drivers/net/can/usb/etas_es58x/es581_4.c - linux - Git at Google

 // SPDX-License-Identifier: GPL-2.0

 /* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
  *
  * File es581_4.c: Adds support to ETAS ES581.4.
  *
  * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
  * Copyright (c) 2020 ETAS K.K.. All rights reserved.
  * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
  */

 #include <linux/kernel.h>
 #include <linux/units.h>
 #include <asm/unaligned.h>

 #include "es58x_core.h"
 #include "es581_4.h"

 /**
  * es581_4_sizeof_rx_tx_msg() - Calculate the actual length of the
  *	structure of a rx or tx message.
  * @msg: message of variable length, must have a dlc field.
  *
  * Even if RTR frames have actually no payload, the ES58X devices
  * still expect it. Must be a macro in order to accept several types
  * (struct es581_4_tx_can_msg and struct es581_4_rx_can_msg) as an
  * input.
  *
  * Return: length of the message.
  */
 #define es581_4_sizeof_rx_tx_msg(msg)				\
 	offsetof(typeof(msg), data[can_cc_dlc2len((msg).dlc)])

 static u16 es581_4_get_msg_len(const union es58x_urb_cmd *urb_cmd)
 {
 	return get_unaligned_le16(&urb_cmd->es581_4_urb_cmd.msg_len);
 }

 static int es581_4_echo_msg(struct es58x_device *es58x_dev,
 			    const struct es581_4_urb_cmd *es581_4_urb_cmd)
 {
 	struct net_device *netdev;
 	const struct es581_4_bulk_echo_msg *bulk_echo_msg;
 	const struct es581_4_echo_msg *echo_msg;
 	u64 *tstamps = es58x_dev->timestamps;
 	u16 msg_len;
 	u32 first_packet_idx, packet_idx;
 	unsigned int dropped = 0;
 	int i, num_element, ret;

 	bulk_echo_msg = &es581_4_urb_cmd->bulk_echo_msg;
 	msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len) -
 	    sizeof(bulk_echo_msg->channel_no);
 	num_element = es58x_msg_num_element(es58x_dev->dev,
 					    bulk_echo_msg->echo_msg, msg_len);
 	if (num_element <= 0)
 		return num_element;

 	ret = es58x_get_netdev(es58x_dev, bulk_echo_msg->channel_no,
 			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);
 	if (ret)
 		return ret;

 	echo_msg = &bulk_echo_msg->echo_msg[0];
 	first_packet_idx = get_unaligned_le32(&echo_msg->packet_idx);
 	packet_idx = first_packet_idx;
 	for (i = 0; i < num_element; i++) {
 		u32 tmp_idx;

 		echo_msg = &bulk_echo_msg->echo_msg[i];
 		tmp_idx = get_unaligned_le32(&echo_msg->packet_idx);
 		if (tmp_idx == packet_idx - 1) {
 			if (net_ratelimit())
 				netdev_warn(netdev,
 					    "Received echo packet idx %u twice\n",
 					    packet_idx - 1);
 			dropped++;
 			continue;
 		}
 		if (tmp_idx != packet_idx) {
 			netdev_err(netdev, "Echo packet idx jumped from %u to %u\n",
 				   packet_idx - 1, echo_msg->packet_idx);
 			return -EBADMSG;
 		}

 		tstamps[i] = get_unaligned_le64(&echo_msg->timestamp);
 		packet_idx++;
 	}

 	netdev->stats.tx_dropped += dropped;
 	return es58x_can_get_echo_skb(netdev, first_packet_idx,
 				      tstamps, num_element - dropped);
 }

 static int es581_4_rx_can_msg(struct es58x_device *es58x_dev,
 			      const struct es581_4_urb_cmd *es581_4_urb_cmd,
 			      u16 msg_len)
 {
 	const struct device *dev = es58x_dev->dev;
 	struct net_device *netdev;
 	int pkts, num_element, channel_no, ret;

 	num_element = es58x_msg_num_element(dev, es581_4_urb_cmd->rx_can_msg,
 					    msg_len);
 	if (num_element <= 0)
 		return num_element;

 	channel_no = es581_4_urb_cmd->rx_can_msg[0].channel_no;
 	ret = es58x_get_netdev(es58x_dev, channel_no,
 			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);
 	if (ret)
 		return ret;

 	if (!netif_running(netdev)) {
 		if (net_ratelimit())
 			netdev_info(netdev,
 				    "%s: %s is down, dropping %d rx packets\n",
 				    __func__, netdev->name, num_element);
 		netdev->stats.rx_dropped += num_element;
 		return 0;
 	}

 	for (pkts = 0; pkts < num_element; pkts++) {
 		const struct es581_4_rx_can_msg *rx_can_msg =
 		    &es581_4_urb_cmd->rx_can_msg[pkts];
 		u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
 		canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);

 		if (channel_no != rx_can_msg->channel_no)
 			return -EBADMSG;

 		ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
 				       can_id, rx_can_msg->flags,
 				       rx_can_msg->dlc);
 		if (ret)
 			break;
 	}

 	return ret;
 }

 static int es581_4_rx_err_msg(struct es58x_device *es58x_dev,
 			      const struct es581_4_rx_err_msg *rx_err_msg)
 {
 	struct net_device *netdev;
 	enum es58x_err error = get_unaligned_le32(&rx_err_msg->error);
 	int ret;

 	ret = es58x_get_netdev(es58x_dev, rx_err_msg->channel_no,
 			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);
 	if (ret)
 		return ret;

 	return es58x_rx_err_msg(netdev, error, 0,
 				get_unaligned_le64(&rx_err_msg->timestamp));
 }

 static int es581_4_rx_event_msg(struct es58x_device *es58x_dev,
 				const struct es581_4_rx_event_msg *rx_event_msg)
 {
 	struct net_device *netdev;
 	enum es58x_event event = get_unaligned_le32(&rx_event_msg->event);
 	int ret;

 	ret = es58x_get_netdev(es58x_dev, rx_event_msg->channel_no,
 			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);
 	if (ret)
 		return ret;

 	return es58x_rx_err_msg(netdev, 0, event,
 				get_unaligned_le64(&rx_event_msg->timestamp));
 }

 static int es581_4_rx_cmd_ret_u32(struct es58x_device *es58x_dev,
 				  const struct es581_4_urb_cmd *es581_4_urb_cmd,
 				  enum es58x_ret_type ret_type)
 {
 	struct net_device *netdev;
 	const struct es581_4_rx_cmd_ret *rx_cmd_ret;
 	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
 	int ret;

 	ret = es58x_check_msg_len(es58x_dev->dev,
 				  es581_4_urb_cmd->rx_cmd_ret, msg_len);
 	if (ret)
 		return ret;

 	rx_cmd_ret = &es581_4_urb_cmd->rx_cmd_ret;

 	ret = es58x_get_netdev(es58x_dev, rx_cmd_ret->channel_no,
 			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);
 	if (ret)
 		return ret;

 	return es58x_rx_cmd_ret_u32(netdev, ret_type,
 				    get_unaligned_le32(&rx_cmd_ret->rx_cmd_ret_le32));
 }

 static int es581_4_tx_ack_msg(struct es58x_device *es58x_dev,
 			      const struct es581_4_urb_cmd *es581_4_urb_cmd)
 {
 	struct net_device *netdev;
 	const struct es581_4_tx_ack_msg *tx_ack_msg;
 	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
 	int ret;

 	tx_ack_msg = &es581_4_urb_cmd->tx_ack_msg;
 	ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
 	if (ret)
 		return ret;

 	if (tx_ack_msg->rx_cmd_ret_u8 != ES58X_RET_U8_OK)
 		return es58x_rx_cmd_ret_u8(es58x_dev->dev,
 					   ES58X_RET_TYPE_TX_MSG,
 					   tx_ack_msg->rx_cmd_ret_u8);

 	ret = es58x_get_netdev(es58x_dev, tx_ack_msg->channel_no,
 			       ES581_4_CHANNEL_IDX_OFFSET, &netdev);
 	if (ret)
 		return ret;

 	return es58x_tx_ack_msg(netdev,
 				get_unaligned_le16(&tx_ack_msg->tx_free_entries),
 				ES58X_RET_U32_OK);
 }

 static int es581_4_dispatch_rx_cmd(struct es58x_device *es58x_dev,
 				   const struct es581_4_urb_cmd *es581_4_urb_cmd)
 {
 	const struct device *dev = es58x_dev->dev;
 	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
 	enum es581_4_rx_type rx_type = es581_4_urb_cmd->rx_can_msg[0].rx_type;
 	int ret = 0;

 	switch (rx_type) {
 	case ES581_4_RX_TYPE_MESSAGE:
 		return es581_4_rx_can_msg(es58x_dev, es581_4_urb_cmd, msg_len);

 	case ES581_4_RX_TYPE_ERROR:
 		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_err_msg,
 					  msg_len);
 		if (ret < 0)
 			return ret;
 		return es581_4_rx_err_msg(es58x_dev,
 					  &es581_4_urb_cmd->rx_err_msg);

 	case ES581_4_RX_TYPE_EVENT:
 		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_event_msg,
 					  msg_len);
 		if (ret < 0)
 			return ret;
 		return es581_4_rx_event_msg(es58x_dev,
 					    &es581_4_urb_cmd->rx_event_msg);

 	default:
 		dev_err(dev, "%s: Unknown rx_type 0x%02X\n", __func__, rx_type);
 		return -EBADRQC;
 	}
 }

 static int es581_4_handle_urb_cmd(struct es58x_device *es58x_dev,
 				  const union es58x_urb_cmd *urb_cmd)
 {
 	const struct es581_4_urb_cmd *es581_4_urb_cmd;
 	struct device *dev = es58x_dev->dev;
 	u16 msg_len = es581_4_get_msg_len(urb_cmd);
 	int ret;

 	es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;

 	if (es581_4_urb_cmd->cmd_type != ES581_4_CAN_COMMAND_TYPE) {
 		dev_err(dev, "%s: Unknown command type (0x%02X)\n",
 			__func__, es581_4_urb_cmd->cmd_type);
 		return -EBADRQC;
 	}

 	switch ((enum es581_4_cmd_id)es581_4_urb_cmd->cmd_id) {
 	case ES581_4_CMD_ID_SET_BITTIMING:
 		return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
 					      ES58X_RET_TYPE_SET_BITTIMING);

 	case ES581_4_CMD_ID_ENABLE_CHANNEL:
 		return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
 					      ES58X_RET_TYPE_ENABLE_CHANNEL);

 	case ES581_4_CMD_ID_TX_MSG:
 		return es581_4_tx_ack_msg(es58x_dev, es581_4_urb_cmd);

 	case ES581_4_CMD_ID_RX_MSG:
 		return es581_4_dispatch_rx_cmd(es58x_dev, es581_4_urb_cmd);

 	case ES581_4_CMD_ID_RESET_RX:
 		ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
 					     ES58X_RET_TYPE_RESET_RX);
 		return ret;

 	case ES581_4_CMD_ID_RESET_TX:
 		ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
 					     ES58X_RET_TYPE_RESET_TX);
 		return ret;

 	case ES581_4_CMD_ID_DISABLE_CHANNEL:
 		return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
 					      ES58X_RET_TYPE_DISABLE_CHANNEL);

 	case ES581_4_CMD_ID_TIMESTAMP:
 		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->timestamp,
 					  msg_len);
 		if (ret < 0)
 			return ret;
 		es58x_rx_timestamp(es58x_dev,
 				   get_unaligned_le64(&es581_4_urb_cmd->timestamp));
 		return 0;

 	case ES581_4_CMD_ID_ECHO:
 		return es581_4_echo_msg(es58x_dev, es581_4_urb_cmd);

 	case ES581_4_CMD_ID_DEVICE_ERR:
 		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_cmd_ret_u8,
 					  msg_len);
 		if (ret)
 			return ret;
 		return es58x_rx_cmd_ret_u8(dev, ES58X_RET_TYPE_DEVICE_ERR,
 					   es581_4_urb_cmd->rx_cmd_ret_u8);

 	default:
 		dev_warn(dev, "%s: Unexpected command ID: 0x%02X\n",
 			 __func__, es581_4_urb_cmd->cmd_id);
 		return -EBADRQC;
 	}
 }

 static void es581_4_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
 				    u8 cmd_id, u8 channel_idx, u16 msg_len)
 {
 	struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;

 	es581_4_urb_cmd->SOF = cpu_to_le16(es581_4_param.tx_start_of_frame);
 	es581_4_urb_cmd->cmd_type = cmd_type;
 	es581_4_urb_cmd->cmd_id = cmd_id;
 	es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
 }

 static int es581_4_tx_can_msg(struct es58x_priv *priv,
 			      const struct sk_buff *skb)
 {
 	struct es58x_device *es58x_dev = priv->es58x_dev;
 	union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer;
 	struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
 	struct can_frame *cf = (struct can_frame *)skb->data;
 	struct es581_4_tx_can_msg *tx_can_msg;
 	u16 msg_len;
 	int ret;

 	if (can_is_canfd_skb(skb))
 		return -EMSGSIZE;

 	if (priv->tx_can_msg_cnt == 0) {
 		msg_len = sizeof(es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg);
 		es581_4_fill_urb_header(urb_cmd, ES581_4_CAN_COMMAND_TYPE,
 					ES581_4_CMD_ID_TX_MSG,
 					priv->channel_idx, msg_len);
 		es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg = 0;
 	} else {
 		msg_len = es581_4_get_msg_len(urb_cmd);
 	}

 	ret = es58x_check_msg_max_len(es58x_dev->dev,
 				      es581_4_urb_cmd->bulk_tx_can_msg,
 				      msg_len + sizeof(*tx_can_msg));
 	if (ret)
 		return ret;

 	/* Fill message contents. */
 	tx_can_msg = (typeof(tx_can_msg))&es581_4_urb_cmd->raw_msg[msg_len];
 	put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
 	put_unaligned_le32(priv->tx_head, &tx_can_msg->packet_idx);
 	put_unaligned_le16((u16)es58x_get_flags(skb), &tx_can_msg->flags);
 	tx_can_msg->channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;
 	tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);

 	memcpy(tx_can_msg->data, cf->data, cf->len);

 	/* Calculate new sizes. */
 	es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg++;
 	msg_len += es581_4_sizeof_rx_tx_msg(*tx_can_msg);
 	priv->tx_urb->transfer_buffer_length = es58x_get_urb_cmd_len(es58x_dev,
 								     msg_len);
 	es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);

 	return 0;
 }

 static int es581_4_set_bittiming(struct es58x_priv *priv)
 {
 	struct es581_4_tx_conf_msg tx_conf_msg = { 0 };
 	struct can_bittiming *bt = &priv->can.bittiming;

 	tx_conf_msg.bitrate = cpu_to_le32(bt->bitrate);
 	/* bt->sample_point is in tenth of percent. Convert it to percent. */
 	tx_conf_msg.sample_point = cpu_to_le32(bt->sample_point / 10U);
 	tx_conf_msg.samples_per_bit = cpu_to_le32(ES58X_SAMPLES_PER_BIT_ONE);
 	tx_conf_msg.bit_time = cpu_to_le32(can_bit_time(bt));
 	tx_conf_msg.sjw = cpu_to_le32(bt->sjw);
 	tx_conf_msg.sync_edge = cpu_to_le32(ES58X_SYNC_EDGE_SINGLE);
 	tx_conf_msg.physical_layer =
 	    cpu_to_le32(ES58X_PHYSICAL_LAYER_HIGH_SPEED);
 	tx_conf_msg.echo_mode = cpu_to_le32(ES58X_ECHO_ON);
 	tx_conf_msg.channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;

 	return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,
 			      ES581_4_CMD_ID_SET_BITTIMING, &tx_conf_msg,
 			      sizeof(tx_conf_msg), priv->channel_idx);
 }

 static int es581_4_enable_channel(struct es58x_priv *priv)
 {
 	int ret;
 	u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;

 	ret = es581_4_set_bittiming(priv);
 	if (ret)
 		return ret;

 	return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,
 			      ES581_4_CMD_ID_ENABLE_CHANNEL, &msg, sizeof(msg),
 			      priv->channel_idx);
 }

 static int es581_4_disable_channel(struct es58x_priv *priv)
 {
 	u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;

 	return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,
 			      ES581_4_CMD_ID_DISABLE_CHANNEL, &msg, sizeof(msg),
 			      priv->channel_idx);
 }

 static int es581_4_reset_device(struct es58x_device *es58x_dev)
 {
 	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
 			      ES581_4_CMD_ID_RESET_DEVICE,
 			      ES58X_EMPTY_MSG, 0, ES58X_CHANNEL_IDX_NA);
 }

 static int es581_4_get_timestamp(struct es58x_device *es58x_dev)
 {
 	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
 			      ES581_4_CMD_ID_TIMESTAMP,
 			      ES58X_EMPTY_MSG, 0, ES58X_CHANNEL_IDX_NA);
 }

 /* Nominal bittiming constants for ES581.4 as specified in the
  * microcontroller datasheet: "Stellaris(R) LM3S5B91 Microcontroller"
  * table 17-4 "CAN Protocol Ranges" from Texas Instruments.
  */
 static const struct can_bittiming_const es581_4_bittiming_const = {
 	.name = "ES581.4",
 	.tseg1_min = 1,
 	.tseg1_max = 8,
 	.tseg2_min = 1,
 	.tseg2_max = 8,
 	.sjw_max = 4,
 	.brp_min = 1,
 	.brp_max = 128,
 	.brp_inc = 1
 };

 const struct es58x_parameters es581_4_param = {
 	.bittiming_const = &es581_4_bittiming_const,
 	.data_bittiming_const = NULL,
 	.tdc_const = NULL,
 	.bitrate_max = 1 * MEGA /* BPS */,
 	.clock = {.freq = 50 * MEGA /* Hz */},
 	.ctrlmode_supported = CAN_CTRLMODE_CC_LEN8_DLC,
 	.tx_start_of_frame = 0xAFAF,
 	.rx_start_of_frame = 0xFAFA,
 	.tx_urb_cmd_max_len = ES581_4_TX_URB_CMD_MAX_LEN,
 	.rx_urb_cmd_max_len = ES581_4_RX_URB_CMD_MAX_LEN,
 	/* Size of internal device TX queue is 330.
 	 *
 	 * However, we witnessed some ES58X_ERR_PROT_CRC errors from
 	 * the device and thus, echo_skb_max was lowered to the
 	 * empirical value of 75 which seems stable and then rounded
 	 * down to become a power of two.
 	 *
 	 * Root cause of those ES58X_ERR_PROT_CRC errors is still
 	 * unclear.
 	 */
 	.fifo_mask = 63, /* echo_skb_max = 64 */
 	.dql_min_limit = CAN_FRAME_LEN_MAX * 50, /* Empirical value. */
 	.tx_bulk_max = ES581_4_TX_BULK_MAX,
 	.urb_cmd_header_len = ES581_4_URB_CMD_HEADER_LEN,
 	.rx_urb_max = ES58X_RX_URBS_MAX,
 	.tx_urb_max = ES58X_TX_URBS_MAX
 };

 const struct es58x_operators es581_4_ops = {
 	.get_msg_len = es581_4_get_msg_len,
 	.handle_urb_cmd = es581_4_handle_urb_cmd,
 	.fill_urb_header = es581_4_fill_urb_header,
 	.tx_can_msg = es581_4_tx_can_msg,
 	.enable_channel = es581_4_enable_channel,
 	.disable_channel = es581_4_disable_channel,
 	.reset_device = es581_4_reset_device,
 	.get_timestamp = es581_4_get_timestamp
 };
	// SPDX-License-Identifier: GPL-2.0

	/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
	*
	* File es581_4.c: Adds support to ETAS ES581.4.
	*
	* Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
	* Copyright (c) 2020 ETAS K.K.. All rights reserved.
	* Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
	*/

	#include <linux/kernel.h>
	#include <linux/units.h>
	#include <asm/unaligned.h>

	#include "es58x_core.h"
	#include "es581_4.h"

	/**
	* es581_4_sizeof_rx_tx_msg() - Calculate the actual length of the
	* structure of a rx or tx message.
	* @msg: message of variable length, must have a dlc field.
	*
	* Even if RTR frames have actually no payload, the ES58X devices
	* still expect it. Must be a macro in order to accept several types
	* (struct es581_4_tx_can_msg and struct es581_4_rx_can_msg) as an
	* input.
	*
	* Return: length of the message.
	*/
	#define es581_4_sizeof_rx_tx_msg(msg) \
	offsetof(typeof(msg), data[can_cc_dlc2len((msg).dlc)])

	static u16 es581_4_get_msg_len(const union es58x_urb_cmd *urb_cmd)
	{
	return get_unaligned_le16(&urb_cmd->es581_4_urb_cmd.msg_len);
	}

	static int es581_4_echo_msg(struct es58x_device *es58x_dev,
	const struct es581_4_urb_cmd *es581_4_urb_cmd)
	{
	struct net_device *netdev;
	const struct es581_4_bulk_echo_msg *bulk_echo_msg;
	const struct es581_4_echo_msg *echo_msg;
	u64 *tstamps = es58x_dev->timestamps;
	u16 msg_len;
	u32 first_packet_idx, packet_idx;
	unsigned int dropped = 0;
	int i, num_element, ret;

	bulk_echo_msg = &es581_4_urb_cmd->bulk_echo_msg;
	msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len) -
	sizeof(bulk_echo_msg->channel_no);
	num_element = es58x_msg_num_element(es58x_dev->dev,
	bulk_echo_msg->echo_msg, msg_len);
	if (num_element <= 0)
	return num_element;

	ret = es58x_get_netdev(es58x_dev, bulk_echo_msg->channel_no,
	ES581_4_CHANNEL_IDX_OFFSET, &netdev);
	if (ret)
	return ret;

	echo_msg = &bulk_echo_msg->echo_msg[0];
	first_packet_idx = get_unaligned_le32(&echo_msg->packet_idx);
	packet_idx = first_packet_idx;
	for (i = 0; i < num_element; i++) {
	u32 tmp_idx;

	echo_msg = &bulk_echo_msg->echo_msg[i];
	tmp_idx = get_unaligned_le32(&echo_msg->packet_idx);
	if (tmp_idx == packet_idx - 1) {
	if (net_ratelimit())
	netdev_warn(netdev,
	"Received echo packet idx %u twice\n",
	packet_idx - 1);
	dropped++;
	continue;
	}
	if (tmp_idx != packet_idx) {
	netdev_err(netdev, "Echo packet idx jumped from %u to %u\n",
	packet_idx - 1, echo_msg->packet_idx);
	return -EBADMSG;
	}

	tstamps[i] = get_unaligned_le64(&echo_msg->timestamp);
	packet_idx++;
	}

	netdev->stats.tx_dropped += dropped;
	return es58x_can_get_echo_skb(netdev, first_packet_idx,
	tstamps, num_element - dropped);
	}

	static int es581_4_rx_can_msg(struct es58x_device *es58x_dev,
	const struct es581_4_urb_cmd *es581_4_urb_cmd,
	u16 msg_len)
	{
	const struct device *dev = es58x_dev->dev;
	struct net_device *netdev;
	int pkts, num_element, channel_no, ret;

	num_element = es58x_msg_num_element(dev, es581_4_urb_cmd->rx_can_msg,
	msg_len);
	if (num_element <= 0)
	return num_element;

	channel_no = es581_4_urb_cmd->rx_can_msg[0].channel_no;
	ret = es58x_get_netdev(es58x_dev, channel_no,
	ES581_4_CHANNEL_IDX_OFFSET, &netdev);
	if (ret)
	return ret;

	if (!netif_running(netdev)) {
	if (net_ratelimit())
	netdev_info(netdev,
	"%s: %s is down, dropping %d rx packets\n",
	__func__, netdev->name, num_element);
	netdev->stats.rx_dropped += num_element;
	return 0;
	}

	for (pkts = 0; pkts < num_element; pkts++) {
	const struct es581_4_rx_can_msg *rx_can_msg =
	&es581_4_urb_cmd->rx_can_msg[pkts];
	u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
	canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);

	if (channel_no != rx_can_msg->channel_no)
	return -EBADMSG;

	ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
	can_id, rx_can_msg->flags,
	rx_can_msg->dlc);
	if (ret)
	break;
	}

	return ret;
	}

	static int es581_4_rx_err_msg(struct es58x_device *es58x_dev,
	const struct es581_4_rx_err_msg *rx_err_msg)
	{
	struct net_device *netdev;
	enum es58x_err error = get_unaligned_le32(&rx_err_msg->error);
	int ret;

	ret = es58x_get_netdev(es58x_dev, rx_err_msg->channel_no,
	ES581_4_CHANNEL_IDX_OFFSET, &netdev);
	if (ret)
	return ret;

	return es58x_rx_err_msg(netdev, error, 0,
	get_unaligned_le64(&rx_err_msg->timestamp));
	}

	static int es581_4_rx_event_msg(struct es58x_device *es58x_dev,
	const struct es581_4_rx_event_msg *rx_event_msg)
	{
	struct net_device *netdev;
	enum es58x_event event = get_unaligned_le32(&rx_event_msg->event);
	int ret;

	ret = es58x_get_netdev(es58x_dev, rx_event_msg->channel_no,
	ES581_4_CHANNEL_IDX_OFFSET, &netdev);
	if (ret)
	return ret;

	return es58x_rx_err_msg(netdev, 0, event,
	get_unaligned_le64(&rx_event_msg->timestamp));
	}

	static int es581_4_rx_cmd_ret_u32(struct es58x_device *es58x_dev,
	const struct es581_4_urb_cmd *es581_4_urb_cmd,
	enum es58x_ret_type ret_type)
	{
	struct net_device *netdev;
	const struct es581_4_rx_cmd_ret *rx_cmd_ret;
	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
	int ret;

	ret = es58x_check_msg_len(es58x_dev->dev,
	es581_4_urb_cmd->rx_cmd_ret, msg_len);
	if (ret)
	return ret;

	rx_cmd_ret = &es581_4_urb_cmd->rx_cmd_ret;

	ret = es58x_get_netdev(es58x_dev, rx_cmd_ret->channel_no,
	ES581_4_CHANNEL_IDX_OFFSET, &netdev);
	if (ret)
	return ret;

	return es58x_rx_cmd_ret_u32(netdev, ret_type,
	get_unaligned_le32(&rx_cmd_ret->rx_cmd_ret_le32));
	}

	static int es581_4_tx_ack_msg(struct es58x_device *es58x_dev,
	const struct es581_4_urb_cmd *es581_4_urb_cmd)
	{
	struct net_device *netdev;
	const struct es581_4_tx_ack_msg *tx_ack_msg;
	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
	int ret;

	tx_ack_msg = &es581_4_urb_cmd->tx_ack_msg;
	ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
	if (ret)
	return ret;

	if (tx_ack_msg->rx_cmd_ret_u8 != ES58X_RET_U8_OK)
	return es58x_rx_cmd_ret_u8(es58x_dev->dev,
	ES58X_RET_TYPE_TX_MSG,
	tx_ack_msg->rx_cmd_ret_u8);

	ret = es58x_get_netdev(es58x_dev, tx_ack_msg->channel_no,
	ES581_4_CHANNEL_IDX_OFFSET, &netdev);
	if (ret)
	return ret;

	return es58x_tx_ack_msg(netdev,
	get_unaligned_le16(&tx_ack_msg->tx_free_entries),
	ES58X_RET_U32_OK);
	}

	static int es581_4_dispatch_rx_cmd(struct es58x_device *es58x_dev,
	const struct es581_4_urb_cmd *es581_4_urb_cmd)
	{
	const struct device *dev = es58x_dev->dev;
	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
	enum es581_4_rx_type rx_type = es581_4_urb_cmd->rx_can_msg[0].rx_type;
	int ret = 0;

	switch (rx_type) {
	case ES581_4_RX_TYPE_MESSAGE:
	return es581_4_rx_can_msg(es58x_dev, es581_4_urb_cmd, msg_len);

	case ES581_4_RX_TYPE_ERROR:
	ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_err_msg,
	msg_len);
	if (ret < 0)
	return ret;
	return es581_4_rx_err_msg(es58x_dev,
	&es581_4_urb_cmd->rx_err_msg);

	case ES581_4_RX_TYPE_EVENT:
	ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_event_msg,
	msg_len);
	if (ret < 0)
	return ret;
	return es581_4_rx_event_msg(es58x_dev,
	&es581_4_urb_cmd->rx_event_msg);

	default:
	dev_err(dev, "%s: Unknown rx_type 0x%02X\n", __func__, rx_type);
	return -EBADRQC;
	}
	}

	static int es581_4_handle_urb_cmd(struct es58x_device *es58x_dev,
	const union es58x_urb_cmd *urb_cmd)
	{
	const struct es581_4_urb_cmd *es581_4_urb_cmd;
	struct device *dev = es58x_dev->dev;
	u16 msg_len = es581_4_get_msg_len(urb_cmd);
	int ret;

	es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;

	if (es581_4_urb_cmd->cmd_type != ES581_4_CAN_COMMAND_TYPE) {
	dev_err(dev, "%s: Unknown command type (0x%02X)\n",
	__func__, es581_4_urb_cmd->cmd_type);
	return -EBADRQC;
	}

	switch ((enum es581_4_cmd_id)es581_4_urb_cmd->cmd_id) {
	case ES581_4_CMD_ID_SET_BITTIMING:
	return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
	ES58X_RET_TYPE_SET_BITTIMING);

	case ES581_4_CMD_ID_ENABLE_CHANNEL:
	return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
	ES58X_RET_TYPE_ENABLE_CHANNEL);

	case ES581_4_CMD_ID_TX_MSG:
	return es581_4_tx_ack_msg(es58x_dev, es581_4_urb_cmd);

	case ES581_4_CMD_ID_RX_MSG:
	return es581_4_dispatch_rx_cmd(es58x_dev, es581_4_urb_cmd);

	case ES581_4_CMD_ID_RESET_RX:
	ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
	ES58X_RET_TYPE_RESET_RX);
	return ret;

	case ES581_4_CMD_ID_RESET_TX:
	ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
	ES58X_RET_TYPE_RESET_TX);
	return ret;

	case ES581_4_CMD_ID_DISABLE_CHANNEL:
	return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
	ES58X_RET_TYPE_DISABLE_CHANNEL);

	case ES581_4_CMD_ID_TIMESTAMP:
	ret = es58x_check_msg_len(dev, es581_4_urb_cmd->timestamp,
	msg_len);
	if (ret < 0)
	return ret;
	es58x_rx_timestamp(es58x_dev,
	get_unaligned_le64(&es581_4_urb_cmd->timestamp));
	return 0;

	case ES581_4_CMD_ID_ECHO:
	return es581_4_echo_msg(es58x_dev, es581_4_urb_cmd);

	case ES581_4_CMD_ID_DEVICE_ERR:
	ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_cmd_ret_u8,
	msg_len);
	if (ret)
	return ret;
	return es58x_rx_cmd_ret_u8(dev, ES58X_RET_TYPE_DEVICE_ERR,
	es581_4_urb_cmd->rx_cmd_ret_u8);

	default:
	dev_warn(dev, "%s: Unexpected command ID: 0x%02X\n",
	__func__, es581_4_urb_cmd->cmd_id);
	return -EBADRQC;
	}
	}

	static void es581_4_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
	u8 cmd_id, u8 channel_idx, u16 msg_len)
	{
	struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;

	es581_4_urb_cmd->SOF = cpu_to_le16(es581_4_param.tx_start_of_frame);
	es581_4_urb_cmd->cmd_type = cmd_type;
	es581_4_urb_cmd->cmd_id = cmd_id;
	es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
	}

	static int es581_4_tx_can_msg(struct es58x_priv *priv,
	const struct sk_buff *skb)
	{
	struct es58x_device *es58x_dev = priv->es58x_dev;
	union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer;
	struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
	struct can_frame cf = (struct can_frame )skb->data;
	struct es581_4_tx_can_msg *tx_can_msg;
	u16 msg_len;
	int ret;

	if (can_is_canfd_skb(skb))
	return -EMSGSIZE;

	if (priv->tx_can_msg_cnt == 0) {
	msg_len = sizeof(es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg);
	es581_4_fill_urb_header(urb_cmd, ES581_4_CAN_COMMAND_TYPE,
	ES581_4_CMD_ID_TX_MSG,
	priv->channel_idx, msg_len);
	es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg = 0;
	} else {
	msg_len = es581_4_get_msg_len(urb_cmd);
	}

	ret = es58x_check_msg_max_len(es58x_dev->dev,
	es581_4_urb_cmd->bulk_tx_can_msg,
	msg_len + sizeof(*tx_can_msg));
	if (ret)
	return ret;

	/* Fill message contents. */
	tx_can_msg = (typeof(tx_can_msg))&es581_4_urb_cmd->raw_msg[msg_len];
	put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
	put_unaligned_le32(priv->tx_head, &tx_can_msg->packet_idx);
	put_unaligned_le16((u16)es58x_get_flags(skb), &tx_can_msg->flags);
	tx_can_msg->channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;
	tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);

	memcpy(tx_can_msg->data, cf->data, cf->len);

	/* Calculate new sizes. */
	es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg++;
	msg_len += es581_4_sizeof_rx_tx_msg(*tx_can_msg);
	priv->tx_urb->transfer_buffer_length = es58x_get_urb_cmd_len(es58x_dev,
	msg_len);
	es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);

	return 0;
	}

	static int es581_4_set_bittiming(struct es58x_priv *priv)
	{
	struct es581_4_tx_conf_msg tx_conf_msg = { 0 };
	struct can_bittiming *bt = &priv->can.bittiming;

	tx_conf_msg.bitrate = cpu_to_le32(bt->bitrate);
	/* bt->sample_point is in tenth of percent. Convert it to percent. */
	tx_conf_msg.sample_point = cpu_to_le32(bt->sample_point / 10U);
	tx_conf_msg.samples_per_bit = cpu_to_le32(ES58X_SAMPLES_PER_BIT_ONE);
	tx_conf_msg.bit_time = cpu_to_le32(can_bit_time(bt));
	tx_conf_msg.sjw = cpu_to_le32(bt->sjw);
	tx_conf_msg.sync_edge = cpu_to_le32(ES58X_SYNC_EDGE_SINGLE);
	tx_conf_msg.physical_layer =
	cpu_to_le32(ES58X_PHYSICAL_LAYER_HIGH_SPEED);
	tx_conf_msg.echo_mode = cpu_to_le32(ES58X_ECHO_ON);
	tx_conf_msg.channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;

	return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,
	ES581_4_CMD_ID_SET_BITTIMING, &tx_conf_msg,
	sizeof(tx_conf_msg), priv->channel_idx);
	}

	static int es581_4_enable_channel(struct es58x_priv *priv)
	{
	int ret;
	u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;

	ret = es581_4_set_bittiming(priv);
	if (ret)
	return ret;

	return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,
	ES581_4_CMD_ID_ENABLE_CHANNEL, &msg, sizeof(msg),
	priv->channel_idx);
	}

	static int es581_4_disable_channel(struct es58x_priv *priv)
	{
	u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;

	return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,
	ES581_4_CMD_ID_DISABLE_CHANNEL, &msg, sizeof(msg),
	priv->channel_idx);
	}

	static int es581_4_reset_device(struct es58x_device *es58x_dev)
	{
	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
	ES581_4_CMD_ID_RESET_DEVICE,
	ES58X_EMPTY_MSG, 0, ES58X_CHANNEL_IDX_NA);
	}

	static int es581_4_get_timestamp(struct es58x_device *es58x_dev)
	{
	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
	ES581_4_CMD_ID_TIMESTAMP,
	ES58X_EMPTY_MSG, 0, ES58X_CHANNEL_IDX_NA);
	}

	/* Nominal bittiming constants for ES581.4 as specified in the
	* microcontroller datasheet: "Stellaris(R) LM3S5B91 Microcontroller"
	* table 17-4 "CAN Protocol Ranges" from Texas Instruments.
	*/
	static const struct can_bittiming_const es581_4_bittiming_const = {
	.name = "ES581.4",
	.tseg1_min = 1,
	.tseg1_max = 8,
	.tseg2_min = 1,
	.tseg2_max = 8,
	.sjw_max = 4,
	.brp_min = 1,
	.brp_max = 128,
	.brp_inc = 1
	};

	const struct es58x_parameters es581_4_param = {
	.bittiming_const = &es581_4_bittiming_const,
	.data_bittiming_const = NULL,
	.tdc_const = NULL,
	.bitrate_max = 1 * MEGA /* BPS */,
	.clock = {.freq = 50 * MEGA /* Hz */},
	.ctrlmode_supported = CAN_CTRLMODE_CC_LEN8_DLC,
	.tx_start_of_frame = 0xAFAF,
	.rx_start_of_frame = 0xFAFA,
	.tx_urb_cmd_max_len = ES581_4_TX_URB_CMD_MAX_LEN,
	.rx_urb_cmd_max_len = ES581_4_RX_URB_CMD_MAX_LEN,
	/* Size of internal device TX queue is 330.
	*
	* However, we witnessed some ES58X_ERR_PROT_CRC errors from
	* the device and thus, echo_skb_max was lowered to the
	* empirical value of 75 which seems stable and then rounded
	* down to become a power of two.
	*
	* Root cause of those ES58X_ERR_PROT_CRC errors is still
	* unclear.
	*/
	.fifo_mask = 63, /* echo_skb_max = 64 */
	.dql_min_limit = CAN_FRAME_LEN_MAX * 50, /* Empirical value. */
	.tx_bulk_max = ES581_4_TX_BULK_MAX,
	.urb_cmd_header_len = ES581_4_URB_CMD_HEADER_LEN,
	.rx_urb_max = ES58X_RX_URBS_MAX,
	.tx_urb_max = ES58X_TX_URBS_MAX
	};

	const struct es58x_operators es581_4_ops = {
	.get_msg_len = es581_4_get_msg_len,
	.handle_urb_cmd = es581_4_handle_urb_cmd,
	.fill_urb_header = es581_4_fill_urb_header,
	.tx_can_msg = es581_4_tx_can_msg,
	.enable_channel = es581_4_enable_channel,
	.disable_channel = es581_4_disable_channel,
	.reset_device = es581_4_reset_device,
	.get_timestamp = es581_4_get_timestamp
	};