2 * This program is free software; you can redistribute it and/or
3 * modify it under the terms of the GNU General Public License as
4 * published by the Free Software Foundation version 2.
6 * Parts of this driver are based on the following:
7 * - Kvaser linux leaf driver (version 4.78)
8 * - CAN driver for esd CAN-USB/2
10 * Copyright (C) 2002-2006 KVASER AB, Sweden. All rights reserved.
11 * Copyright (C) 2010 Matthias Fuchs <matthias.fuchs@esd.eu>, esd gmbh
12 * Copyright (C) 2012 Olivier Sobrie <olivier@sobrie.be>
15 #include <linux/completion.h>
16 #include <linux/module.h>
17 #include <linux/netdevice.h>
18 #include <linux/usb.h>
20 #include <linux/can.h>
21 #include <linux/can/dev.h>
22 #include <linux/can/error.h>
24 #define MAX_TX_URBS 16
26 #define START_TIMEOUT 1000 /* msecs */
27 #define STOP_TIMEOUT 1000 /* msecs */
28 #define USB_SEND_TIMEOUT 1000 /* msecs */
29 #define USB_RECV_TIMEOUT 1000 /* msecs */
30 #define RX_BUFFER_SIZE 3072
31 #define CAN_USB_CLOCK 8000000
32 #define MAX_NET_DEVICES 3
34 /* Kvaser USB devices */
35 #define KVASER_VENDOR_ID 0x0bfd
36 #define USB_LEAF_DEVEL_PRODUCT_ID 10
37 #define USB_LEAF_LITE_PRODUCT_ID 11
38 #define USB_LEAF_PRO_PRODUCT_ID 12
39 #define USB_LEAF_SPRO_PRODUCT_ID 14
40 #define USB_LEAF_PRO_LS_PRODUCT_ID 15
41 #define USB_LEAF_PRO_SWC_PRODUCT_ID 16
42 #define USB_LEAF_PRO_LIN_PRODUCT_ID 17
43 #define USB_LEAF_SPRO_LS_PRODUCT_ID 18
44 #define USB_LEAF_SPRO_SWC_PRODUCT_ID 19
45 #define USB_MEMO2_DEVEL_PRODUCT_ID 22
46 #define USB_MEMO2_HSHS_PRODUCT_ID 23
47 #define USB_UPRO_HSHS_PRODUCT_ID 24
48 #define USB_LEAF_LITE_GI_PRODUCT_ID 25
49 #define USB_LEAF_PRO_OBDII_PRODUCT_ID 26
50 #define USB_MEMO2_HSLS_PRODUCT_ID 27
51 #define USB_LEAF_LITE_CH_PRODUCT_ID 28
52 #define USB_BLACKBIRD_SPRO_PRODUCT_ID 29
53 #define USB_OEM_MERCURY_PRODUCT_ID 34
54 #define USB_OEM_LEAF_PRODUCT_ID 35
55 #define USB_CAN_R_PRODUCT_ID 39
57 /* USB devices features */
58 #define KVASER_HAS_SILENT_MODE BIT(0)
59 #define KVASER_HAS_TXRX_ERRORS BIT(1)
61 /* Message header size */
62 #define MSG_HEADER_LEN 2
64 /* Can message flags */
65 #define MSG_FLAG_ERROR_FRAME BIT(0)
66 #define MSG_FLAG_OVERRUN BIT(1)
67 #define MSG_FLAG_NERR BIT(2)
68 #define MSG_FLAG_WAKEUP BIT(3)
69 #define MSG_FLAG_REMOTE_FRAME BIT(4)
70 #define MSG_FLAG_RESERVED BIT(5)
71 #define MSG_FLAG_TX_ACK BIT(6)
72 #define MSG_FLAG_TX_REQUEST BIT(7)
75 #define M16C_STATE_BUS_RESET BIT(0)
76 #define M16C_STATE_BUS_ERROR BIT(4)
77 #define M16C_STATE_BUS_PASSIVE BIT(5)
78 #define M16C_STATE_BUS_OFF BIT(6)
81 #define CMD_RX_STD_MESSAGE 12
82 #define CMD_TX_STD_MESSAGE 13
83 #define CMD_RX_EXT_MESSAGE 14
84 #define CMD_TX_EXT_MESSAGE 15
85 #define CMD_SET_BUS_PARAMS 16
86 #define CMD_GET_BUS_PARAMS 17
87 #define CMD_GET_BUS_PARAMS_REPLY 18
88 #define CMD_GET_CHIP_STATE 19
89 #define CMD_CHIP_STATE_EVENT 20
90 #define CMD_SET_CTRL_MODE 21
91 #define CMD_GET_CTRL_MODE 22
92 #define CMD_GET_CTRL_MODE_REPLY 23
93 #define CMD_RESET_CHIP 24
94 #define CMD_RESET_CARD 25
95 #define CMD_START_CHIP 26
96 #define CMD_START_CHIP_REPLY 27
97 #define CMD_STOP_CHIP 28
98 #define CMD_STOP_CHIP_REPLY 29
99 #define CMD_GET_CARD_INFO2 32
100 #define CMD_GET_CARD_INFO 34
101 #define CMD_GET_CARD_INFO_REPLY 35
102 #define CMD_GET_SOFTWARE_INFO 38
103 #define CMD_GET_SOFTWARE_INFO_REPLY 39
104 #define CMD_ERROR_EVENT 45
105 #define CMD_FLUSH_QUEUE 48
106 #define CMD_RESET_ERROR_COUNTER 49
107 #define CMD_TX_ACKNOWLEDGE 50
108 #define CMD_CAN_ERROR_EVENT 51
109 #define CMD_USB_THROTTLE 77
110 #define CMD_LOG_MESSAGE 106
113 #define M16C_EF_ACKE BIT(0)
114 #define M16C_EF_CRCE BIT(1)
115 #define M16C_EF_FORME BIT(2)
116 #define M16C_EF_STFE BIT(3)
117 #define M16C_EF_BITE0 BIT(4)
118 #define M16C_EF_BITE1 BIT(5)
119 #define M16C_EF_RCVE BIT(6)
120 #define M16C_EF_TRE BIT(7)
122 /* bittiming parameters */
123 #define KVASER_USB_TSEG1_MIN 1
124 #define KVASER_USB_TSEG1_MAX 16
125 #define KVASER_USB_TSEG2_MIN 1
126 #define KVASER_USB_TSEG2_MAX 8
127 #define KVASER_USB_SJW_MAX 4
128 #define KVASER_USB_BRP_MIN 1
129 #define KVASER_USB_BRP_MAX 64
130 #define KVASER_USB_BRP_INC 1
133 #define KVASER_CTRL_MODE_NORMAL 1
134 #define KVASER_CTRL_MODE_SILENT 2
135 #define KVASER_CTRL_MODE_SELFRECEPTION 3
136 #define KVASER_CTRL_MODE_OFF 4
139 #define KVASER_EXTENDED_FRAME BIT(31)
141 struct kvaser_msg_simple {
146 struct kvaser_msg_cardinfo {
149 __le32 serial_number;
151 __le32 clock_resolution;
159 struct kvaser_msg_cardinfo2 {
163 __le32 oem_unlock_code;
166 struct kvaser_msg_softinfo {
171 __le16 max_outstanding_tx;
175 struct kvaser_msg_busparams {
185 struct kvaser_msg_tx_can {
193 struct kvaser_msg_rx_can {
200 struct kvaser_msg_chip_state_event {
210 struct kvaser_msg_tx_acknowledge {
218 struct kvaser_msg_error_event {
230 struct kvaser_msg_ctrl_mode {
237 struct kvaser_msg_flush_queue {
244 struct kvaser_msg_log_message {
258 struct kvaser_msg_simple simple;
259 struct kvaser_msg_cardinfo cardinfo;
260 struct kvaser_msg_cardinfo2 cardinfo2;
261 struct kvaser_msg_softinfo softinfo;
262 struct kvaser_msg_busparams busparams;
263 struct kvaser_msg_tx_can tx_can;
264 struct kvaser_msg_rx_can rx_can;
265 struct kvaser_msg_chip_state_event chip_state_event;
266 struct kvaser_msg_tx_acknowledge tx_acknowledge;
267 struct kvaser_msg_error_event error_event;
268 struct kvaser_msg_ctrl_mode ctrl_mode;
269 struct kvaser_msg_flush_queue flush_queue;
270 struct kvaser_msg_log_message log_message;
274 struct kvaser_usb_tx_urb_context {
275 struct kvaser_usb_net_priv *priv;
281 struct usb_device *udev;
282 struct kvaser_usb_net_priv *nets[MAX_NET_DEVICES];
284 struct usb_endpoint_descriptor *bulk_in, *bulk_out;
285 struct usb_anchor rx_submitted;
288 unsigned int nchannels;
291 void *rxbuf[MAX_RX_URBS];
292 dma_addr_t rxbuf_dma[MAX_RX_URBS];
295 struct kvaser_usb_net_priv {
298 atomic_t active_tx_urbs;
299 struct usb_anchor tx_submitted;
300 struct kvaser_usb_tx_urb_context tx_contexts[MAX_TX_URBS];
302 struct completion start_comp, stop_comp;
304 struct kvaser_usb *dev;
305 struct net_device *netdev;
308 struct can_berr_counter bec;
311 static const struct usb_device_id kvaser_usb_table[] = {
312 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_DEVEL_PRODUCT_ID) },
313 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_PRODUCT_ID) },
314 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_PRODUCT_ID),
315 .driver_info = KVASER_HAS_TXRX_ERRORS |
316 KVASER_HAS_SILENT_MODE },
317 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_PRODUCT_ID),
318 .driver_info = KVASER_HAS_TXRX_ERRORS |
319 KVASER_HAS_SILENT_MODE },
320 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_LS_PRODUCT_ID),
321 .driver_info = KVASER_HAS_TXRX_ERRORS |
322 KVASER_HAS_SILENT_MODE },
323 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_SWC_PRODUCT_ID),
324 .driver_info = KVASER_HAS_TXRX_ERRORS |
325 KVASER_HAS_SILENT_MODE },
326 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_LIN_PRODUCT_ID),
327 .driver_info = KVASER_HAS_TXRX_ERRORS |
328 KVASER_HAS_SILENT_MODE },
329 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_LS_PRODUCT_ID),
330 .driver_info = KVASER_HAS_TXRX_ERRORS |
331 KVASER_HAS_SILENT_MODE },
332 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_SWC_PRODUCT_ID),
333 .driver_info = KVASER_HAS_TXRX_ERRORS |
334 KVASER_HAS_SILENT_MODE },
335 { USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_DEVEL_PRODUCT_ID),
336 .driver_info = KVASER_HAS_TXRX_ERRORS |
337 KVASER_HAS_SILENT_MODE },
338 { USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_HSHS_PRODUCT_ID),
339 .driver_info = KVASER_HAS_TXRX_ERRORS |
340 KVASER_HAS_SILENT_MODE },
341 { USB_DEVICE(KVASER_VENDOR_ID, USB_UPRO_HSHS_PRODUCT_ID),
342 .driver_info = KVASER_HAS_TXRX_ERRORS },
343 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_GI_PRODUCT_ID) },
344 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_OBDII_PRODUCT_ID),
345 .driver_info = KVASER_HAS_TXRX_ERRORS |
346 KVASER_HAS_SILENT_MODE },
347 { USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_HSLS_PRODUCT_ID),
348 .driver_info = KVASER_HAS_TXRX_ERRORS },
349 { USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_CH_PRODUCT_ID),
350 .driver_info = KVASER_HAS_TXRX_ERRORS },
351 { USB_DEVICE(KVASER_VENDOR_ID, USB_BLACKBIRD_SPRO_PRODUCT_ID),
352 .driver_info = KVASER_HAS_TXRX_ERRORS },
353 { USB_DEVICE(KVASER_VENDOR_ID, USB_OEM_MERCURY_PRODUCT_ID),
354 .driver_info = KVASER_HAS_TXRX_ERRORS },
355 { USB_DEVICE(KVASER_VENDOR_ID, USB_OEM_LEAF_PRODUCT_ID),
356 .driver_info = KVASER_HAS_TXRX_ERRORS },
357 { USB_DEVICE(KVASER_VENDOR_ID, USB_CAN_R_PRODUCT_ID),
358 .driver_info = KVASER_HAS_TXRX_ERRORS },
361 MODULE_DEVICE_TABLE(usb, kvaser_usb_table);
363 static inline int kvaser_usb_send_msg(const struct kvaser_usb *dev,
364 struct kvaser_msg *msg)
368 return usb_bulk_msg(dev->udev,
369 usb_sndbulkpipe(dev->udev,
370 dev->bulk_out->bEndpointAddress),
371 msg, msg->len, &actual_len,
375 static int kvaser_usb_wait_msg(const struct kvaser_usb *dev, u8 id,
376 struct kvaser_msg *msg)
378 struct kvaser_msg *tmp;
384 buf = kzalloc(RX_BUFFER_SIZE, GFP_KERNEL);
388 err = usb_bulk_msg(dev->udev,
389 usb_rcvbulkpipe(dev->udev,
390 dev->bulk_in->bEndpointAddress),
391 buf, RX_BUFFER_SIZE, &actual_len,
396 while (pos <= actual_len - MSG_HEADER_LEN) {
402 if (pos + tmp->len > actual_len) {
403 dev_err(dev->udev->dev.parent, "Format error\n");
408 memcpy(msg, tmp, tmp->len);
423 static int kvaser_usb_send_simple_msg(const struct kvaser_usb *dev,
424 u8 msg_id, int channel)
426 struct kvaser_msg *msg;
429 msg = kmalloc(sizeof(*msg), GFP_KERNEL);
434 msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_simple);
435 msg->u.simple.channel = channel;
436 msg->u.simple.tid = 0xff;
438 rc = kvaser_usb_send_msg(dev, msg);
444 static int kvaser_usb_get_software_info(struct kvaser_usb *dev)
446 struct kvaser_msg msg;
449 err = kvaser_usb_send_simple_msg(dev, CMD_GET_SOFTWARE_INFO, 0);
453 err = kvaser_usb_wait_msg(dev, CMD_GET_SOFTWARE_INFO_REPLY, &msg);
457 dev->fw_version = le32_to_cpu(msg.u.softinfo.fw_version);
462 static int kvaser_usb_get_card_info(struct kvaser_usb *dev)
464 struct kvaser_msg msg;
467 err = kvaser_usb_send_simple_msg(dev, CMD_GET_CARD_INFO, 0);
471 err = kvaser_usb_wait_msg(dev, CMD_GET_CARD_INFO_REPLY, &msg);
475 dev->nchannels = msg.u.cardinfo.nchannels;
476 if (dev->nchannels > MAX_NET_DEVICES)
482 static void kvaser_usb_tx_acknowledge(const struct kvaser_usb *dev,
483 const struct kvaser_msg *msg)
485 struct net_device_stats *stats;
486 struct kvaser_usb_tx_urb_context *context;
487 struct kvaser_usb_net_priv *priv;
489 struct can_frame *cf;
490 u8 channel = msg->u.tx_acknowledge.channel;
491 u8 tid = msg->u.tx_acknowledge.tid;
493 if (channel >= dev->nchannels) {
494 dev_err(dev->udev->dev.parent,
495 "Invalid channel number (%d)\n", channel);
499 priv = dev->nets[channel];
501 if (!netif_device_present(priv->netdev))
504 stats = &priv->netdev->stats;
506 context = &priv->tx_contexts[tid % MAX_TX_URBS];
508 /* Sometimes the state change doesn't come after a bus-off event */
509 if (priv->can.restart_ms &&
510 (priv->can.state >= CAN_STATE_BUS_OFF)) {
511 skb = alloc_can_err_skb(priv->netdev, &cf);
513 cf->can_id |= CAN_ERR_RESTARTED;
517 stats->rx_bytes += cf->can_dlc;
519 netdev_err(priv->netdev,
520 "No memory left for err_skb\n");
523 priv->can.can_stats.restarts++;
524 netif_carrier_on(priv->netdev);
526 priv->can.state = CAN_STATE_ERROR_ACTIVE;
530 stats->tx_bytes += context->dlc;
531 can_get_echo_skb(priv->netdev, context->echo_index);
533 context->echo_index = MAX_TX_URBS;
534 atomic_dec(&priv->active_tx_urbs);
536 netif_wake_queue(priv->netdev);
539 static void kvaser_usb_simple_msg_callback(struct urb *urb)
541 struct net_device *netdev = urb->context;
543 kfree(urb->transfer_buffer);
546 netdev_warn(netdev, "urb status received: %d\n",
550 static int kvaser_usb_simple_msg_async(struct kvaser_usb_net_priv *priv,
553 struct kvaser_usb *dev = priv->dev;
554 struct net_device *netdev = priv->netdev;
555 struct kvaser_msg *msg;
560 urb = usb_alloc_urb(0, GFP_ATOMIC);
562 netdev_err(netdev, "No memory left for URBs\n");
566 buf = kmalloc(sizeof(struct kvaser_msg), GFP_ATOMIC);
572 msg = (struct kvaser_msg *)buf;
573 msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_simple);
575 msg->u.simple.channel = priv->channel;
577 usb_fill_bulk_urb(urb, dev->udev,
578 usb_sndbulkpipe(dev->udev,
579 dev->bulk_out->bEndpointAddress),
581 kvaser_usb_simple_msg_callback, priv);
582 usb_anchor_urb(urb, &priv->tx_submitted);
584 err = usb_submit_urb(urb, GFP_ATOMIC);
586 netdev_err(netdev, "Error transmitting URB\n");
587 usb_unanchor_urb(urb);
598 static void kvaser_usb_unlink_tx_urbs(struct kvaser_usb_net_priv *priv)
602 usb_kill_anchored_urbs(&priv->tx_submitted);
603 atomic_set(&priv->active_tx_urbs, 0);
605 for (i = 0; i < MAX_TX_URBS; i++)
606 priv->tx_contexts[i].echo_index = MAX_TX_URBS;
609 static void kvaser_usb_rx_error(const struct kvaser_usb *dev,
610 const struct kvaser_msg *msg)
612 struct can_frame *cf;
614 struct net_device_stats *stats;
615 struct kvaser_usb_net_priv *priv;
616 unsigned int new_state;
617 u8 channel, status, txerr, rxerr, error_factor;
620 case CMD_CAN_ERROR_EVENT:
621 channel = msg->u.error_event.channel;
622 status = msg->u.error_event.status;
623 txerr = msg->u.error_event.tx_errors_count;
624 rxerr = msg->u.error_event.rx_errors_count;
625 error_factor = msg->u.error_event.error_factor;
627 case CMD_LOG_MESSAGE:
628 channel = msg->u.log_message.channel;
629 status = msg->u.log_message.data[0];
630 txerr = msg->u.log_message.data[2];
631 rxerr = msg->u.log_message.data[3];
632 error_factor = msg->u.log_message.data[1];
634 case CMD_CHIP_STATE_EVENT:
635 channel = msg->u.chip_state_event.channel;
636 status = msg->u.chip_state_event.status;
637 txerr = msg->u.chip_state_event.tx_errors_count;
638 rxerr = msg->u.chip_state_event.rx_errors_count;
642 dev_err(dev->udev->dev.parent, "Invalid msg id (%d)\n",
647 if (channel >= dev->nchannels) {
648 dev_err(dev->udev->dev.parent,
649 "Invalid channel number (%d)\n", channel);
653 priv = dev->nets[channel];
654 stats = &priv->netdev->stats;
656 if (status & M16C_STATE_BUS_RESET) {
657 kvaser_usb_unlink_tx_urbs(priv);
661 skb = alloc_can_err_skb(priv->netdev, &cf);
667 new_state = priv->can.state;
669 netdev_dbg(priv->netdev, "Error status: 0x%02x\n", status);
671 if (status & M16C_STATE_BUS_OFF) {
672 cf->can_id |= CAN_ERR_BUSOFF;
674 priv->can.can_stats.bus_off++;
675 if (!priv->can.restart_ms)
676 kvaser_usb_simple_msg_async(priv, CMD_STOP_CHIP);
678 netif_carrier_off(priv->netdev);
680 new_state = CAN_STATE_BUS_OFF;
681 } else if (status & M16C_STATE_BUS_PASSIVE) {
682 if (priv->can.state != CAN_STATE_ERROR_PASSIVE) {
683 cf->can_id |= CAN_ERR_CRTL;
686 cf->data[1] = (txerr > rxerr)
687 ? CAN_ERR_CRTL_TX_PASSIVE
688 : CAN_ERR_CRTL_RX_PASSIVE;
690 cf->data[1] = CAN_ERR_CRTL_TX_PASSIVE |
691 CAN_ERR_CRTL_RX_PASSIVE;
693 priv->can.can_stats.error_passive++;
696 new_state = CAN_STATE_ERROR_PASSIVE;
699 if (status == M16C_STATE_BUS_ERROR) {
700 if ((priv->can.state < CAN_STATE_ERROR_WARNING) &&
701 ((txerr >= 96) || (rxerr >= 96))) {
702 cf->can_id |= CAN_ERR_CRTL;
703 cf->data[1] = (txerr > rxerr)
704 ? CAN_ERR_CRTL_TX_WARNING
705 : CAN_ERR_CRTL_RX_WARNING;
707 priv->can.can_stats.error_warning++;
708 new_state = CAN_STATE_ERROR_WARNING;
709 } else if (priv->can.state > CAN_STATE_ERROR_ACTIVE) {
710 cf->can_id |= CAN_ERR_PROT;
711 cf->data[2] = CAN_ERR_PROT_ACTIVE;
713 new_state = CAN_STATE_ERROR_ACTIVE;
718 cf->can_id |= CAN_ERR_PROT;
719 cf->data[2] = CAN_ERR_PROT_ACTIVE;
721 new_state = CAN_STATE_ERROR_ACTIVE;
724 if (priv->can.restart_ms &&
725 (priv->can.state >= CAN_STATE_BUS_OFF) &&
726 (new_state < CAN_STATE_BUS_OFF)) {
727 cf->can_id |= CAN_ERR_RESTARTED;
728 netif_carrier_on(priv->netdev);
730 priv->can.can_stats.restarts++;
734 priv->can.can_stats.bus_error++;
737 cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_PROT;
739 if (error_factor & M16C_EF_ACKE)
740 cf->data[3] |= (CAN_ERR_PROT_LOC_ACK);
741 if (error_factor & M16C_EF_CRCE)
742 cf->data[3] |= (CAN_ERR_PROT_LOC_CRC_SEQ |
743 CAN_ERR_PROT_LOC_CRC_DEL);
744 if (error_factor & M16C_EF_FORME)
745 cf->data[2] |= CAN_ERR_PROT_FORM;
746 if (error_factor & M16C_EF_STFE)
747 cf->data[2] |= CAN_ERR_PROT_STUFF;
748 if (error_factor & M16C_EF_BITE0)
749 cf->data[2] |= CAN_ERR_PROT_BIT0;
750 if (error_factor & M16C_EF_BITE1)
751 cf->data[2] |= CAN_ERR_PROT_BIT1;
752 if (error_factor & M16C_EF_TRE)
753 cf->data[2] |= CAN_ERR_PROT_TX;
759 priv->bec.txerr = txerr;
760 priv->bec.rxerr = rxerr;
762 priv->can.state = new_state;
767 stats->rx_bytes += cf->can_dlc;
770 static void kvaser_usb_rx_can_err(const struct kvaser_usb_net_priv *priv,
771 const struct kvaser_msg *msg)
773 struct can_frame *cf;
775 struct net_device_stats *stats = &priv->netdev->stats;
777 if (msg->u.rx_can.flag & (MSG_FLAG_ERROR_FRAME |
779 netdev_err(priv->netdev, "Unknow error (flags: 0x%02x)\n",
786 if (msg->u.rx_can.flag & MSG_FLAG_OVERRUN) {
787 skb = alloc_can_err_skb(priv->netdev, &cf);
793 cf->can_id |= CAN_ERR_CRTL;
794 cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
796 stats->rx_over_errors++;
802 stats->rx_bytes += cf->can_dlc;
806 static void kvaser_usb_rx_can_msg(const struct kvaser_usb *dev,
807 const struct kvaser_msg *msg)
809 struct kvaser_usb_net_priv *priv;
810 struct can_frame *cf;
812 struct net_device_stats *stats;
813 u8 channel = msg->u.rx_can.channel;
815 if (channel >= dev->nchannels) {
816 dev_err(dev->udev->dev.parent,
817 "Invalid channel number (%d)\n", channel);
821 priv = dev->nets[channel];
822 stats = &priv->netdev->stats;
824 if ((msg->u.rx_can.flag & MSG_FLAG_ERROR_FRAME) &&
825 (msg->id == CMD_LOG_MESSAGE)) {
826 kvaser_usb_rx_error(dev, msg);
828 } else if (msg->u.rx_can.flag & (MSG_FLAG_ERROR_FRAME |
831 kvaser_usb_rx_can_err(priv, msg);
833 } else if (msg->u.rx_can.flag & ~MSG_FLAG_REMOTE_FRAME) {
834 netdev_warn(priv->netdev,
835 "Unhandled frame (flags: 0x%02x)",
840 skb = alloc_can_skb(priv->netdev, &cf);
846 if (msg->id == CMD_LOG_MESSAGE) {
847 cf->can_id = le32_to_cpu(msg->u.log_message.id);
848 if (cf->can_id & KVASER_EXTENDED_FRAME)
849 cf->can_id &= CAN_EFF_MASK | CAN_EFF_FLAG;
851 cf->can_id &= CAN_SFF_MASK;
853 cf->can_dlc = get_can_dlc(msg->u.log_message.dlc);
855 if (msg->u.log_message.flags & MSG_FLAG_REMOTE_FRAME)
856 cf->can_id |= CAN_RTR_FLAG;
858 memcpy(cf->data, &msg->u.log_message.data,
861 cf->can_id = ((msg->u.rx_can.msg[0] & 0x1f) << 6) |
862 (msg->u.rx_can.msg[1] & 0x3f);
864 if (msg->id == CMD_RX_EXT_MESSAGE) {
866 cf->can_id |= ((msg->u.rx_can.msg[2] & 0x0f) << 14) |
867 ((msg->u.rx_can.msg[3] & 0xff) << 6) |
868 (msg->u.rx_can.msg[4] & 0x3f);
869 cf->can_id |= CAN_EFF_FLAG;
872 cf->can_dlc = get_can_dlc(msg->u.rx_can.msg[5]);
874 if (msg->u.rx_can.flag & MSG_FLAG_REMOTE_FRAME)
875 cf->can_id |= CAN_RTR_FLAG;
877 memcpy(cf->data, &msg->u.rx_can.msg[6],
884 stats->rx_bytes += cf->can_dlc;
887 static void kvaser_usb_start_chip_reply(const struct kvaser_usb *dev,
888 const struct kvaser_msg *msg)
890 struct kvaser_usb_net_priv *priv;
891 u8 channel = msg->u.simple.channel;
893 if (channel >= dev->nchannels) {
894 dev_err(dev->udev->dev.parent,
895 "Invalid channel number (%d)\n", channel);
899 priv = dev->nets[channel];
901 if (completion_done(&priv->start_comp) &&
902 netif_queue_stopped(priv->netdev)) {
903 netif_wake_queue(priv->netdev);
905 netif_start_queue(priv->netdev);
906 complete(&priv->start_comp);
910 static void kvaser_usb_stop_chip_reply(const struct kvaser_usb *dev,
911 const struct kvaser_msg *msg)
913 struct kvaser_usb_net_priv *priv;
914 u8 channel = msg->u.simple.channel;
916 if (channel >= dev->nchannels) {
917 dev_err(dev->udev->dev.parent,
918 "Invalid channel number (%d)\n", channel);
922 priv = dev->nets[channel];
924 complete(&priv->stop_comp);
927 static void kvaser_usb_handle_message(const struct kvaser_usb *dev,
928 const struct kvaser_msg *msg)
931 case CMD_START_CHIP_REPLY:
932 kvaser_usb_start_chip_reply(dev, msg);
935 case CMD_STOP_CHIP_REPLY:
936 kvaser_usb_stop_chip_reply(dev, msg);
939 case CMD_RX_STD_MESSAGE:
940 case CMD_RX_EXT_MESSAGE:
941 case CMD_LOG_MESSAGE:
942 kvaser_usb_rx_can_msg(dev, msg);
945 case CMD_CHIP_STATE_EVENT:
946 case CMD_CAN_ERROR_EVENT:
947 kvaser_usb_rx_error(dev, msg);
950 case CMD_TX_ACKNOWLEDGE:
951 kvaser_usb_tx_acknowledge(dev, msg);
955 dev_warn(dev->udev->dev.parent,
956 "Unhandled message (%d)\n", msg->id);
961 static void kvaser_usb_read_bulk_callback(struct urb *urb)
963 struct kvaser_usb *dev = urb->context;
964 struct kvaser_msg *msg;
968 switch (urb->status) {
975 dev_info(dev->udev->dev.parent, "Rx URB aborted (%d)\n",
980 while (pos <= urb->actual_length - MSG_HEADER_LEN) {
981 msg = urb->transfer_buffer + pos;
986 if (pos + msg->len > urb->actual_length) {
987 dev_err(dev->udev->dev.parent, "Format error\n");
991 kvaser_usb_handle_message(dev, msg);
997 usb_fill_bulk_urb(urb, dev->udev,
998 usb_rcvbulkpipe(dev->udev,
999 dev->bulk_in->bEndpointAddress),
1000 urb->transfer_buffer, RX_BUFFER_SIZE,
1001 kvaser_usb_read_bulk_callback, dev);
1003 err = usb_submit_urb(urb, GFP_ATOMIC);
1004 if (err == -ENODEV) {
1005 for (i = 0; i < dev->nchannels; i++) {
1009 netif_device_detach(dev->nets[i]->netdev);
1012 dev_err(dev->udev->dev.parent,
1013 "Failed resubmitting read bulk urb: %d\n", err);
1019 static int kvaser_usb_setup_rx_urbs(struct kvaser_usb *dev)
1023 if (dev->rxinitdone)
1026 for (i = 0; i < MAX_RX_URBS; i++) {
1027 struct urb *urb = NULL;
1031 urb = usb_alloc_urb(0, GFP_KERNEL);
1033 dev_warn(dev->udev->dev.parent,
1034 "No memory left for URBs\n");
1039 buf = usb_alloc_coherent(dev->udev, RX_BUFFER_SIZE,
1040 GFP_KERNEL, &buf_dma);
1042 dev_warn(dev->udev->dev.parent,
1043 "No memory left for USB buffer\n");
1049 usb_fill_bulk_urb(urb, dev->udev,
1050 usb_rcvbulkpipe(dev->udev,
1051 dev->bulk_in->bEndpointAddress),
1052 buf, RX_BUFFER_SIZE,
1053 kvaser_usb_read_bulk_callback,
1055 urb->transfer_dma = buf_dma;
1056 urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
1057 usb_anchor_urb(urb, &dev->rx_submitted);
1059 err = usb_submit_urb(urb, GFP_KERNEL);
1061 usb_unanchor_urb(urb);
1062 usb_free_coherent(dev->udev, RX_BUFFER_SIZE, buf,
1068 dev->rxbuf[i] = buf;
1069 dev->rxbuf_dma[i] = buf_dma;
1075 dev_warn(dev->udev->dev.parent,
1076 "Cannot setup read URBs, error %d\n", err);
1078 } else if (i < MAX_RX_URBS) {
1079 dev_warn(dev->udev->dev.parent,
1080 "RX performances may be slow\n");
1083 dev->rxinitdone = true;
1088 static int kvaser_usb_set_opt_mode(const struct kvaser_usb_net_priv *priv)
1090 struct kvaser_msg *msg;
1093 msg = kmalloc(sizeof(*msg), GFP_KERNEL);
1097 msg->id = CMD_SET_CTRL_MODE;
1098 msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_ctrl_mode);
1099 msg->u.ctrl_mode.tid = 0xff;
1100 msg->u.ctrl_mode.channel = priv->channel;
1102 if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
1103 msg->u.ctrl_mode.ctrl_mode = KVASER_CTRL_MODE_SILENT;
1105 msg->u.ctrl_mode.ctrl_mode = KVASER_CTRL_MODE_NORMAL;
1107 rc = kvaser_usb_send_msg(priv->dev, msg);
1113 static int kvaser_usb_start_chip(struct kvaser_usb_net_priv *priv)
1117 init_completion(&priv->start_comp);
1119 err = kvaser_usb_send_simple_msg(priv->dev, CMD_START_CHIP,
1124 if (!wait_for_completion_timeout(&priv->start_comp,
1125 msecs_to_jiffies(START_TIMEOUT)))
1131 static int kvaser_usb_open(struct net_device *netdev)
1133 struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
1134 struct kvaser_usb *dev = priv->dev;
1137 err = open_candev(netdev);
1141 err = kvaser_usb_setup_rx_urbs(dev);
1145 err = kvaser_usb_set_opt_mode(priv);
1149 err = kvaser_usb_start_chip(priv);
1151 netdev_warn(netdev, "Cannot start device, error %d\n", err);
1155 priv->can.state = CAN_STATE_ERROR_ACTIVE;
1160 close_candev(netdev);
1164 static void kvaser_usb_unlink_all_urbs(struct kvaser_usb *dev)
1168 usb_kill_anchored_urbs(&dev->rx_submitted);
1170 for (i = 0; i < MAX_RX_URBS; i++)
1171 usb_free_coherent(dev->udev, RX_BUFFER_SIZE,
1175 for (i = 0; i < MAX_NET_DEVICES; i++) {
1176 struct kvaser_usb_net_priv *priv = dev->nets[i];
1179 kvaser_usb_unlink_tx_urbs(priv);
1183 static int kvaser_usb_stop_chip(struct kvaser_usb_net_priv *priv)
1187 init_completion(&priv->stop_comp);
1189 err = kvaser_usb_send_simple_msg(priv->dev, CMD_STOP_CHIP,
1194 if (!wait_for_completion_timeout(&priv->stop_comp,
1195 msecs_to_jiffies(STOP_TIMEOUT)))
1201 static int kvaser_usb_flush_queue(struct kvaser_usb_net_priv *priv)
1203 struct kvaser_msg *msg;
1206 msg = kmalloc(sizeof(*msg), GFP_KERNEL);
1210 msg->id = CMD_FLUSH_QUEUE;
1211 msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_flush_queue);
1212 msg->u.flush_queue.channel = priv->channel;
1213 msg->u.flush_queue.flags = 0x00;
1215 rc = kvaser_usb_send_msg(priv->dev, msg);
1221 static int kvaser_usb_close(struct net_device *netdev)
1223 struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
1224 struct kvaser_usb *dev = priv->dev;
1227 netif_stop_queue(netdev);
1229 err = kvaser_usb_flush_queue(priv);
1231 netdev_warn(netdev, "Cannot flush queue, error %d\n", err);
1233 if (kvaser_usb_send_simple_msg(dev, CMD_RESET_CHIP, priv->channel))
1234 netdev_warn(netdev, "Cannot reset card, error %d\n", err);
1236 err = kvaser_usb_stop_chip(priv);
1238 netdev_warn(netdev, "Cannot stop device, error %d\n", err);
1240 priv->can.state = CAN_STATE_STOPPED;
1241 close_candev(priv->netdev);
1246 static void kvaser_usb_write_bulk_callback(struct urb *urb)
1248 struct kvaser_usb_tx_urb_context *context = urb->context;
1249 struct kvaser_usb_net_priv *priv;
1250 struct net_device *netdev;
1252 if (WARN_ON(!context))
1255 priv = context->priv;
1256 netdev = priv->netdev;
1258 kfree(urb->transfer_buffer);
1260 if (!netif_device_present(netdev))
1264 netdev_info(netdev, "Tx URB aborted (%d)\n", urb->status);
1267 static netdev_tx_t kvaser_usb_start_xmit(struct sk_buff *skb,
1268 struct net_device *netdev)
1270 struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
1271 struct kvaser_usb *dev = priv->dev;
1272 struct net_device_stats *stats = &netdev->stats;
1273 struct can_frame *cf = (struct can_frame *)skb->data;
1274 struct kvaser_usb_tx_urb_context *context = NULL;
1277 struct kvaser_msg *msg;
1279 int ret = NETDEV_TX_OK;
1281 if (can_dropped_invalid_skb(netdev, skb))
1282 return NETDEV_TX_OK;
1284 urb = usb_alloc_urb(0, GFP_ATOMIC);
1286 netdev_err(netdev, "No memory left for URBs\n");
1287 stats->tx_dropped++;
1291 buf = kmalloc(sizeof(struct kvaser_msg), GFP_ATOMIC);
1293 stats->tx_dropped++;
1298 msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_tx_can);
1299 msg->u.tx_can.flags = 0;
1300 msg->u.tx_can.channel = priv->channel;
1302 if (cf->can_id & CAN_EFF_FLAG) {
1303 msg->id = CMD_TX_EXT_MESSAGE;
1304 msg->u.tx_can.msg[0] = (cf->can_id >> 24) & 0x1f;
1305 msg->u.tx_can.msg[1] = (cf->can_id >> 18) & 0x3f;
1306 msg->u.tx_can.msg[2] = (cf->can_id >> 14) & 0x0f;
1307 msg->u.tx_can.msg[3] = (cf->can_id >> 6) & 0xff;
1308 msg->u.tx_can.msg[4] = cf->can_id & 0x3f;
1310 msg->id = CMD_TX_STD_MESSAGE;
1311 msg->u.tx_can.msg[0] = (cf->can_id >> 6) & 0x1f;
1312 msg->u.tx_can.msg[1] = cf->can_id & 0x3f;
1315 msg->u.tx_can.msg[5] = cf->can_dlc;
1316 memcpy(&msg->u.tx_can.msg[6], cf->data, cf->can_dlc);
1318 if (cf->can_id & CAN_RTR_FLAG)
1319 msg->u.tx_can.flags |= MSG_FLAG_REMOTE_FRAME;
1321 for (i = 0; i < ARRAY_SIZE(priv->tx_contexts); i++) {
1322 if (priv->tx_contexts[i].echo_index == MAX_TX_URBS) {
1323 context = &priv->tx_contexts[i];
1329 netdev_warn(netdev, "cannot find free context\n");
1330 ret = NETDEV_TX_BUSY;
1334 context->priv = priv;
1335 context->echo_index = i;
1336 context->dlc = cf->can_dlc;
1338 msg->u.tx_can.tid = context->echo_index;
1340 usb_fill_bulk_urb(urb, dev->udev,
1341 usb_sndbulkpipe(dev->udev,
1342 dev->bulk_out->bEndpointAddress),
1344 kvaser_usb_write_bulk_callback, context);
1345 usb_anchor_urb(urb, &priv->tx_submitted);
1347 can_put_echo_skb(skb, netdev, context->echo_index);
1349 atomic_inc(&priv->active_tx_urbs);
1351 if (atomic_read(&priv->active_tx_urbs) >= MAX_TX_URBS)
1352 netif_stop_queue(netdev);
1354 err = usb_submit_urb(urb, GFP_ATOMIC);
1355 if (unlikely(err)) {
1356 can_free_echo_skb(netdev, context->echo_index);
1358 skb = NULL; /* set to NULL to avoid double free in
1359 * dev_kfree_skb(skb) */
1361 atomic_dec(&priv->active_tx_urbs);
1362 usb_unanchor_urb(urb);
1364 stats->tx_dropped++;
1367 netif_device_detach(netdev);
1369 netdev_warn(netdev, "Failed tx_urb %d\n", err);
1376 return NETDEV_TX_OK;
1387 static const struct net_device_ops kvaser_usb_netdev_ops = {
1388 .ndo_open = kvaser_usb_open,
1389 .ndo_stop = kvaser_usb_close,
1390 .ndo_start_xmit = kvaser_usb_start_xmit,
1393 static const struct can_bittiming_const kvaser_usb_bittiming_const = {
1394 .name = "kvaser_usb",
1395 .tseg1_min = KVASER_USB_TSEG1_MIN,
1396 .tseg1_max = KVASER_USB_TSEG1_MAX,
1397 .tseg2_min = KVASER_USB_TSEG2_MIN,
1398 .tseg2_max = KVASER_USB_TSEG2_MAX,
1399 .sjw_max = KVASER_USB_SJW_MAX,
1400 .brp_min = KVASER_USB_BRP_MIN,
1401 .brp_max = KVASER_USB_BRP_MAX,
1402 .brp_inc = KVASER_USB_BRP_INC,
1405 static int kvaser_usb_set_bittiming(struct net_device *netdev)
1407 struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
1408 struct can_bittiming *bt = &priv->can.bittiming;
1409 struct kvaser_usb *dev = priv->dev;
1410 struct kvaser_msg *msg;
1413 msg = kmalloc(sizeof(*msg), GFP_KERNEL);
1417 msg->id = CMD_SET_BUS_PARAMS;
1418 msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_busparams);
1419 msg->u.busparams.channel = priv->channel;
1420 msg->u.busparams.tid = 0xff;
1421 msg->u.busparams.bitrate = cpu_to_le32(bt->bitrate);
1422 msg->u.busparams.sjw = bt->sjw;
1423 msg->u.busparams.tseg1 = bt->prop_seg + bt->phase_seg1;
1424 msg->u.busparams.tseg2 = bt->phase_seg2;
1426 if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
1427 msg->u.busparams.no_samp = 3;
1429 msg->u.busparams.no_samp = 1;
1431 rc = kvaser_usb_send_msg(dev, msg);
1437 static int kvaser_usb_set_mode(struct net_device *netdev,
1440 struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
1444 case CAN_MODE_START:
1445 err = kvaser_usb_simple_msg_async(priv, CMD_START_CHIP);
1456 static int kvaser_usb_get_berr_counter(const struct net_device *netdev,
1457 struct can_berr_counter *bec)
1459 struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
1466 static void kvaser_usb_remove_interfaces(struct kvaser_usb *dev)
1470 for (i = 0; i < dev->nchannels; i++) {
1474 unregister_netdev(dev->nets[i]->netdev);
1477 kvaser_usb_unlink_all_urbs(dev);
1479 for (i = 0; i < dev->nchannels; i++) {
1483 free_candev(dev->nets[i]->netdev);
1487 static int kvaser_usb_init_one(struct usb_interface *intf,
1488 const struct usb_device_id *id, int channel)
1490 struct kvaser_usb *dev = usb_get_intfdata(intf);
1491 struct net_device *netdev;
1492 struct kvaser_usb_net_priv *priv;
1495 netdev = alloc_candev(sizeof(*priv), MAX_TX_URBS);
1497 dev_err(&intf->dev, "Cannot alloc candev\n");
1501 priv = netdev_priv(netdev);
1503 init_completion(&priv->start_comp);
1504 init_completion(&priv->stop_comp);
1506 init_usb_anchor(&priv->tx_submitted);
1507 atomic_set(&priv->active_tx_urbs, 0);
1509 for (i = 0; i < ARRAY_SIZE(priv->tx_contexts); i++)
1510 priv->tx_contexts[i].echo_index = MAX_TX_URBS;
1513 priv->netdev = netdev;
1514 priv->channel = channel;
1516 priv->can.state = CAN_STATE_STOPPED;
1517 priv->can.clock.freq = CAN_USB_CLOCK;
1518 priv->can.bittiming_const = &kvaser_usb_bittiming_const;
1519 priv->can.do_set_bittiming = kvaser_usb_set_bittiming;
1520 priv->can.do_set_mode = kvaser_usb_set_mode;
1521 if (id->driver_info & KVASER_HAS_TXRX_ERRORS)
1522 priv->can.do_get_berr_counter = kvaser_usb_get_berr_counter;
1523 priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES;
1524 if (id->driver_info & KVASER_HAS_SILENT_MODE)
1525 priv->can.ctrlmode_supported |= CAN_CTRLMODE_LISTENONLY;
1527 netdev->flags |= IFF_ECHO;
1529 netdev->netdev_ops = &kvaser_usb_netdev_ops;
1531 SET_NETDEV_DEV(netdev, &intf->dev);
1533 dev->nets[channel] = priv;
1535 err = register_candev(netdev);
1537 dev_err(&intf->dev, "Failed to register can device\n");
1538 free_candev(netdev);
1539 dev->nets[channel] = NULL;
1543 netdev_dbg(netdev, "device registered\n");
1548 static int kvaser_usb_get_endpoints(const struct usb_interface *intf,
1549 struct usb_endpoint_descriptor **in,
1550 struct usb_endpoint_descriptor **out)
1552 const struct usb_host_interface *iface_desc;
1553 struct usb_endpoint_descriptor *endpoint;
1556 iface_desc = &intf->altsetting[0];
1558 for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
1559 endpoint = &iface_desc->endpoint[i].desc;
1561 if (!*in && usb_endpoint_is_bulk_in(endpoint))
1564 if (!*out && usb_endpoint_is_bulk_out(endpoint))
1567 /* use first bulk endpoint for in and out */
1575 static int kvaser_usb_probe(struct usb_interface *intf,
1576 const struct usb_device_id *id)
1578 struct kvaser_usb *dev;
1582 dev = devm_kzalloc(&intf->dev, sizeof(*dev), GFP_KERNEL);
1586 err = kvaser_usb_get_endpoints(intf, &dev->bulk_in, &dev->bulk_out);
1588 dev_err(&intf->dev, "Cannot get usb endpoint(s)");
1592 dev->udev = interface_to_usbdev(intf);
1594 init_usb_anchor(&dev->rx_submitted);
1596 usb_set_intfdata(intf, dev);
1598 for (i = 0; i < MAX_NET_DEVICES; i++)
1599 kvaser_usb_send_simple_msg(dev, CMD_RESET_CHIP, i);
1601 err = kvaser_usb_get_software_info(dev);
1604 "Cannot get software infos, error %d\n", err);
1608 err = kvaser_usb_get_card_info(dev);
1611 "Cannot get card infos, error %d\n", err);
1615 dev_dbg(&intf->dev, "Firmware version: %d.%d.%d\n",
1616 ((dev->fw_version >> 24) & 0xff),
1617 ((dev->fw_version >> 16) & 0xff),
1618 (dev->fw_version & 0xffff));
1620 for (i = 0; i < dev->nchannels; i++) {
1621 err = kvaser_usb_init_one(intf, id, i);
1623 kvaser_usb_remove_interfaces(dev);
1631 static void kvaser_usb_disconnect(struct usb_interface *intf)
1633 struct kvaser_usb *dev = usb_get_intfdata(intf);
1635 usb_set_intfdata(intf, NULL);
1640 kvaser_usb_remove_interfaces(dev);
1643 static struct usb_driver kvaser_usb_driver = {
1644 .name = "kvaser_usb",
1645 .probe = kvaser_usb_probe,
1646 .disconnect = kvaser_usb_disconnect,
1647 .id_table = kvaser_usb_table,
1650 module_usb_driver(kvaser_usb_driver);
1652 MODULE_AUTHOR("Olivier Sobrie <olivier@sobrie.be>");
1653 MODULE_DESCRIPTION("CAN driver for Kvaser CAN/USB devices");
1654 MODULE_LICENSE("GPL v2");