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1 | /* | |
2 | * CAN driver for EMS Dr. Thomas Wuensche CPC-USB/ARM7 | |
3 | * | |
4 | * Copyright (C) 2004-2009 EMS Dr. Thomas Wuensche | |
5 | * | |
6 | * This program is free software; you can redistribute it and/or modify it | |
7 | * under the terms of the GNU General Public License as published | |
8 | * by the Free Software Foundation; version 2 of the License. | |
9 | * | |
10 | * This program is distributed in the hope that it will be useful, but | |
11 | * WITHOUT ANY WARRANTY; without even the implied warranty of | |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | |
13 | * General Public License for more details. | |
14 | * | |
15 | * You should have received a copy of the GNU General Public License along | |
16 | * with this program; if not, write to the Free Software Foundation, Inc., | |
17 | * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. | |
18 | */ | |
19 | #include <linux/signal.h> | |
20 | #include <linux/slab.h> | |
21 | #include <linux/module.h> | |
22 | #include <linux/netdevice.h> | |
23 | #include <linux/usb.h> | |
24 | ||
25 | #include <linux/can.h> | |
26 | #include <linux/can/dev.h> | |
27 | #include <linux/can/error.h> | |
28 | ||
29 | MODULE_AUTHOR("Sebastian Haas <haas@ems-wuensche.com>"); | |
30 | MODULE_DESCRIPTION("CAN driver for EMS Dr. Thomas Wuensche CAN/USB interfaces"); | |
31 | MODULE_LICENSE("GPL v2"); | |
32 | ||
33 | /* Control-Values for CPC_Control() Command Subject Selection */ | |
34 | #define CONTR_CAN_MESSAGE 0x04 | |
35 | #define CONTR_CAN_STATE 0x0C | |
36 | #define CONTR_BUS_ERROR 0x1C | |
37 | ||
38 | /* Control Command Actions */ | |
39 | #define CONTR_CONT_OFF 0 | |
40 | #define CONTR_CONT_ON 1 | |
41 | #define CONTR_ONCE 2 | |
42 | ||
43 | /* Messages from CPC to PC */ | |
44 | #define CPC_MSG_TYPE_CAN_FRAME 1 /* CAN data frame */ | |
45 | #define CPC_MSG_TYPE_RTR_FRAME 8 /* CAN remote frame */ | |
46 | #define CPC_MSG_TYPE_CAN_PARAMS 12 /* Actual CAN parameters */ | |
47 | #define CPC_MSG_TYPE_CAN_STATE 14 /* CAN state message */ | |
48 | #define CPC_MSG_TYPE_EXT_CAN_FRAME 16 /* Extended CAN data frame */ | |
49 | #define CPC_MSG_TYPE_EXT_RTR_FRAME 17 /* Extended remote frame */ | |
50 | #define CPC_MSG_TYPE_CONTROL 19 /* change interface behavior */ | |
51 | #define CPC_MSG_TYPE_CONFIRM 20 /* command processed confirmation */ | |
52 | #define CPC_MSG_TYPE_OVERRUN 21 /* overrun events */ | |
53 | #define CPC_MSG_TYPE_CAN_FRAME_ERROR 23 /* detected bus errors */ | |
54 | #define CPC_MSG_TYPE_ERR_COUNTER 25 /* RX/TX error counter */ | |
55 | ||
56 | /* Messages from the PC to the CPC interface */ | |
57 | #define CPC_CMD_TYPE_CAN_FRAME 1 /* CAN data frame */ | |
58 | #define CPC_CMD_TYPE_CONTROL 3 /* control of interface behavior */ | |
59 | #define CPC_CMD_TYPE_CAN_PARAMS 6 /* set CAN parameters */ | |
60 | #define CPC_CMD_TYPE_RTR_FRAME 13 /* CAN remote frame */ | |
61 | #define CPC_CMD_TYPE_CAN_STATE 14 /* CAN state message */ | |
62 | #define CPC_CMD_TYPE_EXT_CAN_FRAME 15 /* Extended CAN data frame */ | |
63 | #define CPC_CMD_TYPE_EXT_RTR_FRAME 16 /* Extended CAN remote frame */ | |
64 | #define CPC_CMD_TYPE_CAN_EXIT 200 /* exit the CAN */ | |
65 | ||
66 | #define CPC_CMD_TYPE_INQ_ERR_COUNTER 25 /* request the CAN error counters */ | |
67 | #define CPC_CMD_TYPE_CLEAR_MSG_QUEUE 8 /* clear CPC_MSG queue */ | |
68 | #define CPC_CMD_TYPE_CLEAR_CMD_QUEUE 28 /* clear CPC_CMD queue */ | |
69 | ||
70 | #define CPC_CC_TYPE_SJA1000 2 /* Philips basic CAN controller */ | |
71 | ||
72 | #define CPC_CAN_ECODE_ERRFRAME 0x01 /* Ecode type */ | |
73 | ||
74 | /* Overrun types */ | |
75 | #define CPC_OVR_EVENT_CAN 0x01 | |
76 | #define CPC_OVR_EVENT_CANSTATE 0x02 | |
77 | #define CPC_OVR_EVENT_BUSERROR 0x04 | |
78 | ||
79 | /* | |
80 | * If the CAN controller lost a message we indicate it with the highest bit | |
81 | * set in the count field. | |
82 | */ | |
83 | #define CPC_OVR_HW 0x80 | |
84 | ||
85 | /* Size of the "struct ems_cpc_msg" without the union */ | |
86 | #define CPC_MSG_HEADER_LEN 11 | |
87 | #define CPC_CAN_MSG_MIN_SIZE 5 | |
88 | ||
89 | /* Define these values to match your devices */ | |
90 | #define USB_CPCUSB_VENDOR_ID 0x12D6 | |
91 | ||
92 | #define USB_CPCUSB_ARM7_PRODUCT_ID 0x0444 | |
93 | ||
94 | /* Mode register NXP LPC2119/SJA1000 CAN Controller */ | |
95 | #define SJA1000_MOD_NORMAL 0x00 | |
96 | #define SJA1000_MOD_RM 0x01 | |
97 | ||
98 | /* ECC register NXP LPC2119/SJA1000 CAN Controller */ | |
99 | #define SJA1000_ECC_SEG 0x1F | |
100 | #define SJA1000_ECC_DIR 0x20 | |
101 | #define SJA1000_ECC_ERR 0x06 | |
102 | #define SJA1000_ECC_BIT 0x00 | |
103 | #define SJA1000_ECC_FORM 0x40 | |
104 | #define SJA1000_ECC_STUFF 0x80 | |
105 | #define SJA1000_ECC_MASK 0xc0 | |
106 | ||
107 | /* Status register content */ | |
108 | #define SJA1000_SR_BS 0x80 | |
109 | #define SJA1000_SR_ES 0x40 | |
110 | ||
111 | #define SJA1000_DEFAULT_OUTPUT_CONTROL 0xDA | |
112 | ||
113 | /* | |
114 | * The device actually uses a 16MHz clock to generate the CAN clock | |
115 | * but it expects SJA1000 bit settings based on 8MHz (is internally | |
116 | * converted). | |
117 | */ | |
118 | #define EMS_USB_ARM7_CLOCK 8000000 | |
119 | ||
120 | /* | |
121 | * CAN-Message representation in a CPC_MSG. Message object type is | |
122 | * CPC_MSG_TYPE_CAN_FRAME or CPC_MSG_TYPE_RTR_FRAME or | |
123 | * CPC_MSG_TYPE_EXT_CAN_FRAME or CPC_MSG_TYPE_EXT_RTR_FRAME. | |
124 | */ | |
125 | struct cpc_can_msg { | |
126 | __le32 id; | |
127 | u8 length; | |
128 | u8 msg[8]; | |
129 | }; | |
130 | ||
131 | /* Representation of the CAN parameters for the SJA1000 controller */ | |
132 | struct cpc_sja1000_params { | |
133 | u8 mode; | |
134 | u8 acc_code0; | |
135 | u8 acc_code1; | |
136 | u8 acc_code2; | |
137 | u8 acc_code3; | |
138 | u8 acc_mask0; | |
139 | u8 acc_mask1; | |
140 | u8 acc_mask2; | |
141 | u8 acc_mask3; | |
142 | u8 btr0; | |
143 | u8 btr1; | |
144 | u8 outp_contr; | |
145 | }; | |
146 | ||
147 | /* CAN params message representation */ | |
148 | struct cpc_can_params { | |
149 | u8 cc_type; | |
150 | ||
151 | /* Will support M16C CAN controller in the future */ | |
152 | union { | |
153 | struct cpc_sja1000_params sja1000; | |
154 | } cc_params; | |
155 | }; | |
156 | ||
157 | /* Structure for confirmed message handling */ | |
158 | struct cpc_confirm { | |
159 | u8 error; /* error code */ | |
160 | }; | |
161 | ||
162 | /* Structure for overrun conditions */ | |
163 | struct cpc_overrun { | |
164 | u8 event; | |
165 | u8 count; | |
166 | }; | |
167 | ||
168 | /* SJA1000 CAN errors (compatible to NXP LPC2119) */ | |
169 | struct cpc_sja1000_can_error { | |
170 | u8 ecc; | |
171 | u8 rxerr; | |
172 | u8 txerr; | |
173 | }; | |
174 | ||
175 | /* structure for CAN error conditions */ | |
176 | struct cpc_can_error { | |
177 | u8 ecode; | |
178 | ||
179 | struct { | |
180 | u8 cc_type; | |
181 | ||
182 | /* Other controllers may also provide error code capture regs */ | |
183 | union { | |
184 | struct cpc_sja1000_can_error sja1000; | |
185 | } regs; | |
186 | } cc; | |
187 | }; | |
188 | ||
189 | /* | |
190 | * Structure containing RX/TX error counter. This structure is used to request | |
191 | * the values of the CAN controllers TX and RX error counter. | |
192 | */ | |
193 | struct cpc_can_err_counter { | |
194 | u8 rx; | |
195 | u8 tx; | |
196 | }; | |
197 | ||
198 | /* Main message type used between library and application */ | |
199 | struct __packed ems_cpc_msg { | |
200 | u8 type; /* type of message */ | |
201 | u8 length; /* length of data within union 'msg' */ | |
202 | u8 msgid; /* confirmation handle */ | |
203 | __le32 ts_sec; /* timestamp in seconds */ | |
204 | __le32 ts_nsec; /* timestamp in nano seconds */ | |
205 | ||
206 | union { | |
207 | u8 generic[64]; | |
208 | struct cpc_can_msg can_msg; | |
209 | struct cpc_can_params can_params; | |
210 | struct cpc_confirm confirmation; | |
211 | struct cpc_overrun overrun; | |
212 | struct cpc_can_error error; | |
213 | struct cpc_can_err_counter err_counter; | |
214 | u8 can_state; | |
215 | } msg; | |
216 | }; | |
217 | ||
218 | /* | |
219 | * Table of devices that work with this driver | |
220 | * NOTE: This driver supports only CPC-USB/ARM7 (LPC2119) yet. | |
221 | */ | |
222 | static struct usb_device_id ems_usb_table[] = { | |
223 | {USB_DEVICE(USB_CPCUSB_VENDOR_ID, USB_CPCUSB_ARM7_PRODUCT_ID)}, | |
224 | {} /* Terminating entry */ | |
225 | }; | |
226 | ||
227 | MODULE_DEVICE_TABLE(usb, ems_usb_table); | |
228 | ||
229 | #define RX_BUFFER_SIZE 64 | |
230 | #define CPC_HEADER_SIZE 4 | |
231 | #define INTR_IN_BUFFER_SIZE 4 | |
232 | ||
233 | #define MAX_RX_URBS 10 | |
234 | #define MAX_TX_URBS 10 | |
235 | ||
236 | struct ems_usb; | |
237 | ||
238 | struct ems_tx_urb_context { | |
239 | struct ems_usb *dev; | |
240 | ||
241 | u32 echo_index; | |
242 | u8 dlc; | |
243 | }; | |
244 | ||
245 | struct ems_usb { | |
246 | struct can_priv can; /* must be the first member */ | |
247 | ||
248 | struct sk_buff *echo_skb[MAX_TX_URBS]; | |
249 | ||
250 | struct usb_device *udev; | |
251 | struct net_device *netdev; | |
252 | ||
253 | atomic_t active_tx_urbs; | |
254 | struct usb_anchor tx_submitted; | |
255 | struct ems_tx_urb_context tx_contexts[MAX_TX_URBS]; | |
256 | ||
257 | struct usb_anchor rx_submitted; | |
258 | ||
259 | struct urb *intr_urb; | |
260 | ||
261 | u8 *tx_msg_buffer; | |
262 | ||
263 | u8 *intr_in_buffer; | |
264 | unsigned int free_slots; /* remember number of available slots */ | |
265 | ||
266 | struct ems_cpc_msg active_params; /* active controller parameters */ | |
267 | }; | |
268 | ||
269 | static void ems_usb_read_interrupt_callback(struct urb *urb) | |
270 | { | |
271 | struct ems_usb *dev = urb->context; | |
272 | struct net_device *netdev = dev->netdev; | |
273 | int err; | |
274 | ||
275 | if (!netif_device_present(netdev)) | |
276 | return; | |
277 | ||
278 | switch (urb->status) { | |
279 | case 0: | |
280 | dev->free_slots = dev->intr_in_buffer[1]; | |
281 | break; | |
282 | ||
283 | case -ECONNRESET: /* unlink */ | |
284 | case -ENOENT: | |
285 | case -ESHUTDOWN: | |
286 | return; | |
287 | ||
288 | default: | |
289 | netdev_info(netdev, "Rx interrupt aborted %d\n", urb->status); | |
290 | break; | |
291 | } | |
292 | ||
293 | err = usb_submit_urb(urb, GFP_ATOMIC); | |
294 | ||
295 | if (err == -ENODEV) | |
296 | netif_device_detach(netdev); | |
297 | else if (err) | |
298 | netdev_err(netdev, "failed resubmitting intr urb: %d\n", err); | |
299 | } | |
300 | ||
301 | static void ems_usb_rx_can_msg(struct ems_usb *dev, struct ems_cpc_msg *msg) | |
302 | { | |
303 | struct can_frame *cf; | |
304 | struct sk_buff *skb; | |
305 | int i; | |
306 | struct net_device_stats *stats = &dev->netdev->stats; | |
307 | ||
308 | skb = alloc_can_skb(dev->netdev, &cf); | |
309 | if (skb == NULL) | |
310 | return; | |
311 | ||
312 | cf->can_id = le32_to_cpu(msg->msg.can_msg.id); | |
313 | cf->can_dlc = get_can_dlc(msg->msg.can_msg.length & 0xF); | |
314 | ||
315 | if (msg->type == CPC_MSG_TYPE_EXT_CAN_FRAME || | |
316 | msg->type == CPC_MSG_TYPE_EXT_RTR_FRAME) | |
317 | cf->can_id |= CAN_EFF_FLAG; | |
318 | ||
319 | if (msg->type == CPC_MSG_TYPE_RTR_FRAME || | |
320 | msg->type == CPC_MSG_TYPE_EXT_RTR_FRAME) { | |
321 | cf->can_id |= CAN_RTR_FLAG; | |
322 | } else { | |
323 | for (i = 0; i < cf->can_dlc; i++) | |
324 | cf->data[i] = msg->msg.can_msg.msg[i]; | |
325 | } | |
326 | ||
327 | stats->rx_packets++; | |
328 | stats->rx_bytes += cf->can_dlc; | |
329 | netif_rx(skb); | |
330 | } | |
331 | ||
332 | static void ems_usb_rx_err(struct ems_usb *dev, struct ems_cpc_msg *msg) | |
333 | { | |
334 | struct can_frame *cf; | |
335 | struct sk_buff *skb; | |
336 | struct net_device_stats *stats = &dev->netdev->stats; | |
337 | ||
338 | skb = alloc_can_err_skb(dev->netdev, &cf); | |
339 | if (skb == NULL) | |
340 | return; | |
341 | ||
342 | if (msg->type == CPC_MSG_TYPE_CAN_STATE) { | |
343 | u8 state = msg->msg.can_state; | |
344 | ||
345 | if (state & SJA1000_SR_BS) { | |
346 | dev->can.state = CAN_STATE_BUS_OFF; | |
347 | cf->can_id |= CAN_ERR_BUSOFF; | |
348 | ||
349 | dev->can.can_stats.bus_off++; | |
350 | can_bus_off(dev->netdev); | |
351 | } else if (state & SJA1000_SR_ES) { | |
352 | dev->can.state = CAN_STATE_ERROR_WARNING; | |
353 | dev->can.can_stats.error_warning++; | |
354 | } else { | |
355 | dev->can.state = CAN_STATE_ERROR_ACTIVE; | |
356 | dev->can.can_stats.error_passive++; | |
357 | } | |
358 | } else if (msg->type == CPC_MSG_TYPE_CAN_FRAME_ERROR) { | |
359 | u8 ecc = msg->msg.error.cc.regs.sja1000.ecc; | |
360 | u8 txerr = msg->msg.error.cc.regs.sja1000.txerr; | |
361 | u8 rxerr = msg->msg.error.cc.regs.sja1000.rxerr; | |
362 | ||
363 | /* bus error interrupt */ | |
364 | dev->can.can_stats.bus_error++; | |
365 | stats->rx_errors++; | |
366 | ||
367 | cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; | |
368 | ||
369 | switch (ecc & SJA1000_ECC_MASK) { | |
370 | case SJA1000_ECC_BIT: | |
371 | cf->data[2] |= CAN_ERR_PROT_BIT; | |
372 | break; | |
373 | case SJA1000_ECC_FORM: | |
374 | cf->data[2] |= CAN_ERR_PROT_FORM; | |
375 | break; | |
376 | case SJA1000_ECC_STUFF: | |
377 | cf->data[2] |= CAN_ERR_PROT_STUFF; | |
378 | break; | |
379 | default: | |
380 | cf->data[3] = ecc & SJA1000_ECC_SEG; | |
381 | break; | |
382 | } | |
383 | ||
384 | /* Error occurred during transmission? */ | |
385 | if ((ecc & SJA1000_ECC_DIR) == 0) | |
386 | cf->data[2] |= CAN_ERR_PROT_TX; | |
387 | ||
388 | if (dev->can.state == CAN_STATE_ERROR_WARNING || | |
389 | dev->can.state == CAN_STATE_ERROR_PASSIVE) { | |
390 | cf->data[1] = (txerr > rxerr) ? | |
391 | CAN_ERR_CRTL_TX_PASSIVE : CAN_ERR_CRTL_RX_PASSIVE; | |
392 | } | |
393 | } else if (msg->type == CPC_MSG_TYPE_OVERRUN) { | |
394 | cf->can_id |= CAN_ERR_CRTL; | |
395 | cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; | |
396 | ||
397 | stats->rx_over_errors++; | |
398 | stats->rx_errors++; | |
399 | } | |
400 | ||
401 | stats->rx_packets++; | |
402 | stats->rx_bytes += cf->can_dlc; | |
403 | netif_rx(skb); | |
404 | } | |
405 | ||
406 | /* | |
407 | * callback for bulk IN urb | |
408 | */ | |
409 | static void ems_usb_read_bulk_callback(struct urb *urb) | |
410 | { | |
411 | struct ems_usb *dev = urb->context; | |
412 | struct net_device *netdev; | |
413 | int retval; | |
414 | ||
415 | netdev = dev->netdev; | |
416 | ||
417 | if (!netif_device_present(netdev)) | |
418 | return; | |
419 | ||
420 | switch (urb->status) { | |
421 | case 0: /* success */ | |
422 | break; | |
423 | ||
424 | case -ENOENT: | |
425 | return; | |
426 | ||
427 | default: | |
428 | netdev_info(netdev, "Rx URB aborted (%d)\n", urb->status); | |
429 | goto resubmit_urb; | |
430 | } | |
431 | ||
432 | if (urb->actual_length > CPC_HEADER_SIZE) { | |
433 | struct ems_cpc_msg *msg; | |
434 | u8 *ibuf = urb->transfer_buffer; | |
435 | u8 msg_count, start; | |
436 | ||
437 | msg_count = ibuf[0] & ~0x80; | |
438 | ||
439 | start = CPC_HEADER_SIZE; | |
440 | ||
441 | while (msg_count) { | |
442 | msg = (struct ems_cpc_msg *)&ibuf[start]; | |
443 | ||
444 | switch (msg->type) { | |
445 | case CPC_MSG_TYPE_CAN_STATE: | |
446 | /* Process CAN state changes */ | |
447 | ems_usb_rx_err(dev, msg); | |
448 | break; | |
449 | ||
450 | case CPC_MSG_TYPE_CAN_FRAME: | |
451 | case CPC_MSG_TYPE_EXT_CAN_FRAME: | |
452 | case CPC_MSG_TYPE_RTR_FRAME: | |
453 | case CPC_MSG_TYPE_EXT_RTR_FRAME: | |
454 | ems_usb_rx_can_msg(dev, msg); | |
455 | break; | |
456 | ||
457 | case CPC_MSG_TYPE_CAN_FRAME_ERROR: | |
458 | /* Process errorframe */ | |
459 | ems_usb_rx_err(dev, msg); | |
460 | break; | |
461 | ||
462 | case CPC_MSG_TYPE_OVERRUN: | |
463 | /* Message lost while receiving */ | |
464 | ems_usb_rx_err(dev, msg); | |
465 | break; | |
466 | } | |
467 | ||
468 | start += CPC_MSG_HEADER_LEN + msg->length; | |
469 | msg_count--; | |
470 | ||
471 | if (start > urb->transfer_buffer_length) { | |
472 | netdev_err(netdev, "format error\n"); | |
473 | break; | |
474 | } | |
475 | } | |
476 | } | |
477 | ||
478 | resubmit_urb: | |
479 | usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 2), | |
480 | urb->transfer_buffer, RX_BUFFER_SIZE, | |
481 | ems_usb_read_bulk_callback, dev); | |
482 | ||
483 | retval = usb_submit_urb(urb, GFP_ATOMIC); | |
484 | ||
485 | if (retval == -ENODEV) | |
486 | netif_device_detach(netdev); | |
487 | else if (retval) | |
488 | netdev_err(netdev, | |
489 | "failed resubmitting read bulk urb: %d\n", retval); | |
490 | } | |
491 | ||
492 | /* | |
493 | * callback for bulk IN urb | |
494 | */ | |
495 | static void ems_usb_write_bulk_callback(struct urb *urb) | |
496 | { | |
497 | struct ems_tx_urb_context *context = urb->context; | |
498 | struct ems_usb *dev; | |
499 | struct net_device *netdev; | |
500 | ||
501 | BUG_ON(!context); | |
502 | ||
503 | dev = context->dev; | |
504 | netdev = dev->netdev; | |
505 | ||
506 | /* free up our allocated buffer */ | |
507 | usb_free_coherent(urb->dev, urb->transfer_buffer_length, | |
508 | urb->transfer_buffer, urb->transfer_dma); | |
509 | ||
510 | atomic_dec(&dev->active_tx_urbs); | |
511 | ||
512 | if (!netif_device_present(netdev)) | |
513 | return; | |
514 | ||
515 | if (urb->status) | |
516 | netdev_info(netdev, "Tx URB aborted (%d)\n", urb->status); | |
517 | ||
518 | netdev->trans_start = jiffies; | |
519 | ||
520 | /* transmission complete interrupt */ | |
521 | netdev->stats.tx_packets++; | |
522 | netdev->stats.tx_bytes += context->dlc; | |
523 | ||
524 | can_get_echo_skb(netdev, context->echo_index); | |
525 | ||
526 | /* Release context */ | |
527 | context->echo_index = MAX_TX_URBS; | |
528 | ||
529 | if (netif_queue_stopped(netdev)) | |
530 | netif_wake_queue(netdev); | |
531 | } | |
532 | ||
533 | /* | |
534 | * Send the given CPC command synchronously | |
535 | */ | |
536 | static int ems_usb_command_msg(struct ems_usb *dev, struct ems_cpc_msg *msg) | |
537 | { | |
538 | int actual_length; | |
539 | ||
540 | /* Copy payload */ | |
541 | memcpy(&dev->tx_msg_buffer[CPC_HEADER_SIZE], msg, | |
542 | msg->length + CPC_MSG_HEADER_LEN); | |
543 | ||
544 | /* Clear header */ | |
545 | memset(&dev->tx_msg_buffer[0], 0, CPC_HEADER_SIZE); | |
546 | ||
547 | return usb_bulk_msg(dev->udev, usb_sndbulkpipe(dev->udev, 2), | |
548 | &dev->tx_msg_buffer[0], | |
549 | msg->length + CPC_MSG_HEADER_LEN + CPC_HEADER_SIZE, | |
550 | &actual_length, 1000); | |
551 | } | |
552 | ||
553 | /* | |
554 | * Change CAN controllers' mode register | |
555 | */ | |
556 | static int ems_usb_write_mode(struct ems_usb *dev, u8 mode) | |
557 | { | |
558 | dev->active_params.msg.can_params.cc_params.sja1000.mode = mode; | |
559 | ||
560 | return ems_usb_command_msg(dev, &dev->active_params); | |
561 | } | |
562 | ||
563 | /* | |
564 | * Send a CPC_Control command to change behaviour when interface receives a CAN | |
565 | * message, bus error or CAN state changed notifications. | |
566 | */ | |
567 | static int ems_usb_control_cmd(struct ems_usb *dev, u8 val) | |
568 | { | |
569 | struct ems_cpc_msg cmd; | |
570 | ||
571 | cmd.type = CPC_CMD_TYPE_CONTROL; | |
572 | cmd.length = CPC_MSG_HEADER_LEN + 1; | |
573 | ||
574 | cmd.msgid = 0; | |
575 | ||
576 | cmd.msg.generic[0] = val; | |
577 | ||
578 | return ems_usb_command_msg(dev, &cmd); | |
579 | } | |
580 | ||
581 | /* | |
582 | * Start interface | |
583 | */ | |
584 | static int ems_usb_start(struct ems_usb *dev) | |
585 | { | |
586 | struct net_device *netdev = dev->netdev; | |
587 | int err, i; | |
588 | ||
589 | dev->intr_in_buffer[0] = 0; | |
590 | dev->free_slots = 15; /* initial size */ | |
591 | ||
592 | for (i = 0; i < MAX_RX_URBS; i++) { | |
593 | struct urb *urb = NULL; | |
594 | u8 *buf = NULL; | |
595 | ||
596 | /* create a URB, and a buffer for it */ | |
597 | urb = usb_alloc_urb(0, GFP_KERNEL); | |
598 | if (!urb) { | |
599 | netdev_err(netdev, "No memory left for URBs\n"); | |
600 | err = -ENOMEM; | |
601 | break; | |
602 | } | |
603 | ||
604 | buf = usb_alloc_coherent(dev->udev, RX_BUFFER_SIZE, GFP_KERNEL, | |
605 | &urb->transfer_dma); | |
606 | if (!buf) { | |
607 | netdev_err(netdev, "No memory left for USB buffer\n"); | |
608 | usb_free_urb(urb); | |
609 | err = -ENOMEM; | |
610 | break; | |
611 | } | |
612 | ||
613 | usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 2), | |
614 | buf, RX_BUFFER_SIZE, | |
615 | ems_usb_read_bulk_callback, dev); | |
616 | urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; | |
617 | usb_anchor_urb(urb, &dev->rx_submitted); | |
618 | ||
619 | err = usb_submit_urb(urb, GFP_KERNEL); | |
620 | if (err) { | |
621 | usb_unanchor_urb(urb); | |
622 | usb_free_coherent(dev->udev, RX_BUFFER_SIZE, buf, | |
623 | urb->transfer_dma); | |
624 | usb_free_urb(urb); | |
625 | break; | |
626 | } | |
627 | ||
628 | /* Drop reference, USB core will take care of freeing it */ | |
629 | usb_free_urb(urb); | |
630 | } | |
631 | ||
632 | /* Did we submit any URBs */ | |
633 | if (i == 0) { | |
634 | netdev_warn(netdev, "couldn't setup read URBs\n"); | |
635 | return err; | |
636 | } | |
637 | ||
638 | /* Warn if we've couldn't transmit all the URBs */ | |
639 | if (i < MAX_RX_URBS) | |
640 | netdev_warn(netdev, "rx performance may be slow\n"); | |
641 | ||
642 | /* Setup and start interrupt URB */ | |
643 | usb_fill_int_urb(dev->intr_urb, dev->udev, | |
644 | usb_rcvintpipe(dev->udev, 1), | |
645 | dev->intr_in_buffer, | |
646 | INTR_IN_BUFFER_SIZE, | |
647 | ems_usb_read_interrupt_callback, dev, 1); | |
648 | ||
649 | err = usb_submit_urb(dev->intr_urb, GFP_KERNEL); | |
650 | if (err) { | |
651 | netdev_warn(netdev, "intr URB submit failed: %d\n", err); | |
652 | ||
653 | return err; | |
654 | } | |
655 | ||
656 | /* CPC-USB will transfer received message to host */ | |
657 | err = ems_usb_control_cmd(dev, CONTR_CAN_MESSAGE | CONTR_CONT_ON); | |
658 | if (err) | |
659 | goto failed; | |
660 | ||
661 | /* CPC-USB will transfer CAN state changes to host */ | |
662 | err = ems_usb_control_cmd(dev, CONTR_CAN_STATE | CONTR_CONT_ON); | |
663 | if (err) | |
664 | goto failed; | |
665 | ||
666 | /* CPC-USB will transfer bus errors to host */ | |
667 | err = ems_usb_control_cmd(dev, CONTR_BUS_ERROR | CONTR_CONT_ON); | |
668 | if (err) | |
669 | goto failed; | |
670 | ||
671 | err = ems_usb_write_mode(dev, SJA1000_MOD_NORMAL); | |
672 | if (err) | |
673 | goto failed; | |
674 | ||
675 | dev->can.state = CAN_STATE_ERROR_ACTIVE; | |
676 | ||
677 | return 0; | |
678 | ||
679 | failed: | |
680 | netdev_warn(netdev, "couldn't submit control: %d\n", err); | |
681 | ||
682 | return err; | |
683 | } | |
684 | ||
685 | static void unlink_all_urbs(struct ems_usb *dev) | |
686 | { | |
687 | int i; | |
688 | ||
689 | usb_unlink_urb(dev->intr_urb); | |
690 | ||
691 | usb_kill_anchored_urbs(&dev->rx_submitted); | |
692 | ||
693 | usb_kill_anchored_urbs(&dev->tx_submitted); | |
694 | atomic_set(&dev->active_tx_urbs, 0); | |
695 | ||
696 | for (i = 0; i < MAX_TX_URBS; i++) | |
697 | dev->tx_contexts[i].echo_index = MAX_TX_URBS; | |
698 | } | |
699 | ||
700 | static int ems_usb_open(struct net_device *netdev) | |
701 | { | |
702 | struct ems_usb *dev = netdev_priv(netdev); | |
703 | int err; | |
704 | ||
705 | err = ems_usb_write_mode(dev, SJA1000_MOD_RM); | |
706 | if (err) | |
707 | return err; | |
708 | ||
709 | /* common open */ | |
710 | err = open_candev(netdev); | |
711 | if (err) | |
712 | return err; | |
713 | ||
714 | /* finally start device */ | |
715 | err = ems_usb_start(dev); | |
716 | if (err) { | |
717 | if (err == -ENODEV) | |
718 | netif_device_detach(dev->netdev); | |
719 | ||
720 | netdev_warn(netdev, "couldn't start device: %d\n", err); | |
721 | ||
722 | close_candev(netdev); | |
723 | ||
724 | return err; | |
725 | } | |
726 | ||
727 | ||
728 | netif_start_queue(netdev); | |
729 | ||
730 | return 0; | |
731 | } | |
732 | ||
733 | static netdev_tx_t ems_usb_start_xmit(struct sk_buff *skb, struct net_device *netdev) | |
734 | { | |
735 | struct ems_usb *dev = netdev_priv(netdev); | |
736 | struct ems_tx_urb_context *context = NULL; | |
737 | struct net_device_stats *stats = &netdev->stats; | |
738 | struct can_frame *cf = (struct can_frame *)skb->data; | |
739 | struct ems_cpc_msg *msg; | |
740 | struct urb *urb; | |
741 | u8 *buf; | |
742 | int i, err; | |
743 | size_t size = CPC_HEADER_SIZE + CPC_MSG_HEADER_LEN | |
744 | + sizeof(struct cpc_can_msg); | |
745 | ||
746 | if (can_dropped_invalid_skb(netdev, skb)) | |
747 | return NETDEV_TX_OK; | |
748 | ||
749 | /* create a URB, and a buffer for it, and copy the data to the URB */ | |
750 | urb = usb_alloc_urb(0, GFP_ATOMIC); | |
751 | if (!urb) { | |
752 | netdev_err(netdev, "No memory left for URBs\n"); | |
753 | goto nomem; | |
754 | } | |
755 | ||
756 | buf = usb_alloc_coherent(dev->udev, size, GFP_ATOMIC, &urb->transfer_dma); | |
757 | if (!buf) { | |
758 | netdev_err(netdev, "No memory left for USB buffer\n"); | |
759 | usb_free_urb(urb); | |
760 | goto nomem; | |
761 | } | |
762 | ||
763 | msg = (struct ems_cpc_msg *)&buf[CPC_HEADER_SIZE]; | |
764 | ||
765 | msg->msg.can_msg.id = cpu_to_le32(cf->can_id & CAN_ERR_MASK); | |
766 | msg->msg.can_msg.length = cf->can_dlc; | |
767 | ||
768 | if (cf->can_id & CAN_RTR_FLAG) { | |
769 | msg->type = cf->can_id & CAN_EFF_FLAG ? | |
770 | CPC_CMD_TYPE_EXT_RTR_FRAME : CPC_CMD_TYPE_RTR_FRAME; | |
771 | ||
772 | msg->length = CPC_CAN_MSG_MIN_SIZE; | |
773 | } else { | |
774 | msg->type = cf->can_id & CAN_EFF_FLAG ? | |
775 | CPC_CMD_TYPE_EXT_CAN_FRAME : CPC_CMD_TYPE_CAN_FRAME; | |
776 | ||
777 | for (i = 0; i < cf->can_dlc; i++) | |
778 | msg->msg.can_msg.msg[i] = cf->data[i]; | |
779 | ||
780 | msg->length = CPC_CAN_MSG_MIN_SIZE + cf->can_dlc; | |
781 | } | |
782 | ||
783 | for (i = 0; i < MAX_TX_URBS; i++) { | |
784 | if (dev->tx_contexts[i].echo_index == MAX_TX_URBS) { | |
785 | context = &dev->tx_contexts[i]; | |
786 | break; | |
787 | } | |
788 | } | |
789 | ||
790 | /* | |
791 | * May never happen! When this happens we'd more URBs in flight as | |
792 | * allowed (MAX_TX_URBS). | |
793 | */ | |
794 | if (!context) { | |
795 | usb_free_coherent(dev->udev, size, buf, urb->transfer_dma); | |
796 | usb_free_urb(urb); | |
797 | ||
798 | netdev_warn(netdev, "couldn't find free context\n"); | |
799 | ||
800 | return NETDEV_TX_BUSY; | |
801 | } | |
802 | ||
803 | context->dev = dev; | |
804 | context->echo_index = i; | |
805 | context->dlc = cf->can_dlc; | |
806 | ||
807 | usb_fill_bulk_urb(urb, dev->udev, usb_sndbulkpipe(dev->udev, 2), buf, | |
808 | size, ems_usb_write_bulk_callback, context); | |
809 | urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; | |
810 | usb_anchor_urb(urb, &dev->tx_submitted); | |
811 | ||
812 | can_put_echo_skb(skb, netdev, context->echo_index); | |
813 | ||
814 | atomic_inc(&dev->active_tx_urbs); | |
815 | ||
816 | err = usb_submit_urb(urb, GFP_ATOMIC); | |
817 | if (unlikely(err)) { | |
818 | can_free_echo_skb(netdev, context->echo_index); | |
819 | ||
820 | usb_unanchor_urb(urb); | |
821 | usb_free_coherent(dev->udev, size, buf, urb->transfer_dma); | |
822 | dev_kfree_skb(skb); | |
823 | ||
824 | atomic_dec(&dev->active_tx_urbs); | |
825 | ||
826 | if (err == -ENODEV) { | |
827 | netif_device_detach(netdev); | |
828 | } else { | |
829 | netdev_warn(netdev, "failed tx_urb %d\n", err); | |
830 | ||
831 | stats->tx_dropped++; | |
832 | } | |
833 | } else { | |
834 | netdev->trans_start = jiffies; | |
835 | ||
836 | /* Slow down tx path */ | |
837 | if (atomic_read(&dev->active_tx_urbs) >= MAX_TX_URBS || | |
838 | dev->free_slots < 5) { | |
839 | netif_stop_queue(netdev); | |
840 | } | |
841 | } | |
842 | ||
843 | /* | |
844 | * Release our reference to this URB, the USB core will eventually free | |
845 | * it entirely. | |
846 | */ | |
847 | usb_free_urb(urb); | |
848 | ||
849 | return NETDEV_TX_OK; | |
850 | ||
851 | nomem: | |
852 | dev_kfree_skb(skb); | |
853 | stats->tx_dropped++; | |
854 | ||
855 | return NETDEV_TX_OK; | |
856 | } | |
857 | ||
858 | static int ems_usb_close(struct net_device *netdev) | |
859 | { | |
860 | struct ems_usb *dev = netdev_priv(netdev); | |
861 | ||
862 | /* Stop polling */ | |
863 | unlink_all_urbs(dev); | |
864 | ||
865 | netif_stop_queue(netdev); | |
866 | ||
867 | /* Set CAN controller to reset mode */ | |
868 | if (ems_usb_write_mode(dev, SJA1000_MOD_RM)) | |
869 | netdev_warn(netdev, "couldn't stop device"); | |
870 | ||
871 | close_candev(netdev); | |
872 | ||
873 | return 0; | |
874 | } | |
875 | ||
876 | static const struct net_device_ops ems_usb_netdev_ops = { | |
877 | .ndo_open = ems_usb_open, | |
878 | .ndo_stop = ems_usb_close, | |
879 | .ndo_start_xmit = ems_usb_start_xmit, | |
880 | .ndo_change_mtu = can_change_mtu, | |
881 | }; | |
882 | ||
883 | static const struct can_bittiming_const ems_usb_bittiming_const = { | |
884 | .name = "ems_usb", | |
885 | .tseg1_min = 1, | |
886 | .tseg1_max = 16, | |
887 | .tseg2_min = 1, | |
888 | .tseg2_max = 8, | |
889 | .sjw_max = 4, | |
890 | .brp_min = 1, | |
891 | .brp_max = 64, | |
892 | .brp_inc = 1, | |
893 | }; | |
894 | ||
895 | static int ems_usb_set_mode(struct net_device *netdev, enum can_mode mode) | |
896 | { | |
897 | struct ems_usb *dev = netdev_priv(netdev); | |
898 | ||
899 | switch (mode) { | |
900 | case CAN_MODE_START: | |
901 | if (ems_usb_write_mode(dev, SJA1000_MOD_NORMAL)) | |
902 | netdev_warn(netdev, "couldn't start device"); | |
903 | ||
904 | if (netif_queue_stopped(netdev)) | |
905 | netif_wake_queue(netdev); | |
906 | break; | |
907 | ||
908 | default: | |
909 | return -EOPNOTSUPP; | |
910 | } | |
911 | ||
912 | return 0; | |
913 | } | |
914 | ||
915 | static int ems_usb_set_bittiming(struct net_device *netdev) | |
916 | { | |
917 | struct ems_usb *dev = netdev_priv(netdev); | |
918 | struct can_bittiming *bt = &dev->can.bittiming; | |
919 | u8 btr0, btr1; | |
920 | ||
921 | btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6); | |
922 | btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) | | |
923 | (((bt->phase_seg2 - 1) & 0x7) << 4); | |
924 | if (dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES) | |
925 | btr1 |= 0x80; | |
926 | ||
927 | netdev_info(netdev, "setting BTR0=0x%02x BTR1=0x%02x\n", btr0, btr1); | |
928 | ||
929 | dev->active_params.msg.can_params.cc_params.sja1000.btr0 = btr0; | |
930 | dev->active_params.msg.can_params.cc_params.sja1000.btr1 = btr1; | |
931 | ||
932 | return ems_usb_command_msg(dev, &dev->active_params); | |
933 | } | |
934 | ||
935 | static void init_params_sja1000(struct ems_cpc_msg *msg) | |
936 | { | |
937 | struct cpc_sja1000_params *sja1000 = | |
938 | &msg->msg.can_params.cc_params.sja1000; | |
939 | ||
940 | msg->type = CPC_CMD_TYPE_CAN_PARAMS; | |
941 | msg->length = sizeof(struct cpc_can_params); | |
942 | msg->msgid = 0; | |
943 | ||
944 | msg->msg.can_params.cc_type = CPC_CC_TYPE_SJA1000; | |
945 | ||
946 | /* Acceptance filter open */ | |
947 | sja1000->acc_code0 = 0x00; | |
948 | sja1000->acc_code1 = 0x00; | |
949 | sja1000->acc_code2 = 0x00; | |
950 | sja1000->acc_code3 = 0x00; | |
951 | ||
952 | /* Acceptance filter open */ | |
953 | sja1000->acc_mask0 = 0xFF; | |
954 | sja1000->acc_mask1 = 0xFF; | |
955 | sja1000->acc_mask2 = 0xFF; | |
956 | sja1000->acc_mask3 = 0xFF; | |
957 | ||
958 | sja1000->btr0 = 0; | |
959 | sja1000->btr1 = 0; | |
960 | ||
961 | sja1000->outp_contr = SJA1000_DEFAULT_OUTPUT_CONTROL; | |
962 | sja1000->mode = SJA1000_MOD_RM; | |
963 | } | |
964 | ||
965 | /* | |
966 | * probe function for new CPC-USB devices | |
967 | */ | |
968 | static int ems_usb_probe(struct usb_interface *intf, | |
969 | const struct usb_device_id *id) | |
970 | { | |
971 | struct net_device *netdev; | |
972 | struct ems_usb *dev; | |
973 | int i, err = -ENOMEM; | |
974 | ||
975 | netdev = alloc_candev(sizeof(struct ems_usb), MAX_TX_URBS); | |
976 | if (!netdev) { | |
977 | dev_err(&intf->dev, "ems_usb: Couldn't alloc candev\n"); | |
978 | return -ENOMEM; | |
979 | } | |
980 | ||
981 | dev = netdev_priv(netdev); | |
982 | ||
983 | dev->udev = interface_to_usbdev(intf); | |
984 | dev->netdev = netdev; | |
985 | ||
986 | dev->can.state = CAN_STATE_STOPPED; | |
987 | dev->can.clock.freq = EMS_USB_ARM7_CLOCK; | |
988 | dev->can.bittiming_const = &ems_usb_bittiming_const; | |
989 | dev->can.do_set_bittiming = ems_usb_set_bittiming; | |
990 | dev->can.do_set_mode = ems_usb_set_mode; | |
991 | dev->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES; | |
992 | ||
993 | netdev->netdev_ops = &ems_usb_netdev_ops; | |
994 | ||
995 | netdev->flags |= IFF_ECHO; /* we support local echo */ | |
996 | ||
997 | init_usb_anchor(&dev->rx_submitted); | |
998 | ||
999 | init_usb_anchor(&dev->tx_submitted); | |
1000 | atomic_set(&dev->active_tx_urbs, 0); | |
1001 | ||
1002 | for (i = 0; i < MAX_TX_URBS; i++) | |
1003 | dev->tx_contexts[i].echo_index = MAX_TX_URBS; | |
1004 | ||
1005 | dev->intr_urb = usb_alloc_urb(0, GFP_KERNEL); | |
1006 | if (!dev->intr_urb) { | |
1007 | dev_err(&intf->dev, "Couldn't alloc intr URB\n"); | |
1008 | goto cleanup_candev; | |
1009 | } | |
1010 | ||
1011 | dev->intr_in_buffer = kzalloc(INTR_IN_BUFFER_SIZE, GFP_KERNEL); | |
1012 | if (!dev->intr_in_buffer) | |
1013 | goto cleanup_intr_urb; | |
1014 | ||
1015 | dev->tx_msg_buffer = kzalloc(CPC_HEADER_SIZE + | |
1016 | sizeof(struct ems_cpc_msg), GFP_KERNEL); | |
1017 | if (!dev->tx_msg_buffer) | |
1018 | goto cleanup_intr_in_buffer; | |
1019 | ||
1020 | usb_set_intfdata(intf, dev); | |
1021 | ||
1022 | SET_NETDEV_DEV(netdev, &intf->dev); | |
1023 | ||
1024 | init_params_sja1000(&dev->active_params); | |
1025 | ||
1026 | err = ems_usb_command_msg(dev, &dev->active_params); | |
1027 | if (err) { | |
1028 | netdev_err(netdev, "couldn't initialize controller: %d\n", err); | |
1029 | goto cleanup_tx_msg_buffer; | |
1030 | } | |
1031 | ||
1032 | err = register_candev(netdev); | |
1033 | if (err) { | |
1034 | netdev_err(netdev, "couldn't register CAN device: %d\n", err); | |
1035 | goto cleanup_tx_msg_buffer; | |
1036 | } | |
1037 | ||
1038 | return 0; | |
1039 | ||
1040 | cleanup_tx_msg_buffer: | |
1041 | kfree(dev->tx_msg_buffer); | |
1042 | ||
1043 | cleanup_intr_in_buffer: | |
1044 | kfree(dev->intr_in_buffer); | |
1045 | ||
1046 | cleanup_intr_urb: | |
1047 | usb_free_urb(dev->intr_urb); | |
1048 | ||
1049 | cleanup_candev: | |
1050 | free_candev(netdev); | |
1051 | ||
1052 | return err; | |
1053 | } | |
1054 | ||
1055 | /* | |
1056 | * called by the usb core when the device is removed from the system | |
1057 | */ | |
1058 | static void ems_usb_disconnect(struct usb_interface *intf) | |
1059 | { | |
1060 | struct ems_usb *dev = usb_get_intfdata(intf); | |
1061 | ||
1062 | usb_set_intfdata(intf, NULL); | |
1063 | ||
1064 | if (dev) { | |
1065 | unregister_netdev(dev->netdev); | |
1066 | free_candev(dev->netdev); | |
1067 | ||
1068 | unlink_all_urbs(dev); | |
1069 | ||
1070 | usb_free_urb(dev->intr_urb); | |
1071 | ||
1072 | kfree(dev->intr_in_buffer); | |
1073 | } | |
1074 | } | |
1075 | ||
1076 | /* usb specific object needed to register this driver with the usb subsystem */ | |
1077 | static struct usb_driver ems_usb_driver = { | |
1078 | .name = "ems_usb", | |
1079 | .probe = ems_usb_probe, | |
1080 | .disconnect = ems_usb_disconnect, | |
1081 | .id_table = ems_usb_table, | |
1082 | }; | |
1083 | ||
1084 | module_usb_driver(ems_usb_driver); |