[PATCH v15 2/3] can: etas_es58x: add support for ETAS ES581.4 CAN USB interface
From: Vincent Mailhol
Date: Sat Apr 10 2021 - 06:01:08 EST
This patch adds support for the ES581.4 interface from ETAS
GmbH (https://www.etas.com/en/products/es58x.php).
Co-developed-by: Arunachalam Santhanam <arunachalam.santhanam@xxxxxxxxxxxx>
Signed-off-by: Arunachalam Santhanam <arunachalam.santhanam@xxxxxxxxxxxx>
Signed-off-by: Vincent Mailhol <mailhol.vincent@xxxxxxxxxx>
---
drivers/net/can/usb/etas_es58x/Makefile | 2 +-
drivers/net/can/usb/etas_es58x/es581_4.c | 507 ++++++++++++++++++++
drivers/net/can/usb/etas_es58x/es581_4.h | 207 ++++++++
drivers/net/can/usb/etas_es58x/es58x_core.c | 9 +-
drivers/net/can/usb/etas_es58x/es58x_core.h | 5 +-
5 files changed, 726 insertions(+), 4 deletions(-)
create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.c
create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.h
diff --git a/drivers/net/can/usb/etas_es58x/Makefile b/drivers/net/can/usb/etas_es58x/Makefile
index 60a1ac935a69..e4753ec9cb60 100644
--- a/drivers/net/can/usb/etas_es58x/Makefile
+++ b/drivers/net/can/usb/etas_es58x/Makefile
@@ -1,3 +1,3 @@
# 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
diff --git a/drivers/net/can/usb/etas_es58x/es581_4.c b/drivers/net/can/usb/etas_es58x/es581_4.c
new file mode 100644
index 000000000000..1985f772fc3c
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es581_4.c
@@ -0,0 +1,507 @@
+// 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@xxxxxxxxxx>
+ */
+
+#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
+};
diff --git a/drivers/net/can/usb/etas_es58x/es581_4.h b/drivers/net/can/usb/etas_es58x/es581_4.h
new file mode 100644
index 000000000000..4bc60a6df697
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es581_4.h
@@ -0,0 +1,207 @@
+/* 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@xxxxxxxxxx>
+ */
+
+#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__ */
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.c b/drivers/net/can/usb/etas_es58x/es58x_core.c
index b53563d5c542..cc003c62bee2 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.c
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.c
@@ -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);
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.h b/drivers/net/can/usb/etas_es58x/es58x_core.h
index ccced39d5d81..0e7a7dcc48d4 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.h
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.h
@@ -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;
--
2.26.3