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Subject[PATCH v3 6/7] can: usb: etas_es58X: add support for ETAS ES58X CAN USB interfaces
Date
This driver supports the ES581.4, ES582.1 and ES584.1 interfaces from
ETAS GmbH (https://www.etas.com/en/products/es58x.php).

Co-developed-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>
Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
---

Changes in v3:
- Remove all the calls to likely() and unlikely().

Changes in v2:
- Fixed -W1 warnings (v1 was tested with GCC -WExtra but not with -W1).
---
drivers/net/can/usb/Kconfig | 9 +
drivers/net/can/usb/Makefile | 1 +
drivers/net/can/usb/etas_es58x/Makefile | 3 +
drivers/net/can/usb/etas_es58x/es581_4.c | 559 ++++
drivers/net/can/usb/etas_es58x/es581_4.h | 237 ++
drivers/net/can/usb/etas_es58x/es58x_core.c | 2725 +++++++++++++++++++
drivers/net/can/usb/etas_es58x/es58x_core.h | 700 +++++
drivers/net/can/usb/etas_es58x/es58x_fd.c | 648 +++++
drivers/net/can/usb/etas_es58x/es58x_fd.h | 243 ++
9 files changed, 5125 insertions(+)
create mode 100644 drivers/net/can/usb/etas_es58x/Makefile
create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.c
create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.h
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_core.c
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_core.h
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.c
create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.h

diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig
index 77fa830fe7dd..ee057c05469c 100644
--- a/drivers/net/can/usb/Kconfig
+++ b/drivers/net/can/usb/Kconfig
@@ -20,6 +20,15 @@ config CAN_ESD_USB2
This driver supports the CAN-USB/2 interface
from esd electronic system design gmbh (http://www.esd.eu).

+config CAN_ETAS_ES58X
+ tristate "ETAS ES58X CAN/USB interfaces"
+ help
+ This driver supports the ES581.4, ES582.1 and ES584.1 interfaces
+ from ETAS GmbH (https://www.etas.com/en/products/es58x.php).
+
+ To compile this driver as a module, choose M here: the module
+ will be called etas_es58x.
+
config CAN_GS_USB
tristate "Geschwister Schneider UG interfaces"
help
diff --git a/drivers/net/can/usb/Makefile b/drivers/net/can/usb/Makefile
index aa0f17c0b2ed..748cf31a0d53 100644
--- a/drivers/net/can/usb/Makefile
+++ b/drivers/net/can/usb/Makefile
@@ -6,6 +6,7 @@
obj-$(CONFIG_CAN_8DEV_USB) += usb_8dev.o
obj-$(CONFIG_CAN_EMS_USB) += ems_usb.o
obj-$(CONFIG_CAN_ESD_USB2) += esd_usb2.o
+obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x/
obj-$(CONFIG_CAN_GS_USB) += gs_usb.o
obj-$(CONFIG_CAN_KVASER_USB) += kvaser_usb/
obj-$(CONFIG_CAN_MCBA_USB) += mcba_usb.o
diff --git a/drivers/net/can/usb/etas_es58x/Makefile b/drivers/net/can/usb/etas_es58x/Makefile
new file mode 100644
index 000000000000..a129b4aa0215
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/Makefile
@@ -0,0 +1,3 @@
+# SPDX-License-Identifier: GPL-2.0
+obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x.o
+etas_es58x-y = es58x_core.o es581_4.o es58x_fd.o
diff --git a/drivers/net/can/usb/etas_es58x/es581_4.c b/drivers/net/can/usb/etas_es58x/es581_4.c
new file mode 100644
index 000000000000..75e2c96832ef
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es581_4.c
@@ -0,0 +1,559 @@
+// 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.
+ */
+
+#include <linux/kernel.h>
+#include <asm/unaligned.h>
+
+#include "es58x_core.h"
+#include "es581_4.h"
+
+/**
+ * es58x_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.
+ *
+ * Return: length of the message.
+ */
+#define es581_4_sizeof_rx_tx_msg(msg) \
+({ \
+ typeof(msg) __msg = (msg); \
+ size_t __msg_len = \
+ min_t(u8, can_dlc2len(__msg.dlc), CAN_MAX_DLEN); \
+ (offsetof(typeof(__msg), data[__msg_len])); \
+})
+
+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_rx_loopback_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_rx_loopback_msg *bulk_rx_loopback_msg;
+ const struct es581_4_rx_loopback_msg *rx_loopback_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_rx_loopback_msg = &es581_4_urb_cmd->bulk_rx_loopback_msg;
+ msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len) -
+ sizeof(bulk_rx_loopback_msg->channel_no);
+ num_element =
+ es58x_msg_num_element(es58x_dev->dev,
+ bulk_rx_loopback_msg->rx_loopback_msg,
+ msg_len);
+ if (num_element <= 0)
+ return num_element;
+
+ ret = es58x_get_netdev(es58x_dev, bulk_rx_loopback_msg->channel_no,
+ &netdev);
+ if (ret)
+ return ret;
+
+ rx_loopback_msg = &bulk_rx_loopback_msg->rx_loopback_msg[0];
+ first_packet_idx = get_unaligned_le32(&rx_loopback_msg->packet_idx);
+ packet_idx = first_packet_idx;
+ for (i = 0; i < num_element; i++) {
+ rx_loopback_msg = &bulk_rx_loopback_msg->rx_loopback_msg[i];
+ if (get_unaligned_le32(&rx_loopback_msg->packet_idx)
+ == packet_idx - 1) {
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Received loopback packet idx %u twice\n",
+ packet_idx - 1);
+ dropped++;
+ continue;
+ }
+ if (get_unaligned_le32(&rx_loopback_msg->packet_idx)
+ != packet_idx) {
+ netdev_err(netdev, "Packet idx jumped from %u to %u\n",
+ packet_idx - 1, rx_loopback_msg->packet_idx);
+ return -EBADMSG;
+ }
+
+ tstamps[i] = get_unaligned_le64(&rx_loopback_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;
+ struct es58x_abstracted_can_frame *es58x_cf = es58x_dev->can_frames;
+ 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, &netdev);
+ if (ret)
+ return ret;
+
+ 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];
+
+ if (channel_no != rx_can_msg->channel_no) {
+ netdev_err(netdev,
+ "%s: channel_no changed from %d to %d\n",
+ __func__,
+ channel_no, rx_can_msg->channel_no);
+ return -EBADMSG;
+ }
+ if (rx_can_msg->dlc > CANFD_MAX_DLC) {
+ netdev_err(netdev,
+ "%s: DLC is %d but maximum should be %d\n",
+ __func__, rx_can_msg->dlc, CANFD_MAX_DLC);
+ return -EMSGSIZE;
+ }
+
+ es58x_cf[pkts].timestamp =
+ get_unaligned_le64(&rx_can_msg->timestamp);
+ es58x_cf[pkts].can_id = get_unaligned_le32(&rx_can_msg->can_id);
+ es58x_cf[pkts].is_can_fd = false;
+ es58x_cf[pkts].data = rx_can_msg->data;
+ es58x_cf[pkts].dlc = rx_can_msg->dlc;
+ es58x_cf[pkts].len = can_dlc2len(rx_can_msg->dlc);
+ es58x_cf[pkts].flags = rx_can_msg->flags;
+ }
+
+ ret = es58x_rx_can_msg(netdev, es58x_cf, pkts);
+ memset(es58x_dev->can_frames, 0, sizeof(es58x_dev->can_frames));
+
+ 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_error error = get_unaligned_le32(&rx_err_msg->error);
+ int ret;
+
+ ret = es58x_get_netdev(es58x_dev, rx_err_msg->channel_no, &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, &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_cmd_ret_type ret_type)
+{
+ struct net_device *netdev;
+ const struct es581_4_rx_dev_ret *rx_dev_ret;
+ u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
+ enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32;
+ int ret;
+
+ ret = es58x_check_msg_len(es58x_dev->dev,
+ es581_4_urb_cmd->rx_dev_ret, msg_len);
+ if (ret)
+ return ret;
+
+ rx_dev_ret = &es581_4_urb_cmd->rx_dev_ret;
+
+ ret = es58x_get_netdev(es58x_dev, rx_dev_ret->channel_no, &netdev);
+ if (ret)
+ return ret;
+
+ rx_cmd_ret_u32 = get_unaligned_le32(&rx_dev_ret->rx_cmd_ret_le32);
+ return es58x_rx_cmd_ret_u32(netdev, ret_type, rx_cmd_ret_u32);
+}
+
+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_dev_ret_u8 != ES58X_RET_U8_OK)
+ return es58x_rx_dev_ret_u8(es58x_dev->dev,
+ ES58X_RET_TYPE_TX_MSG,
+ tx_ack_msg->rx_dev_ret_u8);
+
+ ret = es58x_get_netdev(es58x_dev, tx_ack_msg->channel_no, &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;
+ const 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_RECEIVE_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;
+ return es58x_rx_timestamp(es58x_dev,
+ get_unaligned_le64
+ (&es581_4_urb_cmd->timestamp));
+
+ case ES581_4_CMD_ID_SELF_RECEPTION:
+ return es581_4_rx_loopback_msg(es58x_dev, es581_4_urb_cmd);
+
+ case ES581_4_CMD_ID_DEVICE_ERR_FRAME:
+ ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_dev_ret_u8,
+ msg_len);
+ if (ret)
+ return ret;
+ return es58x_rx_dev_ret_u8(es58x_dev->dev,
+ ES58X_RET_TYPE_DEVICE_ERR_FRAME,
+ es581_4_urb_cmd->rx_dev_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_device *es58x_dev, int channel_idx,
+ u32 packet_idx,
+ struct es58x_abstracted_can_frame *es58x_cf,
+ union es58x_urb_cmd *urb_cmd, u32 *urb_cmd_len)
+{
+ struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
+ struct es581_4_tx_can_msg *tx_can_msg;
+ u16 msg_len;
+ int ret;
+
+ ret = es58x_check_msg_max_len(es58x_dev->dev,
+ es581_4_urb_cmd->bulk_tx_can_msg,
+ es581_4_get_msg_len(urb_cmd) +
+ sizeof(*tx_can_msg));
+ if (ret)
+ return ret;
+
+ if (es58x_cf->is_can_fd)
+ return -EMSGSIZE;
+
+ /* Fill message contents. */
+ if (*urb_cmd_len == es58x_dev->param->urb_cmd_header_len) {
+ es581_4_fill_urb_header(urb_cmd, ES581_4_CAN_COMMAND_TYPE,
+ ES581_4_CMD_ID_TX_MSG,
+ channel_idx, *urb_cmd_len);
+ msg_len = 1;
+ } else {
+ msg_len = le16_to_cpu(es581_4_urb_cmd->msg_len);
+ }
+ tx_can_msg = (struct es581_4_tx_can_msg *)
+ &es581_4_urb_cmd->bulk_tx_can_msg.tx_can_msg_buf[msg_len - 1];
+
+ put_unaligned_le32(es58x_cf->can_id, &tx_can_msg->can_id);
+ put_unaligned_le32(packet_idx, &tx_can_msg->packet_idx);
+ put_unaligned_le16((u16)es58x_cf->flags, &tx_can_msg->flags);
+ tx_can_msg->channel_no = channel_idx + 1;
+ tx_can_msg->dlc = es58x_cf->dlc;
+ memcpy(tx_can_msg->data, es58x_cf->data, es58x_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);
+ *urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+ es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
+
+ return 0;
+}
+
+static void es581_4_print_conf(struct net_device *netdev,
+ struct es581_4_tx_conf_msg *tx_conf_msg)
+{
+ netdev_vdbg(netdev, "bitrate = %d\n",
+ le32_to_cpu(tx_conf_msg->bitrate));
+ netdev_vdbg(netdev, "sample_point = %d\n",
+ le32_to_cpu(tx_conf_msg->sample_point));
+ netdev_vdbg(netdev, "samples_per_bit = %d\n",
+ le32_to_cpu(tx_conf_msg->samples_per_bit));
+ netdev_vdbg(netdev, "bit_time = %d\n",
+ le32_to_cpu(tx_conf_msg->bit_time));
+ netdev_vdbg(netdev, "sjw = %d\n",
+ le32_to_cpu(tx_conf_msg->sjw));
+ netdev_vdbg(netdev, "sync_edge = %d\n",
+ le32_to_cpu(tx_conf_msg->sync_edge));
+ netdev_vdbg(netdev, "physical_media = %d\n",
+ le32_to_cpu(tx_conf_msg->physical_media));
+ netdev_vdbg(netdev, "self_reception = %d\n",
+ le32_to_cpu(tx_conf_msg->self_reception_mode));
+ netdev_vdbg(netdev, "channel_no = %d\n", tx_conf_msg->channel_no);
+}
+
+static int es581_4_set_bittiming(struct es58x_device *es58x_dev,
+ int channel_idx)
+{
+ struct es581_4_tx_conf_msg tx_conf_msg = { 0 };
+ struct net_device *netdev = es58x_dev->netdev[channel_idx];
+ struct es58x_priv *priv = es58x_priv(netdev);
+ 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(priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES ?
+ ES58X_THREE_SAMPLES_PER_BIT : ES58X_ONE_SAMPLE_PER_BIT);
+ 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_SINGLE_SYNC_EDGE);
+ //tx_conf_msg.physical_media = cpu_to_le32(ES58X_MEDIA_HIGH_SPEED);
+ tx_conf_msg.physical_media = cpu_to_le32(ES58X_MEDIA_FAULT_TOLERANT);
+ tx_conf_msg.self_reception_mode =
+ cpu_to_le32(priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK ?
+ ES58X_SELF_RECEPTION_ON : ES58X_SELF_RECEPTION_OFF);
+ tx_conf_msg.channel_no = channel_idx + es581_4_param.channel_idx_offset;
+
+ es581_4_print_conf(netdev, &tx_conf_msg);
+
+ return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+ ES581_4_CMD_ID_SET_BITTIMING, &tx_conf_msg,
+ sizeof(tx_conf_msg), channel_idx);
+}
+
+static int es581_4_enable_channel(struct es58x_device *es58x_dev,
+ int channel_idx)
+{
+ u8 msg = channel_idx + 1;
+
+ return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+ ES581_4_CMD_ID_ENABLE_CHANNEL, &msg, sizeof(msg),
+ channel_idx);
+}
+
+static int es581_4_disable_channel(struct es58x_device *es58x_dev,
+ int channel_idx)
+{
+ u8 msg = channel_idx + 1;
+
+ return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+ ES581_4_CMD_ID_DISABLE_CHANNEL, &msg, sizeof(msg),
+ channel_idx);
+}
+
+static int es581_4_reset_rx(struct es58x_device *es58x_dev, int channel_idx)
+{
+ u8 msg = channel_idx + 1;
+
+ return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+ ES581_4_CMD_ID_RESET_RX, &msg, sizeof(msg),
+ channel_idx);
+}
+
+static int es581_4_reset_tx(struct es58x_device *es58x_dev, int channel_idx)
+{
+ u8 msg = channel_idx + 1;
+
+ return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+ ES581_4_CMD_ID_RESET_TX, &msg, sizeof(msg),
+ channel_idx);
+}
+
+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);
+}
+
+/* struct es581_4_bittiming_const - Nominal bittiming constants.
+ *
+ * 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 = "LM3S5B91",
+ .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,
+ .bitrate_max = ES58X_MBPS(1),
+ .clock = {.freq = ES58X_MHZ(50)},
+ .ctrlmode_supported =
+ CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
+ CAN_CTRLMODE_3_SAMPLES,
+ .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.
+ *
+ * Root cause of those ES58X_ERR_PROT_CRC errors is still
+ * unclear.
+ */
+ .echo_skb_max = 75,
+ /* Empirical value. */
+ .dql_limit_min = ES58X_CAN_FRAME_BYTES_MAX * 50,
+ .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,
+ .channel_idx_offset = 1
+};
+
+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,
+ .set_bittiming = es581_4_set_bittiming,
+ .enable_channel = es581_4_enable_channel,
+ .disable_channel = es581_4_disable_channel,
+ .reset_rx = es581_4_reset_rx,
+ .reset_tx = es581_4_reset_tx,
+ .get_timestamp = es581_4_get_timestamp
+};
diff --git a/drivers/net/can/usb/etas_es58x/es581_4.h b/drivers/net/can/usb/etas_es58x/es581_4.h
new file mode 100644
index 000000000000..b725027870e3
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es581_4.h
@@ -0,0 +1,237 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es581_4.h: Definitions and declarations specific 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.
+ */
+
+#ifndef __ES581_4_H__
+#define __ES581_4_H__
+
+#include <linux/types.h>
+
+#define ES581_4_NUM_CAN_CH 2
+
+#define ES581_4_TX_BULK_MAX 25
+#define ES581_4_RX_BULK_MAX 30
+#define ES581_4_RX_LOOPBACK_BULK_MAX 30
+
+enum es581_4_cmd_type {
+ ES581_4_CAN_COMMAND_TYPE = 0x45
+};
+
+enum es581_4_cmd_id {
+ ES581_4_CMD_ID_OPEN_CHANNEL = 0x01,
+ ES581_4_CMD_ID_CLOSE_CHANNEL = 0x02,
+ ES581_4_CMD_ID_SET_BITTIMING = 0x03,
+ ES581_4_CMD_ID_ENABLE_CHANNEL = 0x04,
+ ES581_4_CMD_ID_TX_MSG = 0x05,
+ ES581_4_CMD_ID_RECEIVE_MSG = 0x06,
+ ES581_4_CMD_ID_WAIT_RECEIVE_MSG = 0x07,
+ ES581_4_CMD_ID_ADD_RX_FILTER = 0x08,
+ ES581_4_CMD_ID_REMOVE_RX_FILTER = 0x09,
+ ES581_4_CMD_ID_RESET_RX = 0x0A,
+ ES581_4_CMD_ID_RESET_TX = 0x0B,
+ ES581_4_CMD_ID_DISABLE_CHANNEL = 0x0C,
+ ES581_4_CMD_ID_TIMESTAMP = 0x0E,
+ ES581_4_CMD_ID_RESET_DEVICE = 0x28,
+ ES581_4_CMD_ID_SELF_RECEPTION = 0x71,
+ ES581_4_CMD_ID_DEVICE_ERR_FRAME = 0x72,
+
+ /* ISO-TP (ISO 15765) commands */
+ ES581_4_CMD_ID_SET_ISO_CONFIG = 0x40,
+ ES581_4_CMD_ID_RECEIVE_ISO_MSGS = 0x41,
+ ES581_4_CMD_ID_TRANSMIT_ISO_MSGS = 0x42,
+ ES581_4_CMD_ID_SET_ISO_FILTER_CONFIG = 0x43,
+ ES581_4_CMD_ID_ENABLE_ISO_CONFIG = 0x44,
+ ES581_4_CMD_ID_GET_ISO_CONFIG = 0x45,
+ ES581_4_CMD_ID_ISO_TX_FAIL = 0x49
+};
+
+enum es581_4_rx_type {
+ ES581_4_RX_TYPE_MESSAGE = 1,
+ ES581_4_RX_TYPE_ERROR = 3,
+ ES581_4_RX_TYPE_EVENT = 4
+};
+
+/**
+ * struct es581_4_isotp_conf_msg - ISO-TP configuration.
+ * @bs: Block size.
+ * @st_min: Minimum separation time.
+ * @bs_tx: Block size for transmission.
+ * @stmin_tx: Minimum separation time for transmission.
+ * @wft_max: maximum number of WAIT frames before the transmission.
+ *
+ * ISO-TP (ISO 15765) configuration. Not implemented yet in this
+ * driver.
+ */
+struct es581_4_isotp_conf_msg {
+ __le16 bs;
+ __le16 st_min;
+ __le16 bs_tx;
+ __le16 st_min_tx;
+ __le16 wft_max;
+} __packed;
+
+/**
+ * struct es581_4_tx_conf_msg - Channel configuration.
+ * @bitrate: Bitrate.
+ * @sample_point: Sample point is in percent [0..100].
+ * @samples_per_bit: type enum es58x_samples_per_bit.
+ * @bit_time: Number of time quanta in one bit.
+ * @sjw: Synchronization Jump Width.
+ * @sync_edge: type enum es58x_sync_edge.
+ * @physical_media: type enum es58x_physical_media.
+ * @self_reception_mode: type enum es58x_self_reception_mode.
+ * @channel_no: Channel number, starting from 1. Not to be confused
+ * with channed_idx of the ES58X FD which starts from 0.
+ */
+struct es581_4_tx_conf_msg {
+ __le32 bitrate;
+ __le32 sample_point;
+ __le32 samples_per_bit;
+ __le32 bit_time;
+ __le32 sjw;
+ __le32 sync_edge;
+ __le32 physical_media;
+ __le32 self_reception_mode;
+ u8 channel_no;
+} __packed;
+
+struct es581_4_tx_can_msg {
+ __le32 can_id;
+ __le32 packet_idx;
+ __le16 flags;
+ u8 channel_no;
+ u8 dlc;
+ u8 data[CAN_MAX_DLEN];
+} __packed;
+
+/* The ES581.4 allows bulk transfer. */
+struct es581_4_bulk_tx_can_msg {
+ u8 num_can_msg;
+ /* Using type "u8[]" instead of "struct es581_4_tx_can_msg[]"
+ * for tx_msg_buf because each member has a flexible size.
+ */
+ u8 tx_can_msg_buf[ES581_4_TX_BULK_MAX *
+ sizeof(struct es581_4_tx_can_msg)];
+} __packed;
+
+struct es581_4_rx_loopback_msg {
+ __le64 timestamp;
+ __le32 packet_idx;
+} __packed;
+
+struct es581_4_bulk_rx_loopback_msg {
+ u8 channel_no;
+ struct es581_4_rx_loopback_msg
+ rx_loopback_msg[ES581_4_RX_LOOPBACK_BULK_MAX];
+} __packed;
+
+/* Normal Rx CAN Message */
+struct es581_4_rx_can_msg {
+ __le64 timestamp;
+ u8 rx_type; // type enum es581_4_rx_type
+ u8 flags; // type enum es58x_flag_type
+ u8 channel_no;
+ u8 dlc;
+ __le32 can_id;
+ u8 data[CAN_MAX_DLEN];
+} __packed;
+
+struct es581_4_rx_err_msg {
+ __le64 timestamp;
+ __le16 rx_type; // type enum es581_4_rx_type
+ __le16 flags; // type enum es58x_flag_type
+ u8 channel_no;
+ u8 __padding[2];
+ u8 dlc;
+ __le32 tag; // Related to the CAN filtering. Unused in this module
+ __le32 can_id;
+ __le32 error; // type enum es58x_error
+ __le32 destination; // Unused in this module
+} __packed;
+
+struct es581_4_rx_event_msg {
+ __le64 timestamp;
+ __le16 rx_type; // type enum es58x_flag_type
+ u8 channel_no;
+ u8 __padding;
+ __le32 tag; // Related to the CAN filtering. Unused in this module
+ __le32 event; // type enum es58x_event
+ __le32 destination; // Unused in this module
+} __packed;
+
+struct es581_4_tx_ack_msg {
+ __le16 tx_free_entries; // Number of remaining free entries in the device TX queue
+ u8 channel_no;
+ u8 rx_dev_ret_u8; // type enum es58x_dev_ret_code_u8
+} __packed;
+
+struct es581_4_rx_dev_ret {
+ __le32 rx_cmd_ret_le32;
+ u8 channel_no;
+ u8 __padding[3];
+} __packed;
+
+/**
+ * struct es581_4_urb_cmd - Commands received from or sent to the
+ * ES581.4 device.
+ * @SOF: Start of Frame.
+ * @cmd_type: Command Type (type: enum es581_4_cmd_type). The CRC
+ * calculation starts at this position.
+ * @cmd_id: Command ID (type: enum es581_4_cmd_id).
+ * @msg_len: Length of the message, excluding CRC (i.e. length of the
+ * union).
+ * @raw_msg: Message raw payload.
+ * @tx_conf_msg: Channel configuration.
+ * @bulk_tx_can_msg: Tx messages.
+ * @rx_can_msg: Array of Rx messages.
+ * @bulk_rx_loopback_msg: Loopback messages.
+ * @rx_err_msg: Error message.
+ * @rx_event_msg: Event message.
+ * @tx_ack_msg: Tx acknowledgment message.
+ * @timestamp: Timestamp reply.
+ * @rx_cmd_ret_u8: Rx 8 bits return code (type: enum
+ * es58x_dev_ret_code_u8).
+ * @reserved_for_crc16_do_not_use: The structure ends with a
+ * CRC16. Because the structures in above union are of variable
+ * lengths, we can not predict the offset of the CRC in
+ * advance. Use functions es58x_get_crc() and es58x_set_crc() to
+ * manipulate it.
+ */
+struct es581_4_urb_cmd {
+ __le16 SOF;
+ u8 cmd_type;
+ u8 cmd_id;
+ __le16 msg_len;
+
+ union {
+ u8 raw_msg[0];
+ struct es581_4_tx_conf_msg tx_conf_msg;
+ struct es581_4_bulk_tx_can_msg bulk_tx_can_msg;
+ struct es581_4_rx_can_msg rx_can_msg[ES581_4_RX_BULK_MAX];
+ struct es581_4_bulk_rx_loopback_msg bulk_rx_loopback_msg;
+ struct es581_4_rx_err_msg rx_err_msg;
+ struct es581_4_rx_event_msg rx_event_msg;
+ struct es581_4_tx_ack_msg tx_ack_msg;
+ struct es581_4_rx_dev_ret rx_dev_ret;
+ __le64 timestamp;
+ u8 rx_dev_ret_u8;
+ } __packed;
+
+ __le16 reserved_for_crc16_do_not_use;
+} __packed;
+
+#define ES581_4_URB_CMD_HEADER_LEN (offsetof(struct es581_4_urb_cmd, raw_msg))
+#define ES581_4_TX_URB_CMD_MAX_LEN \
+ ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, bulk_tx_can_msg)
+#define ES581_4_RX_URB_CMD_MAX_LEN \
+ ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, rx_can_msg)
+
+#endif //__ES581_4_H__
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.c b/drivers/net/can/usb/etas_es58x/es58x_core.c
new file mode 100644
index 000000000000..e8a4e9fe37d1
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.c
@@ -0,0 +1,2725 @@
+// SPDX-License-Identifier: GPL-2.0
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_core.c: Core logic to manage the network devices and the
+ * USB interface.
+ *
+ * Copyright (C) 2019 Robert Bosch Engineering and Business
+ * Solutions. All rights reserved.
+ * Copyright (C) 2020 ETAS K.K.. All rights reserved.
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/usb.h>
+#include <linux/crc16.h>
+#include <linux/spinlock.h>
+#include <asm/unaligned.h>
+
+#include "es58x_core.h"
+
+#define DRV_VERSION "1.03"
+MODULE_AUTHOR("Mailhol Vincent <mailhol.vincent@wanadoo.fr>");
+MODULE_AUTHOR("Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com>");
+MODULE_DESCRIPTION("Socket CAN driver for ETAS ES58X USB adapters");
+MODULE_VERSION(DRV_VERSION);
+MODULE_LICENSE("GPL v2");
+
+/* Vendor and product id */
+#define ES58X_MODULE_NAME "etas_es58x"
+#define ES58X_VENDOR_ID 0x108C
+#define ES581_4_PRODUCT_ID 0x0159
+#define ES582_1_PRODUCT_ID 0x0168
+#define ES584_1_PRODUCT_ID 0x0169
+
+/* Table of devices which work with this driver */
+static const struct usb_device_id es58x_id_table[] = {
+ {USB_DEVICE(ES58X_VENDOR_ID, ES581_4_PRODUCT_ID)},
+ {USB_DEVICE(ES58X_VENDOR_ID, ES582_1_PRODUCT_ID)},
+ {USB_DEVICE(ES58X_VENDOR_ID, ES584_1_PRODUCT_ID)},
+ {} /* Terminating entry */
+};
+
+MODULE_DEVICE_TABLE(usb, es58x_id_table);
+
+#define es58x_print_hex_dump(buf, len) \
+ print_hex_dump(KERN_DEBUG, \
+ ES58X_MODULE_NAME " " __stringify(buf) ": ", \
+ DUMP_PREFIX_NONE, 16, 1, buf, len, false)
+
+#define es58x_print_hex_dump_debug(buf, len) \
+ print_hex_dump_debug(ES58X_MODULE_NAME " " __stringify(buf) ": ",\
+ DUMP_PREFIX_NONE, 16, 1, buf, len, false)
+
+/* The last two bytes of an ES58X command is a CRC16. The first two
+ * bytes (the start of frame) are skipped and the CRC calculation
+ * starts on the third byte.
+ */
+#define ES58X_CRC_CALC_OFFSET 2
+
+/**
+ * es58x_calculate_crc() - Compute the crc16 of a given URB.
+ * @urb_cmd: The URB command for which we want to calculate the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ *
+ * Return: crc16 value.
+ */
+static u16 es58x_calculate_crc(const union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+ u16 crc;
+ ssize_t len = urb_len - ES58X_CRC_CALC_OFFSET - sizeof(crc);
+
+ WARN_ON(len < 0);
+ crc = crc16(0, &urb_cmd->raw_cmd[ES58X_CRC_CALC_OFFSET], len);
+ return crc;
+}
+
+/**
+ * es58x_get_crc() - Get the CRC value of a given URB.
+ * @urb_cmd: The URB command for which we want to get the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ *
+ * Return: crc16 value.
+ */
+static u16 es58x_get_crc(const union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+ u16 crc;
+ const __le16 *crc_addr;
+
+ WARN_ON(urb_len - (ssize_t)sizeof(crc) < 0);
+ crc_addr = (__le16 *)&urb_cmd->raw_cmd[urb_len - sizeof(crc)];
+ crc = get_unaligned_le16(crc_addr);
+ return crc;
+}
+
+/**
+ * es58x_set_crc() - Set the CRC value of a given URB.
+ * @urb_cmd: The URB command for which we want to get the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ */
+static void es58x_set_crc(union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+ u16 crc;
+ __le16 *crc_addr;
+
+ crc = es58x_calculate_crc(urb_cmd, urb_len);
+ crc_addr = (__le16 *)&urb_cmd->raw_cmd[urb_len - sizeof(crc)];
+ put_unaligned_le16(crc, crc_addr);
+}
+
+/**
+ * es58x_check_crc() - Validate the CRC value of a given URB.
+ * @es58x_dev: ES58X device.
+ * @urb_cmd: The URB command for which we want to check the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ * (ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ *
+ * Return: zero on success, -EBADMSG if the CRC check fails.
+ */
+static int es58x_check_crc(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+ u16 calculated_crc = es58x_calculate_crc(urb_cmd, urb_len);
+ u16 expected_crc = es58x_get_crc(urb_cmd, urb_len);
+
+ if (expected_crc != calculated_crc) {
+ dev_err_ratelimited(es58x_dev->dev,
+ "%s: Bad CRC, urb_len: %d\n",
+ __func__, urb_len);
+ return -EBADMSG;
+ }
+
+ return 0;
+}
+
+/**
+ * es58x_timestamp_to_ns() - Convert a timestamp value received from a
+ * ES58X device to nanoseconds.
+ * @timestamp: Timestamp received from a ES58X device.
+ *
+ * The timestamp received from ES58X is expressed in multiple of 0.5
+ * micro seconds. This function converts it in to nanoseconds.
+ *
+ * Return: Timestamp value in nanoseconds.
+ */
+static u64 es58x_timestamp_to_ns(u64 timestamp)
+{
+ const u64 es58x_timestamp_ns_mult_coef = 500ULL;
+
+ return es58x_timestamp_ns_mult_coef * timestamp;
+}
+
+/**
+ * es58x_set_skb_timestamp() - Set the hardware timestamp of an skb.
+ * @netdev: CAN network device.
+ * @skb: socket buffer of a CAN message.
+ * @timestamp: Timestamp received from an ES58X device.
+ *
+ * Used for both received and loopback messages.
+ *
+ * Return: zero on success, -EFAULT if @skb is NULL.
+ */
+static int es58x_set_skb_timestamp(struct net_device *netdev,
+ struct sk_buff *skb, u64 timestamp)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ struct skb_shared_hwtstamps *hwts;
+
+ hwts = skb_hwtstamps(skb);
+ /* Ignoring overflow (overflow on 64 bits timestamp with nano
+ * second precision would occur after more than 500 years).
+ */
+ hwts->hwtstamp = ns_to_ktime(es58x_timestamp_to_ns(timestamp) +
+ es58x_dev->realtime_diff_ns);
+
+ return 0;
+}
+
+/**
+ * es58x_rx_timestamp() - Handle a received timestamp.
+ * @es58x_dev: ES58X device.
+ * @timestamp: Timestamp received from a ES58X device.
+ *
+ * Calculate the difference between the ES58X device and the kernel
+ * internal clocks. This difference will be later used as an offset to
+ * convert the timestamps of RX and loopback messages to match the
+ * kernel system time (e.g. convert to UNIX time).
+ *
+ * Return: zero on success.
+ */
+int es58x_rx_timestamp(struct es58x_device *es58x_dev, u64 timestamp)
+{
+ u64 ktime_real_ns = ktime_get_real_ns();
+ u64 device_timestamp = es58x_timestamp_to_ns(timestamp);
+
+ dev_dbg(es58x_dev->dev,
+ "%s: Kernel timestamp when sending urb: %llu, kernel timestamp when urb callback: %llu, diff: %llu\n",
+ __func__, es58x_dev->ktime_req_ns, ktime_real_ns,
+ ktime_real_ns - es58x_dev->ktime_req_ns);
+
+ es58x_dev->realtime_diff_ns =
+ (es58x_dev->ktime_req_ns + ktime_real_ns) / 2 - device_timestamp;
+ es58x_dev->ktime_req_ns = 0;
+
+ dev_dbg(es58x_dev->dev,
+ "%s: Device timestamp: %llu, diff with kernel: %llu\n",
+ __func__, device_timestamp, es58x_dev->realtime_diff_ns);
+
+ return 0;
+}
+
+/**
+ * es58x_set_realtime_diff_ns() - Calculate difference between the
+ * clocks of the ES58X device and the kernel
+ * @es58x_dev: ES58X device.
+ *
+ * Request a timestamp from the ES58X device. Once the answer is
+ * received, the timestamp difference will be set by the callback
+ * function es58x_rx_timestamp().
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_set_realtime_diff_ns(struct es58x_device *es58x_dev)
+{
+ if (es58x_dev->ktime_req_ns) {
+ dev_warn(es58x_dev->dev,
+ "%s: Previous request to set timestamp has not completed yet\n",
+ __func__);
+ return -EBUSY;
+ }
+
+ es58x_dev->ktime_req_ns = ktime_get_real_ns();
+ return es58x_dev->ops->get_timestamp(es58x_dev);
+}
+
+/**
+ * es58x_is_can_state_active() - Is the network device in an active
+ * CAN state?
+ * @netdev: CAN network device.
+ *
+ * The device is considered active if it is able to send or receive
+ * CAN frames, that is to say if it is in any of
+ * CAN_STATE_ERROR_ACTIVE, CAN_STATE_ERROR_WARNING or
+ * CAN_STATE_ERROR_PASSIVE states.
+ *
+ * Caution: when recovering from a bus-off,
+ * net/core/dev.c#can_restart() will call
+ * net/core/dev.c#can_flush_echo_skb() without using any kind of
+ * locks. For this reason, it is critical to guaranty that no TX or
+ * loopback operations (i.e. any access to priv->echo_skb[]) can be
+ * done while this function is returning false.
+ *
+ * Return: true if the device is active, else returns false.
+ */
+static bool es58x_is_can_state_active(struct net_device *netdev)
+{
+ return es58x_priv(netdev)->can.state < CAN_STATE_BUS_OFF;
+}
+
+/**
+ * es58x_echo_skb_stop_threshold() - Determine the limit of how many
+ * skb slots can be taken before we should stop the network
+ * queue.
+ * @priv: ES58X private parameters related to the network device.
+ *
+ * We need to save enough free skb slots in order to be able to do
+ * bulk send. This function can be used to determine when to wake or
+ * stop the network queue in regard to the number of skb slots already
+ * taken if the loopback FIFO.
+ *
+ * Return: stop threshold limit.
+ */
+static int es58x_echo_skb_stop_threshold(struct es58x_priv *priv)
+{
+ return priv->can.echo_skb_max - priv->es58x_dev->param->tx_bulk_max + 1;
+}
+
+/**
+ * es58x_netif_wake_queue() - Wake-up the network queue if conditions
+ * are met.
+ * @netdev: CAN network device.
+ *
+ * If the queue is already awoken, do nothing.
+ *
+ * The conditions to wake up the queue are: a.) The device should be
+ * active (e.g. not in bus off state), b.) The network device must be
+ * up, c.) The echo_skb must have enough free slots, d.) Enough idle
+ * URBs should be available.
+ */
+static void es58x_netif_wake_queue(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ unsigned long echo_skb_flags, tx_urbs_flags;
+
+ if (!netif_queue_stopped(netdev))
+ return;
+
+ spin_lock_irqsave(&priv->echo_skb_spinlock, echo_skb_flags);
+ if (!es58x_is_can_state_active(netdev))
+ goto echo_skb_unlock;
+ if (netif_running(netdev) &&
+ priv->num_echo_skb < es58x_echo_skb_stop_threshold(priv)) {
+ /* Confirm that we have at least one idle URB per can
+ * network device. Otherwise, we might run into race
+ * conditions in the function es58x_start_xmit() which
+ * would force us to return NETDEV_TX_BUSY.
+ */
+ spin_lock_irqsave(&es58x_dev->tx_urbs_idle.lock, tx_urbs_flags);
+ if (atomic_read(&es58x_dev->tx_urbs_idle_cnt) >=
+ es58x_dev->num_can_ch)
+ netif_wake_queue(netdev);
+ spin_unlock_irqrestore(&es58x_dev->tx_urbs_idle.lock,
+ tx_urbs_flags);
+ }
+ echo_skb_unlock:
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, echo_skb_flags);
+}
+
+/**
+ * es58x_netif_wake_all_queues() - Wake-up all the network queues if
+ * conditions are met.
+ * @es58x_dev: ES58X device.
+ *
+ * Try to wake-up all the queues associated with a ES58X device. This
+ * function should be used when idle URB resources become available.
+ */
+static void es58x_netif_wake_all_queues(struct es58x_device *es58x_dev)
+{
+ int i;
+
+ for (i = 0; i < es58x_dev->num_can_ch; i++)
+ es58x_netif_wake_queue(es58x_dev->netdev[i]);
+}
+
+/**
+ * es58x_netif_stop_all_queues() - Unconditionally stop all the
+ * network queues.
+ * @es58x_dev: ES58X device.
+ *
+ * Stop all the queues associated with a ES58X device. This
+ * function should be used when idle URB resources become unavailable.
+ */
+static void es58x_netif_stop_all_queues(struct es58x_device *es58x_dev)
+{
+ int i;
+
+ for (i = 0; i < es58x_dev->num_can_ch; i++)
+ if (es58x_dev->netdev[i])
+ netif_stop_queue(es58x_dev->netdev[i]);
+}
+
+/**
+ * es58x_can_frame_bytes() - Calculate the CAN frame length in bytes
+ * of a given skb.
+ * @skb: socket buffer of a CAN message.
+ *
+ * Do a rough calculation: bitstuffing is ignored and length in bits
+ * is rounded up to a length in bytes.
+ *
+ * Rationale: this function is to be used for the BQL functions
+ * (__netdev_sent_queue() and netdev_completed_queue()) which expect a
+ * value in bytes. Just using skb->len is insufficient because it will
+ * return the constant value of CAN(FD)_MTU. Doing the bitstuffing
+ * calculation would be too expensive in term of computing resources
+ * for no noticeable gain.
+ *
+ * Open points: a.) the payload of CAN FD frames with BRS flag are
+ * sent at a different bitrate. This might be an issue because the BQL
+ * does not expect such behavior. Currently, the can-utils canbusload
+ * tool does not support CAN-FD yet and so we could not run any
+ * benchmark to measure the impact, b.) The macro ES58X_EFF_BYTES()
+ * and ES58X_SFF_BYTES() are for non-FD CAN. Need to do the addition
+ * for CAN-FD (the value are expected to be close enough so the impact
+ * should be minimal or none).
+ *
+ * Return: length in bytes.
+ */
+static unsigned int es58x_can_frame_bytes(struct sk_buff *skb)
+{
+ struct canfd_frame *cf = (struct canfd_frame *)skb->data;
+ unsigned int data_len = 0;
+
+ if (can_is_canfd_skb(skb)) {
+ data_len = cf->len;
+ } else {
+ /* No payload in case of Remote Transmission Request
+ * (RTR).
+ */
+ if (!(cf->can_id & CAN_RTR_FLAG))
+ data_len = min_t(u8, cf->len, CAN_MAX_DLEN);
+ }
+
+ return cf->can_id & CAN_EFF_FLAG ?
+ ES58X_SFF_BYTES(data_len) : ES58X_EFF_BYTES(data_len);
+}
+
+/**
+ * es58x_add_skb_idx() - Increment an index of the loopback FIFO.
+ * @priv: ES58X private parameters related to the network device.
+ * @idx: address of the index to be incremented.
+ * @a: the increment. Must be positive and less or equal to
+ * @priv->can.echo_skb_max.
+ *
+ * Do a modulus addition: set *@idx to (*@idx + @a) %
+ * @priv->can.echo_skb_max.
+ *
+ * Rationale: the modulus operator % takes a decent amount of CPU
+ * cycles (c.f. other division functions such as
+ * include/linux/math64.h:iter_div_u64_rem()).
+ */
+static __always_inline void es58x_add_skb_idx(struct es58x_priv *priv,
+ u16 *idx, u16 a)
+{
+ *idx += a;
+ if (*idx >= priv->can.echo_skb_max)
+ *idx -= priv->can.echo_skb_max;
+}
+
+/**
+ * es58x_can_put_echo_skb() - Add the given @skb to the loopback FIFO.
+ * @skb: socket buffer of a CAN message.
+ * @netdev: CAN network device.
+ * @head_idx: Index
+ *
+ * One of the function used for the local echo of CAN messages. Puts
+ * the @skb in our loopback FIFO, the @skb will be looped back locally
+ * once we receive a confirmation from the device that the CAN frame
+ * was correctly sent.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_can_put_echo_skb(struct sk_buff *skb,
+ struct net_device *netdev, u32 head_idx)
+{
+ can_put_echo_skb(skb, netdev, head_idx);
+ /* can_put_echo_skb returns void. Confirm in below if that
+ * assignment is successful.
+ */
+ if (es58x_priv(netdev)->can.echo_skb[head_idx] != skb) {
+ netdev_crit(netdev, "%s: Could not put echo skb at index %u!\n",
+ __func__, head_idx);
+ return -EFAULT;
+ }
+
+ skb_tx_timestamp(skb);
+ return 0;
+}
+
+/**
+ * es58x_can_free_echo_skb_tail() - Remove the oldest echo skb of the
+ * loopback FIFO.
+ * @netdev: CAN network device.
+ *
+ * Naming convention: the tail is the beginning of the FIFO, i.e. the
+ * first skb to have entered the FIFO.
+ */
+static void es58x_can_free_echo_skb_tail(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ u16 tail_idx = priv->echo_skb_tail_idx;
+ struct sk_buff *skb = priv->can.echo_skb[tail_idx];
+ unsigned long flags;
+
+ netdev_completed_queue(netdev, 1, es58x_can_frame_bytes(skb));
+ can_free_echo_skb(netdev, tail_idx);
+
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ es58x_add_skb_idx(priv, &priv->echo_skb_tail_idx, 1);
+ priv->num_echo_skb--;
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+ netdev->stats.tx_dropped++;
+}
+
+/**
+ * es58x_can_get_echo_skb_recovery() - Try to re-sync the loopback FIFO.
+ * @netdev: CAN network device.
+ * @packet_idx: Index
+ *
+ * This function should not be called under normal circumstances. In
+ * the unlikely case that one or several URB packages get dropped by
+ * the device, the index will get out of sync. Try to recover by
+ * dropping the echo skb packets with older indexes.
+ *
+ * Return: zero if recovery was successful, -EINVAL otherwise.
+ */
+static int es58x_can_get_echo_skb_recovery(struct net_device *netdev,
+ u32 packet_idx)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ u32 current_packet_idx, first_packet_idx, num_echo_skb;
+ unsigned long flags;
+ int ret = 0;
+
+ netdev->stats.tx_errors++;
+
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ current_packet_idx = priv->current_packet_idx;
+ num_echo_skb = priv->num_echo_skb;
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+ first_packet_idx = current_packet_idx - num_echo_skb;
+
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Bad loopback packet index: %u. First index: %u, end index %u, num_echo_skb: %02u/%02u\n",
+ packet_idx, first_packet_idx,
+ current_packet_idx - 1, num_echo_skb,
+ priv->can.echo_skb_max);
+
+ if (packet_idx < first_packet_idx) {
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Received loopback is from the past. Ignoring it\n");
+ ret = -EINVAL;
+ } else if ((s32)(packet_idx - current_packet_idx) >= 0LL) {
+ if (net_ratelimit())
+ netdev_err(netdev,
+ "Received loopback is from the future. Ignoring it\n");
+ ret = -EINVAL;
+ } else {
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Loopback recovery: dropping %u echo skb from index %u to %u\n",
+ packet_idx - first_packet_idx,
+ first_packet_idx, packet_idx - 1);
+ while (first_packet_idx != packet_idx) {
+ if (num_echo_skb == 0)
+ return -EINVAL;
+ es58x_can_free_echo_skb_tail(netdev);
+ first_packet_idx++;
+ num_echo_skb--;
+ }
+ }
+ return ret;
+}
+
+/**
+ * es58x_can_get_echo_skb() - Get the skb from the loopback FIFO and
+ * loop it back locally.
+ * @netdev: CAN network device.
+ * @packet_idx: Index of the first packet.
+ * @tstamps: Array of hardware timestamps received from a ES58X device.
+ * @pkts: Number of packets (and so, length of @tstamps).
+ *
+ * Callback function for when we receive a self reception acknowledgment.
+ * Retrieves the skb from the loopback FIFO, sets its hardware timestamp
+ * (the actual time it was sent) and loops it back locally.
+ *
+ * The device has to be active (i.e. network interface UP and not in
+ * bus off state or restarting).
+ *
+ * Packet indexes must be consecutive (i.e. index of first packet is
+ * @packet_idx, index of second packet is @packet_idx + 1 and index of
+ * last packet is @packet_idx + @pkts - 1).
+ *
+ * Return: zero on success.
+ */
+int es58x_can_get_echo_skb(struct net_device *netdev, u32 packet_idx,
+ u64 *tstamps, unsigned int pkts)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ u16 tail_idx;
+ u32 first_packet_idx;
+ unsigned long flags;
+ unsigned int frames_bytes = 0;
+ int i;
+ int ret = 0;
+
+ if (!netif_running(netdev)) {
+ if (net_ratelimit())
+ netdev_info(netdev,
+ "%s: %s is down, dropping %d loopback packets\n",
+ __func__, netdev->name, pkts);
+ netdev->stats.tx_dropped++;
+ return 0;
+ } else if (!es58x_is_can_state_active(netdev)) {
+ if (net_ratelimit())
+ netdev_dbg(netdev,
+ "Bus is off or device is restarting. Ignoring %u loopback packets from index %u\n",
+ pkts, packet_idx);
+ /* stats.tx_dropped will be (or was already)
+ * incremented by
+ * drivers/net/can/net/dev.c:can_flush_echo_skb().
+ */
+ return 0;
+ } else if (priv->num_echo_skb == 0) {
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Received %u loopback packets from index: %u but echo skb queue is empty.\n",
+ pkts, packet_idx);
+ netdev->stats.tx_dropped += pkts;
+ return 0;
+ }
+
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ first_packet_idx = priv->current_packet_idx - priv->num_echo_skb;
+ if (first_packet_idx != packet_idx) {
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+ ret = es58x_can_get_echo_skb_recovery(netdev, packet_idx);
+ if (ret < 0) {
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Could not find echo skb for loopback packet index: %u\n",
+ packet_idx);
+ return 0;
+ }
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ first_packet_idx =
+ priv->current_packet_idx - priv->num_echo_skb;
+ WARN_ON(first_packet_idx != packet_idx);
+ }
+ tail_idx = priv->echo_skb_tail_idx;
+ if (priv->num_echo_skb < pkts) {
+ int pkts_drop = pkts - priv->num_echo_skb;
+
+ if (net_ratelimit())
+ netdev_err(netdev,
+ "Received %u loopback packets but have only %d echo skb. Dropping %d echo skb\n",
+ pkts, priv->num_echo_skb, pkts_drop);
+ netdev->stats.tx_dropped += pkts_drop;
+ pkts -= pkts_drop;
+ }
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+ for (i = 0; i < pkts; i++) {
+ struct sk_buff *skb = priv->can.echo_skb[tail_idx];
+
+ if (skb) {
+ frames_bytes += es58x_can_frame_bytes(skb);
+ es58x_set_skb_timestamp(netdev, skb, tstamps[i]);
+ }
+ netdev->stats.tx_bytes += can_get_echo_skb(netdev, tail_idx);
+
+ es58x_add_skb_idx(priv, &tail_idx, 1);
+ }
+
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ es58x_add_skb_idx(priv, &priv->echo_skb_tail_idx, pkts);
+ priv->num_echo_skb -= pkts;
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+ netdev_completed_queue(netdev, pkts, frames_bytes);
+ netdev->stats.tx_packets += pkts;
+
+ priv->err_passive_before_rtx_success = 0;
+ es58x_netif_wake_queue(netdev);
+
+ return ret;
+}
+
+/**
+ * es58x_can_flush_echo_skb() - Reset the loopback FIFO.
+ * @netdev: CAN network device.
+ *
+ * The echo_skb array of struct can_priv will be flushed by
+ * drivers/net/can/dev.c:can_flush_echo_skb(). This function resets
+ * the parameters of the struct es58x_priv of our device and reset the
+ * queue (c.f. BQL).
+ */
+static void es58x_can_flush_echo_skb(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ unsigned long flags;
+
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ priv->current_packet_idx = 0;
+ priv->echo_skb_tail_idx = 0;
+ priv->echo_skb_head_idx = 0;
+ priv->num_echo_skb = 0;
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+ netdev_reset_queue(netdev);
+}
+
+/**
+ * es58x_flush_pending_tx_msg() - Reset the buffer for transmission messages.
+ * @netdev: CAN network device.
+ *
+ * es58x_start_xmit() will queue up to tx_bulk_max messages in
+ * &tx_urb buffer and do a bulk send of all messages in one single URB
+ * (c.f. xmit_more flag). When the device recovers from a bus off
+ * state or when the device stops, the tx_urb buffer might still have
+ * pending messages in it and thus need to be flushed.
+ */
+static void es58x_flush_pending_tx_msg(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ unsigned long flags;
+ int i;
+
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ if (priv->tx_urb) {
+ unsigned int frames_bytes = 0;
+ u16 head_idx = priv->echo_skb_head_idx;
+
+ netdev_warn(netdev,
+ "%s: dropping %d tx_msg that were pending for transmission\n",
+ __func__, priv->tx_can_msg_cnt);
+ for (i = 0; i < priv->tx_can_msg_cnt; i++) {
+ frames_bytes +=
+ es58x_can_frame_bytes(priv->can.echo_skb[head_idx]);
+ can_free_echo_skb(netdev, head_idx);
+ es58x_add_skb_idx(priv, &head_idx, 1);
+ }
+ __netdev_sent_queue(netdev, 0, false);
+ netdev_completed_queue(netdev,
+ priv->tx_can_msg_cnt, frames_bytes);
+ usb_anchor_urb(priv->tx_urb, &priv->es58x_dev->tx_urbs_idle);
+ netdev->stats.tx_dropped += priv->tx_can_msg_cnt;
+
+ atomic_inc(&es58x_dev->tx_urbs_idle_cnt);
+ usb_free_urb(priv->tx_urb);
+ }
+ priv->tx_urb = NULL;
+ priv->tx_can_msg_cnt = 0;
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+}
+
+/**
+ * es58x_tx_ack_msg() - Handle acknowledgment messages.
+ * @netdev: CAN network device.
+ * @tx_free_entries: Number of free entries in the device transmit FIFO.
+ * @rx_cmd_ret_u32: error code as returned by the ES58X device.
+ *
+ * ES58X sends an acknowledgment message after a transmission request
+ * is done. This is mandatory for the ES581.4 but is optional (and
+ * deactivated in this driver) for the ES58X_FD family.
+ *
+ * Under normal circumstances, this function should never throw an
+ * error message.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_tx_ack_msg(struct net_device *netdev, u16 tx_free_entries,
+ enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+
+ if (tx_free_entries <= priv->es58x_dev->param->tx_bulk_max) {
+ if (net_ratelimit())
+ netdev_err(netdev,
+ "Only %d entries remaining in device queue, echo_skb_max: %d, num_echo_skb: %d, tx_free_entries + num_echo_skb: %d\n",
+ tx_free_entries, priv->can.echo_skb_max,
+ priv->num_echo_skb,
+ tx_free_entries + priv->num_echo_skb);
+ netif_stop_queue(netdev);
+ }
+
+ return es58x_rx_cmd_ret_u32(netdev, ES58X_RET_TYPE_TX_MSG,
+ rx_cmd_ret_u32);
+}
+
+/**
+ * es58x_rx_can_msg() - Handle a received a CAN message.
+ * @netdev: CAN network device.
+ * @es58x_can_frames: Array of CAN frames received from a ES58X device.
+ * @pkts: Number of packets (and so, length of @es58x_can_frames).
+ *
+ * Fill up @pkts CAN skbs and post them.
+ *
+ * This function handles the case where the DLC of a non-FD CAN frame
+ * is greater than CAN_MAX_DLEN.
+ *
+ * Return: zero on success.
+ */
+int es58x_rx_can_msg(struct net_device *netdev,
+ struct es58x_abstracted_can_frame *es58x_can_frames,
+ unsigned int pkts)
+{
+ struct canfd_frame *cf;
+ struct sk_buff *skb;
+ size_t sanitized_len;
+ int i;
+
+ if (!netif_running(netdev)) {
+ if (net_ratelimit())
+ netdev_info(netdev,
+ "%s: %s is down, dropping %d rx packets\n",
+ __func__, netdev->name, pkts);
+ netdev->stats.rx_dropped += pkts;
+ return 0;
+ }
+
+ for (i = 0; i < pkts; i++) {
+ struct es58x_abstracted_can_frame *es58x_cf =
+ &es58x_can_frames[i];
+
+ sanitized_len = can_dlc2len(can_len2dlc(es58x_cf->len));
+ if (!es58x_cf->is_can_fd)
+ sanitized_len = min_t(u8, sanitized_len, CAN_MAX_DLEN);
+ else if (es58x_cf->len != sanitized_len && net_ratelimit())
+ netdev_warn(netdev,
+ "%s: Received data length %d does not correspond to a valid DLC. It was sanitized to %zu\n",
+ __func__, es58x_cf->len, sanitized_len);
+
+ if (es58x_cf->is_can_fd)
+ skb = alloc_canfd_skb(netdev, &cf);
+ else
+ skb = alloc_can_skb(netdev, (struct can_frame **)&cf);
+
+ if (!skb) {
+ netdev->stats.rx_dropped += pkts - i;
+ return -ENOMEM;
+ }
+ cf->can_id = es58x_cf->can_id;
+ if (es58x_cf->flags & ES58X_FLAG_EFF)
+ cf->can_id |= CAN_EFF_FLAG;
+ if (es58x_cf->is_can_fd) {
+ cf->len = sanitized_len;
+ if (es58x_cf->flags & ES58X_FLAG_FD_BRS)
+ cf->flags |= CANFD_BRS;
+ if (es58x_cf->flags & ES58X_FLAG_FD_ESI)
+ cf->flags |= CANFD_ESI;
+ } else {
+ ((struct can_frame *)cf)->can_dlc = es58x_cf->dlc;
+ if (es58x_cf->flags & ES58X_FLAG_RTR) {
+ cf->can_id |= CAN_RTR_FLAG;
+ sanitized_len = 0;
+ }
+ }
+ memcpy(cf->data, es58x_cf->data, sanitized_len);
+ netdev->stats.rx_packets++;
+ netdev->stats.rx_bytes += sanitized_len;
+
+ es58x_set_skb_timestamp(netdev, skb, es58x_cf->timestamp);
+ netif_rx(skb);
+ }
+
+ es58x_priv(netdev)->err_passive_before_rtx_success = 0;
+
+ return 0;
+}
+
+/**
+ * es58x_rx_err_msg() - Handle a received CAN event or error message.
+ * @netdev: CAN network device.
+ * @error: Error code.
+ * @event: Event code.
+ * @timestamp: Timestamp received from a ES58X device.
+ *
+ * Handle the errors and events received by the ES58X device, create
+ * a CAN error skb and post it.
+ *
+ * In some rare cases the devices might get stucked alternating between
+ * CAN_STATE_ERROR_PASSIVE and CAN_STATE_ERROR_WARNING. To prevent
+ * this behavior, we force a bus off state if the device goes in
+ * CAN_STATE_ERROR_WARNING for ES58X_MAX_CONSECUTIVE_WARN consecutive
+ * times with no successful transmission or reception in between.
+ *
+ * Once the device is in bus off state, the only way to restart it is
+ * through the drivers/net/can/dev.c:can_restart() function. The
+ * device is technically capable to recover by itself under certain
+ * circumstances, however, allowing self recovery would create
+ * complex race conditions with drivers/net/can/dev.c:can_restart()
+ * and thus was not implemented. To activate automatic restart, please
+ * set the restart-ms parameter (e.g. ip link set can0 type can
+ * restart-ms 100).
+ *
+ * If the bus is really instable, this function would try to send a
+ * lot of log messages. Those are rate limited (i.e. you will see
+ * messages such as "net_ratelimit: XXX callbacks suppressed" in
+ * dmesg).
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_rx_err_msg(struct net_device *netdev, enum es58x_error error,
+ enum es58x_event event, u64 timestamp)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct can_priv *can = netdev_priv(netdev);
+ struct can_device_stats *can_stats = &can->can_stats;
+ struct can_frame *cf;
+ struct sk_buff *skb;
+ unsigned long flags;
+
+ if (!netif_running(netdev)) {
+ if (net_ratelimit())
+ netdev_info(netdev, "%s: %s is down, dropping packet\n",
+ __func__, netdev->name);
+ netdev->stats.rx_dropped++;
+ return 0;
+ }
+
+ if (error == ES58X_ERR_OK && event == ES58X_EVENT_OK) {
+ netdev_err(netdev, "%s: Both error and event are zero\n",
+ __func__);
+ return -EINVAL;
+ }
+
+ skb = alloc_can_err_skb(netdev, &cf);
+ if (!skb)
+ return -ENOMEM;
+
+ switch (error) {
+ case ES58X_ERR_OK: //0: No error
+ break;
+
+ case ES58X_ERR_PROT_STUFF:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error BITSUFF\n");
+ cf->data[2] |= CAN_ERR_PROT_STUFF;
+ break;
+
+ case ES58X_ERR_PROT_FORM:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error FORMAT\n");
+ cf->data[2] |= CAN_ERR_PROT_FORM;
+ break;
+
+ case ES58X_ERR_ACK:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error ACK\n");
+ cf->can_id |= CAN_ERR_ACK;
+ break;
+
+ case ES58X_ERR_PROT_BIT:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error BIT\n");
+ cf->data[2] |= CAN_ERR_PROT_BIT;
+ break;
+
+ case ES58X_ERR_PROT_CRC:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error CRC\n");
+ cf->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
+ break;
+
+ case ES58X_ERR_PROT_BIT1:
+ if (net_ratelimit())
+ netdev_dbg(netdev,
+ "Error: expected a recessive bit but monitored a dominant one\n");
+ cf->data[2] |= CAN_ERR_PROT_BIT1;
+ break;
+
+ case ES58X_ERR_PROT_BIT0:
+ if (net_ratelimit())
+ netdev_dbg(netdev,
+ "Error expected a dominant bit but monitored a recessive one\n");
+ cf->data[2] |= CAN_ERR_PROT_BIT0;
+ break;
+
+ case ES58X_ERR_PROT_OVERLOAD:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Error OVERLOAD\n");
+ cf->data[2] |= CAN_ERR_PROT_OVERLOAD;
+ break;
+
+ case ES58X_ERR_PROT_UNSPEC:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Unspecified error\n");
+ cf->can_id |= CAN_ERR_PROT;
+ break;
+
+ default:
+ if (net_ratelimit())
+ netdev_err(netdev,
+ "%s: Unspecified error code 0x%04X\n",
+ __func__, (int)error);
+ cf->can_id |= CAN_ERR_PROT;
+ break;
+ }
+
+ switch (event) {
+ case ES58X_EVENT_OK: //0: No event
+ break;
+
+ case ES58X_ERR_CRTL_ACTIVE:
+ if (can->state == CAN_STATE_BUS_OFF) {
+ netdev_err(netdev,
+ "%s: state transition: BUS OFF -> ACTIVE\n",
+ __func__);
+ }
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Event CAN BUS ACTIVE\n");
+ cf->data[1] |= CAN_ERR_CRTL_ACTIVE;
+ can->state = CAN_STATE_ERROR_ACTIVE;
+ break;
+
+ case ES58X_ERR_CRTL_PASSIVE:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Event CAN BUS PASSIVE\n");
+ /* Either TX or RX error count reached passive state
+ * but we do not know which. Setting both flags by
+ * default.
+ */
+ cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
+ cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
+ if (can->state < CAN_STATE_BUS_OFF)
+ can->state = CAN_STATE_ERROR_PASSIVE;
+ can_stats->error_passive++;
+ if (priv->err_passive_before_rtx_success < U8_MAX)
+ priv->err_passive_before_rtx_success++;
+ break;
+
+ case ES58X_ERR_CRTL_WARNING:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Event CAN BUS WARNING\n");
+ /* Either TX or RX error count reached warning state
+ * but we do not know which. Setting both flags by
+ * default.
+ */
+ cf->data[1] |= CAN_ERR_CRTL_RX_WARNING;
+ cf->data[1] |= CAN_ERR_CRTL_TX_WARNING;
+ if (can->state < CAN_STATE_BUS_OFF)
+ can->state = CAN_STATE_ERROR_WARNING;
+ can_stats->error_warning++;
+ break;
+
+ case ES58X_ERR_BUSOFF:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "Event CAN BUS OFF\n");
+ /* Prevent the network device queue for being woke-up
+ * by another interrupt while we set the bus to off
+ * status.
+ */
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ netif_stop_queue(netdev);
+ if (can->state != CAN_STATE_BUS_OFF) {
+ can->state = CAN_STATE_BUS_OFF;
+ can_bus_off(netdev);
+ }
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+ cf->can_id |= CAN_ERR_BUSOFF;
+ can_stats->bus_off++;
+ break;
+
+ case ES58X_ERR_SINGLE_WIRE:
+ if (net_ratelimit())
+ netdev_warn(netdev,
+ "Lost connection on either CAN high or CAN low\n");
+ /* Lost connection on either CAN high or CAN
+ * low. Setting both flags by default.
+ */
+ cf->data[4] |= CAN_ERR_TRX_CANH_NO_WIRE;
+ cf->data[4] |= CAN_ERR_TRX_CANL_NO_WIRE;
+ break;
+
+ default:
+ if (net_ratelimit())
+ netdev_err(netdev,
+ "%s: Unspecified event code 0x%04X\n",
+ __func__, (int)event);
+ cf->can_id |= CAN_ERR_CRTL;
+ break;
+ }
+
+ if (cf->data[1])
+ cf->can_id |= CAN_ERR_CRTL;
+ if (cf->data[2] || cf->data[3]) {
+ cf->can_id |= CAN_ERR_PROT;
+ can_stats->bus_error++;
+ }
+ if (cf->data[4])
+ cf->can_id |= CAN_ERR_TRX;
+
+ /* driver/net/can/dev.c:can_restart() takes in account error
+ * messages in the RX stats. Doing same here for
+ * consistency.
+ */
+ netdev->stats.rx_packets++;
+ netdev->stats.rx_bytes += cf->can_dlc;
+
+ es58x_set_skb_timestamp(netdev, skb, timestamp);
+ netif_rx(skb);
+
+ if ((event & ES58X_ERR_CRTL_PASSIVE) &&
+ priv->err_passive_before_rtx_success ==
+ ES58X_CONSECUTIVE_ERR_PASSIVE_MAX) {
+ netdev_info(netdev,
+ "Got %d consecutive warning events with no successful rx or tx. Forcing bus-off\n",
+ priv->err_passive_before_rtx_success);
+ return es58x_rx_err_msg(netdev, ES58X_ERR_OK, ES58X_ERR_BUSOFF,
+ timestamp);
+ }
+
+ return 0;
+}
+
+/* Human readable description of the &enum es58x_cmd_ret_type. */
+static const char *const es58x_cmd_ret_desc[] = {
+ "Set bittiming",
+ "Enable channel",
+ "Disable channel",
+ "Transmit message",
+ "Reset rx",
+ "Reset tx",
+ "Device error"
+};
+
+/**
+ * es58x_rx_dev_ret_u8() - Handle return codes received from the
+ * ES58X device.
+ * @dev: Device, only used for the dev_XXX() print functions.
+ * @cmd_ret_type: Type of the command which triggered the return code.
+ * @rx_dev_ret_u8: error code as returned by the ES58X device.
+ *
+ * Handles the 8 bits return code. Those are specific to the ES581.4
+ * device. The return value will eventually be used by
+ * es58x_handle_urb_cmd() function which will take proper actions in
+ * case of critical issues such and memory errors or bad CRC values.
+ *
+ * In contrast with es58x_rx_cmd_ret_u32(), the network device is
+ * unknown.
+ *
+ * Return: zero on success, return errno when any error occurs.
+ */
+int es58x_rx_dev_ret_u8(struct device *dev,
+ enum es58x_cmd_ret_type cmd_ret_type,
+ enum es58x_dev_ret_code_u8 rx_dev_ret_u8)
+{
+ const char *ret_desc = es58x_cmd_ret_desc[cmd_ret_type];
+
+ compiletime_assert(ARRAY_SIZE(es58x_cmd_ret_desc) ==
+ ES58X_CMD_RET_TYPE_NUM_ENTRIES,
+ "Size mismatch between es58x_cmd_ret_desc and enum es58x_cmd_ret_type");
+
+ switch (rx_dev_ret_u8) {
+ case ES58X_RET_U8_OK:
+ dev_dbg_ratelimited(dev, "%s: OK\n", ret_desc);
+ break;
+
+ case ES58X_RET_U8_ERR_UNSPECIFIED_FAILURE:
+ dev_err(dev, "%s: unspecified failure\n", ret_desc);
+ break;
+
+ case ES58X_RET_U8_ERR_NO_MEM:
+ dev_err(dev, "%s: device ran out of memory\n", ret_desc);
+ return -ENOMEM;
+
+ case ES58X_RET_U8_ERR_BAD_CRC:
+ dev_err(dev, "%s: CRC of previous command is incorrect\n",
+ ret_desc);
+ return -EIO;
+
+ default:
+ dev_err(dev, "%s: returned unknown value: 0x%02X\n",
+ ret_desc, rx_dev_ret_u8);
+ break;
+ }
+
+ return 0;
+}
+
+/**
+ * es58x_rx_dev_ret_u32() - Handle return codes received from the
+ * ES58X device.
+ * @netdev: CAN network device.
+ * @cmd_ret_type: Type of the command which triggered the return code.
+ * @rx_cmd_ret_u32: error code as returned by the ES58X device.
+ *
+ * Handles the 32 bits return code. The return value will eventually
+ * be used by es58x_handle_urb_cmd() function which will take proper
+ * actions in case of critical issues such and memory errors or bad
+ * CRC values.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_rx_cmd_ret_u32(struct net_device *netdev,
+ enum es58x_cmd_ret_type cmd_ret_type,
+ enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ const char *ret_desc = es58x_cmd_ret_desc[cmd_ret_type];
+
+ switch (rx_cmd_ret_u32) {
+ case ES58X_RET_U32_OK:
+ switch (cmd_ret_type) {
+ case ES58X_RET_TYPE_ENABLE_CHANNEL:
+ es58x_flush_pending_tx_msg(netdev);
+ es58x_can_flush_echo_skb(netdev);
+ priv->err_passive_before_rtx_success = 0;
+ priv->can.state = CAN_STATE_ERROR_ACTIVE;
+ es58x_netif_wake_queue(netdev);
+ netdev_info(netdev,
+ "%s (Serial Number %s): CAN%d channel becomes ready\n",
+ priv->es58x_dev->udev->product,
+ priv->es58x_dev->udev->serial,
+ priv->channel_idx + 1);
+ break;
+
+ case ES58X_RET_TYPE_TX_MSG:
+#ifdef VERBOSE_DEBUG
+ if (net_ratelimit())
+ netdev_vdbg(netdev, "%s: OK\n", ret_desc);
+#endif
+ break;
+
+ default:
+ netdev_dbg(netdev, "%s: OK\n", ret_desc);
+ break;
+ }
+ break;
+
+ case ES58X_RET_U32_ERR_UNSPECIFIED_FAILURE:
+ if (cmd_ret_type == ES58X_RET_TYPE_DISABLE_CHANNEL)
+ netdev_dbg(netdev,
+ "%s: channel is already closed\n", ret_desc);
+ else
+ netdev_err(netdev,
+ "%s: unspecified failure\n", ret_desc);
+ break;
+
+ case ES58X_RET_U32_ERR_NO_MEM:
+ netdev_err(netdev, "%s: device ran out of memory\n", ret_desc);
+ return -ENOMEM;
+
+ case ES58X_RET_U32_WARN_PARAM_ADJUSTED:
+ netdev_warn(netdev,
+ "%s: some incompatible parameters have been adjusted\n",
+ ret_desc);
+ break;
+
+ case ES58X_RET_U32_WARN_TX_MAYBE_REORDER:
+ netdev_warn(netdev,
+ "%s: TX messages might have been reordered\n",
+ ret_desc);
+ break;
+
+ case ES58X_RET_U32_ERR_TIMEOUT:
+ netdev_err(netdev, "%s: command timed out\n", ret_desc);
+ break;
+
+ case ES58X_RET_U32_ERR_FIFO_FULL:
+ netdev_warn(netdev, "%s: fifo is full\n", ret_desc);
+ break;
+
+ case ES58X_RET_U32_ERR_BAD_CONFIG:
+ netdev_err(netdev, "%s: bad configuration\n", ret_desc);
+ return -EINVAL;
+
+ case ES58X_RET_U32_ERR_NO_RESOURCE:
+ netdev_err(netdev, "%s: no resource available\n", ret_desc);
+ break;
+
+ default:
+ netdev_err(netdev, "%s returned unknown value: 0x%08X\n",
+ ret_desc, rx_cmd_ret_u32);
+ break;
+ }
+
+ return 0;
+}
+
+/**
+ * es58x_increment_rx_errors() - Increment the network devices' error
+ * count.
+ * @es58x_dev: ES58X device.
+ *
+ * If an error occurs on the early stages on receiving an URB command,
+ * we might not be able to figure out on which network device the
+ * error occurred. In such case, we arbitrarily increment the error
+ * count of all the network devices attached to our ES58X device.
+ */
+static void es58x_increment_rx_errors(struct es58x_device *es58x_dev)
+{
+ int i;
+
+ for (i = 0; i < es58x_dev->num_can_ch; i++)
+ if (es58x_dev->netdev[i])
+ es58x_dev->netdev[i]->stats.rx_errors++;
+}
+
+/**
+ * es58x_handle_urb_cmd() - Handle the URB command
+ * @es58x_dev: ES58X device.
+ * @urb_cmd: The URB command received from the ES58X device, might not
+ * be aligned.
+ *
+ * Sends the URB command to the device specific function. Manages the
+ * errors throwed back by those functions.
+ */
+static void es58x_handle_urb_cmd(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd)
+{
+ const struct es58x_operators *ops = es58x_dev->ops;
+ size_t cmd_len;
+ int i, ret;
+
+ ret = ops->handle_urb_cmd(es58x_dev, urb_cmd);
+ switch (ret) {
+ case 0: // OK
+ return;
+
+ case -ENODEV:
+ dev_err_ratelimited(es58x_dev->dev, "Device is not ready\n");
+ break;
+
+ case -EFAULT:
+ case -ENOMEM:
+ case -EIO:
+ default:
+ dev_crit(es58x_dev->dev,
+ "ops->handle_urb_cmd() returned error %pe, detaching all network devices\n",
+ ERR_PTR(ret));
+ for (i = 0; i < es58x_dev->num_can_ch; i++)
+ if (es58x_dev->netdev[i])
+ netif_device_detach(es58x_dev->netdev[i]);
+ break;
+
+ case -EINVAL:
+ case -EMSGSIZE:
+ case -EBADRQC:
+ case -EBADMSG:
+ case -ECHRNG:
+ cmd_len = es58x_get_urb_cmd_len(es58x_dev,
+ ops->get_msg_len(urb_cmd));
+ dev_err(es58x_dev->dev,
+ "ops->handle_urb_cmd() returned error %pe",
+ ERR_PTR(ret));
+ es58x_print_hex_dump(urb_cmd, cmd_len);
+ break;
+ }
+
+ /* Because the urb command could not fully be parsed,
+ * channel_id is not confirmed. Incrementing rx_errors count
+ * of all channels.
+ */
+ es58x_increment_rx_errors(es58x_dev);
+}
+
+/**
+ * es58x_check_rx_urb() - Check the length and format of the URB command.
+ * @es58x_dev: ES58X device.
+ * @urb_cmd: The URB command received from the ES58X device, might not
+ * be aligned.
+ * @urb_actual_len: The actual length of the URB command.
+ *
+ * Check if the first message of the received urb is valid, that is to
+ * say that both the header and the length are coherent.
+ *
+ * Return:
+ * the length of the first message of the URB on success.
+ *
+ * -ENODATA if the URB command is incomplete (in which case, the URB
+ * command should be buffered and combined with the next URB to try to
+ * reconstitute the URB command).
+ *
+ * -EOVERFLOW if the length is bigger than the maximum expected one.
+ *
+ * -EBADRQC if the start of frame does not match the expected value.
+ */
+static signed int es58x_check_rx_urb(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd,
+ u32 urb_actual_len)
+{
+ const struct device *dev = es58x_dev->dev;
+ const struct es58x_parameters *param = es58x_dev->param;
+ u16 sof, msg_len;
+ signed int urb_cmd_len, ret;
+
+ if (urb_actual_len < param->urb_cmd_header_len) {
+ dev_vdbg(dev,
+ "%s: Received %d bytes [%*ph]: header incomplete\n",
+ __func__, urb_actual_len, urb_actual_len,
+ urb_cmd->raw_cmd);
+ return -ENODATA;
+ }
+
+ sof = get_unaligned_le16(&urb_cmd->sof);
+ if (sof != param->rx_start_of_frame) {
+ dev_err_ratelimited(es58x_dev->dev,
+ "%s: Expected sequence 0x%04X for start of frame but got 0x%04X.\n",
+ __func__, param->rx_start_of_frame, sof);
+ return -EBADRQC;
+ }
+
+ msg_len = es58x_dev->ops->get_msg_len(urb_cmd);
+ urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+ if (urb_cmd_len > param->rx_urb_cmd_max_len) {
+ dev_err_ratelimited(es58x_dev->dev,
+ "%s: Biggest expected size for rx urb_cmd is %u but receive a command of size %d\n",
+ __func__,
+ param->rx_urb_cmd_max_len, urb_cmd_len);
+ return -EOVERFLOW;
+ } else if (urb_actual_len < urb_cmd_len) {
+ dev_vdbg(dev, "%s: Received %02d/%02d bytes\n",
+ __func__, urb_actual_len, urb_cmd_len);
+ return -ENODATA;
+ }
+
+ ret = es58x_check_crc(es58x_dev, urb_cmd, urb_cmd_len);
+ if (ret)
+ return ret;
+
+ return urb_cmd_len;
+}
+
+/**
+ * es58x_flush_cmd_buf() - Reset the buffer for URB commands.
+ * @es58x_dev: ES58X device.
+ */
+static void es58x_flush_cmd_buf(struct es58x_device *es58x_dev)
+{
+ memset(&es58x_dev->rx_cmd_buf, 0, es58x_dev->param->rx_urb_cmd_max_len);
+ es58x_dev->rx_cmd_buf_len = 0;
+}
+
+/**
+ * es58x_copy_to_cmd_buf() - Copy an array to the URB command buffer.
+ * @es58x_dev: ES58X device.
+ * @raw_cmd: the buffer we want to copy.
+ * @raw_cmd_len: length of @raw_cmd.
+ *
+ * Concatenates @raw_cmd_len bytes of @raw_cmd to the end of the URB
+ * command buffer.
+ *
+ * Return: zero on success, -EMSGSIZE if not enough space is available
+ * to do the copy.
+ */
+static int es58x_copy_to_cmd_buf(struct es58x_device *es58x_dev,
+ u8 *raw_cmd, int raw_cmd_len)
+{
+ if (es58x_dev->rx_cmd_buf_len + raw_cmd_len >
+ es58x_dev->param->rx_urb_cmd_max_len)
+ return -EMSGSIZE;
+
+ memcpy(&es58x_dev->rx_cmd_buf.raw_cmd[es58x_dev->rx_cmd_buf_len],
+ raw_cmd, raw_cmd_len);
+ es58x_dev->rx_cmd_buf_len += raw_cmd_len;
+
+ return 0;
+}
+
+/**
+ * es58x_split_urb_try_recovery() - Try to recover bad URB sequences.
+ * @es58x_dev: ES58X device.
+ * @raw_cmd: pointer to the buffer we want to copy.
+ * @raw_cmd_len: length of @raw_cmd.
+ *
+ * Under some rare conditions, we might get incorrect URBs from the
+ * device. From our observations, one of the valid URB gets replaced
+ * by one from the past. The full root cause is not identified.
+ *
+ * This function looks for the next start of frame in the urb buffer
+ * in order to try to recover.
+ *
+ * Such behavior was not observed on the devices of the ES58X FD
+ * family and only seems to impact the ES581.4.
+ *
+ * Return: the number of bytes dropped on success, -EBADMSG if recovery failed.
+ */
+static int es58x_split_urb_try_recovery(struct es58x_device *es58x_dev,
+ u8 *raw_cmd, size_t raw_cmd_len)
+{
+ union es58x_urb_cmd *urb_cmd;
+ signed int urb_cmd_len;
+ u16 sof;
+ int dropped_bytes = 0;
+
+ es58x_increment_rx_errors(es58x_dev);
+
+ while (raw_cmd_len > sizeof(sof)) {
+ urb_cmd = (union es58x_urb_cmd *)raw_cmd;
+ sof = get_unaligned_le16(&urb_cmd->sof);
+
+ if (sof == es58x_dev->param->rx_start_of_frame) {
+ urb_cmd_len = es58x_check_rx_urb(es58x_dev,
+ urb_cmd, raw_cmd_len);
+ if ((urb_cmd_len == -ENODATA) || urb_cmd_len > 0) {
+ dev_info_ratelimited(es58x_dev->dev,
+ "Recovery successful! Dropped %d bytes (urb_cmd_len: %d)\n",
+ dropped_bytes,
+ urb_cmd_len);
+ return dropped_bytes;
+ }
+ }
+ raw_cmd++;
+ raw_cmd_len--;
+ dropped_bytes++;
+ }
+
+ dev_warn_ratelimited(es58x_dev->dev, "%s: Recovery failed\n", __func__);
+ return -EBADMSG;
+}
+
+/**
+ * es58x_handle_incomplete_cmd() - Reconstitute an URB command from
+ * different URB pieces.
+ * @es58x_dev: ES58X device.
+ * @urb: last urb buffer received.
+ *
+ * The device might split the URB commands in an arbitrary amount of
+ * pieces. This function concatenates those in an URB buffer until a
+ * full URB command is reconstituted and consume it.
+ *
+ * Return:
+ * number of bytes consumed from @urb if successful.
+ *
+ * -ENODATA if the URB command is still incomplete.
+ *
+ * -EBADMSG if the URB command is incorrect.
+ */
+static signed int es58x_handle_incomplete_cmd(struct es58x_device *es58x_dev,
+ struct urb *urb)
+{
+ size_t cpy_len;
+ signed int urb_cmd_len, tmp_cmd_buf_len, ret;
+
+ tmp_cmd_buf_len = es58x_dev->rx_cmd_buf_len;
+ cpy_len = min_t(int, es58x_dev->param->rx_urb_cmd_max_len -
+ es58x_dev->rx_cmd_buf_len, urb->actual_length);
+ ret = es58x_copy_to_cmd_buf(es58x_dev, urb->transfer_buffer, cpy_len);
+ if (ret < 0)
+ return ret;
+
+ urb_cmd_len = es58x_check_rx_urb(es58x_dev, &es58x_dev->rx_cmd_buf,
+ es58x_dev->rx_cmd_buf_len);
+ if (urb_cmd_len == -ENODATA) {
+ return -ENODATA;
+ } else if (urb_cmd_len < 0) {
+ dev_err_ratelimited(es58x_dev->dev,
+ "Could not reconstitute incomplete command from previous URB, dropping %d bytes\n",
+ tmp_cmd_buf_len + urb->actual_length);
+ dev_err_ratelimited(es58x_dev->dev,
+ "Error code: %pe, es58x_dev->rx_cmd_buf_len: %d, urb->actual_length: %u\n",
+ ERR_PTR(urb_cmd_len),
+ tmp_cmd_buf_len, urb->actual_length);
+ es58x_print_hex_dump(&es58x_dev->rx_cmd_buf, tmp_cmd_buf_len);
+ es58x_print_hex_dump(urb->transfer_buffer, urb->actual_length);
+ return urb->actual_length;
+ }
+
+ es58x_handle_urb_cmd(es58x_dev, &es58x_dev->rx_cmd_buf);
+ return urb_cmd_len - tmp_cmd_buf_len; // consumed length
+}
+
+/**
+ * es58x_split_urb() - Cut the received URB in individual URB commands.
+ * @es58x_dev: ES58X device.
+ * @urb: last urb buffer received.
+ *
+ * The device might send urb in bulk format (i.e. several URB commands
+ * concatenated together). This function will split all the commands
+ * contained in the urb.
+ *
+ * Return:
+ * number of bytes consumed from @urb if successful.
+ *
+ * -ENODATA if the URB command is still incomplete.
+ *
+ * -EBADMSG if the URB command is incorrect.
+ */
+static signed int es58x_split_urb(struct es58x_device *es58x_dev,
+ struct urb *urb)
+{
+ const u8 es58x_is_alive = 0x11;
+ union es58x_urb_cmd *urb_cmd;
+ u8 *raw_cmd = urb->transfer_buffer;
+ ssize_t raw_cmd_len = urb->actual_length;
+ int ret;
+
+ if (es58x_dev->rx_cmd_buf_len != 0) {
+ ret = es58x_handle_incomplete_cmd(es58x_dev, urb);
+ if (ret != -ENODATA)
+ es58x_flush_cmd_buf(es58x_dev);
+ if (ret < 0)
+ return ret;
+
+ raw_cmd += ret;
+ raw_cmd_len -= ret;
+ }
+
+ while (raw_cmd_len > 0) {
+ if (raw_cmd[0] == es58x_is_alive) {
+ raw_cmd++;
+ raw_cmd_len--;
+ continue;
+ }
+ urb_cmd = (union es58x_urb_cmd *)raw_cmd;
+ ret = es58x_check_rx_urb(es58x_dev, urb_cmd, raw_cmd_len);
+ if (ret > 0) {
+ es58x_handle_urb_cmd(es58x_dev, urb_cmd);
+ } else if (ret == -ENODATA) {
+ es58x_copy_to_cmd_buf(es58x_dev, raw_cmd, raw_cmd_len);
+ return -ENODATA;
+ } else if (ret < 0) {
+ ret = es58x_split_urb_try_recovery(es58x_dev, raw_cmd,
+ raw_cmd_len);
+ if (ret < 0)
+ return ret;
+ }
+ raw_cmd += ret;
+ raw_cmd_len -= ret;
+ }
+
+ return 0;
+}
+
+/**
+ * es58x_read_bulk_callback() - Callback for reading data from device.
+ * @urb: last urb buffer received.
+ *
+ * This function gets eventually called each time an URB is received
+ * from the ES58X device.
+ *
+ * Checks urb status, calls read function and resubmits urb read
+ * operation.
+ */
+static void es58x_read_bulk_callback(struct urb *urb)
+{
+ struct es58x_device *es58x_dev = urb->context;
+ const struct device *dev = es58x_dev->dev;
+ int i, ret;
+
+ switch (urb->status) {
+ case 0: /* success */
+ break;
+
+ case -EOVERFLOW:
+ dev_err_ratelimited(dev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ es58x_print_hex_dump_debug(urb->transfer_buffer,
+ urb->transfer_buffer_length);
+ goto resubmit_urb;
+
+ case -EPROTO:
+ dev_warn_ratelimited(dev, "%s: error %pe. Device unplugged?\n",
+ __func__, ERR_PTR(urb->status));
+ goto free_urb;
+
+ case -ENOENT:
+ case -EPIPE:
+ dev_err_ratelimited(dev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ goto free_urb;
+
+ case -ESHUTDOWN:
+ dev_dbg_ratelimited(dev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ goto free_urb;
+
+ default:
+ dev_err_ratelimited(dev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ goto resubmit_urb;
+ }
+
+ ret = es58x_split_urb(es58x_dev, urb);
+ if ((ret != -ENODATA) && ret < 0) {
+ dev_err(es58x_dev->dev, "es58x_split_urb() returned error %pe",
+ ERR_PTR(ret));
+ es58x_print_hex_dump_debug(urb->transfer_buffer,
+ urb->actual_length);
+
+ /* Because the urb command could not be parsed,
+ * channel_id is not confirmed. Incrementing rx_errors
+ * count of all channels.
+ */
+ es58x_increment_rx_errors(es58x_dev);
+ }
+
+ resubmit_urb:
+ usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->rx_pipe,
+ urb->transfer_buffer, urb->transfer_buffer_length,
+ es58x_read_bulk_callback, es58x_dev);
+
+ ret = usb_submit_urb(urb, GFP_ATOMIC);
+ if (ret == -ENODEV) {
+ for (i = 0; i < es58x_dev->num_can_ch; i++)
+ if (es58x_dev->netdev[i])
+ netif_device_detach(es58x_dev->netdev[i]);
+ } else if (ret)
+ dev_err_ratelimited(dev,
+ "Failed resubmitting read bulk urb: %pe\n",
+ ERR_PTR(ret));
+ return;
+
+ free_urb:
+ usb_free_coherent(urb->dev, urb->transfer_buffer_length,
+ urb->transfer_buffer, urb->transfer_dma);
+}
+
+/**
+ * es58x_write_bulk_callback() - Callback after writing data to the device.
+ * @urb: urb buffer which was previously submitted.
+ *
+ * This function gets eventually called each time an URB was sent to
+ * the ES58X device.
+ *
+ * Puts the @urb back to the urbs idle anchor and tries to restart the
+ * network queue.
+ */
+static void es58x_write_bulk_callback(struct urb *urb)
+{
+ struct net_device *netdev = urb->context;
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+
+ switch (urb->status) {
+ case 0: /* success */
+ break;
+
+ case -EOVERFLOW:
+ if (net_ratelimit())
+ netdev_err(netdev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ es58x_print_hex_dump(urb->transfer_buffer,
+ urb->transfer_buffer_length);
+ break;
+
+ case -ENOENT:
+ if (net_ratelimit())
+ netdev_dbg(netdev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ usb_free_coherent(urb->dev,
+ es58x_dev->param->tx_urb_cmd_max_len,
+ urb->transfer_buffer, urb->transfer_dma);
+ return;
+
+ default:
+ if (net_ratelimit())
+ netdev_info(netdev, "%s: error %pe\n",
+ __func__, ERR_PTR(urb->status));
+ break;
+ }
+
+ usb_anchor_urb(urb, &es58x_dev->tx_urbs_idle);
+ /* Wake the queue if it was stopped because of exhaustion of
+ * urb resources.
+ */
+ if (atomic_inc_return(&es58x_dev->tx_urbs_idle_cnt) ==
+ es58x_dev->num_can_ch)
+ es58x_netif_wake_all_queues(es58x_dev);
+}
+
+/**
+ * es58x_alloc_urb() - Allocate memory for an URB and its transfer
+ * buffer.
+ * @es58x_dev: ES58X device.
+ * @urb: URB to be allocated.
+ * @buf: used to return DMA address of buffer.
+ * @buf_len: requested buffer size.
+ * @mem_flags: affect whether allocation may block.
+ *
+ * Allocates an URB and its @transfer_buffer and set its @transfer_dma
+ * address.
+ *
+ * This function is used at start-up to allocate all of our TX and RX
+ * URBs at once (in order to avoid numerous memory allocations during
+ * run time) and might be used during run time under extremely rare
+ * conditions by @es58x_get_tx_urb() (c.f. comments of this function).
+ *
+ * Return: zero on success, -ENOMEM if no memory is available.
+ */
+static int es58x_alloc_urb(struct es58x_device *es58x_dev, struct urb **urb,
+ u8 **buf, size_t buf_len, gfp_t mem_flags)
+{
+ *urb = usb_alloc_urb(0, mem_flags);
+ if (!*urb) {
+ dev_err(es58x_dev->dev, "No memory left for URBs\n");
+ return -ENOMEM;
+ }
+
+ *buf = usb_alloc_coherent(es58x_dev->udev, buf_len,
+ mem_flags, &(*urb)->transfer_dma);
+ if (!*buf) {
+ dev_err(es58x_dev->dev, "No memory left for USB buffer\n");
+ usb_free_urb(*urb);
+ return -ENOMEM;
+ }
+
+ (*urb)->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
+
+ return 0;
+}
+
+/**
+ * es58x_get_tx_urb() - Get an URB for transmission.
+ * @netdev: CAN network device.
+ *
+ * Gets an URB from the idle urbs anchor and stop all network devices'
+ * queue if the idle urbs anchor is nearly empty.
+ *
+ * If the URB anchor is empty, allocates an new URB.
+ *
+ * Under normal circumstances, the network device stop/wake
+ * management should prevent any further request for memory
+ * allocations to occur when trying to send a message.
+ *
+ * Yet, new URB memory allocation might occur after a restart from bus
+ * off status when @es58x_set_mode() tries to disable and re-enable
+ * the device. This would only occur if no idle URBs are available at
+ * the moment (which is highly improbable because
+ * @es58x_write_bulk_callback() should have returned the URBs to the
+ * idle urbs anchor by that point).
+ *
+ * Return: a pointer to an URB on success, NULL if no memory is
+ * available.
+ */
+static struct urb *es58x_get_tx_urb(struct net_device *netdev)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ struct urb *urb;
+ unsigned long flags;
+ int ret;
+
+ urb = usb_get_from_anchor(&es58x_dev->tx_urbs_idle);
+
+ if (!urb) {
+ size_t tx_buf_len;
+ u8 *buf;
+
+ netdev_warn(netdev,
+ "%s: Idle TX URB anchor is empty. Allocating an extra URB\n",
+ __func__);
+ tx_buf_len = es58x_dev->param->tx_urb_cmd_max_len;
+ ret = es58x_alloc_urb(es58x_dev, &urb, &buf, tx_buf_len,
+ GFP_ATOMIC);
+ if (ret)
+ urb = NULL;
+ else
+ usb_fill_bulk_urb(urb, es58x_dev->udev,
+ es58x_dev->tx_pipe, buf, tx_buf_len,
+ NULL, NULL);
+ } else {
+ spin_lock_irqsave(&es58x_dev->tx_urbs_idle.lock, flags);
+ if (atomic_dec_return(&es58x_dev->tx_urbs_idle_cnt) <
+ es58x_dev->num_can_ch)
+ es58x_netif_stop_all_queues(es58x_dev);
+ spin_unlock_irqrestore(&es58x_dev->tx_urbs_idle.lock, flags);
+ }
+
+ return urb;
+}
+
+/**
+ * es58x_submit_urb() - Send data to the device.
+ * @es58x_dev: ES58X device.
+ * @urb: URB to be sent.
+ * @netdev: CAN network device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_submit_urb(struct es58x_device *es58x_dev, struct urb *urb,
+ struct net_device *netdev)
+{
+ int ret;
+
+ es58x_set_crc(urb->transfer_buffer, urb->transfer_buffer_length);
+ usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->tx_pipe,
+ urb->transfer_buffer, urb->transfer_buffer_length,
+ es58x_write_bulk_callback, netdev);
+ usb_anchor_urb(urb, &es58x_dev->tx_urbs_busy);
+ ret = usb_submit_urb(urb, GFP_ATOMIC);
+ if (ret) {
+ netdev_err(netdev, "%s: USB send urb failure: %pe\n",
+ __func__, ERR_PTR(ret));
+ usb_unanchor_urb(urb);
+ usb_free_coherent(urb->dev,
+ es58x_dev->param->tx_urb_cmd_max_len,
+ urb->transfer_buffer, urb->transfer_dma);
+ }
+ usb_free_urb(urb);
+
+ return ret;
+}
+
+/**
+ * es58x_send_msg() - Prepare an URB and submit it.
+ * @es58x_dev: ES58X device.
+ * @cmd_type: Command type.
+ * @cmd_id: Command ID.
+ * @msg: ES58X message to be sent.
+ * @msg_len: Length of @msg.
+ * @channel_idx: Index of the network device.
+ *
+ * Creates an URB command from a given message, sets the header and the
+ * CRC and then submits it.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_send_msg(struct es58x_device *es58x_dev, u8 cmd_type, u8 cmd_id,
+ const void *msg, u16 msg_len, int channel_idx)
+{
+ struct net_device *netdev;
+ union es58x_urb_cmd *urb_cmd;
+ struct urb *urb;
+ int urb_cmd_len;
+
+ if (channel_idx == ES58X_CHANNEL_IDX_NA)
+ netdev = es58x_dev->netdev[0]; //Default to first channel
+ else
+ netdev = es58x_dev->netdev[channel_idx];
+
+ urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+ if (urb_cmd_len > es58x_dev->param->tx_urb_cmd_max_len)
+ return -EOVERFLOW;
+
+ urb = es58x_get_tx_urb(netdev);
+ if (!urb)
+ return -EBUSY;
+
+ urb_cmd = urb->transfer_buffer;
+ es58x_dev->ops->fill_urb_header(urb_cmd, cmd_type, cmd_id,
+ channel_idx, msg_len);
+ memcpy(&urb_cmd->raw_cmd[es58x_dev->param->urb_cmd_header_len],
+ msg, msg_len);
+ urb->transfer_buffer_length = urb_cmd_len;
+
+ return es58x_submit_urb(es58x_dev, urb, netdev);
+}
+
+/**
+ * es58x_start() - Start USB device.
+ * @es58x_dev: ES58X device.
+ *
+ * Allocate URBs for transmission and reception and put them in their
+ * respective anchors.
+ *
+ * This function took a lot of inspiration from the other drivers in
+ * drivers/net/can/usb.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_start(struct es58x_device *es58x_dev)
+{
+ const struct device *dev = es58x_dev->dev;
+ const struct es58x_parameters *param = es58x_dev->param;
+ size_t rx_buf_len, tx_buf_len;
+ struct urb *urb;
+ u8 *buf;
+ int i;
+ int ret = -EINVAL;
+
+ rx_buf_len = es58x_dev->rx_max_packet_size;
+ dev_dbg(dev, "%s: Allocation %d rx URBs each of size %zu\n", __func__,
+ param->rx_urb_max, rx_buf_len);
+
+ for (i = 0; i < param->rx_urb_max; i++) {
+ ret = es58x_alloc_urb(es58x_dev, &urb, &buf, rx_buf_len,
+ GFP_KERNEL);
+ if (ret)
+ break;
+
+ usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->rx_pipe,
+ buf, rx_buf_len, es58x_read_bulk_callback,
+ es58x_dev);
+ usb_anchor_urb(urb, &es58x_dev->rx_urbs);
+
+ ret = usb_submit_urb(urb, GFP_KERNEL);
+ if (ret) {
+ usb_unanchor_urb(urb);
+ usb_free_coherent(es58x_dev->udev, rx_buf_len,
+ buf, urb->transfer_dma);
+ usb_free_urb(urb);
+ break;
+ }
+ usb_free_urb(urb);
+ }
+
+ if (i == 0) {
+ dev_err(dev, "%s: Could not setup any rx URBs\n", __func__);
+ return ret;
+ } else if (i < param->rx_urb_max) {
+ dev_warn(dev,
+ "%s: Could only allocate %d on %d URBs. Rx performance may be slow\n",
+ __func__, i, param->rx_urb_max);
+ }
+
+ tx_buf_len = es58x_dev->param->tx_urb_cmd_max_len;
+ dev_dbg(dev, "%s: Allocation %d tx URBs each of size %zu\n", __func__,
+ param->tx_urb_max, tx_buf_len);
+
+ for (i = 0; i < param->tx_urb_max; i++) {
+ ret = es58x_alloc_urb(es58x_dev, &urb, &buf, tx_buf_len,
+ GFP_KERNEL);
+ if (ret)
+ break;
+
+ usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->tx_pipe,
+ buf, tx_buf_len, NULL, NULL);
+ usb_anchor_urb(urb, &es58x_dev->tx_urbs_idle);
+ usb_free_urb(urb);
+ }
+
+ if (i == 0) {
+ dev_err(dev, "%s: Could not setup any tx URBs\n", __func__);
+ return ret;
+ } else if (i < param->tx_urb_max) {
+ dev_warn(dev,
+ "%s: Could only allocate %d on %d URBs. Tx performance may be slow\n",
+ __func__, i, param->tx_urb_max);
+ }
+ atomic_set(&es58x_dev->tx_urbs_idle_cnt, i);
+
+ return ret;
+}
+
+/**
+ * es58x_enable_channel() - Enable the network device.
+ * @netdev: CAN network device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_enable_channel(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ int ret;
+
+ ret = es58x_dev->ops->enable_channel(es58x_dev, priv->channel_idx);
+ if (ret)
+ netdev_err(netdev, "%s: Could not enable the channel: %pe\n",
+ __func__, ERR_PTR(ret));
+
+ return ret;
+}
+
+/**
+ * es58x_open() - Open and start network device.
+ * @netdev: CAN network device.
+ *
+ * Called when the network transitions to the up state.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_open(struct net_device *netdev)
+{
+ int ret;
+
+ ret = open_candev(netdev);
+ if (ret)
+ return ret;
+
+ ret = es58x_enable_channel(netdev);
+ if (ret)
+ return ret;
+
+ netif_start_queue(netdev);
+
+ return ret;
+}
+
+/**
+ * es58x_stop() - Disable the network device.
+ * @netdev: CAN network device.
+ *
+ * Called when the network transitions to the down state.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_stop(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ unsigned long flags;
+
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ netif_stop_queue(netdev);
+ priv->can.state = CAN_STATE_STOPPED;
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+ es58x_can_flush_echo_skb(netdev);
+ close_candev(netdev);
+
+ es58x_flush_pending_tx_msg(netdev);
+
+ return 0;
+}
+
+/**
+ * es58x_convert_frame_format() - Convert the CAN frame format.
+ * @netdev: CAN network device.
+ * @skb: socket buffer of a CAN message.
+ * @es58x_cf: Abstraction format specific to this driver.
+ *
+ * ES581.4 and the ES58X FD family uses different tx_can_msg
+ * structures (same fields but in different order). This function
+ * converts the &struct can(fd)_frame format to our own abstracted can
+ * frame format once for all. The specific functions of each device
+ * model can then use the pre-computed information from the abstracted
+ * can frame.
+ *
+ * ES58X devices do not support sending error can frames.
+ *
+ * Return: zero on success, -EINVAL if the can frame is an error
+ * message (%CAN_ERR_FLAG is set).
+ */
+static int es58x_convert_frame_format(struct net_device *netdev,
+ struct sk_buff *skb,
+ struct es58x_abstracted_can_frame
+ *es58x_cf)
+{
+ struct canfd_frame *cf = (struct canfd_frame *)skb->data;
+
+ memset(es58x_cf, 0, sizeof(*es58x_cf));
+
+ es58x_cf->is_can_fd = can_is_canfd_skb(skb);
+
+ if (cf->can_id & CAN_ERR_FLAG) {
+ netdev_info(netdev,
+ "%s: CAN_ERR_FLAG is set but device does not support sending error frames. Dropping message\n",
+ __func__);
+ return -EINVAL;
+ }
+ if (cf->can_id & CAN_EFF_FLAG) {
+ es58x_cf->flags |= ES58X_FLAG_EFF;
+ es58x_cf->can_id = cf->can_id & CAN_EFF_MASK;
+ } else {
+ es58x_cf->can_id = cf->can_id & CAN_SFF_MASK;
+ }
+ es58x_cf->len = get_can_len(skb);
+ if (es58x_cf->is_can_fd) {
+ es58x_cf->flags |= ES58X_FLAG_FD_DATA;
+ if (cf->flags & CANFD_BRS)
+ es58x_cf->flags |= ES58X_FLAG_FD_BRS;
+ if (cf->flags & CANFD_ESI)
+ es58x_cf->flags |= ES58X_FLAG_FD_ESI;
+ es58x_cf->dlc = min_t(__u8, can_len2dlc(es58x_cf->len),
+ CANFD_MAX_DLC);
+ } else {
+ es58x_cf->dlc = min_t(__u8, ((struct can_frame *)cf)->can_dlc,
+ CANFD_MAX_DLC);
+ /* Remote frames are only defined in CAN (non-FD) frames */
+ if (cf->can_id & CAN_RTR_FLAG)
+ es58x_cf->flags |= ES58X_FLAG_RTR;
+ }
+ es58x_cf->data = cf->data;
+
+ return 0;
+}
+
+/**
+ * es58x_xmit_commit() - Send the bulk urb.
+ * @netdev: CAN network device.
+ *
+ * Update the loopback FIFO and do a bulk send.
+ *
+ * Each loopback skb should be put individually with
+ * es58x_can_put_echo_skb(). This function should be called only once
+ * by bulk transmission.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_xmit_commit(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ unsigned long flags;
+ unsigned int pkts = priv->tx_can_msg_cnt;
+ int ret;
+
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ if (!es58x_is_can_state_active(netdev)) {
+ netdev_warn(netdev,
+ "%s: Device turned to CAN state: %d while preparing to send. Aborting transmission\n",
+ __func__, priv->can.state);
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+ return -ENETDOWN;
+ }
+ priv->num_echo_skb += pkts;
+ priv->current_packet_idx += pkts;
+ es58x_add_skb_idx(priv, &priv->echo_skb_head_idx, pkts);
+ if (priv->num_echo_skb >= es58x_echo_skb_stop_threshold(priv))
+ netif_stop_queue(netdev);
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+ ret = es58x_submit_urb(priv->es58x_dev, priv->tx_urb, netdev);
+ if (ret) {
+ netdev_warn(netdev,
+ "%s: es58x_submit_urb returned failed: %pe priv->num_echo_skb = %u\n",
+ __func__, ERR_PTR(ret), priv->num_echo_skb);
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ priv->num_echo_skb -= pkts;
+ priv->current_packet_idx -= pkts;
+ es58x_add_skb_idx(priv, &priv->echo_skb_head_idx,
+ priv->can.echo_skb_max - pkts);
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+ }
+ priv->tx_urb = NULL;
+
+ return ret;
+}
+
+/**
+ * es58x_start_xmit() - Transmit an skb.
+ * @skb: socket buffer of a CAN message.
+ * @netdev: CAN network device.
+ *
+ * Called when a packet needs to be transmitted.
+ *
+ * This function relies on Byte Queue Limits (BQL). The main benefit
+ * it to increase the throughput by allowing bulk transfers
+ * (c.f. xmit_more flag).
+ *
+ * Queues up to tx_bulk_max messages in &tx_urb buffer and does
+ * a bulk send of all messages in one single URB.
+ *
+ * Return:
+ * NETDEV_TX_OK if we could manage the @skb (either transmit it or
+ * drop it)
+ *
+ * NETDEV_TX_BUSY if the device is busy (this is a bug, the network
+ * device stop/wake management should prevent this return code to
+ * occur).
+ */
+static netdev_tx_t es58x_start_xmit(struct sk_buff *skb,
+ struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ struct es58x_abstracted_can_frame es58x_cf = { 0 };
+ unsigned int packet_idx, tx_msg_threshold;
+ u16 skb_idx;
+ u8 channel_idx = priv->channel_idx;
+ bool send_doorbell;
+ int ret;
+
+ if (!priv->tx_urb) {
+ priv->tx_urb = es58x_get_tx_urb(netdev);
+ if (!priv->tx_urb)
+ return NETDEV_TX_BUSY;
+ memset(priv->tx_urb->transfer_buffer, 0,
+ es58x_dev->param->tx_urb_cmd_max_len);
+ priv->tx_urb->transfer_buffer_length =
+ es58x_dev->param->urb_cmd_header_len;
+ priv->tx_can_msg_cnt = 0;
+ priv->tx_can_msg_is_fd = can_is_canfd_skb(skb);
+ } else if (priv->tx_can_msg_is_fd != can_is_canfd_skb(skb)) {
+ /* Can not send bulk message with mixed CAN and CAN-FD
+ * frames.
+ */
+ __netdev_sent_queue(netdev, 0, false);
+ es58x_xmit_commit(netdev);
+ return es58x_start_xmit(skb, netdev);
+ }
+
+ packet_idx = priv->current_packet_idx + priv->tx_can_msg_cnt;
+ skb_idx = priv->echo_skb_head_idx;
+ es58x_add_skb_idx(priv, &skb_idx, priv->tx_can_msg_cnt);
+ ret = es58x_can_put_echo_skb(skb, netdev, skb_idx);
+ if (ret)
+ goto xmit_failure;
+ priv->tx_can_msg_cnt++;
+ ret = es58x_convert_frame_format(netdev, skb, &es58x_cf);
+ if (ret)
+ goto xmit_failure;
+ ret = es58x_dev->ops->tx_can_msg(es58x_dev, channel_idx,
+ packet_idx, &es58x_cf,
+ priv->tx_urb->transfer_buffer,
+ &priv->tx_urb->transfer_buffer_length);
+ if (ret)
+ goto xmit_failure;
+
+ send_doorbell = __netdev_sent_queue(netdev, es58x_can_frame_bytes(skb),
+ netdev_xmit_more());
+ tx_msg_threshold = min_t(unsigned int,
+ es58x_dev->param->tx_bulk_max,
+ priv->can.echo_skb_max - priv->num_echo_skb);
+ if (send_doorbell || priv->tx_can_msg_cnt >= tx_msg_threshold) {
+ ret = es58x_xmit_commit(netdev);
+ if (ret)
+ goto xmit_failure;
+ }
+
+ return NETDEV_TX_OK;
+
+ xmit_failure:
+ netdev->stats.tx_errors++;
+ es58x_flush_pending_tx_msg(netdev);
+ netdev_err(netdev, "%s: send message failure: %pe\n",
+ __func__, ERR_PTR(ret));
+ return NETDEV_TX_OK;
+}
+
+static const struct net_device_ops es58x_netdev_ops = {
+ .ndo_open = es58x_open,
+ .ndo_stop = es58x_stop,
+ .ndo_start_xmit = es58x_start_xmit
+};
+
+/**
+ * es58x_set_bittiming() - Configure all the nominal bit timing
+ * parameters.
+ * @netdev: CAN network device.
+ *
+ * Only relevant for ES581.4 (the ES58X FD family sets the bittiming
+ * parameters at the same time as the channel gets enabled).
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_set_bittiming(struct net_device *netdev)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ int ret;
+
+ /* Make sure that channel is closed before sending configuration. */
+ ret = es58x_dev->ops->disable_channel(es58x_dev, priv->channel_idx);
+ if (ret)
+ netdev_err(netdev, "%s: Could not disable the channel: %pe\n",
+ __func__, ERR_PTR(ret));
+ ret = es58x_dev->ops->set_bittiming(es58x_dev, priv->channel_idx);
+ if (ret)
+ netdev_err(netdev, "%s: Could not set bittiming: %pe\n",
+ __func__, ERR_PTR(ret));
+
+ return ret;
+}
+
+/**
+ * es58x_set_data_bittiming() - Configure all the data bit timing parameters.
+ * @netdev: CAN network device.
+ *
+ * Dummy function: ES58X FD family sets the bittiming
+ * parameters at the same time as the channel gets enabled.
+ *
+ * Return: zero.
+ */
+static int es58x_set_data_bittiming(struct net_device *netdev)
+{
+ return 0;
+}
+
+/**
+ * es58x_reset() - Reset one channel of the device.
+ * @netdev: CAN network device.
+ *
+ * Race conditions might appear when trying to use the reset_rx()
+ * and reset_tx() methods (e.g. loopback packets might remain in the
+ * queue causing some use after free issues in
+ * es58x_can_get_echo_skb()). Disabling and reenabling the channel is
+ * safer.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_reset(struct net_device *netdev)
+{
+ int ret = 0;
+
+ if (es58x_is_can_state_active(netdev))
+ es58x_priv(netdev)->can.do_set_mode(netdev, CAN_MODE_STOP);
+ WARN_ON(!netif_queue_stopped(netdev));
+
+ ret = es58x_set_bittiming(netdev);
+ if (ret)
+ goto failure;
+ ret = es58x_enable_channel(netdev);
+ if (ret)
+ goto failure;
+
+ return ret;
+
+ failure:
+ netdev_err(netdev, "%s: reset failure: %pe\n", __func__, ERR_PTR(ret));
+ return ret;
+}
+
+/**
+ * es58x_set_mode() - Change network device mode.
+ * @netdev: CAN network device.
+ * @mode: either %CAN_MODE_START, %CAN_MODE_STOP or %CAN_MODE_SLEEP
+ *
+ * This function is used by drivers/net/can/dev.c:can_restart() to
+ * recover from a bus off state. Thus only the only value expected for
+ * @mode is %CAN_MODE_START. None the less, other modes were
+ * implemented as well.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_set_mode(struct net_device *netdev, enum can_mode mode)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct can_priv *can = netdev_priv(netdev);
+ unsigned long flags;
+
+ netdev_dbg(netdev, "%s: Switching to can_mode %d\n", __func__, mode);
+
+ switch (mode) {
+ case CAN_MODE_START:
+ switch (can->state) {
+ case CAN_STATE_BUS_OFF:
+ return es58x_reset(netdev);
+
+ case CAN_STATE_STOPPED:
+ case CAN_STATE_SLEEPING:
+ es58x_netif_wake_queue(netdev);
+ can->state = CAN_STATE_ERROR_ACTIVE;
+ return 0;
+
+ case CAN_STATE_ERROR_ACTIVE:
+ case CAN_STATE_ERROR_WARNING:
+ case CAN_STATE_ERROR_PASSIVE:
+ default:
+ return 0;
+ }
+
+ case CAN_MODE_STOP:
+ case CAN_MODE_SLEEP:
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ netif_stop_queue(netdev);
+ can->state = (mode == CAN_MODE_STOP) ?
+ CAN_STATE_STOPPED : CAN_STATE_SLEEPING;
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+ return 0;
+
+ default:
+ netdev_err(netdev, "%s: Invalid can_mode value: %d\n",
+ __func__, mode);
+ return -EOPNOTSUPP;
+ }
+}
+
+/**
+ * es58x_init_priv() - Initialize private parameters.
+ * @es58x_dev: ES58X device.
+ * @priv: ES58X private parameters related to the network device.
+ * @channel_idx: Index of the network device.
+ */
+static void es58x_init_priv(struct es58x_device *es58x_dev,
+ struct es58x_priv *priv, int channel_idx)
+{
+ const struct es58x_parameters *param = es58x_dev->param;
+
+ priv->es58x_dev = es58x_dev;
+ priv->channel_idx = channel_idx;
+ priv->tx_urb = NULL;
+ priv->tx_can_msg_cnt = 0;
+ spin_lock_init(&priv->echo_skb_spinlock);
+
+ priv->can.bittiming_const = param->bittiming_const;
+ priv->can.do_set_bittiming = es58x_set_bittiming;
+ if (param->ctrlmode_supported & CAN_CTRLMODE_FD) {
+ priv->can.data_bittiming_const = param->data_bittiming_const;
+ priv->can.do_set_data_bittiming = es58x_set_data_bittiming;
+ }
+ priv->can.bitrate_max = param->bitrate_max;
+ priv->can.clock = param->clock;
+
+ priv->can.state = CAN_STATE_STOPPED;
+
+ priv->can.ctrlmode_supported = param->ctrlmode_supported;
+ priv->can.do_get_berr_counter = NULL; /* Not supported */
+ /* Hardware loopback is always enabled. */
+ /* TODO: is it even possible to modify this value? I couldn't
+ * find any functions in the kernel that would turn
+ * CAN_CTRLMODE_LOOPBACK flag on or off.
+ */
+ priv->can.ctrlmode = CAN_CTRLMODE_LOOPBACK;
+
+ priv->can.do_set_mode = es58x_set_mode;
+}
+
+/**
+ * es58x_init_netdev() - Initialize the network device.
+ * @es58x_dev: ES58X device.
+ * @channel_idx: Index of the network device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_init_netdev(struct es58x_device *es58x_dev, int channel_idx)
+{
+ struct net_device *netdev;
+ struct device *dev = es58x_dev->dev;
+ int ret;
+
+ netdev = alloc_candev(sizeof(struct es58x_priv),
+ es58x_dev->param->echo_skb_max);
+ if (!netdev) {
+ dev_err(dev, "Could not allocate candev\n");
+ return -ENOMEM;
+ }
+ SET_NETDEV_DEV(netdev, dev);
+ es58x_dev->netdev[channel_idx] = netdev;
+ es58x_init_priv(es58x_dev, es58x_priv(netdev), channel_idx);
+
+ netdev->netdev_ops = &es58x_netdev_ops;
+ netdev->flags |= IFF_ECHO; /* we support local echo */
+
+ ret = register_candev(netdev);
+ if (ret)
+ return ret;
+ netdev_dbg(netdev, "%s: Registered channel %s\n",
+ es58x_dev->udev->product, netdev->name);
+
+ netdev_get_tx_queue(netdev, 0)->dql.min_limit =
+ es58x_dev->param->dql_limit_min;
+
+ return ret;
+}
+
+/**
+ * es58x_get_product_info() - Get the product information and print them.
+ * @es58x_dev: ES58X device.
+ *
+ * Do a synchronous call to get the product information.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_get_product_info(struct es58x_device *es58x_dev)
+{
+ struct usb_device *udev = es58x_dev->udev;
+ const int es58x_prod_info_idx = 6;
+ /* Empirical tests show a prod_info length of maximum 83,
+ * below should be more than enough.
+ */
+ const size_t prod_info_len = 127;
+ char *prod_info;
+ int ret;
+
+ prod_info = kmalloc(prod_info_len, GFP_KERNEL);
+ if (!prod_info)
+ return -ENOMEM;
+
+ ret = usb_string(udev, es58x_prod_info_idx, prod_info, prod_info_len);
+ if (ret < 0) {
+ dev_err(es58x_dev->dev,
+ "%s: Could not read the product info: %pe\n",
+ __func__, ERR_PTR(ret));
+ return ret;
+ } else if (ret >= prod_info_len - 1) {
+ dev_warn(es58x_dev->dev,
+ "%s: Buffer is too small, result might be truncated\n",
+ __func__);
+ }
+ dev_info(es58x_dev->dev, "Product info: %s\n", prod_info);
+ kfree(prod_info);
+
+ return 0;
+}
+
+/**
+ * es58x_init_es58x_dev() - Initialize the ES58X device.
+ * @intf: USB interface
+ * @p_es58x_dev: pointer to the address of the ES58X device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_init_es58x_dev(struct usb_interface *intf,
+ struct es58x_device **p_es58x_dev)
+{
+ struct device *dev = &intf->dev;
+ struct es58x_device *es58x_dev;
+ const struct es58x_parameters *param;
+ const struct es58x_operators *ops;
+ struct usb_device *udev = interface_to_usbdev(intf);
+ struct usb_endpoint_descriptor *ep_in, *ep_out;
+ const u16 usb_id_product = le16_to_cpu(udev->descriptor.idProduct);
+ u8 num_can_ch;
+ int ret;
+
+ dev_info(dev,
+ "Starting %s %s (Serial Number %s) driver version " DRV_VERSION "\n",
+ udev->manufacturer, udev->product, udev->serial);
+
+ ret = usb_find_common_endpoints(intf->cur_altsetting, &ep_in, &ep_out,
+ NULL, NULL);
+ if (ret)
+ return ret;
+
+ switch (usb_id_product) {
+ case ES581_4_PRODUCT_ID: // 2 non-FD CAN channels
+ param = &es581_4_param;
+ ops = &es581_4_ops;
+ num_can_ch = ES581_4_NUM_CAN_CH;
+ break;
+
+ case ES582_1_PRODUCT_ID: // 2 CAN(-FD) channels
+ param = &es58x_fd_param;
+ ops = &es58x_fd_ops;
+ num_can_ch = ES582_1_NUM_CAN_CH;
+ break;
+
+ case ES584_1_PRODUCT_ID: // 1 CAN(-FD) and 1 LIN channel
+ param = &es58x_fd_param;
+ ops = &es58x_fd_ops;
+ num_can_ch = ES584_1_NUM_CAN_CH;
+ break;
+
+ default:
+ return -ENODEV;
+ }
+ if (num_can_ch > ARRAY_SIZE(es58x_dev->netdev) ||
+ num_can_ch >= param->echo_skb_max)
+ return -ECHRNG;
+
+ es58x_dev = kzalloc(ES58X_SIZEOF_ES58X_DEVICE(param), GFP_KERNEL);
+ if (!es58x_dev)
+ return -ENOMEM;
+
+ es58x_dev->param = param;
+ es58x_dev->ops = ops;
+ es58x_dev->num_can_ch = num_can_ch;
+ es58x_dev->dev = dev;
+ es58x_dev->udev = udev;
+
+ init_usb_anchor(&es58x_dev->rx_urbs);
+ init_usb_anchor(&es58x_dev->tx_urbs_idle);
+ init_usb_anchor(&es58x_dev->tx_urbs_busy);
+ usb_set_intfdata(intf, es58x_dev);
+
+ es58x_dev->rx_pipe = usb_rcvbulkpipe(es58x_dev->udev,
+ ep_in->bEndpointAddress);
+ es58x_dev->tx_pipe = usb_sndbulkpipe(es58x_dev->udev,
+ ep_out->bEndpointAddress);
+ es58x_dev->rx_max_packet_size = le16_to_cpu(ep_in->wMaxPacketSize);
+
+ *p_es58x_dev = es58x_dev;
+
+ return 0;
+}
+
+/**
+ * es58x_probe() - Initialize the USB device.
+ * @intf: USB interface
+ * @id: USB device ID
+ *
+ * Return: zero on success, -ENODEV if the interface is not supported
+ * or errno when any other error occurs.
+ */
+static int es58x_probe(struct usb_interface *intf,
+ const struct usb_device_id *id)
+{
+ struct es58x_device *es58x_dev;
+ int ch_idx, ret;
+
+ /* ES58X FD has some interface protocols unsupported by this driver. */
+ if (intf->cur_altsetting->desc.bInterfaceProtocol != 0) {
+ dev_dbg(&intf->dev, "Interface protocol %d is not supported\n",
+ intf->cur_altsetting->desc.bInterfaceProtocol);
+ return -ENODEV;
+ }
+
+ ret = es58x_init_es58x_dev(intf, &es58x_dev);
+ if (ret)
+ return ret;
+
+ ret = es58x_get_product_info(es58x_dev);
+ if (ret)
+ goto cleanup_es58x_dev;
+
+ for (ch_idx = 0; ch_idx < es58x_dev->num_can_ch; ch_idx++) {
+ ret = es58x_init_netdev(es58x_dev, ch_idx);
+ if (ret)
+ goto cleanup_candev;
+ }
+
+ ret = es58x_start(es58x_dev);
+ if (ret)
+ goto cleanup_candev;
+
+ es58x_set_realtime_diff_ns(es58x_dev);
+
+ return ret;
+
+ cleanup_candev:
+ for (ch_idx = 0; ch_idx < es58x_dev->num_can_ch; ch_idx++)
+ if (es58x_dev->netdev[ch_idx]) {
+ unregister_candev(es58x_dev->netdev[ch_idx]);
+ free_candev(es58x_dev->netdev[ch_idx]);
+ }
+ cleanup_es58x_dev:
+ kfree(es58x_dev);
+
+ return ret;
+}
+
+/**
+ * es58x_disconnect() - Disconnect the USB device.
+ * @intf: USB interface
+ *
+ * Called by the usb core when driver is unloaded or device is
+ * removed.
+ */
+static void es58x_disconnect(struct usb_interface *intf)
+{
+ struct es58x_device *es58x_dev = usb_get_intfdata(intf);
+ struct net_device *netdev;
+ struct urb *urb;
+ int i;
+
+ dev_info(&intf->dev, "Disconnecting %s %s\n",
+ es58x_dev->udev->manufacturer, es58x_dev->udev->product);
+
+ for (i = 0; i < es58x_dev->num_can_ch; i++) {
+ netdev = es58x_dev->netdev[i];
+ if (!netdev)
+ continue;
+ netdev_dbg(netdev, "Unregistering %s\n", netdev->name);
+ unregister_candev(netdev);
+ netdev_dbg(netdev, "Freeing %s\n", netdev->name);
+ es58x_dev->netdev[i] = NULL;
+ free_candev(netdev);
+ }
+
+ dev_dbg(&intf->dev, "Killing TX busy anchored urbs\n");
+ if (!usb_wait_anchor_empty_timeout(&es58x_dev->tx_urbs_busy, 1000)) {
+ dev_err(&intf->dev, "%s: Timeout, some TX urbs still remain\n",
+ __func__);
+ usb_kill_anchored_urbs(&es58x_dev->tx_urbs_busy);
+ }
+
+ dev_dbg(&intf->dev, "Freeing TX idle anchored urbs\n");
+ while ((urb = usb_get_from_anchor(&es58x_dev->tx_urbs_idle)) != NULL) {
+ usb_free_coherent(urb->dev,
+ es58x_dev->param->tx_urb_cmd_max_len,
+ urb->transfer_buffer, urb->transfer_dma);
+ usb_free_urb(urb);
+ atomic_dec(&es58x_dev->tx_urbs_idle_cnt);
+ }
+ if (atomic_read(&es58x_dev->tx_urbs_idle_cnt) > 0)
+ dev_err(&intf->dev,
+ "All idle urbs were freed but tx_urb_idle_cnt is %u\n",
+ atomic_read(&es58x_dev->tx_urbs_idle_cnt));
+
+ dev_dbg(&intf->dev, "Unlinking RX anchored urbs\n");
+ usb_kill_anchored_urbs(&es58x_dev->rx_urbs);
+
+ dev_dbg(&intf->dev, "Freeing %s\n", es58x_dev->udev->product);
+ kfree(es58x_dev);
+ dev_dbg(&intf->dev, "Setting USB interface to NULL\n");
+ usb_set_intfdata(intf, NULL);
+}
+
+static struct usb_driver es58x_driver = {
+ .name = ES58X_MODULE_NAME,
+ .probe = es58x_probe,
+ .disconnect = es58x_disconnect,
+ .id_table = es58x_id_table,
+};
+
+module_usb_driver(es58x_driver);
+
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.h b/drivers/net/can/usb/etas_es58x/es58x_core.h
new file mode 100644
index 000000000000..359ddc44a3ad
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.h
@@ -0,0 +1,700 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_core.h: All common definitions and declarations.
+ *
+ * Copyright (C) 2019 Robert Bosch Engineering and Business
+ * Solutions. All rights reserved.
+ * Copyright (C) 2020 ETAS K.K.. All rights reserved.
+ */
+
+#ifndef __ES58X_COMMON_H__
+#define __ES58X_COMMON_H__
+
+#include <linux/types.h>
+#include <linux/usb.h>
+#include <linux/netdevice.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+
+#include "es581_4.h"
+#include "es58x_fd.h"
+
+/* Size of a CAN Standard Frame (rounded up and ignoring bitsuffing). */
+#define ES58X_SFF_BYTES(data_len) (round_up(47, 8) / 8 + (data_len))
+/* Size of a CAN Extended Frame (rounded up and ignoring bitsuffing). */
+#define ES58X_EFF_BYTES(data_len) (round_up(67, 8) / 8 + (data_len))
+/* Maximum size of a CAN frame (rounded up and ignoring bitsuffing). */
+#define ES58X_CAN_FRAME_BYTES_MAX ES58X_EFF_BYTES(CAN_MAX_DLEN)
+/* Maximum size of a CAN-FD frame (rough estimation because
+ * ES58X_SFF_BYTES() and ES58X_EFF_BYTES() macros are using the
+ * constant values for CAN not CAN-FD).
+ */
+#define ES58X_CANFD_FRAME_BYTES_MAX ES58X_EFF_BYTES(CANFD_MAX_DLEN)
+
+/* Driver constants */
+#define ES58X_RX_URBS_MAX 5 // Empirical value
+#define ES58X_TX_URBS_MAX 8 // Empirical value
+
+#define ES58X_MAX(param) \
+ (ES581_4_##param > ES58X_FD_##param ? \
+ ES581_4_##param : ES58X_FD_##param)
+#define ES58X_TX_BULK_MAX ES58X_MAX(TX_BULK_MAX)
+#define ES58X_RX_BULK_MAX ES58X_MAX(RX_BULK_MAX)
+#define ES58X_RX_LOOPBACK_BULK_MAX ES58X_MAX(RX_LOOPBACK_BULK_MAX)
+#define ES58X_NUM_CAN_CH_MAX ES58X_MAX(NUM_CAN_CH)
+
+/* Use this when channel index is irrelevant (e.g. device
+ * timestamp).
+ */
+#define ES58X_CHANNEL_IDX_NA 0xFF
+#define ES58X_EMPTY_MSG NULL
+
+/* Threshold on consecutive CAN_STATE_ERROR_PASSIVE. If we receive
+ * ES58X_CONSECUTIVE_ERR_PASSIVE_MAX times the event
+ * ES58X_ERR_CRTL_PASSIVE in a row without any successful Rx or Tx,
+ * we force the device to switch to CAN_STATE_BUS_OFF state.
+ */
+#define ES58X_CONSECUTIVE_ERR_PASSIVE_MAX 254
+
+enum es58x_self_reception_mode {
+ ES58X_SELF_RECEPTION_OFF = 0,
+ ES58X_SELF_RECEPTION_ON = 1
+};
+
+enum es58x_physical_media {
+ ES58X_MEDIA_HIGH_SPEED = 1,
+ ES58X_MEDIA_FAULT_TOLERANT = 2
+};
+
+enum es58x_samples_per_bit {
+ ES58X_ONE_SAMPLE_PER_BIT = 1,
+
+ /* Some CAN controllers do not support three samples per
+ * bit. In this case the default value of one sample per bit
+ * is used, even if the configuration is set to
+ * ES58X_THREE_SAMPLES_PER_BIT.
+ */
+ ES58X_THREE_SAMPLES_PER_BIT = 2
+};
+
+enum es58x_sync_edge {
+ /* ISO CAN specification defines the use of a single edge
+ * synchronization. The synchronization should be done on
+ * recessive to dominant level change.
+ */
+ ES58X_SINGLE_SYNC_EDGE = 1,
+
+ /* In addition to the ISO CAN specification, a double
+ * synchronization is also supported: recessive to dominant
+ * level change and dominant to recessive level change.
+ */
+ ES58X_DUAL_SYNC_EDGE = 2
+};
+
+/**
+ * enum es58x_flag_type - CAN flags for RX/TX messages.
+ * @ES58X_FLAG_EFF: Extended Frame Format (EFF).
+ * @ES58X_FLAG_RTR: Remote Transmission Request (RTR).
+ * @ES58X_FLAG_SELFRECEPTION: The message is a Self reception frame
+ * (not used yet in this implementation).
+ * @ES58X_FLAG_FD_BRS: Bit rate switch (BRS): second bitrate for
+ * payload data.
+ * @ES58X_FLAG_FD_MSG_TRUNCATED: FD message was truncated and padded
+ * (not used).
+ * @ES58X_FLAG_FD_ESI: Error State Indicator (ESI): tell if the
+ * transmitting node is in error passive mode.
+ * @ES58X_FLAG_FD_DATA: CAN FD frame.
+ */
+enum es58x_flag_type {
+ ES58X_FLAG_EFF = BIT(0),
+ ES58X_FLAG_RTR = BIT(1),
+ ES58X_FLAG_SELFRECEPTION = BIT(2),
+ ES58X_FLAG_FD_BRS = BIT(3),
+ ES58X_FLAG_FD_MSG_TRUNCATED = BIT(4),
+ ES58X_FLAG_FD_ESI = BIT(5),
+ ES58X_FLAG_FD_DATA = BIT(6)
+};
+
+/**
+ * enum es58x_error - CAN error detection.
+ * @ES58X_ERR_OK: No errors.
+ * @ES58X_ERR_PROT_STUFF: Bit stuffing error: more than 5 consecutive
+ * equal bits.
+ * @ES58X_ERR_PROT_FORM: Frame format error.
+ * @ES58X_ERR_ACK: Received no ACK on transmission.
+ * @ES58X_ERR_PROT_BIT: Single bit error.
+ * @ES58X_ERR_PROT_CRC: Incorrect 15, 17 or 21 bits CRC.
+ * @ES58X_ERR_PROT_BIT1: Unable to send recessive bit: tried to send
+ * recessive bit 1 but monitored dominant bit 0.
+ * @ES58X_ERR_PROT_BIT0: Unable to send dominant bit: tried to send
+ * dominant bit 0 but monitored recessive bit 1.
+ * @ES58X_ERR_PROT_OVERLOAD: Bus overload.
+ * @ES58X_ERR_PROT_UNSPEC: Unspecified.
+ *
+ * Please refer to ISO 11898-1:2015, section 10.11 "Error detection"
+ * and section 10.13 "Overload signaling" for additional details.
+ */
+enum es58x_error {
+ ES58X_ERR_OK = 0,
+ ES58X_ERR_PROT_STUFF = BIT(0),
+ ES58X_ERR_PROT_FORM = BIT(1),
+ ES58X_ERR_ACK = BIT(2),
+ ES58X_ERR_PROT_BIT = BIT(3),
+ ES58X_ERR_PROT_CRC = BIT(4),
+ ES58X_ERR_PROT_BIT1 = BIT(5),
+ ES58X_ERR_PROT_BIT0 = BIT(6),
+ ES58X_ERR_PROT_OVERLOAD = BIT(7),
+ ES58X_ERR_PROT_UNSPEC = BIT(31)
+};
+
+/**
+ * enum es58x_event - CAN error codes returned by the device.
+ * @ES58X_EVENT_OK: No errors.
+ * @ES58X_ERR_CRTL_ACTIVE: Active state: both TR and RX error count is
+ * less than 128.
+ * @ES58X_ERR_CRTL_PASSIVE: Passive state: either TX or RX error count
+ * is greater than 127.
+ * @ES58X_ERR_CRTL_WARNING: Warning state: either TX or RX error count
+ * is greater than 96.
+ * @ES58X_ERR_BUSOFF: Bus off.
+ * @ES58X_ERR_SINGLE_WIRE: Lost connection on either CAN high or CAN low.
+ *
+ * Please refer to ISO 11898-1:2015, section 12.1.4 "Rules of fault
+ * confinement" for additional details.
+ */
+enum es58x_event {
+ ES58X_EVENT_OK = 0,
+ ES58X_ERR_CRTL_ACTIVE = BIT(0),
+ ES58X_ERR_CRTL_PASSIVE = BIT(1),
+ ES58X_ERR_CRTL_WARNING = BIT(2),
+ ES58X_ERR_BUSOFF = BIT(3),
+ ES58X_ERR_SINGLE_WIRE = BIT(4)
+};
+
+/**
+ * enum es58x_dev_ret_code_u8 - Device error codes, 8 bit format.
+ *
+ * Specific to ES581.4.
+ */
+enum es58x_dev_ret_code_u8 {
+ ES58X_RET_U8_OK = 0x00,
+ ES58X_RET_U8_ERR_UNSPECIFIED_FAILURE = 0x80,
+ ES58X_RET_U8_ERR_NO_MEM = 0x81,
+ ES58X_RET_U8_ERR_BAD_CRC = 0x99
+};
+
+/**
+ * enum es58x_dev_ret_code_u32 - Device error codes, 32 bit format.
+ */
+enum es58x_cmd_ret_code_u32 {
+ ES58X_RET_U32_OK = 0x00000000UL,
+ ES58X_RET_U32_ERR_UNSPECIFIED_FAILURE = 0x80000000UL,
+ ES58X_RET_U32_ERR_NO_MEM = 0x80004001UL,
+ ES58X_RET_U32_WARN_PARAM_ADJUSTED = 0x40004000UL,
+ ES58X_RET_U32_WARN_TX_MAYBE_REORDER = 0x40004001UL,
+ ES58X_RET_U32_ERR_TIMEOUT = 0x80000008UL,
+ ES58X_RET_U32_ERR_FIFO_FULL = 0x80003002UL,
+ ES58X_RET_U32_ERR_BAD_CONFIG = 0x80004000UL,
+ ES58X_RET_U32_ERR_NO_RESOURCE = 0x80004002UL
+};
+
+enum es58x_cmd_ret_type {
+ ES58X_RET_TYPE_SET_BITTIMING,
+ ES58X_RET_TYPE_ENABLE_CHANNEL,
+ ES58X_RET_TYPE_DISABLE_CHANNEL,
+ ES58X_RET_TYPE_TX_MSG,
+ ES58X_RET_TYPE_RESET_RX,
+ ES58X_RET_TYPE_RESET_TX,
+ ES58X_RET_TYPE_DEVICE_ERR_FRAME,
+ ES58X_CMD_RET_TYPE_NUM_ENTRIES
+};
+
+/**
+ * struct es58x_abstracted_can_frame - Common structure to hold can
+ * frame information.
+ * @timestamp: Hardware time stamp (only relevant in rx branches).
+ * @data: CAN payload.
+ * @can_id: CAN ID.
+ * @is_can_fd: false: non-FD CAN, true: CAN-FD.
+ * @flags: Please refer to enum es58x_flag_type.
+ * @dlc: Data Length Code (raw value). When using standard (non-FD)
+ * CAN, ES58X devices allow to send DLC bigger than 8
+ * (i.e. values 9 to 15 reserved for CAN-FD) as specified in ISO
+ * 11898-1:2015 section 8.4.2.4 "DLC field". In such case, the
+ * @dlc field will contain whatever value was obtained when
+ * sending or receiving but the @len field will contain the
+ * sanitized length of the @data field (i.e. not more than
+ * CAN_MAX_DLEN for standard CAN). To be able to send/receive
+ * such "out of range" DLC values, you would need to modify the
+ * first occurrence of the if conditions "cfd->len >
+ * CAN_MAX_DLEN" into "cfd->len > CANFD_MAX_DLC" in functions
+ * net/can/af_can.c:can_send() and net/can/af_can.c:can_rcv().
+ * @len: Length of @data field (sanitized in es58x_core.c).
+ *
+ * ES581.4 and the ES58X FD family uses different tx_can_msg
+ * structures (same fields but in different order). This abstracted
+ * structure allows to calculate the parameters once for all. The
+ * specific functions of each device model can then use the
+ * pre-computed information from this abstracted can frame.
+ */
+struct es58x_abstracted_can_frame {
+ u64 timestamp;
+ const u8 *data;
+ canid_t can_id;
+ bool is_can_fd;
+ u8 flags;
+ u8 dlc;
+ u8 len;
+};
+
+union es58x_urb_cmd {
+ u8 raw_cmd[0];
+ struct es581_4_urb_cmd es581_4_urb_cmd;
+ struct es58x_fd_urb_cmd es58x_fd_urb_cmd;
+ struct { // Common header parts of all variants
+ __le16 sof;
+ u8 cmd_type;
+ u8 cmd_id;
+ } __packed;
+};
+
+/**
+ * struct es58x_priv - All information specific to a can channel.
+ * @can: struct can_priv must be the first member (Socket CAN relies
+ * on the fact that function netdev_priv() returns a pointer to
+ * a struct can_priv).
+ * @es58x_dev: pointer to the corresponding ES58X device.
+ * @echo_skb_spinlock: Spinlock to protect the access to the echo skb
+ * FIFO.
+ * @current_packet_idx: Keeps track of the packet indexes.
+ * @echo_skb_tail_idx: beginning of the echo skb FIFO, i.e. index of
+ * the first element.
+ * @echo_skb_head_idx: end of the echo skb FIFO plus one, i.e. first
+ * free index.
+ * @num_echo_skb: actual number of elements in the FIFO. Thus, the end
+ * of the FIFO is echo_skb_head = (echo_skb_tail_idx +
+ * num_echo_skb) % can.echo_skb_max.
+ * @tx_urb: Used as a buffer to concatenate the TX messages and to do
+ * a bulk send. Please refer to es58x_start_xmit() for more
+ * details.
+ * @tx_can_msg_is_fd: false: all messages in @tx_urb are non-FD CAN,
+ * true: all messages in @tx_urb are CAN-FD. Rationale: ES58X FD
+ * devices do not allow to mix standard and FD CAN in one single
+ * bulk transmission.
+ * @tx_can_msg_cnt: Number of messages in @tx_urb.
+ * @err_passive_before_rtx_success: The ES58X device might enter in a
+ * state in which it keeps alternating between error passive
+ * and active state. This counter keeps track of the number of
+ * error passive and if it gets bigger than
+ * ES58X_CONSECUTIVE_ERR_PASSIVE_MAX, es58x_rx_err_msg() will
+ * force the status to bus-off.
+ * @channel_idx: Channel index, starts at zero.
+ */
+struct es58x_priv {
+ struct can_priv can;
+ struct es58x_device *es58x_dev;
+
+ spinlock_t echo_skb_spinlock; // Comments: c.f. supra
+ u32 current_packet_idx;
+ u16 echo_skb_tail_idx;
+ u16 echo_skb_head_idx;
+ u16 num_echo_skb;
+
+ struct urb *tx_urb;
+ bool tx_can_msg_is_fd;
+ u8 tx_can_msg_cnt;
+
+ u8 err_passive_before_rtx_success;
+
+ u8 channel_idx;
+};
+
+/**
+ * struct es58x_parameters - Constant parameters of a given hardware
+ * variant.
+ * @can_bittiming_const: Nominal bittimming parameters (used for
+ * non-FD CAN and arbitration field of CAN-FD).
+ * @data_bittiming_const: Data bittiming parameters (used for CAN-FD
+ * payload)
+ * @bitrate_max: Maximum bitrate supported by the device.
+ * @clock: CAN clock parameters.
+ * @ctrlmode_supported: List of supported modes. Please refer to
+ * can/netlink.h file for additional details.
+ * @tx_start_of_frame: Magic number at the beginning of each TX URB
+ * command.
+ * @rx_start_of_frame: Magic number at the beginning of each RX URB
+ * command.
+ * @tx_urb_cmd_max_len: Maximum length of a TX URB command.
+ * @rx_urb_cmd_max_len: Maximum length of a RX URB command.
+ * @echo_skb_max: Maximum number of echo SKB. This value must not
+ * exceed the maximum size of the device internal TX FIFO
+ * length. This parameter is used to control the network queue
+ * wake/stop logic.
+ * @dql_limit_min: Dynamic Queue Limits (DQL) absolute minimum limit
+ * of bytes allowed to be queued on this network device transmit
+ * queue. Used by the Byte Queue Limits (BQL) to determine how
+ * frequently the xmit_more flag will be set to true in
+ * es58x_start_xmit(). Set this value higher to optimize for
+ * throughput but be aware that it might have a negative impact
+ * on the latency! This value can also be set dynamically. Please
+ * refer to Documentation/ABI/testing/sysfs-class-net-queues for
+ * more details.
+ * @tx_bulk_max: Maximum number of Tx messages that can be sent in one
+ * single URB packet.
+ * @urb_cmd_header_len: Length of the URB command header.
+ * @rx_urb_max: Number of RX URB to be allocated during device probe.
+ * @tx_urb_max: Number of TX URB to be allocated during device probe.
+ * @channel_idx_offset: Some of the ES58x starts channel numbering
+ * from 0 (ES58X FD), others from 1 (ES581.4).
+ */
+struct es58x_parameters {
+ const struct can_bittiming_const *bittiming_const;
+ const struct can_bittiming_const *data_bittiming_const;
+ u32 bitrate_max;
+ struct can_clock clock;
+ u32 ctrlmode_supported;
+ u16 tx_start_of_frame;
+ u16 rx_start_of_frame;
+ u16 tx_urb_cmd_max_len;
+ u16 rx_urb_cmd_max_len;
+ u16 echo_skb_max;
+ u16 dql_limit_min;
+ u8 tx_bulk_max;
+ u8 urb_cmd_header_len;
+ u8 rx_urb_max;
+ u8 tx_urb_max;
+ u8 channel_idx_offset;
+};
+
+/**
+ * struct es58x_operators - Function pointers used to encode/decode
+ * the TX/RX messages.
+ * @get_msg_len: Get field msg_len of the urb_cmd. The offset of
+ * msg_len inside urb_cmd depends of the device model.
+ * @handle_urb_cmd: Handle URB command received from the device and
+ * manage the return code from device.
+ * @fill_urb_header: Fill the header of urb_cmd.
+ * @tx_can_msg: Encode a TX CAN message and add it to the bulk buffer
+ * cmd_buf of es58x_dev.
+ * @set_bittiming: Encode the bittiming information and send it.
+ * @enable_channel: Start the CAN channel with index channel_idx.
+ * @disable_channel: Stop the CAN channel with index channel_idx.
+ * @reset_rx: Reset the RX queue of the ES58X device.
+ * @reset_tx: Reset the TX queue of the ES58X device.
+ * @get_timestamp: Request a timestamp from the ES58X device.
+ */
+struct es58x_operators {
+ u16 (*get_msg_len)(const union es58x_urb_cmd *urb_cmd);
+ int (*handle_urb_cmd)(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd);
+ void (*fill_urb_header)(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
+ u8 cmd_id, u8 channel_idx, u16 cmd_len);
+ int (*tx_can_msg)(struct es58x_device *es58x_dev, int channel_idx,
+ u32 packet_idx,
+ struct es58x_abstracted_can_frame *es58x_frame,
+ union es58x_urb_cmd *urb_cmd, u32 *urb_cmd_len);
+ int (*set_bittiming)(struct es58x_device *es58x_dev, int channel_idx);
+ int (*enable_channel)(struct es58x_device *es58x_dev,
+ int channel_idx);
+ int (*disable_channel)(struct es58x_device *es58x_dev,
+ int channel_idx);
+ int (*reset_rx)(struct es58x_device *es58x_dev, int channel_idx);
+ int (*reset_tx)(struct es58x_device *es58x_dev, int channel_idx);
+ int (*get_timestamp)(struct es58x_device *es58x_dev);
+};
+
+/**
+ * struct es58x_device - All information specific to an ES58X device.
+ * @dev: Device information.
+ * @udev: USB device information.
+ * @netdev: Array of our CAN channels.
+ * @param: The constant parameters.
+ * @ops: Operators.
+ * @rx_pipe: USB reception pipe.
+ * @tx_pipe: USB transmission pipe.
+ * @rx_urbs: Anchor for received URBs.
+ * @tx_urbs_busy: Anchor for TX URBs which were send to the device.
+ * @tx_urbs_idle: Anchor for TX USB which are idle. This driver
+ * allocates the memory for the URBs during the probe. When a TX
+ * URB is needed, it can be taken from this anchor. The network
+ * queue wake/stop logic should prevent this URB from getting
+ * empty. Please refer to es58x_get_tx_urb() for more details.
+ * @tx_urbs_idle_cnt: number of urbs in @tx_urbs_idle.
+ * @ktime_req_ns: kernel timestamp when es58x_set_realtime_diff_ns()
+ * was called.
+ * @realtime_diff_ns: difference in nanoseconds between the clocks of
+ * the ES58X device and the kernel.
+ * @timestamps: a temporary buffer to store the time stamps before
+ * feeding them to es58x_can_get_echo_skb(). Can only be used
+ * in rx branches.
+ * @can_frames: a temporary buffer to store the can frames before
+ * feeding them to es58x_rx_can_msg(). Can only be used in rx
+ * branches.
+ * @rx_max_packet_size: Maximum length of bulk-in URB.
+ * @num_can_ch: Number of CAN channel (i.e. number of elements of @netdev).
+ * @rx_cmd_buf_len: Length of @rx_cmd_buf.
+ * @rx_cmd_buf: The device might split the URB commands in an
+ * arbitrary amount of pieces. This buffer is used to concatenate
+ * all those pieces. Can only be used in rx branches. This field
+ * has to be the last one of the structure because it is has a
+ * flexible size (c.f. ES58X_SIZEOF_ES58X_DEVICE() macro).
+ */
+struct es58x_device {
+ struct device *dev;
+ struct usb_device *udev;
+ struct net_device *netdev[ES58X_NUM_CAN_CH_MAX];
+
+ const struct es58x_parameters *param;
+ const struct es58x_operators *ops;
+
+ int rx_pipe;
+ int tx_pipe;
+
+ struct usb_anchor rx_urbs;
+ struct usb_anchor tx_urbs_busy;
+ struct usb_anchor tx_urbs_idle;
+ atomic_t tx_urbs_idle_cnt;
+
+ u64 ktime_req_ns;
+ s64 realtime_diff_ns;
+
+ union {
+ u64 timestamps[ES58X_RX_LOOPBACK_BULK_MAX];
+ struct es58x_abstracted_can_frame can_frames[ES58X_RX_BULK_MAX];
+ };
+
+ u16 rx_max_packet_size;
+ u8 num_can_ch;
+
+ u16 rx_cmd_buf_len;
+ union es58x_urb_cmd rx_cmd_buf;
+};
+
+/**
+ * ES58X_SIZEOF_ES58X_DEVICE() - Calculate the maximum length of
+ * struct es58x_device.
+ * @es58x_dev_param: The constant parameters of the device.
+ *
+ * The length of struct es58x_device depends on the length of its last
+ * field: rx_cmd_buf. This macro allows to optimize size for memory
+ * allocation.
+ *
+ * Return: length of struct es58x_device.
+ */
+#define ES58X_SIZEOF_ES58X_DEVICE(es58x_dev_param) \
+ (offsetof(struct es58x_device, rx_cmd_buf) + \
+ (es58x_dev_param)->rx_urb_cmd_max_len)
+
+/* Megabit per second (multiply x per one million) */
+#define ES58X_MBPS(x) (1000000UL * (x))
+/* Megahertz (multiply x per one million) */
+#define ES58X_MHZ(x) (1000000UL * (x))
+
+/**
+ * es58x_check_msg_len() - Check the size of a received message.
+ * @dev: Device, used to print error messages.
+ * @msg: Received message, must not be a pointer.
+ * @actual_len: Length of the message as advertised in the command header.
+ *
+ * Must be a macro in order to retrieve the actual size using
+ * sizeof(). Can be use with any of the messages which have a fixed
+ * length. Check for an exact match of the size.
+ *
+ * Return: zero on success, -EMSGSIZE if @actual_len differs from the
+ * expected length.
+ */
+#define es58x_check_msg_len(dev, msg, actual_len) \
+({ \
+ size_t __expected_len = sizeof(msg); \
+ size_t __actual_len = (actual_len); \
+ int __res = 0; \
+ if (__expected_len != __actual_len) { \
+ dev_err(dev, \
+ "%s: Length of %s is %zu but received command is %zu.\n", \
+ __func__, __stringify(msg), \
+ __expected_len, __actual_len); \
+ __res = -EMSGSIZE; \
+ } \
+ __res; \
+})
+
+/**
+ * es58x_check_msg_max_len() - Check the maximum size of a received message.
+ * @dev: Device, used to print error messages.
+ * @msg: Received message, must not be a pointer.
+ * @actual_len: Length of the message as advertised in the command header.
+ *
+ * Must be a macro in order to retrieve the actual size using
+ * sizeof(). To be used with the messages of variable sizes. Only
+ * check that the message is not bigger than the maximum expected
+ * size.
+ *
+ * Return: zero on success, -EOVERFLOW if @actual_len is greater than
+ * the expected length.
+ */
+#define es58x_check_msg_max_len(dev, msg, actual_len) \
+({ \
+ size_t __actual_len = (actual_len); \
+ size_t __expected_len = sizeof(msg); \
+ int __res = 0; \
+ if (__actual_len > __expected_len) { \
+ dev_err(dev, \
+ "%s: Maximum length for %s is %zu but received command is %zu.\n", \
+ __func__, __stringify(msg), \
+ __expected_len, __actual_len); \
+ __res = -EOVERFLOW; \
+ } \
+ __res; \
+})
+
+/**
+ * es58x_msg_num_element() - Check size and give the number of
+ * elements in a message of array type.
+ * @dev: Device, used to print error messages.
+ * @msg: Received message, must be an array.
+ * @actual_len: Length of the message as advertised in the command
+ * header.
+ *
+ * Must be a macro in order to retrieve the actual size using
+ * sizeof(). To be used on message of array type. Array's element has
+ * to be of fixed size (else use es58x_check_msg_max_len()). Check
+ * that the total length is an exact multiple of the length of a
+ * single element.
+ *
+ * Return: number of elements in the array on success, -EOVERFLOW if
+ * @actual_len is greater than the expected length, -EMSGSIZE if
+ * @actual_len is not a multiple of a single element.
+ */
+#define es58x_msg_num_element(dev, msg, actual_len) \
+({ \
+ const struct device *__dev = (dev); \
+ size_t __actual_len = (actual_len); \
+ size_t __elem_len = sizeof((msg)[0]) + __must_be_array(msg); \
+ size_t __actual_num_elem = __actual_len / __elem_len; \
+ size_t __expected_num_elem = sizeof(msg) / __elem_len; \
+ int __res = __actual_num_elem; \
+ if (__actual_num_elem == 0) { \
+ dev_err(__dev, \
+ "%s: Minimum length for %s is %zu but received command is %zu.\n", \
+ __func__, __stringify(msg), \
+ __elem_len, __actual_len); \
+ __res = -EMSGSIZE; \
+ } else if ((__actual_len % __elem_len) != 0) { \
+ dev_err(__dev, \
+ "%s: Received command length: %zu is not a multiple of %s[0]: %zu\n", \
+ __func__, __actual_len, \
+ __stringify(msg), __elem_len); \
+ __res = -EMSGSIZE; \
+ } else if (__actual_num_elem > __expected_num_elem) { \
+ dev_err(__dev, \
+ "%s: Array %s is supposed to have %zu elements each of size %zu...\n", \
+ __func__, __stringify(msg), \
+ __expected_num_elem, __elem_len); \
+ dev_err(__dev, \
+ "... But received command has %zu elements (total length %zu).\n", \
+ __actual_num_elem, __actual_len); \
+ __res = -EOVERFLOW; \
+ } \
+ __res; \
+})
+
+/**
+ * es58x_priv() - Get the priv member and cast it to struct es58x_priv.
+ * @netdev: CAN network device.
+ *
+ * Return: ES58X device.
+ */
+static inline struct es58x_priv *es58x_priv(struct net_device *netdev)
+{
+ return (struct es58x_priv *)netdev_priv(netdev);
+}
+
+/**
+ * ES58X_SIZEOF_URB_CMD() - Calculate the maximum length of an urb
+ * command for a given message field name.
+ * @es58x_urb_cmd_type: type (either "struct es581_4_urb_cmd" or
+ * "struct es58x_fd_urb_cmd").
+ * @msg_field: name of the message field.
+ *
+ * Return: length of the urb command.
+ */
+#define ES58X_SIZEOF_URB_CMD(es58x_urb_cmd_type, msg_field) \
+ (offsetof(es58x_urb_cmd_type, raw_msg) \
+ + sizeof_field(es58x_urb_cmd_type, msg_field) \
+ + sizeof_field(es58x_urb_cmd_type, \
+ reserved_for_crc16_do_not_use))
+
+/**
+ * es58x_get_urb_cmd_len() - Calculate the actual length of an urb
+ * command for a given message length.
+ * @es58x_dev: ES58X device.
+ * @msg_len: Length of the message.
+ *
+ * Add the header and CRC lengths to the message length.
+ *
+ * Return: length of the urb command.
+ */
+static inline size_t es58x_get_urb_cmd_len(struct es58x_device *es58x_dev,
+ u16 msg_len)
+{
+ /* URB Length = URB header len + Message len + sizeof crc16 */
+ return es58x_dev->param->urb_cmd_header_len + msg_len + sizeof(u16);
+}
+
+/**
+ * es58x_get_netdev() - Get the network device.
+ * @es58x_dev: ES58X device.
+ * @channel_no: The channel number as advertised in the urb command.
+ * @netdev: CAN network device.
+ *
+ * ES581.4 starts the numbering on channels from 1, ES58X FD family
+ * starts it from 0. This method does the sanity check.
+ *
+ * Return: zero on success, -ECHRNG if the received channel number is
+ * out of range and -ENODEV if the network device is not yet
+ * configured.
+ */
+static inline int es58x_get_netdev(struct es58x_device *es58x_dev,
+ int channel_no, struct net_device **netdev)
+{
+ int channel_idx = channel_no - es58x_dev->param->channel_idx_offset;
+
+ *netdev = NULL;
+ if (channel_idx < 0 || channel_idx >= es58x_dev->num_can_ch)
+ return -ECHRNG;
+
+ *netdev = es58x_dev->netdev[channel_idx];
+ if (!netdev || !netif_device_present(*netdev))
+ return -ENODEV;
+
+ return 0;
+}
+
+int es58x_can_get_echo_skb(struct net_device *netdev, u32 packet_idx,
+ u64 *tstamps, unsigned int pkts);
+int es58x_tx_ack_msg(struct net_device *netdev, u16 tx_free_entries,
+ enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32);
+int es58x_rx_can_msg(struct net_device *netdev,
+ struct es58x_abstracted_can_frame *es58x_cf,
+ unsigned int pkts);
+int es58x_rx_err_msg(struct net_device *netdev, enum es58x_error error,
+ enum es58x_event event, u64 timestamp);
+int es58x_rx_timestamp(struct es58x_device *es58x_dev, u64 timestamp);
+int es58x_rx_dev_ret_u8(struct device *dev,
+ enum es58x_cmd_ret_type cmd_ret_type,
+ enum es58x_dev_ret_code_u8 rx_dev_ret_u8);
+int es58x_rx_cmd_ret_u32(struct net_device *netdev,
+ enum es58x_cmd_ret_type cmd_ret_type,
+ enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32);
+int es58x_send_msg(struct es58x_device *es58x_dev, u8 cmd_type, u8 cmd_id,
+ const void *msg, u16 cmd_len, int channel_idx);
+
+extern const struct es58x_parameters es581_4_param;
+extern const struct es58x_operators es581_4_ops;
+
+extern const struct es58x_parameters es58x_fd_param;
+extern const struct es58x_operators es58x_fd_ops;
+
+#endif //__ES58X_COMMON_H__
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.c b/drivers/net/can/usb/etas_es58x/es58x_fd.c
new file mode 100644
index 000000000000..620c763cd8ab
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.c
@@ -0,0 +1,648 @@
+// SPDX-License-Identifier: GPL-2.0
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_fd.c: Adds support to ETAS ES582.1 and ES584.1 (naming
+ * convention: we use the term "ES58X FD" when referring to those two
+ * variants together).
+ *
+ * Copyright (C) 2019 Robert Bosch Engineering and Business
+ * Solutions. All rights reserved.
+ * Copyright (C) 2020 ETAS K.K.. All rights reserved.
+ */
+
+#include <linux/kernel.h>
+#include <asm/unaligned.h>
+
+#include "es58x_core.h"
+#include "es58x_fd.h"
+
+/**
+ * es58x_sizeof_rx_tx_msg() - Calculate the actual length of the
+ * structure of a rx or tx message.
+ * @msg: message of variable length, must have a dlc and a len fields.
+ *
+ * Even if RTR frames have actually no payload, the ES58X devices
+ * still expect it.
+ *
+ * Return: length of the message.
+ */
+#define es58x_fd_sizeof_rx_tx_msg(msg) \
+({ \
+ typeof(msg) __msg = (msg); \
+ size_t __msg_len = __msg.flags & ES58X_FLAG_FD_DATA ? \
+ min_t(u8, __msg.len, CANFD_MAX_DLEN) : \
+ min_t(u8, can_dlc2len(__msg.dlc), CAN_MAX_DLEN); \
+ (offsetof(typeof(__msg), data[__msg_len])); \
+})
+
+static enum es58x_fd_cmd_type es58x_fd_cmd_type(struct net_device *netdev)
+{
+ u32 ctrlmode = es58x_priv(netdev)->can.ctrlmode;
+
+ return ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO) ?
+ ES58X_FD_CMD_TYPE_CANFD : ES58X_FD_CMD_TYPE_CAN;
+}
+
+static u16 es58x_fd_get_msg_len(const union es58x_urb_cmd *urb_cmd)
+{
+ return get_unaligned_le16(&urb_cmd->es58x_fd_urb_cmd.msg_len);
+}
+
+static int es58x_fd_rx_loopback_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd
+ *es58x_fd_urb_cmd)
+{
+ struct es58x_priv *priv = es58x_priv(netdev);
+ const struct es58x_fd_rx_loopback_msg *rx_loopback_msg;
+ struct es58x_device *es58x_dev = priv->es58x_dev;
+ u64 *tstamps = es58x_dev->timestamps;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int i, num_element;
+ u32 first_packet_idx, packet_idx;
+ unsigned long flags;
+
+ const u32 mask = ~(u32)((typeof(rx_loopback_msg->packet_idx))(~0U));
+
+ num_element = es58x_msg_num_element(es58x_dev->dev,
+ es58x_fd_urb_cmd->rx_loopback_msg,
+ msg_len);
+ if (num_element < 0)
+ return num_element;
+ rx_loopback_msg = es58x_fd_urb_cmd->rx_loopback_msg;
+
+ spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+ first_packet_idx = priv->current_packet_idx - priv->num_echo_skb;
+ spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+ packet_idx = (first_packet_idx & mask) | rx_loopback_msg[0].packet_idx;
+ for (i = 0; i < num_element; i++) {
+ if ((u8)packet_idx != rx_loopback_msg[i].packet_idx) {
+ netdev_err(netdev, "Packet idx jumped from %u to %u\n",
+ (u8)packet_idx - 1,
+ rx_loopback_msg[i].packet_idx);
+ return -EBADMSG;
+ }
+
+ tstamps[i] = get_unaligned_le64(&rx_loopback_msg[i].timestamp);
+ packet_idx++;
+ }
+
+ return es58x_can_get_echo_skb(netdev, first_packet_idx,
+ tstamps, num_element);
+}
+
+static int es58x_fd_rx_can_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ const u8 *rx_can_msg_buf = es58x_fd_urb_cmd->rx_can_msg_buf;
+ struct es58x_abstracted_can_frame *es58x_cf = es58x_dev->can_frames;
+ u16 rx_can_msg_buf_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int pkts, ret;
+
+ ret = es58x_check_msg_max_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->rx_can_msg_buf,
+ rx_can_msg_buf_len);
+ if (ret)
+ return ret;
+
+ for (pkts = 0; rx_can_msg_buf_len > 0; pkts++) {
+ const struct es58x_fd_rx_can_msg *rx_can_msg =
+ (const struct es58x_fd_rx_can_msg *)rx_can_msg_buf;
+ bool is_can_fd = !!(rx_can_msg->flags & ES58X_FLAG_FD_DATA);
+ /* rx_can_msg_len is the length of the rx_can_msg
+ * buffer. Not to be confused with rx_can_msg->len
+ * which is the length of the CAN payload
+ * rx_can_msg->data.
+ */
+ u16 rx_can_msg_len = es58x_fd_sizeof_rx_tx_msg(*rx_can_msg);
+
+ if (rx_can_msg_len > rx_can_msg_buf_len) {
+ netdev_err(netdev,
+ "%s: Expected a rx_can_msg of size %d but only %d bytes are left in rx_can_msg_buf\n",
+ __func__,
+ rx_can_msg_len, rx_can_msg_buf_len);
+ return -EMSGSIZE;
+ }
+ if (rx_can_msg->len > CANFD_MAX_DLEN) {
+ netdev_err(netdev,
+ "%s: Data length is %d but maximum should be %d\n",
+ __func__, rx_can_msg->len, CANFD_MAX_DLEN);
+ return -EMSGSIZE;
+ }
+
+ es58x_cf[pkts].timestamp =
+ get_unaligned_le64(&rx_can_msg->timestamp);
+ es58x_cf[pkts].can_id = get_unaligned_le32(&rx_can_msg->can_id);
+ es58x_cf[pkts].is_can_fd = is_can_fd;
+ es58x_cf[pkts].data = rx_can_msg->data;
+ if (is_can_fd) {
+ es58x_cf[pkts].len = rx_can_msg->len;
+ es58x_cf[pkts].dlc = can_len2dlc(es58x_cf[pkts].len);
+ } else {
+ es58x_cf[pkts].dlc = rx_can_msg->dlc;
+ es58x_cf[pkts].len = can_dlc2len(rx_can_msg->dlc);
+ }
+ es58x_cf[pkts].flags = rx_can_msg->flags;
+
+ rx_can_msg_buf_len -= rx_can_msg_len;
+ rx_can_msg_buf += rx_can_msg_len;
+ }
+
+ ret = es58x_rx_can_msg(netdev, es58x_cf, pkts);
+ memset(es58x_dev->can_frames, 0, sizeof(es58x_dev->can_frames));
+
+ return ret;
+}
+
+static int es58x_fd_rx_event_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd
+ *es58x_fd_urb_cmd)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ const struct es58x_fd_rx_event_msg *rx_event_msg;
+ int ret;
+
+ ret = es58x_check_msg_len(es58x_dev->dev, *rx_event_msg, msg_len);
+ if (ret)
+ return ret;
+
+ rx_event_msg = &es58x_fd_urb_cmd->rx_event_msg;
+
+ return es58x_rx_err_msg(netdev, rx_event_msg->error_code,
+ rx_event_msg->event_code,
+ get_unaligned_le64(&rx_event_msg->timestamp));
+}
+
+static int es58x_fd_rx_cmd_ret_u32(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd
+ *es58x_fd_urb_cmd,
+ enum es58x_cmd_ret_type cmd_ret_type)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32;
+ int ret;
+
+ ret = es58x_check_msg_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->rx_cmd_ret_le32, msg_len);
+ if (ret)
+ return ret;
+
+ rx_cmd_ret_u32 = get_unaligned_le32(&es58x_fd_urb_cmd->rx_cmd_ret_le32);
+
+ return es58x_rx_cmd_ret_u32(netdev, cmd_ret_type, rx_cmd_ret_u32);
+}
+
+static int es58x_fd_tx_ack_msg(struct net_device *netdev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+ const struct es58x_fd_tx_ack_msg *tx_ack_msg;
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ int ret;
+
+ tx_ack_msg = &es58x_fd_urb_cmd->tx_ack_msg;
+ ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
+ if (ret)
+ return ret;
+
+ return
+ es58x_tx_ack_msg(netdev,
+ get_unaligned_le16(&tx_ack_msg->tx_free_entries),
+ get_unaligned_le32(&tx_ack_msg->rx_cmd_ret_le32));
+}
+
+static int es58x_fd_can_cmd_id(struct es58x_device *es58x_dev,
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+ struct net_device *netdev;
+ int ret;
+
+ ret = es58x_get_netdev(es58x_dev, es58x_fd_urb_cmd->channel_idx,
+ &netdev);
+ if (ret)
+ return ret;
+
+ switch ((enum es58x_fd_can_cmd_id)es58x_fd_urb_cmd->cmd_id) {
+ case ES58X_FD_CMD_ID_ENABLE_CHANNEL:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_ENABLE_CHANNEL);
+
+ case ES58X_FD_CMD_ID_DISABLE_CHANNEL:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_DISABLE_CHANNEL);
+
+ case ES58X_FD_CMD_ID_TX_MSG:
+ return es58x_fd_tx_ack_msg(netdev, es58x_fd_urb_cmd);
+
+ case ES58X_FD_CMD_ID_MSG_SELFRX_ACK:
+ return es58x_fd_rx_loopback_msg(netdev, es58x_fd_urb_cmd);
+
+ case ES58X_FD_CMD_ID_RECEIVE_MSG:
+ return es58x_fd_rx_can_msg(netdev, es58x_fd_urb_cmd);
+
+ case ES58X_FD_CMD_ID_RESET_RX:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_RESET_RX);
+
+ case ES58X_FD_CMD_ID_RESET_TX:
+ return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+ ES58X_RET_TYPE_RESET_TX);
+
+ case ES58X_FD_CMD_ID_ERROR_OR_EVENT_MSG:
+ return es58x_fd_rx_event_msg(netdev, es58x_fd_urb_cmd);
+
+ default:
+ return -EBADRQC;
+ }
+}
+
+static int es58x_fd_device_cmd_id(struct es58x_device *es58x_dev,
+ const struct es58x_fd_urb_cmd
+ *es58x_fd_urb_cmd)
+{
+ u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ u64 timestamp;
+ int ret;
+
+ switch ((enum es58x_fd_device_cmd_id)es58x_fd_urb_cmd->cmd_id) {
+ case ES58X_FD_CMD_ID_TIMESTAMP:
+ ret = es58x_check_msg_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->timestamp, msg_len);
+ if (ret)
+ return ret;
+ timestamp = get_unaligned_le64(&es58x_fd_urb_cmd->timestamp);
+ return es58x_rx_timestamp(es58x_dev, timestamp);
+
+ default:
+ return -EBADRQC;
+ }
+}
+
+static int es58x_fd_handle_urb_cmd(struct es58x_device *es58x_dev,
+ const union es58x_urb_cmd *urb_cmd)
+{
+ const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd;
+ const struct device *dev = es58x_dev->dev;
+ int ret;
+
+ es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+
+ switch ((enum es58x_fd_cmd_type)es58x_fd_urb_cmd->cmd_type) {
+ case ES58X_FD_CMD_TYPE_CAN:
+ case ES58X_FD_CMD_TYPE_CANFD:
+ ret = es58x_fd_can_cmd_id(es58x_dev, es58x_fd_urb_cmd);
+ break;
+
+ case ES58X_FD_CMD_TYPE_DEVICE:
+ ret = es58x_fd_device_cmd_id(es58x_dev, es58x_fd_urb_cmd);
+ break;
+
+ default:
+ ret = -EBADRQC;
+ break;
+ }
+
+ if (ret == -EBADRQC)
+ dev_err(dev,
+ "%s: Unknown command type (0x%02X) and command ID (0x%02X) combination\n",
+ __func__, es58x_fd_urb_cmd->cmd_type,
+ es58x_fd_urb_cmd->cmd_id);
+
+ return ret;
+}
+
+static void es58x_fd_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
+ u8 cmd_id, u8 channel_idx, u16 msg_len)
+{
+ struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+
+ es58x_fd_urb_cmd->SOF = cpu_to_le16(es58x_fd_param.tx_start_of_frame);
+ es58x_fd_urb_cmd->cmd_type = cmd_type;
+ es58x_fd_urb_cmd->cmd_id = cmd_id;
+ es58x_fd_urb_cmd->channel_idx = channel_idx;
+ es58x_fd_urb_cmd->msg_len = cpu_to_le16(msg_len);
+}
+
+static int es58x_fd_tx_can_msg(struct es58x_device *es58x_dev,
+ int channel_idx, u32 packet_idx,
+ struct es58x_abstracted_can_frame *es58x_cf,
+ union es58x_urb_cmd *urb_cmd, u32 *urb_cmd_len)
+{
+ struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+ struct es58x_fd_tx_can_msg *tx_can_msg;
+ u16 msg_len;
+ int ret;
+
+ ret = es58x_check_msg_max_len(es58x_dev->dev,
+ es58x_fd_urb_cmd->tx_can_msg_buf,
+ es58x_fd_get_msg_len(urb_cmd) +
+ sizeof(*tx_can_msg));
+ if (ret)
+ return ret;
+
+ msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+ tx_can_msg = (struct es58x_fd_tx_can_msg *)
+ &es58x_fd_urb_cmd->tx_can_msg_buf[msg_len];
+
+ /* Fill message contents. */
+ if (*urb_cmd_len == es58x_dev->param->urb_cmd_header_len)
+ es58x_fd_fill_urb_header(urb_cmd, es58x_cf->is_can_fd ?
+ ES58X_FD_CMD_TYPE_CANFD :
+ ES58X_FD_CMD_TYPE_CAN,
+ ES58X_FD_CMD_ID_TX_MSG_NO_ACK,
+ channel_idx, *urb_cmd_len);
+ tx_can_msg->packet_idx = packet_idx;
+ put_unaligned_le32(es58x_cf->can_id, &tx_can_msg->can_id);
+ tx_can_msg->flags = (u8)es58x_cf->flags;
+ if (es58x_cf->is_can_fd)
+ tx_can_msg->len = es58x_cf->len;
+ else
+ tx_can_msg->dlc = es58x_cf->dlc;
+ memcpy(tx_can_msg->data, es58x_cf->data, tx_can_msg->len);
+
+ /* Calculate new sizes */
+ msg_len += es58x_fd_sizeof_rx_tx_msg(*tx_can_msg);
+ *urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+ put_unaligned_le16(msg_len, &es58x_fd_urb_cmd->msg_len);
+
+ return 0;
+}
+
+/* ES58X uses the same command to set the bittiming parameters and
+ * enable the channel. The modification is done in
+ * es58x_fd_enable_channel().
+ */
+static int es58x_fd_set_bittiming(struct es58x_device *es58x_dev,
+ int channel_idx)
+{
+ return 0;
+}
+
+static void es58x_fd_print_bittiming(struct net_device *netdev,
+ struct es58x_fd_bittiming
+ *es58x_fd_bittiming, char *type)
+{
+ netdev_vdbg(netdev, "bitrate %s = %d\n", type,
+ le32_to_cpu(es58x_fd_bittiming->bitrate));
+ netdev_vdbg(netdev, "tseg1 %s = %d\n", type,
+ le16_to_cpu(es58x_fd_bittiming->tseg1));
+ netdev_vdbg(netdev, "tseg2 %s = %d\n", type,
+ le16_to_cpu(es58x_fd_bittiming->tseg2));
+ netdev_vdbg(netdev, "brp %s = %d\n", type,
+ le16_to_cpu(es58x_fd_bittiming->brp));
+ netdev_vdbg(netdev, "sjw %s = %d\n", type,
+ le16_to_cpu(es58x_fd_bittiming->sjw));
+}
+
+static void es58x_fd_print_conf(struct net_device *netdev,
+ struct es58x_fd_tx_conf_msg *tx_conf_msg)
+{
+ es58x_fd_print_bittiming(netdev, &tx_conf_msg->nominal_bittiming,
+ "nominal");
+ netdev_vdbg(netdev, "samples_per_bit = %d\n",
+ tx_conf_msg->samples_per_bit);
+ netdev_vdbg(netdev, "sync_edge = %d\n",
+ tx_conf_msg->sync_edge);
+ netdev_vdbg(netdev, "physical_media = %d\n",
+ tx_conf_msg->physical_media);
+ netdev_vdbg(netdev, "self_reception = %d\n",
+ tx_conf_msg->self_reception_mode);
+ netdev_vdbg(netdev, "ctrlmode = %d\n", tx_conf_msg->ctrlmode);
+ netdev_vdbg(netdev, "canfd_enabled = %d\n",
+ tx_conf_msg->canfd_enabled);
+ if (tx_conf_msg->canfd_enabled) {
+ es58x_fd_print_bittiming(netdev,
+ &tx_conf_msg->data_bittiming, "data");
+ netdev_vdbg(netdev,
+ "Transmitter Delay Compensation = %d\n",
+ tx_conf_msg->tdc);
+ netdev_vdbg(netdev,
+ "Transmitter Delay Compensation Offset = %d\n",
+ le16_to_cpu(tx_conf_msg->tdco));
+ netdev_vdbg(netdev,
+ "Transmitter Delay Compensation Filter = %d\n",
+ le16_to_cpu(tx_conf_msg->tdcf));
+ }
+}
+
+static void es58x_fd_convert_bittiming(struct es58x_fd_bittiming *es58x_fd_bt,
+ struct can_bittiming *bt)
+{
+ /* The actual value set in the hardware registers is one less
+ * than the functional value.
+ */
+ const int offset = 1;
+
+ es58x_fd_bt->bitrate = cpu_to_le32(bt->bitrate);
+ es58x_fd_bt->tseg1 =
+ cpu_to_le16(bt->prop_seg + bt->phase_seg1 - offset);
+ es58x_fd_bt->tseg2 = cpu_to_le16(bt->phase_seg2 - offset);
+ es58x_fd_bt->brp = cpu_to_le16(bt->brp - offset);
+ es58x_fd_bt->sjw = cpu_to_le16(bt->sjw - offset);
+}
+
+static int es58x_fd_enable_channel(struct es58x_device *es58x_dev,
+ int channel_idx)
+{
+ struct net_device *netdev = es58x_dev->netdev[channel_idx];
+ struct es58x_priv *priv = es58x_priv(netdev);
+ struct es58x_fd_tx_conf_msg tx_conf_msg = { 0 };
+ u32 ctrlmode;
+ bool is_can_fd = false;
+ size_t conf_len = 0;
+
+ es58x_fd_convert_bittiming(&tx_conf_msg.nominal_bittiming,
+ &priv->can.bittiming);
+ ctrlmode = priv->can.ctrlmode;
+
+ tx_conf_msg.samples_per_bit =
+ ctrlmode & CAN_CTRLMODE_3_SAMPLES ?
+ ES58X_THREE_SAMPLES_PER_BIT : ES58X_ONE_SAMPLE_PER_BIT;
+ tx_conf_msg.sync_edge = ES58X_SINGLE_SYNC_EDGE;
+ tx_conf_msg.physical_media = ES58X_MEDIA_HIGH_SPEED;
+ tx_conf_msg.self_reception_mode =
+ ctrlmode & CAN_CTRLMODE_LOOPBACK ?
+ ES58X_SELF_RECEPTION_ON : ES58X_SELF_RECEPTION_OFF;
+
+ tx_conf_msg.ctrlmode |=
+ ctrlmode & CAN_CTRLMODE_LISTENONLY ?
+ ES58X_CTRLMODE_PASSIVE : ES58X_CTRLMODE_ACTIVE;
+
+ conf_len = ES58X_FD_CAN_CONF_LEN;
+ if (ctrlmode & CAN_CTRLMODE_FD) {
+ tx_conf_msg.ctrlmode |= ES58X_CTRLMODE_FD_ISO_FORMAT;
+ is_can_fd = true;
+ } else if (ctrlmode & CAN_CTRLMODE_FD_NON_ISO) {
+ tx_conf_msg.ctrlmode |= ES58X_CTRLMODE_FD_NONISO_FORMAT;
+ is_can_fd = true;
+ }
+ if (is_can_fd) {
+ struct can_bittiming *dbt = &priv->can.data_bittiming;
+ int tdco = 0;
+
+ conf_len = ES58X_FD_CANFD_CONF_LEN;
+
+ tx_conf_msg.canfd_enabled = !!is_can_fd;
+ es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming, dbt);
+
+ /* As specified in ISO 11898-1 section 11.3.3
+ * "Transmitter delay compensation" (TDC) is only
+ * applicable if data BRP is one or two.
+ */
+ tx_conf_msg.tdc = (dbt->brp == 1) || (dbt->brp == 2);
+ if (tx_conf_msg.tdc) {
+ /* Set the Transmitter Delay Compensation
+ * offset as the duration (in time quanta)
+ * from the start of the bit to the sample
+ * point.
+ */
+ tdco = can_bit_time(dbt) * dbt->sample_point / 1000;
+ }
+ tx_conf_msg.tdco = cpu_to_le16(min_t(u16, 127, tdco));
+ tx_conf_msg.tdcf = cpu_to_le16(0);
+ }
+ es58x_fd_print_conf(netdev, &tx_conf_msg);
+
+ return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
+ ES58X_FD_CMD_ID_ENABLE_CHANNEL,
+ &tx_conf_msg, conf_len, channel_idx);
+}
+
+static int es58x_fd_disable_channel(struct es58x_device *es58x_dev,
+ int channel_idx)
+{
+ /* The type (ES58X_FD_CMD_TYPE_CAN or ES58X_FD_CMD_TYPE_CANFD) does
+ * not matter here.
+ */
+ return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_CAN,
+ ES58X_FD_CMD_ID_DISABLE_CHANNEL, ES58X_EMPTY_MSG,
+ 0, channel_idx);
+}
+
+static int es58x_fd_reset_rx(struct es58x_device *es58x_dev, int channel_idx)
+{
+ struct net_device *netdev;
+ int ret;
+
+ ret = es58x_get_netdev(es58x_dev, channel_idx, &netdev);
+ if (ret)
+ return ret;
+
+ return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
+ ES58X_FD_CMD_ID_RESET_RX, ES58X_EMPTY_MSG,
+ 0, channel_idx);
+}
+
+static int es58x_fd_reset_tx(struct es58x_device *es58x_dev, int channel_idx)
+{
+ struct net_device *netdev;
+ int ret;
+
+ ret = es58x_get_netdev(es58x_dev, channel_idx, &netdev);
+ if (ret)
+ return ret;
+
+ return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
+ ES58X_FD_CMD_ID_RESET_TX, ES58X_EMPTY_MSG,
+ 0, channel_idx);
+}
+
+static int es58x_fd_get_timestamp(struct es58x_device *es58x_dev)
+{
+ return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_DEVICE,
+ ES58X_FD_CMD_ID_TIMESTAMP, ES58X_EMPTY_MSG,
+ 0, ES58X_CHANNEL_IDX_NA);
+}
+
+/* struct es58x_fd_nom_bittiming_const - Nominal bittiming constants.
+ *
+ * Nominal bittiming constants for ES582.1 and ES584.1 as specified in
+ * the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
+ * section 49.6.8 "MCAN Nominal Bit Timing and Prescaler Register"
+ * from Microchip.
+ *
+ * The values from the specification are the hardware register
+ * values. To convert them to the functional values, all ranges were
+ * incremented by 1 (e.g. range [0..n-1] changed to [1..n]).
+ */
+static const struct can_bittiming_const es58x_fd_nom_bittiming_const = {
+ .name = "ATSAMV71Q21 nom.", //nominal
+ .tseg1_min = 2,
+ .tseg1_max = 256,
+ .tseg2_min = 2,
+ .tseg2_max = 128,
+ .sjw_max = 128,
+ .brp_min = 1,
+ .brp_max = 512,
+ .brp_inc = 1
+};
+
+/* struct es58x_fd_data_bittiming_const - Data bittiming constants.
+ *
+ * Data bittiming constants for ES582.1 and ES584.1 as specified in
+ * the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
+ * section 49.6.4 "MCAN Data Bit Timing and Prescaler Register" from
+ * Microchip.
+ */
+static const struct can_bittiming_const es58x_fd_data_bittiming_const = {
+ .name = "ATSAMV71Q21 data",
+ .tseg1_min = 2,
+ .tseg1_max = 32,
+ .tseg2_min = 1,
+ .tseg2_max = 16,
+ .sjw_max = 8,
+ .brp_min = 1,
+ .brp_max = 32,
+ .brp_inc = 1
+};
+
+const struct es58x_parameters es58x_fd_param = {
+ .bittiming_const = &es58x_fd_nom_bittiming_const,
+ .data_bittiming_const = &es58x_fd_data_bittiming_const,
+ .bitrate_max = ES58X_MBPS(8),
+ .clock = {.freq = ES58X_MHZ(80)},
+ .ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
+ CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO,
+ .tx_start_of_frame = 0xCEFA, // FACE in little endian
+ .rx_start_of_frame = 0xFECA, // CAFE in little endian
+ .tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN,
+ .rx_urb_cmd_max_len = ES58X_FD_RX_URB_CMD_MAX_LEN,
+ /* Size of internal device TX queue is 500.
+ *
+ * However, when reaching value around 278, the device's busy
+ * LED turns on and thus maximum value of 500 is never reached
+ * in practice. Also, when this value is too high, some error
+ * on the rx_loopback_msg were witnessed when the device is
+ * recovering from bus off.
+ *
+ * For above reasons, a value that would prevent the device
+ * from becoming busy was chosen. In practice, BQL would
+ * prevent the value from even getting closer to below
+ * maximum, so no impact on performance was measured.
+ */
+ .echo_skb_max = U8_MAX,
+ /* Empirical value. */
+ .dql_limit_min = ES58X_CAN_FRAME_BYTES_MAX * 15,
+ .tx_bulk_max = ES58X_FD_TX_BULK_MAX,
+ .urb_cmd_header_len = ES58X_FD_URB_CMD_HEADER_LEN,
+ .rx_urb_max = ES58X_RX_URBS_MAX,
+ .tx_urb_max = ES58X_TX_URBS_MAX,
+ .channel_idx_offset = 0
+};
+
+const struct es58x_operators es58x_fd_ops = {
+ .get_msg_len = es58x_fd_get_msg_len,
+ .handle_urb_cmd = es58x_fd_handle_urb_cmd,
+ .fill_urb_header = es58x_fd_fill_urb_header,
+ .tx_can_msg = es58x_fd_tx_can_msg,
+ .set_bittiming = es58x_fd_set_bittiming,
+ .enable_channel = es58x_fd_enable_channel,
+ .disable_channel = es58x_fd_disable_channel,
+ .reset_rx = es58x_fd_reset_rx,
+ .reset_tx = es58x_fd_reset_tx,
+ .get_timestamp = es58x_fd_get_timestamp
+};
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.h b/drivers/net/can/usb/etas_es58x/es58x_fd.h
new file mode 100644
index 000000000000..25df0dd9a677
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.h
@@ -0,0 +1,243 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_fd.h: Definitions and declarations specific to ETAS
+ * ES582.1 and ES584.1 (naming convention: we use the term "ES58X FD"
+ * when referring to those two variants together).
+ *
+ * Copyright (C) 2019 Robert Bosch Engineering and Business
+ * Solutions. All rights reserved.
+ * Copyright (C) 2020 ETAS K.K.. All rights reserved.
+ */
+
+#ifndef __ES58X_FD_H__
+#define __ES58X_FD_H__
+
+#include <linux/types.h>
+
+#define ES582_1_NUM_CAN_CH 2
+#define ES584_1_NUM_CAN_CH 1
+#define ES58X_FD_NUM_CAN_CH 2
+
+#define ES58X_FD_TX_BULK_MAX 100
+#define ES58X_FD_RX_BULK_MAX 100
+#define ES58X_FD_RX_LOOPBACK_BULK_MAX 100
+
+enum es58x_fd_cmd_type {
+ ES58X_FD_CMD_TYPE_HSP = 0x02,
+ ES58X_FD_CMD_TYPE_CAN = 0x03,
+ ES58X_FD_CMD_TYPE_CANFD = 0x04,
+ ES58X_FD_CMD_TYPE_ISO_TP = 0x05,
+ ES58X_FD_CMD_TYPE_SEQ = 0x06,
+ ES58X_FD_CMD_TYPE_DEVICE = 0xFF
+};
+
+/* Command IDs for ES58X_FD_CMD_TYPE_{CAN,CANFD}. */
+enum es58x_fd_can_cmd_id {
+ ES58X_FD_CMD_ID_ENABLE_CHANNEL = 0x01,
+ ES58X_FD_CMD_ID_DISABLE_CHANNEL = 0x02,
+ ES58X_FD_CMD_ID_TX_MSG = 0x05,
+ ES58X_FD_CMD_ID_GET_FIFO_STATUS = 0x06,
+ ES58X_FD_CMD_ID_MSG_SELFRX_ACK = 0x07,
+ ES58X_FD_CMD_ID_RECEIVE_MSG = 0x10,
+ ES58X_FD_CMD_ID_ERROR_OR_EVENT_MSG = 0x11,
+ ES58X_FD_CMD_ID_RESET_RX = 0x20,
+ ES58X_FD_CMD_ID_RESET_TX = 0x21,
+ ES58X_FD_CMD_ID_TX_MSG_NO_ACK = 0x55
+};
+
+/* Command IDs for ES58X_FD_CMD_TYPE_DEVICE. */
+enum es58x_fd_device_cmd_id {
+ ES58X_FD_CMD_ID_GETTIMETICKS = 0x01,
+ ES58X_FD_CMD_ID_TIMESTAMP = 0x02
+};
+
+/**
+ * enum es58x_fd_ctrlmode - Controller mode.
+ * @ES58X_CTRLMODE_ACTIVE: send and receive messages
+ * @ES58X_CTRLMODE_PASSIVE: only receive messages (monitor). Do not
+ * send anything, not even the acknowledgment bit.
+ * @ES58X_CTRLMODE_FD_ISO_FORMAT: CAN FD frame format according to
+ * ISO11898-1.
+ * @ES58X_CTRLMODE_FD_NONISO_FORMAT: CAN FD frame format according to
+ * Bosch CAN FD Specification V1.0
+ * @ES58X_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING: How to behave
+ * when CAN FD reserved bit is monitored as dominant. (c.f. ISO
+ * 11898-1:2015, section 10.4.2.4 "Control field", paragraph "r0
+ * bit"). 0 (not disable = enable): send error frame. 1
+ * (disable): goes into bus integration mode (c.f. below).
+ * @ES58X_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION: 0: Edge
+ * filtering is disabled. 1: Edge filtering is enabled. Two
+ * consecutive dominant bits required to detect an edge for hard
+ * synchronization.
+ */
+enum es58x_fd_ctrlmode {
+ ES58X_CTRLMODE_ACTIVE = 0,
+ ES58X_CTRLMODE_PASSIVE = BIT(0),
+ ES58X_CTRLMODE_FD_ISO_FORMAT = BIT(4),
+ ES58X_CTRLMODE_FD_NONISO_FORMAT = BIT(5),
+ ES58X_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING = BIT(6),
+ ES58X_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION = BIT(7)
+};
+
+struct es58x_fd_bittiming {
+ __le32 bitrate;
+ __le16 tseg1; // range: [tseg1_min-1..tseg1_max-1]
+ __le16 tseg2; // range: [tseg2_min-1..tseg2_max-1]
+ __le16 brp; // range: [brp_min-1..brp_max-1]
+ __le16 sjw; // range: [0..sjw_max-1]
+} __packed;
+
+/**
+ * struct es58x_fd_tx_conf_msg - Channel configuration.
+ * @nominal_bittiming: Nominal bittiming.
+ * @samples_per_bit: type enum es58x_samples_per_bit.
+ * @sync_edge: type enum es58x_sync_edge.
+ * @physical_media: type enum es58x_physical_media.
+ * @self_reception_mode: type enum es58x_self_reception_mode.
+ * @ctrlmode: type enum es58x_fd_ctrlmode.
+ * @canfd_enabled: boolean (0: CAN only, 1: CAN and/or CANFD).
+ * @data_bittiming: Bittiming for flexible data-rate transmission
+ * @tdc: Transmitter Delay Compensation. boolean (0: disabled, 1:
+ * enabled).
+ * @tdco: Transmitter Delay Compensation Offset. Offset value, in time
+ * quanta, defining the distance between the measured delay from
+ * CANTX to CANRX and the secondary sample point. Valid values: 0
+ * to 127.
+ * @tdcf: Transmitter Delay Compensation Filter window. Defines the
+ * minimum value for the SSP (Secondary Sample Point) position,
+ * in time quanta. The feature is enabled when TDCF is configured
+ * to a value greater than TDCO. Valid values: 0 to 127.
+ *
+ * Please refer to the microcontroller datasheet: "SAM
+ * E701/S70/V70/V71 Family" section 49 "Controller Area Network
+ * (MCAN)" for additional information.
+ */
+struct es58x_fd_tx_conf_msg {
+ struct es58x_fd_bittiming nominal_bittiming;
+ u8 samples_per_bit;
+ u8 sync_edge;
+ u8 physical_media;
+ u8 self_reception_mode;
+ u8 ctrlmode;
+ u8 canfd_enabled;
+ struct es58x_fd_bittiming data_bittiming;
+ u8 tdc;
+ __le16 tdco;
+ __le16 tdcf;
+} __packed;
+
+#define ES58X_FD_CAN_CONF_LEN \
+ (offsetof(struct es58x_fd_tx_conf_msg, canfd_enabled))
+#define ES58X_FD_CANFD_CONF_LEN (sizeof(struct es58x_fd_tx_conf_msg))
+
+struct es58x_fd_tx_can_msg {
+ u8 packet_idx;
+ __le32 can_id;
+ u8 flags;
+ union {
+ u8 dlc; // Only if cmd_id is ES58X_FD_CMD_TYPE_CAN
+ u8 len; // Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD
+ } __packed;
+ u8 data[CANFD_MAX_DLEN];
+} __packed;
+
+#define ES58X_FD_CAN_TX_LEN \
+ (offsetof(struct es58x_fd_tx_can_msg, data[CAN_MAX_DLEN]))
+#define ES58X_FD_CANFD_TX_LEN (sizeof(struct es58x_fd_tx_can_msg))
+
+struct es58x_fd_rx_can_msg {
+ __le64 timestamp;
+ __le32 can_id;
+ u8 flags;
+ union {
+ u8 dlc; // Only if cmd_id is ES58X_FD_CMD_TYPE_CAN
+ u8 len; // Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD
+ } __packed;
+ u8 data[CANFD_MAX_DLEN];
+} __packed;
+
+#define ES58X_FD_CAN_RX_LEN \
+ (offsetof(struct es58x_fd_rx_can_msg, data[CAN_MAX_DLEN]))
+#define ES58X_FD_CANFD_RX_LEN (sizeof(struct es58x_fd_rx_can_msg))
+
+struct es58x_fd_rx_loopback_msg {
+ __le64 timestamp;
+ u8 packet_idx;
+} __packed;
+
+struct es58x_fd_rx_event_msg {
+ __le64 timestamp;
+ __le32 can_id;
+ u8 flags; // type enum es58x_flag_type
+ u8 error_type; // 0: event, 1: error
+ u8 error_code;
+ u8 event_code;
+} __packed;
+
+struct es58x_fd_tx_ack_msg {
+ __le32 rx_cmd_ret_le32; // type enum es58x_cmd_ret_code_u32
+ __le16 tx_free_entries; // Number of remaining free entries in the device TX queue
+} __packed;
+
+/**
+ * struct es58x_fd_urb_cmd - Commands received from or sent to the
+ * ES58X FD device.
+ * @SOF: Start of Frame.
+ * @cmd_type: Command Type (type: enum es58x_fd_cmd_type). The CRC
+ * calculation starts at this position.
+ * @cmd_id: Command ID (type: enum es58x_fd_cmd_id).
+ * @channel_idx: Channel index starting at 0.
+ * @msg_len: Length of the message, excluding CRC (i.e. length of the
+ * union).
+ * @raw_msg: Message raw payload.
+ * @tx_conf_msg: Channel configuration.
+ * @tx_can_msg_buf: Concatenation of Tx messages. Type is "u8[]"
+ * instead of "struct es58x_fd_tx_msg[]" because the structure
+ * has a flexible size.
+ * @rx_can_msg_buf: Concatenation Rx messages. Type is "u8[]" instead
+ * of "struct es58x_fd_rx_msg[]" because the structure has a
+ * flexible size.
+ * @rx_loopback_msg: Array of loopback messages.
+ * @rx_event_msg: Error or event message.
+ * @tx_ack_msg: Tx acknowledgment message.
+ * @timestamp: Timestamp reply.
+ * @rx_cmd_ret_le32: Rx 32 bits return code (type: enum
+ * es58x_cmd_ret_code_u32).
+ * @reserved_for_crc16_do_not_use: The structure ends with a
+ * CRC16. Because the structures in above union are of variable
+ * lengths, we can not predict the offset of the CRC in
+ * advance. Use functions es58x_get_crc() and es58x_set_crc() to
+ * manipulate it.
+ */
+struct es58x_fd_urb_cmd {
+ __le16 SOF;
+ u8 cmd_type;
+ u8 cmd_id;
+ u8 channel_idx;
+ __le16 msg_len;
+
+ union {
+ u8 raw_msg[0];
+ struct es58x_fd_tx_conf_msg tx_conf_msg;
+ u8 tx_can_msg_buf[ES58X_FD_TX_BULK_MAX * ES58X_FD_CANFD_TX_LEN];
+ u8 rx_can_msg_buf[ES58X_FD_RX_BULK_MAX * ES58X_FD_CANFD_RX_LEN];
+ struct es58x_fd_rx_loopback_msg
+ rx_loopback_msg[ES58X_FD_RX_LOOPBACK_BULK_MAX];
+ struct es58x_fd_rx_event_msg rx_event_msg;
+ struct es58x_fd_tx_ack_msg tx_ack_msg;
+ __le64 timestamp;
+ __le32 rx_cmd_ret_le32;
+ } __packed;
+
+ __le16 reserved_for_crc16_do_not_use;
+} __packed;
+
+#define ES58X_FD_URB_CMD_HEADER_LEN (offsetof(struct es58x_fd_urb_cmd, raw_msg))
+#define ES58X_FD_TX_URB_CMD_MAX_LEN \
+ ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, tx_can_msg_buf)
+#define ES58X_FD_RX_URB_CMD_MAX_LEN \
+ ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, rx_can_msg_buf)
+
+#endif //__ES58X_FD_H__
--
2.26.2
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