blob: d08718e98e110206f0ef11085102d0e4a38fa2e8 [file] [log] [blame]
// SPDX-License-Identifier: GPL-2.0-only
/* Copyright (C) 2007, 2011 Wolfgang Grandegger <wg@grandegger.com>
* Copyright (C) 2012 Stephane Grosjean <s.grosjean@peak-system.com>
*
* Copyright (C) 2016 PEAK System-Technik GmbH
*/
#include <linux/can.h>
#include <linux/can/dev.h>
#include "peak_canfd_user.h"
/* internal IP core cache size (used as default echo skbs max number) */
#define PCANFD_ECHO_SKB_MAX 24
/* bittiming ranges of the PEAK-System PC CAN-FD interfaces */
static const struct can_bittiming_const peak_canfd_nominal_const = {
.name = "peak_canfd",
.tseg1_min = 1,
.tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
.tseg2_min = 1,
.tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
.sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
.brp_min = 1,
.brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
.brp_inc = 1,
};
static const struct can_bittiming_const peak_canfd_data_const = {
.name = "peak_canfd",
.tseg1_min = 1,
.tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
.tseg2_min = 1,
.tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
.sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
.brp_min = 1,
.brp_max = (1 << PUCAN_TFAST_BRP_BITS),
.brp_inc = 1,
};
static struct peak_canfd_priv *pucan_init_cmd(struct peak_canfd_priv *priv)
{
priv->cmd_len = 0;
return priv;
}
static void *pucan_add_cmd(struct peak_canfd_priv *priv, int cmd_op)
{
struct pucan_command *cmd;
if (priv->cmd_len + sizeof(*cmd) > priv->cmd_maxlen)
return NULL;
cmd = priv->cmd_buffer + priv->cmd_len;
/* reset all unused bit to default */
memset(cmd, 0, sizeof(*cmd));
cmd->opcode_channel = pucan_cmd_opcode_channel(priv->index, cmd_op);
priv->cmd_len += sizeof(*cmd);
return cmd;
}
static int pucan_write_cmd(struct peak_canfd_priv *priv)
{
int err;
if (priv->pre_cmd) {
err = priv->pre_cmd(priv);
if (err)
return err;
}
err = priv->write_cmd(priv);
if (err)
return err;
if (priv->post_cmd)
err = priv->post_cmd(priv);
return err;
}
/* uCAN commands interface functions */
static int pucan_set_reset_mode(struct peak_canfd_priv *priv)
{
pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RESET_MODE);
return pucan_write_cmd(priv);
}
static int pucan_set_normal_mode(struct peak_canfd_priv *priv)
{
int err;
pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_NORMAL_MODE);
err = pucan_write_cmd(priv);
if (!err)
priv->can.state = CAN_STATE_ERROR_ACTIVE;
return err;
}
static int pucan_set_listen_only_mode(struct peak_canfd_priv *priv)
{
int err;
pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_LISTEN_ONLY_MODE);
err = pucan_write_cmd(priv);
if (!err)
priv->can.state = CAN_STATE_ERROR_ACTIVE;
return err;
}
static int pucan_set_timing_slow(struct peak_canfd_priv *priv,
const struct can_bittiming *pbt)
{
struct pucan_timing_slow *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_SLOW);
cmd->sjw_t = PUCAN_TSLOW_SJW_T(pbt->sjw - 1,
priv->can.ctrlmode &
CAN_CTRLMODE_3_SAMPLES);
cmd->tseg1 = PUCAN_TSLOW_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1);
cmd->tseg2 = PUCAN_TSLOW_TSEG2(pbt->phase_seg2 - 1);
cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(pbt->brp - 1));
cmd->ewl = 96; /* default */
netdev_dbg(priv->ndev,
"nominal: brp=%u tseg1=%u tseg2=%u sjw=%u\n",
le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw_t);
return pucan_write_cmd(priv);
}
static int pucan_set_timing_fast(struct peak_canfd_priv *priv,
const struct can_bittiming *pbt)
{
struct pucan_timing_fast *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_FAST);
cmd->sjw = PUCAN_TFAST_SJW(pbt->sjw - 1);
cmd->tseg1 = PUCAN_TFAST_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1);
cmd->tseg2 = PUCAN_TFAST_TSEG2(pbt->phase_seg2 - 1);
cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(pbt->brp - 1));
netdev_dbg(priv->ndev,
"data: brp=%u tseg1=%u tseg2=%u sjw=%u\n",
le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw);
return pucan_write_cmd(priv);
}
static int pucan_set_std_filter(struct peak_canfd_priv *priv, u8 row, u32 mask)
{
struct pucan_std_filter *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_STD_FILTER);
/* all the 11-bits CAN ID values are represented by one bit in a
* 64 rows array of 32 bits: the upper 6 bits of the CAN ID select the
* row while the lowest 5 bits select the bit in that row.
*
* bit filter
* 1 passed
* 0 discarded
*/
/* select the row */
cmd->idx = row;
/* set/unset bits in the row */
cmd->mask = cpu_to_le32(mask);
return pucan_write_cmd(priv);
}
static int pucan_tx_abort(struct peak_canfd_priv *priv, u16 flags)
{
struct pucan_tx_abort *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TX_ABORT);
cmd->flags = cpu_to_le16(flags);
return pucan_write_cmd(priv);
}
static int pucan_clr_err_counters(struct peak_canfd_priv *priv)
{
struct pucan_wr_err_cnt *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_WR_ERR_CNT);
cmd->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE | PUCAN_WRERRCNT_RE);
cmd->tx_counter = 0;
cmd->rx_counter = 0;
return pucan_write_cmd(priv);
}
static int pucan_set_options(struct peak_canfd_priv *priv, u16 opt_mask)
{
struct pucan_options *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_EN_OPTION);
cmd->options = cpu_to_le16(opt_mask);
return pucan_write_cmd(priv);
}
static int pucan_clr_options(struct peak_canfd_priv *priv, u16 opt_mask)
{
struct pucan_options *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_CLR_DIS_OPTION);
cmd->options = cpu_to_le16(opt_mask);
return pucan_write_cmd(priv);
}
static int pucan_setup_rx_barrier(struct peak_canfd_priv *priv)
{
pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RX_BARRIER);
return pucan_write_cmd(priv);
}
static int pucan_netif_rx(struct sk_buff *skb, __le32 ts_low, __le32 ts_high)
{
struct skb_shared_hwtstamps *hwts = skb_hwtstamps(skb);
u64 ts_us;
ts_us = (u64)le32_to_cpu(ts_high) << 32;
ts_us |= le32_to_cpu(ts_low);
/* IP core timestamps are ┬Ás. */
hwts->hwtstamp = ns_to_ktime(ts_us * NSEC_PER_USEC);
return netif_rx(skb);
}
/* handle the reception of one CAN frame */
static int pucan_handle_can_rx(struct peak_canfd_priv *priv,
struct pucan_rx_msg *msg)
{
struct net_device_stats *stats = &priv->ndev->stats;
struct canfd_frame *cf;
struct sk_buff *skb;
const u16 rx_msg_flags = le16_to_cpu(msg->flags);
u8 cf_len;
if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN)
cf_len = can_fd_dlc2len(pucan_msg_get_dlc(msg));
else
cf_len = can_cc_dlc2len(pucan_msg_get_dlc(msg));
/* if this frame is an echo, */
if (rx_msg_flags & PUCAN_MSG_LOOPED_BACK) {
unsigned long flags;
spin_lock_irqsave(&priv->echo_lock, flags);
can_get_echo_skb(priv->ndev, msg->client, NULL);
/* count bytes of the echo instead of skb */
stats->tx_bytes += cf_len;
stats->tx_packets++;
/* restart tx queue (a slot is free) */
netif_wake_queue(priv->ndev);
spin_unlock_irqrestore(&priv->echo_lock, flags);
/* if this frame is only an echo, stop here. Otherwise,
* continue to push this application self-received frame into
* its own rx queue.
*/
if (!(rx_msg_flags & PUCAN_MSG_SELF_RECEIVE))
return 0;
}
/* otherwise, it should be pushed into rx fifo */
if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) {
/* CANFD frame case */
skb = alloc_canfd_skb(priv->ndev, &cf);
if (!skb)
return -ENOMEM;
if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH)
cf->flags |= CANFD_BRS;
if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND)
cf->flags |= CANFD_ESI;
} else {
/* CAN 2.0 frame case */
skb = alloc_can_skb(priv->ndev, (struct can_frame **)&cf);
if (!skb)
return -ENOMEM;
}
cf->can_id = le32_to_cpu(msg->can_id);
cf->len = cf_len;
if (rx_msg_flags & PUCAN_MSG_EXT_ID)
cf->can_id |= CAN_EFF_FLAG;
if (rx_msg_flags & PUCAN_MSG_RTR)
cf->can_id |= CAN_RTR_FLAG;
else
memcpy(cf->data, msg->d, cf->len);
stats->rx_bytes += cf->len;
stats->rx_packets++;
pucan_netif_rx(skb, msg->ts_low, msg->ts_high);
return 0;
}
/* handle rx/tx error counters notification */
static int pucan_handle_error(struct peak_canfd_priv *priv,
struct pucan_error_msg *msg)
{
priv->bec.txerr = msg->tx_err_cnt;
priv->bec.rxerr = msg->rx_err_cnt;
return 0;
}
/* handle status notification */
static int pucan_handle_status(struct peak_canfd_priv *priv,
struct pucan_status_msg *msg)
{
struct net_device *ndev = priv->ndev;
struct net_device_stats *stats = &ndev->stats;
struct can_frame *cf;
struct sk_buff *skb;
/* this STATUS is the CNF of the RX_BARRIER: Tx path can be setup */
if (pucan_status_is_rx_barrier(msg)) {
if (priv->enable_tx_path) {
int err = priv->enable_tx_path(priv);
if (err)
return err;
}
/* wake network queue up (echo_skb array is empty) */
netif_wake_queue(ndev);
return 0;
}
skb = alloc_can_err_skb(ndev, &cf);
/* test state error bits according to their priority */
if (pucan_status_is_busoff(msg)) {
netdev_dbg(ndev, "Bus-off entry status\n");
priv->can.state = CAN_STATE_BUS_OFF;
priv->can.can_stats.bus_off++;
can_bus_off(ndev);
if (skb)
cf->can_id |= CAN_ERR_BUSOFF;
} else if (pucan_status_is_passive(msg)) {
netdev_dbg(ndev, "Error passive status\n");
priv->can.state = CAN_STATE_ERROR_PASSIVE;
priv->can.can_stats.error_passive++;
if (skb) {
cf->can_id |= CAN_ERR_CRTL;
cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ?
CAN_ERR_CRTL_TX_PASSIVE :
CAN_ERR_CRTL_RX_PASSIVE;
cf->data[6] = priv->bec.txerr;
cf->data[7] = priv->bec.rxerr;
}
} else if (pucan_status_is_warning(msg)) {
netdev_dbg(ndev, "Error warning status\n");
priv->can.state = CAN_STATE_ERROR_WARNING;
priv->can.can_stats.error_warning++;
if (skb) {
cf->can_id |= CAN_ERR_CRTL;
cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ?
CAN_ERR_CRTL_TX_WARNING :
CAN_ERR_CRTL_RX_WARNING;
cf->data[6] = priv->bec.txerr;
cf->data[7] = priv->bec.rxerr;
}
} else if (priv->can.state != CAN_STATE_ERROR_ACTIVE) {
/* back to ERROR_ACTIVE */
netdev_dbg(ndev, "Error active status\n");
can_change_state(ndev, cf, CAN_STATE_ERROR_ACTIVE,
CAN_STATE_ERROR_ACTIVE);
} else {
dev_kfree_skb(skb);
return 0;
}
if (!skb) {
stats->rx_dropped++;
return -ENOMEM;
}
stats->rx_packets++;
stats->rx_bytes += cf->len;
pucan_netif_rx(skb, msg->ts_low, msg->ts_high);
return 0;
}
/* handle uCAN Rx overflow notification */
static int pucan_handle_cache_critical(struct peak_canfd_priv *priv)
{
struct net_device_stats *stats = &priv->ndev->stats;
struct can_frame *cf;
struct sk_buff *skb;
stats->rx_over_errors++;
stats->rx_errors++;
skb = alloc_can_err_skb(priv->ndev, &cf);
if (!skb) {
stats->rx_dropped++;
return -ENOMEM;
}
cf->can_id |= CAN_ERR_CRTL;
cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
cf->data[6] = priv->bec.txerr;
cf->data[7] = priv->bec.rxerr;
stats->rx_bytes += cf->len;
stats->rx_packets++;
netif_rx(skb);
return 0;
}
/* handle a single uCAN message */
int peak_canfd_handle_msg(struct peak_canfd_priv *priv,
struct pucan_rx_msg *msg)
{
u16 msg_type = le16_to_cpu(msg->type);
int msg_size = le16_to_cpu(msg->size);
int err;
if (!msg_size || !msg_type) {
/* null packet found: end of list */
goto exit;
}
switch (msg_type) {
case PUCAN_MSG_CAN_RX:
err = pucan_handle_can_rx(priv, (struct pucan_rx_msg *)msg);
break;
case PUCAN_MSG_ERROR:
err = pucan_handle_error(priv, (struct pucan_error_msg *)msg);
break;
case PUCAN_MSG_STATUS:
err = pucan_handle_status(priv, (struct pucan_status_msg *)msg);
break;
case PUCAN_MSG_CACHE_CRITICAL:
err = pucan_handle_cache_critical(priv);
break;
default:
err = 0;
}
if (err < 0)
return err;
exit:
return msg_size;
}
/* handle a list of rx_count messages from rx_msg memory address */
int peak_canfd_handle_msgs_list(struct peak_canfd_priv *priv,
struct pucan_rx_msg *msg_list, int msg_count)
{
void *msg_ptr = msg_list;
int i, msg_size = 0;
for (i = 0; i < msg_count; i++) {
msg_size = peak_canfd_handle_msg(priv, msg_ptr);
/* a null packet can be found at the end of a list */
if (msg_size <= 0)
break;
msg_ptr += ALIGN(msg_size, 4);
}
if (msg_size < 0)
return msg_size;
return i;
}
static int peak_canfd_start(struct peak_canfd_priv *priv)
{
int err;
err = pucan_clr_err_counters(priv);
if (err)
goto err_exit;
priv->echo_idx = 0;
priv->bec.txerr = 0;
priv->bec.rxerr = 0;
if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
err = pucan_set_listen_only_mode(priv);
else
err = pucan_set_normal_mode(priv);
err_exit:
return err;
}
static void peak_canfd_stop(struct peak_canfd_priv *priv)
{
int err;
/* go back to RESET mode */
err = pucan_set_reset_mode(priv);
if (err) {
netdev_err(priv->ndev, "channel %u reset failed\n",
priv->index);
} else {
/* abort last Tx (MUST be done in RESET mode only!) */
pucan_tx_abort(priv, PUCAN_TX_ABORT_FLUSH);
}
}
static int peak_canfd_set_mode(struct net_device *ndev, enum can_mode mode)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
switch (mode) {
case CAN_MODE_START:
peak_canfd_start(priv);
netif_wake_queue(ndev);
break;
default:
return -EOPNOTSUPP;
}
return 0;
}
static int peak_canfd_get_berr_counter(const struct net_device *ndev,
struct can_berr_counter *bec)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
*bec = priv->bec;
return 0;
}
static int peak_canfd_open(struct net_device *ndev)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
int i, err = 0;
err = open_candev(ndev);
if (err) {
netdev_err(ndev, "open_candev() failed, error %d\n", err);
goto err_exit;
}
err = pucan_set_reset_mode(priv);
if (err)
goto err_close;
if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)
err = pucan_clr_options(priv, PUCAN_OPTION_CANDFDISO);
else
err = pucan_set_options(priv, PUCAN_OPTION_CANDFDISO);
if (err)
goto err_close;
}
/* set option: get rx/tx error counters */
err = pucan_set_options(priv, PUCAN_OPTION_ERROR);
if (err)
goto err_close;
/* accept all standard CAN ID */
for (i = 0; i <= PUCAN_FLTSTD_ROW_IDX_MAX; i++)
pucan_set_std_filter(priv, i, 0xffffffff);
err = peak_canfd_start(priv);
if (err)
goto err_close;
/* receiving the RB status says when Tx path is ready */
err = pucan_setup_rx_barrier(priv);
if (!err)
goto err_exit;
err_close:
close_candev(ndev);
err_exit:
return err;
}
static int peak_canfd_set_bittiming(struct net_device *ndev)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
return pucan_set_timing_slow(priv, &priv->can.bittiming);
}
static int peak_canfd_set_data_bittiming(struct net_device *ndev)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
return pucan_set_timing_fast(priv, &priv->can.data_bittiming);
}
static int peak_canfd_close(struct net_device *ndev)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
netif_stop_queue(ndev);
peak_canfd_stop(priv);
close_candev(ndev);
return 0;
}
static netdev_tx_t peak_canfd_start_xmit(struct sk_buff *skb,
struct net_device *ndev)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
struct net_device_stats *stats = &ndev->stats;
struct canfd_frame *cf = (struct canfd_frame *)skb->data;
struct pucan_tx_msg *msg;
u16 msg_size, msg_flags;
unsigned long flags;
bool should_stop_tx_queue;
int room_left;
u8 len;
if (can_dropped_invalid_skb(ndev, skb))
return NETDEV_TX_OK;
msg_size = ALIGN(sizeof(*msg) + cf->len, 4);
msg = priv->alloc_tx_msg(priv, msg_size, &room_left);
/* should never happen except under bus-off condition and (auto-)restart
* mechanism
*/
if (!msg) {
stats->tx_dropped++;
netif_stop_queue(ndev);
return NETDEV_TX_BUSY;
}
msg->size = cpu_to_le16(msg_size);
msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX);
msg_flags = 0;
if (cf->can_id & CAN_EFF_FLAG) {
msg_flags |= PUCAN_MSG_EXT_ID;
msg->can_id = cpu_to_le32(cf->can_id & CAN_EFF_MASK);
} else {
msg->can_id = cpu_to_le32(cf->can_id & CAN_SFF_MASK);
}
if (can_is_canfd_skb(skb)) {
/* CAN FD frame format */
len = can_fd_len2dlc(cf->len);
msg_flags |= PUCAN_MSG_EXT_DATA_LEN;
if (cf->flags & CANFD_BRS)
msg_flags |= PUCAN_MSG_BITRATE_SWITCH;
if (cf->flags & CANFD_ESI)
msg_flags |= PUCAN_MSG_ERROR_STATE_IND;
} else {
/* CAN 2.0 frame format */
len = cf->len;
if (cf->can_id & CAN_RTR_FLAG)
msg_flags |= PUCAN_MSG_RTR;
}
/* always ask loopback for echo management */
msg_flags |= PUCAN_MSG_LOOPED_BACK;
/* set driver specific bit to differentiate with application loopback */
if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK)
msg_flags |= PUCAN_MSG_SELF_RECEIVE;
msg->flags = cpu_to_le16(msg_flags);
msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(priv->index, len);
memcpy(msg->d, cf->data, cf->len);
/* struct msg client field is used as an index in the echo skbs ring */
msg->client = priv->echo_idx;
spin_lock_irqsave(&priv->echo_lock, flags);
/* prepare and save echo skb in internal slot */
can_put_echo_skb(skb, ndev, priv->echo_idx, 0);
/* move echo index to the next slot */
priv->echo_idx = (priv->echo_idx + 1) % priv->can.echo_skb_max;
/* if next slot is not free, stop network queue (no slot free in echo
* skb ring means that the controller did not write these frames on
* the bus: no need to continue).
*/
should_stop_tx_queue = !!(priv->can.echo_skb[priv->echo_idx]);
/* stop network tx queue if not enough room to save one more msg too */
if (priv->can.ctrlmode & CAN_CTRLMODE_FD)
should_stop_tx_queue |= (room_left <
(sizeof(*msg) + CANFD_MAX_DLEN));
else
should_stop_tx_queue |= (room_left <
(sizeof(*msg) + CAN_MAX_DLEN));
if (should_stop_tx_queue)
netif_stop_queue(ndev);
spin_unlock_irqrestore(&priv->echo_lock, flags);
/* write the skb on the interface */
priv->write_tx_msg(priv, msg);
return NETDEV_TX_OK;
}
static const struct net_device_ops peak_canfd_netdev_ops = {
.ndo_open = peak_canfd_open,
.ndo_stop = peak_canfd_close,
.ndo_start_xmit = peak_canfd_start_xmit,
.ndo_change_mtu = can_change_mtu,
};
struct net_device *alloc_peak_canfd_dev(int sizeof_priv, int index,
int echo_skb_max)
{
struct net_device *ndev;
struct peak_canfd_priv *priv;
/* we DO support local echo */
if (echo_skb_max < 0)
echo_skb_max = PCANFD_ECHO_SKB_MAX;
/* allocate the candev object */
ndev = alloc_candev(sizeof_priv, echo_skb_max);
if (!ndev)
return NULL;
priv = netdev_priv(ndev);
/* complete now socket-can initialization side */
priv->can.state = CAN_STATE_STOPPED;
priv->can.bittiming_const = &peak_canfd_nominal_const;
priv->can.data_bittiming_const = &peak_canfd_data_const;
priv->can.do_set_mode = peak_canfd_set_mode;
priv->can.do_get_berr_counter = peak_canfd_get_berr_counter;
priv->can.do_set_bittiming = peak_canfd_set_bittiming;
priv->can.do_set_data_bittiming = peak_canfd_set_data_bittiming;
priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK |
CAN_CTRLMODE_LISTENONLY |
CAN_CTRLMODE_3_SAMPLES |
CAN_CTRLMODE_FD |
CAN_CTRLMODE_FD_NON_ISO |
CAN_CTRLMODE_BERR_REPORTING;
priv->ndev = ndev;
priv->index = index;
priv->cmd_len = 0;
spin_lock_init(&priv->echo_lock);
ndev->flags |= IFF_ECHO;
ndev->netdev_ops = &peak_canfd_netdev_ops;
ndev->dev_id = index;
return ndev;
}