[PATCH v2 00/16] Add support for CPC-USB/FD CAN FD interface

[PATCH v2 00/16] Add support for CPC-USB/FD CAN FD interface

[Gerhard Uttenthaler]

These patches extend the ems_usb.c driver to support both devices, the
classic CAN CPC-USB/ARM7 and the CAN FD CPC-USB/FD. After fixing issues given
by checkpatch.pl and adding the CPC_ClearCmdQueue function all needed parts
to support CAN FD were added step by step. Also added is support for the
listen only mode for CPC-USB/ARM7 now.
The last patch enables the driver for CPC-USB/FD.

Gerhard Uttenthaler (16):
  can: ems_usb: Fixed warnings and comments
  can: ems_usb: Added CPC_ClearCmdQueue routine.
  can: ems_usb: Fixed non C99 style initialization
  can: ems_usb: Added CAN FD message representation
  can: ems_usb: Added CAN FD initialization struct
  can: ems_usb: Made RX_BUFFER_SIZE, ems_usb_write_mode and
    ems_usb_probe device dependent
  can: ems_usb: Added listen only mode for CPC-USB/ARM7
  can: ems_usb: Modified ems_usb_read_bulk_callback to handle also
    CPC-USB/FD
  can: ems_usb: Added CAN controller initialization for CAN FD
  can: ems_usb: Added receive routine for CAN FD messages
  can: ems_usb: Added ems_usb_write_mode_fd
  can: ems_usb: Fixed ems_usb_start_xmit for CAN FD
  can: ems_usb: Made CAN error reporting CAN controller dependent
  can: ems_usb: Made structs packed
  can: ems_usb: Added error reporting for CPC-USB/FD
  can: ems_usb: Enable CPC-USB/FD support

 drivers/net/can/usb/ems_usb.c | 858 +++++++++++++++++++++++++++-------
 1 file changed, 682 insertions(+), 176 deletions(-)

-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 01/16] can: ems_usb: Fixed warnings and comments

[Gerhard Uttenthaler]

Issues given by checkpatch.pl were resolved and outdated comments fixed

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 74 ++++++++++++++---------------------
 1 file changed, 30 insertions(+), 44 deletions(-)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index 4f52810bebf8..e943cd07c5f7 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -1,8 +1,7 @@
 // SPDX-License-Identifier: GPL-2.0-only
-/*
- * CAN driver for EMS Dr. Thomas Wuensche CPC-USB/ARM7
+/* CAN driver for EMS Dr. Thomas Wuensche CPC-USB/ARM7
  *
- * Copyright (C) 2004-2009 EMS Dr. Thomas Wuensche
+ * Copyright (C) 2004-2020 EMS Dr. Thomas Wuensche
  */
 #include <linux/signal.h>
 #include <linux/slab.h>
@@ -15,6 +14,7 @@
 #include <linux/can/error.h>
 
 MODULE_AUTHOR("Sebastian Haas <haas@ems-wuensche.com>");
+MODULE_AUTHOR("Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>");
 MODULE_DESCRIPTION("CAN driver for EMS Dr. Thomas Wuensche CAN/USB interfaces");
 MODULE_LICENSE("GPL v2");
 
@@ -55,7 +55,7 @@ MODULE_LICENSE("GPL v2");
 #define CPC_CMD_TYPE_CLEAR_MSG_QUEUE 8  /* clear CPC_MSG queue */
 #define CPC_CMD_TYPE_CLEAR_CMD_QUEUE 28 /* clear CPC_CMD queue */
 
-#define CPC_CC_TYPE_SJA1000 2 /* Philips basic CAN controller */
+#define CPC_CC_TYPE_SJA1000 2 /* NXP CAN controller */
 
 #define CPC_CAN_ECODE_ERRFRAME 0x01 /* Ecode type */
 
@@ -64,8 +64,7 @@ MODULE_LICENSE("GPL v2");
 #define CPC_OVR_EVENT_CANSTATE  0x02
 #define CPC_OVR_EVENT_BUSERROR  0x04
 
-/*
- * If the CAN controller lost a message we indicate it with the highest bit
+/* If the CAN controller lost a message we indicate it with the highest bit
  * set in the count field.
  */
 #define CPC_OVR_HW 0x80
@@ -98,8 +97,7 @@ MODULE_LICENSE("GPL v2");
 
 #define SJA1000_DEFAULT_OUTPUT_CONTROL 0xDA
 
-/*
- * The device actually uses a 16MHz clock to generate the CAN clock
+/* CPC-USB/ARM7 actually uses a 16MHz clock to generate the CAN clock
  * but it expects SJA1000 bit settings based on 8MHz (is internally
  * converted).
  */
@@ -108,8 +106,7 @@ MODULE_LICENSE("GPL v2");
 #define CPC_TX_QUEUE_TRIGGER_LOW	25
 #define CPC_TX_QUEUE_TRIGGER_HIGH	35
 
-/*
- * CAN-Message representation in a CPC_MSG. Message object type is
+/* CAN-Message representation in a CPC_MSG. Message object type is
  * CPC_MSG_TYPE_CAN_FRAME or CPC_MSG_TYPE_RTR_FRAME or
  * CPC_MSG_TYPE_EXT_CAN_FRAME or CPC_MSG_TYPE_EXT_RTR_FRAME.
  */
@@ -139,7 +136,6 @@ struct cpc_sja1000_params {
 struct cpc_can_params {
 	u8 cc_type;
 
-	/* Will support M16C CAN controller in the future */
 	union {
 		struct cpc_sja1000_params sja1000;
 	} cc_params;
@@ -177,8 +173,7 @@ struct cpc_can_error {
 	} cc;
 };
 
-/*
- * Structure containing RX/TX error counter. This structure is used to request
+/* Structure containing RX/TX error counter. This structure is used to request
  * the values of the CAN controllers TX and RX error counter.
  */
 struct cpc_can_err_counter {
@@ -206,8 +201,7 @@ struct __packed ems_cpc_msg {
 	} msg;
 };
 
-/*
- * Table of devices that work with this driver
+/* Table of devices that work with this driver
  * NOTE: This driver supports only CPC-USB/ARM7 (LPC2119) yet.
  */
 static struct usb_device_id ems_usb_table[] = {
@@ -302,7 +296,7 @@ static void ems_usb_rx_can_msg(struct ems_usb *dev, struct ems_cpc_msg *msg)
 	struct net_device_stats *stats = &dev->netdev->stats;
 
 	skb = alloc_can_skb(dev->netdev, &cf);
-	if (skb == NULL)
+	if (!skb)
 		return;
 
 	cf->can_id = le32_to_cpu(msg->msg.can_msg.id);
@@ -332,7 +326,7 @@ static void ems_usb_rx_err(struct ems_usb *dev, struct ems_cpc_msg *msg)
 	struct net_device_stats *stats = &dev->netdev->stats;
 
 	skb = alloc_can_err_skb(dev->netdev, &cf);
-	if (skb == NULL)
+	if (!skb)
 		return;
 
 	if (msg->type == CPC_MSG_TYPE_CAN_STATE) {
@@ -400,8 +394,7 @@ static void ems_usb_rx_err(struct ems_usb *dev, struct ems_cpc_msg *msg)
 	netif_rx(skb);
 }
 
-/*
- * callback for bulk IN urb
+/* Callback for bulk IN urb
  */
 static void ems_usb_read_bulk_callback(struct urb *urb)
 {
@@ -486,8 +479,7 @@ static void ems_usb_read_bulk_callback(struct urb *urb)
 			   "failed resubmitting read bulk urb: %d\n", retval);
 }
 
-/*
- * callback for bulk IN urb
+/* Callback for bulk IN urb
  */
 static void ems_usb_write_bulk_callback(struct urb *urb)
 {
@@ -495,15 +487,19 @@ static void ems_usb_write_bulk_callback(struct urb *urb)
 	struct ems_usb *dev;
 	struct net_device *netdev;
 
-	BUG_ON(!context);
-
-	dev = context->dev;
-	netdev = dev->netdev;
-
 	/* free up our allocated buffer */
 	usb_free_coherent(urb->dev, urb->transfer_buffer_length,
 			  urb->transfer_buffer, urb->transfer_dma);
 
+	if (!context) {
+		/* Should definitely not happen */
+		printk(KERN_ERR "%s with no context\n", __func__);
+		return;
+	}
+
+	dev = context->dev;
+	netdev = dev->netdev;
+
 	atomic_dec(&dev->active_tx_urbs);
 
 	if (!netif_device_present(netdev))
@@ -522,11 +518,9 @@ static void ems_usb_write_bulk_callback(struct urb *urb)
 
 	/* Release context */
 	context->echo_index = MAX_TX_URBS;
-
 }
 
-/*
- * Send the given CPC command synchronously
+/* Send the given CPC command synchronously
  */
 static int ems_usb_command_msg(struct ems_usb *dev, struct ems_cpc_msg *msg)
 {
@@ -545,8 +539,7 @@ static int ems_usb_command_msg(struct ems_usb *dev, struct ems_cpc_msg *msg)
 			    &actual_length, 1000);
 }
 
-/*
- * Change CAN controllers' mode register
+/* Change CAN controllers' mode register
  */
 static int ems_usb_write_mode(struct ems_usb *dev, u8 mode)
 {
@@ -555,8 +548,7 @@ static int ems_usb_write_mode(struct ems_usb *dev, u8 mode)
 	return ems_usb_command_msg(dev, &dev->active_params);
 }
 
-/*
- * Send a CPC_Control command to change behaviour when interface receives a CAN
+/* Send a CPC_Control command to change behaviour when interface receives a CAN
  * message, bus error or CAN state changed notifications.
  */
 static int ems_usb_control_cmd(struct ems_usb *dev, u8 val)
@@ -573,8 +565,7 @@ static int ems_usb_control_cmd(struct ems_usb *dev, u8 val)
 	return ems_usb_command_msg(dev, &cmd);
 }
 
-/*
- * Start interface
+/* Start interface
  */
 static int ems_usb_start(struct ems_usb *dev)
 {
@@ -718,7 +709,6 @@ static int ems_usb_open(struct net_device *netdev)
 		return err;
 	}
 
-
 	netif_start_queue(netdev);
 
 	return 0;
@@ -779,8 +769,7 @@ static netdev_tx_t ems_usb_start_xmit(struct sk_buff *skb, struct net_device *ne
 		}
 	}
 
-	/*
-	 * May never happen! When this happens we'd more URBs in flight as
+	/* May never happen! When this happens we'd more URBs in flight as
 	 * allowed (MAX_TX_URBS).
 	 */
 	if (!context) {
@@ -832,8 +821,7 @@ static netdev_tx_t ems_usb_start_xmit(struct sk_buff *skb, struct net_device *ne
 		}
 	}
 
-	/*
-	 * Release our reference to this URB, the USB core will eventually free
+	/* Release our reference to this URB, the USB core will eventually free
 	 * it entirely.
 	 */
 	usb_free_urb(urb);
@@ -954,8 +942,7 @@ static void init_params_sja1000(struct ems_cpc_msg *msg)
 	sja1000->mode = SJA1000_MOD_RM;
 }
 
-/*
- * probe function for new CPC-USB devices
+/* probe function for new CPC-USB devices
  */
 static int ems_usb_probe(struct usb_interface *intf,
 			 const struct usb_device_id *id)
@@ -1042,8 +1029,7 @@ static int ems_usb_probe(struct usb_interface *intf,
 	return err;
 }
 
-/*
- * called by the usb core when the device is removed from the system
+/* Called by the usb core when the device is removed from the system
  */
 static void ems_usb_disconnect(struct usb_interface *intf)
 {
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 02/16] can: ems_usb: Added CPC_ClearCmdQueue routine.

[Gerhard Uttenthaler]

If the command queue in the interface is flooded with messages which cannot
successfully be sent to the bus an initialization command would have to
wait to be executed.

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index e943cd07c5f7..a70bda631e4e 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -565,6 +565,21 @@ static int ems_usb_control_cmd(struct ems_usb *dev, u8 val)
 	return ems_usb_command_msg(dev, &cmd);
 }
 
+/* Send a CPC_ClearCmdQueue command
+ */
+static int ems_usb_clear_cmd_queue(struct ems_usb *dev)
+{
+	struct ems_cpc_msg cmd = {
+		.type = CPC_CMD_TYPE_CLEAR_CMD_QUEUE,
+		.length = CPC_MSG_HEADER_LEN,
+		.msgid = 0,
+		.ts_sec = 0,
+		.ts_nsec = 0
+	};
+
+	return ems_usb_command_msg(dev, &cmd);
+}
+
 /* Start interface
  */
 static int ems_usb_start(struct ems_usb *dev)
@@ -897,6 +912,7 @@ static int ems_usb_set_bittiming(struct net_device *netdev)
 	struct ems_usb *dev = netdev_priv(netdev);
 	struct can_bittiming *bt = &dev->can.bittiming;
 	u8 btr0, btr1;
+	int err;
 
 	btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6);
 	btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) |
@@ -904,6 +920,13 @@ static int ems_usb_set_bittiming(struct net_device *netdev)
 	if (dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
 		btr1 |= 0x80;
 
+	/* If the command queue in the device is full with incoming commands
+	 * a reinitialization would not be possible before the queue is cleared.
+	 */
+	err = ems_usb_clear_cmd_queue(dev);
+	if (err)
+		return err;
+
 	netdev_info(netdev, "setting BTR0=0x%02x BTR1=0x%02x\n", btr0, btr1);
 
 	dev->active_params.msg.can_params.cc_params.sja1000.btr0 = btr0;
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 03/16] can: ems_usb: Fixed non C99 style initialization

[Gerhard Uttenthaler]

A non C99 style struct initialization was fixed

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index a70bda631e4e..a9819287e6a7 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -553,12 +553,13 @@ static int ems_usb_write_mode(struct ems_usb *dev, u8 mode)
  */
 static int ems_usb_control_cmd(struct ems_usb *dev, u8 val)
 {
-	struct ems_cpc_msg cmd;
-
-	cmd.type = CPC_CMD_TYPE_CONTROL;
-	cmd.length = CPC_MSG_HEADER_LEN + 1;
-
-	cmd.msgid = 0;
+	struct ems_cpc_msg cmd = {
+		.type = CPC_CMD_TYPE_CONTROL,
+		.length = CPC_MSG_HEADER_LEN + 1,
+		.msgid = 0,
+		.ts_sec = 0,
+		.ts_nsec = 0
+	};
 
 	cmd.msg.generic[0] = val;
 
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 04/16] can: ems_usb: Added CAN FD message representation

[Gerhard Uttenthaler]

cpc_canfd_msg struct is added, needed flags are given and the size of 
ems_cpc_msg is adjusted

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 24 +++++++++++++++++++++++-
 1 file changed, 23 insertions(+), 1 deletion(-)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index a9819287e6a7..e75fdd457919 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -116,6 +116,27 @@ struct cpc_can_msg {
 	u8 msg[8];
 };
 
+/* CAN FD message representation in a CPC_MSG.
+ * Message object type is CPC_MSG_T_CANFD.
+ */
+struct __packed cpc_canfd_msg {
+	__le32 id;
+	u8  length;
+	u8  flags;
+	u8  msg[64];
+};
+
+/* This defines are used with the flags variable
+ * within the struct cpc_canfd_msg. A cpc_canfd_msg
+ * can also be used to send a classic CAN frame including
+ * RTR frames when CPC_FDFLAG_NONCANFD_MSG is set.
+ */
+#define CPC_FDFLAG_ESI          BIT(3)
+#define CPC_FDFLAG_RTR          BIT(4)
+#define CPC_FDFLAG_NONCANFD_MSG BIT(5)
+#define CPC_FDFLAG_BRS          BIT(6)
+#define CPC_FDFLAG_XTD          BIT(7)
+
 /* Representation of the CAN parameters for the SJA1000 controller */
 struct cpc_sja1000_params {
 	u8 mode;
@@ -190,8 +211,9 @@ struct __packed ems_cpc_msg {
 	__le32 ts_nsec;	/* timestamp in nano seconds */
 
 	union {
-		u8 generic[64];
+		u8 generic[70];
 		struct cpc_can_msg can_msg;
+		struct cpc_canfd_msg canfd_msg;
 		struct cpc_can_params can_params;
 		struct cpc_confirm confirmation;
 		struct cpc_overrun overrun;
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 05/16] can: ems_usb: Added CAN FD initialization struct

[Gerhard Uttenthaler]

cpc_generic_can_params is used to initialize the CPC-USB/FD in a CAN
controller independent way

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 30 +++++++++++++++++++++++++++++-
 1 file changed, 29 insertions(+), 1 deletion(-)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index e75fdd457919..cb7a002e8627 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -153,12 +153,40 @@ struct cpc_sja1000_params {
 	u8 outp_contr;
 };
 
+#define CPC_GENERICCONF_FD          BIT(0)
+#define CPC_GENERICCONF_FD_BOSCH    BIT(1)
+#define CPC_GENERICCONF_LISTEN_ONLY BIT(2)
+#define CPC_GENERICCONF_SINGLE_SHOT BIT(3)
+#define CPC_GENERICCONF_RESET_MODE  BIT(4)
+
+#define CPC_USB_RESET_MODE 0x00
+#define CPC_USB_RUN_MODE   0x01
+
+struct __packed cpc_generic_can_params {
+	__le32 config; /* config sets CAN initialization parameters like LOM */
+	__le32 can_clk;
+	struct {
+		__le16 tseg1;  /* Time segment 1 (before sample point) */
+		__le16 tseg2;  /* Time segment 2 (after sample point) */
+		__le16 brp;    /* Baud rate rate prescaler */
+		__le16 sjw;    /* (Re)synchronization jump width */
+	} nominal_bitrate;
+	struct {
+		__le16 tseg1;  /* Time segment 1 (before sample point) */
+		__le16 tseg2;  /* Time segment 2 (after sample point) */
+		__le16 brp;    /* Baud rate prescaler */
+		__le16 sjw;    /* (Re)synchronization jump width */
+	} data_bitrate;
+	__le32 reserved[5];    /* Set to 0. Reserved for future use */
+};
+
 /* CAN params message representation */
-struct cpc_can_params {
+struct __packed cpc_can_params {
 	u8 cc_type;
 
 	union {
 		struct cpc_sja1000_params sja1000;
+		struct cpc_generic_can_params generic;
 	} cc_params;
 };
 
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 06/16] can: ems_usb: Made RX_BUFFER_SIZE, ems_usb_write_mode and ems_usb_probe device dependent

[Gerhard Uttenthaler]

RX_BUFFER_SIZE, ems_usb_write_mode and the device probe function in the
present version of the driver are fixed for CPC-USB/ARM7. This is made
device depended with this patch

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 69 ++++++++++++++++++++++++-----------
 1 file changed, 48 insertions(+), 21 deletions(-)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index cb7a002e8627..3eb3698d5ae6 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -261,9 +261,9 @@ static struct usb_device_id ems_usb_table[] = {
 
 MODULE_DEVICE_TABLE(usb, ems_usb_table);
 
-#define RX_BUFFER_SIZE      64
 #define CPC_HEADER_SIZE     4
 #define INTR_IN_BUFFER_SIZE 4
+#define CPC_USB_ARM7_RX_BUFFER_SIZE 64
 
 #define MAX_RX_URBS 10
 #define MAX_TX_URBS 10
@@ -285,6 +285,8 @@ struct ems_usb {
 	struct usb_device *udev;
 	struct net_device *netdev;
 
+	u32 bulk_rd_buf_size;
+
 	atomic_t active_tx_urbs;
 	struct usb_anchor tx_submitted;
 	struct ems_tx_urb_context tx_contexts[MAX_TX_URBS];
@@ -298,6 +300,8 @@ struct ems_usb {
 	u8 *intr_in_buffer;
 	unsigned int free_slots; /* remember number of available slots */
 
+	int (*ems_usb_write_mode)(struct ems_usb *dev, u32 mode);
+
 	struct ems_cpc_msg active_params; /* active controller parameters */
 };
 
@@ -517,7 +521,7 @@ static void ems_usb_read_bulk_callback(struct urb *urb)
 
 resubmit_urb:
 	usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 2),
-			  urb->transfer_buffer, RX_BUFFER_SIZE,
+			  urb->transfer_buffer, dev->bulk_rd_buf_size,
 			  ems_usb_read_bulk_callback, dev);
 
 	retval = usb_submit_urb(urb, GFP_ATOMIC);
@@ -591,9 +595,18 @@ static int ems_usb_command_msg(struct ems_usb *dev, struct ems_cpc_msg *msg)
 
 /* Change CAN controllers' mode register
  */
-static int ems_usb_write_mode(struct ems_usb *dev, u8 mode)
+static int ems_usb_write_mode_arm7(struct ems_usb *dev, u32 mode)
 {
-	dev->active_params.msg.can_params.cc_params.sja1000.mode = mode;
+	struct cpc_sja1000_params *sja1000 =
+		&dev->active_params.msg.can_params.cc_params.sja1000;
+
+	if (mode == CPC_USB_RESET_MODE)
+		sja1000->mode |= SJA1000_MOD_RM;
+	else if (mode == CPC_USB_RUN_MODE)
+		sja1000->mode &= ~SJA1000_MOD_RM;
+
+	else
+		return -EINVAL;
 
 	return ems_usb_command_msg(dev, &dev->active_params);
 }
@@ -652,7 +665,7 @@ static int ems_usb_start(struct ems_usb *dev)
 			break;
 		}
 
-		buf = usb_alloc_coherent(dev->udev, RX_BUFFER_SIZE, GFP_KERNEL,
+		buf = usb_alloc_coherent(dev->udev, dev->bulk_rd_buf_size, GFP_KERNEL,
 					 &urb->transfer_dma);
 		if (!buf) {
 			netdev_err(netdev, "No memory left for USB buffer\n");
@@ -662,7 +675,7 @@ static int ems_usb_start(struct ems_usb *dev)
 		}
 
 		usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 2),
-				  buf, RX_BUFFER_SIZE,
+				  buf, dev->bulk_rd_buf_size,
 				  ems_usb_read_bulk_callback, dev);
 		urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
 		usb_anchor_urb(urb, &dev->rx_submitted);
@@ -670,7 +683,7 @@ static int ems_usb_start(struct ems_usb *dev)
 		err = usb_submit_urb(urb, GFP_KERNEL);
 		if (err) {
 			usb_unanchor_urb(urb);
-			usb_free_coherent(dev->udev, RX_BUFFER_SIZE, buf,
+			usb_free_coherent(dev->udev, dev->bulk_rd_buf_size, buf,
 					  urb->transfer_dma);
 			usb_free_urb(urb);
 			break;
@@ -719,7 +732,7 @@ static int ems_usb_start(struct ems_usb *dev)
 	if (err)
 		goto failed;
 
-	err = ems_usb_write_mode(dev, SJA1000_MOD_NORMAL);
+	err = dev->can.do_set_mode(netdev, CAN_MODE_START);
 	if (err)
 		goto failed;
 
@@ -753,7 +766,7 @@ static int ems_usb_open(struct net_device *netdev)
 	struct ems_usb *dev = netdev_priv(netdev);
 	int err;
 
-	err = ems_usb_write_mode(dev, SJA1000_MOD_RM);
+	err = dev->ems_usb_write_mode(dev, CPC_USB_RESET_MODE);
 	if (err)
 		return err;
 
@@ -801,7 +814,10 @@ static netdev_tx_t ems_usb_start_xmit(struct sk_buff *skb, struct net_device *ne
 	if (!urb)
 		goto nomem;
 
-	buf = usb_alloc_coherent(dev->udev, size, GFP_ATOMIC, &urb->transfer_dma);
+	buf = usb_alloc_coherent(dev->udev,
+				 size,
+				 GFP_ATOMIC,
+				 &urb->transfer_dma);
 	if (!buf) {
 		netdev_err(netdev, "No memory left for USB buffer\n");
 		usb_free_urb(urb);
@@ -911,7 +927,7 @@ static int ems_usb_close(struct net_device *netdev)
 	netif_stop_queue(netdev);
 
 	/* Set CAN controller to reset mode */
-	if (ems_usb_write_mode(dev, SJA1000_MOD_RM))
+	if (dev->ems_usb_write_mode(dev, CPC_USB_RESET_MODE))
 		netdev_warn(netdev, "couldn't stop device");
 
 	close_candev(netdev);
@@ -926,7 +942,7 @@ static const struct net_device_ops ems_usb_netdev_ops = {
 	.ndo_change_mtu = can_change_mtu,
 };
 
-static const struct can_bittiming_const ems_usb_bittiming_const = {
+static const struct can_bittiming_const ems_usb_bittiming_const_arm7 = {
 	.name = "ems_usb",
 	.tseg1_min = 1,
 	.tseg1_max = 16,
@@ -944,7 +960,7 @@ static int ems_usb_set_mode(struct net_device *netdev, enum can_mode mode)
 
 	switch (mode) {
 	case CAN_MODE_START:
-		if (ems_usb_write_mode(dev, SJA1000_MOD_NORMAL))
+		if (dev->ems_usb_write_mode(dev, CPC_USB_RUN_MODE))
 			netdev_warn(netdev, "couldn't start device");
 
 		if (netif_queue_stopped(netdev))
@@ -958,7 +974,7 @@ static int ems_usb_set_mode(struct net_device *netdev, enum can_mode mode)
 	return 0;
 }
 
-static int ems_usb_set_bittiming(struct net_device *netdev)
+static int ems_usb_set_bittiming_arm7(struct net_device *netdev)
 {
 	struct ems_usb *dev = netdev_priv(netdev);
 	struct can_bittiming *bt = &dev->can.bittiming;
@@ -1037,11 +1053,24 @@ static int ems_usb_probe(struct usb_interface *intf,
 	dev->netdev = netdev;
 
 	dev->can.state = CAN_STATE_STOPPED;
-	dev->can.clock.freq = EMS_USB_ARM7_CLOCK;
-	dev->can.bittiming_const = &ems_usb_bittiming_const;
-	dev->can.do_set_bittiming = ems_usb_set_bittiming;
-	dev->can.do_set_mode = ems_usb_set_mode;
-	dev->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES;
+
+	/* Select CPC-USB/ARM7 or CPC-USB/FD */
+	switch (le16_to_cpu(dev->udev->descriptor.idProduct)) {
+	case USB_CPCUSB_ARM7_PRODUCT_ID:
+		dev->can.clock.freq = EMS_USB_ARM7_CLOCK;
+		dev->can.bittiming_const = &ems_usb_bittiming_const_arm7;
+		dev->can.do_set_bittiming = ems_usb_set_bittiming_arm7;
+		dev->can.do_set_mode = ems_usb_set_mode;
+		dev->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES;
+		init_params_sja1000(&dev->active_params);
+		dev->ems_usb_write_mode = ems_usb_write_mode_arm7;
+		dev->bulk_rd_buf_size = CPC_USB_ARM7_RX_BUFFER_SIZE;
+	break;
+
+	default:
+		err = -ENODEV;
+		goto cleanup_candev;
+	}
 
 	netdev->netdev_ops = &ems_usb_netdev_ops;
 
@@ -1072,8 +1101,6 @@ static int ems_usb_probe(struct usb_interface *intf,
 
 	SET_NETDEV_DEV(netdev, &intf->dev);
 
-	init_params_sja1000(&dev->active_params);
-
 	err = ems_usb_command_msg(dev, &dev->active_params);
 	if (err) {
 		netdev_err(netdev, "couldn't initialize controller: %d\n", err);
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 07/16] can: ems_usb: Added listen only mode for CPC-USB/ARM7

[Gerhard Uttenthaler]

Added support for listen only mode for CPC-USB/ARM7

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 35 ++++++++++++++++++++++-------------
 1 file changed, 22 insertions(+), 13 deletions(-)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index 3eb3698d5ae6..0e8d1b75ef8d 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -81,6 +81,7 @@ MODULE_LICENSE("GPL v2");
 /* Mode register NXP LPC2119/SJA1000 CAN Controller */
 #define SJA1000_MOD_NORMAL 0x00
 #define SJA1000_MOD_RM     0x01
+#define SJA1000_MOD_LOM    0x02
 
 /* ECC register NXP LPC2119/SJA1000 CAN Controller */
 #define SJA1000_ECC_SEG   0x1F
@@ -600,13 +601,23 @@ static int ems_usb_write_mode_arm7(struct ems_usb *dev, u32 mode)
 	struct cpc_sja1000_params *sja1000 =
 		&dev->active_params.msg.can_params.cc_params.sja1000;
 
-	if (mode == CPC_USB_RESET_MODE)
+	if (mode == CPC_USB_RESET_MODE) {
 		sja1000->mode |= SJA1000_MOD_RM;
-	else if (mode == CPC_USB_RUN_MODE)
+	} else if (mode == CPC_USB_RUN_MODE) {
 		sja1000->mode &= ~SJA1000_MOD_RM;
 
-	else
+		if (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
+			sja1000->mode |= SJA1000_MOD_LOM;
+		else
+			sja1000->mode &= ~SJA1000_MOD_LOM;
+
+		if (dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
+			sja1000->btr1 |= 0x80;
+		else
+			sja1000->btr1 &= ~0x80;
+	} else {
 		return -EINVAL;
+	}
 
 	return ems_usb_command_msg(dev, &dev->active_params);
 }
@@ -978,14 +989,13 @@ static int ems_usb_set_bittiming_arm7(struct net_device *netdev)
 {
 	struct ems_usb *dev = netdev_priv(netdev);
 	struct can_bittiming *bt = &dev->can.bittiming;
-	u8 btr0, btr1;
+	struct cpc_sja1000_params *sja1000 =
+		&dev->active_params.msg.can_params.cc_params.sja1000;
 	int err;
 
-	btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6);
-	btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) |
+	sja1000->btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6);
+	sja1000->btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) |
 		(((bt->phase_seg2 - 1) & 0x7) << 4);
-	if (dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
-		btr1 |= 0x80;
 
 	/* If the command queue in the device is full with incoming commands
 	 * a reinitialization would not be possible before the queue is cleared.
@@ -994,10 +1004,8 @@ static int ems_usb_set_bittiming_arm7(struct net_device *netdev)
 	if (err)
 		return err;
 
-	netdev_info(netdev, "setting BTR0=0x%02x BTR1=0x%02x\n", btr0, btr1);
-
-	dev->active_params.msg.can_params.cc_params.sja1000.btr0 = btr0;
-	dev->active_params.msg.can_params.cc_params.sja1000.btr1 = btr1;
+	netdev_info(netdev, "Setting BTR0=0x%02x BTR1=0x%02x\n", sja1000->btr0,
+		    sja1000->btr1);
 
 	return ems_usb_command_msg(dev, &dev->active_params);
 }
@@ -1061,7 +1069,8 @@ static int ems_usb_probe(struct usb_interface *intf,
 		dev->can.bittiming_const = &ems_usb_bittiming_const_arm7;
 		dev->can.do_set_bittiming = ems_usb_set_bittiming_arm7;
 		dev->can.do_set_mode = ems_usb_set_mode;
-		dev->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES;
+		dev->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+					      CAN_CTRLMODE_LISTENONLY;
 		init_params_sja1000(&dev->active_params);
 		dev->ems_usb_write_mode = ems_usb_write_mode_arm7;
 		dev->bulk_rd_buf_size = CPC_USB_ARM7_RX_BUFFER_SIZE;
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 08/16] can: ems_usb: Modified ems_usb_read_bulk_callback to handle also CPC-USB/FD

[Gerhard Uttenthaler]

The ems_usb_read_bulk_callback of the drivers present version uses a
byte in the beginning of the received bulk buffer to check how many 
messages come from the interface. This is not possible with CPC-USB/FD
and hence changed in a way to satisfy both types of interface.

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 91 +++++++++++++++++++----------------
 1 file changed, 50 insertions(+), 41 deletions(-)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index 0e8d1b75ef8d..41f9fb126e0a 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -456,6 +456,7 @@ static void ems_usb_read_bulk_callback(struct urb *urb)
 	struct ems_usb *dev = urb->context;
 	struct net_device *netdev;
 	int retval;
+	u32 length, start;
 
 	netdev = dev->netdev;
 
@@ -474,50 +475,58 @@ static void ems_usb_read_bulk_callback(struct urb *urb)
 		goto resubmit_urb;
 	}
 
-	if (urb->actual_length > CPC_HEADER_SIZE) {
+	length = urb->actual_length;
+	start = CPC_HEADER_SIZE;
+
+	while (length >= CPC_MSG_HEADER_LEN) {
 		struct ems_cpc_msg *msg;
 		u8 *ibuf = urb->transfer_buffer;
-		u8 msg_count, start;
-
-		msg_count = ibuf[0] & ~0x80;
-
-		start = CPC_HEADER_SIZE;
-
-		while (msg_count) {
-			msg = (struct ems_cpc_msg *)&ibuf[start];
-
-			switch (msg->type) {
-			case CPC_MSG_TYPE_CAN_STATE:
-				/* Process CAN state changes */
-				ems_usb_rx_err(dev, msg);
-				break;
-
-			case CPC_MSG_TYPE_CAN_FRAME:
-			case CPC_MSG_TYPE_EXT_CAN_FRAME:
-			case CPC_MSG_TYPE_RTR_FRAME:
-			case CPC_MSG_TYPE_EXT_RTR_FRAME:
-				ems_usb_rx_can_msg(dev, msg);
-				break;
-
-			case CPC_MSG_TYPE_CAN_FRAME_ERROR:
-				/* Process errorframe */
-				ems_usb_rx_err(dev, msg);
-				break;
-
-			case CPC_MSG_TYPE_OVERRUN:
-				/* Message lost while receiving */
-				ems_usb_rx_err(dev, msg);
-				break;
-			}
-
-			start += CPC_MSG_HEADER_LEN + msg->length;
-			msg_count--;
-
-			if (start > urb->transfer_buffer_length) {
-				netdev_err(netdev, "format error\n");
-				break;
-			}
+		u32 read_count;
+
+		msg = (struct ems_cpc_msg *)&ibuf[start];
+
+		/* We should leave if length is smaller than
+		 * length indicated by payload
+		 */
+		if (length < CPC_MSG_HEADER_LEN + msg->length) {
+			netdev_err(netdev, "format error\n");
+			break;
+		}
+
+		switch (msg->type) {
+		case CPC_MSG_TYPE_CAN_STATE:
+			/* Process CAN state changes */
+			ems_usb_rx_err(dev, msg);
+			break;
+
+		case CPC_MSG_TYPE_CAN_FRAME:
+		case CPC_MSG_TYPE_EXT_CAN_FRAME:
+		case CPC_MSG_TYPE_RTR_FRAME:
+		case CPC_MSG_TYPE_EXT_RTR_FRAME:
+			ems_usb_rx_can_msg(dev, msg);
+			break;
+
+		case CPC_MSG_TYPE_CAN_FRAME_ERROR:
+			/* Process errorframe */
+			ems_usb_rx_err(dev, msg);
+			break;
+
+		case CPC_MSG_TYPE_OVERRUN:
+			/* Message lost while receiving */
+			ems_usb_rx_err(dev, msg);
+			break;
 		}
+
+		read_count = CPC_MSG_HEADER_LEN + msg->length;
+		start += read_count;
+
+		if (start > urb->transfer_buffer_length) {
+			netdev_err(netdev, "format error\n");
+			break;
+		}
+
+		if (read_count <= length)
+			length -= read_count;
 	}
 
 resubmit_urb:
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 09/16] can: ems_usb: Added CAN controller initialization for CAN FD

[Gerhard Uttenthaler]

This patch added initialization code for CPC-USB/FD 

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 136 ++++++++++++++++++++++++++++++++++
 1 file changed, 136 insertions(+)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index 41f9fb126e0a..96012052a375 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -56,6 +56,7 @@ MODULE_LICENSE("GPL v2");
 #define CPC_CMD_TYPE_CLEAR_CMD_QUEUE 28 /* clear CPC_CMD queue */
 
 #define CPC_CC_TYPE_SJA1000 2 /* NXP CAN controller */
+#define CPC_CC_TYPE_GENERIC 6 /* GENERIC CAN controller */
 
 #define CPC_CAN_ECODE_ERRFRAME 0x01 /* Ecode type */
 
@@ -77,6 +78,7 @@ MODULE_LICENSE("GPL v2");
 #define USB_CPCUSB_VENDOR_ID 0x12D6
 
 #define USB_CPCUSB_ARM7_PRODUCT_ID 0x0444
+#define USB_CPCUSB_FD_PRODUCT_ID   0x0544
 
 /* Mode register NXP LPC2119/SJA1000 CAN Controller */
 #define SJA1000_MOD_NORMAL 0x00
@@ -104,6 +106,17 @@ MODULE_LICENSE("GPL v2");
  */
 #define EMS_USB_ARM7_CLOCK 8000000
 
+/* CPC-USB/FD supports the following CAN clocks
+ */
+#define EMS_USB_FD_8MHZ   8000000
+#define EMS_USB_FD_16MHZ 16000000
+#define EMS_USB_FD_20MHZ 20000000
+#define EMS_USB_FD_24MHZ 24000000
+#define EMS_USB_FD_32MHZ 32000000
+#define EMS_USB_FD_40MHZ 40000000
+#define EMS_USB_FD_80MHZ 80000000
+#define EMS_USB_FD_CLOCK EMS_USB_FD_40MHZ
+
 #define CPC_TX_QUEUE_TRIGGER_LOW	25
 #define CPC_TX_QUEUE_TRIGGER_HIGH	35
 
@@ -265,6 +278,7 @@ MODULE_DEVICE_TABLE(usb, ems_usb_table);
 #define CPC_HEADER_SIZE     4
 #define INTR_IN_BUFFER_SIZE 4
 #define CPC_USB_ARM7_RX_BUFFER_SIZE 64
+#define CPC_USB_FD_RX_BUFFER_SIZE 512
 
 #define MAX_RX_URBS 10
 #define MAX_TX_URBS 10
@@ -974,6 +988,30 @@ static const struct can_bittiming_const ems_usb_bittiming_const_arm7 = {
 	.brp_inc = 1,
 };
 
+static const struct can_bittiming_const ems_usb_bittiming_const_generic = {
+	.name = "ems_usb_fd",
+	.tseg1_min = 1,
+	.tseg1_max = 256,
+	.tseg2_min = 1,
+	.tseg2_max = 128,
+	.sjw_max = 128,
+	.brp_min = 1,
+	.brp_max = 512,
+	.brp_inc = 1,
+};
+
+static const struct can_bittiming_const ems_usb_bittiming_const_generic_data = {
+	.name = "ems_usb_fd",
+	.tseg1_min = 1,
+	.tseg1_max = 16,
+	.tseg2_min = 1,
+	.tseg2_max = 16,
+	.sjw_max = 16,
+	.brp_min = 1,
+	.brp_max = 32,
+	.brp_inc = 1,
+};
+
 static int ems_usb_set_mode(struct net_device *netdev, enum can_mode mode)
 {
 	struct ems_usb *dev = netdev_priv(netdev);
@@ -1019,6 +1057,69 @@ static int ems_usb_set_bittiming_arm7(struct net_device *netdev)
 	return ems_usb_command_msg(dev, &dev->active_params);
 }
 
+static int ems_usb_set_bittiming_generic(struct net_device *netdev)
+{
+	struct ems_usb *dev = netdev_priv(netdev);
+	struct can_bittiming *bt = &dev->can.bittiming;
+	struct cpc_generic_can_params *gcp =
+		&dev->active_params.msg.can_params.cc_params.generic;
+	int err;
+
+	gcp->config = 0;
+	gcp->can_clk = cpu_to_le32(dev->can.clock.freq);
+
+	gcp->nominal_bitrate.tseg1 = cpu_to_le16(bt->prop_seg + bt->phase_seg1);
+	gcp->nominal_bitrate.tseg2 = cpu_to_le16(bt->phase_seg2);
+	gcp->nominal_bitrate.brp = cpu_to_le16(bt->brp);
+	gcp->nominal_bitrate.sjw = cpu_to_le16(bt->sjw);
+
+	err = ems_usb_clear_cmd_queue(dev);
+	if (err)
+		return err;
+
+	netdev_dbg(netdev, "Set nominal bitrate: CAN Clock: %uMHz, Tseg1: %u, Tseg2: %u, BRP: %u, SJW: %u\n",
+		   le32_to_cpu(gcp->can_clk) / 1000000,
+		   gcp->nominal_bitrate.tseg1,
+		   gcp->nominal_bitrate.tseg2,
+		   gcp->nominal_bitrate.brp,
+		   gcp->nominal_bitrate.sjw);
+
+	return ems_usb_command_msg(dev, &dev->active_params);
+}
+
+static int ems_usb_set_bittiming_generic_data(struct net_device *netdev)
+{
+	struct ems_usb *dev = netdev_priv(netdev);
+	struct can_bittiming *bt = &dev->can.data_bittiming;
+	struct cpc_generic_can_params *gcp =
+		&dev->active_params.msg.can_params.cc_params.generic;
+	int err;
+
+	if (!(dev->can.ctrlmode & CAN_CTRLMODE_FD))
+		return 0;
+	gcp->config |= cpu_to_le32(CPC_GENERICCONF_FD);
+
+	if (dev->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)
+		gcp->config |= cpu_to_le32(CPC_GENERICCONF_FD_BOSCH);
+
+	gcp->data_bitrate.tseg1 = cpu_to_le16(bt->prop_seg + bt->phase_seg1);
+	gcp->data_bitrate.tseg2 = cpu_to_le16(bt->phase_seg2);
+	gcp->data_bitrate.brp = cpu_to_le16(bt->brp);
+	gcp->data_bitrate.sjw = cpu_to_le16(bt->sjw);
+
+	err = ems_usb_clear_cmd_queue(dev);
+	if (err)
+		return err;
+
+	netdev_dbg(netdev, "Set data bitrate: Tseg1: %u, Tseg2: %u, BRP: %u, SJW: %u\n",
+		   gcp->data_bitrate.tseg1,
+		   gcp->data_bitrate.tseg2,
+		   gcp->data_bitrate.brp,
+		   gcp->data_bitrate.sjw);
+
+	return ems_usb_command_msg(dev, &dev->active_params);
+}
+
 static void init_params_sja1000(struct ems_cpc_msg *msg)
 {
 	struct cpc_sja1000_params *sja1000 =
@@ -1027,6 +1128,8 @@ static void init_params_sja1000(struct ems_cpc_msg *msg)
 	msg->type = CPC_CMD_TYPE_CAN_PARAMS;
 	msg->length = sizeof(struct cpc_can_params);
 	msg->msgid = 0;
+	msg->ts_sec = 0;
+	msg->ts_nsec = 0;
 
 	msg->msg.can_params.cc_type = CPC_CC_TYPE_SJA1000;
 
@@ -1049,6 +1152,24 @@ static void init_params_sja1000(struct ems_cpc_msg *msg)
 	sja1000->mode = SJA1000_MOD_RM;
 }
 
+static void init_params_generic(struct ems_cpc_msg *msg)
+{
+	struct cpc_generic_can_params *gcp =
+		&msg->msg.can_params.cc_params.generic;
+
+	msg->type = CPC_CMD_TYPE_CAN_PARAMS;
+	msg->length = sizeof(struct cpc_can_params);
+	msg->msgid = 0;
+	msg->ts_sec = 0;
+	msg->ts_nsec = 0;
+
+	memset((u8 *)gcp, 0, sizeof(struct cpc_generic_can_params));
+	msg->msg.can_params.cc_type = CPC_CC_TYPE_GENERIC;
+
+	gcp->config = cpu_to_le32(CPC_GENERICCONF_RESET_MODE);
+	gcp->can_clk = cpu_to_le32(EMS_USB_FD_CLOCK);
+}
+
 /* probe function for new CPC-USB devices
  */
 static int ems_usb_probe(struct usb_interface *intf,
@@ -1085,6 +1206,21 @@ static int ems_usb_probe(struct usb_interface *intf,
 		dev->bulk_rd_buf_size = CPC_USB_ARM7_RX_BUFFER_SIZE;
 	break;
 
+	case USB_CPCUSB_FD_PRODUCT_ID:
+		dev->can.clock.freq = EMS_USB_FD_CLOCK;
+		dev->can.bittiming_const = &ems_usb_bittiming_const_generic;
+		dev->can.data_bittiming_const = &ems_usb_bittiming_const_generic_data;
+		dev->can.do_set_bittiming = ems_usb_set_bittiming_generic;
+		dev->can.do_set_data_bittiming = ems_usb_set_bittiming_generic_data;
+		dev->can.ctrlmode_supported = CAN_CTRLMODE_LISTENONLY |
+					      CAN_CTRLMODE_ONE_SHOT |
+					      CAN_CTRLMODE_BERR_REPORTING |
+					      CAN_CTRLMODE_FD |
+					      CAN_CTRLMODE_FD_NON_ISO;
+		init_params_generic(&dev->active_params);
+		dev->bulk_rd_buf_size = CPC_USB_FD_RX_BUFFER_SIZE;
+	break;
+
 	default:
 		err = -ENODEV;
 		goto cleanup_candev;
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 10/16] can: ems_usb: Added receive routine for CAN FD messages

[Gerhard Uttenthaler]

Added ems_usb_rx_canfd_msg routine for CAN FD frame reception

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 44 +++++++++++++++++++++++++++++++++++
 1 file changed, 44 insertions(+)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index 96012052a375..8ada663350fa 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -40,6 +40,7 @@ MODULE_LICENSE("GPL v2");
 #define CPC_MSG_TYPE_OVERRUN         21 /* overrun events */
 #define CPC_MSG_TYPE_CAN_FRAME_ERROR 23 /* detected bus errors */
 #define CPC_MSG_TYPE_ERR_COUNTER     25 /* RX/TX error counter */
+#define CPC_MSG_TYPE_CANFD_FRAME     26 /* CAN FD frame */
 
 /* Messages from the PC to the CPC interface  */
 #define CPC_CMD_TYPE_CAN_FRAME     1   /* CAN data frame */
@@ -388,6 +389,45 @@ static void ems_usb_rx_can_msg(struct ems_usb *dev, struct ems_cpc_msg *msg)
 	netif_rx(skb);
 }
 
+static void ems_usb_rx_canfd_msg(struct ems_usb *dev, struct ems_cpc_msg *msg)
+{
+	struct cpc_canfd_msg *fd_msg = &msg->msg.canfd_msg;
+
+	/* Although the CPC_FDFLAG_NONCANFD_MSG flag
+	 * should not be set with a received message,
+	 * it seems better to have checked it anyway.
+	 */
+	if (!(fd_msg->flags & CPC_FDFLAG_NONCANFD_MSG)) {
+		/* CAN FD frame */
+		struct canfd_frame *cfd;
+		struct sk_buff *skb;
+		struct net_device_stats *stats = &dev->netdev->stats;
+
+		skb = alloc_canfd_skb(dev->netdev, &cfd);
+		if (!skb)
+			return;
+
+		cfd->can_id = le32_to_cpu(fd_msg->id);
+		cfd->len = fd_msg->length;
+
+		memcpy(cfd->data, fd_msg->msg, cfd->len);
+
+		cfd->flags = 0;
+		if (fd_msg->flags & CPC_FDFLAG_BRS)
+			cfd->flags |= CANFD_BRS;
+
+		if (fd_msg->flags & CPC_FDFLAG_ESI)
+			cfd->flags |= CANFD_ESI;
+
+		if (fd_msg->flags & CPC_FDFLAG_XTD)
+			cfd->can_id |= CAN_EFF_FLAG;
+
+		stats->rx_packets++;
+		stats->rx_bytes += cfd->len;
+		netif_rx(skb);
+	}
+}
+
 static void ems_usb_rx_err(struct ems_usb *dev, struct ems_cpc_msg *msg)
 {
 	struct can_frame *cf;
@@ -520,6 +560,10 @@ static void ems_usb_read_bulk_callback(struct urb *urb)
 			ems_usb_rx_can_msg(dev, msg);
 			break;
 
+		case CPC_MSG_TYPE_CANFD_FRAME:
+			ems_usb_rx_canfd_msg(dev, msg);
+			break;
+
 		case CPC_MSG_TYPE_CAN_FRAME_ERROR:
 			/* Process errorframe */
 			ems_usb_rx_err(dev, msg);
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 11/16] can: ems_usb: Added ems_usb_write_mode_fd

[Gerhard Uttenthaler]

This patch enables the supported CAN controller modes for CPC-USB/FD

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index 8ada663350fa..6d8f733c6c7f 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -689,6 +689,32 @@ static int ems_usb_write_mode_arm7(struct ems_usb *dev, u32 mode)
 	return ems_usb_command_msg(dev, &dev->active_params);
 }
 
+static int ems_usb_write_mode_fd(struct ems_usb *dev, u32 mode)
+{
+	struct cpc_generic_can_params *gcp =
+		&dev->active_params.msg.can_params.cc_params.generic;
+
+	if (mode == CPC_USB_RESET_MODE) {
+		gcp->config |= cpu_to_le32(CPC_GENERICCONF_RESET_MODE);
+	} else if (mode == CPC_USB_RUN_MODE) {
+		gcp->config &= cpu_to_le32(~CPC_GENERICCONF_RESET_MODE);
+
+		if (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
+			gcp->config |= cpu_to_le32(CPC_GENERICCONF_LISTEN_ONLY);
+		else
+			gcp->config &= cpu_to_le32(~CPC_GENERICCONF_LISTEN_ONLY);
+
+		if (dev->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT)
+			gcp->config |= cpu_to_le32(CPC_GENERICCONF_SINGLE_SHOT);
+		else
+			gcp->config &= cpu_to_le32(~CPC_GENERICCONF_SINGLE_SHOT);
+	} else {
+		return -EINVAL;
+	}
+
+	return ems_usb_command_msg(dev, &dev->active_params);
+}
+
 /* Send a CPC_Control command to change behaviour when interface receives a CAN
  * message, bus error or CAN state changed notifications.
  */
@@ -1256,12 +1282,14 @@ static int ems_usb_probe(struct usb_interface *intf,
 		dev->can.data_bittiming_const = &ems_usb_bittiming_const_generic_data;
 		dev->can.do_set_bittiming = ems_usb_set_bittiming_generic;
 		dev->can.do_set_data_bittiming = ems_usb_set_bittiming_generic_data;
+		dev->can.do_set_mode = ems_usb_set_mode;
 		dev->can.ctrlmode_supported = CAN_CTRLMODE_LISTENONLY |
 					      CAN_CTRLMODE_ONE_SHOT |
 					      CAN_CTRLMODE_BERR_REPORTING |
 					      CAN_CTRLMODE_FD |
 					      CAN_CTRLMODE_FD_NON_ISO;
 		init_params_generic(&dev->active_params);
+		dev->ems_usb_write_mode = ems_usb_write_mode_fd;
 		dev->bulk_rd_buf_size = CPC_USB_FD_RX_BUFFER_SIZE;
 	break;
 
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 12/16] can: ems_usb: Fixed ems_usb_start_xmit for CAN FD

[Gerhard Uttenthaler]

Added code to let ems_usb_start_xmit handle CAN FD messages

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 143 ++++++++++++++++++++++++++--------
 1 file changed, 109 insertions(+), 34 deletions(-)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index 6d8f733c6c7f..76d25ab5804b 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -50,6 +50,7 @@ MODULE_LICENSE("GPL v2");
 #define CPC_CMD_TYPE_CAN_STATE     14  /* CAN state message */
 #define CPC_CMD_TYPE_EXT_CAN_FRAME 15  /* Extended CAN data frame */
 #define CPC_CMD_TYPE_EXT_RTR_FRAME 16  /* Extended CAN remote frame */
+#define CPC_CMD_TYPE_CANFD_FRAME   26  /* CAN FD frame */
 #define CPC_CMD_TYPE_CAN_EXIT      200 /* exit the CAN */
 
 #define CPC_CMD_TYPE_INQ_ERR_COUNTER 25 /* request the CAN error counters */
@@ -74,6 +75,7 @@ MODULE_LICENSE("GPL v2");
 /* Size of the "struct ems_cpc_msg" without the union */
 #define CPC_MSG_HEADER_LEN   11
 #define CPC_CAN_MSG_MIN_SIZE 5
+#define CPC_CANFD_MSG_MIN_SIZE 6
 
 /* Define these values to match your devices */
 #define USB_CPCUSB_VENDOR_ID 0x12D6
@@ -902,50 +904,123 @@ static netdev_tx_t ems_usb_start_xmit(struct sk_buff *skb, struct net_device *ne
 	struct ems_usb *dev = netdev_priv(netdev);
 	struct ems_tx_urb_context *context = NULL;
 	struct net_device_stats *stats = &netdev->stats;
-	struct can_frame *cf = (struct can_frame *)skb->data;
 	struct ems_cpc_msg *msg;
 	struct urb *urb;
-	u8 *buf;
+
 	int i, err;
-	size_t size = CPC_HEADER_SIZE + CPC_MSG_HEADER_LEN
-			+ sizeof(struct cpc_can_msg);
+	u8 dlc;
+
+	u8 *buf;
+	size_t buf_size;
+	size_t buf_len = CPC_HEADER_SIZE + CPC_MSG_HEADER_LEN;
 
 	if (can_dropped_invalid_skb(netdev, skb))
 		return NETDEV_TX_OK;
 
-	/* create a URB, and a buffer for it, and copy the data to the URB */
-	urb = usb_alloc_urb(0, GFP_ATOMIC);
-	if (!urb)
-		goto nomem;
-
-	buf = usb_alloc_coherent(dev->udev,
-				 size,
-				 GFP_ATOMIC,
-				 &urb->transfer_dma);
-	if (!buf) {
-		netdev_err(netdev, "No memory left for USB buffer\n");
-		usb_free_urb(urb);
-		goto nomem;
-	}
+	if (can_is_canfd_skb(skb)) {
+		struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
+		struct cpc_canfd_msg *fd_msg;
+
+		buf_size = CPC_HEADER_SIZE +
+			   CPC_MSG_HEADER_LEN +
+			   sizeof(struct cpc_canfd_msg);
+
+		/* Create an URB and a buffer big enough for
+		 * all message lengths, copy the data to the URB
+		 */
+		urb = usb_alloc_urb(0, GFP_ATOMIC);
+		if (!urb)
+			goto nomem;
+
+		buf = usb_alloc_coherent(dev->udev,
+					 buf_size,
+					 GFP_ATOMIC,
+					 &urb->transfer_dma);
+		if (!buf) {
+			netdev_err(netdev, "No memory left for USB buffer\n");
+			usb_free_urb(urb);
+			goto nomem;
+		}
+		/* Clear first 4 bytes */
+		*(u32 *)buf = 0;
+
+		msg = (struct ems_cpc_msg *)&buf[CPC_HEADER_SIZE];
+		fd_msg = &msg->msg.canfd_msg;
+
+		msg->type = CPC_CMD_TYPE_CANFD_FRAME;
+
+		fd_msg->id = cpu_to_le32(cfd->can_id & CAN_ERR_MASK);
+		dlc = cfd->len;
+		fd_msg->length = dlc;
+		fd_msg->flags = 0;
 
-	msg = (struct ems_cpc_msg *)&buf[CPC_HEADER_SIZE];
+		if (cfd->can_id & CAN_EFF_FLAG)
+			fd_msg->flags |= CPC_FDFLAG_XTD;
 
-	msg->msg.can_msg.id = cpu_to_le32(cf->can_id & CAN_ERR_MASK);
-	msg->msg.can_msg.length = cf->can_dlc;
+		if (cfd->flags & CANFD_BRS)
+			fd_msg->flags |= CPC_FDFLAG_BRS;
 
-	if (cf->can_id & CAN_RTR_FLAG) {
-		msg->type = cf->can_id & CAN_EFF_FLAG ?
-			CPC_CMD_TYPE_EXT_RTR_FRAME : CPC_CMD_TYPE_RTR_FRAME;
+		if (cfd->flags & CANFD_ESI)
+			fd_msg->flags |= CPC_FDFLAG_ESI;
 
-		msg->length = CPC_CAN_MSG_MIN_SIZE;
+		memcpy(fd_msg->msg, cfd->data, dlc);
+
+		msg->length = CPC_CANFD_MSG_MIN_SIZE + dlc;
+		/* Send only significant bytes of buffer */
+		buf_len += msg->length;
 	} else {
-		msg->type = cf->can_id & CAN_EFF_FLAG ?
-			CPC_CMD_TYPE_EXT_CAN_FRAME : CPC_CMD_TYPE_CAN_FRAME;
+		struct can_frame *cf = (struct can_frame *)skb->data;
+		struct cpc_can_msg *can_msg;
 
-		for (i = 0; i < cf->can_dlc; i++)
-			msg->msg.can_msg.msg[i] = cf->data[i];
+		buf_size = CPC_HEADER_SIZE +
+			   CPC_MSG_HEADER_LEN +
+			   sizeof(struct cpc_can_msg);
+
+		/* Create an URB and a buffer big enough for
+		 * all message lengths, copy the data to the URB
+		 */
+		urb = usb_alloc_urb(0, GFP_ATOMIC);
+		if (!urb)
+			goto nomem;
+
+		buf = usb_alloc_coherent(dev->udev,
+					 buf_size,
+					 GFP_ATOMIC,
+					 &urb->transfer_dma);
+		if (!buf) {
+			netdev_err(netdev, "No memory left for USB buffer\n");
+			usb_free_urb(urb);
+			goto nomem;
+		}
+		/* Clear first 4 bytes */
+		*(u32 *)buf = 0;
+
+		msg = (struct ems_cpc_msg *)&buf[CPC_HEADER_SIZE];
+		can_msg = &msg->msg.can_msg;
+
+		can_msg->id = cpu_to_le32(cf->can_id & CAN_ERR_MASK);
+		dlc = cf->can_dlc;
+		can_msg->length = dlc;
+
+		if (cf->can_id & CAN_RTR_FLAG) {
+			msg->type = cf->can_id & CAN_EFF_FLAG ?
+				CPC_CMD_TYPE_EXT_RTR_FRAME :
+				CPC_CMD_TYPE_RTR_FRAME;
+
+			msg->length = CPC_CAN_MSG_MIN_SIZE;
+		} else {
+			msg->type = cf->can_id & CAN_EFF_FLAG ?
+				CPC_CMD_TYPE_EXT_CAN_FRAME :
+				CPC_CMD_TYPE_CAN_FRAME;
+
+			for (i = 0; i < dlc; i++)
+				can_msg->msg[i] = cf->data[i];
+
+			msg->length = CPC_CAN_MSG_MIN_SIZE + dlc;
+		}
 
-		msg->length = CPC_CAN_MSG_MIN_SIZE + cf->can_dlc;
+		/* Send only significant bytes of buffer */
+		buf_len += msg->length;
 	}
 
 	for (i = 0; i < MAX_TX_URBS; i++) {
@@ -959,7 +1034,7 @@ static netdev_tx_t ems_usb_start_xmit(struct sk_buff *skb, struct net_device *ne
 	 * allowed (MAX_TX_URBS).
 	 */
 	if (!context) {
-		usb_free_coherent(dev->udev, size, buf, urb->transfer_dma);
+		usb_free_coherent(dev->udev, buf_size, buf, urb->transfer_dma);
 		usb_free_urb(urb);
 
 		netdev_warn(netdev, "couldn't find free context\n");
@@ -969,10 +1044,10 @@ static netdev_tx_t ems_usb_start_xmit(struct sk_buff *skb, struct net_device *ne
 
 	context->dev = dev;
 	context->echo_index = i;
-	context->dlc = cf->can_dlc;
+	context->dlc = dlc;
 
 	usb_fill_bulk_urb(urb, dev->udev, usb_sndbulkpipe(dev->udev, 2), buf,
-			  size, ems_usb_write_bulk_callback, context);
+			  buf_len, ems_usb_write_bulk_callback, context);
 	urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
 	usb_anchor_urb(urb, &dev->tx_submitted);
 
@@ -985,7 +1060,7 @@ static netdev_tx_t ems_usb_start_xmit(struct sk_buff *skb, struct net_device *ne
 		can_free_echo_skb(netdev, context->echo_index);
 
 		usb_unanchor_urb(urb);
-		usb_free_coherent(dev->udev, size, buf, urb->transfer_dma);
+		usb_free_coherent(dev->udev, buf_size, buf, urb->transfer_dma);
 		dev_kfree_skb(skb);
 
 		atomic_dec(&dev->active_tx_urbs);
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 13/16] can: ems_usb: Made CAN error reporting CAN controller dependent

[Gerhard Uttenthaler]

This patch ensures that errors reported by CPC-USB/ARM7 are handled correctly.

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 84 ++++++++++++++++++++---------------
 1 file changed, 48 insertions(+), 36 deletions(-)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index 76d25ab5804b..693ef333ceab 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -57,8 +57,13 @@ MODULE_LICENSE("GPL v2");
 #define CPC_CMD_TYPE_CLEAR_MSG_QUEUE 8  /* clear CPC_MSG queue */
 #define CPC_CMD_TYPE_CLEAR_CMD_QUEUE 28 /* clear CPC_CMD queue */
 
-#define CPC_CC_TYPE_SJA1000 2 /* NXP CAN controller */
-#define CPC_CC_TYPE_GENERIC 6 /* GENERIC CAN controller */
+/* CPC-USB/ARM7 */
+#define CPC_CC_TYPE_SJA1000 2
+
+/* CPC-USB/FD
+ * Initialization is done with a generic CAN controller representation
+ */
+#define CPC_CC_TYPE_GENERIC 6
 
 #define CPC_CAN_ECODE_ERRFRAME 0x01 /* Ecode type */
 
@@ -440,6 +445,9 @@ static void ems_usb_rx_err(struct ems_usb *dev, struct ems_cpc_msg *msg)
 	if (!skb)
 		return;
 
+	/* The CPC_MSG_TYPE_CAN_STATE works for both
+	 * CPC-USB/ARM7 and CPC-USB/FD
+	 */
 	if (msg->type == CPC_MSG_TYPE_CAN_STATE) {
 		u8 state = msg->msg.can_state;
 
@@ -457,40 +465,44 @@ static void ems_usb_rx_err(struct ems_usb *dev, struct ems_cpc_msg *msg)
 			dev->can.can_stats.error_passive++;
 		}
 	} else if (msg->type == CPC_MSG_TYPE_CAN_FRAME_ERROR) {
-		u8 ecc = msg->msg.error.cc.regs.sja1000.ecc;
-		u8 txerr = msg->msg.error.cc.regs.sja1000.txerr;
-		u8 rxerr = msg->msg.error.cc.regs.sja1000.rxerr;
-
-		/* bus error interrupt */
-		dev->can.can_stats.bus_error++;
-		stats->rx_errors++;
-
-		cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
-
-		switch (ecc & SJA1000_ECC_MASK) {
-		case SJA1000_ECC_BIT:
-			cf->data[2] |= CAN_ERR_PROT_BIT;
-			break;
-		case SJA1000_ECC_FORM:
-			cf->data[2] |= CAN_ERR_PROT_FORM;
-			break;
-		case SJA1000_ECC_STUFF:
-			cf->data[2] |= CAN_ERR_PROT_STUFF;
-			break;
-		default:
-			cf->data[3] = ecc & SJA1000_ECC_SEG;
-			break;
-		}
-
-		/* Error occurred during transmission? */
-		if ((ecc & SJA1000_ECC_DIR) == 0)
-			cf->data[2] |= CAN_ERR_PROT_TX;
-
-		if (dev->can.state == CAN_STATE_ERROR_WARNING ||
-		    dev->can.state == CAN_STATE_ERROR_PASSIVE) {
-			cf->can_id |= CAN_ERR_CRTL;
-			cf->data[1] = (txerr > rxerr) ?
-			    CAN_ERR_CRTL_TX_PASSIVE : CAN_ERR_CRTL_RX_PASSIVE;
+		/* CPC-USB/ARM7 */
+		if (msg->msg.error.cc.cc_type == CPC_CC_TYPE_SJA1000) {
+			u8 ecc = msg->msg.error.cc.regs.sja1000.ecc;
+			u8 txerr = msg->msg.error.cc.regs.sja1000.txerr;
+			u8 rxerr = msg->msg.error.cc.regs.sja1000.rxerr;
+
+			/* bus error interrupt */
+			dev->can.can_stats.bus_error++;
+			stats->rx_errors++;
+
+			cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
+
+			switch (ecc & SJA1000_ECC_MASK) {
+			case SJA1000_ECC_BIT:
+				cf->data[2] |= CAN_ERR_PROT_BIT;
+				break;
+			case SJA1000_ECC_FORM:
+				cf->data[2] |= CAN_ERR_PROT_FORM;
+				break;
+			case SJA1000_ECC_STUFF:
+				cf->data[2] |= CAN_ERR_PROT_STUFF;
+				break;
+			default:
+				cf->data[3] = ecc & SJA1000_ECC_SEG;
+				break;
+			}
+
+			/* Error occurred during transmission? */
+			if ((ecc & SJA1000_ECC_DIR) == 0)
+				cf->data[2] |= CAN_ERR_PROT_TX;
+
+			if (dev->can.state == CAN_STATE_ERROR_WARNING ||
+			    dev->can.state == CAN_STATE_ERROR_PASSIVE) {
+				cf->can_id |= CAN_ERR_CRTL;
+				cf->data[1] = (txerr > rxerr) ?
+					       CAN_ERR_CRTL_TX_PASSIVE :
+					       CAN_ERR_CRTL_RX_PASSIVE;
+			}
 		}
 	} else if (msg->type == CPC_MSG_TYPE_OVERRUN) {
 		cf->can_id |= CAN_ERR_CRTL;
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 14/16] can: ems_usb: Made structs packed

[Gerhard Uttenthaler]

Both devices expect everything from the host as packed

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index 693ef333ceab..677ed4bc47b9 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -132,7 +132,7 @@ MODULE_LICENSE("GPL v2");
  * CPC_MSG_TYPE_CAN_FRAME or CPC_MSG_TYPE_RTR_FRAME or
  * CPC_MSG_TYPE_EXT_CAN_FRAME or CPC_MSG_TYPE_EXT_RTR_FRAME.
  */
-struct cpc_can_msg {
+struct __packed cpc_can_msg {
 	__le32 id;
 	u8 length;
 	u8 msg[8];
@@ -160,7 +160,7 @@ struct __packed cpc_canfd_msg {
 #define CPC_FDFLAG_XTD          BIT(7)
 
 /* Representation of the CAN parameters for the SJA1000 controller */
-struct cpc_sja1000_params {
+struct __packed cpc_sja1000_params {
 	u8 mode;
 	u8 acc_code0;
 	u8 acc_code1;
@@ -218,20 +218,20 @@ struct cpc_confirm {
 };
 
 /* Structure for overrun conditions */
-struct cpc_overrun {
+struct __packed cpc_overrun {
 	u8 event;
 	u8 count;
 };
 
 /* SJA1000 CAN errors (compatible to NXP LPC2119) */
-struct cpc_sja1000_can_error {
+struct __packed cpc_sja1000_can_error {
 	u8 ecc;
 	u8 rxerr;
 	u8 txerr;
 };
 
 /* structure for CAN error conditions */
-struct cpc_can_error {
+struct __packed cpc_can_error {
 	u8 ecode;
 
 	struct {
@@ -247,7 +247,7 @@ struct cpc_can_error {
 /* Structure containing RX/TX error counter. This structure is used to request
  * the values of the CAN controllers TX and RX error counter.
  */
-struct cpc_can_err_counter {
+struct __packed cpc_can_err_counter {
 	u8 rx;
 	u8 tx;
 };
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 15/16] can: ems_usb: Added error reporting for CPC-USB/FD

[Gerhard Uttenthaler]

Added struct and defines to handle errors reported from CPC-USB/FD
accordingly. Added needed code for that purpose

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 105 ++++++++++++++++++++++++++++++++++
 1 file changed, 105 insertions(+)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index 677ed4bc47b9..b94364d8f390 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -62,7 +62,9 @@ MODULE_LICENSE("GPL v2");
 
 /* CPC-USB/FD
  * Initialization is done with a generic CAN controller representation
+ * However error reporting brings two registers of the used controller type
  */
+#define CPC_CC_TYPE_LPC546XX 5
 #define CPC_CC_TYPE_GENERIC 6
 
 #define CPC_CAN_ECODE_ERRFRAME 0x01 /* Ecode type */
@@ -108,6 +110,25 @@ MODULE_LICENSE("GPL v2");
 
 #define SJA1000_DEFAULT_OUTPUT_CONTROL 0xDA
 
+/* CPC-USB/FD PSR */
+#define CPCFD_LEC_MASK  0x07
+#define CPCFD_LEC_STUFF 0x01
+#define CPCFD_LEC_FORM  0x02
+#define CPCFD_LEC_ACK   0x03
+#define CPCFD_LEC_BIT1  0x04
+#define CPCFD_LEC_BIT0  0x05
+#define CPCFD_LEC_CRC   0x06
+
+#define CPCFD_ERR_EP BIT(5)
+#define CPCFD_ERR_EW BIT(6)
+#define CPCFD_ERR_BO BIT(7)
+
+#define CPCFD_ACT_MASK 0x18
+#define CPCFD_ACT_SYNC 0x00
+#define CPCFD_ACT_IDLE 0x08
+#define CPCFD_ACT_RX   0x10
+#define CPCFD_ACT_TX   0x18
+
 /* CPC-USB/ARM7 actually uses a 16MHz clock to generate the CAN clock
  * but it expects SJA1000 bit settings based on 8MHz (is internally
  * converted).
@@ -230,6 +251,11 @@ struct __packed cpc_sja1000_can_error {
 	u8 txerr;
 };
 
+struct __packed cpc_lpc546xx_can_error {
+	__le32 psr; /* protocol status register */
+	__le32 ecr; /* error counter register */
+};
+
 /* structure for CAN error conditions */
 struct __packed cpc_can_error {
 	u8 ecode;
@@ -240,6 +266,7 @@ struct __packed cpc_can_error {
 		/* Other controllers may also provide error code capture regs */
 		union {
 			struct cpc_sja1000_can_error sja1000;
+			struct cpc_lpc546xx_can_error lpc546xx;
 		} regs;
 	} cc;
 };
@@ -504,6 +531,84 @@ static void ems_usb_rx_err(struct ems_usb *dev, struct ems_cpc_msg *msg)
 					       CAN_ERR_CRTL_RX_PASSIVE;
 			}
 		}
+		/* CPC-USB/FD */
+		else if (msg->msg.error.cc.cc_type == CPC_CC_TYPE_LPC546XX) {
+			struct net_device *netdev = dev->netdev;
+			u32 psr = le32_to_cpu(msg->msg.error.cc.regs.lpc546xx.psr);
+			u8 txerr = le32_to_cpu(msg->msg.error.cc.regs.lpc546xx.ecr);
+			u8 rxerr = le32_to_cpu(msg->msg.error.cc.regs.lpc546xx.ecr) >> 8;
+
+			/* bus error interrupt */
+			dev->can.can_stats.bus_error++;
+
+			cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
+
+			switch (psr & CPCFD_LEC_MASK) {
+			case CPCFD_LEC_STUFF:
+				netdev_dbg(netdev, "stuff error\n");
+				cf->data[2] |= CAN_ERR_PROT_STUFF;
+				break;
+			case CPCFD_LEC_FORM:
+				netdev_dbg(netdev, "form error\n");
+				cf->data[2] |= CAN_ERR_PROT_FORM;
+				break;
+			case CPCFD_LEC_ACK:
+				netdev_dbg(netdev, "ack error\n");
+				cf->data[3] = CAN_ERR_PROT_LOC_ACK;
+				break;
+			case CPCFD_LEC_BIT1:
+				netdev_dbg(netdev, "bit1 error\n");
+				cf->data[2] |= CAN_ERR_PROT_BIT1;
+				break;
+			case CPCFD_LEC_BIT0:
+				netdev_dbg(netdev, "bit0 error\n");
+				cf->data[2] |= CAN_ERR_PROT_BIT0;
+				break;
+			case CPCFD_LEC_CRC:
+				netdev_dbg(netdev, "CRC error\n");
+				cf->data[3] = CAN_ERR_PROT_LOC_CRC_SEQ;
+				break;
+			default:
+				break;
+			}
+
+			/* Let activity flags decide direction */
+			switch (psr & CPCFD_ACT_MASK) {
+			case CPCFD_ACT_SYNC:
+				/* fallthrough */
+			case CPCFD_ACT_IDLE:
+				/* fallthrough */
+			case CPCFD_ACT_RX:
+				stats->rx_errors++;
+				break;
+			case CPCFD_ACT_TX:
+				stats->tx_errors++;
+				break;
+			}
+
+			/* Error warning status */
+			if (psr & CPCFD_ERR_EW) {
+				cf->data[1] = (txerr > rxerr) ?
+					CAN_ERR_CRTL_TX_WARNING :
+					CAN_ERR_CRTL_RX_WARNING;
+				cf->can_id |= CAN_ERR_CRTL;
+			}
+
+			/* Error passive status */
+			if (psr & CPCFD_ERR_EP) {
+				cf->data[1] |= (txerr > rxerr) ?
+					CAN_ERR_CRTL_TX_PASSIVE :
+					CAN_ERR_CRTL_RX_PASSIVE;
+				cf->can_id |= CAN_ERR_CRTL;
+			}
+
+			/* Error bus off status */
+			if (psr & CPCFD_ERR_BO)
+				cf->can_id |= CAN_ERR_BUSOFF;
+
+			cf->data[6] = txerr;
+			cf->data[7] = rxerr;
+		}
 	} else if (msg->type == CPC_MSG_TYPE_OVERRUN) {
 		cf->can_id |= CAN_ERR_CRTL;
 		cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

[PATCH v2 16/16] can: ems_usb: Enable CPC-USB/FD support

[Gerhard Uttenthaler]

By adding the device product id to the device table CPC-USB/FD is 
supported

Signed-off-by: Gerhard Uttenthaler <uttenthaler@ems-wuensche.com>
---
 drivers/net/can/usb/ems_usb.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index b94364d8f390..36faec167cbb 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -301,10 +301,11 @@ struct __packed ems_cpc_msg {
 };
 
 /* Table of devices that work with this driver
- * NOTE: This driver supports only CPC-USB/ARM7 (LPC2119) yet.
+ * This driver supports CPC-USB/ARM7 and CPC-USB/FD
  */
 static struct usb_device_id ems_usb_table[] = {
 	{USB_DEVICE(USB_CPCUSB_VENDOR_ID, USB_CPCUSB_ARM7_PRODUCT_ID)},
+	{USB_DEVICE(USB_CPCUSB_VENDOR_ID, USB_CPCUSB_FD_PRODUCT_ID)},
 	{} /* Terminating entry */
 };
 
-- 
2.26.2

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com

Re: [PATCH v2 00/16] Add support for CPC-USB/FD CAN FD interface

[Gerhard Uttenthaler]

Kind Ping...

Regards
Gerhard

Am 12.11.20 um 19:03 schrieb Gerhard Uttenthaler:
> These patches extend the ems_usb.c driver to support both devices, the
> classic CAN CPC-USB/ARM7 and the CAN FD CPC-USB/FD. After fixing issues given
> by checkpatch.pl and adding the CPC_ClearCmdQueue function all needed parts
> to support CAN FD were added step by step. Also added is support for the
> listen only mode for CPC-USB/ARM7 now.
> The last patch enables the driver for CPC-USB/FD.
> 
> Gerhard Uttenthaler (16):
>   can: ems_usb: Fixed warnings and comments
>   can: ems_usb: Added CPC_ClearCmdQueue routine.
>   can: ems_usb: Fixed non C99 style initialization
>   can: ems_usb: Added CAN FD message representation
>   can: ems_usb: Added CAN FD initialization struct
>   can: ems_usb: Made RX_BUFFER_SIZE, ems_usb_write_mode and
>     ems_usb_probe device dependent
>   can: ems_usb: Added listen only mode for CPC-USB/ARM7
>   can: ems_usb: Modified ems_usb_read_bulk_callback to handle also
>     CPC-USB/FD
>   can: ems_usb: Added CAN controller initialization for CAN FD
>   can: ems_usb: Added receive routine for CAN FD messages
>   can: ems_usb: Added ems_usb_write_mode_fd
>   can: ems_usb: Fixed ems_usb_start_xmit for CAN FD
>   can: ems_usb: Made CAN error reporting CAN controller dependent
>   can: ems_usb: Made structs packed
>   can: ems_usb: Added error reporting for CPC-USB/FD
>   can: ems_usb: Enable CPC-USB/FD support
> 
>  drivers/net/can/usb/ems_usb.c | 858 +++++++++++++++++++++++++++-------
>  1 file changed, 682 insertions(+), 176 deletions(-)
> 

-- 
Mit freundlichen Gruessen / Best Regards
Gerhard Uttenthaler

-- 
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HR Ingolstadt, HRA 170106

Phone: +49-8441-490260
Fax  : +49-8441-81860
http://www.ems-wuensche.com