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|
// 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) 2020-2022 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
*/
#include <linux/unaligned.h>
#include <linux/kernel.h>
#include <linux/units.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
};
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