Merge patch "can: esd_usb: Add support for esd CAN-USB/3"
Frank Jungclaus <frank.jungclaus@esd.eu> says: After having applied a vast number of improvements to the existing CAN-USB/2 driver here now is a new attempt to add support for the esd CAN-USB/3 CAN FD interface. Beside this patch there are the following to-do's left for follow-up patches: * 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. * Rework the code to no longer switch directly on the USB product IDs to handle different device setting for each supported USB device. Instead use the driver_info member within struct usb_device_id to hold / point to specific properties for each supported device. * Try to switch from synchronous send usb_bulk_msg() to asynchronous communication by means of usb_submit_urb() where it is feasible. Link: https://lore.kernel.org/all/20230728150857.2374886-1-frank.jungclaus@esd.eu Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
This commit is contained in:
Marc Kleine-Budde
commit
806e95aee5
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@ -1,6 +1,6 @@
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// SPDX-License-Identifier: GPL-2.0-only
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/*
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* CAN driver for esd electronics gmbh CAN-USB/2 and CAN-USB/Micro
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* CAN driver for esd electronics gmbh CAN-USB/2, CAN-USB/3 and CAN-USB/Micro
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*
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* Copyright (C) 2010-2012 esd electronic system design gmbh, Matthias Fuchs <socketcan@esd.eu>
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* Copyright (C) 2022-2023 esd electronics gmbh, Frank Jungclaus <frank.jungclaus@esd.eu>
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@ -19,17 +19,19 @@
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MODULE_AUTHOR("Matthias Fuchs <socketcan@esd.eu>");
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MODULE_AUTHOR("Frank Jungclaus <frank.jungclaus@esd.eu>");
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MODULE_DESCRIPTION("CAN driver for esd electronics gmbh CAN-USB/2 and CAN-USB/Micro interfaces");
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MODULE_DESCRIPTION("CAN driver for esd electronics gmbh CAN-USB/2, CAN-USB/3 and CAN-USB/Micro interfaces");
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MODULE_LICENSE("GPL v2");
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/* USB vendor and product ID */
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#define ESD_USB_ESDGMBH_VENDOR_ID 0x0ab4
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#define ESD_USB_CANUSB2_PRODUCT_ID 0x0010
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#define ESD_USB_CANUSBM_PRODUCT_ID 0x0011
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#define ESD_USB_CANUSB3_PRODUCT_ID 0x0014
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/* CAN controller clock frequencies */
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#define ESD_USB_2_CAN_CLOCK (60 * MEGA) /* Hz */
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#define ESD_USB_M_CAN_CLOCK (36 * MEGA) /* Hz */
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#define ESD_USB_3_CAN_CLOCK (80 * MEGA) /* Hz */
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/* Maximum number of CAN nets */
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#define ESD_USB_MAX_NETS 2
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@ -44,6 +46,9 @@ MODULE_LICENSE("GPL v2");
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/* esd CAN message flags - dlc field */
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#define ESD_USB_RTR BIT(4)
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#define ESD_USB_NO_BRS BIT(4)
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#define ESD_USB_ESI BIT(5)
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#define ESD_USB_FD BIT(7)
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/* esd CAN message flags - id field */
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#define ESD_USB_EXTID BIT(29)
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@ -65,6 +70,9 @@ MODULE_LICENSE("GPL v2");
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#define ESD_USB_M_SJW_SHIFT 24
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#define ESD_USB_TRIPLE_SAMPLES BIT(23)
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/* Transmitter Delay Compensation */
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#define ESD_USB_3_TDC_MODE_AUTO 0
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/* esd IDADD message */
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#define ESD_USB_ID_ENABLE BIT(7)
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#define ESD_USB_MAX_ID_SEGMENT 64
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@ -88,6 +96,21 @@ MODULE_LICENSE("GPL v2");
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#define ESD_USB_MAX_RX_URBS 4
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#define ESD_USB_MAX_TX_URBS 16 /* must be power of 2 */
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/* Modes for CAN-USB/3, to be used for esd_usb_3_set_baudrate_msg_x.mode */
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#define ESD_USB_3_BAUDRATE_MODE_DISABLE 0 /* remove from bus */
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#define ESD_USB_3_BAUDRATE_MODE_INDEX 1 /* ESD (CiA) bit rate idx */
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#define ESD_USB_3_BAUDRATE_MODE_BTR_CTRL 2 /* BTR values (controller)*/
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#define ESD_USB_3_BAUDRATE_MODE_BTR_CANONICAL 3 /* BTR values (canonical) */
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#define ESD_USB_3_BAUDRATE_MODE_NUM 4 /* numerical bit rate */
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#define ESD_USB_3_BAUDRATE_MODE_AUTOBAUD 5 /* autobaud */
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/* Flags for CAN-USB/3, to be used for esd_usb_3_set_baudrate_msg_x.flags */
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#define ESD_USB_3_BAUDRATE_FLAG_FD BIT(0) /* enable CAN FD mode */
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#define ESD_USB_3_BAUDRATE_FLAG_LOM BIT(1) /* enable listen only mode */
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#define ESD_USB_3_BAUDRATE_FLAG_STM BIT(2) /* enable self test mode */
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#define ESD_USB_3_BAUDRATE_FLAG_TRS BIT(3) /* enable triple sampling */
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#define ESD_USB_3_BAUDRATE_FLAG_TXP BIT(4) /* enable transmit pause */
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struct esd_usb_header_msg {
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u8 len; /* total message length in 32bit words */
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u8 cmd;
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@ -122,6 +145,7 @@ struct esd_usb_rx_msg {
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__le32 id; /* upper 3 bits contain flags */
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union {
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u8 data[CAN_MAX_DLEN];
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u8 data_fd[CANFD_MAX_DLEN];
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struct {
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u8 status; /* CAN Controller Status */
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u8 ecc; /* Error Capture Register */
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@ -138,7 +162,10 @@ struct esd_usb_tx_msg {
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u8 dlc;
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u32 hnd; /* opaque handle, not used by device */
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__le32 id; /* upper 3 bits contain flags */
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u8 data[CAN_MAX_DLEN];
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union {
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u8 data[CAN_MAX_DLEN];
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u8 data_fd[CANFD_MAX_DLEN];
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};
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};
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struct esd_usb_tx_done_msg {
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@ -166,6 +193,50 @@ struct esd_usb_set_baudrate_msg {
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__le32 baud;
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};
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/* CAN-USB/3 baudrate configuration, used for nominal as well as for data bit rate */
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struct esd_usb_3_baudrate_cfg {
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__le16 brp; /* bit rate pre-scaler */
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__le16 tseg1; /* time segment before sample point */
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__le16 tseg2; /* time segment after sample point */
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__le16 sjw; /* synchronization jump Width */
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};
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/* In principle, the esd CAN-USB/3 supports Transmitter Delay Compensation (TDC),
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* but currently only the automatic TDC mode is supported by this driver.
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* An implementation for manual TDC configuration will follow.
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*
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* For information about struct esd_usb_3_tdc_cfg, see
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* NTCAN Application Developers Manual, 6.2.25 NTCAN_TDC_CFG + related chapters
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* https://esd.eu/fileadmin/esd/docs/manuals/NTCAN_Part1_Function_API_Manual_en_56.pdf
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*/
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struct esd_usb_3_tdc_cfg {
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u8 tdc_mode; /* transmitter delay compensation mode */
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u8 ssp_offset; /* secondary sample point offset in mtq */
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s8 ssp_shift; /* secondary sample point shift in mtq */
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u8 tdc_filter; /* TDC filter in mtq */
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};
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/* Extended version of the above set_baudrate_msg for a CAN-USB/3
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* to define the CAN bit timing configuration of the CAN controller in
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* CAN FD mode as well as in Classical CAN mode.
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*
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* The payload of this command is a NTCAN_BAUDRATE_X structure according to
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* esd electronics gmbh, NTCAN Application Developers Manual, 6.2.15 NTCAN_BAUDRATE_X
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* https://esd.eu/fileadmin/esd/docs/manuals/NTCAN_Part1_Function_API_Manual_en_56.pdf
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*/
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struct esd_usb_3_set_baudrate_msg_x {
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u8 len; /* total message length in 32bit words */
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u8 cmd;
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u8 net;
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u8 rsvd; /*reserved */
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/* Payload ... */
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__le16 mode; /* mode word, see ESD_USB_3_BAUDRATE_MODE_xxx */
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__le16 flags; /* control flags, see ESD_USB_3_BAUDRATE_FLAG_xxx */
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struct esd_usb_3_tdc_cfg tdc; /* TDC configuration */
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struct esd_usb_3_baudrate_cfg nom; /* nominal bit rate */
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struct esd_usb_3_baudrate_cfg data; /* data bit rate */
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};
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/* Main message type used between library and application */
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union __packed esd_usb_msg {
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struct esd_usb_header_msg hdr;
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@ -175,12 +246,14 @@ union __packed esd_usb_msg {
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struct esd_usb_tx_msg tx;
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struct esd_usb_tx_done_msg txdone;
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struct esd_usb_set_baudrate_msg setbaud;
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struct esd_usb_3_set_baudrate_msg_x setbaud_x;
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struct esd_usb_id_filter_msg filter;
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};
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static struct usb_device_id esd_usb_table[] = {
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{USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSB2_PRODUCT_ID)},
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{USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSBM_PRODUCT_ID)},
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{USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSB3_PRODUCT_ID)},
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{}
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};
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MODULE_DEVICE_TABLE(usb, esd_usb_table);
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@ -321,9 +394,10 @@ static void esd_usb_rx_can_msg(struct esd_usb_net_priv *priv,
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{
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struct net_device_stats *stats = &priv->netdev->stats;
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struct can_frame *cf;
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struct canfd_frame *cfd;
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struct sk_buff *skb;
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int i;
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u32 id;
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u8 len;
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if (!netif_device_present(priv->netdev))
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return;
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@ -333,27 +407,42 @@ static void esd_usb_rx_can_msg(struct esd_usb_net_priv *priv,
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if (id & ESD_USB_EVENT) {
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esd_usb_rx_event(priv, msg);
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} else {
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skb = alloc_can_skb(priv->netdev, &cf);
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if (msg->rx.dlc & ESD_USB_FD) {
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skb = alloc_canfd_skb(priv->netdev, &cfd);
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} else {
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skb = alloc_can_skb(priv->netdev, &cf);
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cfd = (struct canfd_frame *)cf;
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}
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if (skb == NULL) {
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stats->rx_dropped++;
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return;
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}
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cf->can_id = id & ESD_USB_IDMASK;
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can_frame_set_cc_len(cf, msg->rx.dlc & ~ESD_USB_RTR,
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priv->can.ctrlmode);
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cfd->can_id = id & ESD_USB_IDMASK;
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if (msg->rx.dlc & ESD_USB_FD) {
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/* masking by 0x0F is already done within can_fd_dlc2len() */
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cfd->len = can_fd_dlc2len(msg->rx.dlc);
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len = cfd->len;
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if ((msg->rx.dlc & ESD_USB_NO_BRS) == 0)
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cfd->flags |= CANFD_BRS;
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if (msg->rx.dlc & ESD_USB_ESI)
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cfd->flags |= CANFD_ESI;
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} else {
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can_frame_set_cc_len(cf, msg->rx.dlc & ~ESD_USB_RTR, priv->can.ctrlmode);
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len = cf->len;
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if (msg->rx.dlc & ESD_USB_RTR) {
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cf->can_id |= CAN_RTR_FLAG;
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len = 0;
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}
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}
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if (id & ESD_USB_EXTID)
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cf->can_id |= CAN_EFF_FLAG;
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cfd->can_id |= CAN_EFF_FLAG;
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if (msg->rx.dlc & ESD_USB_RTR) {
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cf->can_id |= CAN_RTR_FLAG;
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} else {
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for (i = 0; i < cf->len; i++)
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cf->data[i] = msg->rx.data[i];
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stats->rx_bytes += cf->len;
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}
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memcpy(cfd->data, msg->rx.data_fd, len);
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stats->rx_bytes += len;
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stats->rx_packets++;
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netif_rx(skb);
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@ -728,7 +817,7 @@ static netdev_tx_t esd_usb_start_xmit(struct sk_buff *skb,
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struct esd_usb *dev = priv->usb;
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struct esd_tx_urb_context *context = NULL;
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struct net_device_stats *stats = &netdev->stats;
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struct can_frame *cf = (struct can_frame *)skb->data;
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struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
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union esd_usb_msg *msg;
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struct urb *urb;
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u8 *buf;
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@ -762,20 +851,29 @@ static netdev_tx_t esd_usb_start_xmit(struct sk_buff *skb,
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msg->hdr.len = offsetof(struct esd_usb_tx_msg, data) / sizeof(u32);
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msg->hdr.cmd = ESD_USB_CMD_CAN_TX;
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msg->tx.net = priv->index;
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msg->tx.dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
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msg->tx.id = cpu_to_le32(cf->can_id & CAN_ERR_MASK);
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if (cf->can_id & CAN_RTR_FLAG)
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msg->tx.dlc |= ESD_USB_RTR;
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if (can_is_canfd_skb(skb)) {
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msg->tx.dlc = can_fd_len2dlc(cfd->len);
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msg->tx.dlc |= ESD_USB_FD;
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if (cf->can_id & CAN_EFF_FLAG)
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if ((cfd->flags & CANFD_BRS) == 0)
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msg->tx.dlc |= ESD_USB_NO_BRS;
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} else {
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msg->tx.dlc = can_get_cc_dlc((struct can_frame *)cfd, priv->can.ctrlmode);
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if (cfd->can_id & CAN_RTR_FLAG)
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msg->tx.dlc |= ESD_USB_RTR;
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}
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msg->tx.id = cpu_to_le32(cfd->can_id & CAN_ERR_MASK);
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if (cfd->can_id & CAN_EFF_FLAG)
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msg->tx.id |= cpu_to_le32(ESD_USB_EXTID);
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for (i = 0; i < cf->len; i++)
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msg->tx.data[i] = cf->data[i];
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memcpy(msg->tx.data_fd, cfd->data, cfd->len);
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/* round up, then divide by 4 to add the payload length as # of 32bit words */
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msg->hdr.len += DIV_ROUND_UP(cf->len, sizeof(u32));
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msg->hdr.len += DIV_ROUND_UP(cfd->len, sizeof(u32));
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for (i = 0; i < ESD_USB_MAX_TX_URBS; i++) {
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if (priv->tx_contexts[i].echo_index == ESD_USB_MAX_TX_URBS) {
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@ -962,6 +1060,105 @@ static int esd_usb_2_set_bittiming(struct net_device *netdev)
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return err;
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}
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/* Nominal bittiming constants, see
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* Microchip SAM E70/S70/V70/V71, Data Sheet, Rev. G - 07/2022
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* 48.6.8 MCAN Nominal Bit Timing and Prescaler Register
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*/
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static const struct can_bittiming_const esd_usb_3_nom_bittiming_const = {
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.name = "esd_usb_3",
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.tseg1_min = 2,
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.tseg1_max = 256,
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.tseg2_min = 2,
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.tseg2_max = 128,
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.sjw_max = 128,
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.brp_min = 1,
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.brp_max = 512,
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.brp_inc = 1,
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};
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/* Data bittiming constants, see
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* Microchip SAM E70/S70/V70/V71, Data Sheet, Rev. G - 07/2022
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* 48.6.4 MCAN Data Bit Timing and Prescaler Register
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*/
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static const struct can_bittiming_const esd_usb_3_data_bittiming_const = {
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.name = "esd_usb_3",
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.tseg1_min = 2,
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.tseg1_max = 32,
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.tseg2_min = 1,
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.tseg2_max = 16,
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.sjw_max = 8,
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.brp_min = 1,
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.brp_max = 32,
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.brp_inc = 1,
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};
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static int esd_usb_3_set_bittiming(struct net_device *netdev)
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{
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const struct can_bittiming_const *nom_btc = &esd_usb_3_nom_bittiming_const;
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const struct can_bittiming_const *data_btc = &esd_usb_3_data_bittiming_const;
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struct esd_usb_net_priv *priv = netdev_priv(netdev);
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struct can_bittiming *nom_bt = &priv->can.bittiming;
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struct can_bittiming *data_bt = &priv->can.data_bittiming;
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struct esd_usb_3_set_baudrate_msg_x *baud_x;
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union esd_usb_msg *msg;
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u16 flags = 0;
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int err;
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msg = kmalloc(sizeof(*msg), GFP_KERNEL);
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if (!msg)
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return -ENOMEM;
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baud_x = &msg->setbaud_x;
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/* Canonical is the most reasonable mode for SocketCAN on CAN-USB/3 ... */
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baud_x->mode = cpu_to_le16(ESD_USB_3_BAUDRATE_MODE_BTR_CANONICAL);
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if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
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flags |= ESD_USB_3_BAUDRATE_FLAG_LOM;
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if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
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flags |= ESD_USB_3_BAUDRATE_FLAG_TRS;
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baud_x->nom.brp = cpu_to_le16(nom_bt->brp & (nom_btc->brp_max - 1));
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baud_x->nom.sjw = cpu_to_le16(nom_bt->sjw & (nom_btc->sjw_max - 1));
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baud_x->nom.tseg1 = cpu_to_le16((nom_bt->prop_seg + nom_bt->phase_seg1)
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& (nom_btc->tseg1_max - 1));
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baud_x->nom.tseg2 = cpu_to_le16(nom_bt->phase_seg2 & (nom_btc->tseg2_max - 1));
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if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
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baud_x->data.brp = cpu_to_le16(data_bt->brp & (data_btc->brp_max - 1));
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baud_x->data.sjw = cpu_to_le16(data_bt->sjw & (data_btc->sjw_max - 1));
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baud_x->data.tseg1 = cpu_to_le16((data_bt->prop_seg + data_bt->phase_seg1)
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& (data_btc->tseg1_max - 1));
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baud_x->data.tseg2 = cpu_to_le16(data_bt->phase_seg2 & (data_btc->tseg2_max - 1));
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flags |= ESD_USB_3_BAUDRATE_FLAG_FD;
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}
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/* Currently this driver only supports the automatic TDC mode */
|
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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.bittiming_const = &esd_usb_2_bittiming_const;
|
||||
priv->can.do_set_bittiming = esd_usb_2_set_bittiming;
|
||||
priv->can.do_set_mode = esd_usb_set_mode;
|
||||
priv->can.do_get_berr_counter = esd_usb_get_berr_counter;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue