508 lines
15 KiB
C
508 lines
15 KiB
C
// SPDX-License-Identifier: GPL-2.0
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/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
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*
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* File es581_4.c: Adds support to ETAS ES581.4.
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*
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* Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
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* Copyright (c) 2020 ETAS K.K.. All rights reserved.
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* Copyright (c) 2020-2022 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
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*/
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#include <asm/unaligned.h>
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#include <linux/kernel.h>
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#include <linux/units.h>
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#include "es58x_core.h"
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#include "es581_4.h"
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/**
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* es581_4_sizeof_rx_tx_msg() - Calculate the actual length of the
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* structure of a rx or tx message.
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* @msg: message of variable length, must have a dlc field.
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*
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* Even if RTR frames have actually no payload, the ES58X devices
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* still expect it. Must be a macro in order to accept several types
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* (struct es581_4_tx_can_msg and struct es581_4_rx_can_msg) as an
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* input.
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*
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* Return: length of the message.
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*/
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#define es581_4_sizeof_rx_tx_msg(msg) \
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offsetof(typeof(msg), data[can_cc_dlc2len((msg).dlc)])
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static u16 es581_4_get_msg_len(const union es58x_urb_cmd *urb_cmd)
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{
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return get_unaligned_le16(&urb_cmd->es581_4_urb_cmd.msg_len);
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}
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static int es581_4_echo_msg(struct es58x_device *es58x_dev,
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const struct es581_4_urb_cmd *es581_4_urb_cmd)
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{
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struct net_device *netdev;
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const struct es581_4_bulk_echo_msg *bulk_echo_msg;
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const struct es581_4_echo_msg *echo_msg;
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u64 *tstamps = es58x_dev->timestamps;
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u16 msg_len;
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u32 first_packet_idx, packet_idx;
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unsigned int dropped = 0;
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int i, num_element, ret;
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bulk_echo_msg = &es581_4_urb_cmd->bulk_echo_msg;
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msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len) -
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sizeof(bulk_echo_msg->channel_no);
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num_element = es58x_msg_num_element(es58x_dev->dev,
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bulk_echo_msg->echo_msg, msg_len);
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if (num_element <= 0)
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return num_element;
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ret = es58x_get_netdev(es58x_dev, bulk_echo_msg->channel_no,
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ES581_4_CHANNEL_IDX_OFFSET, &netdev);
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if (ret)
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return ret;
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echo_msg = &bulk_echo_msg->echo_msg[0];
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first_packet_idx = get_unaligned_le32(&echo_msg->packet_idx);
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packet_idx = first_packet_idx;
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for (i = 0; i < num_element; i++) {
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u32 tmp_idx;
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echo_msg = &bulk_echo_msg->echo_msg[i];
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tmp_idx = get_unaligned_le32(&echo_msg->packet_idx);
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if (tmp_idx == packet_idx - 1) {
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if (net_ratelimit())
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netdev_warn(netdev,
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"Received echo packet idx %u twice\n",
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packet_idx - 1);
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dropped++;
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continue;
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}
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if (tmp_idx != packet_idx) {
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netdev_err(netdev, "Echo packet idx jumped from %u to %u\n",
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packet_idx - 1, echo_msg->packet_idx);
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return -EBADMSG;
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}
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tstamps[i] = get_unaligned_le64(&echo_msg->timestamp);
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packet_idx++;
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}
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netdev->stats.tx_dropped += dropped;
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return es58x_can_get_echo_skb(netdev, first_packet_idx,
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tstamps, num_element - dropped);
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}
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static int es581_4_rx_can_msg(struct es58x_device *es58x_dev,
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const struct es581_4_urb_cmd *es581_4_urb_cmd,
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u16 msg_len)
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{
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const struct device *dev = es58x_dev->dev;
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struct net_device *netdev;
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int pkts, num_element, channel_no, ret;
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num_element = es58x_msg_num_element(dev, es581_4_urb_cmd->rx_can_msg,
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msg_len);
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if (num_element <= 0)
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return num_element;
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channel_no = es581_4_urb_cmd->rx_can_msg[0].channel_no;
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ret = es58x_get_netdev(es58x_dev, channel_no,
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ES581_4_CHANNEL_IDX_OFFSET, &netdev);
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if (ret)
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return ret;
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if (!netif_running(netdev)) {
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if (net_ratelimit())
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netdev_info(netdev,
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"%s: %s is down, dropping %d rx packets\n",
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__func__, netdev->name, num_element);
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netdev->stats.rx_dropped += num_element;
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return 0;
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}
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for (pkts = 0; pkts < num_element; pkts++) {
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const struct es581_4_rx_can_msg *rx_can_msg =
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&es581_4_urb_cmd->rx_can_msg[pkts];
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u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
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canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);
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if (channel_no != rx_can_msg->channel_no)
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return -EBADMSG;
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ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
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can_id, rx_can_msg->flags,
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rx_can_msg->dlc);
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if (ret)
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break;
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}
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return ret;
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}
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static int es581_4_rx_err_msg(struct es58x_device *es58x_dev,
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const struct es581_4_rx_err_msg *rx_err_msg)
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{
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struct net_device *netdev;
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enum es58x_err error = get_unaligned_le32(&rx_err_msg->error);
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int ret;
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ret = es58x_get_netdev(es58x_dev, rx_err_msg->channel_no,
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ES581_4_CHANNEL_IDX_OFFSET, &netdev);
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if (ret)
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return ret;
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return es58x_rx_err_msg(netdev, error, 0,
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get_unaligned_le64(&rx_err_msg->timestamp));
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}
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static int es581_4_rx_event_msg(struct es58x_device *es58x_dev,
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const struct es581_4_rx_event_msg *rx_event_msg)
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{
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struct net_device *netdev;
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enum es58x_event event = get_unaligned_le32(&rx_event_msg->event);
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int ret;
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ret = es58x_get_netdev(es58x_dev, rx_event_msg->channel_no,
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ES581_4_CHANNEL_IDX_OFFSET, &netdev);
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if (ret)
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return ret;
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return es58x_rx_err_msg(netdev, 0, event,
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get_unaligned_le64(&rx_event_msg->timestamp));
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}
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static int es581_4_rx_cmd_ret_u32(struct es58x_device *es58x_dev,
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const struct es581_4_urb_cmd *es581_4_urb_cmd,
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enum es58x_ret_type ret_type)
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{
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struct net_device *netdev;
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const struct es581_4_rx_cmd_ret *rx_cmd_ret;
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u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
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int ret;
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ret = es58x_check_msg_len(es58x_dev->dev,
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es581_4_urb_cmd->rx_cmd_ret, msg_len);
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if (ret)
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return ret;
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rx_cmd_ret = &es581_4_urb_cmd->rx_cmd_ret;
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ret = es58x_get_netdev(es58x_dev, rx_cmd_ret->channel_no,
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ES581_4_CHANNEL_IDX_OFFSET, &netdev);
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if (ret)
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return ret;
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return es58x_rx_cmd_ret_u32(netdev, ret_type,
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get_unaligned_le32(&rx_cmd_ret->rx_cmd_ret_le32));
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}
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static int es581_4_tx_ack_msg(struct es58x_device *es58x_dev,
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const struct es581_4_urb_cmd *es581_4_urb_cmd)
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{
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struct net_device *netdev;
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const struct es581_4_tx_ack_msg *tx_ack_msg;
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u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
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int ret;
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tx_ack_msg = &es581_4_urb_cmd->tx_ack_msg;
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ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
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if (ret)
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return ret;
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if (tx_ack_msg->rx_cmd_ret_u8 != ES58X_RET_U8_OK)
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return es58x_rx_cmd_ret_u8(es58x_dev->dev,
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ES58X_RET_TYPE_TX_MSG,
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tx_ack_msg->rx_cmd_ret_u8);
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ret = es58x_get_netdev(es58x_dev, tx_ack_msg->channel_no,
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ES581_4_CHANNEL_IDX_OFFSET, &netdev);
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if (ret)
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return ret;
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return es58x_tx_ack_msg(netdev,
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get_unaligned_le16(&tx_ack_msg->tx_free_entries),
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ES58X_RET_U32_OK);
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}
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static int es581_4_dispatch_rx_cmd(struct es58x_device *es58x_dev,
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const struct es581_4_urb_cmd *es581_4_urb_cmd)
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{
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const struct device *dev = es58x_dev->dev;
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u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
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enum es581_4_rx_type rx_type = es581_4_urb_cmd->rx_can_msg[0].rx_type;
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int ret = 0;
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switch (rx_type) {
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case ES581_4_RX_TYPE_MESSAGE:
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return es581_4_rx_can_msg(es58x_dev, es581_4_urb_cmd, msg_len);
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case ES581_4_RX_TYPE_ERROR:
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ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_err_msg,
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msg_len);
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if (ret < 0)
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return ret;
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return es581_4_rx_err_msg(es58x_dev,
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&es581_4_urb_cmd->rx_err_msg);
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case ES581_4_RX_TYPE_EVENT:
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ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_event_msg,
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msg_len);
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if (ret < 0)
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return ret;
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return es581_4_rx_event_msg(es58x_dev,
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&es581_4_urb_cmd->rx_event_msg);
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default:
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dev_err(dev, "%s: Unknown rx_type 0x%02X\n", __func__, rx_type);
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return -EBADRQC;
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}
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}
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static int es581_4_handle_urb_cmd(struct es58x_device *es58x_dev,
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const union es58x_urb_cmd *urb_cmd)
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{
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const struct es581_4_urb_cmd *es581_4_urb_cmd;
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struct device *dev = es58x_dev->dev;
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u16 msg_len = es581_4_get_msg_len(urb_cmd);
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int ret;
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es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
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if (es581_4_urb_cmd->cmd_type != ES581_4_CAN_COMMAND_TYPE) {
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dev_err(dev, "%s: Unknown command type (0x%02X)\n",
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__func__, es581_4_urb_cmd->cmd_type);
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return -EBADRQC;
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}
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switch ((enum es581_4_cmd_id)es581_4_urb_cmd->cmd_id) {
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case ES581_4_CMD_ID_SET_BITTIMING:
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return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
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ES58X_RET_TYPE_SET_BITTIMING);
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case ES581_4_CMD_ID_ENABLE_CHANNEL:
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return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
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ES58X_RET_TYPE_ENABLE_CHANNEL);
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case ES581_4_CMD_ID_TX_MSG:
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return es581_4_tx_ack_msg(es58x_dev, es581_4_urb_cmd);
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case ES581_4_CMD_ID_RX_MSG:
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return es581_4_dispatch_rx_cmd(es58x_dev, es581_4_urb_cmd);
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case ES581_4_CMD_ID_RESET_RX:
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ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
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ES58X_RET_TYPE_RESET_RX);
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return ret;
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case ES581_4_CMD_ID_RESET_TX:
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ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
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ES58X_RET_TYPE_RESET_TX);
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return ret;
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case ES581_4_CMD_ID_DISABLE_CHANNEL:
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return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
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ES58X_RET_TYPE_DISABLE_CHANNEL);
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case ES581_4_CMD_ID_TIMESTAMP:
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ret = es58x_check_msg_len(dev, es581_4_urb_cmd->timestamp,
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msg_len);
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if (ret < 0)
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return ret;
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es58x_rx_timestamp(es58x_dev,
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get_unaligned_le64(&es581_4_urb_cmd->timestamp));
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return 0;
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case ES581_4_CMD_ID_ECHO:
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return es581_4_echo_msg(es58x_dev, es581_4_urb_cmd);
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case ES581_4_CMD_ID_DEVICE_ERR:
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ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_cmd_ret_u8,
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msg_len);
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if (ret)
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return ret;
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return es58x_rx_cmd_ret_u8(dev, ES58X_RET_TYPE_DEVICE_ERR,
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es581_4_urb_cmd->rx_cmd_ret_u8);
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default:
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dev_warn(dev, "%s: Unexpected command ID: 0x%02X\n",
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__func__, es581_4_urb_cmd->cmd_id);
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return -EBADRQC;
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}
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}
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static void es581_4_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
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u8 cmd_id, u8 channel_idx, u16 msg_len)
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{
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struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
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es581_4_urb_cmd->SOF = cpu_to_le16(es581_4_param.tx_start_of_frame);
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es581_4_urb_cmd->cmd_type = cmd_type;
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es581_4_urb_cmd->cmd_id = cmd_id;
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es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
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}
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static int es581_4_tx_can_msg(struct es58x_priv *priv,
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const struct sk_buff *skb)
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{
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struct es58x_device *es58x_dev = priv->es58x_dev;
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union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer;
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struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
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struct can_frame *cf = (struct can_frame *)skb->data;
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struct es581_4_tx_can_msg *tx_can_msg;
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u16 msg_len;
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int ret;
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if (can_is_canfd_skb(skb))
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return -EMSGSIZE;
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if (priv->tx_can_msg_cnt == 0) {
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msg_len = sizeof(es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg);
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es581_4_fill_urb_header(urb_cmd, ES581_4_CAN_COMMAND_TYPE,
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ES581_4_CMD_ID_TX_MSG,
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priv->channel_idx, msg_len);
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es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg = 0;
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} else {
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msg_len = es581_4_get_msg_len(urb_cmd);
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}
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ret = es58x_check_msg_max_len(es58x_dev->dev,
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es581_4_urb_cmd->bulk_tx_can_msg,
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msg_len + sizeof(*tx_can_msg));
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if (ret)
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return ret;
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/* Fill message contents. */
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tx_can_msg = (typeof(tx_can_msg))&es581_4_urb_cmd->raw_msg[msg_len];
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put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
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put_unaligned_le32(priv->tx_head, &tx_can_msg->packet_idx);
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put_unaligned_le16((u16)es58x_get_flags(skb), &tx_can_msg->flags);
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tx_can_msg->channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;
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tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
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memcpy(tx_can_msg->data, cf->data, cf->len);
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/* Calculate new sizes. */
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es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg++;
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msg_len += es581_4_sizeof_rx_tx_msg(*tx_can_msg);
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priv->tx_urb->transfer_buffer_length = es58x_get_urb_cmd_len(es58x_dev,
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msg_len);
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es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
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return 0;
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}
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static int es581_4_set_bittiming(struct es58x_priv *priv)
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{
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struct es581_4_tx_conf_msg tx_conf_msg = { 0 };
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struct can_bittiming *bt = &priv->can.bittiming;
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tx_conf_msg.bitrate = cpu_to_le32(bt->bitrate);
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/* bt->sample_point is in tenth of percent. Convert it to percent. */
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tx_conf_msg.sample_point = cpu_to_le32(bt->sample_point / 10U);
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tx_conf_msg.samples_per_bit = cpu_to_le32(ES58X_SAMPLES_PER_BIT_ONE);
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tx_conf_msg.bit_time = cpu_to_le32(can_bit_time(bt));
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tx_conf_msg.sjw = cpu_to_le32(bt->sjw);
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tx_conf_msg.sync_edge = cpu_to_le32(ES58X_SYNC_EDGE_SINGLE);
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tx_conf_msg.physical_layer =
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cpu_to_le32(ES58X_PHYSICAL_LAYER_HIGH_SPEED);
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tx_conf_msg.echo_mode = cpu_to_le32(ES58X_ECHO_ON);
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tx_conf_msg.channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;
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return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,
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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 * MEGA /* BPS */,
|
|
.clock = {.freq = 50 * MEGA /* Hz */},
|
|
.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
|
|
};
|