* [PATCH v14 0/4] Introducing ETAS ES58X CAN USB interfaces
@ 2021-03-21 10:40 Vincent Mailhol
2021-03-21 10:41 ` [PATCH v14 1/4] can: etas_es58x: add core support for " Vincent Mailhol
` (3 more replies)
0 siblings, 4 replies; 9+ messages in thread
From: Vincent Mailhol @ 2021-03-21 10:40 UTC (permalink / raw)
To: Marc Kleine-Budde, linux-can; +Cc: Arunachalam Santhanam, Vincent Mailhol
Here comes the 14th iteration of the patch. This new version addresses
the comments received from Jimmy and Marc (thanks again for the
review!).
** Changelog **
Changes in v14 (2021-03-21):
- Rework the split into core support, es581_4, es58x_fd (cosmetic
change) so that es581_4.h and es58x_fd.h headers can be added in
one block.
- Add a fourth patch to introduce a helper function
es58x_netdev_queue_set_dql_min_limit() to set up dql minimum limit
(in parallel, I will try to have this merged in the network device
header)
- Remove unused function es58x_add_skb_idx(): leftover from the old
FIFO logic, should have been removed in v11.
- Fix memory leak in es58x_get_product_info(): buffer was not freed
in case of error in usb_sting().
- s/loopback/echo and s/self reception/echo: in the driver the terms
"loopback, self reception, and echo" were all used to designated
the same thing. Renamed structures, variables and comments
accordingly to make it more consistent.
- Remove CAN_CTRLMODE_LOOPBACK. The driver never supported this
feature. It was added due to a confusion with the echo skb.
- Use the new can_free_echo_skb() which return the frame_len.
- Do the statistics handling in es58x_rx_err_msg() even if kalloc()
fails.
- Replace array es58x_cmd_ret_desc[] by helper function
es58x_cmd_ret_desc().
- Other trivial changes (c.f. below link for details)
Reference: https://lore.kernel.org/linux-can/50850e5f-87c6-505e-4398-babce3facb97@pengutronix.de/T/#mbcace9c13b19a504cd28d81591f983b95eb66657
Changes in v13 (2021-03-19 by Marc Kleine-Budde):
- split the driver into 3 patches, so that it can be send via
mailing lists (core support, es581_4, es58x_fd)
- Remove the dql.min_limit settings
- typo and kernel doc fixes
Reference: https://lore.kernel.org/linux-can/50850e5f-87c6-505e-4398-babce3facb97@pengutronix.de/T/#t
Changes in v12 (2021-03-09):
- Rework the queue stop/wake management so that spinlocks are not
needed anymore.
- es58x_start_xmit(): check for valid SKB using
can_dropped_invalid_skb().
- Implemented TDC according to latest patches in linux-can-next.
Reference: https://lore.kernel.org/linux-can/20210224002008.4158-1-mailhol.vincent@wanadoo.fr/T/#t
Changes in v11 (2021-01-23):
- Remove all WARN_ON() calls: these were use during development,
relevant tests are done not to trigger these.
- es58x_start_xmit(): added net_ratelimit() condition to prevent
spamming dmesg.
- add a new es58x_xmit_more() function and simplify the code of
es58x_start_xmit().
- Removed functions {es581_4,es58x_fd}_print_conf() which were only
there for debug.
- Additional comment for es58x_fd_param.bitrate_max.
- Make the device FIFO size a power of two and modify the echo_skb
indexes logic to prevent the use of spinlocks.
Changes in v10 (2021-01-12):
- Rebased on linux-can-next/testing and modified according to latest
BQL patches.
Reference: https://lore.kernel.org/linux-can/20210111141930.693847-1-mkl@pengutronix.de/T/#m5f99d4da8e8934a75f9481ecc3137b59f3762413
- Replaced __netdev_sent_queue() by netdev_sent_queue().
Changes in v9 (2021-01-09):
- es58x_start_xmit(): do not use skb anymore after the call of
can_put_echo_skb(). Rationale: can_put_echo_skb() calls
skb_clone() and thus the original skb gets consumed (i.e. use
after free issue).
- es58x_start_xmit(): Add a "drop_skb" label to free the skb when
errors occur.
Changes in v8 (2021-01-04):
- The driver requires CRC16. Modified Kconfig accordingly.
Changes in v7 (2020-11-17):
- Fix compilation issue if CONFIG_BQL is not set.
Reference: https://lkml.org/lkml/2020/11/15/163
Changes in v6 (2020-11-15):
- Rebase the patch on the testing branch of linux-can-next.
- Rename the helper functions according latest changes
(e.g. can_cc_get_len() -> can_cc_dlc2len())
- Fix comments of enum es58x_physical_layer and enum
es58x_sync_edge.
Changes in v5 (2020-11-07):
- Add support for DLC greater than 8.
- All other patches from the previous series were either accepted or
dismissed. As such, this is not a series any more but a single
patch.
Changes in v4 (2020-10-17):
- Remove struct es58x_abstracted_can_frame.
- Fix formatting (spaces, comment style).
- Transform macros into static inline functions when possible.
- Fix the ctrlmode_supported flags in es581_4.c and removed
misleading comments in enum es58x_samples_per_bit.
- Rename enums according to the type.
- Remove function es58x_can_put_echo_skb().
Reference: https://lkml.org/lkml/2020/10/10/53
Changes in v3 (2020-10-03):
- Remove all the calls to likely() and unlikely().
Reference: https://lkml.org/lkml/2020/9/30/995
Changes in v2 (2020-09-30):
- Fixed -W1 warnings (v1 was tested with GCC -WExtra but not with -W1).
v1 (2020-09-27):
- First release
Vincent Mailhol (4):
can: etas_es58x: add core support for ETAS ES58X CAN USB interfaces
can: etas_es58x: add support for ETAS ES581.4 CAN USB interface
can: etas_es58x: add support for the ETAS ES58X_FD CAN USB interfaces
can: etas_es58x: add es58x_netdev_queue_set_dql_min_limit()
drivers/net/can/usb/Kconfig | 10 +
drivers/net/can/usb/Makefile | 1 +
drivers/net/can/usb/etas_es58x/Makefile | 3 +
drivers/net/can/usb/etas_es58x/es581_4.c | 501 ++++
drivers/net/can/usb/etas_es58x/es581_4.h | 207 ++
drivers/net/can/usb/etas_es58x/es58x_core.c | 2403 +++++++++++++++++++
drivers/net/can/usb/etas_es58x/es58x_core.h | 696 ++++++
drivers/net/can/usb/etas_es58x/es58x_fd.c | 577 +++++
drivers/net/can/usb/etas_es58x/es58x_fd.h | 243 ++
9 files changed, 4641 insertions(+)
create mode 100644 drivers/net/can/usb/etas_es58x/Makefile
create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.c
create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.h
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_core.c
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_core.h
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.c
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.h
--
2.26.2
^ permalink raw reply [flat|nested] 9+ messages in thread
* [PATCH v14 1/4] can: etas_es58x: add core support for ETAS ES58X CAN USB interfaces
2021-03-21 10:40 [PATCH v14 0/4] Introducing ETAS ES58X CAN USB interfaces Vincent Mailhol
@ 2021-03-21 10:41 ` Vincent Mailhol
2021-03-29 12:36 ` Marc Kleine-Budde
2021-03-21 10:41 ` [PATCH v14 2/4] can: etas_es58x: add support for ETAS ES581.4 CAN USB interface Vincent Mailhol
` (2 subsequent siblings)
3 siblings, 1 reply; 9+ messages in thread
From: Vincent Mailhol @ 2021-03-21 10:41 UTC (permalink / raw)
To: Marc Kleine-Budde, linux-can; +Cc: Arunachalam Santhanam, Vincent Mailhol
This patch adds the core support for various USB CAN interfaces from
ETAS GmbH (https://www.etas.com/en/products/es58x.php). The next
patches add the glue code drivers for the individual interfaces.
Co-developed-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
---
drivers/net/can/usb/Kconfig | 10 +
drivers/net/can/usb/Makefile | 1 +
drivers/net/can/usb/etas_es58x/Makefile | 3 +
drivers/net/can/usb/etas_es58x/es58x_core.c | 2374 +++++++++++++++++++
drivers/net/can/usb/etas_es58x/es58x_core.h | 662 ++++++
5 files changed, 3050 insertions(+)
create mode 100644 drivers/net/can/usb/etas_es58x/Makefile
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_core.c
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_core.h
diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig
index c1e5d5b570b6..978746ce8873 100644
--- a/drivers/net/can/usb/Kconfig
+++ b/drivers/net/can/usb/Kconfig
@@ -20,6 +20,16 @@ config CAN_ESD_USB2
This driver supports the CAN-USB/2 interface
from esd electronic system design gmbh (http://www.esd.eu).
+config CAN_ETAS_ES58X
+ tristate "ETAS ES58X CAN/USB interfaces"
+ select CRC16
+ help
+ This driver supports the ES581.4, ES582.1 and ES584.1 interfaces
+ from ETAS GmbH (https://www.etas.com/en/products/es58x.php).
+
+ To compile this driver as a module, choose M here: the module
+ will be called etas_es58x.
+
config CAN_GS_USB
tristate "Geschwister Schneider UG interfaces"
help
diff --git a/drivers/net/can/usb/Makefile b/drivers/net/can/usb/Makefile
index aa0f17c0b2ed..748cf31a0d53 100644
--- a/drivers/net/can/usb/Makefile
+++ b/drivers/net/can/usb/Makefile
@@ -6,6 +6,7 @@
obj-$(CONFIG_CAN_8DEV_USB) += usb_8dev.o
obj-$(CONFIG_CAN_EMS_USB) += ems_usb.o
obj-$(CONFIG_CAN_ESD_USB2) += esd_usb2.o
+obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x/
obj-$(CONFIG_CAN_GS_USB) += gs_usb.o
obj-$(CONFIG_CAN_KVASER_USB) += kvaser_usb/
obj-$(CONFIG_CAN_MCBA_USB) += mcba_usb.o
diff --git a/drivers/net/can/usb/etas_es58x/Makefile b/drivers/net/can/usb/etas_es58x/Makefile
new file mode 100644
index 000000000000..60a1ac935a69
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/Makefile
@@ -0,0 +1,3 @@
+# SPDX-License-Identifier: GPL-2.0
+obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x.o
+etas_es58x-y = es58x_core.o
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.c b/drivers/net/can/usb/etas_es58x/es58x_core.c
new file mode 100644
index 000000000000..69d506d3e934
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.c
@@ -0,0 +1,2374 @@
+// SPDX-License-Identifier: GPL-2.0
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_core.c: Core logic to manage the network devices and the
+ * USB interface.
+ *
+ * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
+ * Copyright (c) 2020 ETAS K.K.. All rights reserved.
+ * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/usb.h>
+#include <linux/crc16.h>
+#include <asm/unaligned.h>
+
+#include "es58x_core.h"
+
+#define DRV_VERSION "1.00"
+MODULE_AUTHOR("Mailhol Vincent <mailhol.vincent@wanadoo.fr>");
+MODULE_AUTHOR("Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>");
+MODULE_DESCRIPTION("Socket CAN driver for ETAS ES58X USB adapters");
+MODULE_VERSION(DRV_VERSION);
+MODULE_LICENSE("GPL v2");
+
+/* Vendor and product id */
+#define ES58X_MODULE_NAME "etas_es58x"
+#define ES58X_VENDOR_ID 0x108C
+
+/* Table of devices which work with this driver */
+static const struct usb_device_id es58x_id_table[] = {
+ { /* Terminating entry */ }
+};
+
+MODULE_DEVICE_TABLE(usb, es58x_id_table);
+
+#define es58x_print_hex_dump(buf, len) \
+ print_hex_dump(KERN_DEBUG, \
+ ES58X_MODULE_NAME " " __stringify(buf) ": ", \
+ DUMP_PREFIX_NONE, 16, 1, buf, len, false)
+
+#define es58x_print_hex_dump_debug(buf, len) \
+ print_hex_dump_debug(ES58X_MODULE_NAME " " __stringify(buf) ": ",\
+ DUMP_PREFIX_NONE, 16, 1, buf, len, false)
+
+/* The last two bytes of an ES58X command is a CRC16. The first two
+ * bytes (the start of frame) are skipped and the CRC calculation
+ * starts on the third byte.
+ */
+#define ES58X_CRC_CALC_OFFSET 2
+
+/**
+ * es58x_calculate_crc() - Compute the crc16 of a given URB.
+ * @urb_cmd: The URB command for which we want to calculate the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ *
+ * Return: crc16 value.
+ */
+static u16 es58x_calculate_crc(const union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+ u16 crc;
+ ssize_t len = urb_len - ES58X_CRC_CALC_OFFSET - sizeof(crc);
+
+ crc = crc16(0, &urb_cmd->raw_cmd[ES58X_CRC_CALC_OFFSET], len);
+ return crc;
+}
+
+/**
+ * es58x_get_crc() - Get the CRC value of a given URB.
+ * @urb_cmd: The URB command for which we want to get the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ *
+ * Return: crc16 value.
+ */
+static u16 es58x_get_crc(const union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+ u16 crc;
+ const __le16 *crc_addr;
+
+ crc_addr = (__le16 *)&urb_cmd->raw_cmd[urb_len - sizeof(crc)];
+ crc = get_unaligned_le16(crc_addr);
+ return crc;
+}
+
+/**
+ * es58x_set_crc() - Set the CRC value of a given URB.
+ * @urb_cmd: The URB command for which we want to get the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ */
+static void es58x_set_crc(union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+ u16 crc;
+ __le16 *crc_addr;
+
+ crc = es58x_calculate_crc(urb_cmd, urb_len);
+ crc_addr = (__le16 *)&urb_cmd->raw_cmd[urb_len - sizeof(crc)];
+ put_unaligned_le16(crc, crc_addr);
+}
+
+/**
+ * es58x_check_crc() - Validate the CRC value of a given URB.
+ * @es58x_dev: ES58X device.
+ * @urb_cmd: The URB command for which we want to check the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ *
+ * Return: zero on success, -EBADMSG if the CRC check fails.
+ */
+static int es58x_check_crc(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+ u16 calculated_crc = es58x_calculate_crc(urb_cmd, urb_len);
+ u16 expected_crc = es58x_get_crc(urb_cmd, urb_len);
+
+ if (expected_crc != calculated_crc) {
+ dev_err_ratelimited(es58x_dev->dev,
+ "%s: Bad CRC, urb_len: %d\n",
+ __func__, urb_len);
+ return -EBADMSG;
+ }
+
+ return 0;
+}
+
+/**
+ * es58x_timestamp_to_ns() - Convert a timestamp value received from a
+ * ES58X device to nanoseconds.
+ * @timestamp: Timestamp received from a ES58X device.
+ *
+ * The timestamp received from ES58X is expressed in multiples of 0.5
+ * micro seconds. This function converts it in to nanoseconds.
+ *
+ * Return: Timestamp value in nanoseconds.
+ */
+static u64 es58x_timestamp_to_ns(u64 timestamp)
+{
+ const u64 es58x_timestamp_ns_mult_coef = 500ULL;
+
+ return es58x_timestamp_ns_mult_coef * timestamp;
+}
+
+/**
+ * es58x_set_skb_timestamp() - Set the hardware timestamp of an skb.
+ * @netdev: CAN network device.
+ * @skb: socket buffer of a CAN message.
+ * @timestamp: Timestamp received from an ES58X device.
+ *
+ * Used for both received and echo messages.
+ */
+static void es58x_set_skb_timestamp(struct net_device *netdev,
+ struct sk_buff *skb, u64 timestamp)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ struct skb_shared_hwtstamps *hwts;
+
+ hwts = skb_hwtstamps(skb);
+ /* Ignoring overflow (overflow on 64 bits timestamp with nano
+ * second precision would occur after more than 500 years).
+ */
+ hwts->hwtstamp = ns_to_ktime(es58x_timestamp_to_ns(timestamp) +
+ es58x_dev->realtime_diff_ns);
+}
+
+/**
+ * es58x_rx_timestamp() - Handle a received timestamp.
+ * @es58x_dev: ES58X device.
+ * @timestamp: Timestamp received from a ES58X device.
+ *
+ * Calculate the difference between the ES58X device and the kernel
+ * internal clocks. This difference will be later used as an offset to
+ * convert the timestamps of RX and echo messages to match the kernel
+ * system time (e.g. convert to UNIX time).
+ */
+void es58x_rx_timestamp(struct es58x_device *es58x_dev, u64 timestamp)
+{
+ u64 ktime_real_ns = ktime_get_real_ns();
+ u64 device_timestamp = es58x_timestamp_to_ns(timestamp);
+
+ dev_dbg(es58x_dev->dev, "%s: request round-trip time: %llu ns\n",
+ __func__, ktime_real_ns - es58x_dev->ktime_req_ns);
+
+ es58x_dev->realtime_diff_ns =
+ (es58x_dev->ktime_req_ns + ktime_real_ns) / 2 - device_timestamp;
+ es58x_dev->ktime_req_ns = 0;
+
+ dev_dbg(es58x_dev->dev,
+ "%s: Device timestamp: %llu, diff with kernel: %llu\n",
+ __func__, device_timestamp, es58x_dev->realtime_diff_ns);
+}
+
+/**
+ * es58x_set_realtime_diff_ns() - Calculate difference between the
+ * clocks of the ES58X device and the kernel
+ * @es58x_dev: ES58X device.
+ *
+ * Request a timestamp from the ES58X device. Once the answer is
+ * received, the timestamp difference will be set by the callback
+ * function es58x_rx_timestamp().
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_set_realtime_diff_ns(struct es58x_device *es58x_dev)
+{
+ if (es58x_dev->ktime_req_ns) {
+ dev_warn(es58x_dev->dev,
+ "%s: Previous request to set timestamp has not completed yet\n",
+ __func__);
+ return -EBUSY;
+ }
+
+ es58x_dev->ktime_req_ns = ktime_get_real_ns();
+ return es58x_dev->ops->get_timestamp(es58x_dev);
+}
+
+/**
+ * es58x_is_can_state_active() - Is the network device in an active
+ * CAN state?
+ * @netdev: CAN network device.
+ *
+ * The device is considered active if it is able to send or receive
+ * CAN frames, that is to say if it is in any of
+ * CAN_STATE_ERROR_ACTIVE, CAN_STATE_ERROR_WARNING or
+ * CAN_STATE_ERROR_PASSIVE states.
+ *
+ * Caution: when recovering from a bus-off,
+ * net/core/dev.c#can_restart() will call
+ * net/core/dev.c#can_flush_echo_skb() without using any kind of
+ * locks. For this reason, it is critical to guarantee that no TX or
+ * echo operations (i.e. any access to priv->echo_skb[]) can be done
+ * while this function is returning false.
+ *
+ * Return: true if the device is active, else returns false.
+ */
+static bool es58x_is_can_state_active(struct net_device *netdev)
+{
+ return es58x_priv(netdev)->can.state < CAN_STATE_BUS_OFF;
+}
+
+/**
+ * es58x_is_echo_skb_threshold_reached() - Determine the limit of how
+ * many skb slots can be taken before we should stop the network
+ * queue.
+ * @priv: ES58X private parameters related to the network device.
+ *
+ * We need to save enough free skb slots in order to be able to do
+ * bulk send. This function can be used to determine when to wake or
+ * stop the network queue in regard to the number of skb slots already
+ * taken if the echo FIFO.
+ *
+ * Return: boolean.
+ */
+static bool es58x_is_echo_skb_threshold_reached(struct es58x_priv *priv)
+{
+ u32 num_echo_skb = priv->tx_head - priv->tx_tail;
+ u32 threshold = priv->can.echo_skb_max -
+ priv->es58x_dev->param->tx_bulk_max + 1;
+
+ return num_echo_skb >= threshold;
+}
+
+/**
+ * es58x_can_free_echo_skb_tail() - Remove the oldest echo skb of the
+ * echo FIFO.
+ * @netdev: CAN network device.
+ *
+ * Naming convention: the tail is the beginning of the FIFO, i.e. the
+ * first skb to have entered the FIFO.
+ */
+static void es58x_can_free_echo_skb_tail(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ u16 fifo_mask = priv->es58x_dev->param->fifo_mask;
+ unsigned int frame_len = 0;
+
+ can_free_echo_skb(netdev, priv->tx_tail & fifo_mask, &frame_len);
+ netdev_completed_queue(netdev, 1, frame_len);
+
+ priv->tx_tail++;
+
+ netdev->stats.tx_dropped++;
+}
+
+/**
+ * es58x_can_get_echo_skb_recovery() - Try to re-sync the echo FIFO.
+ * @netdev: CAN network device.
+ * @rcv_packet_idx: Index
+ *
+ * This function should not be called under normal circumstances. In
+ * the unlikely case that one or several URB packages get dropped by
+ * the device, the index will get out of sync. Try to recover by
+ * dropping the echo skb packets with older indexes.
+ *
+ * Return: zero if recovery was successful, -EINVAL otherwise.
+ */
+static int es58x_can_get_echo_skb_recovery(struct net_device *netdev,
+ u32 rcv_packet_idx)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ int ret = 0;
+
+ netdev->stats.tx_errors++;
+
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Bad echo packet index: %u. First index: %u, end index %u, num_echo_skb: %02u/%02u\n",
+ rcv_packet_idx, priv->tx_tail, priv->tx_head,
+ priv->tx_head - priv->tx_tail,
+ priv->can.echo_skb_max);
+
+ if ((s32)(rcv_packet_idx - priv->tx_tail) < 0) {
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Received echo index is from the past. Ignoring it\n");
+ ret = -EINVAL;
+ } else if ((s32)(rcv_packet_idx - priv->tx_head) >= 0) {
+ if (net_ratelimit())
+ netdev_err(netdev,
+ "Received echo index is from the future. Ignoring it\n");
+ ret = -EINVAL;
+ } else {
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Recovery: dropping %u echo skb from index %u to %u\n",
+ rcv_packet_idx - priv->tx_tail,
+ priv->tx_tail, rcv_packet_idx - 1);
+ while (priv->tx_tail != rcv_packet_idx) {
+ if (priv->tx_tail == priv->tx_head)
+ return -EINVAL;
+ es58x_can_free_echo_skb_tail(netdev);
+ }
+ }
+ return ret;
+}
+
+/**
+ * es58x_can_get_echo_skb() - Get the skb from the echo FIFO and loop
+ * it back locally.
+ * @netdev: CAN network device.
+ * @rcv_packet_idx: Index of the first packet received from the device.
+ * @tstamps: Array of hardware timestamps received from a ES58X device.
+ * @pkts: Number of packets (and so, length of @tstamps).
+ *
+ * Callback function for when we receive a self reception
+ * acknowledgment. Retrieves the skb from the echo FIFO, sets its
+ * hardware timestamp (the actual time it was sent) and loops it back
+ * locally.
+ *
+ * The device has to be active (i.e. network interface UP and not in
+ * bus off state or restarting).
+ *
+ * Packet indexes must be consecutive (i.e. index of first packet is
+ * @rcv_packet_idx, index of second packet is @rcv_packet_idx + 1 and
+ * index of last packet is @rcv_packet_idx + @pkts - 1).
+ *
+ * Return: zero on success.
+ */
+int es58x_can_get_echo_skb(struct net_device *netdev, u32 rcv_packet_idx,
+ u64 *tstamps, unsigned int pkts)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ unsigned int rx_total_frame_len = 0;
+ unsigned int num_echo_skb = priv->tx_head - priv->tx_tail;
+ int i;
+ u16 fifo_mask = priv->es58x_dev->param->fifo_mask;
+
+ if (!netif_running(netdev)) {
+ if (net_ratelimit())
+ netdev_info(netdev,
+ "%s: %s is down, dropping %d echo packets\n",
+ __func__, netdev->name, pkts);
+ netdev->stats.tx_dropped += pkts;
+ return 0;
+ } else if (!es58x_is_can_state_active(netdev)) {
+ if (net_ratelimit())
+ netdev_dbg(netdev,
+ "Bus is off or device is restarting. Ignoring %u echo packets from index %u\n",
+ pkts, rcv_packet_idx);
+ /* stats.tx_dropped will be (or was already)
+ * incremented by
+ * drivers/net/can/net/dev.c:can_flush_echo_skb().
+ */
+ return 0;
+ } else if (num_echo_skb == 0) {
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Received %u echo packets from index: %u but echo skb queue is empty.\n",
+ pkts, rcv_packet_idx);
+ netdev->stats.tx_dropped += pkts;
+ return 0;
+ }
+
+ if (priv->tx_tail != rcv_packet_idx) {
+ if (es58x_can_get_echo_skb_recovery(netdev, rcv_packet_idx) < 0) {
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Could not find echo skb for echo packet index: %u\n",
+ rcv_packet_idx);
+ return 0;
+ }
+ }
+ if (num_echo_skb < pkts) {
+ int pkts_drop = pkts - num_echo_skb;
+
+ if (net_ratelimit())
+ netdev_err(netdev,
+ "Received %u echo packets but have only %d echo skb. Dropping %d echo skb\n",
+ pkts, num_echo_skb, pkts_drop);
+ netdev->stats.tx_dropped += pkts_drop;
+ pkts -= pkts_drop;
+ }
+
+ for (i = 0; i < pkts; i++) {
+ unsigned int skb_idx = priv->tx_tail & fifo_mask;
+ struct sk_buff *skb = priv->can.echo_skb[skb_idx];
+ unsigned int frame_len = 0;
+
+ if (skb)
+ es58x_set_skb_timestamp(netdev, skb, tstamps[i]);
+
+ netdev->stats.tx_bytes += can_get_echo_skb(netdev, skb_idx,
+ &frame_len);
+ rx_total_frame_len += frame_len;
+
+ priv->tx_tail++;
+ }
+
+ netdev_completed_queue(netdev, pkts, rx_total_frame_len);
+ netdev->stats.tx_packets += pkts;
+
+ priv->err_passive_before_rtx_success = 0;
+ if (!es58x_is_echo_skb_threshold_reached(priv))
+ netif_wake_queue(netdev);
+
+ return 0;
+}
+
+/**
+ * es58x_can_flush_echo_skb() - Reset the echo FIFO.
+ * @netdev: CAN network device.
+ *
+ * The echo_skb array of struct can_priv will be flushed by
+ * drivers/net/can/dev.c:can_flush_echo_skb(). This function resets
+ * the parameters of the struct es58x_priv of our device and reset the
+ * queue (c.f. BQL).
+ */
+static void es58x_can_flush_echo_skb(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+
+ priv->tx_tail = 0;
+ priv->tx_head = 0;
+ netdev_reset_queue(netdev);
+}
+
+/**
+ * es58x_flush_pending_tx_msg() - Reset the buffer for transmission messages.
+ * @netdev: CAN network device.
+ *
+ * es58x_start_xmit() will queue up to tx_bulk_max messages in
+ * &tx_urb buffer and do a bulk send of all messages in one single URB
+ * (c.f. xmit_more flag). When the device recovers from a bus off
+ * state or when the device stops, the tx_urb buffer might still have
+ * pending messages in it and thus need to be flushed.
+ */
+static void es58x_flush_pending_tx_msg(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ int i;
+ u16 fifo_mask = priv->es58x_dev->param->fifo_mask;
+
+ if (priv->tx_urb) {
+ netdev_warn(netdev, "%s: dropping %d TX messages\n",
+ __func__, priv->tx_can_msg_cnt);
+ netdev->stats.tx_dropped += priv->tx_can_msg_cnt;
+ for (i = priv->tx_head;
+ i < priv->tx_head + priv->tx_can_msg_cnt; i++) {
+ unsigned int frame_len = 0;
+
+ can_free_echo_skb(netdev, i & fifo_mask, &frame_len);
+ netdev_completed_queue(netdev, 1, frame_len);
+ }
+ usb_anchor_urb(priv->tx_urb, &priv->es58x_dev->tx_urbs_idle);
+ atomic_inc(&es58x_dev->tx_urbs_idle_cnt);
+ usb_free_urb(priv->tx_urb);
+ }
+ priv->tx_urb = NULL;
+}
+
+/**
+ * es58x_tx_ack_msg() - Handle acknowledgment messages.
+ * @netdev: CAN network device.
+ * @tx_free_entries: Number of free entries in the device transmit FIFO.
+ * @rx_cmd_ret_u32: error code as returned by the ES58X device.
+ *
+ * ES58X sends an acknowledgment message after a transmission request
+ * is done. This is mandatory for the ES581.4 but is optional (and
+ * deactivated in this driver) for the ES58X_FD family.
+ *
+ * Under normal circumstances, this function should never throw an
+ * error message.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_tx_ack_msg(struct net_device *netdev, u16 tx_free_entries,
+ enum es58x_ret_u32 rx_cmd_ret_u32)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+
+ if (tx_free_entries <= priv->es58x_dev->param->tx_bulk_max) {
+ if (net_ratelimit())
+ netdev_err(netdev,
+ "Only %d entries left in device queue, num_echo_skb: %d/%d\n",
+ tx_free_entries,
+ priv->tx_head - priv->tx_tail,
+ priv->can.echo_skb_max);
+ netif_stop_queue(netdev);
+ }
+
+ return es58x_rx_cmd_ret_u32(netdev, ES58X_RET_TYPE_TX_MSG,
+ rx_cmd_ret_u32);
+}
+
+/**
+ * es58x_rx_can_msg() - Handle a received a CAN message.
+ * @netdev: CAN network device.
+ * @timestamp: Hardware time stamp (only relevant in rx branches).
+ * @data: CAN payload.
+ * @can_id: CAN ID.
+ * @es58x_flags: Please refer to enum es58x_flag.
+ * @dlc: Data Length Code (raw value).
+ *
+ * Fill up a CAN skb and post it.
+ *
+ * This function handles the case where the DLC of a classical CAN
+ * frame is greater than CAN_MAX_DLEN (c.f. the len8_dlc field of
+ * struct can_frame).
+ *
+ * Return: zero on success.
+ */
+int es58x_rx_can_msg(struct net_device *netdev, u64 timestamp, const u8 *data,
+ canid_t can_id, enum es58x_flag es58x_flags, u8 dlc)
+{
+ struct canfd_frame *cfd;
+ struct can_frame *ccf;
+ struct sk_buff *skb;
+ u8 len;
+ bool is_can_fd = !!(es58x_flags & ES58X_FLAG_FD_DATA);
+
+ if (dlc > CAN_MAX_RAW_DLC) {
+ netdev_err(netdev,
+ "%s: DLC is %d but maximum should be %d\n",
+ __func__, dlc, CAN_MAX_RAW_DLC);
+ return -EMSGSIZE;
+ }
+
+ if (is_can_fd) {
+ len = can_fd_dlc2len(dlc);
+ skb = alloc_canfd_skb(netdev, &cfd);
+ } else {
+ len = can_cc_dlc2len(dlc);
+ skb = alloc_can_skb(netdev, &ccf);
+ cfd = (struct canfd_frame *)ccf;
+ }
+
+ if (!skb) {
+ netdev->stats.rx_dropped++;
+ return 0;
+ }
+ cfd->can_id = can_id;
+ if (es58x_flags & ES58X_FLAG_EFF)
+ cfd->can_id |= CAN_EFF_FLAG;
+ if (is_can_fd) {
+ cfd->len = len;
+ if (es58x_flags & ES58X_FLAG_FD_BRS)
+ cfd->flags |= CANFD_BRS;
+ if (es58x_flags & ES58X_FLAG_FD_ESI)
+ cfd->flags |= CANFD_ESI;
+ } else {
+ can_frame_set_cc_len(ccf, dlc, es58x_priv(netdev)->can.ctrlmode);
+ if (es58x_flags & ES58X_FLAG_RTR) {
+ ccf->can_id |= CAN_RTR_FLAG;
+ len = 0;
+ }
+ }
+ memcpy(cfd->data, data, len);
+ netdev->stats.rx_packets++;
+ netdev->stats.rx_bytes += len;
+
+ es58x_set_skb_timestamp(netdev, skb, timestamp);
+ netif_rx(skb);
+
+ es58x_priv(netdev)->err_passive_before_rtx_success = 0;
+
+ return 0;
+}
+
+/**
+ * es58x_rx_err_msg() - Handle a received CAN event or error message.
+ * @netdev: CAN network device.
+ * @error: Error code.
+ * @event: Event code.
+ * @timestamp: Timestamp received from a ES58X device.
+ *
+ * Handle the errors and events received by the ES58X device, create
+ * a CAN error skb and post it.
+ *
+ * In some rare cases the devices might get stuck alternating between
+ * CAN_STATE_ERROR_PASSIVE and CAN_STATE_ERROR_WARNING. To prevent
+ * this behavior, we force a bus off state if the device goes in
+ * CAN_STATE_ERROR_WARNING for ES58X_MAX_CONSECUTIVE_WARN consecutive
+ * times with no successful transmission or reception in between.
+ *
+ * Once the device is in bus off state, the only way to restart it is
+ * through the drivers/net/can/dev.c:can_restart() function. The
+ * device is technically capable to recover by itself under certain
+ * circumstances, however, allowing self recovery would create
+ * complex race conditions with drivers/net/can/dev.c:can_restart()
+ * and thus was not implemented. To activate automatic restart, please
+ * set the restart-ms parameter (e.g. ip link set can0 type can
+ * restart-ms 100).
+ *
+ * If the bus is really instable, this function would try to send a
+ * lot of log messages. Those are rate limited (i.e. you will see
+ * messages such as "net_ratelimit: XXX callbacks suppressed" in
+ * dmesg).
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_rx_err_msg(struct net_device *netdev, enum es58x_err error,
+ enum es58x_event event, u64 timestamp)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct can_priv *can = netdev_priv(netdev);
+ struct can_device_stats *can_stats = &can->can_stats;
+ struct can_frame *cf;
+ struct sk_buff *skb;
+
+ if (!netif_running(netdev)) {
+ if (net_ratelimit())
+ netdev_info(netdev, "%s: %s is down, dropping packet\n",
+ __func__, netdev->name);
+ netdev->stats.rx_dropped++;
+ return 0;
+ }
+
+ if (error == ES58X_ERR_OK && event == ES58X_EVENT_OK) {
+ netdev_err(netdev, "%s: Both error and event are zero\n",
+ __func__);
+ return -EINVAL;
+ }
+
+ skb = alloc_can_err_skb(netdev, &cf);
+
+ switch (error) {
+ case ES58X_ERR_OK: /* 0: No error */
+ break;
+
+ case ES58X_ERR_PROT_STUFF:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error BITSUFF\n");
+ if (cf)
+ cf->data[2] |= CAN_ERR_PROT_STUFF;
+ break;
+
+ case ES58X_ERR_PROT_FORM:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error FORMAT\n");
+ if (cf)
+ cf->data[2] |= CAN_ERR_PROT_FORM;
+ break;
+
+ case ES58X_ERR_ACK:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error ACK\n");
+ if (cf)
+ cf->can_id |= CAN_ERR_ACK;
+ break;
+
+ case ES58X_ERR_PROT_BIT:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error BIT\n");
+ if (cf)
+ cf->data[2] |= CAN_ERR_PROT_BIT;
+ break;
+
+ case ES58X_ERR_PROT_CRC:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error CRC\n");
+ if (cf)
+ cf->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
+ break;
+
+ case ES58X_ERR_PROT_BIT1:
+ if (net_ratelimit())
+ netdev_dbg(netdev,
+ "Error: expected a recessive bit but monitored a dominant one\n");
+ if (cf)
+ cf->data[2] |= CAN_ERR_PROT_BIT1;
+ break;
+
+ case ES58X_ERR_PROT_BIT0:
+ if (net_ratelimit())
+ netdev_dbg(netdev,
+ "Error expected a dominant bit but monitored a recessive one\n");
+ if (cf)
+ cf->data[2] |= CAN_ERR_PROT_BIT0;
+ break;
+
+ case ES58X_ERR_PROT_OVERLOAD:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error OVERLOAD\n");
+ if (cf)
+ cf->data[2] |= CAN_ERR_PROT_OVERLOAD;
+ break;
+
+ case ES58X_ERR_PROT_UNSPEC:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Unspecified error\n");
+ if (cf)
+ cf->can_id |= CAN_ERR_PROT;
+ break;
+
+ default:
+ if (net_ratelimit())
+ netdev_err(netdev,
+ "%s: Unspecified error code 0x%04X\n",
+ __func__, (int)error);
+ if (cf)
+ cf->can_id |= CAN_ERR_PROT;
+ break;
+ }
+
+ switch (event) {
+ case ES58X_EVENT_OK: /* 0: No event */
+ break;
+
+ case ES58X_EVENT_CRTL_ACTIVE:
+ if (can->state == CAN_STATE_BUS_OFF) {
+ netdev_err(netdev,
+ "%s: state transition: BUS OFF -> ACTIVE\n",
+ __func__);
+ }
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Event CAN BUS ACTIVE\n");
+ if (cf)
+ cf->data[1] |= CAN_ERR_CRTL_ACTIVE;
+ can->state = CAN_STATE_ERROR_ACTIVE;
+ break;
+
+ case ES58X_EVENT_CRTL_PASSIVE:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Event CAN BUS PASSIVE\n");
+ /* Either TX or RX error count reached passive state
+ * but we do not know which. Setting both flags by
+ * default.
+ */
+ if (cf) {
+ cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
+ cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
+ }
+ if (can->state < CAN_STATE_BUS_OFF)
+ can->state = CAN_STATE_ERROR_PASSIVE;
+ can_stats->error_passive++;
+ if (priv->err_passive_before_rtx_success < U8_MAX)
+ priv->err_passive_before_rtx_success++;
+ break;
+
+ case ES58X_EVENT_CRTL_WARNING:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Event CAN BUS WARNING\n");
+ /* Either TX or RX error count reached warning state
+ * but we do not know which. Setting both flags by
+ * default.
+ */
+ if (cf) {
+ cf->data[1] |= CAN_ERR_CRTL_RX_WARNING;
+ cf->data[1] |= CAN_ERR_CRTL_TX_WARNING;
+ }
+ if (can->state < CAN_STATE_BUS_OFF)
+ can->state = CAN_STATE_ERROR_WARNING;
+ can_stats->error_warning++;
+ break;
+
+ case ES58X_EVENT_BUSOFF:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Event CAN BUS OFF\n");
+ netif_stop_queue(netdev);
+ if (can->state != CAN_STATE_BUS_OFF) {
+ can->state = CAN_STATE_BUS_OFF;
+ can_bus_off(netdev);
+ }
+ if (cf)
+ cf->can_id |= CAN_ERR_BUSOFF;
+ can_stats->bus_off++;
+ break;
+
+ case ES58X_EVENT_SINGLE_WIRE:
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Lost connection on either CAN high or CAN low\n");
+ /* Lost connection on either CAN high or CAN
+ * low. Setting both flags by default.
+ */
+ if (cf) {
+ cf->data[4] |= CAN_ERR_TRX_CANH_NO_WIRE;
+ cf->data[4] |= CAN_ERR_TRX_CANL_NO_WIRE;
+ }
+ break;
+
+ default:
+ if (net_ratelimit())
+ netdev_err(netdev,
+ "%s: Unspecified event code 0x%04X\n",
+ __func__, (int)event);
+ if (cf)
+ cf->can_id |= CAN_ERR_CRTL;
+ break;
+ }
+
+ /* driver/net/can/dev.c:can_restart() takes in account error
+ * messages in the RX stats. Doing the same here for
+ * consistency.
+ */
+ netdev->stats.rx_packets++;
+ netdev->stats.rx_bytes += cf->can_dlc;
+
+ if (cf) {
+ if (cf->data[1])
+ cf->can_id |= CAN_ERR_CRTL;
+ if (cf->data[2] || cf->data[3]) {
+ cf->can_id |= CAN_ERR_PROT;
+ can_stats->bus_error++;
+ }
+ if (cf->data[4])
+ cf->can_id |= CAN_ERR_TRX;
+
+ es58x_set_skb_timestamp(netdev, skb, timestamp);
+ netif_rx(skb);
+ }
+
+ if ((event & ES58X_EVENT_CRTL_PASSIVE) &&
+ priv->err_passive_before_rtx_success ==
+ ES58X_CONSECUTIVE_ERR_PASSIVE_MAX) {
+ netdev_info(netdev,
+ "Got %d consecutive warning events with no successful RX or TX. Forcing bus-off\n",
+ priv->err_passive_before_rtx_success);
+ return es58x_rx_err_msg(netdev, ES58X_ERR_OK,
+ ES58X_EVENT_BUSOFF, timestamp);
+ }
+
+ return 0;
+}
+
+/**
+ * es58x_cmd_ret_desc() - Convert a command type to a string.
+ * @cmd_ret_type: Type of the command which triggered the return code.
+ *
+ * The final line (return "<unknown>") should not be reached. If this
+ * is the case, there is an implementation bug.
+ *
+ * Return: a readable description of the @cmd_ret_type.
+ */
+static const char *es58x_cmd_ret_desc(enum es58x_ret_type cmd_ret_type)
+{
+ switch (cmd_ret_type) {
+ case ES58X_RET_TYPE_SET_BITTIMING:
+ return "Set bittiming";
+ case ES58X_RET_TYPE_ENABLE_CHANNEL:
+ return "Enable channel";
+ case ES58X_RET_TYPE_DISABLE_CHANNEL:
+ return "Disable channel";
+ case ES58X_RET_TYPE_TX_MSG:
+ return "Transmit message";
+ case ES58X_RET_TYPE_RESET_RX:
+ return "Reset RX";
+ case ES58X_RET_TYPE_RESET_TX:
+ return "Reset TX";
+ case ES58X_RET_TYPE_DEVICE_ERR:
+ return "Device error";
+ }
+
+ return "<unknown>";
+};
+
+/**
+ * es58x_rx_cmd_ret_u8() - Handle the command's return code received
+ * from the ES58X device.
+ * @dev: Device, only used for the dev_XXX() print functions.
+ * @cmd_ret_type: Type of the command which triggered the return code.
+ * @rx_cmd_ret_u8: Command error code as returned by the ES58X device.
+ *
+ * Handles the 8 bits command return code. Those are specific to the
+ * ES581.4 device. The return value will eventually be used by
+ * es58x_handle_urb_cmd() function which will take proper actions in
+ * case of critical issues such and memory errors or bad CRC values.
+ *
+ * In contrast with es58x_rx_cmd_ret_u32(), the network device is
+ * unknown.
+ *
+ * Return: zero on success, return errno when any error occurs.
+ */
+int es58x_rx_cmd_ret_u8(struct device *dev,
+ enum es58x_ret_type cmd_ret_type,
+ enum es58x_ret_u8 rx_cmd_ret_u8)
+{
+ const char *ret_desc = es58x_cmd_ret_desc(cmd_ret_type);
+
+ switch (rx_cmd_ret_u8) {
+ case ES58X_RET_U8_OK:
+ dev_dbg_ratelimited(dev, "%s: OK\n", ret_desc);
+ return 0;
+
+ case ES58X_RET_U8_ERR_UNSPECIFIED_FAILURE:
+ dev_err(dev, "%s: unspecified failure\n", ret_desc);
+ return -EBADMSG;
+
+ case ES58X_RET_U8_ERR_NO_MEM:
+ dev_err(dev, "%s: device ran out of memory\n", ret_desc);
+ return -ENOMEM;
+
+ case ES58X_RET_U8_ERR_BAD_CRC:
+ dev_err(dev, "%s: CRC of previous command is incorrect\n",
+ ret_desc);
+ return -EIO;
+
+ default:
+ dev_err(dev, "%s: returned unknown value: 0x%02X\n",
+ ret_desc, rx_cmd_ret_u8);
+ return -EBADMSG;
+ }
+
+ return 0;
+}
+
+/**
+ * es58x_rx_cmd_ret_u32() - Handle the command return code received
+ * from the ES58X device.
+ * @netdev: CAN network device.
+ * @cmd_ret_type: Type of the command which triggered the return code.
+ * @rx_cmd_ret_u32: error code as returned by the ES58X device.
+ *
+ * Handles the 32 bits command return code. The return value will
+ * eventually be used by es58x_handle_urb_cmd() function which will
+ * take proper actions in case of critical issues such and memory
+ * errors or bad CRC values.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_rx_cmd_ret_u32(struct net_device *netdev,
+ enum es58x_ret_type cmd_ret_type,
+ enum es58x_ret_u32 rx_cmd_ret_u32)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ const char *ret_desc = es58x_cmd_ret_desc(cmd_ret_type);
+
+ switch (rx_cmd_ret_u32) {
+ case ES58X_RET_U32_OK:
+ switch (cmd_ret_type) {
+ case ES58X_RET_TYPE_ENABLE_CHANNEL:
+ es58x_flush_pending_tx_msg(netdev);
+ es58x_can_flush_echo_skb(netdev);
+ priv->err_passive_before_rtx_success = 0;
+ priv->can.state = CAN_STATE_ERROR_ACTIVE;
+ netif_wake_queue(netdev);
+ netdev_info(netdev,
+ "%s (Serial Number %s): CAN%d channel becomes ready\n",
+ priv->es58x_dev->udev->product,
+ priv->es58x_dev->udev->serial,
+ priv->channel_idx + 1);
+ break;
+
+ case ES58X_RET_TYPE_TX_MSG:
+ if (net_ratelimit())
+ netdev_vdbg(netdev, "%s: OK\n", ret_desc);
+ break;
+
+ default:
+ netdev_dbg(netdev, "%s: OK\n", ret_desc);
+ break;
+ }
+ return 0;
+
+ case ES58X_RET_U32_ERR_UNSPECIFIED_FAILURE:
+ if (cmd_ret_type == ES58X_RET_TYPE_DISABLE_CHANNEL) {
+ netdev_dbg(netdev,
+ "%s: channel is already closed\n", ret_desc);
+ return 0;
+ }
+ netdev_err(netdev,
+ "%s: unspecified failure\n", ret_desc);
+ return -EBADMSG;
+
+ case ES58X_RET_U32_ERR_NO_MEM:
+ netdev_err(netdev, "%s: device ran out of memory\n", ret_desc);
+ return -ENOMEM;
+
+ case ES58X_RET_U32_WARN_PARAM_ADJUSTED:
+ netdev_warn(netdev,
+ "%s: some incompatible parameters have been adjusted\n",
+ ret_desc);
+ return 0;
+
+ case ES58X_RET_U32_WARN_TX_MAYBE_REORDER:
+ netdev_warn(netdev,
+ "%s: TX messages might have been reordered\n",
+ ret_desc);
+ return 0;
+
+ case ES58X_RET_U32_ERR_TIMEDOUT:
+ netdev_err(netdev, "%s: command timed out\n", ret_desc);
+ return -ETIMEDOUT;
+
+ case ES58X_RET_U32_ERR_FIFO_FULL:
+ netdev_warn(netdev, "%s: fifo is full\n", ret_desc);
+ return 0;
+
+ case ES58X_RET_U32_ERR_BAD_CONFIG:
+ netdev_err(netdev, "%s: bad configuration\n", ret_desc);
+ return -EINVAL;
+
+ case ES58X_RET_U32_ERR_NO_RESOURCE:
+ netdev_err(netdev, "%s: no resource available\n", ret_desc);
+ return -EBUSY;
+
+ default:
+ netdev_err(netdev, "%s returned unknown value: 0x%08X\n",
+ ret_desc, rx_cmd_ret_u32);
+ return -EBADMSG;
+ }
+
+ return 0;
+}
+
+/**
+ * es58x_increment_rx_errors() - Increment the network devices' error
+ * count.
+ * @es58x_dev: ES58X device.
+ *
+ * If an error occurs on the early stages on receiving an URB command,
+ * we might not be able to figure out on which network device the
+ * error occurred. In such case, we arbitrarily increment the error
+ * count of all the network devices attached to our ES58X device.
+ */
+static void es58x_increment_rx_errors(struct es58x_device *es58x_dev)
+{
+ int i;
+
+ for (i = 0; i < es58x_dev->num_can_ch; i++)
+ if (es58x_dev->netdev[i])
+ es58x_dev->netdev[i]->stats.rx_errors++;
+}
+
+/**
+ * es58x_handle_urb_cmd() - Handle the URB command
+ * @es58x_dev: ES58X device.
+ * @urb_cmd: The URB command received from the ES58X device, might not
+ * be aligned.
+ *
+ * Sends the URB command to the device specific function. Manages the
+ * errors throwed back by those functions.
+ */
+static void es58x_handle_urb_cmd(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd)
+{
+ const struct es58x_operators *ops = es58x_dev->ops;
+ size_t cmd_len;
+ int i, ret;
+
+ ret = ops->handle_urb_cmd(es58x_dev, urb_cmd);
+ switch (ret) {
+ case 0: /* OK */
+ return;
+
+ case -ENODEV:
+ dev_err_ratelimited(es58x_dev->dev, "Device is not ready\n");
+ break;
+
+ case -EINVAL:
+ case -EMSGSIZE:
+ case -EBADRQC:
+ case -EBADMSG:
+ case -ECHRNG:
+ case -ETIMEDOUT:
+ cmd_len = es58x_get_urb_cmd_len(es58x_dev,
+ ops->get_msg_len(urb_cmd));
+ dev_err(es58x_dev->dev,
+ "ops->handle_urb_cmd() returned error %pe",
+ ERR_PTR(ret));
+ es58x_print_hex_dump(urb_cmd, cmd_len);
+ break;
+
+ case -EFAULT:
+ case -ENOMEM:
+ case -EIO:
+ default:
+ dev_crit(es58x_dev->dev,
+ "ops->handle_urb_cmd() returned error %pe, detaching all network devices\n",
+ ERR_PTR(ret));
+ for (i = 0; i < es58x_dev->num_can_ch; i++)
+ if (es58x_dev->netdev[i])
+ netif_device_detach(es58x_dev->netdev[i]);
+ break;
+ }
+
+ /* Because the urb command could not fully be parsed,
+ * channel_id is not confirmed. Incrementing rx_errors count
+ * of all channels.
+ */
+ es58x_increment_rx_errors(es58x_dev);
+}
+
+/**
+ * es58x_check_rx_urb() - Check the length and format of the URB command.
+ * @es58x_dev: ES58X device.
+ * @urb_cmd: The URB command received from the ES58X device, might not
+ * be aligned.
+ * @urb_actual_len: The actual length of the URB command.
+ *
+ * Check if the first message of the received urb is valid, that is to
+ * say that both the header and the length are coherent.
+ *
+ * Return:
+ * the length of the first message of the URB on success.
+ *
+ * -ENODATA if the URB command is incomplete (in which case, the URB
+ * command should be buffered and combined with the next URB to try to
+ * reconstitute the URB command).
+ *
+ * -EOVERFLOW if the length is bigger than the maximum expected one.
+ *
+ * -EBADRQC if the start of frame does not match the expected value.
+ */
+static signed int es58x_check_rx_urb(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd,
+ u32 urb_actual_len)
+{
+ const struct device *dev = es58x_dev->dev;
+ const struct es58x_parameters *param = es58x_dev->param;
+ u16 sof, msg_len;
+ signed int urb_cmd_len, ret;
+
+ if (urb_actual_len < param->urb_cmd_header_len) {
+ dev_vdbg(dev,
+ "%s: Received %d bytes [%*ph]: header incomplete\n",
+ __func__, urb_actual_len, urb_actual_len,
+ urb_cmd->raw_cmd);
+ return -ENODATA;
+ }
+
+ sof = get_unaligned_le16(&urb_cmd->sof);
+ if (sof != param->rx_start_of_frame) {
+ dev_err_ratelimited(es58x_dev->dev,
+ "%s: Expected sequence 0x%04X for start of frame but got 0x%04X.\n",
+ __func__, param->rx_start_of_frame, sof);
+ return -EBADRQC;
+ }
+
+ msg_len = es58x_dev->ops->get_msg_len(urb_cmd);
+ urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+ if (urb_cmd_len > param->rx_urb_cmd_max_len) {
+ dev_err_ratelimited(es58x_dev->dev,
+ "%s: Biggest expected size for rx urb_cmd is %u but receive a command of size %d\n",
+ __func__,
+ param->rx_urb_cmd_max_len, urb_cmd_len);
+ return -EOVERFLOW;
+ } else if (urb_actual_len < urb_cmd_len) {
+ dev_vdbg(dev, "%s: Received %02d/%02d bytes\n",
+ __func__, urb_actual_len, urb_cmd_len);
+ return -ENODATA;
+ }
+
+ ret = es58x_check_crc(es58x_dev, urb_cmd, urb_cmd_len);
+ if (ret)
+ return ret;
+
+ return urb_cmd_len;
+}
+
+/**
+ * es58x_flush_cmd_buf() - Reset the buffer for URB commands.
+ * @es58x_dev: ES58X device.
+ */
+static void es58x_flush_cmd_buf(struct es58x_device *es58x_dev)
+{
+ memset(&es58x_dev->rx_cmd_buf, 0, es58x_dev->param->rx_urb_cmd_max_len);
+ es58x_dev->rx_cmd_buf_len = 0;
+}
+
+/**
+ * es58x_copy_to_cmd_buf() - Copy an array to the URB command buffer.
+ * @es58x_dev: ES58X device.
+ * @raw_cmd: the buffer we want to copy.
+ * @raw_cmd_len: length of @raw_cmd.
+ *
+ * Concatenates @raw_cmd_len bytes of @raw_cmd to the end of the URB
+ * command buffer.
+ *
+ * Return: zero on success, -EMSGSIZE if not enough space is available
+ * to do the copy.
+ */
+static int es58x_copy_to_cmd_buf(struct es58x_device *es58x_dev,
+ u8 *raw_cmd, int raw_cmd_len)
+{
+ if (es58x_dev->rx_cmd_buf_len + raw_cmd_len >
+ es58x_dev->param->rx_urb_cmd_max_len)
+ return -EMSGSIZE;
+
+ memcpy(&es58x_dev->rx_cmd_buf.raw_cmd[es58x_dev->rx_cmd_buf_len],
+ raw_cmd, raw_cmd_len);
+ es58x_dev->rx_cmd_buf_len += raw_cmd_len;
+
+ return 0;
+}
+
+/**
+ * es58x_split_urb_try_recovery() - Try to recover bad URB sequences.
+ * @es58x_dev: ES58X device.
+ * @raw_cmd: pointer to the buffer we want to copy.
+ * @raw_cmd_len: length of @raw_cmd.
+ *
+ * Under some rare conditions, we might get incorrect URBs from the
+ * device. From our observations, one of the valid URB gets replaced
+ * by one from the past. The full root cause is not identified.
+ *
+ * This function looks for the next start of frame in the urb buffer
+ * in order to try to recover.
+ *
+ * Such behavior was not observed on the devices of the ES58X FD
+ * family and only seems to impact the ES581.4.
+ *
+ * Return: the number of bytes dropped on success, -EBADMSG if recovery failed.
+ */
+static int es58x_split_urb_try_recovery(struct es58x_device *es58x_dev,
+ u8 *raw_cmd, size_t raw_cmd_len)
+{
+ union es58x_urb_cmd *urb_cmd;
+ signed int urb_cmd_len;
+ u16 sof;
+ int dropped_bytes = 0;
+
+ es58x_increment_rx_errors(es58x_dev);
+
+ while (raw_cmd_len > sizeof(sof)) {
+ urb_cmd = (union es58x_urb_cmd *)raw_cmd;
+ sof = get_unaligned_le16(&urb_cmd->sof);
+
+ if (sof == es58x_dev->param->rx_start_of_frame) {
+ urb_cmd_len = es58x_check_rx_urb(es58x_dev,
+ urb_cmd, raw_cmd_len);
+ if ((urb_cmd_len == -ENODATA) || urb_cmd_len > 0) {
+ dev_info_ratelimited(es58x_dev->dev,
+ "Recovery successful! Dropped %d bytes (urb_cmd_len: %d)\n",
+ dropped_bytes,
+ urb_cmd_len);
+ return dropped_bytes;
+ }
+ }
+ raw_cmd++;
+ raw_cmd_len--;
+ dropped_bytes++;
+ }
+
+ dev_warn_ratelimited(es58x_dev->dev, "%s: Recovery failed\n", __func__);
+ return -EBADMSG;
+}
+
+/**
+ * es58x_handle_incomplete_cmd() - Reconstitute an URB command from
+ * different URB pieces.
+ * @es58x_dev: ES58X device.
+ * @urb: last urb buffer received.
+ *
+ * The device might split the URB commands in an arbitrary amount of
+ * pieces. This function concatenates those in an URB buffer until a
+ * full URB command is reconstituted and consume it.
+ *
+ * Return:
+ * number of bytes consumed from @urb if successful.
+ *
+ * -ENODATA if the URB command is still incomplete.
+ *
+ * -EBADMSG if the URB command is incorrect.
+ */
+static signed int es58x_handle_incomplete_cmd(struct es58x_device *es58x_dev,
+ struct urb *urb)
+{
+ size_t cpy_len;
+ signed int urb_cmd_len, tmp_cmd_buf_len, ret;
+
+ tmp_cmd_buf_len = es58x_dev->rx_cmd_buf_len;
+ cpy_len = min_t(int, es58x_dev->param->rx_urb_cmd_max_len -
+ es58x_dev->rx_cmd_buf_len, urb->actual_length);
+ ret = es58x_copy_to_cmd_buf(es58x_dev, urb->transfer_buffer, cpy_len);
+ if (ret < 0)
+ return ret;
+
+ urb_cmd_len = es58x_check_rx_urb(es58x_dev, &es58x_dev->rx_cmd_buf,
+ es58x_dev->rx_cmd_buf_len);
+ if (urb_cmd_len == -ENODATA) {
+ return -ENODATA;
+ } else if (urb_cmd_len < 0) {
+ dev_err_ratelimited(es58x_dev->dev,
+ "Could not reconstitute incomplete command from previous URB, dropping %d bytes\n",
+ tmp_cmd_buf_len + urb->actual_length);
+ dev_err_ratelimited(es58x_dev->dev,
+ "Error code: %pe, es58x_dev->rx_cmd_buf_len: %d, urb->actual_length: %u\n",
+ ERR_PTR(urb_cmd_len),
+ tmp_cmd_buf_len, urb->actual_length);
+ es58x_print_hex_dump(&es58x_dev->rx_cmd_buf, tmp_cmd_buf_len);
+ es58x_print_hex_dump(urb->transfer_buffer, urb->actual_length);
+ return urb->actual_length;
+ }
+
+ es58x_handle_urb_cmd(es58x_dev, &es58x_dev->rx_cmd_buf);
+ return urb_cmd_len - tmp_cmd_buf_len; /* consumed length */
+}
+
+/**
+ * es58x_split_urb() - Cut the received URB in individual URB commands.
+ * @es58x_dev: ES58X device.
+ * @urb: last urb buffer received.
+ *
+ * The device might send urb in bulk format (i.e. several URB commands
+ * concatenated together). This function will split all the commands
+ * contained in the urb.
+ *
+ * Return:
+ * number of bytes consumed from @urb if successful.
+ *
+ * -ENODATA if the URB command is still incomplete.
+ *
+ * -EBADMSG if the URB command is incorrect.
+ */
+static signed int es58x_split_urb(struct es58x_device *es58x_dev,
+ struct urb *urb)
+{
+ const u8 es58x_is_alive = 0x11;
+ union es58x_urb_cmd *urb_cmd;
+ u8 *raw_cmd = urb->transfer_buffer;
+ ssize_t raw_cmd_len = urb->actual_length;
+ int ret;
+
+ if (es58x_dev->rx_cmd_buf_len != 0) {
+ ret = es58x_handle_incomplete_cmd(es58x_dev, urb);
+ if (ret != -ENODATA)
+ es58x_flush_cmd_buf(es58x_dev);
+ if (ret < 0)
+ return ret;
+
+ raw_cmd += ret;
+ raw_cmd_len -= ret;
+ }
+
+ while (raw_cmd_len > 0) {
+ if (raw_cmd[0] == es58x_is_alive) {
+ raw_cmd++;
+ raw_cmd_len--;
+ continue;
+ }
+ urb_cmd = (union es58x_urb_cmd *)raw_cmd;
+ ret = es58x_check_rx_urb(es58x_dev, urb_cmd, raw_cmd_len);
+ if (ret > 0) {
+ es58x_handle_urb_cmd(es58x_dev, urb_cmd);
+ } else if (ret == -ENODATA) {
+ es58x_copy_to_cmd_buf(es58x_dev, raw_cmd, raw_cmd_len);
+ return -ENODATA;
+ } else if (ret < 0) {
+ ret = es58x_split_urb_try_recovery(es58x_dev, raw_cmd,
+ raw_cmd_len);
+ if (ret < 0)
+ return ret;
+ }
+ raw_cmd += ret;
+ raw_cmd_len -= ret;
+ }
+
+ return 0;
+}
+
+/**
+ * es58x_read_bulk_callback() - Callback for reading data from device.
+ * @urb: last urb buffer received.
+ *
+ * This function gets eventually called each time an URB is received
+ * from the ES58X device.
+ *
+ * Checks urb status, calls read function and resubmits urb read
+ * operation.
+ */
+static void es58x_read_bulk_callback(struct urb *urb)
+{
+ struct es58x_device *es58x_dev = urb->context;
+ const struct device *dev = es58x_dev->dev;
+ int i, ret;
+
+ switch (urb->status) {
+ case 0: /* success */
+ break;
+
+ case -EOVERFLOW:
+ dev_err_ratelimited(dev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ es58x_print_hex_dump_debug(urb->transfer_buffer,
+ urb->transfer_buffer_length);
+ goto resubmit_urb;
+
+ case -EPROTO:
+ dev_warn_ratelimited(dev, "%s: error %pe. Device unplugged?\n",
+ __func__, ERR_PTR(urb->status));
+ goto free_urb;
+
+ case -ENOENT:
+ case -EPIPE:
+ dev_err_ratelimited(dev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ goto free_urb;
+
+ case -ESHUTDOWN:
+ dev_dbg_ratelimited(dev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ goto free_urb;
+
+ default:
+ dev_err_ratelimited(dev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ goto resubmit_urb;
+ }
+
+ ret = es58x_split_urb(es58x_dev, urb);
+ if ((ret != -ENODATA) && ret < 0) {
+ dev_err(es58x_dev->dev, "es58x_split_urb() returned error %pe",
+ ERR_PTR(ret));
+ es58x_print_hex_dump_debug(urb->transfer_buffer,
+ urb->actual_length);
+
+ /* Because the urb command could not be parsed,
+ * channel_id is not confirmed. Incrementing rx_errors
+ * count of all channels.
+ */
+ es58x_increment_rx_errors(es58x_dev);
+ }
+
+ resubmit_urb:
+ usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->rx_pipe,
+ urb->transfer_buffer, urb->transfer_buffer_length,
+ es58x_read_bulk_callback, es58x_dev);
+
+ ret = usb_submit_urb(urb, GFP_ATOMIC);
+ if (ret == -ENODEV) {
+ for (i = 0; i < es58x_dev->num_can_ch; i++)
+ if (es58x_dev->netdev[i])
+ netif_device_detach(es58x_dev->netdev[i]);
+ } else if (ret)
+ dev_err_ratelimited(dev,
+ "Failed resubmitting read bulk urb: %pe\n",
+ ERR_PTR(ret));
+ return;
+
+ free_urb:
+ usb_free_coherent(urb->dev, urb->transfer_buffer_length,
+ urb->transfer_buffer, urb->transfer_dma);
+}
+
+/**
+ * es58x_write_bulk_callback() - Callback after writing data to the device.
+ * @urb: urb buffer which was previously submitted.
+ *
+ * This function gets eventually called each time an URB was sent to
+ * the ES58X device.
+ *
+ * Puts the @urb back to the urbs idle anchor and tries to restart the
+ * network queue.
+ */
+static void es58x_write_bulk_callback(struct urb *urb)
+{
+ struct net_device *netdev = urb->context;
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+
+ switch (urb->status) {
+ case 0: /* success */
+ break;
+
+ case -EOVERFLOW:
+ if (net_ratelimit())
+ netdev_err(netdev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ es58x_print_hex_dump(urb->transfer_buffer,
+ urb->transfer_buffer_length);
+ break;
+
+ case -ENOENT:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ usb_free_coherent(urb->dev,
+ es58x_dev->param->tx_urb_cmd_max_len,
+ urb->transfer_buffer, urb->transfer_dma);
+ return;
+
+ default:
+ if (net_ratelimit())
+ netdev_info(netdev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ break;
+ }
+
+ usb_anchor_urb(urb, &es58x_dev->tx_urbs_idle);
+ atomic_inc(&es58x_dev->tx_urbs_idle_cnt);
+}
+
+/**
+ * es58x_alloc_urb() - Allocate memory for an URB and its transfer
+ * buffer.
+ * @es58x_dev: ES58X device.
+ * @urb: URB to be allocated.
+ * @buf: used to return DMA address of buffer.
+ * @buf_len: requested buffer size.
+ * @mem_flags: affect whether allocation may block.
+ *
+ * Allocates an URB and its @transfer_buffer and set its @transfer_dma
+ * address.
+ *
+ * This function is used at start-up to allocate all RX URBs at once
+ * and during run time for TX URBs.
+ *
+ * Return: zero on success, -ENOMEM if no memory is available.
+ */
+static int es58x_alloc_urb(struct es58x_device *es58x_dev, struct urb **urb,
+ u8 **buf, size_t buf_len, gfp_t mem_flags)
+{
+ *urb = usb_alloc_urb(0, mem_flags);
+ if (!*urb) {
+ dev_err(es58x_dev->dev, "No memory left for URBs\n");
+ return -ENOMEM;
+ }
+
+ *buf = usb_alloc_coherent(es58x_dev->udev, buf_len,
+ mem_flags, &(*urb)->transfer_dma);
+ if (!*buf) {
+ dev_err(es58x_dev->dev, "No memory left for USB buffer\n");
+ usb_free_urb(*urb);
+ return -ENOMEM;
+ }
+
+ (*urb)->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
+
+ return 0;
+}
+
+/**
+ * es58x_get_tx_urb() - Get an URB for transmission.
+ * @es58x_dev: ES58X device.
+ *
+ * Gets an URB from the idle urbs anchor or allocate a new one if the
+ * anchor is empty.
+ *
+ * If there are more than ES58X_TX_URBS_MAX in the idle anchor, do
+ * some garbage collection. The garbage collection is done here
+ * instead of within es58x_write_bulk_callback() because
+ * usb_free_coherent() should not be used in IRQ context:
+ * c.f. WARN_ON(irqs_disabled()) in dma_free_attrs().
+ *
+ * Return: a pointer to an URB on success, NULL if no memory is
+ * available.
+ */
+static struct urb *es58x_get_tx_urb(struct es58x_device *es58x_dev)
+{
+ atomic_t *idle_cnt = &es58x_dev->tx_urbs_idle_cnt;
+ struct urb *urb = usb_get_from_anchor(&es58x_dev->tx_urbs_idle);
+
+ if (!urb) {
+ size_t tx_buf_len;
+ u8 *buf;
+
+ tx_buf_len = es58x_dev->param->tx_urb_cmd_max_len;
+ if (es58x_alloc_urb(es58x_dev, &urb, &buf, tx_buf_len,
+ GFP_ATOMIC))
+ return NULL;
+
+ usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->tx_pipe,
+ buf, tx_buf_len, NULL, NULL);
+ return urb;
+ }
+
+ while (atomic_dec_return(idle_cnt) > ES58X_TX_URBS_MAX) {
+ /* Garbage collector */
+ struct urb *tmp = usb_get_from_anchor(&es58x_dev->tx_urbs_idle);
+
+ if (!tmp)
+ break;
+ usb_free_coherent(tmp->dev,
+ es58x_dev->param->tx_urb_cmd_max_len,
+ tmp->transfer_buffer, tmp->transfer_dma);
+ usb_free_urb(tmp);
+ }
+
+ return urb;
+}
+
+/**
+ * es58x_submit_urb() - Send data to the device.
+ * @es58x_dev: ES58X device.
+ * @urb: URB to be sent.
+ * @netdev: CAN network device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_submit_urb(struct es58x_device *es58x_dev, struct urb *urb,
+ struct net_device *netdev)
+{
+ int ret;
+
+ es58x_set_crc(urb->transfer_buffer, urb->transfer_buffer_length);
+ usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->tx_pipe,
+ urb->transfer_buffer, urb->transfer_buffer_length,
+ es58x_write_bulk_callback, netdev);
+ usb_anchor_urb(urb, &es58x_dev->tx_urbs_busy);
+ ret = usb_submit_urb(urb, GFP_ATOMIC);
+ if (ret) {
+ netdev_err(netdev, "%s: USB send urb failure: %pe\n",
+ __func__, ERR_PTR(ret));
+ usb_unanchor_urb(urb);
+ usb_free_coherent(urb->dev,
+ es58x_dev->param->tx_urb_cmd_max_len,
+ urb->transfer_buffer, urb->transfer_dma);
+ }
+ usb_free_urb(urb);
+
+ return ret;
+}
+
+/**
+ * es58x_send_msg() - Prepare an URB and submit it.
+ * @es58x_dev: ES58X device.
+ * @cmd_type: Command type.
+ * @cmd_id: Command ID.
+ * @msg: ES58X message to be sent.
+ * @msg_len: Length of @msg.
+ * @channel_idx: Index of the network device.
+ *
+ * Creates an URB command from a given message, sets the header and the
+ * CRC and then submits it.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_send_msg(struct es58x_device *es58x_dev, u8 cmd_type, u8 cmd_id,
+ const void *msg, u16 msg_len, int channel_idx)
+{
+ struct net_device *netdev;
+ union es58x_urb_cmd *urb_cmd;
+ struct urb *urb;
+ int urb_cmd_len;
+
+ if (channel_idx == ES58X_CHANNEL_IDX_NA)
+ netdev = es58x_dev->netdev[0]; /* Default to first channel */
+ else
+ netdev = es58x_dev->netdev[channel_idx];
+
+ urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+ if (urb_cmd_len > es58x_dev->param->tx_urb_cmd_max_len)
+ return -EOVERFLOW;
+
+ urb = es58x_get_tx_urb(es58x_dev);
+ if (!urb)
+ return -ENOMEM;
+
+ urb_cmd = urb->transfer_buffer;
+ es58x_dev->ops->fill_urb_header(urb_cmd, cmd_type, cmd_id,
+ channel_idx, msg_len);
+ memcpy(&urb_cmd->raw_cmd[es58x_dev->param->urb_cmd_header_len],
+ msg, msg_len);
+ urb->transfer_buffer_length = urb_cmd_len;
+
+ return es58x_submit_urb(es58x_dev, urb, netdev);
+}
+
+/**
+ * es58x_start() - Start USB device.
+ * @es58x_dev: ES58X device.
+ *
+ * Allocate URBs for reception and anchor them.
+ *
+ * This function took a lot of inspiration from the other drivers in
+ * drivers/net/can/usb.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_start(struct es58x_device *es58x_dev)
+{
+ const struct device *dev = es58x_dev->dev;
+ const struct es58x_parameters *param = es58x_dev->param;
+ size_t rx_buf_len;
+ struct urb *urb;
+ u8 *buf;
+ int i;
+ int ret = -EINVAL;
+
+ rx_buf_len = es58x_dev->rx_max_packet_size;
+ dev_dbg(dev, "%s: Allocation %d rx URBs each of size %zu\n", __func__,
+ param->rx_urb_max, rx_buf_len);
+
+ for (i = 0; i < param->rx_urb_max; i++) {
+ ret = es58x_alloc_urb(es58x_dev, &urb, &buf, rx_buf_len,
+ GFP_KERNEL);
+ if (ret)
+ break;
+
+ usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->rx_pipe,
+ buf, rx_buf_len, es58x_read_bulk_callback,
+ es58x_dev);
+ usb_anchor_urb(urb, &es58x_dev->rx_urbs);
+
+ ret = usb_submit_urb(urb, GFP_KERNEL);
+ if (ret) {
+ usb_unanchor_urb(urb);
+ usb_free_coherent(es58x_dev->udev, rx_buf_len,
+ buf, urb->transfer_dma);
+ usb_free_urb(urb);
+ break;
+ }
+ usb_free_urb(urb);
+ }
+
+ if (i == 0) {
+ dev_err(dev, "%s: Could not setup any rx URBs\n", __func__);
+ return ret;
+ } else if (i < param->rx_urb_max) {
+ dev_warn(dev,
+ "%s: Could only allocate %d on %d URBs. Rx performance may be slow\n",
+ __func__, i, param->rx_urb_max);
+ }
+
+ return ret;
+}
+
+/**
+ * es58x_enable_channel() - Enable the network device.
+ * @netdev: CAN network device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_enable_channel(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ int ret;
+
+ ret = es58x_dev->ops->enable_channel(priv);
+ if (ret)
+ netdev_err(netdev, "%s: Could not enable the channel: %pe\n",
+ __func__, ERR_PTR(ret));
+
+ return ret;
+}
+
+/**
+ * es58x_open() - Open and start network device.
+ * @netdev: CAN network device.
+ *
+ * Called when the network transitions to the up state.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_open(struct net_device *netdev)
+{
+ int ret;
+
+ ret = open_candev(netdev);
+ if (ret)
+ return ret;
+
+ ret = es58x_enable_channel(netdev);
+ if (ret)
+ return ret;
+
+ netif_start_queue(netdev);
+
+ return ret;
+}
+
+/**
+ * es58x_stop() - Disable the network device.
+ * @netdev: CAN network device.
+ *
+ * Called when the network transitions to the down state.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_stop(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+
+ netif_stop_queue(netdev);
+ priv->can.state = CAN_STATE_STOPPED;
+ es58x_can_flush_echo_skb(netdev);
+ close_candev(netdev);
+
+ es58x_flush_pending_tx_msg(netdev);
+
+ return 0;
+}
+
+/**
+ * es58x_xmit_commit() - Send the bulk urb.
+ * @netdev: CAN network device.
+ *
+ * Update the echo FIFO and do a bulk send. This function should be
+ * called only once by bulk transmission.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_xmit_commit(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ int ret;
+
+ if (!es58x_is_can_state_active(netdev)) {
+ netdev_warn(netdev,
+ "%s: Device turned to %s while preparing to send. Aborting transmission\n",
+ __func__, can_get_state_str(priv->can.state));
+ return -ENETDOWN;
+ }
+ priv->tx_head += priv->tx_can_msg_cnt;
+ if (es58x_is_echo_skb_threshold_reached(priv))
+ netif_stop_queue(netdev);
+
+ ret = es58x_submit_urb(priv->es58x_dev, priv->tx_urb, netdev);
+ if (ret)
+ priv->tx_head -= priv->tx_can_msg_cnt;
+ else
+ priv->tx_urb = NULL;
+
+ return ret;
+}
+
+/**
+ * es58x_xmit_more() - Can we put more packets?
+ * @priv: ES58X private parameters related to the network device.
+ *
+ * Return: true if we can put more, false if it is time to send.
+ */
+static bool es58x_xmit_more(struct es58x_priv *priv)
+{
+ unsigned int free_slots =
+ priv->can.echo_skb_max - (priv->tx_head - priv->tx_tail);
+
+ return netdev_xmit_more() &&
+ priv->tx_can_msg_cnt < free_slots &&
+ priv->tx_can_msg_cnt < priv->es58x_dev->param->tx_bulk_max;
+}
+
+/**
+ * es58x_start_xmit() - Transmit an skb.
+ * @skb: socket buffer of a CAN message.
+ * @netdev: CAN network device.
+ *
+ * Called when a packet needs to be transmitted.
+ *
+ * This function relies on Byte Queue Limits (BQL). The main benefit
+ * it to increase the throughput by allowing bulk transfers
+ * (c.f. xmit_more flag).
+ *
+ * Queues up to tx_bulk_max messages in &tx_urb buffer and does
+ * a bulk send of all messages in one single URB.
+ *
+ * Return:
+ * NETDEV_TX_OK if we could manage the @skb (either transmit it or
+ * drop it)
+ *
+ * NETDEV_TX_BUSY if the device is busy (this is a bug, the network
+ * device stop/wake management should prevent this return code to
+ * occur).
+ */
+static netdev_tx_t es58x_start_xmit(struct sk_buff *skb,
+ struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ unsigned int packet_idx, frame_len;
+ int ret;
+
+ if (can_dropped_invalid_skb(netdev, skb)) {
+ if (priv->tx_urb)
+ goto xmit_commit;
+ return NETDEV_TX_OK;
+ }
+
+ if (!priv->tx_urb) {
+ priv->tx_urb = es58x_get_tx_urb(es58x_dev);
+ if (!priv->tx_urb) {
+ ret = -ENOMEM;
+ goto drop_skb;
+ }
+ memset(priv->tx_urb->transfer_buffer, 0,
+ es58x_dev->param->tx_urb_cmd_max_len);
+ priv->tx_urb->transfer_buffer_length =
+ es58x_dev->param->urb_cmd_header_len;
+ priv->tx_can_msg_cnt = 0;
+ priv->tx_can_msg_is_fd = can_is_canfd_skb(skb);
+ } else if (priv->tx_can_msg_is_fd != can_is_canfd_skb(skb)) {
+ /* Can not do bulk send with mixed CAN and CAN FD frames. */
+ ret = es58x_xmit_commit(netdev);
+ if (ret)
+ goto drop_skb;
+ return es58x_start_xmit(skb, netdev);
+ }
+
+ ret = es58x_dev->ops->tx_can_msg(priv, skb);
+ if (ret)
+ goto drop_skb;
+
+ frame_len = can_skb_get_frame_len(skb);
+ netdev_sent_queue(netdev, frame_len);
+ packet_idx = priv->tx_head + priv->tx_can_msg_cnt;
+ ret = can_put_echo_skb(skb, netdev,
+ packet_idx & es58x_dev->param->fifo_mask,
+ frame_len);
+ if (ret)
+ goto xmit_failure;
+
+ priv->tx_can_msg_cnt++;
+
+ xmit_commit:
+ if (!es58x_xmit_more(priv)) {
+ ret = es58x_xmit_commit(netdev);
+ if (ret)
+ goto xmit_failure;
+ }
+
+ return NETDEV_TX_OK;
+
+ drop_skb:
+ dev_kfree_skb(skb);
+ netdev->stats.tx_dropped++;
+ xmit_failure:
+ netdev->stats.tx_errors++;
+ es58x_flush_pending_tx_msg(netdev);
+ netdev_warn(netdev, "%s: send message failure: %pe\n",
+ __func__, ERR_PTR(ret));
+ return NETDEV_TX_OK;
+}
+
+static const struct net_device_ops es58x_netdev_ops = {
+ .ndo_open = es58x_open,
+ .ndo_stop = es58x_stop,
+ .ndo_start_xmit = es58x_start_xmit
+};
+
+/**
+ * es58x_set_bittiming() - Configure all the nominal bit timing
+ * parameters.
+ * @netdev: CAN network device.
+ *
+ * Only relevant for ES581.4 (the ES58X FD family sets the bittiming
+ * parameters at the same time as the channel gets enabled).
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_set_bittiming(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ int ret;
+
+ /* Make sure that channel is closed before sending configuration. */
+ ret = es58x_dev->ops->disable_channel(priv);
+ if (ret)
+ netdev_err(netdev, "%s: Could not disable the channel: %pe\n",
+ __func__, ERR_PTR(ret));
+ ret = es58x_dev->ops->set_bittiming(priv);
+ if (ret)
+ netdev_err(netdev, "%s: Could not set bittiming: %pe\n",
+ __func__, ERR_PTR(ret));
+
+ return ret;
+}
+
+/**
+ * es58x_set_data_bittiming() - Configure all the data bit timing parameters.
+ * @netdev: CAN network device.
+ *
+ * Dummy function: ES58X FD family sets the bittiming
+ * parameters at the same time as the channel gets enabled.
+ *
+ * Return: zero.
+ */
+static int es58x_set_data_bittiming(struct net_device *netdev)
+{
+ return 0;
+}
+
+/**
+ * es58x_reset() - Reset one channel of the device.
+ * @netdev: CAN network device.
+ *
+ * Race conditions might appear when trying to use the reset_rx() and
+ * reset_tx() methods (e.g. echo packets might remain in the queue
+ * causing some use after free issues in
+ * es58x_can_get_echo_skb()). Disabling and reenabling the channel is
+ * safer.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_reset(struct net_device *netdev)
+{
+ int ret = 0;
+
+ if (es58x_is_can_state_active(netdev))
+ es58x_priv(netdev)->can.do_set_mode(netdev, CAN_MODE_STOP);
+
+ ret = es58x_set_bittiming(netdev);
+ if (ret)
+ goto failure;
+ ret = es58x_enable_channel(netdev);
+ if (ret)
+ goto failure;
+
+ return ret;
+
+ failure:
+ netdev_err(netdev, "%s: reset failure: %pe\n", __func__, ERR_PTR(ret));
+ return ret;
+}
+
+/**
+ * es58x_set_mode() - Change network device mode.
+ * @netdev: CAN network device.
+ * @mode: either %CAN_MODE_START, %CAN_MODE_STOP or %CAN_MODE_SLEEP
+ *
+ * This function is used by drivers/net/can/dev.c:can_restart() to
+ * recover from a bus off state. Thus only the only value expected for
+ * @mode is %CAN_MODE_START. None the less, other modes were
+ * implemented as well.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_set_mode(struct net_device *netdev, enum can_mode mode)
+{
+ struct can_priv *can = netdev_priv(netdev);
+
+ switch (mode) {
+ case CAN_MODE_START:
+ switch (can->state) {
+ case CAN_STATE_BUS_OFF:
+ return es58x_reset(netdev);
+
+ case CAN_STATE_STOPPED:
+ case CAN_STATE_SLEEPING:
+ netif_wake_queue(netdev);
+ can->state = CAN_STATE_ERROR_ACTIVE;
+ return 0;
+
+ case CAN_STATE_ERROR_ACTIVE:
+ case CAN_STATE_ERROR_WARNING:
+ case CAN_STATE_ERROR_PASSIVE:
+ default:
+ return 0;
+ }
+
+ case CAN_MODE_STOP:
+ case CAN_MODE_SLEEP:
+ netif_stop_queue(netdev);
+ if (mode == CAN_MODE_STOP)
+ can->state = CAN_STATE_STOPPED;
+ else
+ can->state = CAN_STATE_SLEEPING;
+ return 0;
+
+ default:
+ netdev_err(netdev, "%s: Invalid can_mode value: %d\n",
+ __func__, mode);
+ return -EOPNOTSUPP;
+ }
+}
+
+/**
+ * es58x_init_priv() - Initialize private parameters.
+ * @es58x_dev: ES58X device.
+ * @priv: ES58X private parameters related to the network device.
+ * @channel_idx: Index of the network device.
+ */
+static void es58x_init_priv(struct es58x_device *es58x_dev,
+ struct es58x_priv *priv, int channel_idx)
+{
+ const struct es58x_parameters *param = es58x_dev->param;
+ struct can_priv *can = &priv->can;
+
+ priv->es58x_dev = es58x_dev;
+ priv->channel_idx = channel_idx;
+ priv->tx_urb = NULL;
+ priv->tx_can_msg_cnt = 0;
+
+ can->bittiming_const = param->bittiming_const;
+ can->do_set_bittiming = es58x_set_bittiming;
+ if (param->ctrlmode_supported & CAN_CTRLMODE_FD) {
+ can->data_bittiming_const = param->data_bittiming_const;
+ can->tdc_const = param->tdc_const;
+ can->do_set_data_bittiming = es58x_set_data_bittiming;
+ }
+ can->bitrate_max = param->bitrate_max;
+ can->clock = param->clock;
+ can->state = CAN_STATE_STOPPED;
+ can->ctrlmode_supported = param->ctrlmode_supported;
+ can->do_set_mode = es58x_set_mode;
+}
+
+/**
+ * es58x_init_netdev() - Initialize the network device.
+ * @es58x_dev: ES58X device.
+ * @channel_idx: Index of the network device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_init_netdev(struct es58x_device *es58x_dev, int channel_idx)
+{
+ struct net_device *netdev;
+ struct device *dev = es58x_dev->dev;
+ int ret;
+
+ netdev = alloc_candev(sizeof(struct es58x_priv),
+ es58x_dev->param->fifo_mask + 1);
+ if (!netdev) {
+ dev_err(dev, "Could not allocate candev\n");
+ return -ENOMEM;
+ }
+ SET_NETDEV_DEV(netdev, dev);
+ es58x_dev->netdev[channel_idx] = netdev;
+ es58x_init_priv(es58x_dev, es58x_priv(netdev), channel_idx);
+
+ netdev->netdev_ops = &es58x_netdev_ops;
+ netdev->flags |= IFF_ECHO; /* We support local echo */
+
+ ret = register_candev(netdev);
+ if (ret)
+ return ret;
+ netdev_dbg(netdev, "%s: Registered channel %s\n",
+ es58x_dev->udev->product, netdev->name);
+
+ return ret;
+}
+
+/**
+ * es58x_get_product_info() - Get the product information and print them.
+ * @es58x_dev: ES58X device.
+ *
+ * Do a synchronous call to get the product information.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_get_product_info(struct es58x_device *es58x_dev)
+{
+ struct usb_device *udev = es58x_dev->udev;
+ const int es58x_prod_info_idx = 6;
+ /* Empirical tests show a prod_info length of maximum 83,
+ * below should be more than enough.
+ */
+ const size_t prod_info_len = 127;
+ char *prod_info;
+ int ret;
+
+ prod_info = kmalloc(prod_info_len, GFP_KERNEL);
+ if (!prod_info)
+ return -ENOMEM;
+
+ ret = usb_string(udev, es58x_prod_info_idx, prod_info, prod_info_len);
+ if (ret < 0) {
+ dev_err(es58x_dev->dev,
+ "%s: Could not read the product info: %pe\n",
+ __func__, ERR_PTR(ret));
+ goto out_free;
+ }
+ if (ret >= prod_info_len - 1) {
+ dev_warn(es58x_dev->dev,
+ "%s: Buffer is too small, result might be truncated\n",
+ __func__);
+ }
+ dev_info(es58x_dev->dev, "Product info: %s\n", prod_info);
+
+ out_free:
+ kfree(prod_info);
+ return ret < 0 ? ret : 0;
+}
+
+/**
+ * es58x_init_es58x_dev() - Initialize the ES58X device.
+ * @intf: USB interface
+ * @p_es58x_dev: pointer to the address of the ES58X device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_init_es58x_dev(struct usb_interface *intf,
+ struct es58x_device **p_es58x_dev)
+{
+ struct device *dev = &intf->dev;
+ struct es58x_device *es58x_dev;
+ const struct es58x_parameters *param;
+ const struct es58x_operators *ops;
+ struct usb_device *udev = interface_to_usbdev(intf);
+ struct usb_endpoint_descriptor *ep_in, *ep_out;
+ const u16 usb_id_product = le16_to_cpu(udev->descriptor.idProduct);
+ u8 num_can_ch;
+ int ret;
+
+ dev_info(dev,
+ "Starting %s %s (Serial Number %s) driver version %s\n",
+ udev->manufacturer, udev->product, udev->serial, DRV_VERSION);
+
+ ret = usb_find_common_endpoints(intf->cur_altsetting, &ep_in, &ep_out,
+ NULL, NULL);
+ if (ret)
+ return ret;
+
+ switch (usb_id_product) {
+ default:
+ return -ENODEV;
+ }
+ if (num_can_ch > ARRAY_SIZE(es58x_dev->netdev))
+ return -ECHRNG;
+
+ es58x_dev = kzalloc(es58x_sizeof_es58x_device(param), GFP_KERNEL);
+ if (!es58x_dev)
+ return -ENOMEM;
+
+ es58x_dev->param = param;
+ es58x_dev->ops = ops;
+ es58x_dev->num_can_ch = num_can_ch;
+ es58x_dev->dev = dev;
+ es58x_dev->udev = udev;
+
+ init_usb_anchor(&es58x_dev->rx_urbs);
+ init_usb_anchor(&es58x_dev->tx_urbs_idle);
+ init_usb_anchor(&es58x_dev->tx_urbs_busy);
+ atomic_set(&es58x_dev->tx_urbs_idle_cnt, 0);
+ usb_set_intfdata(intf, es58x_dev);
+
+ es58x_dev->rx_pipe = usb_rcvbulkpipe(es58x_dev->udev,
+ ep_in->bEndpointAddress);
+ es58x_dev->tx_pipe = usb_sndbulkpipe(es58x_dev->udev,
+ ep_out->bEndpointAddress);
+ es58x_dev->rx_max_packet_size = le16_to_cpu(ep_in->wMaxPacketSize);
+
+ *p_es58x_dev = es58x_dev;
+
+ return 0;
+}
+
+/**
+ * es58x_probe() - Initialize the USB device.
+ * @intf: USB interface
+ * @id: USB device ID
+ *
+ * Return: zero on success, -ENODEV if the interface is not supported
+ * or errno when any other error occurs.
+ */
+static int es58x_probe(struct usb_interface *intf,
+ const struct usb_device_id *id)
+{
+ struct es58x_device *es58x_dev;
+ int ch_idx, ret;
+
+ /* ES58X FD has some interface protocols unsupported by this driver. */
+ if (intf->cur_altsetting->desc.bInterfaceProtocol != 0) {
+ dev_dbg(&intf->dev, "Interface protocol %d is not supported\n",
+ intf->cur_altsetting->desc.bInterfaceProtocol);
+ return -ENODEV;
+ }
+
+ ret = es58x_init_es58x_dev(intf, &es58x_dev);
+ if (ret)
+ return ret;
+
+ ret = es58x_get_product_info(es58x_dev);
+ if (ret)
+ goto cleanup_es58x_dev;
+
+ for (ch_idx = 0; ch_idx < es58x_dev->num_can_ch; ch_idx++) {
+ ret = es58x_init_netdev(es58x_dev, ch_idx);
+ if (ret)
+ goto cleanup_candev;
+ }
+
+ ret = es58x_start(es58x_dev);
+ if (ret)
+ goto cleanup_candev;
+
+ ret = es58x_set_realtime_diff_ns(es58x_dev);
+ if (ret)
+ goto cleanup_candev;
+
+ return ret;
+
+ cleanup_candev:
+ for (ch_idx = 0; ch_idx < es58x_dev->num_can_ch; ch_idx++)
+ if (es58x_dev->netdev[ch_idx]) {
+ unregister_candev(es58x_dev->netdev[ch_idx]);
+ free_candev(es58x_dev->netdev[ch_idx]);
+ }
+ cleanup_es58x_dev:
+ kfree(es58x_dev);
+
+ return ret;
+}
+
+/**
+ * es58x_disconnect() - Disconnect the USB device.
+ * @intf: USB interface
+ *
+ * Called by the usb core when driver is unloaded or device is
+ * removed.
+ */
+static void es58x_disconnect(struct usb_interface *intf)
+{
+ struct es58x_device *es58x_dev = usb_get_intfdata(intf);
+ struct net_device *netdev;
+ struct urb *urb;
+ int i;
+
+ dev_info(&intf->dev, "Disconnecting %s %s\n",
+ es58x_dev->udev->manufacturer, es58x_dev->udev->product);
+
+ for (i = 0; i < es58x_dev->num_can_ch; i++) {
+ netdev = es58x_dev->netdev[i];
+ if (!netdev)
+ continue;
+ netdev_dbg(netdev, "Unregistering %s\n", netdev->name);
+ unregister_candev(netdev);
+ netdev_dbg(netdev, "Freeing %s\n", netdev->name);
+ es58x_dev->netdev[i] = NULL;
+ free_candev(netdev);
+ }
+
+ dev_dbg(&intf->dev, "Killing TX busy anchored urbs\n");
+ if (!usb_wait_anchor_empty_timeout(&es58x_dev->tx_urbs_busy, 1000)) {
+ dev_err(&intf->dev, "%s: Timeout, some TX urbs still remain\n",
+ __func__);
+ usb_kill_anchored_urbs(&es58x_dev->tx_urbs_busy);
+ }
+
+ dev_dbg(&intf->dev, "Freeing TX idle anchored urbs\n");
+ while ((urb = usb_get_from_anchor(&es58x_dev->tx_urbs_idle)) != NULL) {
+ usb_free_coherent(urb->dev,
+ es58x_dev->param->tx_urb_cmd_max_len,
+ urb->transfer_buffer, urb->transfer_dma);
+ usb_free_urb(urb);
+ atomic_dec(&es58x_dev->tx_urbs_idle_cnt);
+ }
+ if (atomic_read(&es58x_dev->tx_urbs_idle_cnt))
+ dev_err(&intf->dev,
+ "All idle urbs were freed but tx_urb_idle_cnt is %d\n",
+ atomic_read(&es58x_dev->tx_urbs_idle_cnt));
+
+ dev_dbg(&intf->dev, "Unlinking RX anchored urbs\n");
+ usb_kill_anchored_urbs(&es58x_dev->rx_urbs);
+
+ dev_dbg(&intf->dev, "Freeing %s\n", es58x_dev->udev->product);
+ kfree(es58x_dev);
+ dev_dbg(&intf->dev, "Setting USB interface to NULL\n");
+ usb_set_intfdata(intf, NULL);
+}
+
+static struct usb_driver es58x_driver = {
+ .name = ES58X_MODULE_NAME,
+ .probe = es58x_probe,
+ .disconnect = es58x_disconnect,
+ .id_table = es58x_id_table,
+};
+
+module_usb_driver(es58x_driver);
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.h b/drivers/net/can/usb/etas_es58x/es58x_core.h
new file mode 100644
index 000000000000..1c7f7334e678
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.h
@@ -0,0 +1,662 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_core.h: All common definitions and declarations.
+ *
+ * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
+ * Copyright (c) 2020 ETAS K.K.. All rights reserved.
+ * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
+ */
+
+#ifndef __ES58X_COMMON_H__
+#define __ES58X_COMMON_H__
+
+#include <linux/types.h>
+#include <linux/usb.h>
+#include <linux/netdevice.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+
+/* Driver constants */
+#define ES58X_RX_URBS_MAX 5 /* Empirical value */
+#define ES58X_TX_URBS_MAX 6 /* Empirical value */
+
+#define ES58X_MAX(param) 0
+#define ES58X_TX_BULK_MAX ES58X_MAX(TX_BULK_MAX)
+#define ES58X_RX_BULK_MAX ES58X_MAX(RX_BULK_MAX)
+#define ES58X_ECHO_BULK_MAX ES58X_MAX(ECHO_BULK_MAX)
+#define ES58X_NUM_CAN_CH_MAX ES58X_MAX(NUM_CAN_CH)
+
+/* Use this when channel index is irrelevant (e.g. device
+ * timestamp).
+ */
+#define ES58X_CHANNEL_IDX_NA 0xFF
+#define ES58X_EMPTY_MSG NULL
+
+/* Threshold on consecutive CAN_STATE_ERROR_PASSIVE. If we receive
+ * ES58X_CONSECUTIVE_ERR_PASSIVE_MAX times the event
+ * ES58X_ERR_CRTL_PASSIVE in a row without any successful RX or TX,
+ * we force the device to switch to CAN_STATE_BUS_OFF state.
+ */
+#define ES58X_CONSECUTIVE_ERR_PASSIVE_MAX 254
+
+enum es58x_echo {
+ ES58X_ECHO_OFF = 0,
+ ES58X_ECHO_ON = 1
+};
+
+/**
+ * enum es58x_physical_layer - Type of the physical layer.
+ * @ES58X_PHYSICAL_LAYER_HIGH_SPEED: High-speed CAN (c.f. ISO
+ * 11898-2).
+ *
+ * Some products of the ETAS portfolio also support low-speed CAN
+ * (c.f. ISO 11898-3). However, all the devices in scope of this
+ * driver do not support the option, thus, the enum has only one
+ * member.
+ */
+enum es58x_physical_layer {
+ ES58X_PHYSICAL_LAYER_HIGH_SPEED = 1
+};
+
+enum es58x_samples_per_bit {
+ ES58X_SAMPLES_PER_BIT_ONE = 1,
+ ES58X_SAMPLES_PER_BIT_THREE = 2
+};
+
+/**
+ * enum es58x_sync_edge - Synchronization method.
+ * @ES58X_SYNC_EDGE_SINGLE: ISO CAN specification defines the use of a
+ * single edge synchronization. The synchronization should be
+ * done on recessive to dominant level change.
+ *
+ * For information, ES582.1 and ES584.1 also support a double
+ * synchronization, requiring both recessive to dominant then dominant
+ * to recessive level change. However, this is not supported in
+ * SocketCAN framework, thus, the enum has only one member.
+ */
+enum es58x_sync_edge {
+ ES58X_SYNC_EDGE_SINGLE = 1
+};
+
+/**
+ * enum es58x_flag - CAN flags for RX/TX messages.
+ * @ES58X_FLAG_EFF: Extended Frame Format (EFF).
+ * @ES58X_FLAG_RTR: Remote Transmission Request (RTR).
+ * @ES58X_FLAG_FD_BRS: Bit rate switch (BRS): second bitrate for
+ * payload data.
+ * @ES58X_FLAG_FD_ESI: Error State Indicator (ESI): tell if the
+ * transmitting node is in error passive mode.
+ * @ES58X_FLAG_FD_DATA: CAN FD frame.
+ */
+enum es58x_flag {
+ ES58X_FLAG_EFF = BIT(0),
+ ES58X_FLAG_RTR = BIT(1),
+ ES58X_FLAG_FD_BRS = BIT(3),
+ ES58X_FLAG_FD_ESI = BIT(5),
+ ES58X_FLAG_FD_DATA = BIT(6)
+};
+
+/**
+ * enum es58x_err - CAN error detection.
+ * @ES58X_ERR_OK: No errors.
+ * @ES58X_ERR_PROT_STUFF: Bit stuffing error: more than 5 consecutive
+ * equal bits.
+ * @ES58X_ERR_PROT_FORM: Frame format error.
+ * @ES58X_ERR_ACK: Received no ACK on transmission.
+ * @ES58X_ERR_PROT_BIT: Single bit error.
+ * @ES58X_ERR_PROT_CRC: Incorrect 15, 17 or 21 bits CRC.
+ * @ES58X_ERR_PROT_BIT1: Unable to send recessive bit: tried to send
+ * recessive bit 1 but monitored dominant bit 0.
+ * @ES58X_ERR_PROT_BIT0: Unable to send dominant bit: tried to send
+ * dominant bit 0 but monitored recessive bit 1.
+ * @ES58X_ERR_PROT_OVERLOAD: Bus overload.
+ * @ES58X_ERR_PROT_UNSPEC: Unspecified.
+ *
+ * Please refer to ISO 11898-1:2015, section 10.11 "Error detection"
+ * and section 10.13 "Overload signaling" for additional details.
+ */
+enum es58x_err {
+ ES58X_ERR_OK = 0,
+ ES58X_ERR_PROT_STUFF = BIT(0),
+ ES58X_ERR_PROT_FORM = BIT(1),
+ ES58X_ERR_ACK = BIT(2),
+ ES58X_ERR_PROT_BIT = BIT(3),
+ ES58X_ERR_PROT_CRC = BIT(4),
+ ES58X_ERR_PROT_BIT1 = BIT(5),
+ ES58X_ERR_PROT_BIT0 = BIT(6),
+ ES58X_ERR_PROT_OVERLOAD = BIT(7),
+ ES58X_ERR_PROT_UNSPEC = BIT(31)
+};
+
+/**
+ * enum es58x_event - CAN error codes returned by the device.
+ * @ES58X_EVENT_OK: No errors.
+ * @ES58X_EVENT_CRTL_ACTIVE: Active state: both TR and RX error count
+ * is less than 128.
+ * @ES58X_EVENT_CRTL_PASSIVE: Passive state: either TX or RX error
+ * count is greater than 127.
+ * @ES58X_EVENT_CRTL_WARNING: Warning state: either TX or RX error
+ * count is greater than 96.
+ * @ES58X_EVENT_BUSOFF: Bus off.
+ * @ES58X_EVENT_SINGLE_WIRE: Lost connection on either CAN high or CAN
+ * low.
+ *
+ * Please refer to ISO 11898-1:2015, section 12.1.4 "Rules of fault
+ * confinement" for additional details.
+ */
+enum es58x_event {
+ ES58X_EVENT_OK = 0,
+ ES58X_EVENT_CRTL_ACTIVE = BIT(0),
+ ES58X_EVENT_CRTL_PASSIVE = BIT(1),
+ ES58X_EVENT_CRTL_WARNING = BIT(2),
+ ES58X_EVENT_BUSOFF = BIT(3),
+ ES58X_EVENT_SINGLE_WIRE = BIT(4)
+};
+
+/* enum es58x_ret_u8 - Device return error codes, 8 bit format.
+ *
+ * Specific to ES581.4.
+ */
+enum es58x_ret_u8 {
+ ES58X_RET_U8_OK = 0x00,
+ ES58X_RET_U8_ERR_UNSPECIFIED_FAILURE = 0x80,
+ ES58X_RET_U8_ERR_NO_MEM = 0x81,
+ ES58X_RET_U8_ERR_BAD_CRC = 0x99
+};
+
+/* enum es58x_ret_u32 - Device return error codes, 32 bit format.
+ */
+enum es58x_ret_u32 {
+ ES58X_RET_U32_OK = 0x00000000UL,
+ ES58X_RET_U32_ERR_UNSPECIFIED_FAILURE = 0x80000000UL,
+ ES58X_RET_U32_ERR_NO_MEM = 0x80004001UL,
+ ES58X_RET_U32_WARN_PARAM_ADJUSTED = 0x40004000UL,
+ ES58X_RET_U32_WARN_TX_MAYBE_REORDER = 0x40004001UL,
+ ES58X_RET_U32_ERR_TIMEDOUT = 0x80000008UL,
+ ES58X_RET_U32_ERR_FIFO_FULL = 0x80003002UL,
+ ES58X_RET_U32_ERR_BAD_CONFIG = 0x80004000UL,
+ ES58X_RET_U32_ERR_NO_RESOURCE = 0x80004002UL
+};
+
+/* enum es58x_ret_type - Type of the command returned by the ES58X
+ * device.
+ */
+enum es58x_ret_type {
+ ES58X_RET_TYPE_SET_BITTIMING,
+ ES58X_RET_TYPE_ENABLE_CHANNEL,
+ ES58X_RET_TYPE_DISABLE_CHANNEL,
+ ES58X_RET_TYPE_TX_MSG,
+ ES58X_RET_TYPE_RESET_RX,
+ ES58X_RET_TYPE_RESET_TX,
+ ES58X_RET_TYPE_DEVICE_ERR
+};
+
+union es58x_urb_cmd {
+ struct { /* Common header parts of all variants */
+ __le16 sof;
+ u8 cmd_type;
+ u8 cmd_id;
+ } __packed;
+ u8 raw_cmd[0];
+};
+
+/**
+ * struct es58x_priv - All information specific to a CAN channel.
+ * @can: struct can_priv must be the first member (Socket CAN relies
+ * on the fact that function netdev_priv() returns a pointer to
+ * a struct can_priv).
+ * @es58x_dev: pointer to the corresponding ES58X device.
+ * @tx_urb: Used as a buffer to concatenate the TX messages and to do
+ * a bulk send. Please refer to es58x_start_xmit() for more
+ * details.
+ * @tx_tail: Index of the oldest packet still pending for
+ * completion. @tx_tail & echo_skb_mask represents the beginning
+ * of the echo skb FIFO, i.e. index of the first element.
+ * @tx_head: Index of the next packet to be sent to the
+ * device. @tx_head & echo_skb_mask represents the end of the
+ * echo skb FIFO plus one, i.e. the first free index.
+ * @tx_can_msg_cnt: Number of messages in @tx_urb.
+ * @tx_can_msg_is_fd: false: all messages in @tx_urb are Classical
+ * CAN, true: all messages in @tx_urb are CAN FD. Rationale:
+ * ES58X FD devices do not allow to mix Classical CAN and FD CAN
+ * frames in one single bulk transmission.
+ * @err_passive_before_rtx_success: The ES58X device might enter in a
+ * state in which it keeps alternating between error passive
+ * and active states. This counter keeps track of the number of
+ * error passive and if it gets bigger than
+ * ES58X_CONSECUTIVE_ERR_PASSIVE_MAX, es58x_rx_err_msg() will
+ * force the status to bus-off.
+ * @channel_idx: Channel index, starts at zero.
+ */
+struct es58x_priv {
+ struct can_priv can;
+ struct es58x_device *es58x_dev;
+ struct urb *tx_urb;
+
+ u32 tx_tail;
+ u32 tx_head;
+
+ u8 tx_can_msg_cnt;
+ bool tx_can_msg_is_fd;
+
+ u8 err_passive_before_rtx_success;
+
+ u8 channel_idx;
+};
+
+/**
+ * struct es58x_parameters - Constant parameters of a given hardware
+ * variant.
+ * @bittiming_const: Nominal bittimming constant parameters.
+ * @data_bittiming_const: Data bittiming constant parameters.
+ * @tdc_const: Transmission Delay Compensation constant parameters.
+ * @bitrate_max: Maximum bitrate supported by the device.
+ * @clock: CAN clock parameters.
+ * @ctrlmode_supported: List of supported modes. Please refer to
+ * can/netlink.h file for additional details.
+ * @tx_start_of_frame: Magic number at the beginning of each TX URB
+ * command.
+ * @rx_start_of_frame: Magic number at the beginning of each RX URB
+ * command.
+ * @tx_urb_cmd_max_len: Maximum length of a TX URB command.
+ * @rx_urb_cmd_max_len: Maximum length of a RX URB command.
+ * @fifo_mask: Bit mask to quickly convert the tx_tail and tx_head
+ * field of the struct es58x_priv into echo_skb
+ * indexes. Properties: @fifo_mask = echos_skb_max - 1 where
+ * echo_skb_max must be a power of two. Also, echo_skb_max must
+ * not exceed the maximum size of the device internal TX FIFO
+ * length. This parameter is used to control the network queue
+ * wake/stop logic.
+ * @tx_bulk_max: Maximum number of TX messages that can be sent in one
+ * single URB packet.
+ * @urb_cmd_header_len: Length of the URB command header.
+ * @rx_urb_max: Number of RX URB to be allocated during device probe.
+ * @tx_urb_max: Number of TX URB to be allocated during device probe.
+ */
+struct es58x_parameters {
+ const struct can_bittiming_const *bittiming_const;
+ const struct can_bittiming_const *data_bittiming_const;
+ const struct can_tdc_const *tdc_const;
+ u32 bitrate_max;
+ struct can_clock clock;
+ u32 ctrlmode_supported;
+ u16 tx_start_of_frame;
+ u16 rx_start_of_frame;
+ u16 tx_urb_cmd_max_len;
+ u16 rx_urb_cmd_max_len;
+ u16 fifo_mask;
+ u8 tx_bulk_max;
+ u8 urb_cmd_header_len;
+ u8 rx_urb_max;
+ u8 tx_urb_max;
+};
+
+/**
+ * struct es58x_operators - Function pointers used to encode/decode
+ * the TX/RX messages.
+ * @get_msg_len: Get field msg_len of the urb_cmd. The offset of
+ * msg_len inside urb_cmd depends of the device model.
+ * @handle_urb_cmd: Decode the URB command received from the device
+ * and manage the return code from device.
+ * @fill_urb_header: Fill the header of urb_cmd.
+ * @tx_can_msg: Encode a TX CAN message and add it to the bulk buffer
+ * cmd_buf of es58x_dev.
+ * @set_bittiming: Encode the bittiming information and send it.
+ * @enable_channel: Start the CAN channel.
+ * @disable_channel: Stop the CAN channel.
+ * @get_timestamp: Request a timestamp from the ES58X device.
+ */
+struct es58x_operators {
+ u16 (*get_msg_len)(const union es58x_urb_cmd *urb_cmd);
+ int (*handle_urb_cmd)(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd);
+ void (*fill_urb_header)(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
+ u8 cmd_id, u8 channel_idx, u16 cmd_len);
+ int (*tx_can_msg)(struct es58x_priv *priv, const struct sk_buff *skb);
+ int (*set_bittiming)(struct es58x_priv *priv);
+ int (*enable_channel)(struct es58x_priv *priv);
+ int (*disable_channel)(struct es58x_priv *priv);
+ int (*get_timestamp)(struct es58x_device *es58x_dev);
+};
+
+/**
+ * struct es58x_device - All information specific to an ES58X device.
+ * @dev: Device information.
+ * @udev: USB device information.
+ * @netdev: Array of our CAN channels.
+ * @param: The constant parameters.
+ * @ops: Operators.
+ * @rx_pipe: USB reception pipe.
+ * @tx_pipe: USB transmission pipe.
+ * @rx_urbs: Anchor for received URBs.
+ * @tx_urbs_busy: Anchor for TX URBs which were send to the device.
+ * @tx_urbs_idle: Anchor for TX USB which are idle. This driver
+ * allocates the memory for the URBs during the probe. When a TX
+ * URB is needed, it can be taken from this anchor. The network
+ * queue wake/stop logic should prevent this URB from getting
+ * empty. Please refer to es58x_get_tx_urb() for more details.
+ * @tx_urbs_idle_cnt: number of urbs in @tx_urbs_idle.
+ * @ktime_req_ns: kernel timestamp when es58x_set_realtime_diff_ns()
+ * was called.
+ * @realtime_diff_ns: difference in nanoseconds between the clocks of
+ * the ES58X device and the kernel.
+ * @timestamps: a temporary buffer to store the time stamps before
+ * feeding them to es58x_can_get_echo_skb(). Can only be used
+ * in RX branches.
+ * @rx_max_packet_size: Maximum length of bulk-in URB.
+ * @num_can_ch: Number of CAN channel (i.e. number of elements of @netdev).
+ * @rx_cmd_buf_len: Length of @rx_cmd_buf.
+ * @rx_cmd_buf: The device might split the URB commands in an
+ * arbitrary amount of pieces. This buffer is used to concatenate
+ * all those pieces. Can only be used in RX branches. This field
+ * has to be the last one of the structure because it is has a
+ * flexible size (c.f. es58x_sizeof_es58x_device() function).
+ */
+struct es58x_device {
+ struct device *dev;
+ struct usb_device *udev;
+ struct net_device *netdev[ES58X_NUM_CAN_CH_MAX];
+
+ const struct es58x_parameters *param;
+ const struct es58x_operators *ops;
+
+ int rx_pipe;
+ int tx_pipe;
+
+ struct usb_anchor rx_urbs;
+ struct usb_anchor tx_urbs_busy;
+ struct usb_anchor tx_urbs_idle;
+ atomic_t tx_urbs_idle_cnt;
+
+ u64 ktime_req_ns;
+ s64 realtime_diff_ns;
+
+ u64 timestamps[ES58X_ECHO_BULK_MAX];
+
+ u16 rx_max_packet_size;
+ u8 num_can_ch;
+
+ u16 rx_cmd_buf_len;
+ union es58x_urb_cmd rx_cmd_buf;
+};
+
+/**
+ * es58x_sizeof_es58x_device() - Calculate the maximum length of
+ * struct es58x_device.
+ * @es58x_dev_param: The constant parameters of the device.
+ *
+ * The length of struct es58x_device depends on the length of its last
+ * field: rx_cmd_buf. This macro allows to optimize size for memory
+ * allocation.
+ *
+ * Return: length of struct es58x_device.
+ */
+static inline size_t es58x_sizeof_es58x_device(const struct es58x_parameters
+ *es58x_dev_param)
+{
+ return offsetof(struct es58x_device, rx_cmd_buf) +
+ es58x_dev_param->rx_urb_cmd_max_len;
+}
+
+static inline int __es58x_check_msg_len(const struct device *dev,
+ const char *stringified_msg,
+ size_t actual_len, size_t expected_len)
+{
+ if (expected_len != actual_len) {
+ dev_err(dev,
+ "Length of %s is %zu but received command is %zu.\n",
+ stringified_msg, expected_len, actual_len);
+ return -EMSGSIZE;
+ }
+ return 0;
+}
+
+/**
+ * es58x_check_msg_len() - Check the size of a received message.
+ * @dev: Device, used to print error messages.
+ * @msg: Received message, must not be a pointer.
+ * @actual_len: Length of the message as advertised in the command header.
+ *
+ * Must be a macro in order to accept the different types of messages
+ * as an input. Can be use with any of the messages which have a fixed
+ * length. Check for an exact match of the size.
+ *
+ * Return: zero on success, -EMSGSIZE if @actual_len differs from the
+ * expected length.
+ */
+#define es58x_check_msg_len(dev, msg, actual_len) \
+ __es58x_check_msg_len(dev, __stringify(msg), \
+ actual_len, sizeof(msg))
+
+static inline int __es58x_check_msg_max_len(const struct device *dev,
+ const char *stringified_msg,
+ size_t actual_len,
+ size_t expected_len)
+{
+ if (actual_len > expected_len) {
+ dev_err(dev,
+ "Maximum length for %s is %zu but received command is %zu.\n",
+ stringified_msg, expected_len, actual_len);
+ return -EOVERFLOW;
+ }
+ return 0;
+}
+
+/**
+ * es58x_check_msg_max_len() - Check the maximum size of a received message.
+ * @dev: Device, used to print error messages.
+ * @msg: Received message, must not be a pointer.
+ * @actual_len: Length of the message as advertised in the command header.
+ *
+ * Must be a macro in order to accept the different types of messages
+ * as an input. To be used with the messages of variable sizes. Only
+ * check that the message is not bigger than the maximum expected
+ * size.
+ *
+ * Return: zero on success, -EOVERFLOW if @actual_len is greater than
+ * the expected length.
+ */
+#define es58x_check_msg_max_len(dev, msg, actual_len) \
+ __es58x_check_msg_max_len(dev, __stringify(msg), \
+ actual_len, sizeof(msg))
+
+static inline int __es58x_msg_num_element(const struct device *dev,
+ const char *stringified_msg,
+ size_t actual_len, size_t msg_len,
+ size_t elem_len)
+{
+ size_t actual_num_elem = actual_len / elem_len;
+ size_t expected_num_elem = msg_len / elem_len;
+
+ if (actual_num_elem == 0) {
+ dev_err(dev,
+ "Minimum length for %s is %zu but received command is %zu.\n",
+ stringified_msg, elem_len, actual_len);
+ return -EMSGSIZE;
+ } else if ((actual_len % elem_len) != 0) {
+ dev_err(dev,
+ "Received command length: %zu is not a multiple of %s[0]: %zu\n",
+ actual_len, stringified_msg, elem_len);
+ return -EMSGSIZE;
+ } else if (actual_num_elem > expected_num_elem) {
+ dev_err(dev,
+ "Array %s is supposed to have %zu elements each of size %zu...\n",
+ stringified_msg, expected_num_elem, elem_len);
+ dev_err(dev,
+ "... But received command has %zu elements (total length %zu).\n",
+ actual_num_elem, actual_len);
+ return -EOVERFLOW;
+ }
+ return actual_num_elem;
+}
+
+/**
+ * es58x_msg_num_element() - Check size and give the number of
+ * elements in a message of array type.
+ * @dev: Device, used to print error messages.
+ * @msg: Received message, must be an array.
+ * @actual_len: Length of the message as advertised in the command
+ * header.
+ *
+ * Must be a macro in order to accept the different types of messages
+ * as an input. To be used on message of array type. Array's element
+ * has to be of fixed size (else use es58x_check_msg_max_len()). Check
+ * that the total length is an exact multiple of the length of a
+ * single element.
+ *
+ * Return: number of elements in the array on success, -EOVERFLOW if
+ * @actual_len is greater than the expected length, -EMSGSIZE if
+ * @actual_len is not a multiple of a single element.
+ */
+#define es58x_msg_num_element(dev, msg, actual_len) \
+({ \
+ size_t __elem_len = sizeof((msg)[0]) + __must_be_array(msg); \
+ __es58x_msg_num_element(dev, __stringify(msg), actual_len, \
+ sizeof(msg), __elem_len); \
+})
+
+/**
+ * es58x_priv() - Get the priv member and cast it to struct es58x_priv.
+ * @netdev: CAN network device.
+ *
+ * Return: ES58X device.
+ */
+static inline struct es58x_priv *es58x_priv(struct net_device *netdev)
+{
+ return (struct es58x_priv *)netdev_priv(netdev);
+}
+
+/**
+ * ES58X_SIZEOF_URB_CMD() - Calculate the maximum length of an urb
+ * command for a given message field name.
+ * @es58x_urb_cmd_type: type (either "struct es581_4_urb_cmd" or
+ * "struct es58x_fd_urb_cmd").
+ * @msg_field: name of the message field.
+ *
+ * Must be a macro in order to accept the different command types as
+ * an input.
+ *
+ * Return: length of the urb command.
+ */
+#define ES58X_SIZEOF_URB_CMD(es58x_urb_cmd_type, msg_field) \
+ (offsetof(es58x_urb_cmd_type, raw_msg) \
+ + sizeof_field(es58x_urb_cmd_type, msg_field) \
+ + sizeof_field(es58x_urb_cmd_type, \
+ reserved_for_crc16_do_not_use))
+
+/**
+ * es58x_get_urb_cmd_len() - Calculate the actual length of an urb
+ * command for a given message length.
+ * @es58x_dev: ES58X device.
+ * @msg_len: Length of the message.
+ *
+ * Add the header and CRC lengths to the message length.
+ *
+ * Return: length of the urb command.
+ */
+static inline size_t es58x_get_urb_cmd_len(struct es58x_device *es58x_dev,
+ u16 msg_len)
+{
+ return es58x_dev->param->urb_cmd_header_len + msg_len + sizeof(u16);
+}
+
+/**
+ * es58x_get_netdev() - Get the network device.
+ * @es58x_dev: ES58X device.
+ * @channel_no: The channel number as advertised in the urb command.
+ * @channel_idx_offset: Some of the ES58x starts channel numbering
+ * from 0 (ES58X FD), others from 1 (ES581.4).
+ * @netdev: CAN network device.
+ *
+ * Do a sanity check on the index provided by the device.
+ *
+ * Return: zero on success, -ECHRNG if the received channel number is
+ * out of range and -ENODEV if the network device is not yet
+ * configured.
+ */
+static inline int es58x_get_netdev(struct es58x_device *es58x_dev,
+ int channel_no, int channel_idx_offset,
+ struct net_device **netdev)
+{
+ int channel_idx = channel_no - channel_idx_offset;
+
+ *netdev = NULL;
+ if (channel_idx < 0 || channel_idx >= es58x_dev->num_can_ch)
+ return -ECHRNG;
+
+ *netdev = es58x_dev->netdev[channel_idx];
+ if (!netdev || !netif_device_present(*netdev))
+ return -ENODEV;
+
+ return 0;
+}
+
+/**
+ * es58x_get_raw_can_id() - Get the CAN ID.
+ * @cf: CAN frame.
+ *
+ * Mask the CAN ID in order to only keep the significant bits.
+ *
+ * Return: the raw value of the CAN ID.
+ */
+static inline int es58x_get_raw_can_id(const struct can_frame *cf)
+{
+ if (cf->can_id & CAN_EFF_FLAG)
+ return cf->can_id & CAN_EFF_MASK;
+ else
+ return cf->can_id & CAN_SFF_MASK;
+}
+
+/**
+ * es58x_get_flags() - Get the CAN flags.
+ * @skb: socket buffer of a CAN message.
+ *
+ * Return: the CAN flag as an enum es58x_flag.
+ */
+static inline enum es58x_flag es58x_get_flags(const struct sk_buff *skb)
+{
+ struct canfd_frame *cf = (struct canfd_frame *)skb->data;
+ enum es58x_flag es58x_flags = 0;
+
+ if (cf->can_id & CAN_EFF_FLAG)
+ es58x_flags |= ES58X_FLAG_EFF;
+
+ if (can_is_canfd_skb(skb)) {
+ es58x_flags |= ES58X_FLAG_FD_DATA;
+ if (cf->flags & CANFD_BRS)
+ es58x_flags |= ES58X_FLAG_FD_BRS;
+ if (cf->flags & CANFD_ESI)
+ es58x_flags |= ES58X_FLAG_FD_ESI;
+ } else if (cf->can_id & CAN_RTR_FLAG)
+ /* Remote frames are only defined in Classical CAN frames */
+ es58x_flags |= ES58X_FLAG_RTR;
+
+ return es58x_flags;
+}
+
+int es58x_can_get_echo_skb(struct net_device *netdev, u32 packet_idx,
+ u64 *tstamps, unsigned int pkts);
+int es58x_tx_ack_msg(struct net_device *netdev, u16 tx_free_entries,
+ enum es58x_ret_u32 rx_cmd_ret_u32);
+int es58x_rx_can_msg(struct net_device *netdev, u64 timestamp, const u8 *data,
+ canid_t can_id, enum es58x_flag es58x_flags, u8 dlc);
+int es58x_rx_err_msg(struct net_device *netdev, enum es58x_err error,
+ enum es58x_event event, u64 timestamp);
+void es58x_rx_timestamp(struct es58x_device *es58x_dev, u64 timestamp);
+int es58x_rx_cmd_ret_u8(struct device *dev, enum es58x_ret_type cmd_ret_type,
+ enum es58x_ret_u8 rx_cmd_ret_u8);
+int es58x_rx_cmd_ret_u32(struct net_device *netdev,
+ enum es58x_ret_type cmd_ret_type,
+ enum es58x_ret_u32 rx_cmd_ret_u32);
+int es58x_send_msg(struct es58x_device *es58x_dev, u8 cmd_type, u8 cmd_id,
+ const void *msg, u16 cmd_len, int channel_idx);
+
+extern const struct es58x_parameters es581_4_param;
+extern const struct es58x_operators es581_4_ops;
+
+extern const struct es58x_parameters es58x_fd_param;
+extern const struct es58x_operators es58x_fd_ops;
+
+#endif /* __ES58X_COMMON_H__ */
--
2.26.2
^ permalink raw reply related [flat|nested] 9+ messages in thread
* [PATCH v14 2/4] can: etas_es58x: add support for ETAS ES581.4 CAN USB interface
2021-03-21 10:40 [PATCH v14 0/4] Introducing ETAS ES58X CAN USB interfaces Vincent Mailhol
2021-03-21 10:41 ` [PATCH v14 1/4] can: etas_es58x: add core support for " Vincent Mailhol
@ 2021-03-21 10:41 ` Vincent Mailhol
2021-03-21 10:41 ` [PATCH v14 3/4] can: etas_es58x: add support for the ETAS ES58X_FD CAN USB interfaces Vincent Mailhol
2021-03-21 10:41 ` [PATCH v14 4/4] can: etas_es58x: add es58x_netdev_queue_set_dql_min_limit() Vincent Mailhol
3 siblings, 0 replies; 9+ messages in thread
From: Vincent Mailhol @ 2021-03-21 10:41 UTC (permalink / raw)
To: Marc Kleine-Budde, linux-can; +Cc: Arunachalam Santhanam, Vincent Mailhol
This patch adds support for the ES581.4 interface from ETAS
GmbH (https://www.etas.com/en/products/es58x.php).
Co-developed-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
---
drivers/net/can/usb/etas_es58x/Makefile | 2 +-
drivers/net/can/usb/etas_es58x/es581_4.c | 499 ++++++++++++++++++++
drivers/net/can/usb/etas_es58x/es581_4.h | 207 ++++++++
drivers/net/can/usb/etas_es58x/es58x_core.c | 8 +
drivers/net/can/usb/etas_es58x/es58x_core.h | 5 +-
5 files changed, 719 insertions(+), 2 deletions(-)
create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.c
create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.h
diff --git a/drivers/net/can/usb/etas_es58x/Makefile b/drivers/net/can/usb/etas_es58x/Makefile
index 60a1ac935a69..e4753ec9cb60 100644
--- a/drivers/net/can/usb/etas_es58x/Makefile
+++ b/drivers/net/can/usb/etas_es58x/Makefile
@@ -1,3 +1,3 @@
# SPDX-License-Identifier: GPL-2.0
obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x.o
-etas_es58x-y = es58x_core.o
+etas_es58x-y = es58x_core.o es581_4.o
diff --git a/drivers/net/can/usb/etas_es58x/es581_4.c b/drivers/net/can/usb/etas_es58x/es581_4.c
new file mode 100644
index 000000000000..a4b21dfd1bff
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es581_4.c
@@ -0,0 +1,499 @@
+// SPDX-License-Identifier: GPL-2.0
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es581_4.c: Adds support to ETAS ES581.4.
+ *
+ * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
+ * Copyright (c) 2020 ETAS K.K.. All rights reserved.
+ * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
+ */
+
+#include <linux/kernel.h>
+#include <asm/unaligned.h>
+
+#include "es58x_core.h"
+#include "es581_4.h"
+
+/**
+ * es581_4_sizeof_rx_tx_msg() - Calculate the actual length of the
+ * structure of a rx or tx message.
+ * @msg: message of variable length, must have a dlc field.
+ *
+ * Even if RTR frames have actually no payload, the ES58X devices
+ * still expect it. Must be a macro in order to accept several types
+ * (struct es581_4_tx_can_msg and struct es581_4_rx_can_msg) as an
+ * input.
+ *
+ * Return: length of the message.
+ */
+#define es581_4_sizeof_rx_tx_msg(msg) \
+ offsetof(typeof(msg), data[can_cc_dlc2len((msg).dlc)])
+
+static u16 es581_4_get_msg_len(const union es58x_urb_cmd *urb_cmd)
+{
+ return get_unaligned_le16(&urb_cmd->es581_4_urb_cmd.msg_len);
+}
+
+static int es581_4_echo_msg(struct es58x_device *es58x_dev,
+ const struct es581_4_urb_cmd *es581_4_urb_cmd)
+{
+ struct net_device *netdev;
+ const struct es581_4_bulk_echo_msg *bulk_echo_msg;
+ const struct es581_4_echo_msg *echo_msg;
+ u64 *tstamps = es58x_dev->timestamps;
+ u16 msg_len;
+ u32 first_packet_idx, packet_idx;
+ unsigned int dropped = 0;
+ int i, num_element, ret;
+
+ bulk_echo_msg = &es581_4_urb_cmd->bulk_echo_msg;
+ msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len) -
+ sizeof(bulk_echo_msg->channel_no);
+ num_element = es58x_msg_num_element(es58x_dev->dev,
+ bulk_echo_msg->echo_msg, msg_len);
+ if (num_element <= 0)
+ return num_element;
+
+ ret = es58x_get_netdev(es58x_dev, bulk_echo_msg->channel_no,
+ ES581_4_CHANNEL_IDX_OFFSET, &netdev);
+ if (ret)
+ return ret;
+
+ echo_msg = &bulk_echo_msg->echo_msg[0];
+ first_packet_idx = get_unaligned_le32(&echo_msg->packet_idx);
+ packet_idx = first_packet_idx;
+ for (i = 0; i < num_element; i++) {
+ u32 tmp_idx;
+
+ echo_msg = &bulk_echo_msg->echo_msg[i];
+ tmp_idx = get_unaligned_le32(&echo_msg->packet_idx);
+ if (tmp_idx == packet_idx - 1) {
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Received echo packet idx %u twice\n",
+ packet_idx - 1);
+ dropped++;
+ continue;
+ }
+ if (tmp_idx != packet_idx) {
+ netdev_err(netdev, "Echo packet idx jumped from %u to %u\n",
+ packet_idx - 1, echo_msg->packet_idx);
+ return -EBADMSG;
+ }
+
+ tstamps[i] = get_unaligned_le64(&echo_msg->timestamp);
+ packet_idx++;
+ }
+
+ netdev->stats.tx_dropped += dropped;
+ return es58x_can_get_echo_skb(netdev, first_packet_idx,
+ tstamps, num_element - dropped);
+}
+
+static int es581_4_rx_can_msg(struct es58x_device *es58x_dev,
+ const struct es581_4_urb_cmd *es581_4_urb_cmd,
+ u16 msg_len)
+{
+ const struct device *dev = es58x_dev->dev;
+ struct net_device *netdev;
+ int pkts, num_element, channel_no, ret;
+
+ num_element = es58x_msg_num_element(dev, es581_4_urb_cmd->rx_can_msg,
+ msg_len);
+ if (num_element <= 0)
+ return num_element;
+
+ channel_no = es581_4_urb_cmd->rx_can_msg[0].channel_no;
+ ret = es58x_get_netdev(es58x_dev, channel_no,
+ ES581_4_CHANNEL_IDX_OFFSET, &netdev);
+ if (ret)
+ return ret;
+
+ if (!netif_running(netdev)) {
+ if (net_ratelimit())
+ netdev_info(netdev,
+ "%s: %s is down, dropping %d rx packets\n",
+ __func__, netdev->name, num_element);
+ netdev->stats.rx_dropped += num_element;
+ return 0;
+ }
+
+ for (pkts = 0; pkts < num_element; pkts++) {
+ const struct es581_4_rx_can_msg *rx_can_msg =
+ &es581_4_urb_cmd->rx_can_msg[pkts];
+ u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
+ canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);
+
+ if (channel_no != rx_can_msg->channel_no)
+ return -EBADMSG;
+
+ ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
+ can_id, rx_can_msg->flags,
+ rx_can_msg->dlc);
+ if (ret)
+ break;
+ }
+
+ return ret;
+}
+
+static int es581_4_rx_err_msg(struct es58x_device *es58x_dev,
+ const struct es581_4_rx_err_msg *rx_err_msg)
+{
+ struct net_device *netdev;
+ enum es58x_err error = get_unaligned_le32(&rx_err_msg->error);
+ int ret;
+
+ ret = es58x_get_netdev(es58x_dev, rx_err_msg->channel_no,
+ ES581_4_CHANNEL_IDX_OFFSET, &netdev);
+ if (ret)
+ return ret;
+
+ return es58x_rx_err_msg(netdev, error, 0,
+ get_unaligned_le64(&rx_err_msg->timestamp));
+}
+
+static int es581_4_rx_event_msg(struct es58x_device *es58x_dev,
+ const struct es581_4_rx_event_msg *rx_event_msg)
+{
+ struct net_device *netdev;
+ enum es58x_event event = get_unaligned_le32(&rx_event_msg->event);
+ int ret;
+
+ ret = es58x_get_netdev(es58x_dev, rx_event_msg->channel_no,
+ ES581_4_CHANNEL_IDX_OFFSET, &netdev);
+ if (ret)
+ return ret;
+
+ return es58x_rx_err_msg(netdev, 0, event,
+ get_unaligned_le64(&rx_event_msg->timestamp));
+}
+
+static int es581_4_rx_cmd_ret_u32(struct es58x_device *es58x_dev,
+ const struct es581_4_urb_cmd *es581_4_urb_cmd,
+ enum es58x_ret_type ret_type)
+{
+ struct net_device *netdev;
+ const struct es581_4_rx_cmd_ret *rx_cmd_ret;
+ u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
+ enum es58x_ret_u32 rx_cmd_ret_u32;
+ int ret;
+
+ ret = es58x_check_msg_len(es58x_dev->dev,
+ es581_4_urb_cmd->rx_cmd_ret, msg_len);
+ if (ret)
+ return ret;
+
+ rx_cmd_ret = &es581_4_urb_cmd->rx_cmd_ret;
+
+ ret = es58x_get_netdev(es58x_dev, rx_cmd_ret->channel_no,
+ ES581_4_CHANNEL_IDX_OFFSET, &netdev);
+ if (ret)
+ return ret;
+
+ rx_cmd_ret_u32 = get_unaligned_le32(&rx_cmd_ret->rx_cmd_ret_le32);
+ return es58x_rx_cmd_ret_u32(netdev, ret_type, rx_cmd_ret_u32);
+}
+
+static int es581_4_tx_ack_msg(struct es58x_device *es58x_dev,
+ const struct es581_4_urb_cmd *es581_4_urb_cmd)
+{
+ struct net_device *netdev;
+ const struct es581_4_tx_ack_msg *tx_ack_msg;
+ u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
+ int ret;
+
+ tx_ack_msg = &es581_4_urb_cmd->tx_ack_msg;
+ ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
+ if (ret)
+ return ret;
+
+ if (tx_ack_msg->rx_cmd_ret_u8 != ES58X_RET_U8_OK)
+ return es58x_rx_cmd_ret_u8(es58x_dev->dev,
+ ES58X_RET_TYPE_TX_MSG,
+ tx_ack_msg->rx_cmd_ret_u8);
+
+ ret = es58x_get_netdev(es58x_dev, tx_ack_msg->channel_no,
+ ES581_4_CHANNEL_IDX_OFFSET, &netdev);
+ if (ret)
+ return ret;
+
+ return
+ es58x_tx_ack_msg(netdev,
+ get_unaligned_le16(&tx_ack_msg->tx_free_entries),
+ ES58X_RET_U32_OK);
+}
+
+static int es581_4_dispatch_rx_cmd(struct es58x_device *es58x_dev,
+ const struct es581_4_urb_cmd
+ *es581_4_urb_cmd)
+{
+ const struct device *dev = es58x_dev->dev;
+ u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
+ enum es581_4_rx_type rx_type = es581_4_urb_cmd->rx_can_msg[0].rx_type;
+ int ret = 0;
+
+ switch (rx_type) {
+ case ES581_4_RX_TYPE_MESSAGE:
+ return es581_4_rx_can_msg(es58x_dev, es581_4_urb_cmd, msg_len);
+
+ case ES581_4_RX_TYPE_ERROR:
+ ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_err_msg,
+ msg_len);
+ if (ret < 0)
+ return ret;
+ return es581_4_rx_err_msg(es58x_dev,
+ &es581_4_urb_cmd->rx_err_msg);
+
+ case ES581_4_RX_TYPE_EVENT:
+ ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_event_msg,
+ msg_len);
+ if (ret < 0)
+ return ret;
+ return es581_4_rx_event_msg(es58x_dev,
+ &es581_4_urb_cmd->rx_event_msg);
+
+ default:
+ dev_err(dev, "%s: Unknown rx_type 0x%02X\n", __func__, rx_type);
+ return -EBADRQC;
+ }
+}
+
+static int es581_4_handle_urb_cmd(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd)
+{
+ const struct es581_4_urb_cmd *es581_4_urb_cmd;
+ const struct device *dev = es58x_dev->dev;
+ u16 msg_len = es581_4_get_msg_len(urb_cmd);
+ int ret;
+
+ es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
+
+ if (es581_4_urb_cmd->cmd_type != ES581_4_CAN_COMMAND_TYPE) {
+ dev_err(dev, "%s: Unknown command type (0x%02X)\n",
+ __func__, es581_4_urb_cmd->cmd_type);
+ return -EBADRQC;
+ }
+
+ switch ((enum es581_4_cmd_id)es581_4_urb_cmd->cmd_id) {
+ case ES581_4_CMD_ID_SET_BITTIMING:
+ return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
+ ES58X_RET_TYPE_SET_BITTIMING);
+
+ case ES581_4_CMD_ID_ENABLE_CHANNEL:
+ return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
+ ES58X_RET_TYPE_ENABLE_CHANNEL);
+
+ case ES581_4_CMD_ID_TX_MSG:
+ return es581_4_tx_ack_msg(es58x_dev, es581_4_urb_cmd);
+
+ case ES581_4_CMD_ID_RX_MSG:
+ return es581_4_dispatch_rx_cmd(es58x_dev, es581_4_urb_cmd);
+
+ case ES581_4_CMD_ID_RESET_RX:
+ ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
+ ES58X_RET_TYPE_RESET_RX);
+ return ret;
+
+ case ES581_4_CMD_ID_RESET_TX:
+ ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
+ ES58X_RET_TYPE_RESET_TX);
+ return ret;
+
+ case ES581_4_CMD_ID_DISABLE_CHANNEL:
+ return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
+ ES58X_RET_TYPE_DISABLE_CHANNEL);
+
+ case ES581_4_CMD_ID_TIMESTAMP:
+ ret = es58x_check_msg_len(dev, es581_4_urb_cmd->timestamp,
+ msg_len);
+ if (ret < 0)
+ return ret;
+ es58x_rx_timestamp(es58x_dev,
+ get_unaligned_le64(&es581_4_urb_cmd->timestamp));
+ return 0;
+
+ case ES581_4_CMD_ID_ECHO:
+ return es581_4_echo_msg(es58x_dev, es581_4_urb_cmd);
+
+ case ES581_4_CMD_ID_DEVICE_ERR:
+ ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_cmd_ret_u8,
+ msg_len);
+ if (ret)
+ return ret;
+ return es58x_rx_cmd_ret_u8(es58x_dev->dev,
+ ES58X_RET_TYPE_DEVICE_ERR,
+ es581_4_urb_cmd->rx_cmd_ret_u8);
+
+ default:
+ dev_warn(dev, "%s: Unexpected command ID: 0x%02X\n",
+ __func__, es581_4_urb_cmd->cmd_id);
+ return -EBADRQC;
+ }
+}
+
+static void es581_4_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
+ u8 cmd_id, u8 channel_idx, u16 msg_len)
+{
+ struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
+
+ es581_4_urb_cmd->SOF = cpu_to_le16(es581_4_param.tx_start_of_frame);
+ es581_4_urb_cmd->cmd_type = cmd_type;
+ es581_4_urb_cmd->cmd_id = cmd_id;
+ es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
+}
+
+static int es581_4_tx_can_msg(struct es58x_priv *priv,
+ const struct sk_buff *skb)
+{
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer;
+ struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
+ u32 *urb_cmd_len = &priv->tx_urb->transfer_buffer_length;
+ struct can_frame *cf = (struct can_frame *)skb->data;
+ struct es581_4_tx_can_msg *tx_can_msg;
+ u16 msg_len;
+ int ret;
+
+ ret = es58x_check_msg_max_len(es58x_dev->dev,
+ es581_4_urb_cmd->bulk_tx_can_msg,
+ es581_4_get_msg_len(urb_cmd) +
+ sizeof(*tx_can_msg));
+ if (ret)
+ return ret;
+
+ if (can_is_canfd_skb(skb))
+ return -EMSGSIZE;
+
+ /* Fill message contents. */
+ if (*urb_cmd_len == es58x_dev->param->urb_cmd_header_len) {
+ es581_4_fill_urb_header(urb_cmd, ES581_4_CAN_COMMAND_TYPE,
+ ES581_4_CMD_ID_TX_MSG,
+ priv->channel_idx, *urb_cmd_len);
+ msg_len = 1;
+ } else {
+ msg_len = le16_to_cpu(es581_4_urb_cmd->msg_len);
+ }
+ tx_can_msg = (struct es581_4_tx_can_msg *)
+ &es581_4_urb_cmd->bulk_tx_can_msg.tx_can_msg_buf[msg_len - 1];
+
+ put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
+ put_unaligned_le32(priv->tx_head + priv->tx_can_msg_cnt,
+ &tx_can_msg->packet_idx);
+ put_unaligned_le16((u16)es58x_get_flags(skb), &tx_can_msg->flags);
+ tx_can_msg->channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;
+ tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
+
+ memcpy(tx_can_msg->data, cf->data, cf->len);
+
+ /* Calculate new sizes. */
+ es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg++;
+ msg_len += es581_4_sizeof_rx_tx_msg(*tx_can_msg);
+ *urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+ es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
+
+ return 0;
+}
+
+static int es581_4_set_bittiming(struct es58x_priv *priv)
+{
+ struct es581_4_tx_conf_msg tx_conf_msg = { 0 };
+ struct can_bittiming *bt = &priv->can.bittiming;
+
+ tx_conf_msg.bitrate = cpu_to_le32(bt->bitrate);
+ /* bt->sample_point is in tenth of percent. Convert it to percent. */
+ tx_conf_msg.sample_point = cpu_to_le32(bt->sample_point / 10U);
+ tx_conf_msg.samples_per_bit = cpu_to_le32(ES58X_SAMPLES_PER_BIT_ONE);
+ tx_conf_msg.bit_time = cpu_to_le32(can_bit_time(bt));
+ tx_conf_msg.sjw = cpu_to_le32(bt->sjw);
+ tx_conf_msg.sync_edge = cpu_to_le32(ES58X_SYNC_EDGE_SINGLE);
+ tx_conf_msg.physical_layer =
+ cpu_to_le32(ES58X_PHYSICAL_LAYER_HIGH_SPEED);
+ tx_conf_msg.echo_mode = cpu_to_le32(ES58X_ECHO_ON);
+ tx_conf_msg.channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;
+
+ return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+ 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)
+{
+ 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_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_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 * CAN_MBPS,
+ .clock = {.freq = 50 * CAN_MHZ},
+ .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 */
+ .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,
+ .set_bittiming = es581_4_set_bittiming,
+ .enable_channel = es581_4_enable_channel,
+ .disable_channel = es581_4_disable_channel,
+ .get_timestamp = es581_4_get_timestamp
+};
diff --git a/drivers/net/can/usb/etas_es58x/es581_4.h b/drivers/net/can/usb/etas_es58x/es581_4.h
new file mode 100644
index 000000000000..4bc60a6df697
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es581_4.h
@@ -0,0 +1,207 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es581_4.h: Definitions and declarations specific to ETAS
+ * ES581.4.
+ *
+ * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
+ * Copyright (c) 2020 ETAS K.K.. All rights reserved.
+ * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
+ */
+
+#ifndef __ES581_4_H__
+#define __ES581_4_H__
+
+#include <linux/types.h>
+
+#define ES581_4_NUM_CAN_CH 2
+#define ES581_4_CHANNEL_IDX_OFFSET 1
+
+#define ES581_4_TX_BULK_MAX 25
+#define ES581_4_RX_BULK_MAX 30
+#define ES581_4_ECHO_BULK_MAX 30
+
+enum es581_4_cmd_type {
+ ES581_4_CAN_COMMAND_TYPE = 0x45
+};
+
+enum es581_4_cmd_id {
+ ES581_4_CMD_ID_OPEN_CHANNEL = 0x01,
+ ES581_4_CMD_ID_CLOSE_CHANNEL = 0x02,
+ ES581_4_CMD_ID_SET_BITTIMING = 0x03,
+ ES581_4_CMD_ID_ENABLE_CHANNEL = 0x04,
+ ES581_4_CMD_ID_TX_MSG = 0x05,
+ ES581_4_CMD_ID_RX_MSG = 0x06,
+ ES581_4_CMD_ID_RESET_RX = 0x0A,
+ ES581_4_CMD_ID_RESET_TX = 0x0B,
+ ES581_4_CMD_ID_DISABLE_CHANNEL = 0x0C,
+ ES581_4_CMD_ID_TIMESTAMP = 0x0E,
+ ES581_4_CMD_ID_RESET_DEVICE = 0x28,
+ ES581_4_CMD_ID_ECHO = 0x71,
+ ES581_4_CMD_ID_DEVICE_ERR = 0x72
+};
+
+enum es581_4_rx_type {
+ ES581_4_RX_TYPE_MESSAGE = 1,
+ ES581_4_RX_TYPE_ERROR = 3,
+ ES581_4_RX_TYPE_EVENT = 4
+};
+
+/**
+ * struct es581_4_tx_conf_msg - Channel configuration.
+ * @bitrate: Bitrate.
+ * @sample_point: Sample point is in percent [0..100].
+ * @samples_per_bit: type enum es58x_samples_per_bit.
+ * @bit_time: Number of time quanta in one bit.
+ * @sjw: Synchronization Jump Width.
+ * @sync_edge: type enum es58x_sync_edge.
+ * @physical_layer: type enum es58x_physical_layer.
+ * @echo_mode: type enum es58x_echo_mode.
+ * @channel_no: Channel number, starting from 1. Not to be confused
+ * with channed_idx of the ES58X FD which starts from 0.
+ */
+struct es581_4_tx_conf_msg {
+ __le32 bitrate;
+ __le32 sample_point;
+ __le32 samples_per_bit;
+ __le32 bit_time;
+ __le32 sjw;
+ __le32 sync_edge;
+ __le32 physical_layer;
+ __le32 echo_mode;
+ u8 channel_no;
+} __packed;
+
+struct es581_4_tx_can_msg {
+ __le32 can_id;
+ __le32 packet_idx;
+ __le16 flags;
+ u8 channel_no;
+ u8 dlc;
+ u8 data[CAN_MAX_DLEN];
+} __packed;
+
+/* The ES581.4 allows bulk transfer. */
+struct es581_4_bulk_tx_can_msg {
+ u8 num_can_msg;
+ /* Using type "u8[]" instead of "struct es581_4_tx_can_msg[]"
+ * for tx_msg_buf because each member has a flexible size.
+ */
+ u8 tx_can_msg_buf[ES581_4_TX_BULK_MAX *
+ sizeof(struct es581_4_tx_can_msg)];
+} __packed;
+
+struct es581_4_echo_msg {
+ __le64 timestamp;
+ __le32 packet_idx;
+} __packed;
+
+struct es581_4_bulk_echo_msg {
+ u8 channel_no;
+ struct es581_4_echo_msg echo_msg[ES581_4_ECHO_BULK_MAX];
+} __packed;
+
+/* Normal Rx CAN Message */
+struct es581_4_rx_can_msg {
+ __le64 timestamp;
+ u8 rx_type; /* type enum es581_4_rx_type */
+ u8 flags; /* type enum es58x_flag */
+ u8 channel_no;
+ u8 dlc;
+ __le32 can_id;
+ u8 data[CAN_MAX_DLEN];
+} __packed;
+
+struct es581_4_rx_err_msg {
+ __le64 timestamp;
+ __le16 rx_type; /* type enum es581_4_rx_type */
+ __le16 flags; /* type enum es58x_flag */
+ u8 channel_no;
+ u8 __padding[2];
+ u8 dlc;
+ __le32 tag; /* Related to the CAN filtering. Unused in this module */
+ __le32 can_id;
+ __le32 error; /* type enum es58x_error */
+ __le32 destination; /* Unused in this module */
+} __packed;
+
+struct es581_4_rx_event_msg {
+ __le64 timestamp;
+ __le16 rx_type; /* type enum es581_4_rx_type */
+ u8 channel_no;
+ u8 __padding;
+ __le32 tag; /* Related to the CAN filtering. Unused in this module */
+ __le32 event; /* type enum es58x_event */
+ __le32 destination; /* Unused in this module */
+} __packed;
+
+struct es581_4_tx_ack_msg {
+ __le16 tx_free_entries; /* Number of remaining free entries in the device TX queue */
+ u8 channel_no;
+ u8 rx_cmd_ret_u8; /* type enum es58x_cmd_ret_code_u8 */
+} __packed;
+
+struct es581_4_rx_cmd_ret {
+ __le32 rx_cmd_ret_le32;
+ u8 channel_no;
+ u8 __padding[3];
+} __packed;
+
+/**
+ * struct es581_4_urb_cmd - Commands received from or sent to the
+ * ES581.4 device.
+ * @SOF: Start of Frame.
+ * @cmd_type: Command Type (type: enum es581_4_cmd_type). The CRC
+ * calculation starts at this position.
+ * @cmd_id: Command ID (type: enum es581_4_cmd_id).
+ * @msg_len: Length of the message, excluding CRC (i.e. length of the
+ * union).
+ * @tx_conf_msg: Channel configuration.
+ * @bulk_tx_can_msg: Tx messages.
+ * @rx_can_msg: Array of Rx messages.
+ * @bulk_echo_msg: Tx message being looped back.
+ * @rx_err_msg: Error message.
+ * @rx_event_msg: Event message.
+ * @tx_ack_msg: Tx acknowledgment message.
+ * @rx_cmd_ret: Command return code.
+ * @timestamp: Timestamp reply.
+ * @rx_cmd_ret_u8: Rx 8 bits return code (type: enum
+ * es58x_cmd_ret_code_u8).
+ * @raw_msg: Message raw payload.
+ * @reserved_for_crc16_do_not_use: The structure ends with a
+ * CRC16. Because the structures in above union are of variable
+ * lengths, we can not predict the offset of the CRC in
+ * advance. Use functions es58x_get_crc() and es58x_set_crc() to
+ * manipulate it.
+ */
+struct es581_4_urb_cmd {
+ __le16 SOF;
+ u8 cmd_type;
+ u8 cmd_id;
+ __le16 msg_len;
+
+ union {
+ struct es581_4_tx_conf_msg tx_conf_msg;
+ struct es581_4_bulk_tx_can_msg bulk_tx_can_msg;
+ struct es581_4_rx_can_msg rx_can_msg[ES581_4_RX_BULK_MAX];
+ struct es581_4_bulk_echo_msg bulk_echo_msg;
+ struct es581_4_rx_err_msg rx_err_msg;
+ struct es581_4_rx_event_msg rx_event_msg;
+ struct es581_4_tx_ack_msg tx_ack_msg;
+ struct es581_4_rx_cmd_ret rx_cmd_ret;
+ __le64 timestamp;
+ u8 rx_cmd_ret_u8;
+ u8 raw_msg[0];
+ } __packed;
+
+ __le16 reserved_for_crc16_do_not_use;
+} __packed;
+
+#define ES581_4_URB_CMD_HEADER_LEN (offsetof(struct es581_4_urb_cmd, raw_msg))
+#define ES581_4_TX_URB_CMD_MAX_LEN \
+ ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, bulk_tx_can_msg)
+#define ES581_4_RX_URB_CMD_MAX_LEN \
+ ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, rx_can_msg)
+
+#endif /* __ES581_4_H__ */
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.c b/drivers/net/can/usb/etas_es58x/es58x_core.c
index 69d506d3e934..b0c4297244ca 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.c
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.c
@@ -28,9 +28,11 @@ MODULE_LICENSE("GPL v2");
/* Vendor and product id */
#define ES58X_MODULE_NAME "etas_es58x"
#define ES58X_VENDOR_ID 0x108C
+#define ES581_4_PRODUCT_ID 0x0159
/* Table of devices which work with this driver */
static const struct usb_device_id es58x_id_table[] = {
+ {USB_DEVICE(ES58X_VENDOR_ID, ES581_4_PRODUCT_ID)},
{ /* Terminating entry */ }
};
@@ -2217,6 +2219,12 @@ static int es58x_init_es58x_dev(struct usb_interface *intf,
return ret;
switch (usb_id_product) {
+ case ES581_4_PRODUCT_ID: /* 2 Classical CAN channels */
+ param = &es581_4_param;
+ ops = &es581_4_ops;
+ num_can_ch = ES581_4_NUM_CAN_CH;
+ break;
+
default:
return -ENODEV;
}
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.h b/drivers/net/can/usb/etas_es58x/es58x_core.h
index 1c7f7334e678..3f7a2c91a1b8 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.h
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.h
@@ -18,11 +18,13 @@
#include <linux/can.h>
#include <linux/can/dev.h>
+#include "es581_4.h"
+
/* Driver constants */
#define ES58X_RX_URBS_MAX 5 /* Empirical value */
#define ES58X_TX_URBS_MAX 6 /* Empirical value */
-#define ES58X_MAX(param) 0
+#define ES58X_MAX(param) (ES581_4_##param)
#define ES58X_TX_BULK_MAX ES58X_MAX(TX_BULK_MAX)
#define ES58X_RX_BULK_MAX ES58X_MAX(RX_BULK_MAX)
#define ES58X_ECHO_BULK_MAX ES58X_MAX(ECHO_BULK_MAX)
@@ -194,6 +196,7 @@ enum es58x_ret_type {
};
union es58x_urb_cmd {
+ struct es581_4_urb_cmd es581_4_urb_cmd;
struct { /* Common header parts of all variants */
__le16 sof;
u8 cmd_type;
--
2.26.2
^ permalink raw reply related [flat|nested] 9+ messages in thread
* [PATCH v14 3/4] can: etas_es58x: add support for the ETAS ES58X_FD CAN USB interfaces
2021-03-21 10:40 [PATCH v14 0/4] Introducing ETAS ES58X CAN USB interfaces Vincent Mailhol
2021-03-21 10:41 ` [PATCH v14 1/4] can: etas_es58x: add core support for " Vincent Mailhol
2021-03-21 10:41 ` [PATCH v14 2/4] can: etas_es58x: add support for ETAS ES581.4 CAN USB interface Vincent Mailhol
@ 2021-03-21 10:41 ` Vincent Mailhol
2021-03-21 10:41 ` [PATCH v14 4/4] can: etas_es58x: add es58x_netdev_queue_set_dql_min_limit() Vincent Mailhol
3 siblings, 0 replies; 9+ messages in thread
From: Vincent Mailhol @ 2021-03-21 10:41 UTC (permalink / raw)
To: Marc Kleine-Budde, linux-can; +Cc: Arunachalam Santhanam, Vincent Mailhol
This patch add support for the ES582.1 and ES584.1 interfaces from
ETAS GmbH (https://www.etas.com/en/products/es58x.php).
Co-developed-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
---
drivers/net/can/usb/etas_es58x/Makefile | 2 +-
drivers/net/can/usb/etas_es58x/es58x_core.c | 16 +
drivers/net/can/usb/etas_es58x/es58x_core.h | 6 +-
drivers/net/can/usb/etas_es58x/es58x_fd.c | 575 ++++++++++++++++++++
drivers/net/can/usb/etas_es58x/es58x_fd.h | 243 +++++++++
5 files changed, 840 insertions(+), 2 deletions(-)
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.c
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.h
diff --git a/drivers/net/can/usb/etas_es58x/Makefile b/drivers/net/can/usb/etas_es58x/Makefile
index e4753ec9cb60..a129b4aa0215 100644
--- a/drivers/net/can/usb/etas_es58x/Makefile
+++ b/drivers/net/can/usb/etas_es58x/Makefile
@@ -1,3 +1,3 @@
# SPDX-License-Identifier: GPL-2.0
obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x.o
-etas_es58x-y = es58x_core.o es581_4.o
+etas_es58x-y = es58x_core.o es581_4.o es58x_fd.o
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.c b/drivers/net/can/usb/etas_es58x/es58x_core.c
index b0c4297244ca..7b9b993c0b5b 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.c
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.c
@@ -29,10 +29,14 @@ MODULE_LICENSE("GPL v2");
#define ES58X_MODULE_NAME "etas_es58x"
#define ES58X_VENDOR_ID 0x108C
#define ES581_4_PRODUCT_ID 0x0159
+#define ES582_1_PRODUCT_ID 0x0168
+#define ES584_1_PRODUCT_ID 0x0169
/* Table of devices which work with this driver */
static const struct usb_device_id es58x_id_table[] = {
{USB_DEVICE(ES58X_VENDOR_ID, ES581_4_PRODUCT_ID)},
+ {USB_DEVICE(ES58X_VENDOR_ID, ES582_1_PRODUCT_ID)},
+ {USB_DEVICE(ES58X_VENDOR_ID, ES584_1_PRODUCT_ID)},
{ /* Terminating entry */ }
};
@@ -2225,6 +2229,18 @@ static int es58x_init_es58x_dev(struct usb_interface *intf,
num_can_ch = ES581_4_NUM_CAN_CH;
break;
+ case ES582_1_PRODUCT_ID: /* 2 CAN(-FD) channels */
+ param = &es58x_fd_param;
+ ops = &es58x_fd_ops;
+ num_can_ch = ES582_1_NUM_CAN_CH;
+ break;
+
+ case ES584_1_PRODUCT_ID: /* 1 CAN(-FD) and 1 LIN channel */
+ param = &es58x_fd_param;
+ ops = &es58x_fd_ops;
+ num_can_ch = ES584_1_NUM_CAN_CH;
+ break;
+
default:
return -ENODEV;
}
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.h b/drivers/net/can/usb/etas_es58x/es58x_core.h
index 3f7a2c91a1b8..f0cf88a96816 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.h
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.h
@@ -19,12 +19,15 @@
#include <linux/can/dev.h>
#include "es581_4.h"
+#include "es58x_fd.h"
/* Driver constants */
#define ES58X_RX_URBS_MAX 5 /* Empirical value */
#define ES58X_TX_URBS_MAX 6 /* Empirical value */
-#define ES58X_MAX(param) (ES581_4_##param)
+#define ES58X_MAX(param) \
+ (ES581_4_##param > ES58X_FD_##param ? \
+ ES581_4_##param : ES58X_FD_##param)
#define ES58X_TX_BULK_MAX ES58X_MAX(TX_BULK_MAX)
#define ES58X_RX_BULK_MAX ES58X_MAX(RX_BULK_MAX)
#define ES58X_ECHO_BULK_MAX ES58X_MAX(ECHO_BULK_MAX)
@@ -197,6 +200,7 @@ enum es58x_ret_type {
union es58x_urb_cmd {
struct es581_4_urb_cmd es581_4_urb_cmd;
+ struct es58x_fd_urb_cmd es58x_fd_urb_cmd;
struct { /* Common header parts of all variants */
__le16 sof;
u8 cmd_type;
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.c b/drivers/net/can/usb/etas_es58x/es58x_fd.c
new file mode 100644
index 000000000000..a4e0867c9d4c
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.c
@@ -0,0 +1,575 @@
+// SPDX-License-Identifier: GPL-2.0
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_fd.c: Adds support to ETAS ES582.1 and ES584.1 (naming
+ * convention: we use the term "ES58X FD" when referring to those two
+ * variants together).
+ *
+ * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
+ * Copyright (c) 2020 ETAS K.K.. All rights reserved.
+ * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
+ */
+
+#include <linux/kernel.h>
+#include <asm/unaligned.h>
+
+#include "es58x_core.h"
+#include "es58x_fd.h"
+
+/**
+ * es58x_fd_sizeof_rx_tx_msg() - Calculate the actual length of the
+ * structure of a rx or tx message.
+ * @msg: message of variable length, must have a dlc and a len fields.
+ *
+ * Even if RTR frames have actually no payload, the ES58X devices
+ * still expect it. Must be a macro in order to accept several types
+ * (struct es58x_fd_tx_can_msg and struct es58x_fd_rx_can_msg) as an
+ * input.
+ *
+ * Return: length of the message.
+ */
+#define es58x_fd_sizeof_rx_tx_msg(msg) \
+({ \
+ typeof(msg) __msg = (msg); \
+ size_t __msg_len; \
+ \
+ if (__msg.flags & ES58X_FLAG_FD_DATA) \
+ __msg_len = canfd_sanitize_len(__msg.len); \
+ else \
+ __msg_len = can_cc_dlc2len(__msg.dlc); \
+ \
+ offsetof(typeof(__msg), data[__msg_len]); \
+})
+
+static enum es58x_fd_cmd_type es58x_fd_cmd_type(struct net_device *netdev)
+{
+ u32 ctrlmode = es58x_priv(netdev)->can.ctrlmode;
+
+ if (ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO))
+ return ES58X_FD_CMD_TYPE_CANFD;
+ else
+ return ES58X_FD_CMD_TYPE_CAN;
+}
+
+static u16 es58x_fd_get_msg_len(const union es58x_urb_cmd *urb_cmd)
+{
+ return get_unaligned_le16(&urb_cmd->es58x_fd_urb_cmd.msg_len);
+}
+
+static int es58x_fd_echo_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ const struct es58x_fd_echo_msg *echo_msg;
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ u64 *tstamps = es58x_dev->timestamps;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int i, num_element;
+ u32 rcv_packet_idx;
+
+ const u32 mask = GENMASK(31, sizeof(echo_msg->packet_idx) * 8);
+
+ num_element = es58x_msg_num_element(es58x_dev->dev,
+ es58x_fd_urb_cmd->echo_msg,
+ msg_len);
+ if (num_element < 0)
+ return num_element;
+ echo_msg = es58x_fd_urb_cmd->echo_msg;
+
+ rcv_packet_idx = (priv->tx_tail & mask) | echo_msg[0].packet_idx;
+ for (i = 0; i < num_element; i++) {
+ if ((u8)rcv_packet_idx != echo_msg[i].packet_idx) {
+ netdev_err(netdev, "Packet idx jumped from %u to %u\n",
+ (u8)rcv_packet_idx - 1,
+ echo_msg[i].packet_idx);
+ return -EBADMSG;
+ }
+
+ tstamps[i] = get_unaligned_le64(&echo_msg[i].timestamp);
+ rcv_packet_idx++;
+ }
+
+ return es58x_can_get_echo_skb(netdev, priv->tx_tail, tstamps, num_element);
+}
+
+static int es58x_fd_rx_can_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ const u8 *rx_can_msg_buf = es58x_fd_urb_cmd->rx_can_msg_buf;
+ u16 rx_can_msg_buf_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int pkts, ret;
+
+ ret = es58x_check_msg_max_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->rx_can_msg_buf,
+ rx_can_msg_buf_len);
+ if (ret)
+ return ret;
+
+ for (pkts = 0; rx_can_msg_buf_len > 0; pkts++) {
+ const struct es58x_fd_rx_can_msg *rx_can_msg =
+ (const struct es58x_fd_rx_can_msg *)rx_can_msg_buf;
+ bool is_can_fd = !!(rx_can_msg->flags & ES58X_FLAG_FD_DATA);
+ /* rx_can_msg_len is the length of the rx_can_msg
+ * buffer. Not to be confused with rx_can_msg->len
+ * which is the length of the CAN payload
+ * rx_can_msg->data.
+ */
+ u16 rx_can_msg_len = es58x_fd_sizeof_rx_tx_msg(*rx_can_msg);
+
+ if (rx_can_msg_len > rx_can_msg_buf_len) {
+ netdev_err(netdev,
+ "%s: Expected a rx_can_msg of size %d but only %d bytes are left in rx_can_msg_buf\n",
+ __func__,
+ rx_can_msg_len, rx_can_msg_buf_len);
+ return -EMSGSIZE;
+ }
+ if (rx_can_msg->len > CANFD_MAX_DLEN) {
+ netdev_err(netdev,
+ "%s: Data length is %d but maximum should be %d\n",
+ __func__, rx_can_msg->len, CANFD_MAX_DLEN);
+ return -EMSGSIZE;
+ }
+
+ if (netif_running(netdev)) {
+ u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
+ canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);
+ u8 dlc;
+
+ if (is_can_fd)
+ dlc = can_fd_len2dlc(rx_can_msg->len);
+ else
+ dlc = rx_can_msg->dlc;
+
+ ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
+ can_id, rx_can_msg->flags, dlc);
+ if (ret)
+ break;
+ }
+
+ rx_can_msg_buf_len -= rx_can_msg_len;
+ rx_can_msg_buf += rx_can_msg_len;
+ }
+
+ if (!netif_running(netdev)) {
+ if (net_ratelimit())
+ netdev_info(netdev,
+ "%s: %s is down, dropping %d rx packets\n",
+ __func__, netdev->name, pkts);
+ netdev->stats.rx_dropped += pkts;
+ }
+
+ return ret;
+}
+
+static int es58x_fd_rx_event_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd
+ *es58x_fd_urb_cmd)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ const struct es58x_fd_rx_event_msg *rx_event_msg;
+ int ret;
+
+ ret = es58x_check_msg_len(es58x_dev->dev, *rx_event_msg, msg_len);
+ if (ret)
+ return ret;
+
+ rx_event_msg = &es58x_fd_urb_cmd->rx_event_msg;
+
+ return es58x_rx_err_msg(netdev, rx_event_msg->error_code,
+ rx_event_msg->event_code,
+ get_unaligned_le64(&rx_event_msg->timestamp));
+}
+
+static int es58x_fd_rx_cmd_ret_u32(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd
+ *es58x_fd_urb_cmd,
+ enum es58x_ret_type cmd_ret_type)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ enum es58x_ret_u32 rx_cmd_ret_u32;
+ int ret;
+
+ ret = es58x_check_msg_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->rx_cmd_ret_le32, msg_len);
+ if (ret)
+ return ret;
+
+ rx_cmd_ret_u32 = get_unaligned_le32(&es58x_fd_urb_cmd->rx_cmd_ret_le32);
+
+ return es58x_rx_cmd_ret_u32(netdev, cmd_ret_type, rx_cmd_ret_u32);
+}
+
+static int es58x_fd_tx_ack_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ const struct es58x_fd_tx_ack_msg *tx_ack_msg;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int ret;
+
+ tx_ack_msg = &es58x_fd_urb_cmd->tx_ack_msg;
+ ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
+ if (ret)
+ return ret;
+
+ return
+ es58x_tx_ack_msg(netdev,
+ get_unaligned_le16(&tx_ack_msg->tx_free_entries),
+ get_unaligned_le32(&tx_ack_msg->rx_cmd_ret_le32));
+}
+
+static int es58x_fd_can_cmd_id(struct es58x_device *es58x_dev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct net_device *netdev;
+ int ret;
+
+ ret = es58x_get_netdev(es58x_dev, es58x_fd_urb_cmd->channel_idx,
+ ES58X_FD_CHANNEL_IDX_OFFSET, &netdev);
+ if (ret)
+ return ret;
+
+ switch ((enum es58x_fd_can_cmd_id)es58x_fd_urb_cmd->cmd_id) {
+ case ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_ENABLE_CHANNEL);
+
+ case ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_DISABLE_CHANNEL);
+
+ case ES58X_FD_CAN_CMD_ID_TX_MSG:
+ return es58x_fd_tx_ack_msg(netdev, es58x_fd_urb_cmd);
+
+ case ES58X_FD_CAN_CMD_ID_ECHO_MSG:
+ return es58x_fd_echo_msg(netdev, es58x_fd_urb_cmd);
+
+ case ES58X_FD_CAN_CMD_ID_RX_MSG:
+ return es58x_fd_rx_can_msg(netdev, es58x_fd_urb_cmd);
+
+ case ES58X_FD_CAN_CMD_ID_RESET_RX:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_RESET_RX);
+
+ case ES58X_FD_CAN_CMD_ID_RESET_TX:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_RESET_TX);
+
+ case ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG:
+ return es58x_fd_rx_event_msg(netdev, es58x_fd_urb_cmd);
+
+ default:
+ return -EBADRQC;
+ }
+}
+
+static int es58x_fd_device_cmd_id(struct es58x_device *es58x_dev,
+ const struct es58x_fd_urb_cmd
+ *es58x_fd_urb_cmd)
+{
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int ret;
+
+ switch ((enum es58x_fd_dev_cmd_id)es58x_fd_urb_cmd->cmd_id) {
+ case ES58X_FD_DEV_CMD_ID_TIMESTAMP:
+ ret = es58x_check_msg_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->timestamp, msg_len);
+ if (ret)
+ return ret;
+ es58x_rx_timestamp(es58x_dev,
+ get_unaligned_le64(&es58x_fd_urb_cmd->timestamp));
+ return 0;
+
+ default:
+ return -EBADRQC;
+ }
+}
+
+static int es58x_fd_handle_urb_cmd(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd)
+{
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd;
+ const struct device *dev = es58x_dev->dev;
+ int ret;
+
+ es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+
+ switch ((enum es58x_fd_cmd_type)es58x_fd_urb_cmd->cmd_type) {
+ case ES58X_FD_CMD_TYPE_CAN:
+ case ES58X_FD_CMD_TYPE_CANFD:
+ ret = es58x_fd_can_cmd_id(es58x_dev, es58x_fd_urb_cmd);
+ break;
+
+ case ES58X_FD_CMD_TYPE_DEVICE:
+ ret = es58x_fd_device_cmd_id(es58x_dev, es58x_fd_urb_cmd);
+ break;
+
+ default:
+ ret = -EBADRQC;
+ break;
+ }
+
+ if (ret == -EBADRQC)
+ dev_err(dev,
+ "%s: Unknown command type (0x%02X) and command ID (0x%02X) combination\n",
+ __func__, es58x_fd_urb_cmd->cmd_type,
+ es58x_fd_urb_cmd->cmd_id);
+
+ return ret;
+}
+
+static void es58x_fd_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
+ u8 cmd_id, u8 channel_idx, u16 msg_len)
+{
+ struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+
+ es58x_fd_urb_cmd->SOF = cpu_to_le16(es58x_fd_param.tx_start_of_frame);
+ es58x_fd_urb_cmd->cmd_type = cmd_type;
+ es58x_fd_urb_cmd->cmd_id = cmd_id;
+ es58x_fd_urb_cmd->channel_idx = channel_idx;
+ es58x_fd_urb_cmd->msg_len = cpu_to_le16(msg_len);
+}
+
+static int es58x_fd_tx_can_msg(struct es58x_priv *priv,
+ const struct sk_buff *skb)
+{
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer;
+ struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+ u32 *urb_cmd_len = &priv->tx_urb->transfer_buffer_length;
+ struct can_frame *cf = (struct can_frame *)skb->data;
+ struct es58x_fd_tx_can_msg *tx_can_msg;
+ bool is_fd = can_is_canfd_skb(skb);
+ u16 msg_len;
+ int ret;
+
+ ret = es58x_check_msg_max_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->tx_can_msg_buf,
+ es58x_fd_get_msg_len(urb_cmd) +
+ sizeof(*tx_can_msg));
+ if (ret)
+ return ret;
+
+ msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ tx_can_msg = (struct es58x_fd_tx_can_msg *)
+ &es58x_fd_urb_cmd->tx_can_msg_buf[msg_len];
+
+ /* Fill message contents. */
+ if (*urb_cmd_len == es58x_dev->param->urb_cmd_header_len)
+ es58x_fd_fill_urb_header(urb_cmd,
+ is_fd ? ES58X_FD_CMD_TYPE_CANFD
+ : ES58X_FD_CMD_TYPE_CAN,
+ ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK,
+ priv->channel_idx, *urb_cmd_len);
+ tx_can_msg->packet_idx = priv->tx_head + priv->tx_can_msg_cnt;
+ put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
+ tx_can_msg->flags = (u8)es58x_get_flags(skb);
+ if (is_fd)
+ tx_can_msg->len = cf->len;
+ else
+ tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
+ memcpy(tx_can_msg->data, cf->data, cf->len);
+
+ /* Calculate new sizes */
+ msg_len += es58x_fd_sizeof_rx_tx_msg(*tx_can_msg);
+ *urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+ put_unaligned_le16(msg_len, &es58x_fd_urb_cmd->msg_len);
+
+ return 0;
+}
+
+/* ES58X uses the same command to set the bittiming parameters and
+ * enable the channel. The modification is done in
+ * es58x_fd_enable_channel().
+ */
+static int es58x_fd_set_bittiming(struct es58x_priv *priv)
+{
+ return 0;
+}
+
+static void es58x_fd_convert_bittiming(struct es58x_fd_bittiming *es58x_fd_bt,
+ struct can_bittiming *bt)
+{
+ /* The actual value set in the hardware registers is one less
+ * than the functional value.
+ */
+ const int offset = 1;
+
+ es58x_fd_bt->bitrate = cpu_to_le32(bt->bitrate);
+ es58x_fd_bt->tseg1 =
+ cpu_to_le16(bt->prop_seg + bt->phase_seg1 - offset);
+ es58x_fd_bt->tseg2 = cpu_to_le16(bt->phase_seg2 - offset);
+ es58x_fd_bt->brp = cpu_to_le16(bt->brp - offset);
+ es58x_fd_bt->sjw = cpu_to_le16(bt->sjw - offset);
+}
+
+static int es58x_fd_enable_channel(struct es58x_priv *priv)
+{
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ struct net_device *netdev = es58x_dev->netdev[priv->channel_idx];
+ struct es58x_fd_tx_conf_msg tx_conf_msg = { 0 };
+ u32 ctrlmode;
+ size_t conf_len = 0;
+
+ es58x_fd_convert_bittiming(&tx_conf_msg.nominal_bittiming,
+ &priv->can.bittiming);
+ ctrlmode = priv->can.ctrlmode;
+
+ if (ctrlmode & CAN_CTRLMODE_3_SAMPLES)
+ tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_THREE;
+ else
+ tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_ONE;
+ tx_conf_msg.sync_edge = ES58X_SYNC_EDGE_SINGLE;
+ tx_conf_msg.physical_layer = ES58X_PHYSICAL_LAYER_HIGH_SPEED;
+ tx_conf_msg.echo_mode = ES58X_ECHO_ON;
+ if (ctrlmode & CAN_CTRLMODE_LISTENONLY)
+ tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_PASSIVE;
+ else
+ tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_ACTIVE;
+
+ if (ctrlmode & CAN_CTRLMODE_FD_NON_ISO) {
+ tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD_NON_ISO;
+ tx_conf_msg.canfd_enabled = 1;
+ } else if (ctrlmode & CAN_CTRLMODE_FD) {
+ tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD;
+ tx_conf_msg.canfd_enabled = 1;
+ }
+
+ if (tx_conf_msg.canfd_enabled) {
+ es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming,
+ &priv->can.data_bittiming);
+
+ if (priv->can.tdc.tdco) {
+ tx_conf_msg.tdc_enabled = 1;
+ tx_conf_msg.tdco = cpu_to_le16(priv->can.tdc.tdco);
+ tx_conf_msg.tdcf = cpu_to_le16(priv->can.tdc.tdcf);
+ }
+
+ conf_len = ES58X_FD_CANFD_CONF_LEN;
+ } else {
+ conf_len = ES58X_FD_CAN_CONF_LEN;
+ }
+
+ return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
+ ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL,
+ &tx_conf_msg, conf_len, priv->channel_idx);
+}
+
+static int es58x_fd_disable_channel(struct es58x_priv *priv)
+{
+ /* The type (ES58X_FD_CMD_TYPE_CAN or ES58X_FD_CMD_TYPE_CANFD) does
+ * not matter here.
+ */
+ return es58x_send_msg(priv->es58x_dev, ES58X_FD_CMD_TYPE_CAN,
+ ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL,
+ ES58X_EMPTY_MSG, 0, priv->channel_idx);
+}
+
+static int es58x_fd_get_timestamp(struct es58x_device *es58x_dev)
+{
+ return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_DEVICE,
+ ES58X_FD_DEV_CMD_ID_TIMESTAMP, ES58X_EMPTY_MSG,
+ 0, ES58X_CHANNEL_IDX_NA);
+}
+
+/* Nominal bittiming constants for ES582.1 and ES584.1 as specified in
+ * the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
+ * section 49.6.8 "MCAN Nominal Bit Timing and Prescaler Register"
+ * from Microchip.
+ *
+ * The values from the specification are the hardware register
+ * values. To convert them to the functional values, all ranges were
+ * incremented by 1 (e.g. range [0..n-1] changed to [1..n]).
+ */
+static const struct can_bittiming_const es58x_fd_nom_bittiming_const = {
+ .name = "ES582.1/ES584.1",
+ .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 for ES582.1 and ES584.1 as specified in
+ * the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
+ * section 49.6.4 "MCAN Data Bit Timing and Prescaler Register" from
+ * Microchip.
+ */
+static const struct can_bittiming_const es58x_fd_data_bittiming_const = {
+ .name = "ES582.1/ES584.1",
+ .tseg1_min = 2,
+ .tseg1_max = 32,
+ .tseg2_min = 1,
+ .tseg2_max = 16,
+ .sjw_max = 8,
+ .brp_min = 1,
+ .brp_max = 32,
+ .brp_inc = 1
+};
+
+/* Transmission Delay Compensation constants for ES582.1 and ES584.1
+ * as specified in the microcontroller datasheet: "SAM
+ * E701/S70/V70/V71 Family" section 49.6.15 "MCAN Transmitter Delay
+ * Compensation Register" from Microchip.
+ */
+static const struct can_tdc_const es58x_tdc_const = {
+ .tdcv_max = 0, /* Manual mode not supported. */
+ .tdco_max = 127,
+ .tdcf_max = 127
+};
+
+const struct es58x_parameters es58x_fd_param = {
+ .bittiming_const = &es58x_fd_nom_bittiming_const,
+ .data_bittiming_const = &es58x_fd_data_bittiming_const,
+ .tdc_const = &es58x_tdc_const,
+ /* The devices use NXP TJA1044G transievers which guarantee
+ * the timing for data rates up to 5 Mbps. Bitrates up to 8
+ * Mbps work in an optimal environment but are not recommended
+ * for production environment.
+ */
+ .bitrate_max = 8 * CAN_MBPS,
+ .clock = {.freq = 80 * CAN_MHZ},
+ .ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
+ CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO |
+ CAN_CTRLMODE_CC_LEN8_DLC,
+ .tx_start_of_frame = 0xCEFA, /* FACE in little endian */
+ .rx_start_of_frame = 0xFECA, /* CAFE in little endian */
+ .tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN,
+ .rx_urb_cmd_max_len = ES58X_FD_RX_URB_CMD_MAX_LEN,
+ /* Size of internal device TX queue is 500.
+ *
+ * However, when reaching value around 278, the device's busy
+ * LED turns on and thus maximum value of 500 is never reached
+ * in practice. Also, when this value is too high, some error
+ * on the echo_msg were witnessed when the device is
+ * recovering from bus off.
+ *
+ * For above reasons, a value that would prevent the device
+ * from becoming busy was chosen. In practice, BQL would
+ * prevent the value from even getting closer to below
+ * maximum, so no impact on performance was measured.
+ */
+ .fifo_mask = 255, /* echo_skb_max = 256 */
+ .tx_bulk_max = ES58X_FD_TX_BULK_MAX,
+ .urb_cmd_header_len = ES58X_FD_URB_CMD_HEADER_LEN,
+ .rx_urb_max = ES58X_RX_URBS_MAX,
+ .tx_urb_max = ES58X_TX_URBS_MAX
+};
+
+const struct es58x_operators es58x_fd_ops = {
+ .get_msg_len = es58x_fd_get_msg_len,
+ .handle_urb_cmd = es58x_fd_handle_urb_cmd,
+ .fill_urb_header = es58x_fd_fill_urb_header,
+ .tx_can_msg = es58x_fd_tx_can_msg,
+ .set_bittiming = es58x_fd_set_bittiming,
+ .enable_channel = es58x_fd_enable_channel,
+ .disable_channel = es58x_fd_disable_channel,
+ .get_timestamp = es58x_fd_get_timestamp
+};
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.h b/drivers/net/can/usb/etas_es58x/es58x_fd.h
new file mode 100644
index 000000000000..ee18a87e40c0
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.h
@@ -0,0 +1,243 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_fd.h: Definitions and declarations specific to ETAS
+ * ES582.1 and ES584.1 (naming convention: we use the term "ES58X FD"
+ * when referring to those two variants together).
+ *
+ * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
+ * Copyright (c) 2020 ETAS K.K.. All rights reserved.
+ * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
+ */
+
+#ifndef __ES58X_FD_H__
+#define __ES58X_FD_H__
+
+#include <linux/types.h>
+
+#define ES582_1_NUM_CAN_CH 2
+#define ES584_1_NUM_CAN_CH 1
+#define ES58X_FD_NUM_CAN_CH 2
+#define ES58X_FD_CHANNEL_IDX_OFFSET 0
+
+#define ES58X_FD_TX_BULK_MAX 100
+#define ES58X_FD_RX_BULK_MAX 100
+#define ES58X_FD_ECHO_BULK_MAX 100
+
+enum es58x_fd_cmd_type {
+ ES58X_FD_CMD_TYPE_CAN = 0x03,
+ ES58X_FD_CMD_TYPE_CANFD = 0x04,
+ ES58X_FD_CMD_TYPE_DEVICE = 0xFF
+};
+
+/* Command IDs for ES58X_FD_CMD_TYPE_{CAN,CANFD}. */
+enum es58x_fd_can_cmd_id {
+ ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL = 0x01,
+ ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL = 0x02,
+ ES58X_FD_CAN_CMD_ID_TX_MSG = 0x05,
+ ES58X_FD_CAN_CMD_ID_ECHO_MSG = 0x07,
+ ES58X_FD_CAN_CMD_ID_RX_MSG = 0x10,
+ ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG = 0x11,
+ ES58X_FD_CAN_CMD_ID_RESET_RX = 0x20,
+ ES58X_FD_CAN_CMD_ID_RESET_TX = 0x21,
+ ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK = 0x55
+};
+
+/* Command IDs for ES58X_FD_CMD_TYPE_DEVICE. */
+enum es58x_fd_dev_cmd_id {
+ ES58X_FD_DEV_CMD_ID_GETTIMETICKS = 0x01,
+ ES58X_FD_DEV_CMD_ID_TIMESTAMP = 0x02
+};
+
+/**
+ * enum es58x_fd_ctrlmode - Controller mode.
+ * @ES58X_FD_CTRLMODE_ACTIVE: send and receive messages.
+ * @ES58X_FD_CTRLMODE_PASSIVE: only receive messages (monitor). Do not
+ * send anything, not even the acknowledgment bit.
+ * @ES58X_FD_CTRLMODE_FD: CAN FD according to ISO11898-1.
+ * @ES58X_FD_CTRLMODE_FD_NON_ISO: follow Bosch CAN FD Specification
+ * V1.0
+ * @ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING: How to
+ * behave when CAN FD reserved bit is monitored as
+ * dominant. (c.f. ISO 11898-1:2015, section 10.4.2.4 "Control
+ * field", paragraph "r0 bit"). 0 (not disable = enable): send
+ * error frame. 1 (disable): goes into bus integration mode
+ * (c.f. below).
+ * @ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION: 0: Edge
+ * filtering is disabled. 1: Edge filtering is enabled. Two
+ * consecutive dominant bits required to detect an edge for hard
+ * synchronization.
+ */
+enum es58x_fd_ctrlmode {
+ ES58X_FD_CTRLMODE_ACTIVE = 0,
+ ES58X_FD_CTRLMODE_PASSIVE = BIT(0),
+ ES58X_FD_CTRLMODE_FD = BIT(4),
+ ES58X_FD_CTRLMODE_FD_NON_ISO = BIT(5),
+ ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING = BIT(6),
+ ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION = BIT(7)
+};
+
+struct es58x_fd_bittiming {
+ __le32 bitrate;
+ __le16 tseg1; /* range: [tseg1_min-1..tseg1_max-1] */
+ __le16 tseg2; /* range: [tseg2_min-1..tseg2_max-1] */
+ __le16 brp; /* range: [brp_min-1..brp_max-1] */
+ __le16 sjw; /* range: [0..sjw_max-1] */
+} __packed;
+
+/**
+ * struct es58x_fd_tx_conf_msg - Channel configuration.
+ * @nominal_bittiming: Nominal bittiming.
+ * @samples_per_bit: type enum es58x_samples_per_bit.
+ * @sync_edge: type enum es58x_sync_edge.
+ * @physical_layer: type enum es58x_physical_layer.
+ * @echo_mode: type enum es58x_echo_mode.
+ * @ctrlmode: type enum es58x_fd_ctrlmode.
+ * @canfd_enabled: boolean (0: Classical CAN, 1: CAN and/or CANFD).
+ * @data_bittiming: Bittiming for flexible data-rate transmission.
+ * @tdc_enabled: Transmitter Delay Compensation switch (0: disabled,
+ * 1: enabled). On very high bitrates, the delay between when the
+ * bit is sent and received on the CANTX and CANRX pins of the
+ * transceiver start to be significant enough for errors to occur
+ * and thus need to be compensated.
+ * @tdco: Transmitter Delay Compensation Offset. Offset value, in time
+ * quanta, defining the delay between the start of the bit
+ * reception on the CANRX pin of the transceiver and the SSP
+ * (Secondary Sample Point). Valid values: 0 to 127.
+ * @tdcf: Transmitter Delay Compensation Filter window. Defines the
+ * minimum value for the SSP position, in time quanta. The
+ * feature is enabled when TDCF is configured to a value greater
+ * than TDCO. Valid values: 0 to 127.
+ *
+ * Please refer to the microcontroller datasheet: "SAM
+ * E701/S70/V70/V71 Family" section 49 "Controller Area Network
+ * (MCAN)" for additional information.
+ */
+struct es58x_fd_tx_conf_msg {
+ struct es58x_fd_bittiming nominal_bittiming;
+ u8 samples_per_bit;
+ u8 sync_edge;
+ u8 physical_layer;
+ u8 echo_mode;
+ u8 ctrlmode;
+ u8 canfd_enabled;
+ struct es58x_fd_bittiming data_bittiming;
+ u8 tdc_enabled;
+ __le16 tdco;
+ __le16 tdcf;
+} __packed;
+
+#define ES58X_FD_CAN_CONF_LEN \
+ (offsetof(struct es58x_fd_tx_conf_msg, canfd_enabled))
+#define ES58X_FD_CANFD_CONF_LEN (sizeof(struct es58x_fd_tx_conf_msg))
+
+struct es58x_fd_tx_can_msg {
+ u8 packet_idx;
+ __le32 can_id;
+ u8 flags;
+ union {
+ u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
+ u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
+ } __packed;
+ u8 data[CANFD_MAX_DLEN];
+} __packed;
+
+#define ES58X_FD_CAN_TX_LEN \
+ (offsetof(struct es58x_fd_tx_can_msg, data[CAN_MAX_DLEN]))
+#define ES58X_FD_CANFD_TX_LEN (sizeof(struct es58x_fd_tx_can_msg))
+
+struct es58x_fd_rx_can_msg {
+ __le64 timestamp;
+ __le32 can_id;
+ u8 flags;
+ union {
+ u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
+ u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
+ } __packed;
+ u8 data[CANFD_MAX_DLEN];
+} __packed;
+
+#define ES58X_FD_CAN_RX_LEN \
+ (offsetof(struct es58x_fd_rx_can_msg, data[CAN_MAX_DLEN]))
+#define ES58X_FD_CANFD_RX_LEN (sizeof(struct es58x_fd_rx_can_msg))
+
+struct es58x_fd_echo_msg {
+ __le64 timestamp;
+ u8 packet_idx;
+} __packed;
+
+struct es58x_fd_rx_event_msg {
+ __le64 timestamp;
+ __le32 can_id;
+ u8 flags; /* type enum es58x_flag */
+ u8 error_type; /* 0: event, 1: error */
+ u8 error_code;
+ u8 event_code;
+} __packed;
+
+struct es58x_fd_tx_ack_msg {
+ __le32 rx_cmd_ret_le32; /* type enum es58x_cmd_ret_code_u32 */
+ __le16 tx_free_entries; /* Number of remaining free entries in the device TX queue */
+} __packed;
+
+/**
+ * struct es58x_fd_urb_cmd - Commands received from or sent to the
+ * ES58X FD device.
+ * @SOF: Start of Frame.
+ * @cmd_type: Command Type (type: enum es58x_fd_cmd_type). The CRC
+ * calculation starts at this position.
+ * @cmd_id: Command ID (type: enum es58x_fd_cmd_id).
+ * @channel_idx: Channel index starting at 0.
+ * @msg_len: Length of the message, excluding CRC (i.e. length of the
+ * union).
+ * @tx_conf_msg: Channel configuration.
+ * @tx_can_msg_buf: Concatenation of Tx messages. Type is "u8[]"
+ * instead of "struct es58x_fd_tx_msg[]" because the structure
+ * has a flexible size.
+ * @rx_can_msg_buf: Concatenation Rx messages. Type is "u8[]" instead
+ * of "struct es58x_fd_rx_msg[]" because the structure has a
+ * flexible size.
+ * @echo_msg: Array of echo messages (e.g. Tx messages being looped
+ * back).
+ * @rx_event_msg: Error or event message.
+ * @tx_ack_msg: Tx acknowledgment message.
+ * @timestamp: Timestamp reply.
+ * @rx_cmd_ret_le32: Rx 32 bits return code (type: enum
+ * es58x_cmd_ret_code_u32).
+ * @raw_msg: Message raw payload.
+ * @reserved_for_crc16_do_not_use: The structure ends with a
+ * CRC16. Because the structures in above union are of variable
+ * lengths, we can not predict the offset of the CRC in
+ * advance. Use functions es58x_get_crc() and es58x_set_crc() to
+ * manipulate it.
+ */
+struct es58x_fd_urb_cmd {
+ __le16 SOF;
+ u8 cmd_type;
+ u8 cmd_id;
+ u8 channel_idx;
+ __le16 msg_len;
+
+ union {
+ struct es58x_fd_tx_conf_msg tx_conf_msg;
+ u8 tx_can_msg_buf[ES58X_FD_TX_BULK_MAX * ES58X_FD_CANFD_TX_LEN];
+ u8 rx_can_msg_buf[ES58X_FD_RX_BULK_MAX * ES58X_FD_CANFD_RX_LEN];
+ struct es58x_fd_echo_msg echo_msg[ES58X_FD_ECHO_BULK_MAX];
+ struct es58x_fd_rx_event_msg rx_event_msg;
+ struct es58x_fd_tx_ack_msg tx_ack_msg;
+ __le64 timestamp;
+ __le32 rx_cmd_ret_le32;
+ u8 raw_msg[0];
+ } __packed;
+
+ __le16 reserved_for_crc16_do_not_use;
+} __packed;
+
+#define ES58X_FD_URB_CMD_HEADER_LEN (offsetof(struct es58x_fd_urb_cmd, raw_msg))
+#define ES58X_FD_TX_URB_CMD_MAX_LEN \
+ ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, tx_can_msg_buf)
+#define ES58X_FD_RX_URB_CMD_MAX_LEN \
+ ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, rx_can_msg_buf)
+
+#endif /* __ES58X_FD_H__ */
--
2.26.2
^ permalink raw reply related [flat|nested] 9+ messages in thread
* [PATCH v14 4/4] can: etas_es58x: add es58x_netdev_queue_set_dql_min_limit()
2021-03-21 10:40 [PATCH v14 0/4] Introducing ETAS ES58X CAN USB interfaces Vincent Mailhol
` (2 preceding siblings ...)
2021-03-21 10:41 ` [PATCH v14 3/4] can: etas_es58x: add support for the ETAS ES58X_FD CAN USB interfaces Vincent Mailhol
@ 2021-03-21 10:41 ` Vincent Mailhol
3 siblings, 0 replies; 9+ messages in thread
From: Vincent Mailhol @ 2021-03-21 10:41 UTC (permalink / raw)
To: Marc Kleine-Budde, linux-can; +Cc: Arunachalam Santhanam, Vincent Mailhol
The size of a classical CAN frame is roughly 16 bytes, way less than
an USB packet (varies between devices but often between 64 and 512
bytes).
This es58x_netdev_queue_set_dql_min_limit() forces to do a bulk send
up to a threshold given by dql_min_limit in order to prevent sending
many small USB packets even when small burst occurs (BQL algorithm is
not able to immediately adjust dql.min_limit value).
Doing so increases the throughput with a minimum impact on the
latency: the time lost to stuff several frame in a single USB packet
is negligible compared to the gain of not having to send several USB
packets.
Co-developed-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
---
Note: Contrary to previous version, the dql_min_limit field is not
guarded any more by #ifdef CONFIG_BQL: removing that field would
create a hole, so there is no gain to do so. If CONFIG_BQL is indeed
deactivated the field will just be unused.
---
drivers/net/can/usb/etas_es58x/es581_4.c | 2 ++
drivers/net/can/usb/etas_es58x/es58x_core.c | 5 ++++
drivers/net/can/usb/etas_es58x/es58x_core.h | 27 +++++++++++++++++++++
drivers/net/can/usb/etas_es58x/es58x_fd.c | 2 ++
4 files changed, 36 insertions(+)
diff --git a/drivers/net/can/usb/etas_es58x/es581_4.c b/drivers/net/can/usb/etas_es58x/es581_4.c
index a4b21dfd1bff..6b39d0cad7bb 100644
--- a/drivers/net/can/usb/etas_es58x/es581_4.c
+++ b/drivers/net/can/usb/etas_es58x/es581_4.c
@@ -481,6 +481,8 @@ const struct es58x_parameters es581_4_param = {
* unclear.
*/
.fifo_mask = 63, /* echo_skb_max = 64 */
+ /* Empirical value. */
+ .dql_min_limit = CAN_FRAME_LEN_MAX * 50,
.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,
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.c b/drivers/net/can/usb/etas_es58x/es58x_core.c
index 7b9b993c0b5b..b07b9f085687 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.c
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.c
@@ -461,6 +461,8 @@ static void es58x_can_flush_echo_skb(struct net_device *netdev)
priv->tx_tail = 0;
priv->tx_head = 0;
netdev_reset_queue(netdev);
+ es58x_netdev_queue_set_dql_min_limit(netdev_get_tx_queue(netdev, 0),
+ priv->es58x_dev->param->dql_min_limit);
}
/**
@@ -2148,6 +2150,9 @@ static int es58x_init_netdev(struct es58x_device *es58x_dev, int channel_idx)
netdev_dbg(netdev, "%s: Registered channel %s\n",
es58x_dev->udev->product, netdev->name);
+ es58x_netdev_queue_set_dql_min_limit(netdev_get_tx_queue(netdev, 0),
+ es58x_dev->param->dql_min_limit);
+
return ret;
}
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.h b/drivers/net/can/usb/etas_es58x/es58x_core.h
index f0cf88a96816..086c17693f9a 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.h
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.h
@@ -276,6 +276,15 @@ struct es58x_priv {
* not exceed the maximum size of the device internal TX FIFO
* length. This parameter is used to control the network queue
* wake/stop logic.
+ * @dql_min_limit: Dynamic Queue Limits (DQL) absolute minimum limit
+ * of bytes allowed to be queued on this network device transmit
+ * queue. Used by the Byte Queue Limits (BQL) to determine how
+ * frequently the xmit_more flag will be set to true in
+ * es58x_start_xmit(). Set this value higher to optimize for
+ * throughput but be aware that it might have a negative impact
+ * on the latency! This value can also be set dynamically. Please
+ * refer to Documentation/ABI/testing/sysfs-class-net-queues for
+ * more details.
* @tx_bulk_max: Maximum number of TX messages that can be sent in one
* single URB packet.
* @urb_cmd_header_len: Length of the URB command header.
@@ -294,6 +303,7 @@ struct es58x_parameters {
u16 tx_urb_cmd_max_len;
u16 rx_urb_cmd_max_len;
u16 fifo_mask;
+ u16 dql_min_limit;
u8 tx_bulk_max;
u8 urb_cmd_header_len;
u8 rx_urb_max;
@@ -643,6 +653,23 @@ static inline enum es58x_flag es58x_get_flags(const struct sk_buff *skb)
return es58x_flags;
}
+/**
+ * es58x_netdev_queue_set_dql_min_limit - set dql minimum limit
+ * @q: pointer to transmit queue
+ * @min_limit: dql minimum limit
+ *
+ * Forces xmit_more() to return true until the minimum threshold
+ * defined by @min_limit is reached (or until the tx queue is
+ * empty).
+ */
+static inline void es58x_netdev_queue_set_dql_min_limit(struct netdev_queue *q,
+ unsigned int min_limit)
+{
+#ifdef CONFIG_BQL
+ q->dql.min_limit = min_limit;
+#endif
+}
+
int es58x_can_get_echo_skb(struct net_device *netdev, u32 packet_idx,
u64 *tstamps, unsigned int pkts);
int es58x_tx_ack_msg(struct net_device *netdev, u16 tx_free_entries,
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.c b/drivers/net/can/usb/etas_es58x/es58x_fd.c
index a4e0867c9d4c..578a01580488 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_fd.c
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.c
@@ -557,6 +557,8 @@ const struct es58x_parameters es58x_fd_param = {
* maximum, so no impact on performance was measured.
*/
.fifo_mask = 255, /* echo_skb_max = 256 */
+ /* Empirical value. */
+ .dql_min_limit = CAN_FRAME_LEN_MAX * 15,
.tx_bulk_max = ES58X_FD_TX_BULK_MAX,
.urb_cmd_header_len = ES58X_FD_URB_CMD_HEADER_LEN,
.rx_urb_max = ES58X_RX_URBS_MAX,
--
2.26.2
^ permalink raw reply related [flat|nested] 9+ messages in thread
* Re: [PATCH v14 1/4] can: etas_es58x: add core support for ETAS ES58X CAN USB interfaces
2021-03-21 10:41 ` [PATCH v14 1/4] can: etas_es58x: add core support for " Vincent Mailhol
@ 2021-03-29 12:36 ` Marc Kleine-Budde
2021-04-02 9:56 ` Vincent MAILHOL
0 siblings, 1 reply; 9+ messages in thread
From: Marc Kleine-Budde @ 2021-03-29 12:36 UTC (permalink / raw)
To: Vincent Mailhol; +Cc: linux-can, Arunachalam Santhanam
[-- Attachment #1: Type: text/plain, Size: 17879 bytes --]
On 21.03.2021 19:41:00, Vincent Mailhol wrote:
> This patch adds the core support for various USB CAN interfaces from
> ETAS GmbH (https://www.etas.com/en/products/es58x.php). The next
> patches add the glue code drivers for the individual interfaces.
>
> Co-developed-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
> Signed-off-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
> Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
> ---
[...]
> +/**
> + * es58x_rx_err_msg() - Handle a received CAN event or error message.
> + * @netdev: CAN network device.
> + * @error: Error code.
> + * @event: Event code.
> + * @timestamp: Timestamp received from a ES58X device.
> + *
> + * Handle the errors and events received by the ES58X device, create
> + * a CAN error skb and post it.
> + *
> + * In some rare cases the devices might get stuck alternating between
> + * CAN_STATE_ERROR_PASSIVE and CAN_STATE_ERROR_WARNING. To prevent
> + * this behavior, we force a bus off state if the device goes in
> + * CAN_STATE_ERROR_WARNING for ES58X_MAX_CONSECUTIVE_WARN consecutive
> + * times with no successful transmission or reception in between.
> + *
> + * Once the device is in bus off state, the only way to restart it is
> + * through the drivers/net/can/dev.c:can_restart() function. The
> + * device is technically capable to recover by itself under certain
> + * circumstances, however, allowing self recovery would create
> + * complex race conditions with drivers/net/can/dev.c:can_restart()
> + * and thus was not implemented. To activate automatic restart, please
> + * set the restart-ms parameter (e.g. ip link set can0 type can
> + * restart-ms 100).
> + *
> + * If the bus is really instable, this function would try to send a
> + * lot of log messages. Those are rate limited (i.e. you will see
> + * messages such as "net_ratelimit: XXX callbacks suppressed" in
> + * dmesg).
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +int es58x_rx_err_msg(struct net_device *netdev, enum es58x_err error,
> + enum es58x_event event, u64 timestamp)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct can_priv *can = netdev_priv(netdev);
> + struct can_device_stats *can_stats = &can->can_stats;
> + struct can_frame *cf;
= NULL;
So that the if (cf) properly works...
> + struct sk_buff *skb;
> +
> + if (!netif_running(netdev)) {
> + if (net_ratelimit())
> + netdev_info(netdev, "%s: %s is down, dropping packet\n",
> + __func__, netdev->name);
> + netdev->stats.rx_dropped++;
> + return 0;
> + }
> +
> + if (error == ES58X_ERR_OK && event == ES58X_EVENT_OK) {
> + netdev_err(netdev, "%s: Both error and event are zero\n",
> + __func__);
> + return -EINVAL;
> + }
> +
> + skb = alloc_can_err_skb(netdev, &cf);
> +
> + switch (error) {
> + case ES58X_ERR_OK: /* 0: No error */
> + break;
> +
> + case ES58X_ERR_PROT_STUFF:
> + if (net_ratelimit())
> + netdev_dbg(netdev, "Error BITSUFF\n");
> + if (cf)
..like here.
> + cf->data[2] |= CAN_ERR_PROT_STUFF;
> + break;
[...]
> +/**
> + * es58x_flush_cmd_buf() - Reset the buffer for URB commands.
> + * @es58x_dev: ES58X device.
> + */
> +static void es58x_flush_cmd_buf(struct es58x_device *es58x_dev)
> +{
> + memset(&es58x_dev->rx_cmd_buf, 0, es58x_dev->param->rx_urb_cmd_max_len);
I think you can skip the memset, as you're overwriting the data anyways
and account the valid length.
> + es58x_dev->rx_cmd_buf_len = 0;
> +}
> +
[...]
> +/**
> + * es58x_split_urb() - Cut the received URB in individual URB commands.
> + * @es58x_dev: ES58X device.
> + * @urb: last urb buffer received.
> + *
> + * The device might send urb in bulk format (i.e. several URB commands
> + * concatenated together). This function will split all the commands
> + * contained in the urb.
> + *
> + * Return:
> + * number of bytes consumed from @urb if successful.
> + *
> + * -ENODATA if the URB command is still incomplete.
> + *
> + * -EBADMSG if the URB command is incorrect.
> + */
> +static signed int es58x_split_urb(struct es58x_device *es58x_dev,
> + struct urb *urb)
> +{
> + const u8 es58x_is_alive = 0x11;
We usually use #defines for this
> + union es58x_urb_cmd *urb_cmd;
> + u8 *raw_cmd = urb->transfer_buffer;
> + ssize_t raw_cmd_len = urb->actual_length;
urb->actual_length is an u32
> + int ret;
> +
> + if (es58x_dev->rx_cmd_buf_len != 0) {
> + ret = es58x_handle_incomplete_cmd(es58x_dev, urb);
> + if (ret != -ENODATA)
> + es58x_flush_cmd_buf(es58x_dev);
> + if (ret < 0)
> + return ret;
> +
> + raw_cmd += ret;
> + raw_cmd_len -= ret;
> + }
> +
> + while (raw_cmd_len > 0) {
> + if (raw_cmd[0] == es58x_is_alive) {
> + raw_cmd++;
> + raw_cmd_len--;
> + continue;
> + }
> + urb_cmd = (union es58x_urb_cmd *)raw_cmd;
> + ret = es58x_check_rx_urb(es58x_dev, urb_cmd, raw_cmd_len);
> + if (ret > 0) {
Here the length field in the usb_cmd is valid, it lies within the total
length of the rx'ed urb.
> + es58x_handle_urb_cmd(es58x_dev, urb_cmd);
As far as I see you're checking in ops->handle_urb_cmd() if the
urb_cmd's length is long enough for the command that's currently
processed, right?
> + } else if (ret == -ENODATA) {
> + es58x_copy_to_cmd_buf(es58x_dev, raw_cmd, raw_cmd_len);
> + return -ENODATA;
> + } else if (ret < 0) {
> + ret = es58x_split_urb_try_recovery(es58x_dev, raw_cmd,
> + raw_cmd_len);
> + if (ret < 0)
> + return ret;
> + }
> + raw_cmd += ret;
> + raw_cmd_len -= ret;
> + }
> +
> + return 0;
> +}
> +
[...]
> +/**
> + * es58x_open() - Open and start network device.
> + * @netdev: CAN network device.
> + *
> + * Called when the network transitions to the up state.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_open(struct net_device *netdev)
> +{
> + int ret;
> +
> + ret = open_candev(netdev);
> + if (ret)
> + return ret;
> +
> + ret = es58x_enable_channel(netdev);
> + if (ret)
> + return ret;
Please do an as complete as possible reset and configuration during
open(). If there is any error a ifdown/ifup should fix it. Here on a USB
device with multiple interfaces it's not as easy as on devices with only
one CAN interface.
> +
> + netif_start_queue(netdev);
> +
> + return ret;
> +}
[...]
> +/**
> + * es58x_start_xmit() - Transmit an skb.
> + * @skb: socket buffer of a CAN message.
> + * @netdev: CAN network device.
> + *
> + * Called when a packet needs to be transmitted.
> + *
> + * This function relies on Byte Queue Limits (BQL). The main benefit
> + * it to increase the throughput by allowing bulk transfers
> + * (c.f. xmit_more flag).
> + *
> + * Queues up to tx_bulk_max messages in &tx_urb buffer and does
> + * a bulk send of all messages in one single URB.
> + *
> + * Return:
> + * NETDEV_TX_OK if we could manage the @skb (either transmit it or
> + * drop it)
> + *
> + * NETDEV_TX_BUSY if the device is busy (this is a bug, the network
> + * device stop/wake management should prevent this return code to
> + * occur).
> + */
> +static netdev_tx_t es58x_start_xmit(struct sk_buff *skb,
> + struct net_device *netdev)
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct es58x_device *es58x_dev = priv->es58x_dev;
> + unsigned int packet_idx, frame_len;
> + int ret;
> +
> + if (can_dropped_invalid_skb(netdev, skb)) {
> + if (priv->tx_urb)
> + goto xmit_commit;
> + return NETDEV_TX_OK;
> + }
> +
> + if (!priv->tx_urb) {
> + priv->tx_urb = es58x_get_tx_urb(es58x_dev);
> + if (!priv->tx_urb) {
> + ret = -ENOMEM;
> + goto drop_skb;
> + }
> + memset(priv->tx_urb->transfer_buffer, 0,
> + es58x_dev->param->tx_urb_cmd_max_len);
Is this memset() needed?
> + priv->tx_urb->transfer_buffer_length =
> + es58x_dev->param->urb_cmd_header_len;
> + priv->tx_can_msg_cnt = 0;
> + priv->tx_can_msg_is_fd = can_is_canfd_skb(skb);
> + } else if (priv->tx_can_msg_is_fd != can_is_canfd_skb(skb)) {
> + /* Can not do bulk send with mixed CAN and CAN FD frames. */
> + ret = es58x_xmit_commit(netdev);
> + if (ret)
> + goto drop_skb;
> + return es58x_start_xmit(skb, netdev);
In the kernel the stack is limited, does it make sense to re-arrange
this to avoid recursion?
> + }
> +
> + ret = es58x_dev->ops->tx_can_msg(priv, skb);
> + if (ret)
> + goto drop_skb;
> +
> + frame_len = can_skb_get_frame_len(skb);
> + netdev_sent_queue(netdev, frame_len);
> + packet_idx = priv->tx_head + priv->tx_can_msg_cnt;
> + ret = can_put_echo_skb(skb, netdev,
> + packet_idx & es58x_dev->param->fifo_mask,
> + frame_len);
> + if (ret)
> + goto xmit_failure;
In case can_put_echo_skb() fails, there will be no echo skb, so your
cleanup will miss the last skb put into netdev_sent_queue(). I think its
best to move the netdev_sent_queue() after the can_put_echo_skb().
> +
> + priv->tx_can_msg_cnt++;
> +
> + xmit_commit:
> + if (!es58x_xmit_more(priv)) {
> + ret = es58x_xmit_commit(netdev);
> + if (ret)
> + goto xmit_failure;
> + }
> +
> + return NETDEV_TX_OK;
> +
> + drop_skb:
> + dev_kfree_skb(skb);
> + netdev->stats.tx_dropped++;
> + xmit_failure:
> + netdev->stats.tx_errors++;
> + es58x_flush_pending_tx_msg(netdev);
> + netdev_warn(netdev, "%s: send message failure: %pe\n",
> + __func__, ERR_PTR(ret));
> + return NETDEV_TX_OK;
> +}
> +
> +static const struct net_device_ops es58x_netdev_ops = {
> + .ndo_open = es58x_open,
> + .ndo_stop = es58x_stop,
> + .ndo_start_xmit = es58x_start_xmit
> +};
> +
> +/**
> + * es58x_set_bittiming() - Configure all the nominal bit timing
> + * parameters.
> + * @netdev: CAN network device.
> + *
> + * Only relevant for ES581.4 (the ES58X FD family sets the bittiming
> + * parameters at the same time as the channel gets enabled).
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_set_bittiming(struct net_device *netdev)
There's no need to implement this callback, you can configure the
bitiming during open().
> +{
> + struct es58x_priv *priv = es58x_priv(netdev);
> + struct es58x_device *es58x_dev = priv->es58x_dev;
> + int ret;
> +
> + /* Make sure that channel is closed before sending configuration. */
> + ret = es58x_dev->ops->disable_channel(priv);
> + if (ret)
> + netdev_err(netdev, "%s: Could not disable the channel: %pe\n",
> + __func__, ERR_PTR(ret));
> + ret = es58x_dev->ops->set_bittiming(priv);
> + if (ret)
> + netdev_err(netdev, "%s: Could not set bittiming: %pe\n",
> + __func__, ERR_PTR(ret));
> +
> + return ret;
> +}
> +
> +/**
> + * es58x_set_data_bittiming() - Configure all the data bit timing parameters.
> + * @netdev: CAN network device.
> + *
> + * Dummy function: ES58X FD family sets the bittiming
> + * parameters at the same time as the channel gets enabled.
> + *
> + * Return: zero.
> + */
> +static int es58x_set_data_bittiming(struct net_device *netdev)
> +{
no need to implement a no-op here.
> + return 0;
> +}
> +
[...]
> +/**
> + * es58x_set_mode() - Change network device mode.
> + * @netdev: CAN network device.
> + * @mode: either %CAN_MODE_START, %CAN_MODE_STOP or %CAN_MODE_SLEEP
> + *
> + * This function is used by drivers/net/can/dev.c:can_restart() to
> + * recover from a bus off state. Thus only the only value expected for
> + * @mode is %CAN_MODE_START. None the less, other modes were
> + * implemented as well.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_set_mode(struct net_device *netdev, enum can_mode mode)
> +{
> + struct can_priv *can = netdev_priv(netdev);
> +
> + switch (mode) {
> + case CAN_MODE_START:
> + switch (can->state) {
> + case CAN_STATE_BUS_OFF:
> + return es58x_reset(netdev);
If you shutdown the channel in case of a bus off, this get easier. See
bittiming comments below, too.
> +
> + case CAN_STATE_STOPPED:
> + case CAN_STATE_SLEEPING:
> + netif_wake_queue(netdev);
> + can->state = CAN_STATE_ERROR_ACTIVE;
> + return 0;
> +
> + case CAN_STATE_ERROR_ACTIVE:
> + case CAN_STATE_ERROR_WARNING:
> + case CAN_STATE_ERROR_PASSIVE:
> + default:
> + return 0;
> + }
> +
> + case CAN_MODE_STOP:
> + case CAN_MODE_SLEEP:
> + netif_stop_queue(netdev);
> + if (mode == CAN_MODE_STOP)
> + can->state = CAN_STATE_STOPPED;
> + else
> + can->state = CAN_STATE_SLEEPING;
> + return 0;
> +
> + default:
> + netdev_err(netdev, "%s: Invalid can_mode value: %d\n",
> + __func__, mode);
> + return -EOPNOTSUPP;
> + }
> +}
> +
> +/**
> + * es58x_init_priv() - Initialize private parameters.
> + * @es58x_dev: ES58X device.
> + * @priv: ES58X private parameters related to the network device.
> + * @channel_idx: Index of the network device.
> + */
> +static void es58x_init_priv(struct es58x_device *es58x_dev,
> + struct es58x_priv *priv, int channel_idx)
> +{
> + const struct es58x_parameters *param = es58x_dev->param;
> + struct can_priv *can = &priv->can;
> +
> + priv->es58x_dev = es58x_dev;
> + priv->channel_idx = channel_idx;
> + priv->tx_urb = NULL;
> + priv->tx_can_msg_cnt = 0;
> +
> + can->bittiming_const = param->bittiming_const;
> + can->do_set_bittiming = es58x_set_bittiming;
Can you keep the channels and/or devices disabled while the interface(s)
are down? You don't need to implement this callback, it's sufficient to
set the bittiming during the ndo_open() callback.
> + if (param->ctrlmode_supported & CAN_CTRLMODE_FD) {
> + can->data_bittiming_const = param->data_bittiming_const;
> + can->tdc_const = param->tdc_const;
> + can->do_set_data_bittiming = es58x_set_data_bittiming;
no need to provide this callback.
> + }
> + can->bitrate_max = param->bitrate_max;
> + can->clock = param->clock;
> + can->state = CAN_STATE_STOPPED;
> + can->ctrlmode_supported = param->ctrlmode_supported;
> + can->do_set_mode = es58x_set_mode;
> +}
> +
> +/**
> + * es58x_init_netdev() - Initialize the network device.
> + * @es58x_dev: ES58X device.
> + * @channel_idx: Index of the network device.
> + *
> + * Return: zero on success, errno when any error occurs.
> + */
> +static int es58x_init_netdev(struct es58x_device *es58x_dev, int channel_idx)
> +{
> + struct net_device *netdev;
> + struct device *dev = es58x_dev->dev;
> + int ret;
> +
> + netdev = alloc_candev(sizeof(struct es58x_priv),
> + es58x_dev->param->fifo_mask + 1);
> + if (!netdev) {
> + dev_err(dev, "Could not allocate candev\n");
> + return -ENOMEM;
> + }
> + SET_NETDEV_DEV(netdev, dev);
> + es58x_dev->netdev[channel_idx] = netdev;
> + es58x_init_priv(es58x_dev, es58x_priv(netdev), channel_idx);
> +
> + netdev->netdev_ops = &es58x_netdev_ops;
> + netdev->flags |= IFF_ECHO; /* We support local echo */
> +
> + ret = register_candev(netdev);
> + if (ret)
> + return ret;
> + netdev_dbg(netdev, "%s: Registered channel %s\n",
> + es58x_dev->udev->product, netdev->name);
In this function and in the following ones there are a lot of
netdev_dbg(), please have a look if you can remove some of those.
[...]
> +/**
> + * struct es58x_priv - All information specific to a CAN channel.
> + * @can: struct can_priv must be the first member (Socket CAN relies
> + * on the fact that function netdev_priv() returns a pointer to
> + * a struct can_priv).
> + * @es58x_dev: pointer to the corresponding ES58X device.
> + * @tx_urb: Used as a buffer to concatenate the TX messages and to do
> + * a bulk send. Please refer to es58x_start_xmit() for more
> + * details.
> + * @tx_tail: Index of the oldest packet still pending for
> + * completion. @tx_tail & echo_skb_mask represents the beginning
> + * of the echo skb FIFO, i.e. index of the first element.
> + * @tx_head: Index of the next packet to be sent to the
> + * device. @tx_head & echo_skb_mask represents the end of the
> + * echo skb FIFO plus one, i.e. the first free index.
Is this the description 100% correct? In xmit() you're using tx_head +
tx_can_msg_cnt to address the next packet to be send.
>> + packet_idx = priv->tx_head + priv->tx_can_msg_cnt;
But in xmit_more() you're not taking tx_can_msg_cnt into account.
> + * @tx_can_msg_cnt: Number of messages in @tx_urb.
> + * @tx_can_msg_is_fd: false: all messages in @tx_urb are Classical
> + * CAN, true: all messages in @tx_urb are CAN FD. Rationale:
> + * ES58X FD devices do not allow to mix Classical CAN and FD CAN
> + * frames in one single bulk transmission.
> + * @err_passive_before_rtx_success: The ES58X device might enter in a
> + * state in which it keeps alternating between error passive
> + * and active states. This counter keeps track of the number of
> + * error passive and if it gets bigger than
> + * ES58X_CONSECUTIVE_ERR_PASSIVE_MAX, es58x_rx_err_msg() will
> + * force the status to bus-off.
> + * @channel_idx: Channel index, starts at zero.
> + */
> +struct es58x_priv {
> + struct can_priv can;
> + struct es58x_device *es58x_dev;
> + struct urb *tx_urb;
> +
> + u32 tx_tail;
> + u32 tx_head;
> +
> + u8 tx_can_msg_cnt;
> + bool tx_can_msg_is_fd;
> +
> + u8 err_passive_before_rtx_success;
> +
> + u8 channel_idx;
> +};
Marc
--
Pengutronix e.K. | Marc Kleine-Budde |
Embedded Linux | https://www.pengutronix.de |
Vertretung West/Dortmund | Phone: +49-231-2826-924 |
Amtsgericht Hildesheim, HRA 2686 | Fax: +49-5121-206917-5555 |
[-- Attachment #2: signature.asc --]
[-- Type: application/pgp-signature, Size: 488 bytes --]
^ permalink raw reply [flat|nested] 9+ messages in thread
* Re: [PATCH v14 1/4] can: etas_es58x: add core support for ETAS ES58X CAN USB interfaces
2021-03-29 12:36 ` Marc Kleine-Budde
@ 2021-04-02 9:56 ` Vincent MAILHOL
2021-04-02 10:47 ` Marc Kleine-Budde
0 siblings, 1 reply; 9+ messages in thread
From: Vincent MAILHOL @ 2021-04-02 9:56 UTC (permalink / raw)
To: Marc Kleine-Budde; +Cc: linux-can, Arunachalam Santhanam
Hi Marc,
On Mon. 29 Mar 2021 at 21:36, Marc Kleine-Budde <mkl@pengutronix.de> wrote:
> On 21.03.2021 19:41:00, Vincent Mailhol wrote:
> > This patch adds the core support for various USB CAN interfaces from
> > ETAS GmbH (https://www.etas.com/en/products/es58x.php). The next
> > patches add the glue code drivers for the individual interfaces.
> >
> > Co-developed-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
> > Signed-off-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
> > Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
> > ---
> [...]
> > +/**
> > + * es58x_rx_err_msg() - Handle a received CAN event or error message.
> > + * @netdev: CAN network device.
> > + * @error: Error code.
> > + * @event: Event code.
> > + * @timestamp: Timestamp received from a ES58X device.
> > + *
> > + * Handle the errors and events received by the ES58X device, create
> > + * a CAN error skb and post it.
> > + *
> > + * In some rare cases the devices might get stuck alternating between
> > + * CAN_STATE_ERROR_PASSIVE and CAN_STATE_ERROR_WARNING. To prevent
> > + * this behavior, we force a bus off state if the device goes in
> > + * CAN_STATE_ERROR_WARNING for ES58X_MAX_CONSECUTIVE_WARN consecutive
> > + * times with no successful transmission or reception in between.
> > + *
> > + * Once the device is in bus off state, the only way to restart it is
> > + * through the drivers/net/can/dev.c:can_restart() function. The
> > + * device is technically capable to recover by itself under certain
> > + * circumstances, however, allowing self recovery would create
> > + * complex race conditions with drivers/net/can/dev.c:can_restart()
> > + * and thus was not implemented. To activate automatic restart, please
> > + * set the restart-ms parameter (e.g. ip link set can0 type can
> > + * restart-ms 100).
> > + *
> > + * If the bus is really instable, this function would try to send a
> > + * lot of log messages. Those are rate limited (i.e. you will see
> > + * messages such as "net_ratelimit: XXX callbacks suppressed" in
> > + * dmesg).
> > + *
> > + * Return: zero on success, errno when any error occurs.
> > + */
> > +int es58x_rx_err_msg(struct net_device *netdev, enum es58x_err error,
> > + enum es58x_event event, u64 timestamp)
> > +{
> > + struct es58x_priv *priv = es58x_priv(netdev);
> > + struct can_priv *can = netdev_priv(netdev);
> > + struct can_device_stats *can_stats = &can->can_stats;
> > + struct can_frame *cf;
>
> = NULL;
>
> So that the if (cf) properly works...
I actually expected cfto be set to NULL when an error
occurred (same as skb).
But indeed, cf is not initialised if the allocation fails. I was
wondering if it would not be better to make both alloc_can_skb()
and and alloc_canfd_skb() set cf to NULL. That would remove a
pitfall.
If you like the idea, I can submit a patch.
> > + struct sk_buff *skb;
> > +
> > + if (!netif_running(netdev)) {
> > + if (net_ratelimit())
> > + netdev_info(netdev, "%s: %s is down, dropping packet\n",
> > + __func__, netdev->name);
> > + netdev->stats.rx_dropped++;
> > + return 0;
> > + }
> > +
> > + if (error == ES58X_ERR_OK && event == ES58X_EVENT_OK) {
> > + netdev_err(netdev, "%s: Both error and event are zero\n",
> > + __func__);
> > + return -EINVAL;
> > + }
> > +
> > + skb = alloc_can_err_skb(netdev, &cf);
> > +
> > + switch (error) {
> > + case ES58X_ERR_OK: /* 0: No error */
> > + break;
> > +
> > + case ES58X_ERR_PROT_STUFF:
> > + if (net_ratelimit())
> > + netdev_dbg(netdev, "Error BITSUFF\n");
> > + if (cf)
>
> ..like here.
ACK.
> > + cf->data[2] |= CAN_ERR_PROT_STUFF;
> > + break;
>
> [...]
>
> > +/**
> > + * es58x_flush_cmd_buf() - Reset the buffer for URB commands.
> > + * @es58x_dev: ES58X device.
> > + */
> > +static void es58x_flush_cmd_buf(struct es58x_device *es58x_dev)
> > +{
> > + memset(&es58x_dev->rx_cmd_buf, 0, es58x_dev->param->rx_urb_cmd_max_len);
>
> I think you can skip the memset, as you're overwriting the data anyways
> and account the valid length.
The idea was that this buffer might contain confidential
data (e.g. an UDS seed and key pair or a VIN) so I cleared it out
of precaution.
I recognize that this is useless as an attacker can just retrieve
the information from a candump, no need to look into some kernel
temporary buffer for that...
I will remove it.
> > + es58x_dev->rx_cmd_buf_len = 0;
> > +}
> > +
>
> [...]
>
> > +/**
> > + * es58x_split_urb() - Cut the received URB in individual URB commands.
> > + * @es58x_dev: ES58X device.
> > + * @urb: last urb buffer received.
> > + *
> > + * The device might send urb in bulk format (i.e. several URB commands
> > + * concatenated together). This function will split all the commands
> > + * contained in the urb.
> > + *
> > + * Return:
> > + * number of bytes consumed from @urb if successful.
> > + *
> > + * -ENODATA if the URB command is still incomplete.
> > + *
> > + * -EBADMSG if the URB command is incorrect.
> > + */
> > +static signed int es58x_split_urb(struct es58x_device *es58x_dev,
> > + struct urb *urb)
> > +{
> > + const u8 es58x_is_alive = 0x11;
>
> We usually use #defines for this
ACK.
> > + union es58x_urb_cmd *urb_cmd;
> > + u8 *raw_cmd = urb->transfer_buffer;
> > + ssize_t raw_cmd_len = urb->actual_length;
>
> urb->actual_length is an u32
Below, I test that (raw_cmd_len > 0) in a while loop. I want to
make this variable signed to avoid an infinite loop in case of an
off by one error (which should not occur, see this as a safety
net).
I will make this a s32.
Also, the size is represented by a u16 on the device so s32 is
more than enough.
> > + int ret;
> > +
> > + if (es58x_dev->rx_cmd_buf_len != 0) {
> > + ret = es58x_handle_incomplete_cmd(es58x_dev, urb);
> > + if (ret != -ENODATA)
> > + es58x_flush_cmd_buf(es58x_dev);
> > + if (ret < 0)
> > + return ret;
> > +
> > + raw_cmd += ret;
> > + raw_cmd_len -= ret;
> > + }
> > +
> > + while (raw_cmd_len > 0) {
> > + if (raw_cmd[0] == es58x_is_alive) {
> > + raw_cmd++;
> > + raw_cmd_len--;
> > + continue;
> > + }
> > + urb_cmd = (union es58x_urb_cmd *)raw_cmd;
> > + ret = es58x_check_rx_urb(es58x_dev, urb_cmd, raw_cmd_len);
> > + if (ret > 0) {
>
> Here the length field in the usb_cmd is valid, it lies within the total
> length of the rx'ed urb.
>
> > + es58x_handle_urb_cmd(es58x_dev, urb_cmd);
>
> As far as I see you're checking in ops->handle_urb_cmd() if the
> urb_cmd's length is long enough for the command that's currently
> processed, right?
The check of the urb_cmd's length occurs in es58x_check_rx_urb():
if (urb_cmd_len > param->rx_urb_cmd_max_len) {
In that same function, I then check that urb_cmd's length is long enough:
} else if (urb_actual_len < urb_cmd_len) {
If it is not long enough, the not-yet-consumed data of the urb
is buffered and once a new urb comes up, those are concatenated.
After that, ops->handle_urb_cmd() will dispatch the command
depending on the cmd_id and additional checks will be done on the
size of the payload.
> > + } else if (ret == -ENODATA) {
> > + es58x_copy_to_cmd_buf(es58x_dev, raw_cmd, raw_cmd_len);
> > + return -ENODATA;
> > + } else if (ret < 0) {
> > + ret = es58x_split_urb_try_recovery(es58x_dev, raw_cmd,
> > + raw_cmd_len);
> > + if (ret < 0)
> > + return ret;
> > + }
> > + raw_cmd += ret;
> > + raw_cmd_len -= ret;
> > + }
> > +
> > + return 0;
> > +}
> > +
>
> [...]
>
> > +/**
> > + * es58x_open() - Open and start network device.
> > + * @netdev: CAN network device.
> > + *
> > + * Called when the network transitions to the up state.
> > + *
> > + * Return: zero on success, errno when any error occurs.
> > + */
> > +static int es58x_open(struct net_device *netdev)
> > +{
> > + int ret;
> > +
> > + ret = open_candev(netdev);
> > + if (ret)
> > + return ret;
> > +
> > + ret = es58x_enable_channel(netdev);
> > + if (ret)
> > + return ret;
>
> Please do an as complete as possible reset and configuration during
> open(). If there is any error a ifdown/ifup should fix it. Here on a USB
> device with multiple interfaces it's not as easy as on devices with only
> one CAN interface.
ACK.
I will use a function as below to check if all interfaces are
down.
static bool es58x_are_all_channels_closed(struct es58x_device *es58x_dev)
{
int i;
for (i = 0; i < es58x_dev->num_can_ch; i++) {
struct can_priv *can_priv = netdev_priv(es58x_dev->netdev[i]);
if (can_priv->state != CAN_STATE_STOPPED)
return false;
}
return true;
}
I will modify both es58x_open() and es58x_close().
> > +
> > + netif_start_queue(netdev);
> > +
> > + return ret;
> > +}
>
> [...]
>
> > +/**
> > + * es58x_start_xmit() - Transmit an skb.
> > + * @skb: socket buffer of a CAN message.
> > + * @netdev: CAN network device.
> > + *
> > + * Called when a packet needs to be transmitted.
> > + *
> > + * This function relies on Byte Queue Limits (BQL). The main benefit
> > + * it to increase the throughput by allowing bulk transfers
> > + * (c.f. xmit_more flag).
> > + *
> > + * Queues up to tx_bulk_max messages in &tx_urb buffer and does
> > + * a bulk send of all messages in one single URB.
> > + *
> > + * Return:
> > + * NETDEV_TX_OK if we could manage the @skb (either transmit it or
> > + * drop it)
> > + *
> > + * NETDEV_TX_BUSY if the device is busy (this is a bug, the network
> > + * device stop/wake management should prevent this return code to
> > + * occur).
> > + */
> > +static netdev_tx_t es58x_start_xmit(struct sk_buff *skb,
> > + struct net_device *netdev)
> > +{
> > + struct es58x_priv *priv = es58x_priv(netdev);
> > + struct es58x_device *es58x_dev = priv->es58x_dev;
> > + unsigned int packet_idx, frame_len;
> > + int ret;
> > +
> > + if (can_dropped_invalid_skb(netdev, skb)) {
> > + if (priv->tx_urb)
> > + goto xmit_commit;
> > + return NETDEV_TX_OK;
> > + }
> > +
> > + if (!priv->tx_urb) {
> > + priv->tx_urb = es58x_get_tx_urb(es58x_dev);
> > + if (!priv->tx_urb) {
> > + ret = -ENOMEM;
> > + goto drop_skb;
> > + }
> > + memset(priv->tx_urb->transfer_buffer, 0,
> > + es58x_dev->param->tx_urb_cmd_max_len);
>
> Is this memset() needed?
In current state, it is, but a small modification should be
enough to have it removed.
> > + priv->tx_urb->transfer_buffer_length =
> > + es58x_dev->param->urb_cmd_header_len;
> > + priv->tx_can_msg_cnt = 0;
> > + priv->tx_can_msg_is_fd = can_is_canfd_skb(skb);
> > + } else if (priv->tx_can_msg_is_fd != can_is_canfd_skb(skb)) {
> > + /* Can not do bulk send with mixed CAN and CAN FD frames. */
> > + ret = es58x_xmit_commit(netdev);
> > + if (ret)
> > + goto drop_skb;
> > + return es58x_start_xmit(skb, netdev);
>
> In the kernel the stack is limited, does it make sense to re-arrange
> this to avoid recursion?
This is a tail recursion so with the good optimisation, it will
not increase the stack. And also, the recursive call occurs one
time max. So I thought it was acceptable.
Regardless, rearranging the code is trivial, so I will remove
this recursion.
> > + }
> > +
> > + ret = es58x_dev->ops->tx_can_msg(priv, skb);
> > + if (ret)
> > + goto drop_skb;
> > +
> > + frame_len = can_skb_get_frame_len(skb);
> > + netdev_sent_queue(netdev, frame_len);
> > + packet_idx = priv->tx_head + priv->tx_can_msg_cnt;
> > + ret = can_put_echo_skb(skb, netdev,
> > + packet_idx & es58x_dev->param->fifo_mask,
> > + frame_len);
> > + if (ret)
> > + goto xmit_failure;
>
> In case can_put_echo_skb() fails, there will be no echo skb, so your
> cleanup will miss the last skb put into netdev_sent_queue(). I think its
> best to move the netdev_sent_queue() after the can_put_echo_skb().
ACK.
> > +
> > + priv->tx_can_msg_cnt++;
> > +
> > + xmit_commit:
> > + if (!es58x_xmit_more(priv)) {
> > + ret = es58x_xmit_commit(netdev);
> > + if (ret)
> > + goto xmit_failure;
> > + }
> > +
> > + return NETDEV_TX_OK;
> > +
> > + drop_skb:
> > + dev_kfree_skb(skb);
> > + netdev->stats.tx_dropped++;
> > + xmit_failure:
> > + netdev->stats.tx_errors++;
> > + es58x_flush_pending_tx_msg(netdev);
> > + netdev_warn(netdev, "%s: send message failure: %pe\n",
> > + __func__, ERR_PTR(ret));
> > + return NETDEV_TX_OK;
> > +}
> > +
> > +static const struct net_device_ops es58x_netdev_ops = {
> > + .ndo_open = es58x_open,
> > + .ndo_stop = es58x_stop,
> > + .ndo_start_xmit = es58x_start_xmit
> > +};
> > +
> > +/**
> > + * es58x_set_bittiming() - Configure all the nominal bit timing
> > + * parameters.
> > + * @netdev: CAN network device.
> > + *
> > + * Only relevant for ES581.4 (the ES58X FD family sets the bittiming
> > + * parameters at the same time as the channel gets enabled).
> > + *
> > + * Return: zero on success, errno when any error occurs.
> > + */
> > +static int es58x_set_bittiming(struct net_device *netdev)
>
> There's no need to implement this callback, you can configure the
> bitiming during open().
ACK. Will remove both es58x_set_bittiming() and
es58x_set_data_bittiming().
> > +{
> > + struct es58x_priv *priv = es58x_priv(netdev);
> > + struct es58x_device *es58x_dev = priv->es58x_dev;
> > + int ret;
> > +
> > + /* Make sure that channel is closed before sending configuration. */
> > + ret = es58x_dev->ops->disable_channel(priv);
> > + if (ret)
> > + netdev_err(netdev, "%s: Could not disable the channel: %pe\n",
> > + __func__, ERR_PTR(ret));
> > + ret = es58x_dev->ops->set_bittiming(priv);
> > + if (ret)
> > + netdev_err(netdev, "%s: Could not set bittiming: %pe\n",
> > + __func__, ERR_PTR(ret));
> > +
> > + return ret;
> > +}
> > +
> > +/**
> > + * es58x_set_data_bittiming() - Configure all the data bit timing parameters.
> > + * @netdev: CAN network device.
> > + *
> > + * Dummy function: ES58X FD family sets the bittiming
> > + * parameters at the same time as the channel gets enabled.
> > + *
> > + * Return: zero.
> > + */
> > +static int es58x_set_data_bittiming(struct net_device *netdev)
> > +{
>
> no need to implement a no-op here.
ACK.
> > + return 0;
> > +}
> > +
>
> [...]
>
> > +/**
> > + * es58x_set_mode() - Change network device mode.
> > + * @netdev: CAN network device.
> > + * @mode: either %CAN_MODE_START, %CAN_MODE_STOP or %CAN_MODE_SLEEP
> > + *
> > + * This function is used by drivers/net/can/dev.c:can_restart() to
> > + * recover from a bus off state. Thus only the only value expected for
> > + * @mode is %CAN_MODE_START. None the less, other modes were
> > + * implemented as well.
> > + *
> > + * Return: zero on success, errno when any error occurs.
> > + */
> > +static int es58x_set_mode(struct net_device *netdev, enum can_mode mode)
> > +{
> > + struct can_priv *can = netdev_priv(netdev);
> > +
> > + switch (mode) {
> > + case CAN_MODE_START:
> > + switch (can->state) {
> > + case CAN_STATE_BUS_OFF:
> > + return es58x_reset(netdev);
>
> If you shutdown the channel in case of a bus off, this get easier. See
> bittiming comments below, too.
Noted. I will disable the channel in es58x_rx_err_msg() when an error occurs.
With this, I will also remove es58x_reset() which will not be needed anymore.
> > +
> > + case CAN_STATE_STOPPED:
> > + case CAN_STATE_SLEEPING:
> > + netif_wake_queue(netdev);
> > + can->state = CAN_STATE_ERROR_ACTIVE;
> > + return 0;
> > +
> > + case CAN_STATE_ERROR_ACTIVE:
> > + case CAN_STATE_ERROR_WARNING:
> > + case CAN_STATE_ERROR_PASSIVE:
> > + default:
> > + return 0;
> > + }
> > +
> > + case CAN_MODE_STOP:
> > + case CAN_MODE_SLEEP:
> > + netif_stop_queue(netdev);
> > + if (mode == CAN_MODE_STOP)
> > + can->state = CAN_STATE_STOPPED;
> > + else
> > + can->state = CAN_STATE_SLEEPING;
> > + return 0;
> > +
> > + default:
> > + netdev_err(netdev, "%s: Invalid can_mode value: %d\n",
> > + __func__, mode);
> > + return -EOPNOTSUPP;
> > + }
> > +}
> > +
> > +/**
> > + * es58x_init_priv() - Initialize private parameters.
> > + * @es58x_dev: ES58X device.
> > + * @priv: ES58X private parameters related to the network device.
> > + * @channel_idx: Index of the network device.
> > + */
> > +static void es58x_init_priv(struct es58x_device *es58x_dev,
> > + struct es58x_priv *priv, int channel_idx)
> > +{
> > + const struct es58x_parameters *param = es58x_dev->param;
> > + struct can_priv *can = &priv->can;
> > +
> > + priv->es58x_dev = es58x_dev;
> > + priv->channel_idx = channel_idx;
> > + priv->tx_urb = NULL;
> > + priv->tx_can_msg_cnt = 0;
> > +
> > + can->bittiming_const = param->bittiming_const;
> > + can->do_set_bittiming = es58x_set_bittiming;
>
> Can you keep the channels and/or devices disabled while the interface(s)
> are down? You don't need to implement this callback, it's sufficient to
> set the bittiming during the ndo_open() callback.
ACK.
> > + if (param->ctrlmode_supported & CAN_CTRLMODE_FD) {
> > + can->data_bittiming_const = param->data_bittiming_const;
> > + can->tdc_const = param->tdc_const;
> > + can->do_set_data_bittiming = es58x_set_data_bittiming;
>
> no need to provide this callback.
ACK.
> > + }
> > + can->bitrate_max = param->bitrate_max;
> > + can->clock = param->clock;
> > + can->state = CAN_STATE_STOPPED;
> > + can->ctrlmode_supported = param->ctrlmode_supported;
> > + can->do_set_mode = es58x_set_mode;
> > +}
> > +
> > +/**
> > + * es58x_init_netdev() - Initialize the network device.
> > + * @es58x_dev: ES58X device.
> > + * @channel_idx: Index of the network device.
> > + *
> > + * Return: zero on success, errno when any error occurs.
> > + */
> > +static int es58x_init_netdev(struct es58x_device *es58x_dev, int channel_idx)
> > +{
> > + struct net_device *netdev;
> > + struct device *dev = es58x_dev->dev;
> > + int ret;
> > +
> > + netdev = alloc_candev(sizeof(struct es58x_priv),
> > + es58x_dev->param->fifo_mask + 1);
> > + if (!netdev) {
> > + dev_err(dev, "Could not allocate candev\n");
> > + return -ENOMEM;
> > + }
> > + SET_NETDEV_DEV(netdev, dev);
> > + es58x_dev->netdev[channel_idx] = netdev;
> > + es58x_init_priv(es58x_dev, es58x_priv(netdev), channel_idx);
> > +
> > + netdev->netdev_ops = &es58x_netdev_ops;
> > + netdev->flags |= IFF_ECHO; /* We support local echo */
> > +
> > + ret = register_candev(netdev);
> > + if (ret)
> > + return ret;
> > + netdev_dbg(netdev, "%s: Registered channel %s\n",
> > + es58x_dev->udev->product, netdev->name);
>
> In this function and in the following ones there are a lot of
> netdev_dbg(), please have a look if you can remove some of those.
ACK, I will make the driver less verbose in debug mode.
> [...]
>
> > +/**
> > + * struct es58x_priv - All information specific to a CAN channel.
> > + * @can: struct can_priv must be the first member (Socket CAN relies
> > + * on the fact that function netdev_priv() returns a pointer to
> > + * a struct can_priv).
> > + * @es58x_dev: pointer to the corresponding ES58X device.
> > + * @tx_urb: Used as a buffer to concatenate the TX messages and to do
> > + * a bulk send. Please refer to es58x_start_xmit() for more
> > + * details.
> > + * @tx_tail: Index of the oldest packet still pending for
> > + * completion. @tx_tail & echo_skb_mask represents the beginning
> > + * of the echo skb FIFO, i.e. index of the first element.
> > + * @tx_head: Index of the next packet to be sent to the
> > + * device. @tx_head & echo_skb_mask represents the end of the
> > + * echo skb FIFO plus one, i.e. the first free index.
>
> Is this the description 100% correct? In xmit() you're using tx_head +
> tx_can_msg_cnt to address the next packet to be send.
>
> >> + packet_idx = priv->tx_head + priv->tx_can_msg_cnt;
>
> But in xmit_more() you're not taking tx_can_msg_cnt into account.
The idea was that in es58x_start_xmit() and es58x_xmit_more(),
the changes were not yet committed and thus tx_head not yet
updated.
After a bit more thinking, it seems better to directly update
tx_head each time a packet is queued in can_echo_skb[]. I will
keep above description and modify the code.
> > + * @tx_can_msg_cnt: Number of messages in @tx_urb.
> > + * @tx_can_msg_is_fd: false: all messages in @tx_urb are Classical
> > + * CAN, true: all messages in @tx_urb are CAN FD. Rationale:
> > + * ES58X FD devices do not allow to mix Classical CAN and FD CAN
> > + * frames in one single bulk transmission.
> > + * @err_passive_before_rtx_success: The ES58X device might enter in a
> > + * state in which it keeps alternating between error passive
> > + * and active states. This counter keeps track of the number of
> > + * error passive and if it gets bigger than
> > + * ES58X_CONSECUTIVE_ERR_PASSIVE_MAX, es58x_rx_err_msg() will
> > + * force the status to bus-off.
> > + * @channel_idx: Channel index, starts at zero.
> > + */
> > +struct es58x_priv {
> > + struct can_priv can;
> > + struct es58x_device *es58x_dev;
> > + struct urb *tx_urb;
> > +
> > + u32 tx_tail;
> > + u32 tx_head;
> > +
> > + u8 tx_can_msg_cnt;
> > + bool tx_can_msg_is_fd;
> > +
> > + u8 err_passive_before_rtx_success;
> > +
> > + u8 channel_idx;
> > +};
Yours sincerely,
Vincent
^ permalink raw reply [flat|nested] 9+ messages in thread
* Re: [PATCH v14 1/4] can: etas_es58x: add core support for ETAS ES58X CAN USB interfaces
2021-04-02 9:56 ` Vincent MAILHOL
@ 2021-04-02 10:47 ` Marc Kleine-Budde
2021-04-02 13:02 ` Vincent MAILHOL
0 siblings, 1 reply; 9+ messages in thread
From: Marc Kleine-Budde @ 2021-04-02 10:47 UTC (permalink / raw)
To: Vincent MAILHOL; +Cc: linux-can, Arunachalam Santhanam
[-- Attachment #1: Type: text/plain, Size: 10743 bytes --]
On 02.04.2021 18:56:33, Vincent MAILHOL wrote:
> > > +int es58x_rx_err_msg(struct net_device *netdev, enum es58x_err error,
> > > + enum es58x_event event, u64 timestamp)
> > > +{
> > > + struct es58x_priv *priv = es58x_priv(netdev);
> > > + struct can_priv *can = netdev_priv(netdev);
> > > + struct can_device_stats *can_stats = &can->can_stats;
> > > + struct can_frame *cf;
> >
> > = NULL;
> >
> > So that the if (cf) properly works...
>
> I actually expected cfto be set to NULL when an error
> occurred (same as skb).
>
> But indeed, cf is not initialised if the allocation fails. I was
> wondering if it would not be better to make both alloc_can_skb()
> and and alloc_canfd_skb() set cf to NULL. That would remove a
> pitfall.
Makes sense.
> If you like the idea, I can submit a patch.
Sorry creating this drive by patch. The patch description took longer
than the actual patch :)
[...]
> > > +/**
> > > + * es58x_flush_cmd_buf() - Reset the buffer for URB commands.
> > > + * @es58x_dev: ES58X device.
> > > + */
> > > +static void es58x_flush_cmd_buf(struct es58x_device *es58x_dev)
> > > +{
> > > + memset(&es58x_dev->rx_cmd_buf, 0, es58x_dev->param->rx_urb_cmd_max_len);
> >
> > I think you can skip the memset, as you're overwriting the data anyways
> > and account the valid length.
>
> The idea was that this buffer might contain confidential
> data (e.g. an UDS seed and key pair or a VIN) so I cleared it out
> of precaution.
I see, I think the kernel takes care of explicitly clearing not key
material after using, but not unencrypted (i.e. plaintext) network
traffic.
> I recognize that this is useless as an attacker can just retrieve
> the information from a candump, no need to look into some kernel
> temporary buffer for that...
>
> I will remove it.
Ok.
[...]
> > > +static signed int es58x_split_urb(struct es58x_device *es58x_dev,
> > > + struct urb *urb)
> > > +{
> > > + const u8 es58x_is_alive = 0x11;
> >
> > We usually use #defines for this
>
> ACK.
>
> > > + union es58x_urb_cmd *urb_cmd;
> > > + u8 *raw_cmd = urb->transfer_buffer;
> > > + ssize_t raw_cmd_len = urb->actual_length;
> >
> > urb->actual_length is an u32
>
> Below, I test that (raw_cmd_len > 0) in a while loop. I want to
> make this variable signed to avoid an infinite loop in case of an
> off by one error (which should not occur, see this as a safety
> net).
makes sense
> I will make this a s32.
>
> Also, the size is represented by a u16 on the device so s32 is
> more than enough.
>
> > > + int ret;
> > > +
> > > + if (es58x_dev->rx_cmd_buf_len != 0) {
> > > + ret = es58x_handle_incomplete_cmd(es58x_dev, urb);
> > > + if (ret != -ENODATA)
> > > + es58x_flush_cmd_buf(es58x_dev);
> > > + if (ret < 0)
> > > + return ret;
> > > +
> > > + raw_cmd += ret;
> > > + raw_cmd_len -= ret;
> > > + }
> > > +
> > > + while (raw_cmd_len > 0) {
> > > + if (raw_cmd[0] == es58x_is_alive) {
> > > + raw_cmd++;
> > > + raw_cmd_len--;
> > > + continue;
> > > + }
> > > + urb_cmd = (union es58x_urb_cmd *)raw_cmd;
> > > + ret = es58x_check_rx_urb(es58x_dev, urb_cmd, raw_cmd_len);
> > > + if (ret > 0) {
> >
> > Here the length field in the usb_cmd is valid, it lies within the total
> > length of the rx'ed urb.
> >
> > > + es58x_handle_urb_cmd(es58x_dev, urb_cmd);
> >
> > As far as I see you're checking in ops->handle_urb_cmd() if the
> > urb_cmd's length is long enough for the command that's currently
> > processed, right?
>
> The check of the urb_cmd's length occurs in es58x_check_rx_urb():
> if (urb_cmd_len > param->rx_urb_cmd_max_len) {
> In that same function, I then check that urb_cmd's length is long enough:
> } else if (urb_actual_len < urb_cmd_len) {
> If it is not long enough, the not-yet-consumed data of the urb
> is buffered and once a new urb comes up, those are concatenated.
>
> After that, ops->handle_urb_cmd() will dispatch the command
> depending on the cmd_id and additional checks will be done on the
> size of the payload.
Good, this is how I understood the code.
[...]
> > > +/**
> > > + * es58x_open() - Open and start network device.
> > > + * @netdev: CAN network device.
> > > + *
> > > + * Called when the network transitions to the up state.
> > > + *
> > > + * Return: zero on success, errno when any error occurs.
> > > + */
> > > +static int es58x_open(struct net_device *netdev)
> > > +{
> > > + int ret;
> > > +
> > > + ret = open_candev(netdev);
> > > + if (ret)
> > > + return ret;
> > > +
> > > + ret = es58x_enable_channel(netdev);
> > > + if (ret)
> > > + return ret;
> >
> > Please do an as complete as possible reset and configuration during
> > open(). If there is any error a ifdown/ifup should fix it. Here on a USB
> > device with multiple interfaces it's not as easy as on devices with only
> > one CAN interface.
>
> ACK.
>
> I will use a function as below to check if all interfaces are
> down.
>
> static bool es58x_are_all_channels_closed(struct es58x_device *es58x_dev)
> {
> int i;
>
> for (i = 0; i < es58x_dev->num_can_ch; i++) {
> struct can_priv *can_priv = netdev_priv(es58x_dev->netdev[i]);
> if (can_priv->state != CAN_STATE_STOPPED)
> return false;
> }
> return true;
> }
>
> I will modify both es58x_open() and es58x_close().
Have a look at
https://elixir.bootlin.com/linux/v5.11/source/include/linux/kref.h
I'm not sure if kref is overkill here :)
[...]
> > > +/**
> > > + * es58x_start_xmit() - Transmit an skb.
> > > + * @skb: socket buffer of a CAN message.
> > > + * @netdev: CAN network device.
> > > + *
> > > + * Called when a packet needs to be transmitted.
> > > + *
> > > + * This function relies on Byte Queue Limits (BQL). The main benefit
> > > + * it to increase the throughput by allowing bulk transfers
> > > + * (c.f. xmit_more flag).
> > > + *
> > > + * Queues up to tx_bulk_max messages in &tx_urb buffer and does
> > > + * a bulk send of all messages in one single URB.
> > > + *
> > > + * Return:
> > > + * NETDEV_TX_OK if we could manage the @skb (either transmit it or
> > > + * drop it)
> > > + *
> > > + * NETDEV_TX_BUSY if the device is busy (this is a bug, the network
> > > + * device stop/wake management should prevent this return code to
> > > + * occur).
> > > + */
> > > +static netdev_tx_t es58x_start_xmit(struct sk_buff *skb,
> > > + struct net_device *netdev)
> > > +{
> > > + struct es58x_priv *priv = es58x_priv(netdev);
> > > + struct es58x_device *es58x_dev = priv->es58x_dev;
> > > + unsigned int packet_idx, frame_len;
> > > + int ret;
> > > +
> > > + if (can_dropped_invalid_skb(netdev, skb)) {
> > > + if (priv->tx_urb)
> > > + goto xmit_commit;
> > > + return NETDEV_TX_OK;
> > > + }
> > > +
> > > + if (!priv->tx_urb) {
> > > + priv->tx_urb = es58x_get_tx_urb(es58x_dev);
> > > + if (!priv->tx_urb) {
> > > + ret = -ENOMEM;
> > > + goto drop_skb;
> > > + }
> > > + memset(priv->tx_urb->transfer_buffer, 0,
> > > + es58x_dev->param->tx_urb_cmd_max_len);
> >
> > Is this memset() needed?
>
> In current state, it is, but a small modification should be
> enough to have it removed.
nice!
> > > + priv->tx_urb->transfer_buffer_length =
> > > + es58x_dev->param->urb_cmd_header_len;
> > > + priv->tx_can_msg_cnt = 0;
> > > + priv->tx_can_msg_is_fd = can_is_canfd_skb(skb);
> > > + } else if (priv->tx_can_msg_is_fd != can_is_canfd_skb(skb)) {
> > > + /* Can not do bulk send with mixed CAN and CAN FD frames. */
> > > + ret = es58x_xmit_commit(netdev);
> > > + if (ret)
> > > + goto drop_skb;
> > > + return es58x_start_xmit(skb, netdev);
> >
> > In the kernel the stack is limited, does it make sense to re-arrange
> > this to avoid recursion?
>
> This is a tail recursion so with the good optimisation, it will
> not increase the stack. And also, the recursive call occurs one
> time max. So I thought it was acceptable.
This were my thoughts as well.
> Regardless, rearranging the code is trivial, so I will remove
> this recursion.
fine
[...]
> > > +/**
> > > + * struct es58x_priv - All information specific to a CAN channel.
> > > + * @can: struct can_priv must be the first member (Socket CAN relies
> > > + * on the fact that function netdev_priv() returns a pointer to
> > > + * a struct can_priv).
> > > + * @es58x_dev: pointer to the corresponding ES58X device.
> > > + * @tx_urb: Used as a buffer to concatenate the TX messages and to do
> > > + * a bulk send. Please refer to es58x_start_xmit() for more
> > > + * details.
> > > + * @tx_tail: Index of the oldest packet still pending for
> > > + * completion. @tx_tail & echo_skb_mask represents the beginning
> > > + * of the echo skb FIFO, i.e. index of the first element.
> > > + * @tx_head: Index of the next packet to be sent to the
> > > + * device. @tx_head & echo_skb_mask represents the end of the
> > > + * echo skb FIFO plus one, i.e. the first free index.
> >
> > Is this the description 100% correct? In xmit() you're using tx_head +
> > tx_can_msg_cnt to address the next packet to be send.
> >
> > >> + packet_idx = priv->tx_head + priv->tx_can_msg_cnt;
> >
> > But in xmit_more() you're not taking tx_can_msg_cnt into account.
>
> The idea was that in es58x_start_xmit() and es58x_xmit_more(),
> the changes were not yet committed and thus tx_head not yet
> updated.
>
> After a bit more thinking, it seems better to directly update
> tx_head each time a packet is queued in can_echo_skb[]. I will
> keep above description and modify the code.
fine
Marc
--
Pengutronix e.K. | Marc Kleine-Budde |
Embedded Linux | https://www.pengutronix.de |
Vertretung West/Dortmund | Phone: +49-231-2826-924 |
Amtsgericht Hildesheim, HRA 2686 | Fax: +49-5121-206917-5555 |
[-- Attachment #2: signature.asc --]
[-- Type: application/pgp-signature, Size: 488 bytes --]
^ permalink raw reply [flat|nested] 9+ messages in thread
* Re: [PATCH v14 1/4] can: etas_es58x: add core support for ETAS ES58X CAN USB interfaces
2021-04-02 10:47 ` Marc Kleine-Budde
@ 2021-04-02 13:02 ` Vincent MAILHOL
0 siblings, 0 replies; 9+ messages in thread
From: Vincent MAILHOL @ 2021-04-02 13:02 UTC (permalink / raw)
To: Marc Kleine-Budde; +Cc: linux-can, Arunachalam Santhanam
On Fri. 2 Apr 2021 at 19:47, Marc Kleine-Budde <mkl@pengutronix.de> wrote:
> On 02.04.2021 18:56:33, Vincent MAILHOL wrote:
> > > > +int es58x_rx_err_msg(struct net_device *netdev, enum es58x_err error,
> > > > + enum es58x_event event, u64 timestamp)
> > > > +{
> > > > + struct es58x_priv *priv = es58x_priv(netdev);
> > > > + struct can_priv *can = netdev_priv(netdev);
> > > > + struct can_device_stats *can_stats = &can->can_stats;
> > > > + struct can_frame *cf;
> > >
> > > = NULL;
> > >
> > > So that the if (cf) properly works...
> >
> > I actually expected cfto be set to NULL when an error
> > occurred (same as skb).
> >
> > But indeed, cf is not initialised if the allocation fails. I was
> > wondering if it would not be better to make both alloc_can_skb()
> > and and alloc_canfd_skb() set cf to NULL. That would remove a
> > pitfall.
>
> Makes sense.
>
> > If you like the idea, I can submit a patch.
>
> Sorry creating this drive by patch. The patch description took longer
> than the actual patch :)
This is often the case for any patches where the diff is one or two lines!
[...]
>
> > > > +/**
> > > > + * es58x_open() - Open and start network device.
> > > > + * @netdev: CAN network device.
> > > > + *
> > > > + * Called when the network transitions to the up state.
> > > > + *
> > > > + * Return: zero on success, errno when any error occurs.
> > > > + */
> > > > +static int es58x_open(struct net_device *netdev)
> > > > +{
> > > > + int ret;
> > > > +
> > > > + ret = open_candev(netdev);
> > > > + if (ret)
> > > > + return ret;
> > > > +
> > > > + ret = es58x_enable_channel(netdev);
> > > > + if (ret)
> > > > + return ret;
> > >
> > > Please do an as complete as possible reset and configuration during
> > > open(). If there is any error a ifdown/ifup should fix it. Here on a USB
> > > device with multiple interfaces it's not as easy as on devices with only
> > > one CAN interface.
> >
> > ACK.
> >
> > I will use a function as below to check if all interfaces are
> > down.
> >
> > static bool es58x_are_all_channels_closed(struct es58x_device *es58x_dev)
> > {
> > int i;
> >
> > for (i = 0; i < es58x_dev->num_can_ch; i++) {
> > struct can_priv *can_priv = netdev_priv(es58x_dev->netdev[i]);
> > if (can_priv->state != CAN_STATE_STOPPED)
> > return false;
> > }
> > return true;
> > }
> >
> > I will modify both es58x_open() and es58x_close().
>
> Have a look at
> https://elixir.bootlin.com/linux/v5.11/source/include/linux/kref.h
>
> I'm not sure if kref is overkill here :)
There is indeed a race condition in which the above function
might return true when it is not supposed to.
I checked the struct kref and the refcount_t, but here, I think
that a simple atomic_t is enough because there is no risk of
saturation.
Something like:
| if (atomic_inc_return(opened_channel_cnt) == 1)
| /* configure */
and
| if (atomic_dec_and_test(opened_channel_cnt))
| /* release */
[...]
Yours sincerely,
Vincent
^ permalink raw reply [flat|nested] 9+ messages in thread
end of thread, other threads:[~2021-04-02 13:02 UTC | newest]
Thread overview: 9+ messages (download: mbox.gz / follow: Atom feed)
-- links below jump to the message on this page --
2021-03-21 10:40 [PATCH v14 0/4] Introducing ETAS ES58X CAN USB interfaces Vincent Mailhol
2021-03-21 10:41 ` [PATCH v14 1/4] can: etas_es58x: add core support for " Vincent Mailhol
2021-03-29 12:36 ` Marc Kleine-Budde
2021-04-02 9:56 ` Vincent MAILHOL
2021-04-02 10:47 ` Marc Kleine-Budde
2021-04-02 13:02 ` Vincent MAILHOL
2021-03-21 10:41 ` [PATCH v14 2/4] can: etas_es58x: add support for ETAS ES581.4 CAN USB interface Vincent Mailhol
2021-03-21 10:41 ` [PATCH v14 3/4] can: etas_es58x: add support for the ETAS ES58X_FD CAN USB interfaces Vincent Mailhol
2021-03-21 10:41 ` [PATCH v14 4/4] can: etas_es58x: add es58x_netdev_queue_set_dql_min_limit() Vincent Mailhol
This is an external index of several public inboxes,
see mirroring instructions on how to clone and mirror
all data and code used by this external index.