blob: ec87126e1a7dfc357579ae6bb52013fbb2b79d12 [file] [log] [blame]
// SPDX-License-Identifier: GPL-2.0
/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
*
* File es58x_fd.c: Adds support to ETAS ES582.1 and ES584.1 (naming
* convention: we use the term "ES58X FD" when referring to those two
* variants together).
*
* Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
* Copyright (c) 2020 ETAS K.K.. All rights reserved.
* Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
*/
#include <linux/kernel.h>
#include <linux/units.h>
#include <asm/unaligned.h>
#include "es58x_core.h"
#include "es58x_fd.h"
/**
* es58x_fd_sizeof_rx_tx_msg() - Calculate the actual length of the
* structure of a rx or tx message.
* @msg: message of variable length, must have a dlc and a len fields.
*
* Even if RTR frames have actually no payload, the ES58X devices
* still expect it. Must be a macro in order to accept several types
* (struct es58x_fd_tx_can_msg and struct es58x_fd_rx_can_msg) as an
* input.
*
* Return: length of the message.
*/
#define es58x_fd_sizeof_rx_tx_msg(msg) \
({ \
typeof(msg) __msg = (msg); \
size_t __msg_len; \
\
if (__msg.flags & ES58X_FLAG_FD_DATA) \
__msg_len = canfd_sanitize_len(__msg.len); \
else \
__msg_len = can_cc_dlc2len(__msg.dlc); \
\
offsetof(typeof(__msg), data[__msg_len]); \
})
static enum es58x_fd_cmd_type es58x_fd_cmd_type(struct net_device *netdev)
{
u32 ctrlmode = es58x_priv(netdev)->can.ctrlmode;
if (ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO))
return ES58X_FD_CMD_TYPE_CANFD;
else
return ES58X_FD_CMD_TYPE_CAN;
}
static u16 es58x_fd_get_msg_len(const union es58x_urb_cmd *urb_cmd)
{
return get_unaligned_le16(&urb_cmd->es58x_fd_urb_cmd.msg_len);
}
static int es58x_fd_echo_msg(struct net_device *netdev,
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
struct es58x_priv *priv = es58x_priv(netdev);
const struct es58x_fd_echo_msg *echo_msg;
struct es58x_device *es58x_dev = priv->es58x_dev;
u64 *tstamps = es58x_dev->timestamps;
u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
int i, num_element;
u32 rcv_packet_idx;
const u32 mask = GENMASK(31, sizeof(echo_msg->packet_idx) * 8);
num_element = es58x_msg_num_element(es58x_dev->dev,
es58x_fd_urb_cmd->echo_msg,
msg_len);
if (num_element < 0)
return num_element;
echo_msg = es58x_fd_urb_cmd->echo_msg;
rcv_packet_idx = (priv->tx_tail & mask) | echo_msg[0].packet_idx;
for (i = 0; i < num_element; i++) {
if ((u8)rcv_packet_idx != echo_msg[i].packet_idx) {
netdev_err(netdev, "Packet idx jumped from %u to %u\n",
(u8)rcv_packet_idx - 1,
echo_msg[i].packet_idx);
return -EBADMSG;
}
tstamps[i] = get_unaligned_le64(&echo_msg[i].timestamp);
rcv_packet_idx++;
}
return es58x_can_get_echo_skb(netdev, priv->tx_tail, tstamps, num_element);
}
static int es58x_fd_rx_can_msg(struct net_device *netdev,
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
const u8 *rx_can_msg_buf = es58x_fd_urb_cmd->rx_can_msg_buf;
u16 rx_can_msg_buf_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
int pkts, ret;
ret = es58x_check_msg_max_len(es58x_dev->dev,
es58x_fd_urb_cmd->rx_can_msg_buf,
rx_can_msg_buf_len);
if (ret)
return ret;
for (pkts = 0; rx_can_msg_buf_len > 0; pkts++) {
const struct es58x_fd_rx_can_msg *rx_can_msg =
(const struct es58x_fd_rx_can_msg *)rx_can_msg_buf;
bool is_can_fd = !!(rx_can_msg->flags & ES58X_FLAG_FD_DATA);
/* rx_can_msg_len is the length of the rx_can_msg
* buffer. Not to be confused with rx_can_msg->len
* which is the length of the CAN payload
* rx_can_msg->data.
*/
u16 rx_can_msg_len = es58x_fd_sizeof_rx_tx_msg(*rx_can_msg);
if (rx_can_msg_len > rx_can_msg_buf_len) {
netdev_err(netdev,
"%s: Expected a rx_can_msg of size %d but only %d bytes are left in rx_can_msg_buf\n",
__func__,
rx_can_msg_len, rx_can_msg_buf_len);
return -EMSGSIZE;
}
if (rx_can_msg->len > CANFD_MAX_DLEN) {
netdev_err(netdev,
"%s: Data length is %d but maximum should be %d\n",
__func__, rx_can_msg->len, CANFD_MAX_DLEN);
return -EMSGSIZE;
}
if (netif_running(netdev)) {
u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);
u8 dlc;
if (is_can_fd)
dlc = can_fd_len2dlc(rx_can_msg->len);
else
dlc = rx_can_msg->dlc;
ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
can_id, rx_can_msg->flags, dlc);
if (ret)
break;
}
rx_can_msg_buf_len -= rx_can_msg_len;
rx_can_msg_buf += rx_can_msg_len;
}
if (!netif_running(netdev)) {
if (net_ratelimit())
netdev_info(netdev,
"%s: %s is down, dropping %d rx packets\n",
__func__, netdev->name, pkts);
netdev->stats.rx_dropped += pkts;
}
return ret;
}
static int es58x_fd_rx_event_msg(struct net_device *netdev,
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
const struct es58x_fd_rx_event_msg *rx_event_msg;
int ret;
ret = es58x_check_msg_len(es58x_dev->dev, *rx_event_msg, msg_len);
if (ret)
return ret;
rx_event_msg = &es58x_fd_urb_cmd->rx_event_msg;
return es58x_rx_err_msg(netdev, rx_event_msg->error_code,
rx_event_msg->event_code,
get_unaligned_le64(&rx_event_msg->timestamp));
}
static int es58x_fd_rx_cmd_ret_u32(struct net_device *netdev,
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd,
enum es58x_ret_type cmd_ret_type)
{
struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
int ret;
ret = es58x_check_msg_len(es58x_dev->dev,
es58x_fd_urb_cmd->rx_cmd_ret_le32, msg_len);
if (ret)
return ret;
return es58x_rx_cmd_ret_u32(netdev, cmd_ret_type,
get_unaligned_le32(&es58x_fd_urb_cmd->rx_cmd_ret_le32));
}
static int es58x_fd_tx_ack_msg(struct net_device *netdev,
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
const struct es58x_fd_tx_ack_msg *tx_ack_msg;
u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
int ret;
tx_ack_msg = &es58x_fd_urb_cmd->tx_ack_msg;
ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
if (ret)
return ret;
return es58x_tx_ack_msg(netdev,
get_unaligned_le16(&tx_ack_msg->tx_free_entries),
get_unaligned_le32(&tx_ack_msg->rx_cmd_ret_le32));
}
static int es58x_fd_can_cmd_id(struct es58x_device *es58x_dev,
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
struct net_device *netdev;
int ret;
ret = es58x_get_netdev(es58x_dev, es58x_fd_urb_cmd->channel_idx,
ES58X_FD_CHANNEL_IDX_OFFSET, &netdev);
if (ret)
return ret;
switch ((enum es58x_fd_can_cmd_id)es58x_fd_urb_cmd->cmd_id) {
case ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL:
return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
ES58X_RET_TYPE_ENABLE_CHANNEL);
case ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL:
return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
ES58X_RET_TYPE_DISABLE_CHANNEL);
case ES58X_FD_CAN_CMD_ID_TX_MSG:
return es58x_fd_tx_ack_msg(netdev, es58x_fd_urb_cmd);
case ES58X_FD_CAN_CMD_ID_ECHO_MSG:
return es58x_fd_echo_msg(netdev, es58x_fd_urb_cmd);
case ES58X_FD_CAN_CMD_ID_RX_MSG:
return es58x_fd_rx_can_msg(netdev, es58x_fd_urb_cmd);
case ES58X_FD_CAN_CMD_ID_RESET_RX:
return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
ES58X_RET_TYPE_RESET_RX);
case ES58X_FD_CAN_CMD_ID_RESET_TX:
return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
ES58X_RET_TYPE_RESET_TX);
case ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG:
return es58x_fd_rx_event_msg(netdev, es58x_fd_urb_cmd);
default:
return -EBADRQC;
}
}
static int es58x_fd_device_cmd_id(struct es58x_device *es58x_dev,
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
int ret;
switch ((enum es58x_fd_dev_cmd_id)es58x_fd_urb_cmd->cmd_id) {
case ES58X_FD_DEV_CMD_ID_TIMESTAMP:
ret = es58x_check_msg_len(es58x_dev->dev,
es58x_fd_urb_cmd->timestamp, msg_len);
if (ret)
return ret;
es58x_rx_timestamp(es58x_dev,
get_unaligned_le64(&es58x_fd_urb_cmd->timestamp));
return 0;
default:
return -EBADRQC;
}
}
static int es58x_fd_handle_urb_cmd(struct es58x_device *es58x_dev,
const union es58x_urb_cmd *urb_cmd)
{
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd;
int ret;
es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
switch ((enum es58x_fd_cmd_type)es58x_fd_urb_cmd->cmd_type) {
case ES58X_FD_CMD_TYPE_CAN:
case ES58X_FD_CMD_TYPE_CANFD:
ret = es58x_fd_can_cmd_id(es58x_dev, es58x_fd_urb_cmd);
break;
case ES58X_FD_CMD_TYPE_DEVICE:
ret = es58x_fd_device_cmd_id(es58x_dev, es58x_fd_urb_cmd);
break;
default:
ret = -EBADRQC;
break;
}
if (ret == -EBADRQC)
dev_err(es58x_dev->dev,
"%s: Unknown command type (0x%02X) and command ID (0x%02X) combination\n",
__func__, es58x_fd_urb_cmd->cmd_type,
es58x_fd_urb_cmd->cmd_id);
return ret;
}
static void es58x_fd_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
u8 cmd_id, u8 channel_idx, u16 msg_len)
{
struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
es58x_fd_urb_cmd->SOF = cpu_to_le16(es58x_fd_param.tx_start_of_frame);
es58x_fd_urb_cmd->cmd_type = cmd_type;
es58x_fd_urb_cmd->cmd_id = cmd_id;
es58x_fd_urb_cmd->channel_idx = channel_idx;
es58x_fd_urb_cmd->msg_len = cpu_to_le16(msg_len);
}
static int es58x_fd_tx_can_msg(struct es58x_priv *priv,
const struct sk_buff *skb)
{
struct es58x_device *es58x_dev = priv->es58x_dev;
union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer;
struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
struct can_frame *cf = (struct can_frame *)skb->data;
struct es58x_fd_tx_can_msg *tx_can_msg;
bool is_fd = can_is_canfd_skb(skb);
u16 msg_len;
int ret;
if (priv->tx_can_msg_cnt == 0) {
msg_len = 0;
es58x_fd_fill_urb_header(urb_cmd,
is_fd ? ES58X_FD_CMD_TYPE_CANFD
: ES58X_FD_CMD_TYPE_CAN,
ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK,
priv->channel_idx, msg_len);
} else {
msg_len = es58x_fd_get_msg_len(urb_cmd);
}
ret = es58x_check_msg_max_len(es58x_dev->dev,
es58x_fd_urb_cmd->tx_can_msg_buf,
msg_len + sizeof(*tx_can_msg));
if (ret)
return ret;
/* Fill message contents. */
tx_can_msg = (typeof(tx_can_msg))&es58x_fd_urb_cmd->raw_msg[msg_len];
tx_can_msg->packet_idx = (u8)priv->tx_head;
put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
tx_can_msg->flags = (u8)es58x_get_flags(skb);
if (is_fd)
tx_can_msg->len = cf->len;
else
tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
memcpy(tx_can_msg->data, cf->data, cf->len);
/* Calculate new sizes */
msg_len += es58x_fd_sizeof_rx_tx_msg(*tx_can_msg);
priv->tx_urb->transfer_buffer_length = es58x_get_urb_cmd_len(es58x_dev,
msg_len);
put_unaligned_le16(msg_len, &es58x_fd_urb_cmd->msg_len);
return 0;
}
static void es58x_fd_convert_bittiming(struct es58x_fd_bittiming *es58x_fd_bt,
struct can_bittiming *bt)
{
/* The actual value set in the hardware registers is one less
* than the functional value.
*/
const int offset = 1;
es58x_fd_bt->bitrate = cpu_to_le32(bt->bitrate);
es58x_fd_bt->tseg1 =
cpu_to_le16(bt->prop_seg + bt->phase_seg1 - offset);
es58x_fd_bt->tseg2 = cpu_to_le16(bt->phase_seg2 - offset);
es58x_fd_bt->brp = cpu_to_le16(bt->brp - offset);
es58x_fd_bt->sjw = cpu_to_le16(bt->sjw - offset);
}
static int es58x_fd_enable_channel(struct es58x_priv *priv)
{
struct es58x_device *es58x_dev = priv->es58x_dev;
struct net_device *netdev = es58x_dev->netdev[priv->channel_idx];
struct es58x_fd_tx_conf_msg tx_conf_msg = { 0 };
u32 ctrlmode;
size_t conf_len = 0;
es58x_fd_convert_bittiming(&tx_conf_msg.nominal_bittiming,
&priv->can.bittiming);
ctrlmode = priv->can.ctrlmode;
if (ctrlmode & CAN_CTRLMODE_3_SAMPLES)
tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_THREE;
else
tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_ONE;
tx_conf_msg.sync_edge = ES58X_SYNC_EDGE_SINGLE;
tx_conf_msg.physical_layer = ES58X_PHYSICAL_LAYER_HIGH_SPEED;
tx_conf_msg.echo_mode = ES58X_ECHO_ON;
if (ctrlmode & CAN_CTRLMODE_LISTENONLY)
tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_PASSIVE;
else
tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_ACTIVE;
if (ctrlmode & CAN_CTRLMODE_FD_NON_ISO) {
tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD_NON_ISO;
tx_conf_msg.canfd_enabled = 1;
} else if (ctrlmode & CAN_CTRLMODE_FD) {
tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD;
tx_conf_msg.canfd_enabled = 1;
}
if (tx_conf_msg.canfd_enabled) {
es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming,
&priv->can.data_bittiming);
if (can_tdc_is_enabled(&priv->can)) {
tx_conf_msg.tdc_enabled = 1;
tx_conf_msg.tdco = cpu_to_le16(priv->can.tdc.tdco);
tx_conf_msg.tdcf = cpu_to_le16(priv->can.tdc.tdcf);
}
conf_len = ES58X_FD_CANFD_CONF_LEN;
} else {
conf_len = ES58X_FD_CAN_CONF_LEN;
}
return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL,
&tx_conf_msg, conf_len, priv->channel_idx);
}
static int es58x_fd_disable_channel(struct es58x_priv *priv)
{
/* The type (ES58X_FD_CMD_TYPE_CAN or ES58X_FD_CMD_TYPE_CANFD) does
* not matter here.
*/
return es58x_send_msg(priv->es58x_dev, ES58X_FD_CMD_TYPE_CAN,
ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL,
ES58X_EMPTY_MSG, 0, priv->channel_idx);
}
static int es58x_fd_get_timestamp(struct es58x_device *es58x_dev)
{
return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_DEVICE,
ES58X_FD_DEV_CMD_ID_TIMESTAMP, ES58X_EMPTY_MSG,
0, ES58X_CHANNEL_IDX_NA);
}
/* Nominal bittiming constants for ES582.1 and ES584.1 as specified in
* the microcontroller datasheet: "SAM E70/S70/V70/V71 Family" section
* 49.6.8 "MCAN Nominal Bit Timing and Prescaler Register" from
* Microchip.
*
* The values from the specification are the hardware register
* values. To convert them to the functional values, all ranges were
* incremented by 1 (e.g. range [0..n-1] changed to [1..n]).
*/
static const struct can_bittiming_const es58x_fd_nom_bittiming_const = {
.name = "ES582.1/ES584.1",
.tseg1_min = 2,
.tseg1_max = 256,
.tseg2_min = 2,
.tseg2_max = 128,
.sjw_max = 128,
.brp_min = 1,
.brp_max = 512,
.brp_inc = 1
};
/* Data bittiming constants for ES582.1 and ES584.1 as specified in
* the microcontroller datasheet: "SAM E70/S70/V70/V71 Family" section
* 49.6.4 "MCAN Data Bit Timing and Prescaler Register" from
* Microchip.
*/
static const struct can_bittiming_const es58x_fd_data_bittiming_const = {
.name = "ES582.1/ES584.1",
.tseg1_min = 2,
.tseg1_max = 32,
.tseg2_min = 1,
.tseg2_max = 16,
.sjw_max = 8,
.brp_min = 1,
.brp_max = 32,
.brp_inc = 1
};
/* Transmission Delay Compensation constants for ES582.1 and ES584.1
* as specified in the microcontroller datasheet: "SAM E70/S70/V70/V71
* Family" section 49.6.15 "MCAN Transmitter Delay Compensation
* Register" from Microchip.
*/
static const struct can_tdc_const es58x_tdc_const = {
.tdcv_min = 0,
.tdcv_max = 0, /* Manual mode not supported. */
.tdco_min = 0,
.tdco_max = 127,
.tdcf_min = 0,
.tdcf_max = 127
};
const struct es58x_parameters es58x_fd_param = {
.bittiming_const = &es58x_fd_nom_bittiming_const,
.data_bittiming_const = &es58x_fd_data_bittiming_const,
.tdc_const = &es58x_tdc_const,
/* The devices use NXP TJA1044G transievers which guarantee
* the timing for data rates up to 5 Mbps. Bitrates up to 8
* Mbps work in an optimal environment but are not recommended
* for production environment.
*/
.bitrate_max = 8 * MEGA /* BPS */,
.clock = {.freq = 80 * MEGA /* Hz */},
.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO |
CAN_CTRLMODE_CC_LEN8_DLC | CAN_CTRLMODE_TDC_AUTO,
.tx_start_of_frame = 0xCEFA, /* FACE in little endian */
.rx_start_of_frame = 0xFECA, /* CAFE in little endian */
.tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN,
.rx_urb_cmd_max_len = ES58X_FD_RX_URB_CMD_MAX_LEN,
/* Size of internal device TX queue is 500.
*
* However, when reaching value around 278, the device's busy
* LED turns on and thus maximum value of 500 is never reached
* in practice. Also, when this value is too high, some error
* on the echo_msg were witnessed when the device is
* recovering from bus off.
*
* For above reasons, a value that would prevent the device
* from becoming busy was chosen. In practice, BQL would
* prevent the value from even getting closer to below
* maximum, so no impact on performance was measured.
*/
.fifo_mask = 255, /* echo_skb_max = 256 */
.dql_min_limit = CAN_FRAME_LEN_MAX * 15, /* Empirical value. */
.tx_bulk_max = ES58X_FD_TX_BULK_MAX,
.urb_cmd_header_len = ES58X_FD_URB_CMD_HEADER_LEN,
.rx_urb_max = ES58X_RX_URBS_MAX,
.tx_urb_max = ES58X_TX_URBS_MAX
};
const struct es58x_operators es58x_fd_ops = {
.get_msg_len = es58x_fd_get_msg_len,
.handle_urb_cmd = es58x_fd_handle_urb_cmd,
.fill_urb_header = es58x_fd_fill_urb_header,
.tx_can_msg = es58x_fd_tx_can_msg,
.enable_channel = es58x_fd_enable_channel,
.disable_channel = es58x_fd_disable_channel,
.reset_device = NULL, /* Not implemented in the device firmware. */
.get_timestamp = es58x_fd_get_timestamp
};