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can: esd_usb: Add support for esd CAN-USB/3 

Add support for esd CAN-USB/3 and CAN FD to esd_usb.c.

Signed-off-by: Frank Jungclaus <frank.jungclaus@esd.eu>
Reviewed-by: Simon Horman <horms@kernel.org>
Link: https://lore.kernel.org/all/20230728150857.2374886-2-frank.jungclaus@esd.eu
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
This commit is contained in:
Frank Jungclaus 2023-07-28 17:08:57 +02:00 committed by Marc Kleine-Budde
parent db31e6f170
commit 80662d9430
1 changed files with 244 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

275
drivers/net/can/usb/esd_usb.c
View File

@ -1,6 +1,6 @@
// 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 */
u8 data[CAN_MAX_DLEN];
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;
@ -333,27 +407,42 @@ 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 {
skb = alloc_can_skb(priv->netdev, &cf);
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);
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;
len = 0;
}
}
if (id & ESD_USB_EXTID)
cf->can_id |= CAN_EFF_FLAG;
cfd->can_id |= CAN_EFF_FLAG;
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;
}
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)
msg->tx.dlc |= ESD_USB_RTR;
if (can_is_canfd_skb(skb)) {
msg->tx.dlc = can_fd_len2dlc(cfd->len);
msg->tx.dlc |= ESD_USB_FD;
if (cf->can_id & CAN_EFF_FLAG)
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 (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.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;