can: esd_usb: Add support for esd CAN-USB/3 (80662d94) · Commits · git / linux-net

drivers/net/can/usb/esd_usb.c

+244 −31

Original line number	Diff line number	Diff line
		// SPDX-License-Identifier: GPL-2.0-only
		/*
		* CAN driver for esd electronics gmbh CAN-USB/2 and CAN-USB/Micro
		* CAN driver for esd electronics gmbh CAN-USB/2, CAN-USB/3 and CAN-USB/Micro
		*
		* Copyright (C) 2010-2012 esd electronic system design gmbh, Matthias Fuchs <socketcan@esd.eu>
		* Copyright (C) 2022-2023 esd electronics gmbh, Frank Jungclaus <frank.jungclaus@esd.eu>
		@@ -19,17 +19,19 @@

		MODULE_AUTHOR("Matthias Fuchs <socketcan@esd.eu>");
		MODULE_AUTHOR("Frank Jungclaus <frank.jungclaus@esd.eu>");
		MODULE_DESCRIPTION("CAN driver for esd electronics gmbh CAN-USB/2 and CAN-USB/Micro interfaces");
		MODULE_DESCRIPTION("CAN driver for esd electronics gmbh CAN-USB/2, CAN-USB/3 and CAN-USB/Micro interfaces");
		MODULE_LICENSE("GPL v2");

		/* USB vendor and product ID */
		#define ESD_USB_ESDGMBH_VENDOR_ID 0x0ab4
		#define ESD_USB_CANUSB2_PRODUCT_ID 0x0010
		#define ESD_USB_CANUSBM_PRODUCT_ID 0x0011
		#define ESD_USB_CANUSB3_PRODUCT_ID 0x0014

		/* CAN controller clock frequencies */
		#define ESD_USB_2_CAN_CLOCK (60 * MEGA) /* Hz */
		#define ESD_USB_M_CAN_CLOCK (36 * MEGA) /* Hz */
		#define ESD_USB_3_CAN_CLOCK (80 * MEGA) /* Hz */

		/* Maximum number of CAN nets */
		#define ESD_USB_MAX_NETS 2
		@@ -44,6 +46,9 @@ MODULE_LICENSE("GPL v2");

		/* esd CAN message flags - dlc field */
		#define ESD_USB_RTR BIT(4)
		#define ESD_USB_NO_BRS BIT(4)
		#define ESD_USB_ESI BIT(5)
		#define ESD_USB_FD BIT(7)

		/* esd CAN message flags - id field */
		#define ESD_USB_EXTID BIT(29)
		@@ -65,6 +70,9 @@ MODULE_LICENSE("GPL v2");
		#define ESD_USB_M_SJW_SHIFT 24
		#define ESD_USB_TRIPLE_SAMPLES BIT(23)

		/* Transmitter Delay Compensation */
		#define ESD_USB_3_TDC_MODE_AUTO 0

		/* esd IDADD message */
		#define ESD_USB_ID_ENABLE BIT(7)
		#define ESD_USB_MAX_ID_SEGMENT 64
		@@ -88,6 +96,21 @@ MODULE_LICENSE("GPL v2");
		#define ESD_USB_MAX_RX_URBS 4
		#define ESD_USB_MAX_TX_URBS 16 /* must be power of 2 */

		/* Modes for CAN-USB/3, to be used for esd_usb_3_set_baudrate_msg_x.mode */
		#define ESD_USB_3_BAUDRATE_MODE_DISABLE 0 /* remove from bus */
		#define ESD_USB_3_BAUDRATE_MODE_INDEX 1 /* ESD (CiA) bit rate idx */
		#define ESD_USB_3_BAUDRATE_MODE_BTR_CTRL 2 /* BTR values (controller)*/
		#define ESD_USB_3_BAUDRATE_MODE_BTR_CANONICAL 3 /* BTR values (canonical) */
		#define ESD_USB_3_BAUDRATE_MODE_NUM 4 /* numerical bit rate */
		#define ESD_USB_3_BAUDRATE_MODE_AUTOBAUD 5 /* autobaud */

		/* Flags for CAN-USB/3, to be used for esd_usb_3_set_baudrate_msg_x.flags */
		#define ESD_USB_3_BAUDRATE_FLAG_FD BIT(0) /* enable CAN FD mode */
		#define ESD_USB_3_BAUDRATE_FLAG_LOM BIT(1) /* enable listen only mode */
		#define ESD_USB_3_BAUDRATE_FLAG_STM BIT(2) /* enable self test mode */
		#define ESD_USB_3_BAUDRATE_FLAG_TRS BIT(3) /* enable triple sampling */
		#define ESD_USB_3_BAUDRATE_FLAG_TXP BIT(4) /* enable transmit pause */

		struct esd_usb_header_msg {
		u8 len; /* total message length in 32bit words */
		u8 cmd;
		@@ -122,6 +145,7 @@ struct esd_usb_rx_msg {
		__le32 id; /* upper 3 bits contain flags */
		union {
		u8 data[CAN_MAX_DLEN];
		u8 data_fd[CANFD_MAX_DLEN];
		struct {
		u8 status; /* CAN Controller Status */
		u8 ecc; /* Error Capture Register */
		@@ -138,7 +162,10 @@ struct esd_usb_tx_msg {
		u8 dlc;
		u32 hnd; /* opaque handle, not used by device */
		__le32 id; /* upper 3 bits contain flags */
		union {
		u8 data[CAN_MAX_DLEN];
		u8 data_fd[CANFD_MAX_DLEN];
		};
		};

		struct esd_usb_tx_done_msg {
		@@ -166,6 +193,50 @@ struct esd_usb_set_baudrate_msg {
		__le32 baud;
		};

		/* CAN-USB/3 baudrate configuration, used for nominal as well as for data bit rate */
		struct esd_usb_3_baudrate_cfg {
		__le16 brp; /* bit rate pre-scaler */
		__le16 tseg1; /* time segment before sample point */
		__le16 tseg2; /* time segment after sample point */
		__le16 sjw; /* synchronization jump Width */
		};

		/* In principle, the esd CAN-USB/3 supports Transmitter Delay Compensation (TDC),
		* but currently only the automatic TDC mode is supported by this driver.
		* An implementation for manual TDC configuration will follow.
		*
		* For information about struct esd_usb_3_tdc_cfg, see
		* NTCAN Application Developers Manual, 6.2.25 NTCAN_TDC_CFG + related chapters
		* https://esd.eu/fileadmin/esd/docs/manuals/NTCAN_Part1_Function_API_Manual_en_56.pdf
		*/
		struct esd_usb_3_tdc_cfg {
		u8 tdc_mode; /* transmitter delay compensation mode */
		u8 ssp_offset; /* secondary sample point offset in mtq */
		s8 ssp_shift; /* secondary sample point shift in mtq */
		u8 tdc_filter; /* TDC filter in mtq */
		};

		/* Extended version of the above set_baudrate_msg for a CAN-USB/3
		* to define the CAN bit timing configuration of the CAN controller in
		* CAN FD mode as well as in Classical CAN mode.
		*
		* The payload of this command is a NTCAN_BAUDRATE_X structure according to
		* esd electronics gmbh, NTCAN Application Developers Manual, 6.2.15 NTCAN_BAUDRATE_X
		* https://esd.eu/fileadmin/esd/docs/manuals/NTCAN_Part1_Function_API_Manual_en_56.pdf
		*/
		struct esd_usb_3_set_baudrate_msg_x {
		u8 len; /* total message length in 32bit words */
		u8 cmd;
		u8 net;
		u8 rsvd; /reserved /
		/* Payload ... */
		__le16 mode; /* mode word, see ESD_USB_3_BAUDRATE_MODE_xxx */
		__le16 flags; /* control flags, see ESD_USB_3_BAUDRATE_FLAG_xxx */
		struct esd_usb_3_tdc_cfg tdc; /* TDC configuration */
		struct esd_usb_3_baudrate_cfg nom; /* nominal bit rate */
		struct esd_usb_3_baudrate_cfg data; /* data bit rate */
		};

		/* Main message type used between library and application */
		union __packed esd_usb_msg {
		struct esd_usb_header_msg hdr;
		@@ -175,12 +246,14 @@ union __packed esd_usb_msg {
		struct esd_usb_tx_msg tx;
		struct esd_usb_tx_done_msg txdone;
		struct esd_usb_set_baudrate_msg setbaud;
		struct esd_usb_3_set_baudrate_msg_x setbaud_x;
		struct esd_usb_id_filter_msg filter;
		};

		static struct usb_device_id esd_usb_table[] = {
		{USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSB2_PRODUCT_ID)},
		{USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSBM_PRODUCT_ID)},
		{USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSB3_PRODUCT_ID)},
		{}
		};
		MODULE_DEVICE_TABLE(usb, esd_usb_table);
		@@ -321,9 +394,10 @@ static void esd_usb_rx_can_msg(struct esd_usb_net_priv *priv,
		{
		struct net_device_stats *stats = &priv->netdev->stats;
		struct can_frame *cf;
		struct canfd_frame *cfd;
		struct sk_buff *skb;
		int i;
		u32 id;
		u8 len;

		if (!netif_device_present(priv->netdev))
		return;
		@@ -332,28 +406,43 @@ static void esd_usb_rx_can_msg(struct esd_usb_net_priv *priv,

		if (id & ESD_USB_EVENT) {
		esd_usb_rx_event(priv, msg);
		} else {
		if (msg->rx.dlc & ESD_USB_FD) {
		skb = alloc_canfd_skb(priv->netdev, &cfd);
		} else {
		skb = alloc_can_skb(priv->netdev, &cf);
		cfd = (struct canfd_frame *)cf;
		}

		if (skb == NULL) {
		stats->rx_dropped++;
		return;
		}

		cf->can_id = id & ESD_USB_IDMASK;
		can_frame_set_cc_len(cf, msg->rx.dlc & ~ESD_USB_RTR,
		priv->can.ctrlmode);

		if (id & ESD_USB_EXTID)
		cf->can_id \|= CAN_EFF_FLAG;
		cfd->can_id = id & ESD_USB_IDMASK;

		if (msg->rx.dlc & ESD_USB_FD) {
		/* masking by 0x0F is already done within can_fd_dlc2len() */
		cfd->len = can_fd_dlc2len(msg->rx.dlc);
		len = cfd->len;
		if ((msg->rx.dlc & ESD_USB_NO_BRS) == 0)
		cfd->flags \|= CANFD_BRS;
		if (msg->rx.dlc & ESD_USB_ESI)
		cfd->flags \|= CANFD_ESI;
		} else {
		can_frame_set_cc_len(cf, msg->rx.dlc & ~ESD_USB_RTR, priv->can.ctrlmode);
		len = cf->len;
		if (msg->rx.dlc & ESD_USB_RTR) {
		cf->can_id \|= CAN_RTR_FLAG;
		} else {
		for (i = 0; i < cf->len; i++)
		cf->data[i] = msg->rx.data[i];

		stats->rx_bytes += cf->len;
		len = 0;
		}
		}

		if (id & ESD_USB_EXTID)
		cfd->can_id \|= CAN_EFF_FLAG;

		memcpy(cfd->data, msg->rx.data_fd, len);
		stats->rx_bytes += len;
		stats->rx_packets++;

		netif_rx(skb);
		@@ -728,7 +817,7 @@ static netdev_tx_t esd_usb_start_xmit(struct sk_buff *skb,
		struct esd_usb *dev = priv->usb;
		struct esd_tx_urb_context *context = NULL;
		struct net_device_stats *stats = &netdev->stats;
		struct can_frame cf = (struct can_frame )skb->data;
		struct canfd_frame cfd = (struct canfd_frame )skb->data;
		union esd_usb_msg *msg;
		struct urb *urb;
		u8 *buf;
		@@ -762,20 +851,29 @@ static netdev_tx_t esd_usb_start_xmit(struct sk_buff *skb,
		msg->hdr.len = offsetof(struct esd_usb_tx_msg, data) / sizeof(u32);
		msg->hdr.cmd = ESD_USB_CMD_CAN_TX;
		msg->tx.net = priv->index;
		msg->tx.dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
		msg->tx.id = cpu_to_le32(cf->can_id & CAN_ERR_MASK);

		if (cf->can_id & CAN_RTR_FLAG)
		if (can_is_canfd_skb(skb)) {
		msg->tx.dlc = can_fd_len2dlc(cfd->len);
		msg->tx.dlc \|= ESD_USB_FD;

		if ((cfd->flags & CANFD_BRS) == 0)
		msg->tx.dlc \|= ESD_USB_NO_BRS;
		} else {
		msg->tx.dlc = can_get_cc_dlc((struct can_frame *)cfd, priv->can.ctrlmode);

		if (cfd->can_id & CAN_RTR_FLAG)
		msg->tx.dlc \|= ESD_USB_RTR;
		}

		msg->tx.id = cpu_to_le32(cfd->can_id & CAN_ERR_MASK);

		if (cf->can_id & CAN_EFF_FLAG)
		if (cfd->can_id & CAN_EFF_FLAG)
		msg->tx.id \|= cpu_to_le32(ESD_USB_EXTID);

		for (i = 0; i < cf->len; i++)
		msg->tx.data[i] = cf->data[i];
		memcpy(msg->tx.data_fd, cfd->data, cfd->len);

		/* round up, then divide by 4 to add the payload length as # of 32bit words */
		msg->hdr.len += DIV_ROUND_UP(cf->len, sizeof(u32));
		msg->hdr.len += DIV_ROUND_UP(cfd->len, sizeof(u32));

		for (i = 0; i < ESD_USB_MAX_TX_URBS; i++) {
		if (priv->tx_contexts[i].echo_index == ESD_USB_MAX_TX_URBS) {
		@@ -962,6 +1060,105 @@ static int esd_usb_2_set_bittiming(struct net_device *netdev)
		return err;
		}

		/* Nominal bittiming constants, see
		* Microchip SAM E70/S70/V70/V71, Data Sheet, Rev. G - 07/2022
		* 48.6.8 MCAN Nominal Bit Timing and Prescaler Register
		*/
		static const struct can_bittiming_const esd_usb_3_nom_bittiming_const = {
		.name = "esd_usb_3",
		.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, see
		* Microchip SAM E70/S70/V70/V71, Data Sheet, Rev. G - 07/2022
		* 48.6.4 MCAN Data Bit Timing and Prescaler Register
		*/
		static const struct can_bittiming_const esd_usb_3_data_bittiming_const = {
		.name = "esd_usb_3",
		.tseg1_min = 2,
		.tseg1_max = 32,
		.tseg2_min = 1,
		.tseg2_max = 16,
		.sjw_max = 8,
		.brp_min = 1,
		.brp_max = 32,
		.brp_inc = 1,
		};

		static int esd_usb_3_set_bittiming(struct net_device *netdev)
		{
		const struct can_bittiming_const *nom_btc = &esd_usb_3_nom_bittiming_const;
		const struct can_bittiming_const *data_btc = &esd_usb_3_data_bittiming_const;
		struct esd_usb_net_priv *priv = netdev_priv(netdev);
		struct can_bittiming *nom_bt = &priv->can.bittiming;
		struct can_bittiming *data_bt = &priv->can.data_bittiming;
		struct esd_usb_3_set_baudrate_msg_x *baud_x;
		union esd_usb_msg *msg;
		u16 flags = 0;
		int err;

		msg = kmalloc(sizeof(*msg), GFP_KERNEL);
		if (!msg)
		return -ENOMEM;

		baud_x = &msg->setbaud_x;

		/* Canonical is the most reasonable mode for SocketCAN on CAN-USB/3 ... */
		baud_x->mode = cpu_to_le16(ESD_USB_3_BAUDRATE_MODE_BTR_CANONICAL);

		if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
		flags \|= ESD_USB_3_BAUDRATE_FLAG_LOM;

		if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
		flags \|= ESD_USB_3_BAUDRATE_FLAG_TRS;

		baud_x->nom.brp = cpu_to_le16(nom_bt->brp & (nom_btc->brp_max - 1));
		baud_x->nom.sjw = cpu_to_le16(nom_bt->sjw & (nom_btc->sjw_max - 1));
		baud_x->nom.tseg1 = cpu_to_le16((nom_bt->prop_seg + nom_bt->phase_seg1)
		& (nom_btc->tseg1_max - 1));
		baud_x->nom.tseg2 = cpu_to_le16(nom_bt->phase_seg2 & (nom_btc->tseg2_max - 1));

		if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
		baud_x->data.brp = cpu_to_le16(data_bt->brp & (data_btc->brp_max - 1));
		baud_x->data.sjw = cpu_to_le16(data_bt->sjw & (data_btc->sjw_max - 1));
		baud_x->data.tseg1 = cpu_to_le16((data_bt->prop_seg + data_bt->phase_seg1)
		& (data_btc->tseg1_max - 1));
		baud_x->data.tseg2 = cpu_to_le16(data_bt->phase_seg2 & (data_btc->tseg2_max - 1));
		flags \|= ESD_USB_3_BAUDRATE_FLAG_FD;
		}

		/* Currently this driver only supports the automatic TDC mode */
		baud_x->tdc.tdc_mode = ESD_USB_3_TDC_MODE_AUTO;
		baud_x->tdc.ssp_offset = 0;
		baud_x->tdc.ssp_shift = 0;
		baud_x->tdc.tdc_filter = 0;

		baud_x->flags = cpu_to_le16(flags);
		baud_x->net = priv->index;
		baud_x->rsvd = 0;

		/* set len as # of 32bit words */
		msg->hdr.len = sizeof(struct esd_usb_3_set_baudrate_msg_x) / sizeof(u32);
		msg->hdr.cmd = ESD_USB_CMD_SETBAUD;

		netdev_dbg(netdev,
		"ctrlmode=%#x/%#x, esd-net=%u, esd-mode=%#x, esd-flags=%#x\n",
		priv->can.ctrlmode, priv->can.ctrlmode_supported,
		priv->index, le16_to_cpu(baud_x->mode), flags);

		err = esd_usb_send_msg(priv->usb, msg);

		kfree(msg);
		return err;
		}

		static int esd_usb_get_berr_counter(const struct net_device *netdev,
		struct can_berr_counter *bec)
		{
		@@ -1019,16 +1216,32 @@ static int esd_usb_probe_one_net(struct usb_interface *intf, int index)
		CAN_CTRLMODE_CC_LEN8_DLC \|
		CAN_CTRLMODE_BERR_REPORTING;

		if (le16_to_cpu(dev->udev->descriptor.idProduct) ==
		ESD_USB_CANUSBM_PRODUCT_ID)
		switch (le16_to_cpu(dev->udev->descriptor.idProduct)) {
		case ESD_USB_CANUSB3_PRODUCT_ID:
		priv->can.clock.freq = ESD_USB_3_CAN_CLOCK;
		priv->can.ctrlmode_supported \|= CAN_CTRLMODE_3_SAMPLES;
		priv->can.ctrlmode_supported \|= CAN_CTRLMODE_FD;
		priv->can.bittiming_const = &esd_usb_3_nom_bittiming_const;
		priv->can.data_bittiming_const = &esd_usb_3_data_bittiming_const;
		priv->can.do_set_bittiming = esd_usb_3_set_bittiming;
		priv->can.do_set_data_bittiming = esd_usb_3_set_bittiming;
		break;

		case ESD_USB_CANUSBM_PRODUCT_ID:
		priv->can.clock.freq = ESD_USB_M_CAN_CLOCK;
		else {
		priv->can.bittiming_const = &esd_usb_2_bittiming_const;
		priv->can.do_set_bittiming = esd_usb_2_set_bittiming;
		break;

		case ESD_USB_CANUSB2_PRODUCT_ID:
		default:
		priv->can.clock.freq = ESD_USB_2_CAN_CLOCK;
		priv->can.ctrlmode_supported \|= CAN_CTRLMODE_3_SAMPLES;
		}

		priv->can.bittiming_const = &esd_usb_2_bittiming_const;
		priv->can.do_set_bittiming = esd_usb_2_set_bittiming;
		break;
		}

		priv->can.do_set_mode = esd_usb_set_mode;
		priv->can.do_get_berr_counter = esd_usb_get_berr_counter;