ems_usb.c revision 2ee6850ca0cac95101d2a36c8b186b40d4fc7311
1/* 2 * CAN driver for EMS Dr. Thomas Wuensche CPC-USB/ARM7 3 * 4 * Copyright (C) 2004-2009 EMS Dr. Thomas Wuensche 5 * 6 * This program is free software; you can redistribute it and/or modify it 7 * under the terms of the GNU General Public License as published 8 * by the Free Software Foundation; version 2 of the License. 9 * 10 * This program is distributed in the hope that it will be useful, but 11 * WITHOUT ANY WARRANTY; without even the implied warranty of 12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 13 * General Public License for more details. 14 * 15 * You should have received a copy of the GNU General Public License along 16 * with this program; if not, write to the Free Software Foundation, Inc., 17 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. 18 */ 19#include <linux/init.h> 20#include <linux/signal.h> 21#include <linux/slab.h> 22#include <linux/module.h> 23#include <linux/netdevice.h> 24#include <linux/usb.h> 25 26#include <linux/can.h> 27#include <linux/can/dev.h> 28#include <linux/can/error.h> 29 30MODULE_AUTHOR("Sebastian Haas <haas@ems-wuensche.com>"); 31MODULE_DESCRIPTION("CAN driver for EMS Dr. Thomas Wuensche CAN/USB interfaces"); 32MODULE_LICENSE("GPL v2"); 33 34/* Control-Values for CPC_Control() Command Subject Selection */ 35#define CONTR_CAN_MESSAGE 0x04 36#define CONTR_CAN_STATE 0x0C 37#define CONTR_BUS_ERROR 0x1C 38 39/* Control Command Actions */ 40#define CONTR_CONT_OFF 0 41#define CONTR_CONT_ON 1 42#define CONTR_ONCE 2 43 44/* Messages from CPC to PC */ 45#define CPC_MSG_TYPE_CAN_FRAME 1 /* CAN data frame */ 46#define CPC_MSG_TYPE_RTR_FRAME 8 /* CAN remote frame */ 47#define CPC_MSG_TYPE_CAN_PARAMS 12 /* Actual CAN parameters */ 48#define CPC_MSG_TYPE_CAN_STATE 14 /* CAN state message */ 49#define CPC_MSG_TYPE_EXT_CAN_FRAME 16 /* Extended CAN data frame */ 50#define CPC_MSG_TYPE_EXT_RTR_FRAME 17 /* Extended remote frame */ 51#define CPC_MSG_TYPE_CONTROL 19 /* change interface behavior */ 52#define CPC_MSG_TYPE_CONFIRM 20 /* command processed confirmation */ 53#define CPC_MSG_TYPE_OVERRUN 21 /* overrun events */ 54#define CPC_MSG_TYPE_CAN_FRAME_ERROR 23 /* detected bus errors */ 55#define CPC_MSG_TYPE_ERR_COUNTER 25 /* RX/TX error counter */ 56 57/* Messages from the PC to the CPC interface */ 58#define CPC_CMD_TYPE_CAN_FRAME 1 /* CAN data frame */ 59#define CPC_CMD_TYPE_CONTROL 3 /* control of interface behavior */ 60#define CPC_CMD_TYPE_CAN_PARAMS 6 /* set CAN parameters */ 61#define CPC_CMD_TYPE_RTR_FRAME 13 /* CAN remote frame */ 62#define CPC_CMD_TYPE_CAN_STATE 14 /* CAN state message */ 63#define CPC_CMD_TYPE_EXT_CAN_FRAME 15 /* Extended CAN data frame */ 64#define CPC_CMD_TYPE_EXT_RTR_FRAME 16 /* Extended CAN remote frame */ 65#define CPC_CMD_TYPE_CAN_EXIT 200 /* exit the CAN */ 66 67#define CPC_CMD_TYPE_INQ_ERR_COUNTER 25 /* request the CAN error counters */ 68#define CPC_CMD_TYPE_CLEAR_MSG_QUEUE 8 /* clear CPC_MSG queue */ 69#define CPC_CMD_TYPE_CLEAR_CMD_QUEUE 28 /* clear CPC_CMD queue */ 70 71#define CPC_CC_TYPE_SJA1000 2 /* Philips basic CAN controller */ 72 73#define CPC_CAN_ECODE_ERRFRAME 0x01 /* Ecode type */ 74 75/* Overrun types */ 76#define CPC_OVR_EVENT_CAN 0x01 77#define CPC_OVR_EVENT_CANSTATE 0x02 78#define CPC_OVR_EVENT_BUSERROR 0x04 79 80/* 81 * If the CAN controller lost a message we indicate it with the highest bit 82 * set in the count field. 83 */ 84#define CPC_OVR_HW 0x80 85 86/* Size of the "struct ems_cpc_msg" without the union */ 87#define CPC_MSG_HEADER_LEN 11 88#define CPC_CAN_MSG_MIN_SIZE 5 89 90/* Define these values to match your devices */ 91#define USB_CPCUSB_VENDOR_ID 0x12D6 92 93#define USB_CPCUSB_ARM7_PRODUCT_ID 0x0444 94 95/* Mode register NXP LPC2119/SJA1000 CAN Controller */ 96#define SJA1000_MOD_NORMAL 0x00 97#define SJA1000_MOD_RM 0x01 98 99/* ECC register NXP LPC2119/SJA1000 CAN Controller */ 100#define SJA1000_ECC_SEG 0x1F 101#define SJA1000_ECC_DIR 0x20 102#define SJA1000_ECC_ERR 0x06 103#define SJA1000_ECC_BIT 0x00 104#define SJA1000_ECC_FORM 0x40 105#define SJA1000_ECC_STUFF 0x80 106#define SJA1000_ECC_MASK 0xc0 107 108/* Status register content */ 109#define SJA1000_SR_BS 0x80 110#define SJA1000_SR_ES 0x40 111 112#define SJA1000_DEFAULT_OUTPUT_CONTROL 0xDA 113 114/* 115 * The device actually uses a 16MHz clock to generate the CAN clock 116 * but it expects SJA1000 bit settings based on 8MHz (is internally 117 * converted). 118 */ 119#define EMS_USB_ARM7_CLOCK 8000000 120 121/* 122 * CAN-Message representation in a CPC_MSG. Message object type is 123 * CPC_MSG_TYPE_CAN_FRAME or CPC_MSG_TYPE_RTR_FRAME or 124 * CPC_MSG_TYPE_EXT_CAN_FRAME or CPC_MSG_TYPE_EXT_RTR_FRAME. 125 */ 126struct cpc_can_msg { 127 u32 id; 128 u8 length; 129 u8 msg[8]; 130}; 131 132/* Representation of the CAN parameters for the SJA1000 controller */ 133struct cpc_sja1000_params { 134 u8 mode; 135 u8 acc_code0; 136 u8 acc_code1; 137 u8 acc_code2; 138 u8 acc_code3; 139 u8 acc_mask0; 140 u8 acc_mask1; 141 u8 acc_mask2; 142 u8 acc_mask3; 143 u8 btr0; 144 u8 btr1; 145 u8 outp_contr; 146}; 147 148/* CAN params message representation */ 149struct cpc_can_params { 150 u8 cc_type; 151 152 /* Will support M16C CAN controller in the future */ 153 union { 154 struct cpc_sja1000_params sja1000; 155 } cc_params; 156}; 157 158/* Structure for confirmed message handling */ 159struct cpc_confirm { 160 u8 error; /* error code */ 161}; 162 163/* Structure for overrun conditions */ 164struct cpc_overrun { 165 u8 event; 166 u8 count; 167}; 168 169/* SJA1000 CAN errors (compatible to NXP LPC2119) */ 170struct cpc_sja1000_can_error { 171 u8 ecc; 172 u8 rxerr; 173 u8 txerr; 174}; 175 176/* structure for CAN error conditions */ 177struct cpc_can_error { 178 u8 ecode; 179 180 struct { 181 u8 cc_type; 182 183 /* Other controllers may also provide error code capture regs */ 184 union { 185 struct cpc_sja1000_can_error sja1000; 186 } regs; 187 } cc; 188}; 189 190/* 191 * Structure containing RX/TX error counter. This structure is used to request 192 * the values of the CAN controllers TX and RX error counter. 193 */ 194struct cpc_can_err_counter { 195 u8 rx; 196 u8 tx; 197}; 198 199/* Main message type used between library and application */ 200struct __packed ems_cpc_msg { 201 u8 type; /* type of message */ 202 u8 length; /* length of data within union 'msg' */ 203 u8 msgid; /* confirmation handle */ 204 u32 ts_sec; /* timestamp in seconds */ 205 u32 ts_nsec; /* timestamp in nano seconds */ 206 207 union { 208 u8 generic[64]; 209 struct cpc_can_msg can_msg; 210 struct cpc_can_params can_params; 211 struct cpc_confirm confirmation; 212 struct cpc_overrun overrun; 213 struct cpc_can_error error; 214 struct cpc_can_err_counter err_counter; 215 u8 can_state; 216 } msg; 217}; 218 219/* 220 * Table of devices that work with this driver 221 * NOTE: This driver supports only CPC-USB/ARM7 (LPC2119) yet. 222 */ 223static struct usb_device_id ems_usb_table[] = { 224 {USB_DEVICE(USB_CPCUSB_VENDOR_ID, USB_CPCUSB_ARM7_PRODUCT_ID)}, 225 {} /* Terminating entry */ 226}; 227 228MODULE_DEVICE_TABLE(usb, ems_usb_table); 229 230#define RX_BUFFER_SIZE 64 231#define CPC_HEADER_SIZE 4 232#define INTR_IN_BUFFER_SIZE 4 233 234#define MAX_RX_URBS 10 235#define MAX_TX_URBS 10 236 237struct ems_usb; 238 239struct ems_tx_urb_context { 240 struct ems_usb *dev; 241 242 u32 echo_index; 243 u8 dlc; 244}; 245 246struct ems_usb { 247 struct can_priv can; /* must be the first member */ 248 int open_time; 249 250 struct sk_buff *echo_skb[MAX_TX_URBS]; 251 252 struct usb_device *udev; 253 struct net_device *netdev; 254 255 atomic_t active_tx_urbs; 256 struct usb_anchor tx_submitted; 257 struct ems_tx_urb_context tx_contexts[MAX_TX_URBS]; 258 259 struct usb_anchor rx_submitted; 260 261 struct urb *intr_urb; 262 263 u8 *tx_msg_buffer; 264 265 u8 *intr_in_buffer; 266 unsigned int free_slots; /* remember number of available slots */ 267 268 struct ems_cpc_msg active_params; /* active controller parameters */ 269}; 270 271static void ems_usb_read_interrupt_callback(struct urb *urb) 272{ 273 struct ems_usb *dev = urb->context; 274 struct net_device *netdev = dev->netdev; 275 int err; 276 277 if (!netif_device_present(netdev)) 278 return; 279 280 switch (urb->status) { 281 case 0: 282 dev->free_slots = dev->intr_in_buffer[1]; 283 break; 284 285 case -ECONNRESET: /* unlink */ 286 case -ENOENT: 287 case -ESHUTDOWN: 288 return; 289 290 default: 291 dev_info(netdev->dev.parent, "Rx interrupt aborted %d\n", 292 urb->status); 293 break; 294 } 295 296 err = usb_submit_urb(urb, GFP_ATOMIC); 297 298 if (err == -ENODEV) 299 netif_device_detach(netdev); 300 else if (err) 301 dev_err(netdev->dev.parent, 302 "failed resubmitting intr urb: %d\n", err); 303} 304 305static void ems_usb_rx_can_msg(struct ems_usb *dev, struct ems_cpc_msg *msg) 306{ 307 struct can_frame *cf; 308 struct sk_buff *skb; 309 int i; 310 struct net_device_stats *stats = &dev->netdev->stats; 311 312 skb = alloc_can_skb(dev->netdev, &cf); 313 if (skb == NULL) 314 return; 315 316 cf->can_id = le32_to_cpu(msg->msg.can_msg.id); 317 cf->can_dlc = get_can_dlc(msg->msg.can_msg.length & 0xF); 318 319 if (msg->type == CPC_MSG_TYPE_EXT_CAN_FRAME || 320 msg->type == CPC_MSG_TYPE_EXT_RTR_FRAME) 321 cf->can_id |= CAN_EFF_FLAG; 322 323 if (msg->type == CPC_MSG_TYPE_RTR_FRAME || 324 msg->type == CPC_MSG_TYPE_EXT_RTR_FRAME) { 325 cf->can_id |= CAN_RTR_FLAG; 326 } else { 327 for (i = 0; i < cf->can_dlc; i++) 328 cf->data[i] = msg->msg.can_msg.msg[i]; 329 } 330 331 netif_rx(skb); 332 333 stats->rx_packets++; 334 stats->rx_bytes += cf->can_dlc; 335} 336 337static void ems_usb_rx_err(struct ems_usb *dev, struct ems_cpc_msg *msg) 338{ 339 struct can_frame *cf; 340 struct sk_buff *skb; 341 struct net_device_stats *stats = &dev->netdev->stats; 342 343 skb = alloc_can_err_skb(dev->netdev, &cf); 344 if (skb == NULL) 345 return; 346 347 if (msg->type == CPC_MSG_TYPE_CAN_STATE) { 348 u8 state = msg->msg.can_state; 349 350 if (state & SJA1000_SR_BS) { 351 dev->can.state = CAN_STATE_BUS_OFF; 352 cf->can_id |= CAN_ERR_BUSOFF; 353 354 can_bus_off(dev->netdev); 355 } else if (state & SJA1000_SR_ES) { 356 dev->can.state = CAN_STATE_ERROR_WARNING; 357 dev->can.can_stats.error_warning++; 358 } else { 359 dev->can.state = CAN_STATE_ERROR_ACTIVE; 360 dev->can.can_stats.error_passive++; 361 } 362 } else if (msg->type == CPC_MSG_TYPE_CAN_FRAME_ERROR) { 363 u8 ecc = msg->msg.error.cc.regs.sja1000.ecc; 364 u8 txerr = msg->msg.error.cc.regs.sja1000.txerr; 365 u8 rxerr = msg->msg.error.cc.regs.sja1000.rxerr; 366 367 /* bus error interrupt */ 368 dev->can.can_stats.bus_error++; 369 stats->rx_errors++; 370 371 cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; 372 373 switch (ecc & SJA1000_ECC_MASK) { 374 case SJA1000_ECC_BIT: 375 cf->data[2] |= CAN_ERR_PROT_BIT; 376 break; 377 case SJA1000_ECC_FORM: 378 cf->data[2] |= CAN_ERR_PROT_FORM; 379 break; 380 case SJA1000_ECC_STUFF: 381 cf->data[2] |= CAN_ERR_PROT_STUFF; 382 break; 383 default: 384 cf->data[2] |= CAN_ERR_PROT_UNSPEC; 385 cf->data[3] = ecc & SJA1000_ECC_SEG; 386 break; 387 } 388 389 /* Error occurred during transmission? */ 390 if ((ecc & SJA1000_ECC_DIR) == 0) 391 cf->data[2] |= CAN_ERR_PROT_TX; 392 393 if (dev->can.state == CAN_STATE_ERROR_WARNING || 394 dev->can.state == CAN_STATE_ERROR_PASSIVE) { 395 cf->data[1] = (txerr > rxerr) ? 396 CAN_ERR_CRTL_TX_PASSIVE : CAN_ERR_CRTL_RX_PASSIVE; 397 } 398 } else if (msg->type == CPC_MSG_TYPE_OVERRUN) { 399 cf->can_id |= CAN_ERR_CRTL; 400 cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; 401 402 stats->rx_over_errors++; 403 stats->rx_errors++; 404 } 405 406 netif_rx(skb); 407 408 stats->rx_packets++; 409 stats->rx_bytes += cf->can_dlc; 410} 411 412/* 413 * callback for bulk IN urb 414 */ 415static void ems_usb_read_bulk_callback(struct urb *urb) 416{ 417 struct ems_usb *dev = urb->context; 418 struct net_device *netdev; 419 int retval; 420 421 netdev = dev->netdev; 422 423 if (!netif_device_present(netdev)) 424 return; 425 426 switch (urb->status) { 427 case 0: /* success */ 428 break; 429 430 case -ENOENT: 431 return; 432 433 default: 434 dev_info(netdev->dev.parent, "Rx URB aborted (%d)\n", 435 urb->status); 436 goto resubmit_urb; 437 } 438 439 if (urb->actual_length > CPC_HEADER_SIZE) { 440 struct ems_cpc_msg *msg; 441 u8 *ibuf = urb->transfer_buffer; 442 u8 msg_count, again, start; 443 444 msg_count = ibuf[0] & ~0x80; 445 again = ibuf[0] & 0x80; 446 447 start = CPC_HEADER_SIZE; 448 449 while (msg_count) { 450 msg = (struct ems_cpc_msg *)&ibuf[start]; 451 452 switch (msg->type) { 453 case CPC_MSG_TYPE_CAN_STATE: 454 /* Process CAN state changes */ 455 ems_usb_rx_err(dev, msg); 456 break; 457 458 case CPC_MSG_TYPE_CAN_FRAME: 459 case CPC_MSG_TYPE_EXT_CAN_FRAME: 460 case CPC_MSG_TYPE_RTR_FRAME: 461 case CPC_MSG_TYPE_EXT_RTR_FRAME: 462 ems_usb_rx_can_msg(dev, msg); 463 break; 464 465 case CPC_MSG_TYPE_CAN_FRAME_ERROR: 466 /* Process errorframe */ 467 ems_usb_rx_err(dev, msg); 468 break; 469 470 case CPC_MSG_TYPE_OVERRUN: 471 /* Message lost while receiving */ 472 ems_usb_rx_err(dev, msg); 473 break; 474 } 475 476 start += CPC_MSG_HEADER_LEN + msg->length; 477 msg_count--; 478 479 if (start > urb->transfer_buffer_length) { 480 dev_err(netdev->dev.parent, "format error\n"); 481 break; 482 } 483 } 484 } 485 486resubmit_urb: 487 usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 2), 488 urb->transfer_buffer, RX_BUFFER_SIZE, 489 ems_usb_read_bulk_callback, dev); 490 491 retval = usb_submit_urb(urb, GFP_ATOMIC); 492 493 if (retval == -ENODEV) 494 netif_device_detach(netdev); 495 else if (retval) 496 dev_err(netdev->dev.parent, 497 "failed resubmitting read bulk urb: %d\n", retval); 498} 499 500/* 501 * callback for bulk IN urb 502 */ 503static void ems_usb_write_bulk_callback(struct urb *urb) 504{ 505 struct ems_tx_urb_context *context = urb->context; 506 struct ems_usb *dev; 507 struct net_device *netdev; 508 509 BUG_ON(!context); 510 511 dev = context->dev; 512 netdev = dev->netdev; 513 514 /* free up our allocated buffer */ 515 usb_free_coherent(urb->dev, urb->transfer_buffer_length, 516 urb->transfer_buffer, urb->transfer_dma); 517 518 atomic_dec(&dev->active_tx_urbs); 519 520 if (!netif_device_present(netdev)) 521 return; 522 523 if (urb->status) 524 dev_info(netdev->dev.parent, "Tx URB aborted (%d)\n", 525 urb->status); 526 527 netdev->trans_start = jiffies; 528 529 /* transmission complete interrupt */ 530 netdev->stats.tx_packets++; 531 netdev->stats.tx_bytes += context->dlc; 532 533 can_get_echo_skb(netdev, context->echo_index); 534 535 /* Release context */ 536 context->echo_index = MAX_TX_URBS; 537 538 if (netif_queue_stopped(netdev)) 539 netif_wake_queue(netdev); 540} 541 542/* 543 * Send the given CPC command synchronously 544 */ 545static int ems_usb_command_msg(struct ems_usb *dev, struct ems_cpc_msg *msg) 546{ 547 int actual_length; 548 549 /* Copy payload */ 550 memcpy(&dev->tx_msg_buffer[CPC_HEADER_SIZE], msg, 551 msg->length + CPC_MSG_HEADER_LEN); 552 553 /* Clear header */ 554 memset(&dev->tx_msg_buffer[0], 0, CPC_HEADER_SIZE); 555 556 return usb_bulk_msg(dev->udev, usb_sndbulkpipe(dev->udev, 2), 557 &dev->tx_msg_buffer[0], 558 msg->length + CPC_MSG_HEADER_LEN + CPC_HEADER_SIZE, 559 &actual_length, 1000); 560} 561 562/* 563 * Change CAN controllers' mode register 564 */ 565static int ems_usb_write_mode(struct ems_usb *dev, u8 mode) 566{ 567 dev->active_params.msg.can_params.cc_params.sja1000.mode = mode; 568 569 return ems_usb_command_msg(dev, &dev->active_params); 570} 571 572/* 573 * Send a CPC_Control command to change behaviour when interface receives a CAN 574 * message, bus error or CAN state changed notifications. 575 */ 576static int ems_usb_control_cmd(struct ems_usb *dev, u8 val) 577{ 578 struct ems_cpc_msg cmd; 579 580 cmd.type = CPC_CMD_TYPE_CONTROL; 581 cmd.length = CPC_MSG_HEADER_LEN + 1; 582 583 cmd.msgid = 0; 584 585 cmd.msg.generic[0] = val; 586 587 return ems_usb_command_msg(dev, &cmd); 588} 589 590/* 591 * Start interface 592 */ 593static int ems_usb_start(struct ems_usb *dev) 594{ 595 struct net_device *netdev = dev->netdev; 596 int err, i; 597 598 dev->intr_in_buffer[0] = 0; 599 dev->free_slots = 15; /* initial size */ 600 601 for (i = 0; i < MAX_RX_URBS; i++) { 602 struct urb *urb = NULL; 603 u8 *buf = NULL; 604 605 /* create a URB, and a buffer for it */ 606 urb = usb_alloc_urb(0, GFP_KERNEL); 607 if (!urb) { 608 dev_err(netdev->dev.parent, 609 "No memory left for URBs\n"); 610 err = -ENOMEM; 611 break; 612 } 613 614 buf = usb_alloc_coherent(dev->udev, RX_BUFFER_SIZE, GFP_KERNEL, 615 &urb->transfer_dma); 616 if (!buf) { 617 dev_err(netdev->dev.parent, 618 "No memory left for USB buffer\n"); 619 usb_free_urb(urb); 620 err = -ENOMEM; 621 break; 622 } 623 624 usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 2), 625 buf, RX_BUFFER_SIZE, 626 ems_usb_read_bulk_callback, dev); 627 urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; 628 usb_anchor_urb(urb, &dev->rx_submitted); 629 630 err = usb_submit_urb(urb, GFP_KERNEL); 631 if (err) { 632 usb_unanchor_urb(urb); 633 usb_free_coherent(dev->udev, RX_BUFFER_SIZE, buf, 634 urb->transfer_dma); 635 break; 636 } 637 638 /* Drop reference, USB core will take care of freeing it */ 639 usb_free_urb(urb); 640 } 641 642 /* Did we submit any URBs */ 643 if (i == 0) { 644 dev_warn(netdev->dev.parent, "couldn't setup read URBs\n"); 645 return err; 646 } 647 648 /* Warn if we've couldn't transmit all the URBs */ 649 if (i < MAX_RX_URBS) 650 dev_warn(netdev->dev.parent, "rx performance may be slow\n"); 651 652 /* Setup and start interrupt URB */ 653 usb_fill_int_urb(dev->intr_urb, dev->udev, 654 usb_rcvintpipe(dev->udev, 1), 655 dev->intr_in_buffer, 656 INTR_IN_BUFFER_SIZE, 657 ems_usb_read_interrupt_callback, dev, 1); 658 659 err = usb_submit_urb(dev->intr_urb, GFP_KERNEL); 660 if (err) { 661 dev_warn(netdev->dev.parent, "intr URB submit failed: %d\n", 662 err); 663 664 return err; 665 } 666 667 /* CPC-USB will transfer received message to host */ 668 err = ems_usb_control_cmd(dev, CONTR_CAN_MESSAGE | CONTR_CONT_ON); 669 if (err) 670 goto failed; 671 672 /* CPC-USB will transfer CAN state changes to host */ 673 err = ems_usb_control_cmd(dev, CONTR_CAN_STATE | CONTR_CONT_ON); 674 if (err) 675 goto failed; 676 677 /* CPC-USB will transfer bus errors to host */ 678 err = ems_usb_control_cmd(dev, CONTR_BUS_ERROR | CONTR_CONT_ON); 679 if (err) 680 goto failed; 681 682 err = ems_usb_write_mode(dev, SJA1000_MOD_NORMAL); 683 if (err) 684 goto failed; 685 686 dev->can.state = CAN_STATE_ERROR_ACTIVE; 687 688 return 0; 689 690failed: 691 dev_warn(netdev->dev.parent, "couldn't submit control: %d\n", err); 692 693 return err; 694} 695 696static void unlink_all_urbs(struct ems_usb *dev) 697{ 698 int i; 699 700 usb_unlink_urb(dev->intr_urb); 701 702 usb_kill_anchored_urbs(&dev->rx_submitted); 703 704 usb_kill_anchored_urbs(&dev->tx_submitted); 705 atomic_set(&dev->active_tx_urbs, 0); 706 707 for (i = 0; i < MAX_TX_URBS; i++) 708 dev->tx_contexts[i].echo_index = MAX_TX_URBS; 709} 710 711static int ems_usb_open(struct net_device *netdev) 712{ 713 struct ems_usb *dev = netdev_priv(netdev); 714 int err; 715 716 err = ems_usb_write_mode(dev, SJA1000_MOD_RM); 717 if (err) 718 return err; 719 720 /* common open */ 721 err = open_candev(netdev); 722 if (err) 723 return err; 724 725 /* finally start device */ 726 err = ems_usb_start(dev); 727 if (err) { 728 if (err == -ENODEV) 729 netif_device_detach(dev->netdev); 730 731 dev_warn(netdev->dev.parent, "couldn't start device: %d\n", 732 err); 733 734 close_candev(netdev); 735 736 return err; 737 } 738 739 dev->open_time = jiffies; 740 741 netif_start_queue(netdev); 742 743 return 0; 744} 745 746static netdev_tx_t ems_usb_start_xmit(struct sk_buff *skb, struct net_device *netdev) 747{ 748 struct ems_usb *dev = netdev_priv(netdev); 749 struct ems_tx_urb_context *context = NULL; 750 struct net_device_stats *stats = &netdev->stats; 751 struct can_frame *cf = (struct can_frame *)skb->data; 752 struct ems_cpc_msg *msg; 753 struct urb *urb; 754 u8 *buf; 755 int i, err; 756 size_t size = CPC_HEADER_SIZE + CPC_MSG_HEADER_LEN 757 + sizeof(struct cpc_can_msg); 758 759 if (can_dropped_invalid_skb(netdev, skb)) 760 return NETDEV_TX_OK; 761 762 /* create a URB, and a buffer for it, and copy the data to the URB */ 763 urb = usb_alloc_urb(0, GFP_ATOMIC); 764 if (!urb) { 765 dev_err(netdev->dev.parent, "No memory left for URBs\n"); 766 goto nomem; 767 } 768 769 buf = usb_alloc_coherent(dev->udev, size, GFP_ATOMIC, &urb->transfer_dma); 770 if (!buf) { 771 dev_err(netdev->dev.parent, "No memory left for USB buffer\n"); 772 usb_free_urb(urb); 773 goto nomem; 774 } 775 776 msg = (struct ems_cpc_msg *)&buf[CPC_HEADER_SIZE]; 777 778 msg->msg.can_msg.id = cf->can_id & CAN_ERR_MASK; 779 msg->msg.can_msg.length = cf->can_dlc; 780 781 if (cf->can_id & CAN_RTR_FLAG) { 782 msg->type = cf->can_id & CAN_EFF_FLAG ? 783 CPC_CMD_TYPE_EXT_RTR_FRAME : CPC_CMD_TYPE_RTR_FRAME; 784 785 msg->length = CPC_CAN_MSG_MIN_SIZE; 786 } else { 787 msg->type = cf->can_id & CAN_EFF_FLAG ? 788 CPC_CMD_TYPE_EXT_CAN_FRAME : CPC_CMD_TYPE_CAN_FRAME; 789 790 for (i = 0; i < cf->can_dlc; i++) 791 msg->msg.can_msg.msg[i] = cf->data[i]; 792 793 msg->length = CPC_CAN_MSG_MIN_SIZE + cf->can_dlc; 794 } 795 796 /* Respect byte order */ 797 msg->msg.can_msg.id = cpu_to_le32(msg->msg.can_msg.id); 798 799 for (i = 0; i < MAX_TX_URBS; i++) { 800 if (dev->tx_contexts[i].echo_index == MAX_TX_URBS) { 801 context = &dev->tx_contexts[i]; 802 break; 803 } 804 } 805 806 /* 807 * May never happen! When this happens we'd more URBs in flight as 808 * allowed (MAX_TX_URBS). 809 */ 810 if (!context) { 811 usb_unanchor_urb(urb); 812 usb_free_coherent(dev->udev, size, buf, urb->transfer_dma); 813 814 dev_warn(netdev->dev.parent, "couldn't find free context\n"); 815 816 return NETDEV_TX_BUSY; 817 } 818 819 context->dev = dev; 820 context->echo_index = i; 821 context->dlc = cf->can_dlc; 822 823 usb_fill_bulk_urb(urb, dev->udev, usb_sndbulkpipe(dev->udev, 2), buf, 824 size, ems_usb_write_bulk_callback, context); 825 urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; 826 usb_anchor_urb(urb, &dev->tx_submitted); 827 828 can_put_echo_skb(skb, netdev, context->echo_index); 829 830 atomic_inc(&dev->active_tx_urbs); 831 832 err = usb_submit_urb(urb, GFP_ATOMIC); 833 if (unlikely(err)) { 834 can_free_echo_skb(netdev, context->echo_index); 835 836 usb_unanchor_urb(urb); 837 usb_free_coherent(dev->udev, size, buf, urb->transfer_dma); 838 dev_kfree_skb(skb); 839 840 atomic_dec(&dev->active_tx_urbs); 841 842 if (err == -ENODEV) { 843 netif_device_detach(netdev); 844 } else { 845 dev_warn(netdev->dev.parent, "failed tx_urb %d\n", err); 846 847 stats->tx_dropped++; 848 } 849 } else { 850 netdev->trans_start = jiffies; 851 852 /* Slow down tx path */ 853 if (atomic_read(&dev->active_tx_urbs) >= MAX_TX_URBS || 854 dev->free_slots < 5) { 855 netif_stop_queue(netdev); 856 } 857 } 858 859 /* 860 * Release our reference to this URB, the USB core will eventually free 861 * it entirely. 862 */ 863 usb_free_urb(urb); 864 865 return NETDEV_TX_OK; 866 867nomem: 868 dev_kfree_skb(skb); 869 stats->tx_dropped++; 870 871 return NETDEV_TX_OK; 872} 873 874static int ems_usb_close(struct net_device *netdev) 875{ 876 struct ems_usb *dev = netdev_priv(netdev); 877 878 /* Stop polling */ 879 unlink_all_urbs(dev); 880 881 netif_stop_queue(netdev); 882 883 /* Set CAN controller to reset mode */ 884 if (ems_usb_write_mode(dev, SJA1000_MOD_RM)) 885 dev_warn(netdev->dev.parent, "couldn't stop device"); 886 887 close_candev(netdev); 888 889 dev->open_time = 0; 890 891 return 0; 892} 893 894static const struct net_device_ops ems_usb_netdev_ops = { 895 .ndo_open = ems_usb_open, 896 .ndo_stop = ems_usb_close, 897 .ndo_start_xmit = ems_usb_start_xmit, 898}; 899 900static struct can_bittiming_const ems_usb_bittiming_const = { 901 .name = "ems_usb", 902 .tseg1_min = 1, 903 .tseg1_max = 16, 904 .tseg2_min = 1, 905 .tseg2_max = 8, 906 .sjw_max = 4, 907 .brp_min = 1, 908 .brp_max = 64, 909 .brp_inc = 1, 910}; 911 912static int ems_usb_set_mode(struct net_device *netdev, enum can_mode mode) 913{ 914 struct ems_usb *dev = netdev_priv(netdev); 915 916 if (!dev->open_time) 917 return -EINVAL; 918 919 switch (mode) { 920 case CAN_MODE_START: 921 if (ems_usb_write_mode(dev, SJA1000_MOD_NORMAL)) 922 dev_warn(netdev->dev.parent, "couldn't start device"); 923 924 if (netif_queue_stopped(netdev)) 925 netif_wake_queue(netdev); 926 break; 927 928 default: 929 return -EOPNOTSUPP; 930 } 931 932 return 0; 933} 934 935static int ems_usb_set_bittiming(struct net_device *netdev) 936{ 937 struct ems_usb *dev = netdev_priv(netdev); 938 struct can_bittiming *bt = &dev->can.bittiming; 939 u8 btr0, btr1; 940 941 btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6); 942 btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) | 943 (((bt->phase_seg2 - 1) & 0x7) << 4); 944 if (dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES) 945 btr1 |= 0x80; 946 947 dev_info(netdev->dev.parent, "setting BTR0=0x%02x BTR1=0x%02x\n", 948 btr0, btr1); 949 950 dev->active_params.msg.can_params.cc_params.sja1000.btr0 = btr0; 951 dev->active_params.msg.can_params.cc_params.sja1000.btr1 = btr1; 952 953 return ems_usb_command_msg(dev, &dev->active_params); 954} 955 956static void init_params_sja1000(struct ems_cpc_msg *msg) 957{ 958 struct cpc_sja1000_params *sja1000 = 959 &msg->msg.can_params.cc_params.sja1000; 960 961 msg->type = CPC_CMD_TYPE_CAN_PARAMS; 962 msg->length = sizeof(struct cpc_can_params); 963 msg->msgid = 0; 964 965 msg->msg.can_params.cc_type = CPC_CC_TYPE_SJA1000; 966 967 /* Acceptance filter open */ 968 sja1000->acc_code0 = 0x00; 969 sja1000->acc_code1 = 0x00; 970 sja1000->acc_code2 = 0x00; 971 sja1000->acc_code3 = 0x00; 972 973 /* Acceptance filter open */ 974 sja1000->acc_mask0 = 0xFF; 975 sja1000->acc_mask1 = 0xFF; 976 sja1000->acc_mask2 = 0xFF; 977 sja1000->acc_mask3 = 0xFF; 978 979 sja1000->btr0 = 0; 980 sja1000->btr1 = 0; 981 982 sja1000->outp_contr = SJA1000_DEFAULT_OUTPUT_CONTROL; 983 sja1000->mode = SJA1000_MOD_RM; 984} 985 986/* 987 * probe function for new CPC-USB devices 988 */ 989static int ems_usb_probe(struct usb_interface *intf, 990 const struct usb_device_id *id) 991{ 992 struct net_device *netdev; 993 struct ems_usb *dev; 994 int i, err = -ENOMEM; 995 996 netdev = alloc_candev(sizeof(struct ems_usb), MAX_TX_URBS); 997 if (!netdev) { 998 dev_err(&intf->dev, "ems_usb: Couldn't alloc candev\n"); 999 return -ENOMEM; 1000 } 1001 1002 dev = netdev_priv(netdev); 1003 1004 dev->udev = interface_to_usbdev(intf); 1005 dev->netdev = netdev; 1006 1007 dev->can.state = CAN_STATE_STOPPED; 1008 dev->can.clock.freq = EMS_USB_ARM7_CLOCK; 1009 dev->can.bittiming_const = &ems_usb_bittiming_const; 1010 dev->can.do_set_bittiming = ems_usb_set_bittiming; 1011 dev->can.do_set_mode = ems_usb_set_mode; 1012 dev->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES; 1013 1014 netdev->netdev_ops = &ems_usb_netdev_ops; 1015 1016 netdev->flags |= IFF_ECHO; /* we support local echo */ 1017 1018 init_usb_anchor(&dev->rx_submitted); 1019 1020 init_usb_anchor(&dev->tx_submitted); 1021 atomic_set(&dev->active_tx_urbs, 0); 1022 1023 for (i = 0; i < MAX_TX_URBS; i++) 1024 dev->tx_contexts[i].echo_index = MAX_TX_URBS; 1025 1026 dev->intr_urb = usb_alloc_urb(0, GFP_KERNEL); 1027 if (!dev->intr_urb) { 1028 dev_err(&intf->dev, "Couldn't alloc intr URB\n"); 1029 goto cleanup_candev; 1030 } 1031 1032 dev->intr_in_buffer = kzalloc(INTR_IN_BUFFER_SIZE, GFP_KERNEL); 1033 if (!dev->intr_in_buffer) { 1034 dev_err(&intf->dev, "Couldn't alloc Intr buffer\n"); 1035 goto cleanup_intr_urb; 1036 } 1037 1038 dev->tx_msg_buffer = kzalloc(CPC_HEADER_SIZE + 1039 sizeof(struct ems_cpc_msg), GFP_KERNEL); 1040 if (!dev->tx_msg_buffer) { 1041 dev_err(&intf->dev, "Couldn't alloc Tx buffer\n"); 1042 goto cleanup_intr_in_buffer; 1043 } 1044 1045 usb_set_intfdata(intf, dev); 1046 1047 SET_NETDEV_DEV(netdev, &intf->dev); 1048 1049 init_params_sja1000(&dev->active_params); 1050 1051 err = ems_usb_command_msg(dev, &dev->active_params); 1052 if (err) { 1053 dev_err(netdev->dev.parent, 1054 "couldn't initialize controller: %d\n", err); 1055 goto cleanup_tx_msg_buffer; 1056 } 1057 1058 err = register_candev(netdev); 1059 if (err) { 1060 dev_err(netdev->dev.parent, 1061 "couldn't register CAN device: %d\n", err); 1062 goto cleanup_tx_msg_buffer; 1063 } 1064 1065 return 0; 1066 1067cleanup_tx_msg_buffer: 1068 kfree(dev->tx_msg_buffer); 1069 1070cleanup_intr_in_buffer: 1071 kfree(dev->intr_in_buffer); 1072 1073cleanup_intr_urb: 1074 usb_free_urb(dev->intr_urb); 1075 1076cleanup_candev: 1077 free_candev(netdev); 1078 1079 return err; 1080} 1081 1082/* 1083 * called by the usb core when the device is removed from the system 1084 */ 1085static void ems_usb_disconnect(struct usb_interface *intf) 1086{ 1087 struct ems_usb *dev = usb_get_intfdata(intf); 1088 1089 usb_set_intfdata(intf, NULL); 1090 1091 if (dev) { 1092 unregister_netdev(dev->netdev); 1093 free_candev(dev->netdev); 1094 1095 unlink_all_urbs(dev); 1096 1097 usb_free_urb(dev->intr_urb); 1098 1099 kfree(dev->intr_in_buffer); 1100 } 1101} 1102 1103/* usb specific object needed to register this driver with the usb subsystem */ 1104static struct usb_driver ems_usb_driver = { 1105 .name = "ems_usb", 1106 .probe = ems_usb_probe, 1107 .disconnect = ems_usb_disconnect, 1108 .id_table = ems_usb_table, 1109}; 1110 1111module_usb_driver(ems_usb_driver); 1112