// SPDX-License-Identifier: GPL-2.0 /* Parts of this driver are based on the following: * - Kvaser linux mhydra driver (version 5.24) * - CAN driver for esd CAN-USB/2 * * Copyright (C) 2018 KVASER AB, Sweden. All rights reserved. * Copyright (C) 2010 Matthias Fuchs <[email protected]>, esd gmbh * * Known issues: * - Transition from CAN_STATE_ERROR_WARNING to CAN_STATE_ERROR_ACTIVE is only * reported after a call to do_get_berr_counter(), since firmware does not * distinguish between ERROR_WARNING and ERROR_ACTIVE. * - Hardware timestamps are not set for CAN Tx frames. */ #include <linux/completion.h> #include <linux/device.h> #include <linux/gfp.h> #include <linux/jiffies.h> #include <linux/kernel.h> #include <linux/netdevice.h> #include <linux/spinlock.h> #include <linux/string.h> #include <linux/types.h> #include <linux/units.h> #include <linux/usb.h> #include <linux/can.h> #include <linux/can/dev.h> #include <linux/can/error.h> #include <linux/can/netlink.h> #include "kvaser_usb.h" /* Forward declarations */ static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_kcan; static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_flexc; static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_rt; #define KVASER_USB_HYDRA_BULK_EP_IN_ADDR … #define KVASER_USB_HYDRA_BULK_EP_OUT_ADDR … #define KVASER_USB_HYDRA_MAX_TRANSID … #define KVASER_USB_HYDRA_MIN_TRANSID … /* Minihydra command IDs */ #define CMD_SET_BUSPARAMS_REQ … #define CMD_GET_BUSPARAMS_REQ … #define CMD_GET_BUSPARAMS_RESP … #define CMD_GET_CHIP_STATE_REQ … #define CMD_CHIP_STATE_EVENT … #define CMD_SET_DRIVERMODE_REQ … #define CMD_START_CHIP_REQ … #define CMD_START_CHIP_RESP … #define CMD_STOP_CHIP_REQ … #define CMD_STOP_CHIP_RESP … #define CMD_TX_CAN_MESSAGE … #define CMD_GET_CARD_INFO_REQ … #define CMD_GET_CARD_INFO_RESP … #define CMD_GET_SOFTWARE_INFO_REQ … #define CMD_GET_SOFTWARE_INFO_RESP … #define CMD_ERROR_EVENT … #define CMD_FLUSH_QUEUE … #define CMD_TX_ACKNOWLEDGE … #define CMD_FLUSH_QUEUE_RESP … #define CMD_SET_BUSPARAMS_FD_REQ … #define CMD_SET_BUSPARAMS_FD_RESP … #define CMD_SET_BUSPARAMS_RESP … #define CMD_GET_CAPABILITIES_REQ … #define CMD_GET_CAPABILITIES_RESP … #define CMD_RX_MESSAGE … #define CMD_MAP_CHANNEL_REQ … #define CMD_MAP_CHANNEL_RESP … #define CMD_GET_SOFTWARE_DETAILS_REQ … #define CMD_GET_SOFTWARE_DETAILS_RESP … #define CMD_EXTENDED … /* Minihydra extended command IDs */ #define CMD_TX_CAN_MESSAGE_FD … #define CMD_TX_ACKNOWLEDGE_FD … #define CMD_RX_MESSAGE_FD … /* Hydra commands are handled by different threads in firmware. * The threads are denoted hydra entity (HE). Each HE got a unique 6-bit * address. The address is used in hydra commands to get/set source and * destination HE. There are two predefined HE addresses, the remaining * addresses are different between devices and firmware versions. Hence, we need * to enumerate the addresses (see kvaser_usb_hydra_map_channel()). */ /* Well-known HE addresses */ #define KVASER_USB_HYDRA_HE_ADDRESS_ROUTER … #define KVASER_USB_HYDRA_HE_ADDRESS_ILLEGAL … #define KVASER_USB_HYDRA_TRANSID_CANHE … #define KVASER_USB_HYDRA_TRANSID_SYSDBG … struct kvaser_cmd_map_ch_req { … } __packed; struct kvaser_cmd_map_ch_res { … } __packed; struct kvaser_cmd_card_info { … } __packed; struct kvaser_cmd_sw_info { … } __packed; struct kvaser_cmd_sw_detail_req { … } __packed; /* Software detail flags */ #define KVASER_USB_HYDRA_SW_FLAG_FW_BETA … #define KVASER_USB_HYDRA_SW_FLAG_FW_BAD … #define KVASER_USB_HYDRA_SW_FLAG_FREQ_80M … #define KVASER_USB_HYDRA_SW_FLAG_EXT_CMD … #define KVASER_USB_HYDRA_SW_FLAG_CANFD … #define KVASER_USB_HYDRA_SW_FLAG_NONISO … #define KVASER_USB_HYDRA_SW_FLAG_EXT_CAP … #define KVASER_USB_HYDRA_SW_FLAG_CAN_FREQ_80M … struct kvaser_cmd_sw_detail_res { … } __packed; /* Sub commands for cap_req and cap_res */ #define KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE … #define KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT … #define KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT … struct kvaser_cmd_cap_req { … } __packed; /* Status codes for cap_res */ #define KVASER_USB_HYDRA_CAP_STAT_OK … #define KVASER_USB_HYDRA_CAP_STAT_NOT_IMPL … #define KVASER_USB_HYDRA_CAP_STAT_UNAVAIL … struct kvaser_cmd_cap_res { … } __packed; /* CMD_ERROR_EVENT error codes */ #define KVASER_USB_HYDRA_ERROR_EVENT_CAN … #define KVASER_USB_HYDRA_ERROR_EVENT_PARAM … struct kvaser_cmd_error_event { … } __packed; /* Chip state status flags. Used for chip_state_event and err_frame_data. */ #define KVASER_USB_HYDRA_BUS_ERR_ACT … #define KVASER_USB_HYDRA_BUS_ERR_PASS … #define KVASER_USB_HYDRA_BUS_BUS_OFF … struct kvaser_cmd_chip_state_event { … } __packed; /* Busparam modes */ #define KVASER_USB_HYDRA_BUS_MODE_CAN … #define KVASER_USB_HYDRA_BUS_MODE_CANFD_ISO … #define KVASER_USB_HYDRA_BUS_MODE_NONISO … struct kvaser_cmd_set_busparams { … } __packed; /* Busparam type */ #define KVASER_USB_HYDRA_BUSPARAM_TYPE_CAN … #define KVASER_USB_HYDRA_BUSPARAM_TYPE_CANFD … struct kvaser_cmd_get_busparams_req { … } __packed; struct kvaser_cmd_get_busparams_res { … } __packed; /* Ctrl modes */ #define KVASER_USB_HYDRA_CTRLMODE_NORMAL … #define KVASER_USB_HYDRA_CTRLMODE_LISTEN … struct kvaser_cmd_set_ctrlmode { … } __packed; struct kvaser_err_frame_data { … } __packed; struct kvaser_cmd_rx_can { … } __packed; /* Extended CAN ID flag. Used in rx_can and tx_can */ #define KVASER_USB_HYDRA_EXTENDED_FRAME_ID … struct kvaser_cmd_tx_can { … } __packed; struct kvaser_cmd_header { … } __packed; struct kvaser_cmd { … } __packed; /* CAN frame flags. Used in rx_can, ext_rx_can, tx_can and ext_tx_can */ #define KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME … #define KVASER_USB_HYDRA_CF_FLAG_OVERRUN … #define KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME … #define KVASER_USB_HYDRA_CF_FLAG_EXTENDED_ID … #define KVASER_USB_HYDRA_CF_FLAG_TX_ACK … /* CAN frame flags. Used in ext_rx_can and ext_tx_can */ #define KVASER_USB_HYDRA_CF_FLAG_OSM_NACK … #define KVASER_USB_HYDRA_CF_FLAG_ABL … #define KVASER_USB_HYDRA_CF_FLAG_FDF … #define KVASER_USB_HYDRA_CF_FLAG_BRS … #define KVASER_USB_HYDRA_CF_FLAG_ESI … /* KCAN packet header macros. Used in ext_rx_can and ext_tx_can */ #define KVASER_USB_KCAN_DATA_DLC_BITS … #define KVASER_USB_KCAN_DATA_DLC_SHIFT … #define KVASER_USB_KCAN_DATA_DLC_MASK … #define KVASER_USB_KCAN_DATA_BRS … #define KVASER_USB_KCAN_DATA_FDF … #define KVASER_USB_KCAN_DATA_OSM … #define KVASER_USB_KCAN_DATA_AREQ … #define KVASER_USB_KCAN_DATA_SRR … #define KVASER_USB_KCAN_DATA_RTR … #define KVASER_USB_KCAN_DATA_IDE … struct kvaser_cmd_ext_rx_can { … } __packed; struct kvaser_cmd_ext_tx_can { … } __packed; struct kvaser_cmd_ext_tx_ack { … } __packed; /* struct for extended commands (CMD_EXTENDED) */ struct kvaser_cmd_ext { … } __packed; struct kvaser_usb_net_hydra_priv { … }; static const struct can_bittiming_const kvaser_usb_hydra_kcan_bittiming_c = …; const struct can_bittiming_const kvaser_usb_flexc_bittiming_const = …; static const struct can_bittiming_const kvaser_usb_hydra_rt_bittiming_c = …; static const struct can_bittiming_const kvaser_usb_hydra_rtd_bittiming_c = …; #define KVASER_USB_HYDRA_TRANSID_BITS … #define KVASER_USB_HYDRA_TRANSID_MASK … #define KVASER_USB_HYDRA_HE_ADDR_SRC_MASK … #define KVASER_USB_HYDRA_HE_ADDR_DEST_MASK … #define KVASER_USB_HYDRA_HE_ADDR_SRC_BITS … static inline u16 kvaser_usb_hydra_get_cmd_transid(const struct kvaser_cmd *cmd) { … } static inline void kvaser_usb_hydra_set_cmd_transid(struct kvaser_cmd *cmd, u16 transid) { … } static inline u8 kvaser_usb_hydra_get_cmd_src_he(const struct kvaser_cmd *cmd) { … } static inline void kvaser_usb_hydra_set_cmd_dest_he(struct kvaser_cmd *cmd, u8 dest_he) { … } static u8 kvaser_usb_hydra_channel_from_cmd(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static u16 kvaser_usb_hydra_get_next_transid(struct kvaser_usb *dev) { … } static size_t kvaser_usb_hydra_cmd_size(struct kvaser_cmd *cmd) { … } static struct kvaser_usb_net_priv * kvaser_usb_hydra_net_priv_from_cmd(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static ktime_t kvaser_usb_hydra_ktime_from_rx_cmd(const struct kvaser_usb_dev_cfg *cfg, const struct kvaser_cmd *cmd) { … } static int kvaser_usb_hydra_send_simple_cmd(struct kvaser_usb *dev, u8 cmd_no, int channel) { … } static int kvaser_usb_hydra_send_simple_cmd_async(struct kvaser_usb_net_priv *priv, u8 cmd_no) { … } /* This function is used for synchronously waiting on hydra control commands. * Note: Compared to kvaser_usb_hydra_read_bulk_callback(), we never need to * handle partial hydra commands. Since hydra control commands are always * non-extended commands. */ static int kvaser_usb_hydra_wait_cmd(const struct kvaser_usb *dev, u8 cmd_no, struct kvaser_cmd *cmd) { … } static int kvaser_usb_hydra_map_channel_resp(struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static int kvaser_usb_hydra_map_channel(struct kvaser_usb *dev, u16 transid, u8 channel, const char *name) { … } static int kvaser_usb_hydra_get_single_capability(struct kvaser_usb *dev, u16 cap_cmd_req, u16 *status) { … } static void kvaser_usb_hydra_start_chip_reply(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static void kvaser_usb_hydra_stop_chip_reply(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static void kvaser_usb_hydra_flush_queue_reply(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static void kvaser_usb_hydra_get_busparams_reply(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static void kvaser_usb_hydra_bus_status_to_can_state(const struct kvaser_usb_net_priv *priv, u8 bus_status, const struct can_berr_counter *bec, enum can_state *new_state) { … } static void kvaser_usb_hydra_update_state(struct kvaser_usb_net_priv *priv, u8 bus_status, const struct can_berr_counter *bec) { … } static void kvaser_usb_hydra_state_event(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static void kvaser_usb_hydra_error_event_parameter(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static void kvaser_usb_hydra_error_event(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static void kvaser_usb_hydra_error_frame(struct kvaser_usb_net_priv *priv, const struct kvaser_err_frame_data *err_frame_data, ktime_t hwtstamp) { … } static void kvaser_usb_hydra_one_shot_fail(struct kvaser_usb_net_priv *priv, const struct kvaser_cmd_ext *cmd) { … } static void kvaser_usb_hydra_tx_acknowledge(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static void kvaser_usb_hydra_rx_msg_std(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static void kvaser_usb_hydra_rx_msg_ext(const struct kvaser_usb *dev, const struct kvaser_cmd_ext *cmd) { … } static void kvaser_usb_hydra_handle_cmd_std(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static void kvaser_usb_hydra_handle_cmd_ext(const struct kvaser_usb *dev, const struct kvaser_cmd_ext *cmd) { … } static void kvaser_usb_hydra_handle_cmd(const struct kvaser_usb *dev, const struct kvaser_cmd *cmd) { … } static void * kvaser_usb_hydra_frame_to_cmd_ext(const struct kvaser_usb_net_priv *priv, const struct sk_buff *skb, int *cmd_len, u16 transid) { … } static void * kvaser_usb_hydra_frame_to_cmd_std(const struct kvaser_usb_net_priv *priv, const struct sk_buff *skb, int *cmd_len, u16 transid) { … } static int kvaser_usb_hydra_set_mode(struct net_device *netdev, enum can_mode mode) { … } static int kvaser_usb_hydra_get_busparams(struct kvaser_usb_net_priv *priv, int busparams_type) { … } static int kvaser_usb_hydra_get_nominal_busparams(struct kvaser_usb_net_priv *priv) { … } static int kvaser_usb_hydra_get_data_busparams(struct kvaser_usb_net_priv *priv) { … } static int kvaser_usb_hydra_set_bittiming(const struct net_device *netdev, const struct kvaser_usb_busparams *busparams) { … } static int kvaser_usb_hydra_set_data_bittiming(const struct net_device *netdev, const struct kvaser_usb_busparams *busparams) { … } static int kvaser_usb_hydra_get_berr_counter(const struct net_device *netdev, struct can_berr_counter *bec) { … } static int kvaser_usb_hydra_setup_endpoints(struct kvaser_usb *dev) { … } static int kvaser_usb_hydra_init_card(struct kvaser_usb *dev) { … } static int kvaser_usb_hydra_init_channel(struct kvaser_usb_net_priv *priv) { … } static int kvaser_usb_hydra_get_software_info(struct kvaser_usb *dev) { … } static int kvaser_usb_hydra_get_software_details(struct kvaser_usb *dev) { … } static int kvaser_usb_hydra_get_card_info(struct kvaser_usb *dev) { … } static int kvaser_usb_hydra_get_capabilities(struct kvaser_usb *dev) { … } static int kvaser_usb_hydra_set_opt_mode(const struct kvaser_usb_net_priv *priv) { … } static int kvaser_usb_hydra_start_chip(struct kvaser_usb_net_priv *priv) { … } static int kvaser_usb_hydra_stop_chip(struct kvaser_usb_net_priv *priv) { … } static int kvaser_usb_hydra_flush_queue(struct kvaser_usb_net_priv *priv) { … } /* A single extended hydra command can be transmitted in multiple transfers * We have to buffer partial hydra commands, and handle them on next callback. */ static void kvaser_usb_hydra_read_bulk_callback(struct kvaser_usb *dev, void *buf, int len) { … } static void * kvaser_usb_hydra_frame_to_cmd(const struct kvaser_usb_net_priv *priv, const struct sk_buff *skb, int *cmd_len, u16 transid) { … } const struct kvaser_usb_dev_ops kvaser_usb_hydra_dev_ops = …; static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_kcan = …; static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_flexc = …; static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_rt = …;
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