifier: GPL-2.0 */ + +/* CAN driver base for IXXAT USB-to-CAN + * + * Copyright (C) 2018 HMS Industrial Networks + * + * 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 IXXAT_USB_CORE_H +#define IXXAT_USB_CORE_H + +#define IXXAT_USB_DRIVER_NAME "ixxat_usb2can" +#define IXXAT_USB_CTRL_NAME "ixxat_usb" + +#define IXXAT_USB_VENDOR_ID 0x08d8 + +/* supported device ids: CL1 */ +#define USB2CAN_COMPACT_PRODUCT_ID 0x0008 +#define USB2CAN_EMBEDDED_PRODUCT_ID 0x0009 +#define USB2CAN_PROFESSIONAL_PRODUCT_ID 0x000A +#define USB2CAN_AUTOMOTIVE_PRODUCT_ID 0x000B + +/* supported device ids: CL2 */ +#define USB2CAN_FD_COMPACT_PRODUCT_ID 0x0014 +#define USB2CAN_FD_PROFESSIONAL_PRODUCT_ID 0x0016 +#define USB2CAN_FD_AUTOMOTIVE_PRODUCT_ID 0x0017 +#define USB2CAN_FD_PCIE_MINI_PRODUCT_ID 0x001B +#define USB2CAR_PRODUCT_ID 0x001C +#define CAN_IDM101_PRODUCT_ID 0xFF12 +#define CAN_IDM200_PRODUCT_ID 0xFF13 + +#define IXXAT_USB_BUS_CAN 1 + +#define IXXAT_USB_BUS_TYPE(type) ((u8)(((type) >> 8) & 0x00FF)) + +#define IXXAT_USB_STATE_CONNECTED BIT(0) +#define IXXAT_USB_STATE_STARTED BIT(1) + +#define IXXAT_USB_MAX_CHANNEL 5 +#define IXXAT_USB_MAX_TYPES 32 +#define IXXAT_USB_MAX_RX_URBS 4 +#define IXXAT_USB_MAX_TX_URBS 10 +#define IXXAT_USB_MAX_COM_REQ 10 + +#define IXXAT_USB_MSG_TIMEOUT 50 +#define IXXAT_USB_MSG_CYCLE 20 + +#define IXXAT_USB_POWER_WAKEUP 0 +#define IXXAT_USB_POWER_WAKEUP_TIME 500 + +#define IXXAT_USB_OPMODE_STANDARD BIT(0) +#define IXXAT_USB_OPMODE_EXTENDED BIT(1) +#define IXXAT_USB_OPMODE_ERRFRAME BIT(2) +#define IXXAT_USB_OPMODE_LISTONLY BIT(3) + +#define IXXAT_USB_EXMODE_EXTDATA BIT(0) +#define IXXAT_USB_EXMODE_FASTDATA BIT(1) +#define IXXAT_USB_EXMODE_ISOFD BIT(2) + +#define IXXAT_USB_BTMODE_NAT BIT(0) +#define IXXAT_USB_BTMODE_TSM BIT(1) + +#define IXXAT_USB_STOP_ACTION_CLEARALL 3 + +#define IXXAT_RESTART_TASK_CYCLE_TIME 20 + +#define IXXAT_USB_CAN_DATA 0x00 +#define IXXAT_USB_CAN_INFO 0x01 +#define IXXAT_USB_CAN_ERROR 0x02 +#define IXXAT_USB_CAN_STATUS 0x03 +#define IXXAT_USB_CAN_WAKEUP 0x04 +#define IXXAT_USB_CAN_TIMEOVR 0x05 +#define IXXAT_USB_CAN_TIMERST 0x06 + +#define IXXAT_USB_CAN_STATUS_OK 0x00000000 +#define IXXAT_USB_CAN_STATUS_OVERRUN 0x00000002 +#define IXXAT_USB_CAN_STATUS_ERRLIM 0x00000004 +#define IXXAT_USB_CAN_STATUS_BUSOFF 0x00000008 +#define IXXAT_USB_CAN_STATUS_ERR_PAS 0x00002000 + +#define IXXAT_USB_CAN_ERROR_LEN 5 + +#define IXXAT_USB_CAN_ERROR_CODE 0 +#define IXXAT_USB_CAN_ERROR_COUNTER_RX 3 +#define IXXAT_USB_CAN_ERROR_COUNTER_TX 4 + +#define IXXAT_USB_CAN_ERROR_STUFF 1 +#define IXXAT_USB_CAN_ERROR_FORM 2 +#define IXXAT_USB_CAN_ERROR_ACK 3 +#define IXXAT_USB_CAN_ERROR_BIT 4 +#define IXXAT_USB_CAN_ERROR_CRC 6 + +#define IXXAT_USB_MSG_FLAGS_TYPE 0x000000FF +#define IXXAT_USB_MSG_FLAGS_DLC 0x000F0000 +#define IXXAT_USB_MSG_FLAGS_OVR 0x00100000 +#define IXXAT_USB_MSG_FLAGS_RTR 0x00400000 +#define IXXAT_USB_MSG_FLAGS_EXT 0x00800000 + +#define IXXAT_USB_DECODE_DLC(flags) (((flags) & IXXAT_USB_MSG_FLAGS_DLC) >> 16) +#define IXXAT_USB_ENCODE_DLC(len) (((len) << 16) & IXXAT_USB_MSG_FLAGS_DLC) + +#define IXXAT_USB_FDMSG_FLAGS_EDL 0x00000400 +#define IXXAT_USB_FDMSG_FLAGS_FDR 0x00000800 +#define IXXAT_USB_FDMSG_FLAGS_ESI 0x00001000 + +#define IXXAT_USB_CAN_CMD_START 0x326 +#define IXXAT_USB_CAN_CMD_STOP 0x327 +#define IXXAT_USB_CAN_CMD_RESET 0x328 + +#define IXXAT_USB_BRD_CMD_GET_DEVCAPS 0x401 +#define IXXAT_USB_BRD_CMD_GET_DEVINFO 0x402 +#define IXXAT_USB_BRD_CMD_POWER 0x421 + +/** + * struct ixxat_can_msg_base - IXXAT CAN message base (CL1/CL2) + * @size: Message size (this field excluded) + * @time: Message timestamp + * @msg_id: Message ID + * @flags: Message flags + * + * Contains the common fields of an IXXAT CAN message on both CL1 and CL2 + * devices + */ +struct ixxat_can_msg_base { + u8 size; + __le32 time; + __le32 msg_id; + __le32 flags; +} __packed; + +/** + * struct ixxat_can_msg_cl1 - IXXAT CAN message (CL1) + * @data: Message data (standard CAN frame) + * + * Contains the fields of an IXXAT CAN message on CL1 devices + */ +struct ixxat_can_msg_cl1 { + u8 data[CAN_MAX_DLEN]; +} __packed; + +/** + * struct ixxat_can_msg_cl2 - IXXAT CAN message (CL2) + * @client_id: Client ID + * @data: Message data (CAN FD frame) + * + * Contains the fields of an IXXAT CAN message on CL2 devices + */ +struct ixxat_can_msg_cl2 { + __le32 client_id; + u8 data[CANFD_MAX_DLEN]; +} __packed; + +/** + * struct ixxat_can_msg - IXXAT CAN message + * @base: Base message + * @cl1: Cl1 message + * @cl2: Cl2 message + * + * Contains an IXXAT CAN message + */ +struct ixxat_can_msg { + struct ixxat_can_msg_base base; + union { + struct ixxat_can_msg_cl1 cl1; + struct ixxat_can_msg_cl2 cl2; + }; +} __packed; + +/** + * struct ixxat_dev_caps - Device capabilities + * @bus_ctrl_count: Stores the bus controller counter + * @bus_ctrl_types: Stores the bus controller types + * + * Contains the device capabilities + */ +struct ixxat_dev_caps { + __le16 bus_ctrl_count; + __le16 bus_ctrl_types[IXXAT_USB_MAX_TYPES]; +} __packed; + +/** + * struct ixxat_canbtp Bittiming parameters (CL2) + * @mode: Operation mode + * @bps: Bits per second + * @ts1: First time segment + * @ts2: Second time segment + * @sjw: Synchronization jump width + * @tdo: Transmitter delay offset + * + * Bittiming parameters of a CL2 initialization request + */ +struct ixxat_canbtp { + __le32 mode; + __le32 bps; + __le16 ts1; + __le16 ts2; + __le16 sjw; + __le16 tdo; +} __packed; + +/** + * struct ixxat_dev_info IXXAT usb device information + * @device_name: Name of the device + * @device_id: Device identification ( unique device id) + * @device_version: Device version ( 0, 1, ...) + * @device_fpga_version: Version of FPGA design + * + * Contains device information of IXXAT USB devices + */ +struct ixxat_dev_info { + char device_name[16]; + char device_id[16]; + __le16 device_version; + __le32 device_fpga_version; +} __packed; + +/** + * struct ixxat_time_ref Time reference + * @kt_host_0: Latest time on the host + * @ts_dev_0: Latest time stamp on the device + * @ts_dev_last: Last device time stamp + * + * Contains time references of the device and the host + */ +struct ixxat_time_ref { + ktime_t kt_host_0; + u32 ts_dev_0; + u32 ts_dev_last; +}; + +/** + * struct ixxat_tx_urb_context URB content for transmission + * @dev: IXXAT USB device + * @urb: USB request block + * @echo_index: Echo index + * @dlc: Data length code + * @count: Counter + * + * Contains content for USB request block transmissions + */ +struct ixxat_tx_urb_context { + struct ixxat_usb_device *dev; + struct urb *urb; + u32 echo_index; + u8 dlc; + u8 count; +}; + +/** + * struct ixxat_usb_device IXXAT USB device + * @can: CAN common private data + * @adapter: USB network descriptor + * @udev: USB device + * @netdev: Net_device + * @active_tx_urbs: Active tx urbs + * @tx_submitted: Submitted tx usb anchor + * @tx_contexts: Buffer for tx contexts + * @rx_submitted: Submitted rx usb anchor + * @state: Device state + * @ctrl_index: Controller index + * @ep_msg_in: USB endpoint for incoming messages + * @ep_msg_out: USB endpoint for outgoing messages + * @prev_dev: Previous opened device + * @next_dev: Next opened device in list + * @time_ref: Time reference + * @dev_info: Device information + * @bec: CAN error counter + * + * IXXAT USB-to-CAN device + */ +struct ixxat_usb_device { + struct can_priv can; + const struct ixxat_usb_adapter *adapter; + struct usb_device *udev; + struct net_device *netdev; + + atomic_t active_tx_urbs; + struct usb_anchor tx_submitted; + struct ixxat_tx_urb_context tx_contexts[IXXAT_USB_MAX_TX_URBS]; + struct usb_anchor rx_submitted; + + u32 state; + u16 ctrl_index; + + u8 ep_msg_in; + u8 ep_msg_out; + + struct ixxat_usb_device *prev_dev; + struct ixxat_usb_device *next_dev; + + struct ixxat_time_ref time_ref; + struct ixxat_dev_info dev_info; + + struct can_berr_counter bec; +}; + +/** + * struct ixxat_usb_dal_req IXXAT device request block + * @size: Request size + * @port: Request port + * @socket: Request socket + * @code: Request code + * + * IXXAT device request block + */ +struct ixxat_usb_dal_req { + __le32 size; + __le16 port; + __le16 socket; + __le32 code; +} __packed; + +/** + * struct ixxat_usb_dal_res IXXAT device response block + * @res_size: Expected response size + * @ret_size: Actual response size + * @code: Return code + * + * IXXAT device response block + */ +struct ixxat_usb_dal_res { + __le32 res_size; + __le32 ret_size; + __le32 code; +} __packed; + +/** + * struct ixxat_usb_dal_cmd IXXAT device command + * @req: Request block + * @req: Response block + * + * IXXAT device command + */ +struct ixxat_usb_dal_cmd { + struct ixxat_usb_dal_req req; + struct ixxat_usb_dal_res res; +} __packed; + +/** + * struct ixxat_usb_caps_cmd Device capabilities command + * @req: Request block + * @res: Response block + * @caps: Device capabilities + * + * Can be sent to a device to request its capabilities + */ +struct ixxat_usb_caps_cmd { + struct ixxat_usb_dal_req req; + struct ixxat_usb_dal_res res; + struct ixxat_dev_caps caps; +} __packed; + +/** + * struct ixxat_usb_init_cl1_cmd Initialization command (CL1) + * @req: Request block + * @mode: Operation mode + * @btr0: Bittiming register 0 + * @btr1: Bittiming register 1 + * @padding: 1 byte padding + * @res: Response block + * + * Can be sent to a CL1 device to initialize it + */ +struct ixxat_usb_init_cl1_cmd { + struct ixxat_usb_dal_req req; + u8 mode; + u8 btr0; + u8 btr1; + u8 padding; + struct ixxat_usb_dal_res res; +} __packed; + +/** + * struct ixxat_usb_init_cl2_cmd Initialization command (CL2) + * @req: Request block + * @opmode: Operation mode + * @exmode: Extended mode + * @sdr: Stadard bittiming parameters + * @fdr: Fast data bittiming parameters + * @_padding: 2 bytes padding + * @res: Response block + * + * Can be sent to a CL2 device to initialize it + */ +struct ixxat_usb_init_cl2_cmd { + struct ixxat_usb_dal_req req; + u8 opmode; + u8 exmode; + struct ixxat_canbtp sdr; + struct ixxat_canbtp fdr; + __le16 _padding; + struct ixxat_usb_dal_res res; +} __packed; + +/** + * struct ixxat_usb_start_cmd Controller start command + * @req: Request block + * @res: Response block + * @time: Timestamp + * + * Can be sent to a device to start its controller + */ +struct ixxat_usb_start_cmd { + struct ixxat_usb_dal_req req; + struct ixxat_usb_dal_res res; + __le32 time; +} __packed; + +/** + * struct ixxat_usb_stop_cmd Controller stop command + * @req: Request block + * @action: Stop action + * @res: Response block + * + * Can be sent to a device to start its controller + */ +struct ixxat_usb_stop_cmd { + struct ixxat_usb_dal_req req; + __le32 action; + struct ixxat_usb_dal_res res; +} __packed; + +/** + * struct ixxat_usb_power_cmd Power command + * @req: Request block + * @mode: Power mode + * @_padding1: 1 byte padding + * @_padding2: 2 byte padding + * @res: Response block + * + * Can be sent to a device to set its power mode + */ +struct ixxat_usb_power_cmd { + struct ixxat_usb_dal_req req; + u8 mode; + u8 _padding1; + __le16 _padding2; + struct ixxat_usb_dal_res res; +} __packed; + +/** + * struct ixxat_usb_info_cmd Device information command + * @req: Request block + * @res: Response block + * @info: Device information + * + * Can be sent to a device to request its device information + */ +struct ixxat_usb_info_cmd { + struct ixxat_usb_dal_req req; + struct ixxat_usb_dal_res res; + struct ixxat_dev_info info; +} __packed; + +/** + * struct ixxat_usb_adapter IXXAT USB device adapter + * @clock: Clock frequency + * @bt: Bittiming constants + * @btd: Data bittiming constants + * @modes: Supported modes + * @buffer_size_rx: Buffer size for receiving + * @buffer_size_tx: Buffer size for transfer + * @ep_msg_in: USB endpoint buffer for incoming messages + * @ep_msg_out: USB endpoint buffer for outgoing messages + * @ep_offs: Endpoint offset (device depended) + * + * Device Adapter for IXXAT USB devices + */ +struct ixxat_usb_adapter { + const u32 clock; + const struct can_bittiming_const *bt; + const struct can_bittiming_const *btd; + const u32 modes; + const u16 buffer_size_rx; + const u16 buffer_size_tx; + const u8 ep_msg_in[IXXAT_USB_MAX_CHANNEL]; + const u8 ep_msg_out[IXXAT_USB_MAX_CHANNEL]; + const u8 ep_offs; + int (*init_ctrl)(struct ixxat_usb_device *dev); +}; + +extern const struct ixxat_usb_adapter usb2can_cl1; +extern const struct ixxat_usb_adapter usb2can_cl2; +extern const struct ixxat_usb_adapter can_idm; + +/** + * ixxat_usb_setup_cmd() - Setup a device command + * @req: Request block + * @res: Response block + * + * This function sets the default values in the request and the response block + * of a device command + */ +void ixxat_usb_setup_cmd(struct ixxat_usb_dal_req *req, + struct ixxat_usb_dal_res *res); + +/** + * ixxat_usb_send_cmd() - Send a command to the device + * @dev: USB device + * @port: Command port + * @req: Command request buffer + * @req_size: Command request size + * @res: Command response buffer + * @res_size: Command response size + * + * This function sends a specific command to the device + * + * Return: Negative error code or zero on success + */ +int ixxat_usb_send_cmd(struct usb_device *dev, const u16 port, void *req, + const u16 req_size, void *res, const u16 res_size); + +#endif /* IXXAT_USB_CORE_H */