1 // SPDX-License-Identifier: GPL-2.0
2 /* Parts of this driver are based on the following:
3 * - Kvaser linux mhydra driver (version 5.24)
4 * - CAN driver for esd CAN-USB/2
6 * Copyright (C) 2018 KVASER AB, Sweden. All rights reserved.
7 * Copyright (C) 2010 Matthias Fuchs <matthias.fuchs@esd.eu>, esd gmbh
10 * - Transition from CAN_STATE_ERROR_WARNING to CAN_STATE_ERROR_ACTIVE is only
11 * reported after a call to do_get_berr_counter(), since firmware does not
12 * distinguish between ERROR_WARNING and ERROR_ACTIVE.
13 * - Hardware timestamps are not set for CAN Tx frames.
16 #include <linux/completion.h>
17 #include <linux/device.h>
18 #include <linux/gfp.h>
19 #include <linux/jiffies.h>
20 #include <linux/kernel.h>
21 #include <linux/netdevice.h>
22 #include <linux/spinlock.h>
23 #include <linux/string.h>
24 #include <linux/types.h>
25 #include <linux/units.h>
26 #include <linux/usb.h>
28 #include <linux/can.h>
29 #include <linux/can/dev.h>
30 #include <linux/can/error.h>
31 #include <linux/can/netlink.h>
33 #include "kvaser_usb.h"
35 /* Forward declarations */
36 static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_kcan;
37 static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_flexc;
38 static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_rt;
40 #define KVASER_USB_HYDRA_BULK_EP_IN_ADDR 0x82
41 #define KVASER_USB_HYDRA_BULK_EP_OUT_ADDR 0x02
43 #define KVASER_USB_HYDRA_MAX_TRANSID 0xff
44 #define KVASER_USB_HYDRA_MIN_TRANSID 0x01
46 /* Minihydra command IDs */
47 #define CMD_SET_BUSPARAMS_REQ 16
48 #define CMD_GET_CHIP_STATE_REQ 19
49 #define CMD_CHIP_STATE_EVENT 20
50 #define CMD_SET_DRIVERMODE_REQ 21
51 #define CMD_START_CHIP_REQ 26
52 #define CMD_START_CHIP_RESP 27
53 #define CMD_STOP_CHIP_REQ 28
54 #define CMD_STOP_CHIP_RESP 29
55 #define CMD_TX_CAN_MESSAGE 33
56 #define CMD_GET_CARD_INFO_REQ 34
57 #define CMD_GET_CARD_INFO_RESP 35
58 #define CMD_GET_SOFTWARE_INFO_REQ 38
59 #define CMD_GET_SOFTWARE_INFO_RESP 39
60 #define CMD_ERROR_EVENT 45
61 #define CMD_FLUSH_QUEUE 48
62 #define CMD_TX_ACKNOWLEDGE 50
63 #define CMD_FLUSH_QUEUE_RESP 66
64 #define CMD_SET_BUSPARAMS_FD_REQ 69
65 #define CMD_SET_BUSPARAMS_FD_RESP 70
66 #define CMD_SET_BUSPARAMS_RESP 85
67 #define CMD_GET_CAPABILITIES_REQ 95
68 #define CMD_GET_CAPABILITIES_RESP 96
69 #define CMD_RX_MESSAGE 106
70 #define CMD_MAP_CHANNEL_REQ 200
71 #define CMD_MAP_CHANNEL_RESP 201
72 #define CMD_GET_SOFTWARE_DETAILS_REQ 202
73 #define CMD_GET_SOFTWARE_DETAILS_RESP 203
74 #define CMD_EXTENDED 255
76 /* Minihydra extended command IDs */
77 #define CMD_TX_CAN_MESSAGE_FD 224
78 #define CMD_TX_ACKNOWLEDGE_FD 225
79 #define CMD_RX_MESSAGE_FD 226
81 /* Hydra commands are handled by different threads in firmware.
82 * The threads are denoted hydra entity (HE). Each HE got a unique 6-bit
83 * address. The address is used in hydra commands to get/set source and
84 * destination HE. There are two predefined HE addresses, the remaining
85 * addresses are different between devices and firmware versions. Hence, we need
86 * to enumerate the addresses (see kvaser_usb_hydra_map_channel()).
89 /* Well-known HE addresses */
90 #define KVASER_USB_HYDRA_HE_ADDRESS_ROUTER 0x00
91 #define KVASER_USB_HYDRA_HE_ADDRESS_ILLEGAL 0x3e
93 #define KVASER_USB_HYDRA_TRANSID_CANHE 0x40
94 #define KVASER_USB_HYDRA_TRANSID_SYSDBG 0x61
96 struct kvaser_cmd_map_ch_req {
102 struct kvaser_cmd_map_ch_res {
108 struct kvaser_cmd_card_info {
109 __le32 serial_number;
121 struct kvaser_cmd_sw_info {
123 __le16 max_outstanding_tx;
127 struct kvaser_cmd_sw_detail_req {
132 /* Software detail flags */
133 #define KVASER_USB_HYDRA_SW_FLAG_FW_BETA BIT(2)
134 #define KVASER_USB_HYDRA_SW_FLAG_FW_BAD BIT(4)
135 #define KVASER_USB_HYDRA_SW_FLAG_FREQ_80M BIT(5)
136 #define KVASER_USB_HYDRA_SW_FLAG_EXT_CMD BIT(9)
137 #define KVASER_USB_HYDRA_SW_FLAG_CANFD BIT(10)
138 #define KVASER_USB_HYDRA_SW_FLAG_NONISO BIT(11)
139 #define KVASER_USB_HYDRA_SW_FLAG_EXT_CAP BIT(12)
140 #define KVASER_USB_HYDRA_SW_FLAG_CAN_FREQ_80M BIT(13)
141 struct kvaser_cmd_sw_detail_res {
150 /* Sub commands for cap_req and cap_res */
151 #define KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE 0x02
152 #define KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT 0x05
153 #define KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT 0x06
154 struct kvaser_cmd_cap_req {
159 /* Status codes for cap_res */
160 #define KVASER_USB_HYDRA_CAP_STAT_OK 0x00
161 #define KVASER_USB_HYDRA_CAP_STAT_NOT_IMPL 0x01
162 #define KVASER_USB_HYDRA_CAP_STAT_UNAVAIL 0x02
163 struct kvaser_cmd_cap_res {
171 /* CMD_ERROR_EVENT error codes */
172 #define KVASER_USB_HYDRA_ERROR_EVENT_CAN 0x01
173 #define KVASER_USB_HYDRA_ERROR_EVENT_PARAM 0x09
174 struct kvaser_cmd_error_event {
182 /* Chip state status flags. Used for chip_state_event and err_frame_data. */
183 #define KVASER_USB_HYDRA_BUS_ERR_ACT 0x00
184 #define KVASER_USB_HYDRA_BUS_ERR_PASS BIT(5)
185 #define KVASER_USB_HYDRA_BUS_BUS_OFF BIT(6)
186 struct kvaser_cmd_chip_state_event {
195 #define KVASER_USB_HYDRA_BUS_MODE_CAN 0x00
196 #define KVASER_USB_HYDRA_BUS_MODE_CANFD_ISO 0x01
197 #define KVASER_USB_HYDRA_BUS_MODE_NONISO 0x02
198 struct kvaser_cmd_set_busparams {
215 #define KVASER_USB_HYDRA_CTRLMODE_NORMAL 0x01
216 #define KVASER_USB_HYDRA_CTRLMODE_LISTEN 0x02
217 struct kvaser_cmd_set_ctrlmode {
222 struct kvaser_err_frame_data {
230 struct kvaser_cmd_rx_can {
241 struct kvaser_err_frame_data err_frame_data;
245 /* Extended CAN ID flag. Used in rx_can and tx_can */
246 #define KVASER_USB_HYDRA_EXTENDED_FRAME_ID BIT(31)
247 struct kvaser_cmd_tx_can {
257 struct kvaser_cmd_header {
259 /* The destination HE address is stored in 0..5 of he_addr.
260 * The upper part of source HE address is stored in 6..7 of he_addr, and
261 * the lower part is stored in 12..15 of transid.
268 struct kvaser_cmd_header header;
270 struct kvaser_cmd_map_ch_req map_ch_req;
271 struct kvaser_cmd_map_ch_res map_ch_res;
273 struct kvaser_cmd_card_info card_info;
274 struct kvaser_cmd_sw_info sw_info;
275 struct kvaser_cmd_sw_detail_req sw_detail_req;
276 struct kvaser_cmd_sw_detail_res sw_detail_res;
278 struct kvaser_cmd_cap_req cap_req;
279 struct kvaser_cmd_cap_res cap_res;
281 struct kvaser_cmd_error_event error_event;
283 struct kvaser_cmd_set_busparams set_busparams_req;
285 struct kvaser_cmd_chip_state_event chip_state_event;
287 struct kvaser_cmd_set_ctrlmode set_ctrlmode;
289 struct kvaser_cmd_rx_can rx_can;
290 struct kvaser_cmd_tx_can tx_can;
294 /* CAN frame flags. Used in rx_can, ext_rx_can, tx_can and ext_tx_can */
295 #define KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME BIT(0)
296 #define KVASER_USB_HYDRA_CF_FLAG_OVERRUN BIT(1)
297 #define KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME BIT(4)
298 #define KVASER_USB_HYDRA_CF_FLAG_EXTENDED_ID BIT(5)
299 #define KVASER_USB_HYDRA_CF_FLAG_TX_ACK BIT(6)
300 /* CAN frame flags. Used in ext_rx_can and ext_tx_can */
301 #define KVASER_USB_HYDRA_CF_FLAG_OSM_NACK BIT(12)
302 #define KVASER_USB_HYDRA_CF_FLAG_ABL BIT(13)
303 #define KVASER_USB_HYDRA_CF_FLAG_FDF BIT(16)
304 #define KVASER_USB_HYDRA_CF_FLAG_BRS BIT(17)
305 #define KVASER_USB_HYDRA_CF_FLAG_ESI BIT(18)
307 /* KCAN packet header macros. Used in ext_rx_can and ext_tx_can */
308 #define KVASER_USB_KCAN_DATA_DLC_BITS 4
309 #define KVASER_USB_KCAN_DATA_DLC_SHIFT 8
310 #define KVASER_USB_KCAN_DATA_DLC_MASK \
311 GENMASK(KVASER_USB_KCAN_DATA_DLC_BITS - 1 + \
312 KVASER_USB_KCAN_DATA_DLC_SHIFT, \
313 KVASER_USB_KCAN_DATA_DLC_SHIFT)
315 #define KVASER_USB_KCAN_DATA_BRS BIT(14)
316 #define KVASER_USB_KCAN_DATA_FDF BIT(15)
317 #define KVASER_USB_KCAN_DATA_OSM BIT(16)
318 #define KVASER_USB_KCAN_DATA_AREQ BIT(31)
319 #define KVASER_USB_KCAN_DATA_SRR BIT(31)
320 #define KVASER_USB_KCAN_DATA_RTR BIT(29)
321 #define KVASER_USB_KCAN_DATA_IDE BIT(30)
322 struct kvaser_cmd_ext_rx_can {
330 struct kvaser_err_frame_data err_frame_data;
334 struct kvaser_cmd_ext_tx_can {
345 struct kvaser_cmd_ext_tx_ack {
352 /* struct for extended commands (CMD_EXTENDED) */
353 struct kvaser_cmd_ext {
354 struct kvaser_cmd_header header;
360 struct kvaser_cmd_ext_rx_can rx_can;
361 struct kvaser_cmd_ext_tx_can tx_can;
362 struct kvaser_cmd_ext_tx_ack tx_ack;
366 static const struct can_bittiming_const kvaser_usb_hydra_kcan_bittiming_c = {
367 .name = "kvaser_usb_kcan",
378 const struct can_bittiming_const kvaser_usb_flexc_bittiming_const = {
379 .name = "kvaser_usb_flex",
390 static const struct can_bittiming_const kvaser_usb_hydra_rt_bittiming_c = {
391 .name = "kvaser_usb_rt",
402 static const struct can_bittiming_const kvaser_usb_hydra_rtd_bittiming_c = {
403 .name = "kvaser_usb_rt",
414 #define KVASER_USB_HYDRA_TRANSID_BITS 12
415 #define KVASER_USB_HYDRA_TRANSID_MASK \
416 GENMASK(KVASER_USB_HYDRA_TRANSID_BITS - 1, 0)
417 #define KVASER_USB_HYDRA_HE_ADDR_SRC_MASK GENMASK(7, 6)
418 #define KVASER_USB_HYDRA_HE_ADDR_DEST_MASK GENMASK(5, 0)
419 #define KVASER_USB_HYDRA_HE_ADDR_SRC_BITS 2
420 static inline u16 kvaser_usb_hydra_get_cmd_transid(const struct kvaser_cmd *cmd)
422 return le16_to_cpu(cmd->header.transid) & KVASER_USB_HYDRA_TRANSID_MASK;
425 static inline void kvaser_usb_hydra_set_cmd_transid(struct kvaser_cmd *cmd,
428 cmd->header.transid =
429 cpu_to_le16(transid & KVASER_USB_HYDRA_TRANSID_MASK);
432 static inline u8 kvaser_usb_hydra_get_cmd_src_he(const struct kvaser_cmd *cmd)
434 return (cmd->header.he_addr & KVASER_USB_HYDRA_HE_ADDR_SRC_MASK) >>
435 KVASER_USB_HYDRA_HE_ADDR_SRC_BITS |
436 le16_to_cpu(cmd->header.transid) >>
437 KVASER_USB_HYDRA_TRANSID_BITS;
440 static inline void kvaser_usb_hydra_set_cmd_dest_he(struct kvaser_cmd *cmd,
443 cmd->header.he_addr =
444 (cmd->header.he_addr & KVASER_USB_HYDRA_HE_ADDR_SRC_MASK) |
445 (dest_he & KVASER_USB_HYDRA_HE_ADDR_DEST_MASK);
448 static u8 kvaser_usb_hydra_channel_from_cmd(const struct kvaser_usb *dev,
449 const struct kvaser_cmd *cmd)
453 u8 src_he = kvaser_usb_hydra_get_cmd_src_he(cmd);
455 for (i = 0; i < KVASER_USB_MAX_NET_DEVICES; i++) {
456 if (dev->card_data.hydra.channel_to_he[i] == src_he) {
465 static u16 kvaser_usb_hydra_get_next_transid(struct kvaser_usb *dev)
469 struct kvaser_usb_dev_card_data_hydra *card_data =
470 &dev->card_data.hydra;
472 spin_lock_irqsave(&card_data->transid_lock, flags);
473 transid = card_data->transid;
474 if (transid >= KVASER_USB_HYDRA_MAX_TRANSID)
475 transid = KVASER_USB_HYDRA_MIN_TRANSID;
478 card_data->transid = transid;
479 spin_unlock_irqrestore(&card_data->transid_lock, flags);
484 static size_t kvaser_usb_hydra_cmd_size(struct kvaser_cmd *cmd)
488 if (cmd->header.cmd_no == CMD_EXTENDED)
489 ret = le16_to_cpu(((struct kvaser_cmd_ext *)cmd)->len);
491 ret = sizeof(struct kvaser_cmd);
496 static struct kvaser_usb_net_priv *
497 kvaser_usb_hydra_net_priv_from_cmd(const struct kvaser_usb *dev,
498 const struct kvaser_cmd *cmd)
500 struct kvaser_usb_net_priv *priv = NULL;
501 u8 channel = kvaser_usb_hydra_channel_from_cmd(dev, cmd);
503 if (channel >= dev->nchannels)
504 dev_err(&dev->intf->dev,
505 "Invalid channel number (%d)\n", channel);
507 priv = dev->nets[channel];
513 kvaser_usb_hydra_ktime_from_rx_cmd(const struct kvaser_usb_dev_cfg *cfg,
514 const struct kvaser_cmd *cmd)
518 if (cmd->header.cmd_no == CMD_EXTENDED) {
519 struct kvaser_cmd_ext *cmd_ext = (struct kvaser_cmd_ext *)cmd;
521 ticks = le64_to_cpu(cmd_ext->rx_can.timestamp);
523 ticks = le16_to_cpu(cmd->rx_can.timestamp[0]);
524 ticks += (u64)(le16_to_cpu(cmd->rx_can.timestamp[1])) << 16;
525 ticks += (u64)(le16_to_cpu(cmd->rx_can.timestamp[2])) << 32;
528 return ns_to_ktime(div_u64(ticks * 1000, cfg->timestamp_freq));
531 static int kvaser_usb_hydra_send_simple_cmd(struct kvaser_usb *dev,
532 u8 cmd_no, int channel)
534 struct kvaser_cmd *cmd;
537 cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
541 cmd->header.cmd_no = cmd_no;
543 kvaser_usb_hydra_set_cmd_dest_he
544 (cmd, KVASER_USB_HYDRA_HE_ADDRESS_ILLEGAL);
546 if (channel >= KVASER_USB_MAX_NET_DEVICES) {
547 dev_err(&dev->intf->dev, "channel (%d) out of range.\n",
552 kvaser_usb_hydra_set_cmd_dest_he
553 (cmd, dev->card_data.hydra.channel_to_he[channel]);
555 kvaser_usb_hydra_set_cmd_transid
556 (cmd, kvaser_usb_hydra_get_next_transid(dev));
558 err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
569 kvaser_usb_hydra_send_simple_cmd_async(struct kvaser_usb_net_priv *priv,
572 struct kvaser_cmd *cmd;
573 struct kvaser_usb *dev = priv->dev;
576 cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_ATOMIC);
580 cmd->header.cmd_no = cmd_no;
582 kvaser_usb_hydra_set_cmd_dest_he
583 (cmd, dev->card_data.hydra.channel_to_he[priv->channel]);
584 kvaser_usb_hydra_set_cmd_transid
585 (cmd, kvaser_usb_hydra_get_next_transid(dev));
587 err = kvaser_usb_send_cmd_async(priv, cmd,
588 kvaser_usb_hydra_cmd_size(cmd));
595 /* This function is used for synchronously waiting on hydra control commands.
596 * Note: Compared to kvaser_usb_hydra_read_bulk_callback(), we never need to
597 * handle partial hydra commands. Since hydra control commands are always
598 * non-extended commands.
600 static int kvaser_usb_hydra_wait_cmd(const struct kvaser_usb *dev, u8 cmd_no,
601 struct kvaser_cmd *cmd)
605 unsigned long timeout = jiffies + msecs_to_jiffies(KVASER_USB_TIMEOUT);
607 if (cmd->header.cmd_no == CMD_EXTENDED) {
608 dev_err(&dev->intf->dev, "Wait for CMD_EXTENDED not allowed\n");
612 buf = kzalloc(KVASER_USB_RX_BUFFER_SIZE, GFP_KERNEL);
620 err = kvaser_usb_recv_cmd(dev, buf, KVASER_USB_RX_BUFFER_SIZE,
625 while (pos < actual_len) {
626 struct kvaser_cmd *tmp_cmd;
630 cmd_len = kvaser_usb_hydra_cmd_size(tmp_cmd);
631 if (pos + cmd_len > actual_len) {
632 dev_err_ratelimited(&dev->intf->dev,
637 if (tmp_cmd->header.cmd_no == cmd_no) {
638 memcpy(cmd, tmp_cmd, cmd_len);
643 } while (time_before(jiffies, timeout));
653 static int kvaser_usb_hydra_map_channel_resp(struct kvaser_usb *dev,
654 const struct kvaser_cmd *cmd)
657 u16 transid = kvaser_usb_hydra_get_cmd_transid(cmd);
658 struct kvaser_usb_dev_card_data_hydra *card_data =
659 &dev->card_data.hydra;
661 if (transid > 0x007f || transid < 0x0040) {
662 dev_err(&dev->intf->dev,
663 "CMD_MAP_CHANNEL_RESP, invalid transid: 0x%x\n",
669 case KVASER_USB_HYDRA_TRANSID_CANHE:
670 case KVASER_USB_HYDRA_TRANSID_CANHE + 1:
671 case KVASER_USB_HYDRA_TRANSID_CANHE + 2:
672 case KVASER_USB_HYDRA_TRANSID_CANHE + 3:
673 case KVASER_USB_HYDRA_TRANSID_CANHE + 4:
674 channel = transid & 0x000f;
675 he = cmd->map_ch_res.he_addr;
676 card_data->channel_to_he[channel] = he;
678 case KVASER_USB_HYDRA_TRANSID_SYSDBG:
679 card_data->sysdbg_he = cmd->map_ch_res.he_addr;
682 dev_warn(&dev->intf->dev,
683 "Unknown CMD_MAP_CHANNEL_RESP transid=0x%x\n",
691 static int kvaser_usb_hydra_map_channel(struct kvaser_usb *dev, u16 transid,
692 u8 channel, const char *name)
694 struct kvaser_cmd *cmd;
697 cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
701 strcpy(cmd->map_ch_req.name, name);
702 cmd->header.cmd_no = CMD_MAP_CHANNEL_REQ;
703 kvaser_usb_hydra_set_cmd_dest_he
704 (cmd, KVASER_USB_HYDRA_HE_ADDRESS_ROUTER);
705 cmd->map_ch_req.channel = channel;
707 kvaser_usb_hydra_set_cmd_transid(cmd, transid);
709 err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
713 err = kvaser_usb_hydra_wait_cmd(dev, CMD_MAP_CHANNEL_RESP, cmd);
717 err = kvaser_usb_hydra_map_channel_resp(dev, cmd);
727 static int kvaser_usb_hydra_get_single_capability(struct kvaser_usb *dev,
728 u16 cap_cmd_req, u16 *status)
730 struct kvaser_usb_dev_card_data *card_data = &dev->card_data;
731 struct kvaser_cmd *cmd;
738 cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
742 cmd->header.cmd_no = CMD_GET_CAPABILITIES_REQ;
743 cmd->cap_req.cap_cmd = cpu_to_le16(cap_cmd_req);
745 kvaser_usb_hydra_set_cmd_dest_he(cmd, card_data->hydra.sysdbg_he);
746 kvaser_usb_hydra_set_cmd_transid
747 (cmd, kvaser_usb_hydra_get_next_transid(dev));
749 err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
753 err = kvaser_usb_hydra_wait_cmd(dev, CMD_GET_CAPABILITIES_RESP, cmd);
757 *status = le16_to_cpu(cmd->cap_res.status);
759 if (*status != KVASER_USB_HYDRA_CAP_STAT_OK)
762 cap_cmd_res = le16_to_cpu(cmd->cap_res.cap_cmd);
763 switch (cap_cmd_res) {
764 case KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE:
765 case KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT:
766 case KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT:
767 value = le32_to_cpu(cmd->cap_res.value);
768 mask = le32_to_cpu(cmd->cap_res.mask);
771 dev_warn(&dev->intf->dev, "Unknown capability command %u\n",
776 for (i = 0; i < dev->nchannels; i++) {
777 if (BIT(i) & (value & mask)) {
778 switch (cap_cmd_res) {
779 case KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE:
780 card_data->ctrlmode_supported |=
781 CAN_CTRLMODE_LISTENONLY;
783 case KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT:
784 card_data->capabilities |=
785 KVASER_USB_CAP_BERR_CAP;
787 case KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT:
788 card_data->ctrlmode_supported |=
789 CAN_CTRLMODE_ONE_SHOT;
801 static void kvaser_usb_hydra_start_chip_reply(const struct kvaser_usb *dev,
802 const struct kvaser_cmd *cmd)
804 struct kvaser_usb_net_priv *priv;
806 priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
810 if (completion_done(&priv->start_comp) &&
811 netif_queue_stopped(priv->netdev)) {
812 netif_wake_queue(priv->netdev);
814 netif_start_queue(priv->netdev);
815 complete(&priv->start_comp);
819 static void kvaser_usb_hydra_stop_chip_reply(const struct kvaser_usb *dev,
820 const struct kvaser_cmd *cmd)
822 struct kvaser_usb_net_priv *priv;
824 priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
828 complete(&priv->stop_comp);
831 static void kvaser_usb_hydra_flush_queue_reply(const struct kvaser_usb *dev,
832 const struct kvaser_cmd *cmd)
834 struct kvaser_usb_net_priv *priv;
836 priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
840 complete(&priv->flush_comp);
844 kvaser_usb_hydra_bus_status_to_can_state(const struct kvaser_usb_net_priv *priv,
846 const struct can_berr_counter *bec,
847 enum can_state *new_state)
849 if (bus_status & KVASER_USB_HYDRA_BUS_BUS_OFF) {
850 *new_state = CAN_STATE_BUS_OFF;
851 } else if (bus_status & KVASER_USB_HYDRA_BUS_ERR_PASS) {
852 *new_state = CAN_STATE_ERROR_PASSIVE;
853 } else if (bus_status == KVASER_USB_HYDRA_BUS_ERR_ACT) {
854 if (bec->txerr >= 128 || bec->rxerr >= 128) {
855 netdev_warn(priv->netdev,
856 "ERR_ACTIVE but err tx=%u or rx=%u >=128\n",
857 bec->txerr, bec->rxerr);
858 *new_state = CAN_STATE_ERROR_PASSIVE;
859 } else if (bec->txerr >= 96 || bec->rxerr >= 96) {
860 *new_state = CAN_STATE_ERROR_WARNING;
862 *new_state = CAN_STATE_ERROR_ACTIVE;
867 static void kvaser_usb_hydra_update_state(struct kvaser_usb_net_priv *priv,
869 const struct can_berr_counter *bec)
871 struct net_device *netdev = priv->netdev;
872 struct can_frame *cf;
874 enum can_state new_state, old_state;
876 old_state = priv->can.state;
878 kvaser_usb_hydra_bus_status_to_can_state(priv, bus_status, bec,
881 if (new_state == old_state)
884 /* Ignore state change if previous state was STOPPED and the new state
885 * is BUS_OFF. Firmware always report this as BUS_OFF, since firmware
886 * does not distinguish between BUS_OFF and STOPPED.
888 if (old_state == CAN_STATE_STOPPED && new_state == CAN_STATE_BUS_OFF)
891 skb = alloc_can_err_skb(netdev, &cf);
893 enum can_state tx_state, rx_state;
895 tx_state = (bec->txerr >= bec->rxerr) ?
896 new_state : CAN_STATE_ERROR_ACTIVE;
897 rx_state = (bec->txerr <= bec->rxerr) ?
898 new_state : CAN_STATE_ERROR_ACTIVE;
899 can_change_state(netdev, cf, tx_state, rx_state);
902 if (new_state == CAN_STATE_BUS_OFF && old_state < CAN_STATE_BUS_OFF) {
903 if (!priv->can.restart_ms)
904 kvaser_usb_hydra_send_simple_cmd_async
905 (priv, CMD_STOP_CHIP_REQ);
911 netdev_warn(netdev, "No memory left for err_skb\n");
915 if (priv->can.restart_ms &&
916 old_state >= CAN_STATE_BUS_OFF &&
917 new_state < CAN_STATE_BUS_OFF)
918 priv->can.can_stats.restarts++;
920 cf->data[6] = bec->txerr;
921 cf->data[7] = bec->rxerr;
926 static void kvaser_usb_hydra_state_event(const struct kvaser_usb *dev,
927 const struct kvaser_cmd *cmd)
929 struct kvaser_usb_net_priv *priv;
930 struct can_berr_counter bec;
933 priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
937 bus_status = cmd->chip_state_event.bus_status;
938 bec.txerr = cmd->chip_state_event.tx_err_counter;
939 bec.rxerr = cmd->chip_state_event.rx_err_counter;
941 kvaser_usb_hydra_update_state(priv, bus_status, &bec);
942 priv->bec.txerr = bec.txerr;
943 priv->bec.rxerr = bec.rxerr;
946 static void kvaser_usb_hydra_error_event_parameter(const struct kvaser_usb *dev,
947 const struct kvaser_cmd *cmd)
949 /* info1 will contain the offending cmd_no */
950 switch (le16_to_cpu(cmd->error_event.info1)) {
951 case CMD_START_CHIP_REQ:
952 dev_warn(&dev->intf->dev,
953 "CMD_START_CHIP_REQ error in parameter\n");
956 case CMD_STOP_CHIP_REQ:
957 dev_warn(&dev->intf->dev,
958 "CMD_STOP_CHIP_REQ error in parameter\n");
961 case CMD_FLUSH_QUEUE:
962 dev_warn(&dev->intf->dev,
963 "CMD_FLUSH_QUEUE error in parameter\n");
966 case CMD_SET_BUSPARAMS_REQ:
967 dev_warn(&dev->intf->dev,
968 "Set bittiming failed. Error in parameter\n");
971 case CMD_SET_BUSPARAMS_FD_REQ:
972 dev_warn(&dev->intf->dev,
973 "Set data bittiming failed. Error in parameter\n");
977 dev_warn(&dev->intf->dev,
978 "Unhandled parameter error event cmd_no (%u)\n",
979 le16_to_cpu(cmd->error_event.info1));
984 static void kvaser_usb_hydra_error_event(const struct kvaser_usb *dev,
985 const struct kvaser_cmd *cmd)
987 switch (cmd->error_event.error_code) {
988 case KVASER_USB_HYDRA_ERROR_EVENT_PARAM:
989 kvaser_usb_hydra_error_event_parameter(dev, cmd);
992 case KVASER_USB_HYDRA_ERROR_EVENT_CAN:
993 /* Wrong channel mapping?! This should never happen!
994 * info1 will contain the offending cmd_no
996 dev_err(&dev->intf->dev,
997 "Received CAN error event for cmd_no (%u)\n",
998 le16_to_cpu(cmd->error_event.info1));
1002 dev_warn(&dev->intf->dev,
1003 "Unhandled error event (%d)\n",
1004 cmd->error_event.error_code);
1010 kvaser_usb_hydra_error_frame(struct kvaser_usb_net_priv *priv,
1011 const struct kvaser_err_frame_data *err_frame_data,
1014 struct net_device *netdev = priv->netdev;
1015 struct net_device_stats *stats = &netdev->stats;
1016 struct can_frame *cf;
1017 struct sk_buff *skb;
1018 struct skb_shared_hwtstamps *shhwtstamps;
1019 struct can_berr_counter bec;
1020 enum can_state new_state, old_state;
1023 priv->can.can_stats.bus_error++;
1026 bus_status = err_frame_data->bus_status;
1027 bec.txerr = err_frame_data->tx_err_counter;
1028 bec.rxerr = err_frame_data->rx_err_counter;
1030 old_state = priv->can.state;
1031 kvaser_usb_hydra_bus_status_to_can_state(priv, bus_status, &bec,
1034 skb = alloc_can_err_skb(netdev, &cf);
1036 if (new_state != old_state) {
1038 enum can_state tx_state, rx_state;
1040 tx_state = (bec.txerr >= bec.rxerr) ?
1041 new_state : CAN_STATE_ERROR_ACTIVE;
1042 rx_state = (bec.txerr <= bec.rxerr) ?
1043 new_state : CAN_STATE_ERROR_ACTIVE;
1045 can_change_state(netdev, cf, tx_state, rx_state);
1047 if (priv->can.restart_ms &&
1048 old_state >= CAN_STATE_BUS_OFF &&
1049 new_state < CAN_STATE_BUS_OFF)
1050 cf->can_id |= CAN_ERR_RESTARTED;
1053 if (new_state == CAN_STATE_BUS_OFF) {
1054 if (!priv->can.restart_ms)
1055 kvaser_usb_hydra_send_simple_cmd_async
1056 (priv, CMD_STOP_CHIP_REQ);
1058 can_bus_off(netdev);
1063 stats->rx_dropped++;
1064 netdev_warn(netdev, "No memory left for err_skb\n");
1068 shhwtstamps = skb_hwtstamps(skb);
1069 shhwtstamps->hwtstamp = hwtstamp;
1071 cf->can_id |= CAN_ERR_BUSERROR;
1072 cf->data[6] = bec.txerr;
1073 cf->data[7] = bec.rxerr;
1077 priv->bec.txerr = bec.txerr;
1078 priv->bec.rxerr = bec.rxerr;
1081 static void kvaser_usb_hydra_one_shot_fail(struct kvaser_usb_net_priv *priv,
1082 const struct kvaser_cmd_ext *cmd)
1084 struct net_device *netdev = priv->netdev;
1085 struct net_device_stats *stats = &netdev->stats;
1086 struct can_frame *cf;
1087 struct sk_buff *skb;
1090 skb = alloc_can_err_skb(netdev, &cf);
1092 stats->rx_dropped++;
1093 netdev_warn(netdev, "No memory left for err_skb\n");
1097 cf->can_id |= CAN_ERR_BUSERROR;
1098 flags = le32_to_cpu(cmd->tx_ack.flags);
1100 if (flags & KVASER_USB_HYDRA_CF_FLAG_OSM_NACK)
1101 cf->can_id |= CAN_ERR_ACK;
1102 if (flags & KVASER_USB_HYDRA_CF_FLAG_ABL) {
1103 cf->can_id |= CAN_ERR_LOSTARB;
1104 priv->can.can_stats.arbitration_lost++;
1111 static void kvaser_usb_hydra_tx_acknowledge(const struct kvaser_usb *dev,
1112 const struct kvaser_cmd *cmd)
1114 struct kvaser_usb_tx_urb_context *context;
1115 struct kvaser_usb_net_priv *priv;
1116 unsigned long irq_flags;
1118 bool one_shot_fail = false;
1119 bool is_err_frame = false;
1120 u16 transid = kvaser_usb_hydra_get_cmd_transid(cmd);
1122 priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
1126 if (!netif_device_present(priv->netdev))
1129 if (cmd->header.cmd_no == CMD_EXTENDED) {
1130 struct kvaser_cmd_ext *cmd_ext = (struct kvaser_cmd_ext *)cmd;
1131 u32 flags = le32_to_cpu(cmd_ext->tx_ack.flags);
1133 if (flags & (KVASER_USB_HYDRA_CF_FLAG_OSM_NACK |
1134 KVASER_USB_HYDRA_CF_FLAG_ABL)) {
1135 kvaser_usb_hydra_one_shot_fail(priv, cmd_ext);
1136 one_shot_fail = true;
1139 is_err_frame = flags & KVASER_USB_HYDRA_CF_FLAG_TX_ACK &&
1140 flags & KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME;
1143 context = &priv->tx_contexts[transid % dev->max_tx_urbs];
1145 spin_lock_irqsave(&priv->tx_contexts_lock, irq_flags);
1147 len = can_get_echo_skb(priv->netdev, context->echo_index, NULL);
1148 context->echo_index = dev->max_tx_urbs;
1149 --priv->active_tx_contexts;
1150 netif_wake_queue(priv->netdev);
1152 spin_unlock_irqrestore(&priv->tx_contexts_lock, irq_flags);
1154 if (!one_shot_fail && !is_err_frame) {
1155 struct net_device_stats *stats = &priv->netdev->stats;
1157 stats->tx_packets++;
1158 stats->tx_bytes += len;
1162 static void kvaser_usb_hydra_rx_msg_std(const struct kvaser_usb *dev,
1163 const struct kvaser_cmd *cmd)
1165 struct kvaser_usb_net_priv *priv = NULL;
1166 struct can_frame *cf;
1167 struct sk_buff *skb;
1168 struct skb_shared_hwtstamps *shhwtstamps;
1169 struct net_device_stats *stats;
1173 priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
1177 stats = &priv->netdev->stats;
1179 flags = cmd->rx_can.flags;
1180 hwtstamp = kvaser_usb_hydra_ktime_from_rx_cmd(dev->cfg, cmd);
1182 if (flags & KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME) {
1183 kvaser_usb_hydra_error_frame(priv, &cmd->rx_can.err_frame_data,
1188 skb = alloc_can_skb(priv->netdev, &cf);
1190 stats->rx_dropped++;
1194 shhwtstamps = skb_hwtstamps(skb);
1195 shhwtstamps->hwtstamp = hwtstamp;
1197 cf->can_id = le32_to_cpu(cmd->rx_can.id);
1199 if (cf->can_id & KVASER_USB_HYDRA_EXTENDED_FRAME_ID) {
1200 cf->can_id &= CAN_EFF_MASK;
1201 cf->can_id |= CAN_EFF_FLAG;
1203 cf->can_id &= CAN_SFF_MASK;
1206 if (flags & KVASER_USB_HYDRA_CF_FLAG_OVERRUN)
1207 kvaser_usb_can_rx_over_error(priv->netdev);
1209 cf->len = can_cc_dlc2len(cmd->rx_can.dlc);
1211 if (flags & KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME) {
1212 cf->can_id |= CAN_RTR_FLAG;
1214 memcpy(cf->data, cmd->rx_can.data, cf->len);
1216 stats->rx_bytes += cf->len;
1218 stats->rx_packets++;
1223 static void kvaser_usb_hydra_rx_msg_ext(const struct kvaser_usb *dev,
1224 const struct kvaser_cmd_ext *cmd)
1226 struct kvaser_cmd *std_cmd = (struct kvaser_cmd *)cmd;
1227 struct kvaser_usb_net_priv *priv;
1228 struct canfd_frame *cf;
1229 struct sk_buff *skb;
1230 struct skb_shared_hwtstamps *shhwtstamps;
1231 struct net_device_stats *stats;
1237 priv = kvaser_usb_hydra_net_priv_from_cmd(dev, std_cmd);
1241 stats = &priv->netdev->stats;
1243 kcan_header = le32_to_cpu(cmd->rx_can.kcan_header);
1244 dlc = (kcan_header & KVASER_USB_KCAN_DATA_DLC_MASK) >>
1245 KVASER_USB_KCAN_DATA_DLC_SHIFT;
1247 flags = le32_to_cpu(cmd->rx_can.flags);
1248 hwtstamp = kvaser_usb_hydra_ktime_from_rx_cmd(dev->cfg, std_cmd);
1250 if (flags & KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME) {
1251 kvaser_usb_hydra_error_frame(priv, &cmd->rx_can.err_frame_data,
1256 if (flags & KVASER_USB_HYDRA_CF_FLAG_FDF)
1257 skb = alloc_canfd_skb(priv->netdev, &cf);
1259 skb = alloc_can_skb(priv->netdev, (struct can_frame **)&cf);
1262 stats->rx_dropped++;
1266 shhwtstamps = skb_hwtstamps(skb);
1267 shhwtstamps->hwtstamp = hwtstamp;
1269 cf->can_id = le32_to_cpu(cmd->rx_can.id);
1271 if (flags & KVASER_USB_HYDRA_CF_FLAG_EXTENDED_ID) {
1272 cf->can_id &= CAN_EFF_MASK;
1273 cf->can_id |= CAN_EFF_FLAG;
1275 cf->can_id &= CAN_SFF_MASK;
1278 if (flags & KVASER_USB_HYDRA_CF_FLAG_OVERRUN)
1279 kvaser_usb_can_rx_over_error(priv->netdev);
1281 if (flags & KVASER_USB_HYDRA_CF_FLAG_FDF) {
1282 cf->len = can_fd_dlc2len(dlc);
1283 if (flags & KVASER_USB_HYDRA_CF_FLAG_BRS)
1284 cf->flags |= CANFD_BRS;
1285 if (flags & KVASER_USB_HYDRA_CF_FLAG_ESI)
1286 cf->flags |= CANFD_ESI;
1288 cf->len = can_cc_dlc2len(dlc);
1291 if (flags & KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME) {
1292 cf->can_id |= CAN_RTR_FLAG;
1294 memcpy(cf->data, cmd->rx_can.kcan_payload, cf->len);
1296 stats->rx_bytes += cf->len;
1298 stats->rx_packets++;
1303 static void kvaser_usb_hydra_handle_cmd_std(const struct kvaser_usb *dev,
1304 const struct kvaser_cmd *cmd)
1306 switch (cmd->header.cmd_no) {
1307 case CMD_START_CHIP_RESP:
1308 kvaser_usb_hydra_start_chip_reply(dev, cmd);
1311 case CMD_STOP_CHIP_RESP:
1312 kvaser_usb_hydra_stop_chip_reply(dev, cmd);
1315 case CMD_FLUSH_QUEUE_RESP:
1316 kvaser_usb_hydra_flush_queue_reply(dev, cmd);
1319 case CMD_CHIP_STATE_EVENT:
1320 kvaser_usb_hydra_state_event(dev, cmd);
1323 case CMD_ERROR_EVENT:
1324 kvaser_usb_hydra_error_event(dev, cmd);
1327 case CMD_TX_ACKNOWLEDGE:
1328 kvaser_usb_hydra_tx_acknowledge(dev, cmd);
1331 case CMD_RX_MESSAGE:
1332 kvaser_usb_hydra_rx_msg_std(dev, cmd);
1335 /* Ignored commands */
1336 case CMD_SET_BUSPARAMS_RESP:
1337 case CMD_SET_BUSPARAMS_FD_RESP:
1341 dev_warn(&dev->intf->dev, "Unhandled command (%d)\n",
1342 cmd->header.cmd_no);
1347 static void kvaser_usb_hydra_handle_cmd_ext(const struct kvaser_usb *dev,
1348 const struct kvaser_cmd_ext *cmd)
1350 switch (cmd->cmd_no_ext) {
1351 case CMD_TX_ACKNOWLEDGE_FD:
1352 kvaser_usb_hydra_tx_acknowledge(dev, (struct kvaser_cmd *)cmd);
1355 case CMD_RX_MESSAGE_FD:
1356 kvaser_usb_hydra_rx_msg_ext(dev, cmd);
1360 dev_warn(&dev->intf->dev, "Unhandled extended command (%d)\n",
1361 cmd->header.cmd_no);
1366 static void kvaser_usb_hydra_handle_cmd(const struct kvaser_usb *dev,
1367 const struct kvaser_cmd *cmd)
1369 if (cmd->header.cmd_no == CMD_EXTENDED)
1370 kvaser_usb_hydra_handle_cmd_ext
1371 (dev, (struct kvaser_cmd_ext *)cmd);
1373 kvaser_usb_hydra_handle_cmd_std(dev, cmd);
1377 kvaser_usb_hydra_frame_to_cmd_ext(const struct kvaser_usb_net_priv *priv,
1378 const struct sk_buff *skb, int *cmd_len,
1381 struct kvaser_usb *dev = priv->dev;
1382 struct kvaser_cmd_ext *cmd;
1383 struct canfd_frame *cf = (struct canfd_frame *)skb->data;
1384 u8 dlc = can_fd_len2dlc(cf->len);
1385 u8 nbr_of_bytes = cf->len;
1391 cmd = kcalloc(1, sizeof(struct kvaser_cmd_ext), GFP_ATOMIC);
1395 kvaser_usb_hydra_set_cmd_dest_he
1396 ((struct kvaser_cmd *)cmd,
1397 dev->card_data.hydra.channel_to_he[priv->channel]);
1398 kvaser_usb_hydra_set_cmd_transid((struct kvaser_cmd *)cmd, transid);
1400 cmd->header.cmd_no = CMD_EXTENDED;
1401 cmd->cmd_no_ext = CMD_TX_CAN_MESSAGE_FD;
1403 *cmd_len = ALIGN(sizeof(struct kvaser_cmd_ext) -
1404 sizeof(cmd->tx_can.kcan_payload) + nbr_of_bytes,
1407 cmd->len = cpu_to_le16(*cmd_len);
1409 cmd->tx_can.databytes = nbr_of_bytes;
1410 cmd->tx_can.dlc = dlc;
1412 if (cf->can_id & CAN_EFF_FLAG) {
1413 id = cf->can_id & CAN_EFF_MASK;
1414 flags = KVASER_USB_HYDRA_CF_FLAG_EXTENDED_ID;
1415 kcan_id = (cf->can_id & CAN_EFF_MASK) |
1416 KVASER_USB_KCAN_DATA_IDE | KVASER_USB_KCAN_DATA_SRR;
1418 id = cf->can_id & CAN_SFF_MASK;
1420 kcan_id = cf->can_id & CAN_SFF_MASK;
1423 if (cf->can_id & CAN_ERR_FLAG)
1424 flags |= KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME;
1426 kcan_header = ((dlc << KVASER_USB_KCAN_DATA_DLC_SHIFT) &
1427 KVASER_USB_KCAN_DATA_DLC_MASK) |
1428 KVASER_USB_KCAN_DATA_AREQ |
1429 (priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT ?
1430 KVASER_USB_KCAN_DATA_OSM : 0);
1432 if (can_is_canfd_skb(skb)) {
1433 kcan_header |= KVASER_USB_KCAN_DATA_FDF |
1434 (cf->flags & CANFD_BRS ?
1435 KVASER_USB_KCAN_DATA_BRS : 0);
1437 if (cf->can_id & CAN_RTR_FLAG) {
1438 kcan_id |= KVASER_USB_KCAN_DATA_RTR;
1439 cmd->tx_can.databytes = 0;
1440 flags |= KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME;
1444 cmd->tx_can.kcan_id = cpu_to_le32(kcan_id);
1445 cmd->tx_can.id = cpu_to_le32(id);
1446 cmd->tx_can.flags = cpu_to_le32(flags);
1447 cmd->tx_can.kcan_header = cpu_to_le32(kcan_header);
1449 memcpy(cmd->tx_can.kcan_payload, cf->data, nbr_of_bytes);
1455 kvaser_usb_hydra_frame_to_cmd_std(const struct kvaser_usb_net_priv *priv,
1456 const struct sk_buff *skb, int *cmd_len,
1459 struct kvaser_usb *dev = priv->dev;
1460 struct kvaser_cmd *cmd;
1461 struct can_frame *cf = (struct can_frame *)skb->data;
1465 cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_ATOMIC);
1469 kvaser_usb_hydra_set_cmd_dest_he
1470 (cmd, dev->card_data.hydra.channel_to_he[priv->channel]);
1471 kvaser_usb_hydra_set_cmd_transid(cmd, transid);
1473 cmd->header.cmd_no = CMD_TX_CAN_MESSAGE;
1475 *cmd_len = ALIGN(sizeof(struct kvaser_cmd), 8);
1477 if (cf->can_id & CAN_EFF_FLAG) {
1478 id = (cf->can_id & CAN_EFF_MASK);
1479 id |= KVASER_USB_HYDRA_EXTENDED_FRAME_ID;
1481 id = cf->can_id & CAN_SFF_MASK;
1484 cmd->tx_can.dlc = cf->len;
1486 flags = (cf->can_id & CAN_EFF_FLAG ?
1487 KVASER_USB_HYDRA_CF_FLAG_EXTENDED_ID : 0);
1489 if (cf->can_id & CAN_RTR_FLAG)
1490 flags |= KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME;
1492 flags |= (cf->can_id & CAN_ERR_FLAG ?
1493 KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME : 0);
1495 cmd->tx_can.id = cpu_to_le32(id);
1496 cmd->tx_can.flags = flags;
1498 memcpy(cmd->tx_can.data, cf->data, cf->len);
1503 static int kvaser_usb_hydra_set_mode(struct net_device *netdev,
1509 case CAN_MODE_START:
1510 /* CAN controller automatically recovers from BUS_OFF */
1519 static int kvaser_usb_hydra_set_bittiming(struct net_device *netdev)
1521 struct kvaser_cmd *cmd;
1522 struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
1523 struct can_bittiming *bt = &priv->can.bittiming;
1524 struct kvaser_usb *dev = priv->dev;
1525 int tseg1 = bt->prop_seg + bt->phase_seg1;
1526 int tseg2 = bt->phase_seg2;
1530 cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
1534 cmd->header.cmd_no = CMD_SET_BUSPARAMS_REQ;
1535 cmd->set_busparams_req.bitrate = cpu_to_le32(bt->bitrate);
1536 cmd->set_busparams_req.sjw = (u8)sjw;
1537 cmd->set_busparams_req.tseg1 = (u8)tseg1;
1538 cmd->set_busparams_req.tseg2 = (u8)tseg2;
1539 cmd->set_busparams_req.nsamples = 1;
1541 kvaser_usb_hydra_set_cmd_dest_he
1542 (cmd, dev->card_data.hydra.channel_to_he[priv->channel]);
1543 kvaser_usb_hydra_set_cmd_transid
1544 (cmd, kvaser_usb_hydra_get_next_transid(dev));
1546 err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
1553 static int kvaser_usb_hydra_set_data_bittiming(struct net_device *netdev)
1555 struct kvaser_cmd *cmd;
1556 struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
1557 struct can_bittiming *dbt = &priv->can.data_bittiming;
1558 struct kvaser_usb *dev = priv->dev;
1559 int tseg1 = dbt->prop_seg + dbt->phase_seg1;
1560 int tseg2 = dbt->phase_seg2;
1564 cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
1568 cmd->header.cmd_no = CMD_SET_BUSPARAMS_FD_REQ;
1569 cmd->set_busparams_req.bitrate_d = cpu_to_le32(dbt->bitrate);
1570 cmd->set_busparams_req.sjw_d = (u8)sjw;
1571 cmd->set_busparams_req.tseg1_d = (u8)tseg1;
1572 cmd->set_busparams_req.tseg2_d = (u8)tseg2;
1573 cmd->set_busparams_req.nsamples_d = 1;
1575 if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
1576 if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)
1577 cmd->set_busparams_req.canfd_mode =
1578 KVASER_USB_HYDRA_BUS_MODE_NONISO;
1580 cmd->set_busparams_req.canfd_mode =
1581 KVASER_USB_HYDRA_BUS_MODE_CANFD_ISO;
1584 kvaser_usb_hydra_set_cmd_dest_he
1585 (cmd, dev->card_data.hydra.channel_to_he[priv->channel]);
1586 kvaser_usb_hydra_set_cmd_transid
1587 (cmd, kvaser_usb_hydra_get_next_transid(dev));
1589 err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
1596 static int kvaser_usb_hydra_get_berr_counter(const struct net_device *netdev,
1597 struct can_berr_counter *bec)
1599 struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
1602 err = kvaser_usb_hydra_send_simple_cmd(priv->dev,
1603 CMD_GET_CHIP_STATE_REQ,
1613 static int kvaser_usb_hydra_setup_endpoints(struct kvaser_usb *dev)
1615 const struct usb_host_interface *iface_desc;
1616 struct usb_endpoint_descriptor *ep;
1619 iface_desc = dev->intf->cur_altsetting;
1621 for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
1622 ep = &iface_desc->endpoint[i].desc;
1624 if (!dev->bulk_in && usb_endpoint_is_bulk_in(ep) &&
1625 ep->bEndpointAddress == KVASER_USB_HYDRA_BULK_EP_IN_ADDR)
1628 if (!dev->bulk_out && usb_endpoint_is_bulk_out(ep) &&
1629 ep->bEndpointAddress == KVASER_USB_HYDRA_BULK_EP_OUT_ADDR)
1632 if (dev->bulk_in && dev->bulk_out)
1639 static int kvaser_usb_hydra_init_card(struct kvaser_usb *dev)
1643 struct kvaser_usb_dev_card_data_hydra *card_data =
1644 &dev->card_data.hydra;
1646 card_data->transid = KVASER_USB_HYDRA_MIN_TRANSID;
1647 spin_lock_init(&card_data->transid_lock);
1649 memset(card_data->usb_rx_leftover, 0, KVASER_USB_HYDRA_MAX_CMD_LEN);
1650 card_data->usb_rx_leftover_len = 0;
1651 spin_lock_init(&card_data->usb_rx_leftover_lock);
1653 memset(card_data->channel_to_he, KVASER_USB_HYDRA_HE_ADDRESS_ILLEGAL,
1654 sizeof(card_data->channel_to_he));
1655 card_data->sysdbg_he = 0;
1657 for (i = 0; i < KVASER_USB_MAX_NET_DEVICES; i++) {
1658 err = kvaser_usb_hydra_map_channel
1660 (KVASER_USB_HYDRA_TRANSID_CANHE | i),
1663 dev_err(&dev->intf->dev,
1664 "CMD_MAP_CHANNEL_REQ failed for CAN%u\n", i);
1669 err = kvaser_usb_hydra_map_channel(dev, KVASER_USB_HYDRA_TRANSID_SYSDBG,
1672 dev_err(&dev->intf->dev,
1673 "CMD_MAP_CHANNEL_REQ failed for SYSDBG\n");
1680 static int kvaser_usb_hydra_get_software_info(struct kvaser_usb *dev)
1682 struct kvaser_cmd cmd;
1685 err = kvaser_usb_hydra_send_simple_cmd(dev, CMD_GET_SOFTWARE_INFO_REQ,
1690 memset(&cmd, 0, sizeof(struct kvaser_cmd));
1691 err = kvaser_usb_hydra_wait_cmd(dev, CMD_GET_SOFTWARE_INFO_RESP, &cmd);
1695 dev->max_tx_urbs = min_t(unsigned int, KVASER_USB_MAX_TX_URBS,
1696 le16_to_cpu(cmd.sw_info.max_outstanding_tx));
1701 static int kvaser_usb_hydra_get_software_details(struct kvaser_usb *dev)
1703 struct kvaser_cmd *cmd;
1706 struct kvaser_usb_dev_card_data *card_data = &dev->card_data;
1708 cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
1712 cmd->header.cmd_no = CMD_GET_SOFTWARE_DETAILS_REQ;
1713 cmd->sw_detail_req.use_ext_cmd = 1;
1714 kvaser_usb_hydra_set_cmd_dest_he
1715 (cmd, KVASER_USB_HYDRA_HE_ADDRESS_ILLEGAL);
1717 kvaser_usb_hydra_set_cmd_transid
1718 (cmd, kvaser_usb_hydra_get_next_transid(dev));
1720 err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
1724 err = kvaser_usb_hydra_wait_cmd(dev, CMD_GET_SOFTWARE_DETAILS_RESP,
1729 dev->fw_version = le32_to_cpu(cmd->sw_detail_res.sw_version);
1730 flags = le32_to_cpu(cmd->sw_detail_res.sw_flags);
1732 if (flags & KVASER_USB_HYDRA_SW_FLAG_FW_BAD) {
1733 dev_err(&dev->intf->dev,
1734 "Bad firmware, device refuse to run!\n");
1739 if (flags & KVASER_USB_HYDRA_SW_FLAG_FW_BETA)
1740 dev_info(&dev->intf->dev, "Beta firmware in use\n");
1742 if (flags & KVASER_USB_HYDRA_SW_FLAG_EXT_CAP)
1743 card_data->capabilities |= KVASER_USB_CAP_EXT_CAP;
1745 if (flags & KVASER_USB_HYDRA_SW_FLAG_EXT_CMD)
1746 card_data->capabilities |= KVASER_USB_HYDRA_CAP_EXT_CMD;
1748 if (flags & KVASER_USB_HYDRA_SW_FLAG_CANFD)
1749 card_data->ctrlmode_supported |= CAN_CTRLMODE_FD;
1751 if (flags & KVASER_USB_HYDRA_SW_FLAG_NONISO)
1752 card_data->ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO;
1754 if (flags & KVASER_USB_HYDRA_SW_FLAG_FREQ_80M)
1755 dev->cfg = &kvaser_usb_hydra_dev_cfg_kcan;
1756 else if (flags & KVASER_USB_HYDRA_SW_FLAG_CAN_FREQ_80M)
1757 dev->cfg = &kvaser_usb_hydra_dev_cfg_rt;
1759 dev->cfg = &kvaser_usb_hydra_dev_cfg_flexc;
1767 static int kvaser_usb_hydra_get_card_info(struct kvaser_usb *dev)
1769 struct kvaser_cmd cmd;
1772 err = kvaser_usb_hydra_send_simple_cmd(dev, CMD_GET_CARD_INFO_REQ, -1);
1776 memset(&cmd, 0, sizeof(struct kvaser_cmd));
1777 err = kvaser_usb_hydra_wait_cmd(dev, CMD_GET_CARD_INFO_RESP, &cmd);
1781 dev->nchannels = cmd.card_info.nchannels;
1782 if (dev->nchannels > KVASER_USB_MAX_NET_DEVICES)
1788 static int kvaser_usb_hydra_get_capabilities(struct kvaser_usb *dev)
1793 if (!(dev->card_data.capabilities & KVASER_USB_CAP_EXT_CAP)) {
1794 dev_info(&dev->intf->dev,
1795 "No extended capability support. Upgrade your device.\n");
1799 err = kvaser_usb_hydra_get_single_capability
1801 KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE,
1806 dev_info(&dev->intf->dev,
1807 "KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE failed %u\n",
1810 err = kvaser_usb_hydra_get_single_capability
1812 KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT,
1817 dev_info(&dev->intf->dev,
1818 "KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT failed %u\n",
1821 err = kvaser_usb_hydra_get_single_capability
1822 (dev, KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT,
1827 dev_info(&dev->intf->dev,
1828 "KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT failed %u\n",
1834 static int kvaser_usb_hydra_set_opt_mode(const struct kvaser_usb_net_priv *priv)
1836 struct kvaser_usb *dev = priv->dev;
1837 struct kvaser_cmd *cmd;
1840 if ((priv->can.ctrlmode &
1841 (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO)) ==
1842 CAN_CTRLMODE_FD_NON_ISO) {
1843 netdev_warn(priv->netdev,
1844 "CTRLMODE_FD shall be on if CTRLMODE_FD_NON_ISO is on\n");
1848 cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
1852 cmd->header.cmd_no = CMD_SET_DRIVERMODE_REQ;
1853 kvaser_usb_hydra_set_cmd_dest_he
1854 (cmd, dev->card_data.hydra.channel_to_he[priv->channel]);
1855 kvaser_usb_hydra_set_cmd_transid
1856 (cmd, kvaser_usb_hydra_get_next_transid(dev));
1857 if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
1858 cmd->set_ctrlmode.mode = KVASER_USB_HYDRA_CTRLMODE_LISTEN;
1860 cmd->set_ctrlmode.mode = KVASER_USB_HYDRA_CTRLMODE_NORMAL;
1862 err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
1868 static int kvaser_usb_hydra_start_chip(struct kvaser_usb_net_priv *priv)
1872 init_completion(&priv->start_comp);
1874 err = kvaser_usb_hydra_send_simple_cmd(priv->dev, CMD_START_CHIP_REQ,
1879 if (!wait_for_completion_timeout(&priv->start_comp,
1880 msecs_to_jiffies(KVASER_USB_TIMEOUT)))
1886 static int kvaser_usb_hydra_stop_chip(struct kvaser_usb_net_priv *priv)
1890 init_completion(&priv->stop_comp);
1892 /* Make sure we do not report invalid BUS_OFF from CMD_CHIP_STATE_EVENT
1893 * see comment in kvaser_usb_hydra_update_state()
1895 priv->can.state = CAN_STATE_STOPPED;
1897 err = kvaser_usb_hydra_send_simple_cmd(priv->dev, CMD_STOP_CHIP_REQ,
1902 if (!wait_for_completion_timeout(&priv->stop_comp,
1903 msecs_to_jiffies(KVASER_USB_TIMEOUT)))
1909 static int kvaser_usb_hydra_flush_queue(struct kvaser_usb_net_priv *priv)
1913 init_completion(&priv->flush_comp);
1915 err = kvaser_usb_hydra_send_simple_cmd(priv->dev, CMD_FLUSH_QUEUE,
1920 if (!wait_for_completion_timeout(&priv->flush_comp,
1921 msecs_to_jiffies(KVASER_USB_TIMEOUT)))
1927 /* A single extended hydra command can be transmitted in multiple transfers
1928 * We have to buffer partial hydra commands, and handle them on next callback.
1930 static void kvaser_usb_hydra_read_bulk_callback(struct kvaser_usb *dev,
1933 unsigned long irq_flags;
1934 struct kvaser_cmd *cmd;
1937 struct kvaser_usb_dev_card_data_hydra *card_data =
1938 &dev->card_data.hydra;
1939 int usb_rx_leftover_len;
1940 spinlock_t *usb_rx_leftover_lock = &card_data->usb_rx_leftover_lock;
1942 spin_lock_irqsave(usb_rx_leftover_lock, irq_flags);
1943 usb_rx_leftover_len = card_data->usb_rx_leftover_len;
1944 if (usb_rx_leftover_len) {
1945 int remaining_bytes;
1947 cmd = (struct kvaser_cmd *)card_data->usb_rx_leftover;
1949 cmd_len = kvaser_usb_hydra_cmd_size(cmd);
1951 remaining_bytes = min_t(unsigned int, len,
1952 cmd_len - usb_rx_leftover_len);
1953 /* Make sure we do not overflow usb_rx_leftover */
1954 if (remaining_bytes + usb_rx_leftover_len >
1955 KVASER_USB_HYDRA_MAX_CMD_LEN) {
1956 dev_err(&dev->intf->dev, "Format error\n");
1957 spin_unlock_irqrestore(usb_rx_leftover_lock, irq_flags);
1961 memcpy(card_data->usb_rx_leftover + usb_rx_leftover_len, buf,
1963 pos += remaining_bytes;
1965 if (remaining_bytes + usb_rx_leftover_len == cmd_len) {
1966 kvaser_usb_hydra_handle_cmd(dev, cmd);
1967 usb_rx_leftover_len = 0;
1969 /* Command still not complete */
1970 usb_rx_leftover_len += remaining_bytes;
1972 card_data->usb_rx_leftover_len = usb_rx_leftover_len;
1974 spin_unlock_irqrestore(usb_rx_leftover_lock, irq_flags);
1979 cmd_len = kvaser_usb_hydra_cmd_size(cmd);
1981 if (pos + cmd_len > len) {
1982 /* We got first part of a command */
1985 leftover_bytes = len - pos;
1986 /* Make sure we do not overflow usb_rx_leftover */
1987 if (leftover_bytes > KVASER_USB_HYDRA_MAX_CMD_LEN) {
1988 dev_err(&dev->intf->dev, "Format error\n");
1991 spin_lock_irqsave(usb_rx_leftover_lock, irq_flags);
1992 memcpy(card_data->usb_rx_leftover, buf + pos,
1994 card_data->usb_rx_leftover_len = leftover_bytes;
1995 spin_unlock_irqrestore(usb_rx_leftover_lock, irq_flags);
1999 kvaser_usb_hydra_handle_cmd(dev, cmd);
2005 kvaser_usb_hydra_frame_to_cmd(const struct kvaser_usb_net_priv *priv,
2006 const struct sk_buff *skb, int *cmd_len,
2011 if (priv->dev->card_data.capabilities & KVASER_USB_HYDRA_CAP_EXT_CMD)
2012 buf = kvaser_usb_hydra_frame_to_cmd_ext(priv, skb, cmd_len,
2015 buf = kvaser_usb_hydra_frame_to_cmd_std(priv, skb, cmd_len,
2021 const struct kvaser_usb_dev_ops kvaser_usb_hydra_dev_ops = {
2022 .dev_set_mode = kvaser_usb_hydra_set_mode,
2023 .dev_set_bittiming = kvaser_usb_hydra_set_bittiming,
2024 .dev_set_data_bittiming = kvaser_usb_hydra_set_data_bittiming,
2025 .dev_get_berr_counter = kvaser_usb_hydra_get_berr_counter,
2026 .dev_setup_endpoints = kvaser_usb_hydra_setup_endpoints,
2027 .dev_init_card = kvaser_usb_hydra_init_card,
2028 .dev_get_software_info = kvaser_usb_hydra_get_software_info,
2029 .dev_get_software_details = kvaser_usb_hydra_get_software_details,
2030 .dev_get_card_info = kvaser_usb_hydra_get_card_info,
2031 .dev_get_capabilities = kvaser_usb_hydra_get_capabilities,
2032 .dev_set_opt_mode = kvaser_usb_hydra_set_opt_mode,
2033 .dev_start_chip = kvaser_usb_hydra_start_chip,
2034 .dev_stop_chip = kvaser_usb_hydra_stop_chip,
2035 .dev_reset_chip = NULL,
2036 .dev_flush_queue = kvaser_usb_hydra_flush_queue,
2037 .dev_read_bulk_callback = kvaser_usb_hydra_read_bulk_callback,
2038 .dev_frame_to_cmd = kvaser_usb_hydra_frame_to_cmd,
2041 static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_kcan = {
2043 .freq = 80 * MEGA /* Hz */,
2045 .timestamp_freq = 80,
2046 .bittiming_const = &kvaser_usb_hydra_kcan_bittiming_c,
2047 .data_bittiming_const = &kvaser_usb_hydra_kcan_bittiming_c,
2050 static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_flexc = {
2052 .freq = 24 * MEGA /* Hz */,
2054 .timestamp_freq = 1,
2055 .bittiming_const = &kvaser_usb_flexc_bittiming_const,
2058 static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_rt = {
2060 .freq = 80 * MEGA /* Hz */,
2062 .timestamp_freq = 24,
2063 .bittiming_const = &kvaser_usb_hydra_rt_bittiming_c,
2064 .data_bittiming_const = &kvaser_usb_hydra_rtd_bittiming_c,