[PATCH v15 3/3] can: etas_es58x: add support for the ETAS ES58X_FD CAN USB interfaces
From: Vincent Mailhol
Date: Sat Apr 10 2021 - 06:01:23 EST
This patch add support for the ES582.1 and ES584.1 interfaces 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/es58x_core.c | 19 +-
drivers/net/can/usb/etas_es58x/es58x_core.h | 6 +-
drivers/net/can/usb/etas_es58x/es58x_fd.c | 562 ++++++++++++++++++++
drivers/net/can/usb/etas_es58x/es58x_fd.h | 243 +++++++++
5 files changed, 828 insertions(+), 4 deletions(-)
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.c
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.h
diff --git a/drivers/net/can/usb/etas_es58x/Makefile b/drivers/net/can/usb/etas_es58x/Makefile
index e4753ec9cb60..a129b4aa0215 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 es581_4.o
+etas_es58x-y = es58x_core.o es581_4.o es58x_fd.o
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.c b/drivers/net/can/usb/etas_es58x/es58x_core.c
index cc003c62bee2..35ba8af89b2e 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.c
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.c
@@ -28,6 +28,11 @@ MODULE_LICENSE("GPL v2");
#define ES58X_MODULE_NAME "etas_es58x"
#define ES58X_VENDOR_ID 0x108C
#define ES581_4_PRODUCT_ID 0x0159
+#define ES582_1_PRODUCT_ID 0x0168
+#define ES584_1_PRODUCT_ID 0x0169
+
+/* ES58X FD has some interface protocols unsupported by this driver. */
+#define ES58X_FD_INTERFACE_PROTOCOL 0
/* Table of devices which work with this driver. */
static const struct usb_device_id es58x_id_table[] = {
@@ -35,6 +40,16 @@ 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
+ }, {
+ /* ETAS GmbH ES582.1 USB dual-channel CAN FD Bus Interface module. */
+ USB_DEVICE_INTERFACE_PROTOCOL(ES58X_VENDOR_ID, ES582_1_PRODUCT_ID,
+ ES58X_FD_INTERFACE_PROTOCOL),
+ .driver_info = ES58X_DUAL_CHANNEL | ES58X_FD_FAMILY
+ }, {
+ /* ETAS GmbH ES584.1 USB single-channel CAN FD Bus Interface module. */
+ USB_DEVICE_INTERFACE_PROTOCOL(ES58X_VENDOR_ID, ES584_1_PRODUCT_ID,
+ ES58X_FD_INTERFACE_PROTOCOL),
+ .driver_info = ES58X_FD_FAMILY
}, {
/* Terminating entry */
}
@@ -2164,8 +2179,8 @@ static int es58x_init_es58x_dev(struct usb_interface *intf,
return ret;
if (driver_info & ES58X_FD_FAMILY) {
- return -ENODEV;
- /* Place holder for es58x_fd glue code. */
+ param = &es58x_fd_param;
+ ops = &es58x_fd_ops;
} else {
param = &es581_4_param;
ops = &es581_4_ops;
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.h b/drivers/net/can/usb/etas_es58x/es58x_core.h
index 0e7a7dcc48d4..5f4e7dc5be35 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.h
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.h
@@ -19,12 +19,15 @@
#include <linux/can/dev.h>
#include "es581_4.h"
+#include "es58x_fd.h"
/* Driver constants */
#define ES58X_RX_URBS_MAX 5 /* Empirical value */
#define ES58X_TX_URBS_MAX 6 /* Empirical value */
-#define ES58X_MAX(param) (ES581_4_##param)
+#define ES58X_MAX(param) \
+ (ES581_4_##param > ES58X_FD_##param ? \
+ ES581_4_##param : ES58X_FD_##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)
@@ -213,6 +216,7 @@ enum es58x_ret_type {
union es58x_urb_cmd {
struct es581_4_urb_cmd es581_4_urb_cmd;
+ struct es58x_fd_urb_cmd es58x_fd_urb_cmd;
struct { /* Common header parts of all variants */
__le16 sof;
u8 cmd_type;
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.c b/drivers/net/can/usb/etas_es58x/es58x_fd.c
new file mode 100644
index 000000000000..1a2779d383a4
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.c
@@ -0,0 +1,562 @@
+// SPDX-License-Identifier: GPL-2.0
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_fd.c: Adds support to ETAS ES582.1 and ES584.1 (naming
+ * convention: we use the term "ES58X FD" when referring to those two
+ * variants together).
+ *
+ * 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 "es58x_fd.h"
+
+/**
+ * es58x_fd_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 and a len fields.
+ *
+ * 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 es58x_fd_tx_can_msg and struct es58x_fd_rx_can_msg) as an
+ * input.
+ *
+ * Return: length of the message.
+ */
+#define es58x_fd_sizeof_rx_tx_msg(msg) \
+({ \
+ typeof(msg) __msg = (msg); \
+ size_t __msg_len; \
+ \
+ if (__msg.flags & ES58X_FLAG_FD_DATA) \
+ __msg_len = canfd_sanitize_len(__msg.len); \
+ else \
+ __msg_len = can_cc_dlc2len(__msg.dlc); \
+ \
+ offsetof(typeof(__msg), data[__msg_len]); \
+})
+
+static enum es58x_fd_cmd_type es58x_fd_cmd_type(struct net_device *netdev)
+{
+ u32 ctrlmode = es58x_priv(netdev)->can.ctrlmode;
+
+ if (ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO))
+ return ES58X_FD_CMD_TYPE_CANFD;
+ else
+ return ES58X_FD_CMD_TYPE_CAN;
+}
+
+static u16 es58x_fd_get_msg_len(const union es58x_urb_cmd *urb_cmd)
+{
+ return get_unaligned_le16(&urb_cmd->es58x_fd_urb_cmd.msg_len);
+}
+
+static int es58x_fd_echo_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ const struct es58x_fd_echo_msg *echo_msg;
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ u64 *tstamps = es58x_dev->timestamps;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int i, num_element;
+ u32 rcv_packet_idx;
+
+ const u32 mask = GENMASK(31, sizeof(echo_msg->packet_idx) * 8);
+
+ num_element = es58x_msg_num_element(es58x_dev->dev,
+ es58x_fd_urb_cmd->echo_msg,
+ msg_len);
+ if (num_element < 0)
+ return num_element;
+ echo_msg = es58x_fd_urb_cmd->echo_msg;
+
+ rcv_packet_idx = (priv->tx_tail & mask) | echo_msg[0].packet_idx;
+ for (i = 0; i < num_element; i++) {
+ if ((u8)rcv_packet_idx != echo_msg[i].packet_idx) {
+ netdev_err(netdev, "Packet idx jumped from %u to %u\n",
+ (u8)rcv_packet_idx - 1,
+ echo_msg[i].packet_idx);
+ return -EBADMSG;
+ }
+
+ tstamps[i] = get_unaligned_le64(&echo_msg[i].timestamp);
+ rcv_packet_idx++;
+ }
+
+ return es58x_can_get_echo_skb(netdev, priv->tx_tail, tstamps, num_element);
+}
+
+static int es58x_fd_rx_can_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ const u8 *rx_can_msg_buf = es58x_fd_urb_cmd->rx_can_msg_buf;
+ u16 rx_can_msg_buf_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int pkts, ret;
+
+ ret = es58x_check_msg_max_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->rx_can_msg_buf,
+ rx_can_msg_buf_len);
+ if (ret)
+ return ret;
+
+ for (pkts = 0; rx_can_msg_buf_len > 0; pkts++) {
+ const struct es58x_fd_rx_can_msg *rx_can_msg =
+ (const struct es58x_fd_rx_can_msg *)rx_can_msg_buf;
+ bool is_can_fd = !!(rx_can_msg->flags & ES58X_FLAG_FD_DATA);
+ /* rx_can_msg_len is the length of the rx_can_msg
+ * buffer. Not to be confused with rx_can_msg->len
+ * which is the length of the CAN payload
+ * rx_can_msg->data.
+ */
+ u16 rx_can_msg_len = es58x_fd_sizeof_rx_tx_msg(*rx_can_msg);
+
+ if (rx_can_msg_len > rx_can_msg_buf_len) {
+ netdev_err(netdev,
+ "%s: Expected a rx_can_msg of size %d but only %d bytes are left in rx_can_msg_buf\n",
+ __func__,
+ rx_can_msg_len, rx_can_msg_buf_len);
+ return -EMSGSIZE;
+ }
+ if (rx_can_msg->len > CANFD_MAX_DLEN) {
+ netdev_err(netdev,
+ "%s: Data length is %d but maximum should be %d\n",
+ __func__, rx_can_msg->len, CANFD_MAX_DLEN);
+ return -EMSGSIZE;
+ }
+
+ if (netif_running(netdev)) {
+ u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
+ canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);
+ u8 dlc;
+
+ if (is_can_fd)
+ dlc = can_fd_len2dlc(rx_can_msg->len);
+ else
+ dlc = rx_can_msg->dlc;
+
+ ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
+ can_id, rx_can_msg->flags, dlc);
+ if (ret)
+ break;
+ }
+
+ rx_can_msg_buf_len -= rx_can_msg_len;
+ rx_can_msg_buf += rx_can_msg_len;
+ }
+
+ if (!netif_running(netdev)) {
+ if (net_ratelimit())
+ netdev_info(netdev,
+ "%s: %s is down, dropping %d rx packets\n",
+ __func__, netdev->name, pkts);
+ netdev->stats.rx_dropped += pkts;
+ }
+
+ return ret;
+}
+
+static int es58x_fd_rx_event_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ const struct es58x_fd_rx_event_msg *rx_event_msg;
+ int ret;
+
+ ret = es58x_check_msg_len(es58x_dev->dev, *rx_event_msg, msg_len);
+ if (ret)
+ return ret;
+
+ rx_event_msg = &es58x_fd_urb_cmd->rx_event_msg;
+
+ return es58x_rx_err_msg(netdev, rx_event_msg->error_code,
+ rx_event_msg->event_code,
+ get_unaligned_le64(&rx_event_msg->timestamp));
+}
+
+static int es58x_fd_rx_cmd_ret_u32(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd,
+ enum es58x_ret_type cmd_ret_type)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int ret;
+
+ ret = es58x_check_msg_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->rx_cmd_ret_le32, msg_len);
+ if (ret)
+ return ret;
+
+ return es58x_rx_cmd_ret_u32(netdev, cmd_ret_type,
+ get_unaligned_le32(&es58x_fd_urb_cmd->rx_cmd_ret_le32));
+}
+
+static int es58x_fd_tx_ack_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ const struct es58x_fd_tx_ack_msg *tx_ack_msg;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int ret;
+
+ tx_ack_msg = &es58x_fd_urb_cmd->tx_ack_msg;
+ ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
+ if (ret)
+ return ret;
+
+ return es58x_tx_ack_msg(netdev,
+ get_unaligned_le16(&tx_ack_msg->tx_free_entries),
+ get_unaligned_le32(&tx_ack_msg->rx_cmd_ret_le32));
+}
+
+static int es58x_fd_can_cmd_id(struct es58x_device *es58x_dev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct net_device *netdev;
+ int ret;
+
+ ret = es58x_get_netdev(es58x_dev, es58x_fd_urb_cmd->channel_idx,
+ ES58X_FD_CHANNEL_IDX_OFFSET, &netdev);
+ if (ret)
+ return ret;
+
+ switch ((enum es58x_fd_can_cmd_id)es58x_fd_urb_cmd->cmd_id) {
+ case ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_ENABLE_CHANNEL);
+
+ case ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_DISABLE_CHANNEL);
+
+ case ES58X_FD_CAN_CMD_ID_TX_MSG:
+ return es58x_fd_tx_ack_msg(netdev, es58x_fd_urb_cmd);
+
+ case ES58X_FD_CAN_CMD_ID_ECHO_MSG:
+ return es58x_fd_echo_msg(netdev, es58x_fd_urb_cmd);
+
+ case ES58X_FD_CAN_CMD_ID_RX_MSG:
+ return es58x_fd_rx_can_msg(netdev, es58x_fd_urb_cmd);
+
+ case ES58X_FD_CAN_CMD_ID_RESET_RX:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_RESET_RX);
+
+ case ES58X_FD_CAN_CMD_ID_RESET_TX:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_RESET_TX);
+
+ case ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG:
+ return es58x_fd_rx_event_msg(netdev, es58x_fd_urb_cmd);
+
+ default:
+ return -EBADRQC;
+ }
+}
+
+static int es58x_fd_device_cmd_id(struct es58x_device *es58x_dev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int ret;
+
+ switch ((enum es58x_fd_dev_cmd_id)es58x_fd_urb_cmd->cmd_id) {
+ case ES58X_FD_DEV_CMD_ID_TIMESTAMP:
+ ret = es58x_check_msg_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->timestamp, msg_len);
+ if (ret)
+ return ret;
+ es58x_rx_timestamp(es58x_dev,
+ get_unaligned_le64(&es58x_fd_urb_cmd->timestamp));
+ return 0;
+
+ default:
+ return -EBADRQC;
+ }
+}
+
+static int es58x_fd_handle_urb_cmd(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd)
+{
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd;
+ int ret;
+
+ es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+
+ switch ((enum es58x_fd_cmd_type)es58x_fd_urb_cmd->cmd_type) {
+ case ES58X_FD_CMD_TYPE_CAN:
+ case ES58X_FD_CMD_TYPE_CANFD:
+ ret = es58x_fd_can_cmd_id(es58x_dev, es58x_fd_urb_cmd);
+ break;
+
+ case ES58X_FD_CMD_TYPE_DEVICE:
+ ret = es58x_fd_device_cmd_id(es58x_dev, es58x_fd_urb_cmd);
+ break;
+
+ default:
+ ret = -EBADRQC;
+ break;
+ }
+
+ if (ret == -EBADRQC)
+ dev_err(es58x_dev->dev,
+ "%s: Unknown command type (0x%02X) and command ID (0x%02X) combination\n",
+ __func__, es58x_fd_urb_cmd->cmd_type,
+ es58x_fd_urb_cmd->cmd_id);
+
+ return ret;
+}
+
+static void es58x_fd_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
+ u8 cmd_id, u8 channel_idx, u16 msg_len)
+{
+ struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+
+ es58x_fd_urb_cmd->SOF = cpu_to_le16(es58x_fd_param.tx_start_of_frame);
+ es58x_fd_urb_cmd->cmd_type = cmd_type;
+ es58x_fd_urb_cmd->cmd_id = cmd_id;
+ es58x_fd_urb_cmd->channel_idx = channel_idx;
+ es58x_fd_urb_cmd->msg_len = cpu_to_le16(msg_len);
+}
+
+static int es58x_fd_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 es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+ struct can_frame *cf = (struct can_frame *)skb->data;
+ struct es58x_fd_tx_can_msg *tx_can_msg;
+ bool is_fd = can_is_canfd_skb(skb);
+ u16 msg_len;
+ int ret;
+
+ if (priv->tx_can_msg_cnt == 0) {
+ msg_len = 0;
+ es58x_fd_fill_urb_header(urb_cmd,
+ is_fd ? ES58X_FD_CMD_TYPE_CANFD
+ : ES58X_FD_CMD_TYPE_CAN,
+ ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK,
+ priv->channel_idx, msg_len);
+ } else {
+ msg_len = es58x_fd_get_msg_len(urb_cmd);
+ }
+
+ ret = es58x_check_msg_max_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->tx_can_msg_buf,
+ msg_len + sizeof(*tx_can_msg));
+ if (ret)
+ return ret;
+
+ /* Fill message contents. */
+ tx_can_msg = (struct es58x_fd_tx_can_msg *)
+ &es58x_fd_urb_cmd->tx_can_msg_buf[msg_len];
+ tx_can_msg->packet_idx = (u8)priv->tx_head;
+ put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
+ tx_can_msg->flags = (u8)es58x_get_flags(skb);
+ if (is_fd)
+ tx_can_msg->len = cf->len;
+ else
+ tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
+ memcpy(tx_can_msg->data, cf->data, cf->len);
+
+ /* Calculate new sizes */
+ msg_len += es58x_fd_sizeof_rx_tx_msg(*tx_can_msg);
+ priv->tx_urb->transfer_buffer_length = es58x_get_urb_cmd_len(es58x_dev,
+ msg_len);
+ put_unaligned_le16(msg_len, &es58x_fd_urb_cmd->msg_len);
+
+ return 0;
+}
+
+static void es58x_fd_convert_bittiming(struct es58x_fd_bittiming *es58x_fd_bt,
+ struct can_bittiming *bt)
+{
+ /* The actual value set in the hardware registers is one less
+ * than the functional value.
+ */
+ const int offset = 1;
+
+ es58x_fd_bt->bitrate = cpu_to_le32(bt->bitrate);
+ es58x_fd_bt->tseg1 =
+ cpu_to_le16(bt->prop_seg + bt->phase_seg1 - offset);
+ es58x_fd_bt->tseg2 = cpu_to_le16(bt->phase_seg2 - offset);
+ es58x_fd_bt->brp = cpu_to_le16(bt->brp - offset);
+ es58x_fd_bt->sjw = cpu_to_le16(bt->sjw - offset);
+}
+
+static int es58x_fd_enable_channel(struct es58x_priv *priv)
+{
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ struct net_device *netdev = es58x_dev->netdev[priv->channel_idx];
+ struct es58x_fd_tx_conf_msg tx_conf_msg = { 0 };
+ u32 ctrlmode;
+ size_t conf_len = 0;
+
+ es58x_fd_convert_bittiming(&tx_conf_msg.nominal_bittiming,
+ &priv->can.bittiming);
+ ctrlmode = priv->can.ctrlmode;
+
+ if (ctrlmode & CAN_CTRLMODE_3_SAMPLES)
+ tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_THREE;
+ else
+ tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_ONE;
+ tx_conf_msg.sync_edge = ES58X_SYNC_EDGE_SINGLE;
+ tx_conf_msg.physical_layer = ES58X_PHYSICAL_LAYER_HIGH_SPEED;
+ tx_conf_msg.echo_mode = ES58X_ECHO_ON;
+ if (ctrlmode & CAN_CTRLMODE_LISTENONLY)
+ tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_PASSIVE;
+ else
+ tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_ACTIVE;
+
+ if (ctrlmode & CAN_CTRLMODE_FD_NON_ISO) {
+ tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD_NON_ISO;
+ tx_conf_msg.canfd_enabled = 1;
+ } else if (ctrlmode & CAN_CTRLMODE_FD) {
+ tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD;
+ tx_conf_msg.canfd_enabled = 1;
+ }
+
+ if (tx_conf_msg.canfd_enabled) {
+ es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming,
+ &priv->can.data_bittiming);
+
+ if (priv->can.tdc.tdco) {
+ tx_conf_msg.tdc_enabled = 1;
+ tx_conf_msg.tdco = cpu_to_le16(priv->can.tdc.tdco);
+ tx_conf_msg.tdcf = cpu_to_le16(priv->can.tdc.tdcf);
+ }
+
+ conf_len = ES58X_FD_CANFD_CONF_LEN;
+ } else {
+ conf_len = ES58X_FD_CAN_CONF_LEN;
+ }
+
+ return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
+ ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL,
+ &tx_conf_msg, conf_len, priv->channel_idx);
+}
+
+static int es58x_fd_disable_channel(struct es58x_priv *priv)
+{
+ /* The type (ES58X_FD_CMD_TYPE_CAN or ES58X_FD_CMD_TYPE_CANFD) does
+ * not matter here.
+ */
+ return es58x_send_msg(priv->es58x_dev, ES58X_FD_CMD_TYPE_CAN,
+ ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL,
+ ES58X_EMPTY_MSG, 0, priv->channel_idx);
+}
+
+static int es58x_fd_get_timestamp(struct es58x_device *es58x_dev)
+{
+ return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_DEVICE,
+ ES58X_FD_DEV_CMD_ID_TIMESTAMP, ES58X_EMPTY_MSG,
+ 0, ES58X_CHANNEL_IDX_NA);
+}
+
+/* Nominal bittiming constants for ES582.1 and ES584.1 as specified in
+ * the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
+ * section 49.6.8 "MCAN Nominal Bit Timing and Prescaler Register"
+ * from Microchip.
+ *
+ * The values from the specification are the hardware register
+ * values. To convert them to the functional values, all ranges were
+ * incremented by 1 (e.g. range [0..n-1] changed to [1..n]).
+ */
+static const struct can_bittiming_const es58x_fd_nom_bittiming_const = {
+ .name = "ES582.1/ES584.1",
+ .tseg1_min = 2,
+ .tseg1_max = 256,
+ .tseg2_min = 2,
+ .tseg2_max = 128,
+ .sjw_max = 128,
+ .brp_min = 1,
+ .brp_max = 512,
+ .brp_inc = 1
+};
+
+/* Data bittiming constants for ES582.1 and ES584.1 as specified in
+ * the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
+ * section 49.6.4 "MCAN Data Bit Timing and Prescaler Register" from
+ * Microchip.
+ */
+static const struct can_bittiming_const es58x_fd_data_bittiming_const = {
+ .name = "ES582.1/ES584.1",
+ .tseg1_min = 2,
+ .tseg1_max = 32,
+ .tseg2_min = 1,
+ .tseg2_max = 16,
+ .sjw_max = 8,
+ .brp_min = 1,
+ .brp_max = 32,
+ .brp_inc = 1
+};
+
+/* Transmission Delay Compensation constants for ES582.1 and ES584.1
+ * as specified in the microcontroller datasheet: "SAM
+ * E701/S70/V70/V71 Family" section 49.6.15 "MCAN Transmitter Delay
+ * Compensation Register" from Microchip.
+ */
+static const struct can_tdc_const es58x_tdc_const = {
+ .tdcv_max = 0, /* Manual mode not supported. */
+ .tdco_max = 127,
+ .tdcf_max = 127
+};
+
+const struct es58x_parameters es58x_fd_param = {
+ .bittiming_const = &es58x_fd_nom_bittiming_const,
+ .data_bittiming_const = &es58x_fd_data_bittiming_const,
+ .tdc_const = &es58x_tdc_const,
+ /* The devices use NXP TJA1044G transievers which guarantee
+ * the timing for data rates up to 5 Mbps. Bitrates up to 8
+ * Mbps work in an optimal environment but are not recommended
+ * for production environment.
+ */
+ .bitrate_max = 8 * CAN_MBPS,
+ .clock = {.freq = 80 * CAN_MHZ},
+ .ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
+ CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO |
+ CAN_CTRLMODE_CC_LEN8_DLC,
+ .tx_start_of_frame = 0xCEFA, /* FACE in little endian */
+ .rx_start_of_frame = 0xFECA, /* CAFE in little endian */
+ .tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN,
+ .rx_urb_cmd_max_len = ES58X_FD_RX_URB_CMD_MAX_LEN,
+ /* Size of internal device TX queue is 500.
+ *
+ * However, when reaching value around 278, the device's busy
+ * LED turns on and thus maximum value of 500 is never reached
+ * in practice. Also, when this value is too high, some error
+ * on the echo_msg were witnessed when the device is
+ * recovering from bus off.
+ *
+ * For above reasons, a value that would prevent the device
+ * from becoming busy was chosen. In practice, BQL would
+ * prevent the value from even getting closer to below
+ * maximum, so no impact on performance was measured.
+ */
+ .fifo_mask = 255, /* echo_skb_max = 256 */
+ .dql_min_limit = CAN_FRAME_LEN_MAX * 15, /* Empirical value. */
+ .tx_bulk_max = ES58X_FD_TX_BULK_MAX,
+ .urb_cmd_header_len = ES58X_FD_URB_CMD_HEADER_LEN,
+ .rx_urb_max = ES58X_RX_URBS_MAX,
+ .tx_urb_max = ES58X_TX_URBS_MAX
+};
+
+const struct es58x_operators es58x_fd_ops = {
+ .get_msg_len = es58x_fd_get_msg_len,
+ .handle_urb_cmd = es58x_fd_handle_urb_cmd,
+ .fill_urb_header = es58x_fd_fill_urb_header,
+ .tx_can_msg = es58x_fd_tx_can_msg,
+ .enable_channel = es58x_fd_enable_channel,
+ .disable_channel = es58x_fd_disable_channel,
+ .reset_device = NULL, /* Not implemented in the device firmware. */
+ .get_timestamp = es58x_fd_get_timestamp
+};
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.h b/drivers/net/can/usb/etas_es58x/es58x_fd.h
new file mode 100644
index 000000000000..ee18a87e40c0
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.h
@@ -0,0 +1,243 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_fd.h: Definitions and declarations specific to ETAS
+ * ES582.1 and ES584.1 (naming convention: we use the term "ES58X FD"
+ * when referring to those two variants together).
+ *
+ * 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 __ES58X_FD_H__
+#define __ES58X_FD_H__
+
+#include <linux/types.h>
+
+#define ES582_1_NUM_CAN_CH 2
+#define ES584_1_NUM_CAN_CH 1
+#define ES58X_FD_NUM_CAN_CH 2
+#define ES58X_FD_CHANNEL_IDX_OFFSET 0
+
+#define ES58X_FD_TX_BULK_MAX 100
+#define ES58X_FD_RX_BULK_MAX 100
+#define ES58X_FD_ECHO_BULK_MAX 100
+
+enum es58x_fd_cmd_type {
+ ES58X_FD_CMD_TYPE_CAN = 0x03,
+ ES58X_FD_CMD_TYPE_CANFD = 0x04,
+ ES58X_FD_CMD_TYPE_DEVICE = 0xFF
+};
+
+/* Command IDs for ES58X_FD_CMD_TYPE_{CAN,CANFD}. */
+enum es58x_fd_can_cmd_id {
+ ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL = 0x01,
+ ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL = 0x02,
+ ES58X_FD_CAN_CMD_ID_TX_MSG = 0x05,
+ ES58X_FD_CAN_CMD_ID_ECHO_MSG = 0x07,
+ ES58X_FD_CAN_CMD_ID_RX_MSG = 0x10,
+ ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG = 0x11,
+ ES58X_FD_CAN_CMD_ID_RESET_RX = 0x20,
+ ES58X_FD_CAN_CMD_ID_RESET_TX = 0x21,
+ ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK = 0x55
+};
+
+/* Command IDs for ES58X_FD_CMD_TYPE_DEVICE. */
+enum es58x_fd_dev_cmd_id {
+ ES58X_FD_DEV_CMD_ID_GETTIMETICKS = 0x01,
+ ES58X_FD_DEV_CMD_ID_TIMESTAMP = 0x02
+};
+
+/**
+ * enum es58x_fd_ctrlmode - Controller mode.
+ * @ES58X_FD_CTRLMODE_ACTIVE: send and receive messages.
+ * @ES58X_FD_CTRLMODE_PASSIVE: only receive messages (monitor). Do not
+ * send anything, not even the acknowledgment bit.
+ * @ES58X_FD_CTRLMODE_FD: CAN FD according to ISO11898-1.
+ * @ES58X_FD_CTRLMODE_FD_NON_ISO: follow Bosch CAN FD Specification
+ * V1.0
+ * @ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING: How to
+ * behave when CAN FD reserved bit is monitored as
+ * dominant. (c.f. ISO 11898-1:2015, section 10.4.2.4 "Control
+ * field", paragraph "r0 bit"). 0 (not disable = enable): send
+ * error frame. 1 (disable): goes into bus integration mode
+ * (c.f. below).
+ * @ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION: 0: Edge
+ * filtering is disabled. 1: Edge filtering is enabled. Two
+ * consecutive dominant bits required to detect an edge for hard
+ * synchronization.
+ */
+enum es58x_fd_ctrlmode {
+ ES58X_FD_CTRLMODE_ACTIVE = 0,
+ ES58X_FD_CTRLMODE_PASSIVE = BIT(0),
+ ES58X_FD_CTRLMODE_FD = BIT(4),
+ ES58X_FD_CTRLMODE_FD_NON_ISO = BIT(5),
+ ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING = BIT(6),
+ ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION = BIT(7)
+};
+
+struct es58x_fd_bittiming {
+ __le32 bitrate;
+ __le16 tseg1; /* range: [tseg1_min-1..tseg1_max-1] */
+ __le16 tseg2; /* range: [tseg2_min-1..tseg2_max-1] */
+ __le16 brp; /* range: [brp_min-1..brp_max-1] */
+ __le16 sjw; /* range: [0..sjw_max-1] */
+} __packed;
+
+/**
+ * struct es58x_fd_tx_conf_msg - Channel configuration.
+ * @nominal_bittiming: Nominal bittiming.
+ * @samples_per_bit: type enum es58x_samples_per_bit.
+ * @sync_edge: type enum es58x_sync_edge.
+ * @physical_layer: type enum es58x_physical_layer.
+ * @echo_mode: type enum es58x_echo_mode.
+ * @ctrlmode: type enum es58x_fd_ctrlmode.
+ * @canfd_enabled: boolean (0: Classical CAN, 1: CAN and/or CANFD).
+ * @data_bittiming: Bittiming for flexible data-rate transmission.
+ * @tdc_enabled: Transmitter Delay Compensation switch (0: disabled,
+ * 1: enabled). On very high bitrates, the delay between when the
+ * bit is sent and received on the CANTX and CANRX pins of the
+ * transceiver start to be significant enough for errors to occur
+ * and thus need to be compensated.
+ * @tdco: Transmitter Delay Compensation Offset. Offset value, in time
+ * quanta, defining the delay between the start of the bit
+ * reception on the CANRX pin of the transceiver and the SSP
+ * (Secondary Sample Point). Valid values: 0 to 127.
+ * @tdcf: Transmitter Delay Compensation Filter window. Defines the
+ * minimum value for the SSP position, in time quanta. The
+ * feature is enabled when TDCF is configured to a value greater
+ * than TDCO. Valid values: 0 to 127.
+ *
+ * Please refer to the microcontroller datasheet: "SAM
+ * E701/S70/V70/V71 Family" section 49 "Controller Area Network
+ * (MCAN)" for additional information.
+ */
+struct es58x_fd_tx_conf_msg {
+ struct es58x_fd_bittiming nominal_bittiming;
+ u8 samples_per_bit;
+ u8 sync_edge;
+ u8 physical_layer;
+ u8 echo_mode;
+ u8 ctrlmode;
+ u8 canfd_enabled;
+ struct es58x_fd_bittiming data_bittiming;
+ u8 tdc_enabled;
+ __le16 tdco;
+ __le16 tdcf;
+} __packed;
+
+#define ES58X_FD_CAN_CONF_LEN \
+ (offsetof(struct es58x_fd_tx_conf_msg, canfd_enabled))
+#define ES58X_FD_CANFD_CONF_LEN (sizeof(struct es58x_fd_tx_conf_msg))
+
+struct es58x_fd_tx_can_msg {
+ u8 packet_idx;
+ __le32 can_id;
+ u8 flags;
+ union {
+ u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
+ u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
+ } __packed;
+ u8 data[CANFD_MAX_DLEN];
+} __packed;
+
+#define ES58X_FD_CAN_TX_LEN \
+ (offsetof(struct es58x_fd_tx_can_msg, data[CAN_MAX_DLEN]))
+#define ES58X_FD_CANFD_TX_LEN (sizeof(struct es58x_fd_tx_can_msg))
+
+struct es58x_fd_rx_can_msg {
+ __le64 timestamp;
+ __le32 can_id;
+ u8 flags;
+ union {
+ u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
+ u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
+ } __packed;
+ u8 data[CANFD_MAX_DLEN];
+} __packed;
+
+#define ES58X_FD_CAN_RX_LEN \
+ (offsetof(struct es58x_fd_rx_can_msg, data[CAN_MAX_DLEN]))
+#define ES58X_FD_CANFD_RX_LEN (sizeof(struct es58x_fd_rx_can_msg))
+
+struct es58x_fd_echo_msg {
+ __le64 timestamp;
+ u8 packet_idx;
+} __packed;
+
+struct es58x_fd_rx_event_msg {
+ __le64 timestamp;
+ __le32 can_id;
+ u8 flags; /* type enum es58x_flag */
+ u8 error_type; /* 0: event, 1: error */
+ u8 error_code;
+ u8 event_code;
+} __packed;
+
+struct es58x_fd_tx_ack_msg {
+ __le32 rx_cmd_ret_le32; /* type enum es58x_cmd_ret_code_u32 */
+ __le16 tx_free_entries; /* Number of remaining free entries in the device TX queue */
+} __packed;
+
+/**
+ * struct es58x_fd_urb_cmd - Commands received from or sent to the
+ * ES58X FD device.
+ * @SOF: Start of Frame.
+ * @cmd_type: Command Type (type: enum es58x_fd_cmd_type). The CRC
+ * calculation starts at this position.
+ * @cmd_id: Command ID (type: enum es58x_fd_cmd_id).
+ * @channel_idx: Channel index starting at 0.
+ * @msg_len: Length of the message, excluding CRC (i.e. length of the
+ * union).
+ * @tx_conf_msg: Channel configuration.
+ * @tx_can_msg_buf: Concatenation of Tx messages. Type is "u8[]"
+ * instead of "struct es58x_fd_tx_msg[]" because the structure
+ * has a flexible size.
+ * @rx_can_msg_buf: Concatenation Rx messages. Type is "u8[]" instead
+ * of "struct es58x_fd_rx_msg[]" because the structure has a
+ * flexible size.
+ * @echo_msg: Array of echo messages (e.g. Tx messages being looped
+ * back).
+ * @rx_event_msg: Error or event message.
+ * @tx_ack_msg: Tx acknowledgment message.
+ * @timestamp: Timestamp reply.
+ * @rx_cmd_ret_le32: Rx 32 bits return code (type: enum
+ * es58x_cmd_ret_code_u32).
+ * @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 es58x_fd_urb_cmd {
+ __le16 SOF;
+ u8 cmd_type;
+ u8 cmd_id;
+ u8 channel_idx;
+ __le16 msg_len;
+
+ union {
+ struct es58x_fd_tx_conf_msg tx_conf_msg;
+ u8 tx_can_msg_buf[ES58X_FD_TX_BULK_MAX * ES58X_FD_CANFD_TX_LEN];
+ u8 rx_can_msg_buf[ES58X_FD_RX_BULK_MAX * ES58X_FD_CANFD_RX_LEN];
+ struct es58x_fd_echo_msg echo_msg[ES58X_FD_ECHO_BULK_MAX];
+ struct es58x_fd_rx_event_msg rx_event_msg;
+ struct es58x_fd_tx_ack_msg tx_ack_msg;
+ __le64 timestamp;
+ __le32 rx_cmd_ret_le32;
+ u8 raw_msg[0];
+ } __packed;
+
+ __le16 reserved_for_crc16_do_not_use;
+} __packed;
+
+#define ES58X_FD_URB_CMD_HEADER_LEN (offsetof(struct es58x_fd_urb_cmd, raw_msg))
+#define ES58X_FD_TX_URB_CMD_MAX_LEN \
+ ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, tx_can_msg_buf)
+#define ES58X_FD_RX_URB_CMD_MAX_LEN \
+ ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, rx_can_msg_buf)
+
+#endif /* __ES58X_FD_H__ */
--
2.26.3