Commit 1dfb6005 authored by Vincent Mailhol's avatar Vincent Mailhol Committed by Marc Kleine-Budde
Browse files

can: etas_es58x: add support for ETAS ES581.4 CAN USB interface 

This patch adds support for the ES581.4 interface from ETAS
GmbH (https://www.etas.com/en/products/es58x.php).

Link: https://lore.kernel.org/r/20210410095948.233305-3-mailhol.vincent@wanadoo.fr


Co-developed-by: default avatarArunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: default avatarArunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: default avatarVincent Mailhol <mailhol.vincent@wanadoo.fr>
Signed-off-by: default avatarMarc Kleine-Budde <mkl@pengutronix.de>
parent 85372578

drivers/net/can/usb/etas_es58x/Makefile

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# SPDX-License-Identifier: GPL-2.0

obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x.o

etas_es58x-y = es58x_core.o
 
etas_es58x-y = es58x_core.o es581_4.o

drivers/net/can/usb/etas_es58x/es581_4.c

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// SPDX-License-Identifier: GPL-2.0



/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.

 *

 * File es581_4.c: Adds support to ETAS ES581.4.

 *

 * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.

 * Copyright (c) 2020 ETAS K.K.. All rights reserved.

 * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>

 */



#include <linux/kernel.h>

#include <asm/unaligned.h>



#include "es58x_core.h"

#include "es581_4.h"



/**

 * es581_4_sizeof_rx_tx_msg() - Calculate the actual length of the

 *	structure of a rx or tx message.

 * @msg: message of variable length, must have a dlc field.

 *

 * Even if RTR frames have actually no payload, the ES58X devices

 * still expect it. Must be a macro in order to accept several types

 * (struct es581_4_tx_can_msg and struct es581_4_rx_can_msg) as an

 * input.

 *

 * Return: length of the message.

 */

#define es581_4_sizeof_rx_tx_msg(msg)				\

	offsetof(typeof(msg), data[can_cc_dlc2len((msg).dlc)])



static u16 es581_4_get_msg_len(const union es58x_urb_cmd *urb_cmd)

{

	return get_unaligned_le16(&urb_cmd->es581_4_urb_cmd.msg_len);

}



static int es581_4_echo_msg(struct es58x_device *es58x_dev,

			    const struct es581_4_urb_cmd *es581_4_urb_cmd)

{

	struct net_device *netdev;

	const struct es581_4_bulk_echo_msg *bulk_echo_msg;

	const struct es581_4_echo_msg *echo_msg;

	u64 *tstamps = es58x_dev->timestamps;

	u16 msg_len;

	u32 first_packet_idx, packet_idx;

	unsigned int dropped = 0;

	int i, num_element, ret;



	bulk_echo_msg = &es581_4_urb_cmd->bulk_echo_msg;

	msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len) -

	    sizeof(bulk_echo_msg->channel_no);

	num_element = es58x_msg_num_element(es58x_dev->dev,

					    bulk_echo_msg->echo_msg, msg_len);

	if (num_element <= 0)

		return num_element;



	ret = es58x_get_netdev(es58x_dev, bulk_echo_msg->channel_no,

			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);

	if (ret)

		return ret;



	echo_msg = &bulk_echo_msg->echo_msg[0];

	first_packet_idx = get_unaligned_le32(&echo_msg->packet_idx);

	packet_idx = first_packet_idx;

	for (i = 0; i < num_element; i++) {

		u32 tmp_idx;



		echo_msg = &bulk_echo_msg->echo_msg[i];

		tmp_idx = get_unaligned_le32(&echo_msg->packet_idx);

		if (tmp_idx == packet_idx - 1) {

			if (net_ratelimit())

				netdev_warn(netdev,

					    "Received echo packet idx %u twice\n",

					    packet_idx - 1);

			dropped++;

			continue;

		}

		if (tmp_idx != packet_idx) {

			netdev_err(netdev, "Echo packet idx jumped from %u to %u\n",

				   packet_idx - 1, echo_msg->packet_idx);

			return -EBADMSG;

		}



		tstamps[i] = get_unaligned_le64(&echo_msg->timestamp);

		packet_idx++;

	}



	netdev->stats.tx_dropped += dropped;

	return es58x_can_get_echo_skb(netdev, first_packet_idx,

				      tstamps, num_element - dropped);

}



static int es581_4_rx_can_msg(struct es58x_device *es58x_dev,

			      const struct es581_4_urb_cmd *es581_4_urb_cmd,

			      u16 msg_len)

{

	const struct device *dev = es58x_dev->dev;

	struct net_device *netdev;

	int pkts, num_element, channel_no, ret;



	num_element = es58x_msg_num_element(dev, es581_4_urb_cmd->rx_can_msg,

					    msg_len);

	if (num_element <= 0)

		return num_element;



	channel_no = es581_4_urb_cmd->rx_can_msg[0].channel_no;

	ret = es58x_get_netdev(es58x_dev, channel_no,

			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);

	if (ret)

		return ret;



	if (!netif_running(netdev)) {

		if (net_ratelimit())

			netdev_info(netdev,

				    "%s: %s is down, dropping %d rx packets\n",

				    __func__, netdev->name, num_element);

		netdev->stats.rx_dropped += num_element;

		return 0;

	}



	for (pkts = 0; pkts < num_element; pkts++) {

		const struct es581_4_rx_can_msg *rx_can_msg =

		    &es581_4_urb_cmd->rx_can_msg[pkts];

		u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);

		canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);



		if (channel_no != rx_can_msg->channel_no)

			return -EBADMSG;



		ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,

				       can_id, rx_can_msg->flags,

				       rx_can_msg->dlc);

		if (ret)

			break;

	}



	return ret;

}



static int es581_4_rx_err_msg(struct es58x_device *es58x_dev,

			      const struct es581_4_rx_err_msg *rx_err_msg)

{

	struct net_device *netdev;

	enum es58x_err error = get_unaligned_le32(&rx_err_msg->error);

	int ret;



	ret = es58x_get_netdev(es58x_dev, rx_err_msg->channel_no,

			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);

	if (ret)

		return ret;



	return es58x_rx_err_msg(netdev, error, 0,

				get_unaligned_le64(&rx_err_msg->timestamp));

}



static int es581_4_rx_event_msg(struct es58x_device *es58x_dev,

				const struct es581_4_rx_event_msg *rx_event_msg)

{

	struct net_device *netdev;

	enum es58x_event event = get_unaligned_le32(&rx_event_msg->event);

	int ret;



	ret = es58x_get_netdev(es58x_dev, rx_event_msg->channel_no,

			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);

	if (ret)

		return ret;



	return es58x_rx_err_msg(netdev, 0, event,

				get_unaligned_le64(&rx_event_msg->timestamp));

}



static int es581_4_rx_cmd_ret_u32(struct es58x_device *es58x_dev,

				  const struct es581_4_urb_cmd *es581_4_urb_cmd,

				  enum es58x_ret_type ret_type)

{

	struct net_device *netdev;

	const struct es581_4_rx_cmd_ret *rx_cmd_ret;

	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);

	int ret;



	ret = es58x_check_msg_len(es58x_dev->dev,

				  es581_4_urb_cmd->rx_cmd_ret, msg_len);

	if (ret)

		return ret;



	rx_cmd_ret = &es581_4_urb_cmd->rx_cmd_ret;



	ret = es58x_get_netdev(es58x_dev, rx_cmd_ret->channel_no,

			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);

	if (ret)

		return ret;



	return es58x_rx_cmd_ret_u32(netdev, ret_type,

				    get_unaligned_le32(&rx_cmd_ret->rx_cmd_ret_le32));

}



static int es581_4_tx_ack_msg(struct es58x_device *es58x_dev,

			      const struct es581_4_urb_cmd *es581_4_urb_cmd)

{

	struct net_device *netdev;

	const struct es581_4_tx_ack_msg *tx_ack_msg;

	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);

	int ret;



	tx_ack_msg = &es581_4_urb_cmd->tx_ack_msg;

	ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);

	if (ret)

		return ret;



	if (tx_ack_msg->rx_cmd_ret_u8 != ES58X_RET_U8_OK)

		return es58x_rx_cmd_ret_u8(es58x_dev->dev,

					   ES58X_RET_TYPE_TX_MSG,

					   tx_ack_msg->rx_cmd_ret_u8);



	ret = es58x_get_netdev(es58x_dev, tx_ack_msg->channel_no,

			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);

	if (ret)

		return ret;



	return es58x_tx_ack_msg(netdev,

				get_unaligned_le16(&tx_ack_msg->tx_free_entries),

				ES58X_RET_U32_OK);

}



static int es581_4_dispatch_rx_cmd(struct es58x_device *es58x_dev,

				   const struct es581_4_urb_cmd *es581_4_urb_cmd)

{

	const struct device *dev = es58x_dev->dev;

	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);

	enum es581_4_rx_type rx_type = es581_4_urb_cmd->rx_can_msg[0].rx_type;

	int ret = 0;



	switch (rx_type) {

	case ES581_4_RX_TYPE_MESSAGE:

		return es581_4_rx_can_msg(es58x_dev, es581_4_urb_cmd, msg_len);



	case ES581_4_RX_TYPE_ERROR:

		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_err_msg,

					  msg_len);

		if (ret < 0)

			return ret;

		return es581_4_rx_err_msg(es58x_dev,

					  &es581_4_urb_cmd->rx_err_msg);



	case ES581_4_RX_TYPE_EVENT:

		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_event_msg,

					  msg_len);

		if (ret < 0)

			return ret;

		return es581_4_rx_event_msg(es58x_dev,

					    &es581_4_urb_cmd->rx_event_msg);



	default:

		dev_err(dev, "%s: Unknown rx_type 0x%02X\n", __func__, rx_type);

		return -EBADRQC;

	}

}



static int es581_4_handle_urb_cmd(struct es58x_device *es58x_dev,

				  const union es58x_urb_cmd *urb_cmd)

{

	const struct es581_4_urb_cmd *es581_4_urb_cmd;

	struct device *dev = es58x_dev->dev;

	u16 msg_len = es581_4_get_msg_len(urb_cmd);

	int ret;



	es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;



	if (es581_4_urb_cmd->cmd_type != ES581_4_CAN_COMMAND_TYPE) {

		dev_err(dev, "%s: Unknown command type (0x%02X)\n",

			__func__, es581_4_urb_cmd->cmd_type);

		return -EBADRQC;

	}



	switch ((enum es581_4_cmd_id)es581_4_urb_cmd->cmd_id) {

	case ES581_4_CMD_ID_SET_BITTIMING:

		return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,

					      ES58X_RET_TYPE_SET_BITTIMING);



	case ES581_4_CMD_ID_ENABLE_CHANNEL:

		return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,

					      ES58X_RET_TYPE_ENABLE_CHANNEL);



	case ES581_4_CMD_ID_TX_MSG:

		return es581_4_tx_ack_msg(es58x_dev, es581_4_urb_cmd);



	case ES581_4_CMD_ID_RX_MSG:

		return es581_4_dispatch_rx_cmd(es58x_dev, es581_4_urb_cmd);



	case ES581_4_CMD_ID_RESET_RX:

		ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,

					     ES58X_RET_TYPE_RESET_RX);

		return ret;



	case ES581_4_CMD_ID_RESET_TX:

		ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,

					     ES58X_RET_TYPE_RESET_TX);

		return ret;



	case ES581_4_CMD_ID_DISABLE_CHANNEL:

		return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,

					      ES58X_RET_TYPE_DISABLE_CHANNEL);



	case ES581_4_CMD_ID_TIMESTAMP:

		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->timestamp,

					  msg_len);

		if (ret < 0)

			return ret;

		es58x_rx_timestamp(es58x_dev,

				   get_unaligned_le64(&es581_4_urb_cmd->timestamp));

		return 0;



	case ES581_4_CMD_ID_ECHO:

		return es581_4_echo_msg(es58x_dev, es581_4_urb_cmd);



	case ES581_4_CMD_ID_DEVICE_ERR:

		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_cmd_ret_u8,

					  msg_len);

		if (ret)

			return ret;

		return es58x_rx_cmd_ret_u8(dev, ES58X_RET_TYPE_DEVICE_ERR,

					   es581_4_urb_cmd->rx_cmd_ret_u8);



	default:

		dev_warn(dev, "%s: Unexpected command ID: 0x%02X\n",

			 __func__, es581_4_urb_cmd->cmd_id);

		return -EBADRQC;

	}

}



static void es581_4_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,

				    u8 cmd_id, u8 channel_idx, u16 msg_len)

{

	struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;



	es581_4_urb_cmd->SOF = cpu_to_le16(es581_4_param.tx_start_of_frame);

	es581_4_urb_cmd->cmd_type = cmd_type;

	es581_4_urb_cmd->cmd_id = cmd_id;

	es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);

}



static int es581_4_tx_can_msg(struct es58x_priv *priv,

			      const struct sk_buff *skb)

{

	struct es58x_device *es58x_dev = priv->es58x_dev;

	union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer;

	struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;

	struct can_frame *cf = (struct can_frame *)skb->data;

	struct es581_4_tx_can_msg *tx_can_msg;

	u16 msg_len;

	int ret;



	if (can_is_canfd_skb(skb))

		return -EMSGSIZE;



	if (priv->tx_can_msg_cnt == 0) {

		msg_len = 1; /* struct es581_4_bulk_tx_can_msg:num_can_msg */

		es581_4_fill_urb_header(urb_cmd, ES581_4_CAN_COMMAND_TYPE,

					ES581_4_CMD_ID_TX_MSG,

					priv->channel_idx, msg_len);

		es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg = 0;

	} else {

		msg_len = es581_4_get_msg_len(urb_cmd);

	}



	ret = es58x_check_msg_max_len(es58x_dev->dev,

				      es581_4_urb_cmd->bulk_tx_can_msg,

				      msg_len + sizeof(*tx_can_msg));

	if (ret)

		return ret;



	/* Fill message contents. */

	tx_can_msg = (struct es581_4_tx_can_msg *)

	    &es581_4_urb_cmd->bulk_tx_can_msg.tx_can_msg_buf[msg_len - 1];

	put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);

	put_unaligned_le32(priv->tx_head, &tx_can_msg->packet_idx);

	put_unaligned_le16((u16)es58x_get_flags(skb), &tx_can_msg->flags);

	tx_can_msg->channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;

	tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);



	memcpy(tx_can_msg->data, cf->data, cf->len);



	/* Calculate new sizes. */

	es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg++;

	msg_len += es581_4_sizeof_rx_tx_msg(*tx_can_msg);

	priv->tx_urb->transfer_buffer_length = es58x_get_urb_cmd_len(es58x_dev,

								     msg_len);

	es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);



	return 0;

}



static int es581_4_set_bittiming(struct es58x_priv *priv)

{

	struct es581_4_tx_conf_msg tx_conf_msg = { 0 };

	struct can_bittiming *bt = &priv->can.bittiming;



	tx_conf_msg.bitrate = cpu_to_le32(bt->bitrate);

	/* bt->sample_point is in tenth of percent. Convert it to percent. */

	tx_conf_msg.sample_point = cpu_to_le32(bt->sample_point / 10U);

	tx_conf_msg.samples_per_bit = cpu_to_le32(ES58X_SAMPLES_PER_BIT_ONE);

	tx_conf_msg.bit_time = cpu_to_le32(can_bit_time(bt));

	tx_conf_msg.sjw = cpu_to_le32(bt->sjw);

	tx_conf_msg.sync_edge = cpu_to_le32(ES58X_SYNC_EDGE_SINGLE);

	tx_conf_msg.physical_layer =

	    cpu_to_le32(ES58X_PHYSICAL_LAYER_HIGH_SPEED);

	tx_conf_msg.echo_mode = cpu_to_le32(ES58X_ECHO_ON);

	tx_conf_msg.channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;



	return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,

			      ES581_4_CMD_ID_SET_BITTIMING, &tx_conf_msg,

			      sizeof(tx_conf_msg), priv->channel_idx);

}



static int es581_4_enable_channel(struct es58x_priv *priv)

{

	int ret;

	u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;



	ret = es581_4_set_bittiming(priv);

	if (ret)

		return ret;



	return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,

			      ES581_4_CMD_ID_ENABLE_CHANNEL, &msg, sizeof(msg),

			      priv->channel_idx);

}



static int es581_4_disable_channel(struct es58x_priv *priv)

{

	u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;



	return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,

			      ES581_4_CMD_ID_DISABLE_CHANNEL, &msg, sizeof(msg),

			      priv->channel_idx);

}



static int es581_4_reset_device(struct es58x_device *es58x_dev)

{

	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,

			      ES581_4_CMD_ID_RESET_DEVICE,

			      ES58X_EMPTY_MSG, 0, ES58X_CHANNEL_IDX_NA);

}



static int es581_4_get_timestamp(struct es58x_device *es58x_dev)

{

	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,

			      ES581_4_CMD_ID_TIMESTAMP,

			      ES58X_EMPTY_MSG, 0, ES58X_CHANNEL_IDX_NA);

}



/* Nominal bittiming constants for ES581.4 as specified in the

 * microcontroller datasheet: "Stellaris(R) LM3S5B91 Microcontroller"

 * table 17-4 "CAN Protocol Ranges" from Texas Instruments.

 */

static const struct can_bittiming_const es581_4_bittiming_const = {

	.name = "ES581.4",

	.tseg1_min = 1,

	.tseg1_max = 8,

	.tseg2_min = 1,

	.tseg2_max = 8,

	.sjw_max = 4,

	.brp_min = 1,

	.brp_max = 128,

	.brp_inc = 1

};



const struct es58x_parameters es581_4_param = {

	.bittiming_const = &es581_4_bittiming_const,

	.data_bittiming_const = NULL,

	.tdc_const = NULL,

	.bitrate_max = 1 * CAN_MBPS,

	.clock = {.freq = 50 * CAN_MHZ},

	.ctrlmode_supported = CAN_CTRLMODE_CC_LEN8_DLC,

	.tx_start_of_frame = 0xAFAF,

	.rx_start_of_frame = 0xFAFA,

	.tx_urb_cmd_max_len = ES581_4_TX_URB_CMD_MAX_LEN,

	.rx_urb_cmd_max_len = ES581_4_RX_URB_CMD_MAX_LEN,

	/* Size of internal device TX queue is 330.

	 *

	 * However, we witnessed some ES58X_ERR_PROT_CRC errors from

	 * the device and thus, echo_skb_max was lowered to the

	 * empirical value of 75 which seems stable and then rounded

	 * down to become a power of two.

	 *

	 * Root cause of those ES58X_ERR_PROT_CRC errors is still

	 * unclear.

	 */

	.fifo_mask = 63, /* echo_skb_max = 64 */

	.dql_min_limit = CAN_FRAME_LEN_MAX * 50, /* Empirical value. */

	.tx_bulk_max = ES581_4_TX_BULK_MAX,

	.urb_cmd_header_len = ES581_4_URB_CMD_HEADER_LEN,

	.rx_urb_max = ES58X_RX_URBS_MAX,

	.tx_urb_max = ES58X_TX_URBS_MAX

};



const struct es58x_operators es581_4_ops = {

	.get_msg_len = es581_4_get_msg_len,

	.handle_urb_cmd = es581_4_handle_urb_cmd,

	.fill_urb_header = es581_4_fill_urb_header,

	.tx_can_msg = es581_4_tx_can_msg,

	.enable_channel = es581_4_enable_channel,

	.disable_channel = es581_4_disable_channel,

	.reset_device = es581_4_reset_device,

	.get_timestamp = es581_4_get_timestamp

};

drivers/net/can/usb/etas_es58x/es581_4.h

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/* SPDX-License-Identifier: GPL-2.0 */



/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.

 *

 * File es581_4.h: Definitions and declarations specific to ETAS

 * ES581.4.

 *

 * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.

 * Copyright (c) 2020 ETAS K.K.. All rights reserved.

 * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>

 */



#ifndef __ES581_4_H__

#define __ES581_4_H__



#include <linux/types.h>



#define ES581_4_NUM_CAN_CH 2

#define ES581_4_CHANNEL_IDX_OFFSET 1



#define ES581_4_TX_BULK_MAX 25

#define ES581_4_RX_BULK_MAX 30

#define ES581_4_ECHO_BULK_MAX 30



enum es581_4_cmd_type {

	ES581_4_CAN_COMMAND_TYPE = 0x45

};



enum es581_4_cmd_id {

	ES581_4_CMD_ID_OPEN_CHANNEL = 0x01,

	ES581_4_CMD_ID_CLOSE_CHANNEL = 0x02,

	ES581_4_CMD_ID_SET_BITTIMING = 0x03,

	ES581_4_CMD_ID_ENABLE_CHANNEL = 0x04,

	ES581_4_CMD_ID_TX_MSG = 0x05,

	ES581_4_CMD_ID_RX_MSG = 0x06,

	ES581_4_CMD_ID_RESET_RX = 0x0A,

	ES581_4_CMD_ID_RESET_TX = 0x0B,

	ES581_4_CMD_ID_DISABLE_CHANNEL = 0x0C,

	ES581_4_CMD_ID_TIMESTAMP = 0x0E,

	ES581_4_CMD_ID_RESET_DEVICE = 0x28,

	ES581_4_CMD_ID_ECHO = 0x71,

	ES581_4_CMD_ID_DEVICE_ERR = 0x72

};



enum es581_4_rx_type {

	ES581_4_RX_TYPE_MESSAGE = 1,

	ES581_4_RX_TYPE_ERROR = 3,

	ES581_4_RX_TYPE_EVENT = 4

};



/**

 * struct es581_4_tx_conf_msg - Channel configuration.

 * @bitrate: Bitrate.

 * @sample_point: Sample point is in percent [0..100].

 * @samples_per_bit: type enum es58x_samples_per_bit.

 * @bit_time: Number of time quanta in one bit.

 * @sjw: Synchronization Jump Width.

 * @sync_edge: type enum es58x_sync_edge.

 * @physical_layer: type enum es58x_physical_layer.

 * @echo_mode: type enum es58x_echo_mode.

 * @channel_no: Channel number, starting from 1. Not to be confused

 *	with channed_idx of the ES58X FD which starts from 0.

 */

struct es581_4_tx_conf_msg {

	__le32 bitrate;

	__le32 sample_point;

	__le32 samples_per_bit;

	__le32 bit_time;

	__le32 sjw;

	__le32 sync_edge;

	__le32 physical_layer;

	__le32 echo_mode;

	u8 channel_no;

} __packed;



struct es581_4_tx_can_msg {

	__le32 can_id;

	__le32 packet_idx;

	__le16 flags;

	u8 channel_no;

	u8 dlc;

	u8 data[CAN_MAX_DLEN];

} __packed;



/* The ES581.4 allows bulk transfer.  */

struct es581_4_bulk_tx_can_msg {

	u8 num_can_msg;

	/* Using type "u8[]" instead of "struct es581_4_tx_can_msg[]"

	 * for tx_msg_buf because each member has a flexible size.

	 */

	u8 tx_can_msg_buf[ES581_4_TX_BULK_MAX *

			  sizeof(struct es581_4_tx_can_msg)];

} __packed;



struct es581_4_echo_msg {

	__le64 timestamp;

	__le32 packet_idx;

} __packed;



struct es581_4_bulk_echo_msg {

	u8 channel_no;

	struct es581_4_echo_msg echo_msg[ES581_4_ECHO_BULK_MAX];

} __packed;



/* Normal Rx CAN Message */

struct es581_4_rx_can_msg {

	__le64 timestamp;

	u8 rx_type;		/* type enum es581_4_rx_type */

	u8 flags;		/* type enum es58x_flag */

	u8 channel_no;

	u8 dlc;

	__le32 can_id;

	u8 data[CAN_MAX_DLEN];

} __packed;



struct es581_4_rx_err_msg {

	__le64 timestamp;

	__le16 rx_type;		/* type enum es581_4_rx_type */

	__le16 flags;		/* type enum es58x_flag */

	u8 channel_no;

	u8 __padding[2];

	u8 dlc;

	__le32 tag;		/* Related to the CAN filtering. Unused in this module */

	__le32 can_id;

	__le32 error;		/* type enum es58x_error */

	__le32 destination;	/* Unused in this module */

} __packed;



struct es581_4_rx_event_msg {

	__le64 timestamp;

	__le16 rx_type;		/* type enum es581_4_rx_type */

	u8 channel_no;

	u8 __padding;

	__le32 tag;		/* Related to the CAN filtering. Unused in this module */

	__le32 event;		/* type enum es58x_event */

	__le32 destination;	/* Unused in this module */

} __packed;



struct es581_4_tx_ack_msg {

	__le16 tx_free_entries;	/* Number of remaining free entries in the device TX queue */

	u8 channel_no;

	u8 rx_cmd_ret_u8;	/* type enum es58x_cmd_ret_code_u8 */

} __packed;



struct es581_4_rx_cmd_ret {

	__le32 rx_cmd_ret_le32;

	u8 channel_no;

	u8 __padding[3];

} __packed;



/**

 * struct es581_4_urb_cmd - Commands received from or sent to the

 *	ES581.4 device.

 * @SOF: Start of Frame.

 * @cmd_type: Command Type (type: enum es581_4_cmd_type). The CRC

 *	calculation starts at this position.

 * @cmd_id: Command ID (type: enum es581_4_cmd_id).

 * @msg_len: Length of the message, excluding CRC (i.e. length of the

 *	union).

 * @tx_conf_msg: Channel configuration.

 * @bulk_tx_can_msg: Tx messages.

 * @rx_can_msg: Array of Rx messages.

 * @bulk_echo_msg: Tx message being looped back.

 * @rx_err_msg: Error message.

 * @rx_event_msg: Event message.

 * @tx_ack_msg: Tx acknowledgment message.

 * @rx_cmd_ret: Command return code.

 * @timestamp: Timestamp reply.

 * @rx_cmd_ret_u8: Rx 8 bits return code (type: enum

 *	es58x_cmd_ret_code_u8).

 * @raw_msg: Message raw payload.

 * @reserved_for_crc16_do_not_use: The structure ends with a

 *	CRC16. Because the structures in above union are of variable

 *	lengths, we can not predict the offset of the CRC in

 *	advance. Use functions es58x_get_crc() and es58x_set_crc() to

 *	manipulate it.

 */

struct es581_4_urb_cmd {

	__le16 SOF;

	u8 cmd_type;

	u8 cmd_id;

	__le16 msg_len;



	union {

		struct es581_4_tx_conf_msg tx_conf_msg;

		struct es581_4_bulk_tx_can_msg bulk_tx_can_msg;

		struct es581_4_rx_can_msg rx_can_msg[ES581_4_RX_BULK_MAX];

		struct es581_4_bulk_echo_msg bulk_echo_msg;

		struct es581_4_rx_err_msg rx_err_msg;

		struct es581_4_rx_event_msg rx_event_msg;

		struct es581_4_tx_ack_msg tx_ack_msg;

		struct es581_4_rx_cmd_ret rx_cmd_ret;

		__le64 timestamp;

		u8 rx_cmd_ret_u8;

		u8 raw_msg[0];

	} __packed;



	__le16 reserved_for_crc16_do_not_use;

} __packed;



#define ES581_4_URB_CMD_HEADER_LEN (offsetof(struct es581_4_urb_cmd, raw_msg))

#define ES581_4_TX_URB_CMD_MAX_LEN					\

	ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, bulk_tx_can_msg)

#define ES581_4_RX_URB_CMD_MAX_LEN					\

	ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, rx_can_msg)



#endif /* __ES581_4_H__ */

drivers/net/can/usb/etas_es58x/es58x_core.c

+7 −2
Original line number Diff line number Diff line
@@ -27,10 +27,15 @@ MODULE_LICENSE("GPL v2"); 


#define ES58X_MODULE_NAME "etas_es58x"

#define ES58X_VENDOR_ID 0x108C

#define ES581_4_PRODUCT_ID 0x0159



/* Table of devices which work with this driver. */

static const struct usb_device_id es58x_id_table[] = {

	{

		/* ETAS GmbH ES581.4 USB dual-channel CAN Bus Interface module. */

		USB_DEVICE(ES58X_VENDOR_ID, ES581_4_PRODUCT_ID),

		.driver_info = ES58X_DUAL_CHANNEL

	}, {

		/* Terminating entry */

	}

};
@@ -2162,8 +2167,8 @@ static int es58x_init_es58x_dev(struct usb_interface *intf, 
		return -ENODEV;

		/* Place holder for es58x_fd glue code. */

	} else {

		return -ENODEV;

		/* Place holder for es581_4 glue code. */

		param = &es581_4_param;

		ops = &es581_4_ops;

	}



	es58x_dev = kzalloc(es58x_sizeof_es58x_device(param), GFP_KERNEL);

drivers/net/can/usb/etas_es58x/es58x_core.h

+4 −1
Original line number Diff line number Diff line
@@ -18,11 +18,13 @@ 
#include <linux/can.h>

#include <linux/can/dev.h>



#include "es581_4.h"



/* Driver constants */

#define ES58X_RX_URBS_MAX 5	/* Empirical value */

#define ES58X_TX_URBS_MAX 6	/* Empirical value */



#define ES58X_MAX(param) 0

#define ES58X_MAX(param) (ES581_4_##param)

#define ES58X_TX_BULK_MAX ES58X_MAX(TX_BULK_MAX)

#define ES58X_RX_BULK_MAX ES58X_MAX(RX_BULK_MAX)

#define ES58X_ECHO_BULK_MAX ES58X_MAX(ECHO_BULK_MAX)
@@ -210,6 +212,7 @@ enum es58x_ret_type { 
};



union es58x_urb_cmd {

	struct es581_4_urb_cmd es581_4_urb_cmd;

	struct {		/* Common header parts of all variants */

		__le16 sof;

		u8 cmd_type;