[PATCH v4] can/peak_usb: add support for PEAK new CANFD USB adapters

* [PATCH v4] can/peak_usb: add support for PEAK new CANFD USB adapters
@ 2015-01-06 10:00 Stephane Grosjean
  2015-01-07 17:03 ` Marc Kleine-Budde
  2015-01-14 12:05 ` Fwd: " Stephane Grosjean
  0 siblings, 2 replies; 18+ messages in thread
From: Stephane Grosjean @ 2015-01-06 10:00 UTC (permalink / raw)
  To: linux-can; +Cc: Oliver Hartkopp, Stephane Grosjean

Add support for the following new PEAK-System technik CANFD USB adapters:

PCAN-USB FD             single CANFD channel USB adapter
PCAN-USB Pro FD         dual CANFD channels USB adapter

Signed-off-by: Stephane Grosjean <s.grosjean@peak-system.com>
---
v4: pcan_usb_fd.c: fix missing code for setting standard filtering criteria on
    received CANID, in function pcan_usb_fd_set_filter_std().
    Note: driver behavior is to accept all CANID.

 drivers/net/can/usb/Kconfig                  |   14 +-
 drivers/net/can/usb/peak_usb/Makefile        |    2 +-
 drivers/net/can/usb/peak_usb/pcan_ucan.h     |  192 +++++
 drivers/net/can/usb/peak_usb/pcan_usb.c      |    1 +
 drivers/net/can/usb/peak_usb/pcan_usb_core.c |   66 +-
 drivers/net/can/usb/peak_usb/pcan_usb_core.h |   14 +-
 drivers/net/can/usb/peak_usb/pcan_usb_fd.c   | 1070 ++++++++++++++++++++++++++
 drivers/net/can/usb/peak_usb/pcan_usb_pro.c  |   17 +-
 drivers/net/can/usb/peak_usb/pcan_usb_pro.h  |   14 +
 9 files changed, 1362 insertions(+), 28 deletions(-)
 create mode 100644 drivers/net/can/usb/peak_usb/pcan_ucan.h
 create mode 100644 drivers/net/can/usb/peak_usb/pcan_usb_fd.c

diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig
index a77db919..6dbbc85 100644
--- a/drivers/net/can/usb/Kconfig
+++ b/drivers/net/can/usb/Kconfig
@@ -53,10 +53,18 @@ config CAN_KVASER_USB
 	  module will be called kvaser_usb.
 
 config CAN_PEAK_USB
-	tristate "PEAK PCAN-USB/USB Pro interfaces"
+	tristate "PEAK PCAN-USB/USB Pro interfaces for CAN 2.0b/CAN-FD"
 	---help---
-	  This driver supports the PCAN-USB and PCAN-USB Pro adapters
-	  from PEAK-System Technik (http://www.peak-system.com).
+	  This driver supports the PEAK-System Technik USB adapters that enable
+	  access to the CAN bus, with repect to the CAN 2.0b and/or CAN-FD
+	  standards, that is:
+
+	  PCAN-USB             single CAN 2.0b channel USB adapter
+	  PCAN-USB Pro         dual CAN 2.0b channels USB adapter
+	  PCAN-USB FD          single CAN-FD channel USB adapter
+	  PCAN-USB Pro FD      dual CAN-FD channels USB adapter
+
+	  (see also http://www.peak-system.com).
 
 config CAN_8DEV_USB
 	tristate "8 devices USB2CAN interface"
diff --git a/drivers/net/can/usb/peak_usb/Makefile b/drivers/net/can/usb/peak_usb/Makefile
index 1aefbc8..1839e9c 100644
--- a/drivers/net/can/usb/peak_usb/Makefile
+++ b/drivers/net/can/usb/peak_usb/Makefile
@@ -1,2 +1,2 @@
 obj-$(CONFIG_CAN_PEAK_USB) += peak_usb.o
-peak_usb-y = pcan_usb_core.o pcan_usb.o pcan_usb_pro.o
+peak_usb-y = pcan_usb_core.o pcan_usb.o pcan_usb_pro.o pcan_usb_fd.o
diff --git a/drivers/net/can/usb/peak_usb/pcan_ucan.h b/drivers/net/can/usb/peak_usb/pcan_ucan.h
new file mode 100644
index 0000000..02c0424
--- /dev/null
+++ b/drivers/net/can/usb/peak_usb/pcan_ucan.h
@@ -0,0 +1,192 @@
+/*
+ * CAN driver for PEAK System micro-CAN based adapters
+ *
+ * Copyright (C) 2003-2011 PEAK System-Technik GmbH
+ * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com>
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ */
+#ifndef PUCAN_H
+#define PUCAN_H
+
+/* uCAN commands opcodes list (low-order 10 bits) */
+#define PUCAN_CMD_NOP			0x000
+#define PUCAN_CMD_RESET_MODE		0x001
+#define PUCAN_CMD_NORMAL_MODE		0x002
+#define PUCAN_CMD_LISTEN_ONLY_MODE	0x003
+#define PUCAN_CMD_TIMING_SLOW		0x004
+#define PUCAN_CMD_TIMING_FAST		0x005
+#define PUCAN_CMD_FILTER_STD		0x008
+#define PUCAN_CMD_TX_ABORT		0x009
+#define PUCAN_CMD_WR_ERR_CNT		0x00a
+#define PUCAN_CMD_RX_FRAME_ENABLE	0x00b
+#define PUCAN_CMD_RX_FRAME_DISABLE	0x00c
+#define PUCAN_CMD_END_OF_COLLECTION	0x3ff
+
+/* uCAN received messages list */
+#define PUCAN_MSG_CAN_RX		0x0001
+#define PUCAN_MSG_ERROR			0x0002
+#define PUCAN_MSG_STATUS		0x0003
+#define PUCAN_MSG_BUSLOAD		0x0004
+#define PUCAN_MSG_CAN_TX		0x1000
+
+/* uCAN command common header */
+#define PUCAN_CMD_OPCODE_CHANNEL(c, o)	(((c) << 12) | ((o) & 0x3ff))
+
+struct __packed pucan_command {
+	__le16	opcode_channel;
+	u16	args[3];
+};
+
+/* uCAN TIMING_SLOW command fields */
+#define PUCAN_TSLOW_SJW_T(s, t)		(((s) & 0xf) | ((!!(t)) << 7))
+#define PUCAN_TSLOW_TSEG2(t)		((t) & 0xf)
+#define PUCAN_TSLOW_TSEG1(t)		((t) & 0x3f)
+#define PUCAN_TSLOW_BRP(b)		((b) & 0x3ff)
+
+struct __packed pucan_timing_slow {
+	__le16	opcode_channel;
+
+	u8	ewl;		/* Error Warning limit */
+	u8	sjw_t;		/* Sync Jump Width + Triple sampling */
+	u8	tseg2;		/* Timing SEGment 2 */
+	u8	tseg1;		/* Timing SEGment 1 */
+
+	__le16	brp;		/* BaudRate Prescaler */
+};
+
+/* uCAN TIMING_FAST command fields */
+#define PUCAN_TFAST_SJW(s)		((s) & 0x3)
+#define PUCAN_TFAST_TSEG2(t)		((t) & 0x7)
+#define PUCAN_TFAST_TSEG1(t)		((t) & 0xf)
+#define PUCAN_TFAST_BRP(b)		((b) & 0x3ff)
+
+struct __packed pucan_timing_fast {
+	__le16	opcode_channel;
+
+	u8	unused;
+	u8	sjw;		/* Sync Jump Width */
+	u8	tseg2;		/* Timing SEGment 2 */
+	u8	tseg1;		/* Timing SEGment 1 */
+
+	__le16	brp;		/* BaudRate Prescaler */
+};
+
+/* uCAN FILTER_STD command fields */
+#define PUCAN_FLTSTD_ROW_IDX_BITS	6
+
+struct __packed pucan_filter_std {
+	__le16	opcode_channel;
+
+	__le16	idx;
+	__le32	mask;		/* CAN-ID bitmask in idx range */
+};
+
+/* uCAN RX_FRAME_ENABLE command fields */
+#define PUCAN_FLTEXT_ERROR		0x0001
+#define PUCAN_FLTEXT_BUSLOAD		0x0002
+
+struct __packed pucan_filter_ext {
+	__le16	opcode_channel;
+
+	__le16	ext_mask;
+	u32	unused;
+};
+
+/* uCAN received messages global format */
+struct __packed pucan_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+};
+
+/* uCAN flags for CAN/CANFD messages */
+#define PUCAN_MSG_SELF_RECEIVE		0x80
+#define PUCAN_MSG_ERROR_STATE_IND	0x40	/* error state indicator */
+#define PUCAN_MSG_BITRATE_SWITCH	0x20	/* bitrate switch */
+#define PUCAN_MSG_EXT_DATA_LEN		0x10	/* extended data length */
+#define PUCAN_MSG_SINGLE_SHOT		0x08
+#define PUCAN_MSG_LOOPED_BACK		0x04
+#define PUCAN_MSG_EXT_ID		0x02
+#define PUCAN_MSG_RTR			0x01
+
+#define PUCAN_MSG_CHANNEL(m)		((m)->channel_dlc & 0xf)
+#define PUCAN_MSG_DLC(m)		((m)->channel_dlc >> 4)
+
+struct __packed pucan_rx_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+	__le32	tag_low;
+	__le32	tag_high;
+	u8	channel_dlc;
+	u8	client;
+	__le16	flags;
+	__le32	can_id;
+	u8	d[0];
+};
+
+/* uCAN error types */
+#define PUCAN_ERMSG_BIT_ERROR		0
+#define PUCAN_ERMSG_FORM_ERROR		1
+#define PUCAN_ERMSG_STUFF_ERROR		2
+#define PUCAN_ERMSG_OTHER_ERROR		3
+#define PUCAN_ERMSG_ERR_CNT_DEC		4
+
+#define PUCAN_ERMSG_CHANNEL(e)		((e)->channel_type_d & 0x0f)
+#define PUCAN_ERMSG_ERRTYPE(e)		(((e)->channel_type_d >> 4) & 0x07)
+#define PUCAN_ERMSG_D(e)		((e)->channel_type_d & 0x80)
+
+#define PUCAN_ERMSG_ERRCODE(e)		((e)->code_g & 0x7f)
+#define PUCAN_ERMSG_G(e)		((e)->code_g & 0x80)
+
+struct __packed pucan_error_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+	u8	channel_type_d;
+	u8	code_g;
+	u8	tx_err_cnt;
+	u8	rx_err_cnt;
+};
+
+#define PUCAN_STMSG_CHANNEL(e)		((e)->channel_p_w_b & 0x0f)
+#define PUCAN_STMSG_PASSIVE(e)		((e)->channel_p_w_b & 0x20)
+#define PUCAN_STMSG_WARNING(e)		((e)->channel_p_w_b & 0x40)
+#define PUCAN_STMSG_BUSOFF(e)		((e)->channel_p_w_b & 0x80)
+
+struct __packed pucan_status_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+	u8	channel_p_w_b;
+	u8	unused[3];
+};
+
+/* uCAN transmitted message format */
+#define PUCAN_MSG_CHANNEL_DLC(c, d)	(((c) & 0xf) | ((d) << 4))
+
+struct __packed pucan_tx_msg {
+	__le16	size;
+	__le16	type;
+	__le32	tag_low;
+	__le32	tag_high;
+	u8	channel_dlc;
+	u8	client;
+	__le16	flags;
+	__le32	can_id;
+	u8	d[0];
+};
+
+#endif
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb.c b/drivers/net/can/usb/peak_usb/pcan_usb.c
index 4e1659d..5972c7a 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb.c
+++ b/drivers/net/can/usb/peak_usb/pcan_usb.c
@@ -858,6 +858,7 @@ struct peak_usb_adapter pcan_usb = {
 	.name = "PCAN-USB",
 	.device_id = PCAN_USB_PRODUCT_ID,
 	.ctrl_count = 1,
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
 	.clock = {
 		.freq = PCAN_USB_CRYSTAL_HZ / 2 ,
 	},
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_core.c b/drivers/net/can/usb/peak_usb/pcan_usb_core.c
index c62f48a..7e8ebc4 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_core.c
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_core.c
@@ -37,6 +37,8 @@ MODULE_LICENSE("GPL v2");
 static struct usb_device_id peak_usb_table[] = {
 	{USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USB_PRODUCT_ID)},
 	{USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USBPRO_PRODUCT_ID)},
+	{USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USBFD_PRODUCT_ID)},
+	{USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USBPROFD_PRODUCT_ID)},
 	{} /* Terminating entry */
 };
 
@@ -46,6 +48,8 @@ MODULE_DEVICE_TABLE(usb, peak_usb_table);
 static struct peak_usb_adapter *peak_usb_adapters_list[] = {
 	&pcan_usb,
 	&pcan_usb_pro,
+	&pcan_usb_fd,
+	&pcan_usb_pro_fd,
 	NULL,
 };
 
@@ -165,6 +169,21 @@ void peak_usb_get_ts_tv(struct peak_time_ref *time_ref, u32 ts,
 }
 
 /*
+ * post received skb after having set any hw timestamp
+ */
+int peak_usb_netif_rx(struct sk_buff *skb,
+		      struct peak_time_ref *time_ref, u32 ts_low, u32 ts_high)
+{
+	struct skb_shared_hwtstamps *hwts = skb_hwtstamps(skb);
+	struct timeval tv;
+
+	peak_usb_get_ts_tv(time_ref, ts_low, &tv);
+	hwts->hwtstamp = timeval_to_ktime(tv);
+
+	return netif_rx(skb);
+}
+
+/*
  * callback for bulk Rx urb
  */
 static void peak_usb_read_bulk_callback(struct urb *urb)
@@ -253,7 +272,7 @@ static void peak_usb_write_bulk_callback(struct urb *urb)
 	case 0:
 		/* transmission complete */
 		netdev->stats.tx_packets++;
-		netdev->stats.tx_bytes += context->dlc;
+		netdev->stats.tx_bytes += context->data_len;
 
 		/* prevent tx timeout */
 		netdev->trans_start = jiffies;
@@ -289,7 +308,7 @@ static netdev_tx_t peak_usb_ndo_start_xmit(struct sk_buff *skb,
 	struct peak_usb_device *dev = netdev_priv(netdev);
 	struct peak_tx_urb_context *context = NULL;
 	struct net_device_stats *stats = &netdev->stats;
-	struct can_frame *cf = (struct can_frame *)skb->data;
+	struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
 	struct urb *urb;
 	u8 *obuf;
 	int i, err;
@@ -322,7 +341,9 @@ static netdev_tx_t peak_usb_ndo_start_xmit(struct sk_buff *skb,
 	}
 
 	context->echo_index = i;
-	context->dlc = cf->can_dlc;
+
+	/* Note: this works with CANFD frames too */
+	context->data_len = cfd->len;
 
 	usb_anchor_urb(urb, &dev->tx_submitted);
 
@@ -679,19 +700,43 @@ static int peak_usb_set_mode(struct net_device *netdev, enum can_mode mode)
 }
 
 /*
- * candev callback used to set device bitrate.
+ * candev callback used to set device nominal/arbitration bitrate.
  */
 static int peak_usb_set_bittiming(struct net_device *netdev)
 {
 	struct peak_usb_device *dev = netdev_priv(netdev);
-	struct can_bittiming *bt = &dev->can.bittiming;
+	struct peak_usb_adapter *pa = dev->adapter;
 
-	if (dev->adapter->dev_set_bittiming) {
-		int err = dev->adapter->dev_set_bittiming(dev, bt);
+	if (pa->dev_set_bittiming) {
+		struct can_bittiming *bt = &dev->can.bittiming;
+		int err = pa->dev_set_bittiming(dev, bt);
 
 		if (err)
 			netdev_info(netdev, "couldn't set bitrate (err %d)\n",
-				err);
+				    err);
+		return err;
+	}
+
+	return 0;
+}
+
+/*
+ * candev callback used to set device data bitrate.
+ */
+static int peak_usb_set_data_bittiming(struct net_device *netdev)
+{
+	struct peak_usb_device *dev = netdev_priv(netdev);
+	struct peak_usb_adapter *pa = dev->adapter;
+
+	if (pa->dev_set_data_bittiming) {
+		struct can_bittiming *bt = &dev->can.data_bittiming;
+		int err = pa->dev_set_data_bittiming(dev, bt);
+
+		if (err)
+			netdev_info(netdev,
+				    "couldn't set data bitrate (err %d)\n",
+				    err);
+
 		return err;
 	}
 
@@ -750,9 +795,10 @@ static int peak_usb_create_dev(struct peak_usb_adapter *peak_usb_adapter,
 	dev->can.clock = peak_usb_adapter->clock;
 	dev->can.bittiming_const = &peak_usb_adapter->bittiming_const;
 	dev->can.do_set_bittiming = peak_usb_set_bittiming;
+	dev->can.data_bittiming_const = &peak_usb_adapter->data_bittiming_const;
+	dev->can.do_set_data_bittiming = peak_usb_set_data_bittiming;
 	dev->can.do_set_mode = peak_usb_set_mode;
-	dev->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
-				      CAN_CTRLMODE_LISTENONLY;
+	dev->can.ctrlmode_supported = peak_usb_adapter->ctrlmode_supported;
 
 	netdev->netdev_ops = &peak_usb_netdev_ops;
 
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_core.h b/drivers/net/can/usb/peak_usb/pcan_usb_core.h
index 073b47f..13d44a5 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_core.h
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_core.h
@@ -25,6 +25,8 @@
 /* supported device ids. */
 #define PCAN_USB_PRODUCT_ID		0x000c
 #define PCAN_USBPRO_PRODUCT_ID		0x000d
+#define PCAN_USBPROFD_PRODUCT_ID	0x0011
+#define PCAN_USBFD_PRODUCT_ID		0x0012
 
 #define PCAN_USB_DRIVER_NAME		"peak_usb"
 
@@ -44,8 +46,10 @@ struct peak_usb_device;
 struct peak_usb_adapter {
 	char *name;
 	u32 device_id;
+	u32 ctrlmode_supported;
 	struct can_clock clock;
 	const struct can_bittiming_const bittiming_const;
+	const struct can_bittiming_const data_bittiming_const;
 	unsigned int ctrl_count;
 
 	int (*intf_probe)(struct usb_interface *intf);
@@ -57,6 +61,8 @@ struct peak_usb_adapter {
 	int (*dev_close)(struct peak_usb_device *dev);
 	int (*dev_set_bittiming)(struct peak_usb_device *dev,
 					struct can_bittiming *bt);
+	int (*dev_set_data_bittiming)(struct peak_usb_device *dev,
+				      struct can_bittiming *bt);
 	int (*dev_set_bus)(struct peak_usb_device *dev, u8 onoff);
 	int (*dev_get_device_id)(struct peak_usb_device *dev, u32 *device_id);
 	int (*dev_decode_buf)(struct peak_usb_device *dev, struct urb *urb);
@@ -80,6 +86,8 @@ struct peak_usb_adapter {
 
 extern struct peak_usb_adapter pcan_usb;
 extern struct peak_usb_adapter pcan_usb_pro;
+extern struct peak_usb_adapter pcan_usb_pro_fd;
+extern struct peak_usb_adapter pcan_usb_fd;
 
 struct peak_time_ref {
 	struct timeval tv_host_0, tv_host;
@@ -92,7 +100,7 @@ struct peak_time_ref {
 struct peak_tx_urb_context {
 	struct peak_usb_device *dev;
 	u32 echo_index;
-	u8 dlc;
+	u8 data_len;
 	struct urb *urb;
 };
 
@@ -139,7 +147,9 @@ void peak_usb_update_ts_now(struct peak_time_ref *time_ref, u32 ts_now);
 void peak_usb_set_ts_now(struct peak_time_ref *time_ref, u32 ts_now);
 void peak_usb_get_ts_tv(struct peak_time_ref *time_ref, u32 ts,
 			struct timeval *tv);
-
+int peak_usb_netif_rx(struct sk_buff *skb,
+		      struct peak_time_ref *time_ref, u32 ts_low, u32 ts_high);
 void peak_usb_async_complete(struct urb *urb);
 void peak_usb_restart_complete(struct peak_usb_device *dev);
+
 #endif
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
new file mode 100644
index 0000000..57d73b5
--- /dev/null
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
@@ -0,0 +1,1070 @@
+/*
+ * CAN driver for PEAK System PCAN-USB FD / PCAN-USB Pro FD adapter
+ *
+ * Copyright (C) 2013-2014 Stephane Grosjean <s.grosjean@peak-system.com>
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ */
+#include <linux/netdevice.h>
+#include <linux/usb.h>
+#include <linux/module.h>
+
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/can/error.h>
+
+#include "pcan_usb_core.h"
+#include "pcan_usb_pro.h"
+#include "pcan_ucan.h"
+
+MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB FD adapter");
+MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB Pro FD adapter");
+
+#define PCAN_USBPROFD_CHANNEL_COUNT	2
+#define PCAN_USBFD_CHANNEL_COUNT	1
+
+/* PCAN-USB Pro FD adapter internal clock (MHz) */
+#define PCAN_UFD_CRYSTAL_HZ		80000000
+
+#define PCAN_UFD_CMD_BUFFER_SIZE	512
+#define PCAN_UFD_LOSPD_PKT_SIZE		64
+
+/* PCAN-USB Pro FD command timeout (ms.) */
+#define PCAN_UFD_CMD_TIMEOUT_MS		1000
+
+/* PCAN-USB Pro FD rx/tx buffers size */
+#define PCAN_UFD_RX_BUFFER_SIZE		2048
+#define PCAN_UFD_TX_BUFFER_SIZE		512
+
+/* read some versions info from the hw devcie */
+struct __packed pcan_ufd_fw_info {
+	__le16	size_of;	/* sizeof this */
+	__le16	type;		/* type of this structure */
+	u8	hw_type;	/* Type of hardware (HW_TYPE_xxx) */
+	u8	bl_version[3];	/* Bootloader version */
+	u8	hw_version;	/* Hardware version (PCB) */
+	u8	fw_version[3];	/* Firmware version */
+	__le32	dev_id[2];	/* "device id" per CAN */
+	__le32	ser_no;		/* S/N */
+	__le32	flags;		/* special functions */
+};
+
+/* handle device specific info used by the netdevices */
+struct pcan_usb_fd_if {
+	struct peak_usb_device *dev[PCAN_USB_MAX_CHANNEL];
+	struct pcan_ufd_fw_info	fw_info;
+	struct peak_time_ref	time_ref;
+	int			cm_ignore_count;
+	int			dev_opened_count;
+};
+
+/* device information */
+struct pcan_usb_fd_device {
+	struct peak_usb_device	dev;
+	struct pcan_usb_fd_if *	usb_if;
+
+	u8 *	cmd_buffer_addr;
+
+	uint	tx_error_counter;
+	uint	rx_error_counter;
+};
+
+/* Extended USB commands (non uCAN commands) */
+
+/* Clock Modes command */
+#define PCAN_UFD_CMD_CLK_SET		0x80
+
+#define PCAN_UFD_CLK_80MHZ		0x0
+#define PCAN_UFD_CLK_60MHZ		0x1
+#define PCAN_UFD_CLK_40MHZ		0x2
+#define PCAN_UFD_CLK_30MHZ		0x3
+#define PCAN_UFD_CLK_24MHZ		0x4
+#define PCAN_UFD_CLK_20MHZ		0x5
+#define PCAN_UFD_CLK_DEF		PCAN_UFD_CLK_80MHZ
+
+struct __packed pcan_ufd_clock {
+	__le16	opcode_channel;
+
+	u8	mode;
+	u8	unused[5];
+};
+
+/* LED control command */
+#define PCAN_UFD_CMD_LED_SET		0x86
+
+#define PCAN_UFD_LED_DEV		0x00
+#define PCAN_UFD_LED_FAST		0x01
+#define PCAN_UFD_LED_SLOW		0x02
+#define PCAN_UFD_LED_ON			0x03
+#define PCAN_UFD_LED_OFF		0x04
+#define PCAN_UFD_LED_DEF		PCAN_UFD_LED_DEV
+
+struct __packed pcan_ufd_led {
+	__le16	opcode_channel;
+
+	u8	mode;
+	u8	unused[5];
+};
+
+/* Extended usage of uCAN commands CMD_RX_FRAME_xxxABLE for PCAN-USB Pro FD */
+#define PCAN_UFD_FLTEXT_CALIBRATION	0x8000
+
+struct __packed pcan_ufd_filter_ext {
+	__le16	opcode_channel;
+
+	__le16	ext_mask;
+	u16	unused;
+	__le16	usb_mask;
+};
+
+/* Extended usage of uCAN messages for PCAN-USB Pro FD */
+#define PCAN_UFD_MSG_CALIBRATION	0x100
+
+struct __packed pcan_ufd_ts_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+	__le16	usb_frame_index;
+	u16	unused;
+};
+
+#define PCAN_UFD_MSG_OVERRUN		0x101
+
+#define PCAN_UFD_OVMSG_CHANNEL(o)	((o)->channel & 0xf)
+
+struct __packed pcan_ufd_ovr_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+	u8	channel;
+	u8	unused[3];
+};
+
+/* Clock mode frequency values */
+static const u32 pcan_usb_fd_clk_freq[6] = {
+	[PCAN_UFD_CLK_80MHZ] = 80000000,
+	[PCAN_UFD_CLK_60MHZ] = 60000000,
+	[PCAN_UFD_CLK_40MHZ] = 40000000,
+	[PCAN_UFD_CLK_30MHZ] = 30000000,
+	[PCAN_UFD_CLK_24MHZ] = 24000000,
+	[PCAN_UFD_CLK_20MHZ] = 20000000
+};
+
+/* build the opcode_channel field with respect to the correct endianess */
+static inline __le16 pucan_cmd_opcode_channel(int opcode, int channel)
+{
+	return cpu_to_le16(PUCAN_CMD_OPCODE_CHANNEL(opcode, channel));
+}
+
+/* return a device USB interface */
+static inline
+struct pcan_usb_fd_if *pcan_usb_fd_dev_if(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+	return pdev->usb_if;
+}
+
+/* return a device USB commands buffer */
+static inline void *pcan_usb_fd_cmd_buffer(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+	return pdev->cmd_buffer_addr;
+}
+
+/* send PCAN-USB Pro FD commands synchronously */
+static int pcan_usb_fd_send_cmd(struct peak_usb_device *dev, void *cmd_tail)
+{
+	void *cmd_head = pcan_usb_fd_cmd_buffer(dev);
+	int err;
+	u8 *packet_ptr;
+	int i, n = 1, packet_len;
+	ptrdiff_t cmd_len;
+
+	/* usb device unregistered? */
+	if (!(dev->state & PCAN_USB_STATE_CONNECTED))
+		return 0;
+
+	/*
+	 * if a packet is not filled completely by commands, the command list
+	 * is terminated with an "end of collection" record.
+	 */
+	cmd_len = cmd_tail - cmd_head;
+	if (cmd_len <= (PCAN_UFD_CMD_BUFFER_SIZE - sizeof(u64))) {
+		memset(cmd_tail, 0xff, sizeof(u64));
+		cmd_len += sizeof(u64);
+	}
+
+	packet_ptr = cmd_head;
+
+	/* firmware is not able to re-assemble 512 bytes buffer in full-speed */
+	if ((dev->udev->speed != USB_SPEED_HIGH) &&
+	    (cmd_len > PCAN_UFD_LOSPD_PKT_SIZE)) {
+		packet_len = PCAN_UFD_LOSPD_PKT_SIZE;
+		n += cmd_len / packet_len;
+	} else {
+		packet_len = cmd_len;
+	}
+
+	for (i = 0; i < n; i++) {
+		err = usb_bulk_msg(dev->udev,
+				   usb_sndbulkpipe(dev->udev,
+						   PCAN_USBPRO_EP_CMDOUT),
+				   packet_ptr, packet_len,
+				   NULL, PCAN_UFD_CMD_TIMEOUT_MS);
+		if (err) {
+			netdev_err(dev->netdev,
+				   "sending command failure: %d\n", err);
+			break;
+		}
+
+		packet_ptr += packet_len;
+	}
+
+	return err;
+}
+
+static int pcan_usb_fd_set_bus(struct peak_usb_device *dev, u8 onoff)
+{
+	struct pucan_command *cmd = pcan_usb_fd_cmd_buffer(dev);
+	u16 opcode;
+
+	if (onoff) {
+		opcode = (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) ?
+				PUCAN_CMD_LISTEN_ONLY_MODE :
+				PUCAN_CMD_NORMAL_MODE;
+	} else {
+		opcode = PUCAN_CMD_RESET_MODE;
+	}
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx, opcode);
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/*
+ * set filtering masks:
+ *
+ *	idx  in range [0..63] selects a row #idx, all rows otherwise
+ *	mask in range [0..0xffffffff] defines up to 32 CANIDs in the row(s)
+ *
+ *	Each bit of this 64 x 32 bits array defines a CANID value:
+ *
+ *	bit[i,j] = 1 implies that CANID=(i x 32)+j will be received, while
+ *	bit[i,j] = 0 implies that CANID=(i x 32)+j will be discarded.
+ */
+static int pcan_usb_fd_set_filter_std(struct peak_usb_device *dev, int idx,
+				      u32 mask)
+{
+	struct pucan_filter_std *cmd = pcan_usb_fd_cmd_buffer(dev);
+	int i, n;
+
+	/* select all rows when idx is out of range [0..63] */
+	if ((idx < 0) || (idx >= (1 << PUCAN_FLTSTD_ROW_IDX_BITS))) {
+		n = 1 << PUCAN_FLTSTD_ROW_IDX_BITS;
+		idx = 0;
+
+	/* select the row (and only the row) otherwise */
+	} else {
+		n = idx + 1;
+	}
+
+	for (i = idx; i < n; i++, cmd++) {
+		cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
+							PUCAN_CMD_FILTER_STD);
+		cmd->idx = cpu_to_le16(i);
+		cmd->mask = cpu_to_le32(mask);
+	}
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, cmd);
+}
+
+/*
+ * set/unset notifications filter:
+ *
+ *	onoff	sets(1)/unset(0) notifications
+ *	mask	each bit defines a kind of notification to set/unset
+ */
+static int pcan_usb_fd_set_filter_ext(struct peak_usb_device *dev,
+				      int onoff, u16 ext_mask, u16 usb_mask)
+{
+	struct pcan_ufd_filter_ext *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
+					(onoff) ? PUCAN_CMD_RX_FRAME_ENABLE :
+						  PUCAN_CMD_RX_FRAME_DISABLE);
+
+	cmd->ext_mask = cpu_to_le16(ext_mask);
+	cmd->usb_mask = cpu_to_le16(usb_mask);
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* setup LED control */
+static int pcan_usb_fd_set_can_led(struct peak_usb_device *dev, u8 led_mode)
+{
+	struct pcan_ufd_led *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
+						       PCAN_UFD_CMD_LED_SET);
+	cmd->mode = led_mode;
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* set CAN clock domain */
+static int pcan_usb_fd_set_clock_domain(struct peak_usb_device *dev,
+					u8 clk_mode)
+{
+	struct pcan_ufd_clock *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
+						       PCAN_UFD_CMD_CLK_SET);
+	cmd->mode = clk_mode;
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* set bittiming for CAN and CAN-FD header */
+static int pcan_usb_fd_set_bittiming_slow(struct peak_usb_device *dev,
+					  struct can_bittiming *bt)
+{
+	struct pucan_timing_slow *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
+						       PUCAN_CMD_TIMING_SLOW);
+	cmd->sjw_t = PUCAN_TSLOW_SJW_T(bt->sjw - 1,
+				dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES);
+
+	cmd->tseg2 = PUCAN_TSLOW_TSEG2(bt->phase_seg2 - 1);
+	cmd->tseg1 = PUCAN_TSLOW_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
+	cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(bt->brp - 1));
+
+	cmd->ewl = 96;	/* default */
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* set CAN-FD bittiming for data */
+static int pcan_usb_fd_set_bittiming_fast(struct peak_usb_device *dev,
+					  struct can_bittiming *bt)
+{
+	struct pucan_timing_fast *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
+						       PUCAN_CMD_TIMING_FAST);
+	cmd->sjw = PUCAN_TFAST_SJW(bt->sjw - 1);
+	cmd->tseg2 = PUCAN_TFAST_TSEG2(bt->phase_seg2 - 1);
+	cmd->tseg1 = PUCAN_TFAST_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
+	cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(bt->brp - 1));
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/*
+ * handle restart but in asynchronously way
+ * (uses PCAN-USB Pro code to complete)
+ */
+static int pcan_usb_fd_restart_async(struct peak_usb_device *dev,
+				     struct urb *urb, u8 *buf)
+{
+	struct pucan_command *cmd = (struct pucan_command *)buf;
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev->ctrl_idx,
+				(dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) ?
+						PUCAN_CMD_LISTEN_ONLY_MODE :
+						PUCAN_CMD_NORMAL_MODE);
+	/* EOC */
+	memset(cmd+1, 0xff, sizeof(struct pucan_command));
+
+	usb_fill_bulk_urb(urb, dev->udev,
+			  usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT),
+			  buf, 2 * sizeof(struct pucan_command),
+			  pcan_usb_pro_restart_complete, dev);
+
+	return usb_submit_urb(urb, GFP_ATOMIC);
+}
+
+static int pcan_usb_fd_drv_loaded(struct peak_usb_device *dev, int loaded)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+
+	pdev->cmd_buffer_addr[0] = 0;
+	pdev->cmd_buffer_addr[1] = !!loaded;
+
+	return pcan_usb_pro_send_req(dev,
+				PCAN_USBPRO_REQ_FCT,
+				PCAN_USBPRO_FCT_DRVLD,
+				pdev->cmd_buffer_addr,
+				PCAN_USBPRO_FCT_DRVLD_REQ_LEN);
+}
+
+static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if,
+				     struct pucan_msg *rx_msg)
+{
+	struct pucan_rx_msg *rm = (struct pucan_rx_msg *)rx_msg;
+	struct peak_usb_device *dev = usb_if->dev[PUCAN_MSG_CHANNEL(rm)];
+	struct net_device *netdev = dev->netdev;
+	struct canfd_frame *cfd;
+	struct sk_buff *skb;
+	const u16 rx_msg_flags = le16_to_cpu(rm->flags);
+
+	if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) {
+		/* CANFD frame case */
+		skb = alloc_canfd_skb(netdev, &cfd);
+		if (!skb)
+			return -ENOMEM;
+
+		if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH)
+			cfd->flags |= CANFD_BRS;
+
+		if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND)
+			cfd->flags |= CANFD_ESI;
+
+		cfd->len = can_dlc2len(PUCAN_MSG_DLC(rm));
+	} else {
+		/* CANFD frame case */
+		skb = alloc_can_skb(netdev, (struct can_frame **)&cfd);
+		if (!skb)
+			return -ENOMEM;
+
+		cfd->len = get_can_dlc(PUCAN_MSG_DLC(rm));
+	}
+
+	cfd->can_id = le32_to_cpu(rm->can_id);
+
+	if (rx_msg_flags & PUCAN_MSG_EXT_ID)
+		cfd->can_id |= CAN_EFF_FLAG;
+
+	if (rx_msg_flags & PUCAN_MSG_RTR)
+		cfd->can_id |= CAN_RTR_FLAG;
+	else
+		memcpy(cfd->data, rm->d, cfd->len);
+
+	peak_usb_netif_rx(skb, &usb_if->time_ref,
+			  le32_to_cpu(rm->ts_low), le32_to_cpu(rm->ts_high));
+
+	netdev->stats.rx_packets++;
+	netdev->stats.rx_bytes += cfd->len;
+
+	return 0;
+}
+
+/* handle uCAN status message */
+static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if *usb_if,
+				     struct pucan_msg *rx_msg)
+{
+	struct pucan_status_msg *st = (struct pucan_status_msg *)rx_msg;
+	struct peak_usb_device *dev = usb_if->dev[PUCAN_STMSG_CHANNEL(st)];
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+	enum can_state new_state = CAN_STATE_ERROR_ACTIVE;
+	struct net_device *netdev = dev->netdev;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+
+	/* nothing should be sent while in BUS_OFF state */
+	if (dev->can.state == CAN_STATE_BUS_OFF)
+		return 0;
+
+	if (PUCAN_STMSG_BUSOFF(st)) {
+		new_state = CAN_STATE_BUS_OFF;
+	} else if (PUCAN_STMSG_PASSIVE(st)) {
+		new_state = CAN_STATE_ERROR_PASSIVE;
+	} else if (PUCAN_STMSG_WARNING(st)) {
+		new_state = CAN_STATE_ERROR_WARNING;
+	} else {
+		/* no error bit (so, no error skb, back to active state) */
+		dev->can.state = CAN_STATE_ERROR_ACTIVE;
+		pdev->tx_error_counter = 0;
+		pdev->rx_error_counter = 0;
+		return 0;
+	}
+
+	/* donot post any error if current state didn't change */
+	if (dev->can.state == new_state)
+		return 0;
+
+	/* allocate an skb to store the error frame */
+	skb = alloc_can_err_skb(netdev, &cf);
+	if (!skb)
+		return -ENOMEM;
+
+	switch (new_state) {
+	case CAN_STATE_BUS_OFF:
+		cf->can_id |= CAN_ERR_BUSOFF;
+		can_bus_off(netdev);
+		break;
+
+	case CAN_STATE_ERROR_PASSIVE:
+		cf->can_id |= CAN_ERR_CRTL;
+		if (pdev->rx_error_counter > 127)
+			cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
+		if (pdev->tx_error_counter > 127)
+			cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
+
+		dev->can.can_stats.error_passive++;
+		break;
+
+	case CAN_STATE_ERROR_WARNING:
+		cf->can_id |= CAN_ERR_CRTL;
+		if (pdev->rx_error_counter > 96)
+			cf->data[1] |= CAN_ERR_CRTL_RX_WARNING;
+		if (pdev->tx_error_counter > 96)
+			cf->data[1] |= CAN_ERR_CRTL_TX_WARNING;
+
+		dev->can.can_stats.error_warning++;
+		break;
+
+	default:
+		/* default case never happens, only for warnings */
+		new_state = CAN_STATE_ERROR_ACTIVE;
+
+	case CAN_STATE_ERROR_ACTIVE:	/* fallthrough */
+		pdev->tx_error_counter = 0;
+		pdev->rx_error_counter = 0;
+		break;
+	}
+
+	dev->can.state = new_state;
+
+	peak_usb_netif_rx(skb, &usb_if->time_ref,
+			  le32_to_cpu(st->ts_low), le32_to_cpu(st->ts_high));
+
+	netdev->stats.rx_packets++;
+	netdev->stats.rx_bytes += cf->can_dlc;
+
+	return 0;
+}
+
+/* handle uCAN error message */
+static int pcan_usb_fd_decode_error(struct pcan_usb_fd_if *usb_if,
+				    struct pucan_msg *rx_msg)
+{
+	struct pucan_error_msg *er = (struct pucan_error_msg *)rx_msg;
+	struct peak_usb_device *dev = usb_if->dev[PUCAN_ERMSG_CHANNEL(er)];
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+
+	/* keep a trace of tx and rx error counters for later use */
+	pdev->tx_error_counter = er->tx_err_cnt;
+	pdev->rx_error_counter = er->rx_err_cnt;
+
+	return 0;
+}
+
+/* handle uCAN overrun message */
+static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if *usb_if,
+				      struct pucan_msg *rx_msg)
+{
+	struct pcan_ufd_ovr_msg *ov = (struct pcan_ufd_ovr_msg *)rx_msg;
+	struct peak_usb_device *dev = usb_if->dev[PCAN_UFD_OVMSG_CHANNEL(ov)];
+	struct net_device *netdev = dev->netdev;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+
+	/* allocate an skb to store the error frame */
+	skb = alloc_can_err_skb(netdev, &cf);
+	if (!skb)
+		return -ENOMEM;
+
+	cf->can_id |= CAN_ERR_CRTL;
+	cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
+
+	peak_usb_netif_rx(skb, &usb_if->time_ref,
+			  le32_to_cpu(ov->ts_low), le32_to_cpu(ov->ts_high));
+
+	netdev->stats.rx_over_errors++;
+	netdev->stats.rx_errors++;
+
+	return 0;
+}
+
+/* handle USB calibration message */
+static void pcan_usb_fd_decode_ts(struct pcan_usb_fd_if *usb_if,
+				  struct pucan_msg *rx_msg)
+{
+	struct pcan_ufd_ts_msg *ts = (struct pcan_ufd_ts_msg *)rx_msg;
+
+	/* should wait until clock is stabilized */
+	if (usb_if->cm_ignore_count > 0)
+		usb_if->cm_ignore_count--;
+	else
+		peak_usb_set_ts_now(&usb_if->time_ref, le32_to_cpu(ts->ts_low));
+}
+
+/* callback for bulk IN urb */
+static int pcan_usb_fd_decode_buf(struct peak_usb_device *dev, struct urb *urb)
+{
+	struct pcan_usb_fd_if *usb_if = pcan_usb_fd_dev_if(dev);
+	struct net_device *netdev = dev->netdev;
+	struct pucan_msg *rx_msg;
+	u8 *msg_ptr, *msg_end;
+	int err = 0;
+
+	/* loop reading all the records from the incoming message */
+	msg_ptr = urb->transfer_buffer;
+	msg_end = urb->transfer_buffer + urb->actual_length;
+	for (; msg_ptr < msg_end;) {
+		u16 rx_msg_type, rx_msg_size;
+
+		rx_msg = (struct pucan_msg *)msg_ptr;
+		if (!rx_msg->size) {
+			/* null packet found: end of list */
+			break;
+		}
+
+		rx_msg_size = le16_to_cpu(rx_msg->size);
+		rx_msg_type = le16_to_cpu(rx_msg->type);
+
+		/* check if the record goes out of current packet */
+		if (msg_ptr + rx_msg_size > msg_end) {
+			netdev_err(netdev,
+				   "got frag rec: should inc usb rx buf sze\n");
+			err = -EBADMSG;
+			break;
+		}
+
+		switch (rx_msg_type) {
+		case PUCAN_MSG_CAN_RX:
+			err = pcan_usb_fd_decode_canmsg(usb_if, rx_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case PCAN_UFD_MSG_CALIBRATION:
+			pcan_usb_fd_decode_ts(usb_if, rx_msg);
+			break;
+
+		case PUCAN_MSG_ERROR:
+			err = pcan_usb_fd_decode_error(usb_if, rx_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case PUCAN_MSG_STATUS:
+			err = pcan_usb_fd_decode_status(usb_if, rx_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case PCAN_UFD_MSG_OVERRUN:
+			err = pcan_usb_fd_decode_overrun(usb_if, rx_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		default:
+			netdev_err(netdev,
+				   "unhandled msg type 0x%02x (%d): ignored\n",
+				   rx_msg_type, rx_msg_type);
+			break;
+		}
+
+		msg_ptr += rx_msg_size;
+	}
+
+fail:
+	if (err)
+		pcan_dump_mem("received msg",
+			      urb->transfer_buffer, urb->actual_length);
+	return err;
+}
+
+/* CAN/CANFD frames encoding callback */
+static int pcan_usb_fd_encode_msg(struct peak_usb_device *dev,
+				  struct sk_buff *skb, u8 *obuf, size_t *size)
+{
+	struct pucan_tx_msg *tx_msg = (struct pucan_tx_msg *)obuf;
+	struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
+	u16 tx_msg_size, tx_msg_flags;
+	u8 can_dlc;
+
+	tx_msg_size = ALIGN(sizeof(struct pucan_tx_msg) + cfd->len, 4);
+	tx_msg->size = cpu_to_le16(tx_msg_size);
+	tx_msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX);
+
+	tx_msg_flags = 0;
+	if (cfd->can_id & CAN_EFF_FLAG) {
+		tx_msg_flags |= PUCAN_MSG_EXT_ID;
+		tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_EFF_MASK);
+	} else {
+		tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_SFF_MASK);
+	}
+
+	if (skb->len == CANFD_MTU) {
+		/* considering a CANFD frame */
+		can_dlc = can_len2dlc(cfd->len);
+
+		tx_msg_flags |= PUCAN_MSG_EXT_DATA_LEN;
+
+		if (cfd->flags & CANFD_BRS)
+			tx_msg_flags |= PUCAN_MSG_BITRATE_SWITCH;
+
+		if (cfd->flags & CANFD_ESI)
+			tx_msg_flags |= PUCAN_MSG_ERROR_STATE_IND;
+	} else {
+		/* CAND 2.0 frames */
+		can_dlc = cfd->len;
+
+		if (cfd->can_id & CAN_RTR_FLAG)
+			tx_msg_flags |= PUCAN_MSG_RTR;
+	}
+
+	tx_msg->flags = cpu_to_le16(tx_msg_flags);
+	tx_msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(dev->ctrl_idx, can_dlc);
+	memcpy(tx_msg->d, cfd->data, cfd->len);
+
+	/* add null size message to tag the end (messages are 32-bits aligned)*/
+	tx_msg = (struct pucan_tx_msg *)(obuf + tx_msg_size);
+
+	tx_msg->size = 0;
+
+	/* set the whole size of the USB packet to send */
+	*size = tx_msg_size + sizeof(u32);
+
+	return 0;
+}
+
+/* start the interface (last chance before set bus on) */
+static int pcan_usb_fd_start(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+	int err;
+
+	/* set filter mode: all acceptance */
+	err = pcan_usb_fd_set_filter_std(dev, -1, 0xffffffff);
+	if (err)
+		return err;
+
+	/* opening first device: */
+	if (pdev->usb_if->dev_opened_count == 0) {
+		/* reset time_ref */
+		peak_usb_init_time_ref(&pdev->usb_if->time_ref,
+				       &pcan_usb_pro_fd);
+
+		/* enable USB calibration messages */
+		err = pcan_usb_fd_set_filter_ext(dev, 1,
+						 PUCAN_FLTEXT_ERROR,
+						 PCAN_UFD_FLTEXT_CALIBRATION);
+	}
+
+	pdev->usb_if->dev_opened_count++;
+
+	/* reset cached error counters */
+	pdev->tx_error_counter = 0;
+	pdev->rx_error_counter = 0;
+
+	return err;
+}
+
+/* stop interface (last chance before set bus off) */
+static int pcan_usb_fd_stop(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+
+	/* turn off special msgs for that interface if no other dev opened */
+	if (pdev->usb_if->dev_opened_count == 1)
+		pcan_usb_fd_set_filter_ext(dev, 0,
+					   PUCAN_FLTEXT_ERROR,
+					   PCAN_UFD_FLTEXT_CALIBRATION);
+	pdev->usb_if->dev_opened_count--;
+
+	return 0;
+}
+
+/* called when probing, to initialize a device object */
+static int pcan_usb_fd_init(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+	int i, err = -ENOMEM;
+
+	/* do this for 1st channel only */
+	if (!dev->prev_siblings) {
+		/* allocate netdevices common structure attached to first one */
+		pdev->usb_if = kzalloc(sizeof(*pdev->usb_if), GFP_KERNEL);
+		if (!pdev->usb_if)
+			goto err_out;
+
+		/* allocate command buffer once for all for the interface */
+		pdev->cmd_buffer_addr = kmalloc(PCAN_UFD_CMD_BUFFER_SIZE,
+						GFP_KERNEL);
+		if (!pdev->cmd_buffer_addr)
+			goto err_out_1;
+
+		/* number of ts msgs to ignore before taking one into account */
+		pdev->usb_if->cm_ignore_count = 5;
+
+		err = pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_INFO,
+					    PCAN_USBPRO_INFO_FW,
+					    &pdev->usb_if->fw_info,
+					    sizeof(pdev->usb_if->fw_info));
+		if (err) {
+			dev_err(dev->netdev->dev.parent,
+				"unable to read %s firmware info (err %d)\n",
+				dev->adapter->name, err);
+			goto err_out_2;
+		}
+
+		/*
+		 * explicit use of dev_xxx() instead of netdev_xxx() here:
+		 * information displayed are related to the device itself, not
+		 * to the canx (channel) device.
+		 */
+		dev_info(dev->netdev->dev.parent,
+			 "PEAK-System %s v%u fw v%u.%u.%u (%u channels)\n",
+			 dev->adapter->name, pdev->usb_if->fw_info.hw_version,
+			 pdev->usb_if->fw_info.fw_version[0],
+			 pdev->usb_if->fw_info.fw_version[1],
+			 pdev->usb_if->fw_info.fw_version[2],
+			 dev->adapter->ctrl_count);
+
+		/* tell the hardware the can driver is running */
+		err = pcan_usb_fd_drv_loaded(dev, 1);
+		if (err) {
+			dev_err(dev->netdev->dev.parent,
+				"unable to tell %s driver is loaded (err %d)\n",
+				dev->adapter->name, err);
+			goto err_out_2;
+		}
+
+	} else {
+		/* otherwise, simply copy previous sibling's values */
+		struct pcan_usb_fd_device *ppdev =
+			container_of(dev->prev_siblings,
+				     struct pcan_usb_fd_device, dev);
+
+		pdev->usb_if = ppdev->usb_if;
+		pdev->cmd_buffer_addr = ppdev->cmd_buffer_addr;
+	}
+
+	pdev->usb_if->dev[dev->ctrl_idx] = dev;
+	dev->device_number =
+		le32_to_cpu(pdev->usb_if->fw_info.dev_id[dev->ctrl_idx]);
+
+	/* set clock domain */
+	for (i = 0; i < ARRAY_SIZE(pcan_usb_fd_clk_freq); i++)
+		if (dev->adapter->clock.freq == pcan_usb_fd_clk_freq[i])
+			break;
+
+	if (i >= ARRAY_SIZE(pcan_usb_fd_clk_freq)) {
+		dev_warn(dev->netdev->dev.parent,
+			 "incompatible clock frequencies\n");
+		err = -EINVAL;
+		goto err_out_2;
+	}
+
+	pcan_usb_fd_set_clock_domain(dev, i);
+
+	/* set LED in default state (end of init phase) */
+	pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_DEF);
+
+	return 0;
+
+err_out_2:
+	kfree(pdev->cmd_buffer_addr);
+err_out_1:
+	kfree(pdev->usb_if);
+err_out:
+	return err;
+}
+
+/* called when driver module is being unloaded */
+static void pcan_usb_fd_exit(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+
+	/*
+	 * when rmmod called before unplug and if down, should reset things
+	 * before leaving
+	 */
+	if (dev->can.state != CAN_STATE_STOPPED) {
+		/* set bus off on the corresponding channel */
+		pcan_usb_fd_set_bus(dev, 0);
+	}
+
+	/* switch off corresponding CAN LEDs */
+	pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_OFF);
+
+	/* if channel #0 (only) */
+	if (dev->ctrl_idx == 0) {
+		/* turn off calibration message if any device were opened */
+		if (pdev->usb_if->dev_opened_count > 0)
+			pcan_usb_fd_set_filter_ext(dev, 0,
+						   PUCAN_FLTEXT_ERROR,
+						   PCAN_UFD_FLTEXT_CALIBRATION);
+
+		/* tell USB adapter that the driver is being unloaded */
+		pcan_usb_fd_drv_loaded(dev, 0);
+	}
+}
+
+/* called when the USB adapter is unplugged */
+static void pcan_usb_fd_free(struct peak_usb_device *dev)
+{
+	/* last device: can free shared objects now */
+	if (!dev->prev_siblings && !dev->next_siblings) {
+		struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+
+		/* free commands buffer */
+		kfree(pdev->cmd_buffer_addr);
+
+		/* free usb interface object */
+		kfree(pdev->usb_if);
+	}
+}
+
+/* describes the PCAN-USB FD adapter */
+struct peak_usb_adapter pcan_usb_fd = {
+	.name = "PCAN-USB FD",
+	.device_id = PCAN_USBFD_PRODUCT_ID,
+	.ctrl_count = PCAN_USBFD_CHANNEL_COUNT,
+	.ctrlmode_supported = CAN_CTRLMODE_FD |
+			CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
+	.clock = {
+		.freq = PCAN_UFD_CRYSTAL_HZ,
+	},
+	.bittiming_const = {
+		.name = "pcan_usb_fd",
+		.tseg1_min = 1,
+		.tseg1_max = 64,
+		.tseg2_min = 1,
+		.tseg2_max = 16,
+		.sjw_max = 16,
+		.brp_min = 1,
+		.brp_max = 1024,
+		.brp_inc = 1,
+	},
+	.data_bittiming_const = {
+		.name = "pcan_usb_fd",
+		.tseg1_min = 1,
+		.tseg1_max = 16,
+		.tseg2_min = 1,
+		.tseg2_max = 8,
+		.sjw_max = 4,
+		.brp_min = 1,
+		.brp_max = 1024,
+		.brp_inc = 1,
+	},
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
+
+	/* timestamps usage */
+	.ts_used_bits = 32,
+	.ts_period = 1000000, /* calibration period in ts. */
+	.us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
+	.us_per_ts_shift = 0,
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = PCAN_USBPRO_EP_MSGIN,
+	.ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0},
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
+	.tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = pcan_usb_pro_probe,	/* same as PCAN-USB Pro */
+	.dev_init = pcan_usb_fd_init,
+
+	.dev_exit = pcan_usb_fd_exit,
+	.dev_free = pcan_usb_fd_free,
+	.dev_set_bus = pcan_usb_fd_set_bus,
+	.dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
+	.dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
+	.dev_decode_buf = pcan_usb_fd_decode_buf,
+	.dev_start = pcan_usb_fd_start,
+	.dev_stop = pcan_usb_fd_stop,
+	.dev_restart_async = pcan_usb_fd_restart_async,
+	.dev_encode_msg = pcan_usb_fd_encode_msg,
+};
+
+/* describes the PCAN-USB Pro FD adapter */
+struct peak_usb_adapter pcan_usb_pro_fd = {
+	.name = "PCAN-USB Pro FD",
+	.device_id = PCAN_USBPROFD_PRODUCT_ID,
+	.ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT,
+	.ctrlmode_supported = CAN_CTRLMODE_FD |
+			CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
+	.clock = {
+		.freq = PCAN_UFD_CRYSTAL_HZ,
+	},
+	.bittiming_const = {
+		.name = "pcan_usb_pro_fd",
+		.tseg1_min = 1,
+		.tseg1_max = 64,
+		.tseg2_min = 1,
+		.tseg2_max = 16,
+		.sjw_max = 16,
+		.brp_min = 1,
+		.brp_max = 1024,
+		.brp_inc = 1,
+	},
+	.data_bittiming_const = {
+		.name = "pcan_usb_pro_fd",
+		.tseg1_min = 1,
+		.tseg1_max = 16,
+		.tseg2_min = 1,
+		.tseg2_max = 8,
+		.sjw_max = 4,
+		.brp_min = 1,
+		.brp_max = 1024,
+		.brp_inc = 1,
+	},
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
+
+	/* timestamps usage */
+	.ts_used_bits = 32,
+	.ts_period = 1000000, /* calibration period in ts. */
+	.us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
+	.us_per_ts_shift = 0,
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = PCAN_USBPRO_EP_MSGIN,
+	.ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1},
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
+	.tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = pcan_usb_pro_probe,	/* same as PCAN-USB Pro */
+	.dev_init = pcan_usb_fd_init,
+
+	.dev_exit = pcan_usb_fd_exit,
+	.dev_free = pcan_usb_fd_free,
+	.dev_set_bus = pcan_usb_fd_set_bus,
+	.dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
+	.dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
+	.dev_decode_buf = pcan_usb_fd_decode_buf,
+	.dev_start = pcan_usb_fd_start,
+	.dev_stop = pcan_usb_fd_stop,
+	.dev_restart_async = pcan_usb_fd_restart_async,
+	.dev_encode_msg = pcan_usb_fd_encode_msg,
+};
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_pro.c b/drivers/net/can/usb/peak_usb/pcan_usb_pro.c
index 4cfa3b8..a764045 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_pro.c
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_pro.c
@@ -27,14 +27,6 @@
 
 MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB Pro adapter");
 
-/* PCAN-USB Pro Endpoints */
-#define PCAN_USBPRO_EP_CMDOUT		1
-#define PCAN_USBPRO_EP_CMDIN		(PCAN_USBPRO_EP_CMDOUT | USB_DIR_IN)
-#define PCAN_USBPRO_EP_MSGOUT_0		2
-#define PCAN_USBPRO_EP_MSGIN		(PCAN_USBPRO_EP_MSGOUT_0 | USB_DIR_IN)
-#define PCAN_USBPRO_EP_MSGOUT_1		3
-#define PCAN_USBPRO_EP_UNUSED		(PCAN_USBPRO_EP_MSGOUT_1 | USB_DIR_IN)
-
 #define PCAN_USBPRO_CHANNEL_COUNT	2
 
 /* PCAN-USB Pro adapter internal clock (MHz) */
@@ -322,8 +314,8 @@ static int pcan_usb_pro_wait_rsp(struct peak_usb_device *dev,
 	return (i >= PCAN_USBPRO_RSP_SUBMIT_MAX) ? -ERANGE : err;
 }
 
-static int pcan_usb_pro_send_req(struct peak_usb_device *dev, int req_id,
-				 int req_value, void *req_addr, int req_size)
+int pcan_usb_pro_send_req(struct peak_usb_device *dev, int req_id,
+			  int req_value, void *req_addr, int req_size)
 {
 	int err;
 	u8 req_type;
@@ -475,7 +467,7 @@ static int pcan_usb_pro_set_bittiming(struct peak_usb_device *dev,
 	return pcan_usb_pro_set_bitrate(dev, ccbt);
 }
 
-static void pcan_usb_pro_restart_complete(struct urb *urb)
+void pcan_usb_pro_restart_complete(struct urb *urb)
 {
 	/* can delete usb resources */
 	peak_usb_async_complete(urb);
@@ -977,7 +969,7 @@ static void pcan_usb_pro_free(struct peak_usb_device *dev)
 /*
  * probe function for new PCAN-USB Pro usb interface
  */
-static int pcan_usb_pro_probe(struct usb_interface *intf)
+int pcan_usb_pro_probe(struct usb_interface *intf)
 {
 	struct usb_host_interface *if_desc;
 	int i;
@@ -1015,6 +1007,7 @@ struct peak_usb_adapter pcan_usb_pro = {
 	.name = "PCAN-USB Pro",
 	.device_id = PCAN_USBPRO_PRODUCT_ID,
 	.ctrl_count = PCAN_USBPRO_CHANNEL_COUNT,
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
 	.clock = {
 		.freq = PCAN_USBPRO_CRYSTAL_HZ,
 	},
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_pro.h b/drivers/net/can/usb/peak_usb/pcan_usb_pro.h
index 837cee2..31cef84 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_pro.h
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_pro.h
@@ -27,6 +27,14 @@
 #define PCAN_USBPRO_INFO_BL		0
 #define PCAN_USBPRO_INFO_FW		1
 
+/* PCAN-USB Pro (FD) Endpoints */
+#define PCAN_USBPRO_EP_CMDOUT		1
+#define PCAN_USBPRO_EP_CMDIN		(PCAN_USBPRO_EP_CMDOUT | USB_DIR_IN)
+#define PCAN_USBPRO_EP_MSGOUT_0		2
+#define PCAN_USBPRO_EP_MSGIN		(PCAN_USBPRO_EP_MSGOUT_0 | USB_DIR_IN)
+#define PCAN_USBPRO_EP_MSGOUT_1		3
+#define PCAN_USBPRO_EP_UNUSED		(PCAN_USBPRO_EP_MSGOUT_1 | USB_DIR_IN)
+
 /* Vendor Request value for XXX_FCT */
 #define PCAN_USBPRO_FCT_DRVLD		5 /* tell device driver is loaded */
 #define PCAN_USBPRO_FCT_DRVLD_REQ_LEN	16
@@ -176,4 +184,10 @@ union pcan_usb_pro_rec {
 	struct pcan_usb_pro_txmsg	tx_msg;
 };
 
+extern int pcan_usb_pro_probe(struct usb_interface *intf);
+extern int pcan_usb_pro_send_req(struct peak_usb_device *dev, int req_id,
+		                                 int req_value, void *req_addr,
+						 int req_size);
+extern void pcan_usb_pro_restart_complete(struct urb *urb);
+
 #endif
-- 
1.9.1


^ permalink raw reply related	[flat|nested] 18+ messages in thread