diff options
Diffstat (limited to 'drivers/net/can')
| -rw-r--r-- | drivers/net/can/Kconfig | 49 | ||||
| -rw-r--r-- | drivers/net/can/Makefile | 3 | ||||
| -rw-r--r-- | drivers/net/can/at91_can.c | 1186 | ||||
| -rw-r--r-- | drivers/net/can/dev.c | 23 | ||||
| -rw-r--r-- | drivers/net/can/sja1000/Kconfig | 47 | ||||
| -rw-r--r-- | drivers/net/can/sja1000/ems_pci.c | 16 | ||||
| -rw-r--r-- | drivers/net/can/sja1000/sja1000_of_platform.c | 1 | ||||
| -rw-r--r-- | drivers/net/can/usb/Kconfig | 10 | ||||
| -rw-r--r-- | drivers/net/can/usb/Makefile | 7 | ||||
| -rw-r--r-- | drivers/net/can/usb/ems_usb.c | 1158 |
10 files changed, 2450 insertions, 50 deletions
diff --git a/drivers/net/can/Kconfig b/drivers/net/can/Kconfig index 090074372462..772f6d2489ce 100644 --- a/drivers/net/can/Kconfig +++ b/drivers/net/can/Kconfig @@ -35,52 +35,15 @@ config CAN_CALC_BITTIMING arguments "tq", "prop_seg", "phase_seg1", "phase_seg2" and "sjw". If unsure, say Y. -config CAN_SJA1000 - depends on CAN_DEV && HAS_IOMEM - tristate "Philips SJA1000" +config CAN_AT91 + tristate "Atmel AT91 onchip CAN controller" + depends on CAN_DEV && ARCH_AT91SAM9263 ---help--- - Driver for the SJA1000 CAN controllers from Philips or NXP + This is a driver for the SoC CAN controller in Atmel's AT91SAM9263. -config CAN_SJA1000_ISA - depends on CAN_SJA1000 && ISA - tristate "ISA Bus based legacy SJA1000 driver" - ---help--- - This driver adds legacy support for SJA1000 chips connected to - the ISA bus using I/O port, memory mapped or indirect access. - -config CAN_SJA1000_PLATFORM - depends on CAN_SJA1000 - tristate "Generic Platform Bus based SJA1000 driver" - ---help--- - This driver adds support for the SJA1000 chips connected to - the "platform bus" (Linux abstraction for directly to the - processor attached devices). Which can be found on various - boards from Phytec (http://www.phytec.de) like the PCM027, - PCM038. - -config CAN_SJA1000_OF_PLATFORM - depends on CAN_SJA1000 && PPC_OF - tristate "Generic OF Platform Bus based SJA1000 driver" - ---help--- - This driver adds support for the SJA1000 chips connected to - the OpenFirmware "platform bus" found on embedded systems with - OpenFirmware bindings, e.g. if you have a PowerPC based system - you may want to enable this option. - -config CAN_EMS_PCI - tristate "EMS CPC-PCI, CPC-PCIe and CPC-104P Card" - depends on PCI && CAN_SJA1000 - ---help--- - This driver is for the one, two or four channel CPC-PCI, - CPC-PCIe and CPC-104P cards from EMS Dr. Thomas Wuensche - (http://www.ems-wuensche.de). +source "drivers/net/can/sja1000/Kconfig" -config CAN_KVASER_PCI - tristate "Kvaser PCIcanx and Kvaser PCIcan PCI Cards" - depends on PCI && CAN_SJA1000 - ---help--- - This driver is for the the PCIcanx and PCIcan cards (1, 2 or - 4 channel) from Kvaser (http://www.kvaser.com). +source "drivers/net/can/usb/Kconfig" config CAN_DEBUG_DEVICES bool "CAN devices debugging messages" diff --git a/drivers/net/can/Makefile b/drivers/net/can/Makefile index 523a941b358b..0dea62721f2f 100644 --- a/drivers/net/can/Makefile +++ b/drivers/net/can/Makefile @@ -7,6 +7,9 @@ obj-$(CONFIG_CAN_VCAN) += vcan.o obj-$(CONFIG_CAN_DEV) += can-dev.o can-dev-y := dev.o +obj-y += usb/ + obj-$(CONFIG_CAN_SJA1000) += sja1000/ +obj-$(CONFIG_CAN_AT91) += at91_can.o ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG diff --git a/drivers/net/can/at91_can.c b/drivers/net/can/at91_can.c new file mode 100644 index 000000000000..f67ae285a35a --- /dev/null +++ b/drivers/net/can/at91_can.c @@ -0,0 +1,1186 @@ +/* + * at91_can.c - CAN network driver for AT91 SoC CAN controller + * + * (C) 2007 by Hans J. Koch <hjk@linutronix.de> + * (C) 2008, 2009 by Marc Kleine-Budde <kernel@pengutronix.de> + * + * This software may be distributed under the terms of the GNU General + * Public License ("GPL") version 2 as distributed in the 'COPYING' + * file from the main directory of the linux kernel source. + * + * Send feedback to <socketcan-users@lists.berlios.de> + * + * + * Your platform definition file should specify something like: + * + * static struct at91_can_data ek_can_data = { + * transceiver_switch = sam9263ek_transceiver_switch, + * }; + * + * at91_add_device_can(&ek_can_data); + * + */ + +#include <linux/clk.h> +#include <linux/errno.h> +#include <linux/if_arp.h> +#include <linux/init.h> +#include <linux/interrupt.h> +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/netdevice.h> +#include <linux/platform_device.h> +#include <linux/skbuff.h> +#include <linux/spinlock.h> +#include <linux/string.h> +#include <linux/types.h> + +#include <linux/can.h> +#include <linux/can/dev.h> +#include <linux/can/error.h> + +#include <mach/board.h> + +#define DRV_NAME "at91_can" +#define AT91_NAPI_WEIGHT 12 + +/* + * RX/TX Mailbox split + * don't dare to touch + */ +#define AT91_MB_RX_NUM 12 +#define AT91_MB_TX_SHIFT 2 + +#define AT91_MB_RX_FIRST 0 +#define AT91_MB_RX_LAST (AT91_MB_RX_FIRST + AT91_MB_RX_NUM - 1) + +#define AT91_MB_RX_MASK(i) ((1 << (i)) - 1) +#define AT91_MB_RX_SPLIT 8 +#define AT91_MB_RX_LOW_LAST (AT91_MB_RX_SPLIT - 1) +#define AT91_MB_RX_LOW_MASK (AT91_MB_RX_MASK(AT91_MB_RX_SPLIT)) + +#define AT91_MB_TX_NUM (1 << AT91_MB_TX_SHIFT) +#define AT91_MB_TX_FIRST (AT91_MB_RX_LAST + 1) +#define AT91_MB_TX_LAST (AT91_MB_TX_FIRST + AT91_MB_TX_NUM - 1) + +#define AT91_NEXT_PRIO_SHIFT (AT91_MB_TX_SHIFT) +#define AT91_NEXT_PRIO_MASK (0xf << AT91_MB_TX_SHIFT) +#define AT91_NEXT_MB_MASK (AT91_MB_TX_NUM - 1) +#define AT91_NEXT_MASK ((AT91_MB_TX_NUM - 1) | AT91_NEXT_PRIO_MASK) + +/* Common registers */ +enum at91_reg { + AT91_MR = 0x000, + AT91_IER = 0x004, + AT91_IDR = 0x008, + AT91_IMR = 0x00C, + AT91_SR = 0x010, + AT91_BR = 0x014, + AT91_TIM = 0x018, + AT91_TIMESTP = 0x01C, + AT91_ECR = 0x020, + AT91_TCR = 0x024, + AT91_ACR = 0x028, +}; + +/* Mailbox registers (0 <= i <= 15) */ +#define AT91_MMR(i) (enum at91_reg)(0x200 + ((i) * 0x20)) +#define AT91_MAM(i) (enum at91_reg)(0x204 + ((i) * 0x20)) +#define AT91_MID(i) (enum at91_reg)(0x208 + ((i) * 0x20)) +#define AT91_MFID(i) (enum at91_reg)(0x20C + ((i) * 0x20)) +#define AT91_MSR(i) (enum at91_reg)(0x210 + ((i) * 0x20)) +#define AT91_MDL(i) (enum at91_reg)(0x214 + ((i) * 0x20)) +#define AT91_MDH(i) (enum at91_reg)(0x218 + ((i) * 0x20)) +#define AT91_MCR(i) (enum at91_reg)(0x21C + ((i) * 0x20)) + +/* Register bits */ +#define AT91_MR_CANEN BIT(0) +#define AT91_MR_LPM BIT(1) +#define AT91_MR_ABM BIT(2) +#define AT91_MR_OVL BIT(3) +#define AT91_MR_TEOF BIT(4) +#define AT91_MR_TTM BIT(5) +#define AT91_MR_TIMFRZ BIT(6) +#define AT91_MR_DRPT BIT(7) + +#define AT91_SR_RBSY BIT(29) + +#define AT91_MMR_PRIO_SHIFT (16) + +#define AT91_MID_MIDE BIT(29) + +#define AT91_MSR_MRTR BIT(20) +#define AT91_MSR_MABT BIT(22) +#define AT91_MSR_MRDY BIT(23) +#define AT91_MSR_MMI BIT(24) + +#define AT91_MCR_MRTR BIT(20) +#define AT91_MCR_MTCR BIT(23) + +/* Mailbox Modes */ +enum at91_mb_mode { + AT91_MB_MODE_DISABLED = 0, + AT91_MB_MODE_RX = 1, + AT91_MB_MODE_RX_OVRWR = 2, + AT91_MB_MODE_TX = 3, + AT91_MB_MODE_CONSUMER = 4, + AT91_MB_MODE_PRODUCER = 5, +}; + +/* Interrupt mask bits */ +#define AT91_IRQ_MB_RX ((1 << (AT91_MB_RX_LAST + 1)) \ + - (1 << AT91_MB_RX_FIRST)) +#define AT91_IRQ_MB_TX ((1 << (AT91_MB_TX_LAST + 1)) \ + - (1 << AT91_MB_TX_FIRST)) +#define AT91_IRQ_MB_ALL (AT91_IRQ_MB_RX | AT91_IRQ_MB_TX) + +#define AT91_IRQ_ERRA (1 << 16) +#define AT91_IRQ_WARN (1 << 17) +#define AT91_IRQ_ERRP (1 << 18) +#define AT91_IRQ_BOFF (1 << 19) +#define AT91_IRQ_SLEEP (1 << 20) +#define AT91_IRQ_WAKEUP (1 << 21) +#define AT91_IRQ_TOVF (1 << 22) +#define AT91_IRQ_TSTP (1 << 23) +#define AT91_IRQ_CERR (1 << 24) +#define AT91_IRQ_SERR (1 << 25) +#define AT91_IRQ_AERR (1 << 26) +#define AT91_IRQ_FERR (1 << 27) +#define AT91_IRQ_BERR (1 << 28) + +#define AT91_IRQ_ERR_ALL (0x1fff0000) +#define AT91_IRQ_ERR_FRAME (AT91_IRQ_CERR | AT91_IRQ_SERR | \ + AT91_IRQ_AERR | AT91_IRQ_FERR | AT91_IRQ_BERR) +#define AT91_IRQ_ERR_LINE (AT91_IRQ_ERRA | AT91_IRQ_WARN | \ + AT91_IRQ_ERRP | AT91_IRQ_BOFF) + +#define AT91_IRQ_ALL (0x1fffffff) + +struct at91_priv { + struct can_priv can; /* must be the first member! */ + struct net_device *dev; + struct napi_struct napi; + + void __iomem *reg_base; + + u32 reg_sr; + unsigned int tx_next; + unsigned int tx_echo; + unsigned int rx_next; + + struct clk *clk; + struct at91_can_data *pdata; +}; + +static struct can_bittiming_const at91_bittiming_const = { + .tseg1_min = 4, + .tseg1_max = 16, + .tseg2_min = 2, + .tseg2_max = 8, + .sjw_max = 4, + .brp_min = 2, + .brp_max = 128, + .brp_inc = 1, +}; + +static inline int get_tx_next_mb(const struct at91_priv *priv) +{ + return (priv->tx_next & AT91_NEXT_MB_MASK) + AT91_MB_TX_FIRST; +} + +static inline int get_tx_next_prio(const struct at91_priv *priv) +{ + return (priv->tx_next >> AT91_NEXT_PRIO_SHIFT) & 0xf; +} + +static inline int get_tx_echo_mb(const struct at91_priv *priv) +{ + return (priv->tx_echo & AT91_NEXT_MB_MASK) + AT91_MB_TX_FIRST; +} + +static inline u32 at91_read(const struct at91_priv *priv, enum at91_reg reg) +{ + return readl(priv->reg_base + reg); +} + +static inline void at91_write(const struct at91_priv *priv, enum at91_reg reg, + u32 value) +{ + writel(value, priv->reg_base + reg); +} + +static inline void set_mb_mode_prio(const struct at91_priv *priv, + unsigned int mb, enum at91_mb_mode mode, int prio) +{ + at91_write(priv, AT91_MMR(mb), (mode << 24) | (prio << 16)); +} + +static inline void set_mb_mode(const struct at91_priv *priv, unsigned int mb, + enum at91_mb_mode mode) +{ + set_mb_mode_prio(priv, mb, mode, 0); +} + +static struct sk_buff *alloc_can_skb(struct net_device *dev, + struct can_frame **cf) +{ + struct sk_buff *skb; + + skb = netdev_alloc_skb(dev, sizeof(struct can_frame)); + if (unlikely(!skb)) + return NULL; + + skb->protocol = htons(ETH_P_CAN); + skb->ip_summed = CHECKSUM_UNNECESSARY; + *cf = (struct can_frame *)skb_put(skb, sizeof(struct can_frame)); + + return skb; +} + +static struct sk_buff *alloc_can_err_skb(struct net_device *dev, + struct can_frame **cf) +{ + struct sk_buff *skb; + + skb = alloc_can_skb(dev, cf); + if (unlikely(!skb)) + return NULL; + + memset(*cf, 0, sizeof(struct can_frame)); + (*cf)->can_id = CAN_ERR_FLAG; + (*cf)->can_dlc = CAN_ERR_DLC; + + return skb; +} + +/* + * Swtich transceiver on or off + */ +static void at91_transceiver_switch(const struct at91_priv *priv, int on) +{ + if (priv->pdata && priv->pdata->transceiver_switch) + priv->pdata->transceiver_switch(on); +} + +static void at91_setup_mailboxes(struct net_device *dev) +{ + struct at91_priv *priv = netdev_priv(dev); + unsigned int i; + + /* + * The first 12 mailboxes are used as a reception FIFO. The + * last mailbox is configured with overwrite option. The + * overwrite flag indicates a FIFO overflow. + */ + for (i = AT91_MB_RX_FIRST; i < AT91_MB_RX_LAST; i++) + set_mb_mode(priv, i, AT91_MB_MODE_RX); + set_mb_mode(priv, AT91_MB_RX_LAST, AT91_MB_MODE_RX_OVRWR); + + /* The last 4 mailboxes are used for transmitting. */ + for (i = AT91_MB_TX_FIRST; i <= AT91_MB_TX_LAST; i++) + set_mb_mode_prio(priv, i, AT91_MB_MODE_TX, 0); + + /* Reset tx and rx helper pointers */ + priv->tx_next = priv->tx_echo = priv->rx_next = 0; +} + +static int at91_set_bittiming(struct net_device *dev) +{ + const struct at91_priv *priv = netdev_priv(dev); + const struct can_bittiming *bt = &priv->can.bittiming; + u32 reg_br; + + reg_br = ((priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES) << 24) | + ((bt->brp - 1) << 16) | ((bt->sjw - 1) << 12) | + ((bt->prop_seg - 1) << 8) | ((bt->phase_seg1 - 1) << 4) | + ((bt->phase_seg2 - 1) << 0); + + dev_info(dev->dev.parent, "writing AT91_BR: 0x%08x\n", reg_br); + + at91_write(priv, AT91_BR, reg_br); + + return 0; +} + +static void at91_chip_start(struct net_device *dev) +{ + struct at91_priv *priv = netdev_priv(dev); + u32 reg_mr, reg_ier; + + /* disable interrupts */ + at91_write(priv, AT91_IDR, AT91_IRQ_ALL); + + /* disable chip */ + reg_mr = at91_read(priv, AT91_MR); + at91_write(priv, AT91_MR, reg_mr & ~AT91_MR_CANEN); + + at91_setup_mailboxes(dev); + at91_transceiver_switch(priv, 1); + + /* enable chip */ + at91_write(priv, AT91_MR, AT91_MR_CANEN); + + priv->can.state = CAN_STATE_ERROR_ACTIVE; + + /* Enable interrupts */ + reg_ier = AT91_IRQ_MB_RX | AT91_IRQ_ERRP | AT91_IRQ_ERR_FRAME; + at91_write(priv, AT91_IDR, AT91_IRQ_ALL); + at91_write(priv, AT91_IER, reg_ier); +} + +static void at91_chip_stop(struct net_device *dev, enum can_state state) +{ + struct at91_priv *priv = netdev_priv(dev); + u32 reg_mr; + + /* disable interrupts */ + at91_write(priv, AT91_IDR, AT91_IRQ_ALL); + + reg_mr = at91_read(priv, AT91_MR); + at91_write(priv, AT91_MR, reg_mr & ~AT91_MR_CANEN); + + at91_transceiver_switch(priv, 0); + priv->can.state = state; +} + +/* + * theory of operation: + * + * According to the datasheet priority 0 is the highest priority, 15 + * is the lowest. If two mailboxes have the same priority level the + * message of the mailbox with the lowest number is sent first. + * + * We use the first TX mailbox (AT91_MB_TX_FIRST) with prio 0, then + * the next mailbox with prio 0, and so on, until all mailboxes are + * used. Then we start from the beginning with mailbox + * AT91_MB_TX_FIRST, but with prio 1, mailbox AT91_MB_TX_FIRST + 1 + * prio 1. When we reach the last mailbox with prio 15, we have to + * stop sending, waiting for all messages to be delivered, then start + * again with mailbox AT91_MB_TX_FIRST prio 0. + * + * We use the priv->tx_next as counter for the next transmission + * mailbox, but without the offset AT91_MB_TX_FIRST. The lower bits + * encode the mailbox number, the upper 4 bits the mailbox priority: + * + * priv->tx_next = (prio << AT91_NEXT_PRIO_SHIFT) || + * (mb - AT91_MB_TX_FIRST); + * + */ +static netdev_tx_t at91_start_xmit(struct sk_buff *skb, struct net_device *dev) +{ + struct at91_priv *priv = netdev_priv(dev); + struct net_device_stats *stats = &dev->stats; + struct can_frame *cf = (struct can_frame *)skb->data; + unsigned int mb, prio; + u32 reg_mid, reg_mcr; + + mb = get_tx_next_mb(priv); + prio = get_tx_next_prio(priv); + + if (unlikely(!(at91_read(priv, AT91_MSR(mb)) & AT91_MSR_MRDY))) { + netif_stop_queue(dev); + + dev_err(dev->dev.parent, + "BUG! TX buffer full when queue awake!\n"); + return NETDEV_TX_BUSY; + } + + if (cf->can_id & CAN_EFF_FLAG) + reg_mid = (cf->can_id & CAN_EFF_MASK) | AT91_MID_MIDE; + else + reg_mid = (cf->can_id & CAN_SFF_MASK) << 18; + + reg_mcr = ((cf->can_id & CAN_RTR_FLAG) ? AT91_MCR_MRTR : 0) | + (cf->can_dlc << 16) | AT91_MCR_MTCR; + + /* disable MB while writing ID (see datasheet) */ + set_mb_mode(priv, mb, AT91_MB_MODE_DISABLED); + at91_write(priv, AT91_MID(mb), reg_mid); + set_mb_mode_prio(priv, mb, AT91_MB_MODE_TX, prio); + + at91_write(priv, AT91_MDL(mb), *(u32 *)(cf->data + 0)); + at91_write(priv, AT91_MDH(mb), *(u32 *)(cf->data + 4)); + + /* This triggers transmission */ + at91_write(priv, AT91_MCR(mb), reg_mcr); + + stats->tx_bytes += cf->can_dlc; + dev->trans_start = jiffies; + + /* _NOTE_: substract AT91_MB_TX_FIRST offset from mb! */ + can_put_echo_skb(skb, dev, mb - AT91_MB_TX_FIRST); + + /* + * we have to stop the queue and deliver all messages in case + * of a prio+mb counter wrap around. This is the case if + * tx_next buffer prio and mailbox equals 0. + * + * also stop the queue if next buffer is still in use + * (== not ready) + */ + priv->tx_next++; + if (!(at91_read(priv, AT91_MSR(get_tx_next_mb(priv))) & + AT91_MSR_MRDY) || + (priv->tx_next & AT91_NEXT_MASK) == 0) + netif_stop_queue(dev); + + /* Enable interrupt for this mailbox */ + at91_write(priv, AT91_IER, 1 << mb); + + return NETDEV_TX_OK; +} + +/** + * at91_activate_rx_low - activate lower rx mailboxes + * @priv: a91 context + * + * Reenables the lower mailboxes for reception of new CAN messages + */ +static inline void at91_activate_rx_low(const struct at91_priv *priv) +{ + u32 mask = AT91_MB_RX_LOW_MASK; + at91_write(priv, AT91_TCR, mask); +} + +/** + * at91_activate_rx_mb - reactive single rx mailbox + * @priv: a91 context + * @mb: mailbox to reactivate + * + * Reenables given mailbox for reception of new CAN messages + */ +static inline void at91_activate_rx_mb(const struct at91_priv *priv, + unsigned int mb) +{ + u32 mask = 1 << mb; + at91_write(priv, AT91_TCR, mask); +} + +/** + * at91_rx_overflow_err - send error frame due to rx overflow + * @dev: net device + */ +static void at91_rx_overflow_err(struct net_device *dev) +{ + struct net_device_stats *stats = &dev->stats; + struct sk_buff *skb; + struct can_frame *cf; + + dev_dbg(dev->dev.parent, "RX buffer overflow\n"); + stats->rx_over_errors++; + stats->rx_errors++; + + skb = alloc_can_err_skb(dev, &cf); + if (unlikely(!skb)) + return; + + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; + netif_receive_skb(skb); + + stats->rx_packets++; + stats->rx_bytes += cf->can_dlc; +} + +/** + * at91_read_mb - read CAN msg from mailbox (lowlevel impl) + * @dev: net device + * @mb: mailbox number to read from + * @cf: can frame where to store message + * + * Reads a CAN message from the given mailbox and stores data into + * given can frame. "mb" and "cf" must be valid. + */ +static void at91_read_mb(struct net_device *dev, unsigned int mb, + struct can_frame *cf) +{ + const struct at91_priv *priv = netdev_priv(dev); + u32 reg_msr, reg_mid; + + reg_mid = at91_read(priv, AT91_MID(mb)); + if (reg_mid & AT91_MID_MIDE) + cf->can_id = ((reg_mid >> 0) & CAN_EFF_MASK) | CAN_EFF_FLAG; + else + cf->can_id = (reg_mid >> 18) & CAN_SFF_MASK; + + reg_msr = at91_read(priv, AT91_MSR(mb)); + if (reg_msr & AT91_MSR_MRTR) + cf->can_id |= CAN_RTR_FLAG; + cf->can_dlc = min_t(__u8, (reg_msr >> 16) & 0xf, 8); + + *(u32 *)(cf->data + 0) = at91_read(priv, AT91_MDL(mb)); + *(u32 *)(cf->data + 4) = at91_read(priv, AT91_MDH(mb)); + + if (unlikely(mb == AT91_MB_RX_LAST && reg_msr & AT91_MSR_MMI)) + at91_rx_overflow_err(dev); +} + +/** + * at91_read_msg - read CAN message from mailbox + * @dev: net device + * @mb: mail box to read from + * + * Reads a CAN message from given mailbox, and put into linux network + * RX queue, does all housekeeping chores (stats, ...) + */ +static void at91_read_msg(struct net_device *dev, unsigned int mb) +{ + struct net_device_stats *stats = &dev->stats; + struct can_frame *cf; + struct sk_buff *skb; + + skb = alloc_can_skb(dev, &cf); + if (unlikely(!skb)) { + stats->rx_dropped++; + return; + } + + at91_read_mb(dev, mb, cf); + netif_receive_skb(skb); + + stats->rx_packets++; + stats->rx_bytes += cf->can_dlc; +} + +/** + * at91_poll_rx - read multiple CAN messages from mailboxes + * @dev: net device + * @quota: max number of pkgs we're allowed to receive + * + * Theory of Operation: + * + * 12 of the 16 mailboxes on the chip are reserved for RX. we split + * them into 2 groups. The lower group holds 8 and upper 4 mailboxes. + * + * Like it or not, but the chip always saves a received CAN message + * into the first free mailbox it finds (starting with the + * lowest). This makes it very difficult to read the messages in the + * right order from the chip. This is how we work around that problem: + * + * The first message goes into mb nr. 0 and issues an interrupt. All + * rx ints are disabled in the interrupt handler and a napi poll is + * scheduled. We read the mailbox, but do _not_ reenable the mb (to + * receive another message). + * + * lower mbxs upper + * ______^______ __^__ + * / \ / \ + * +-+-+-+-+-+-+-+-++-+-+-+-+ + * |x|x|x|x|x|x|x|x|| | | | | + * +-+-+-+-+-+-+-+-++-+-+-+-+ + * 0 0 0 0 0 0 0 0 0 0 1 1 \ mail + * 0 1 2 3 4 5 6 7 8 9 0 1 / box + * + * The variable priv->rx_next points to the next mailbox to read a + * message from. As long we're in the lower mailboxes we just read the + * mailbox but not reenable it. + * + * With completion of the last of the lower mailboxes, we reenable the + * whole first group, but continue to look for filled mailboxes in the + * upper mailboxes. Imagine the second group like overflow mailboxes, + * which takes CAN messages if the lower goup is full. While in the + * upper group we reenable the mailbox right after reading it. Giving + * the chip more room to store messages. + * + * After finishing we look again in the lower group if we've still + * quota. + * + */ +static int at91_poll_rx(struct net_device *dev, int quota) +{ + struct at91_priv *priv = netdev_priv(dev); + u32 reg_sr = at91_read(priv, AT91_SR); + const unsigned long *addr = (unsigned long *)®_sr; + unsigned int mb; + int received = 0; + + if (priv->rx_next > AT91_MB_RX_LOW_LAST && + reg_sr & AT91_MB_RX_LOW_MASK) + dev_info(dev->dev.parent, + "order of incoming frames cannot be guaranteed\n"); + + again: + for (mb = find_next_bit(addr, AT91_MB_RX_NUM, priv->rx_next); + mb < AT91_MB_RX_NUM && quota > 0; + reg_sr = at91_read(priv, AT91_SR), + mb = find_next_bit(addr, AT91_MB_RX_NUM, ++priv->rx_next)) { + at91_read_msg(dev, mb); + + /* reactivate mailboxes */ + if (mb == AT91_MB_RX_LOW_LAST) + /* all lower mailboxed, if just finished it */ + at91_activate_rx_low(priv); + else if (mb > AT91_MB_RX_LOW_LAST) + /* only the mailbox we read */ + at91_activate_rx_mb(priv, mb); + + received++; + quota--; + } + + /* upper group completed, look again in lower */ + if (priv->rx_next > AT91_MB_RX_LOW_LAST && + quota > 0 && mb >= AT91_MB_RX_NUM) { + priv->rx_next = 0; + goto again; + } + + return received; +} + +static void at91_poll_err_frame(struct net_device *dev, + struct can_frame *cf, u32 reg_sr) +{ + struct at91_priv *priv = netdev_priv(dev); + + /* CRC error */ + if (reg_sr & AT91_IRQ_CERR) { + dev_dbg(dev->dev.parent, "CERR irq\n"); + dev->stats.rx_errors++; + priv->can.can_stats.bus_error++; + cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; + } + + /* Stuffing Error */ + if (reg_sr & AT91_IRQ_SERR) { + dev_dbg(dev->dev.parent, "SERR irq\n"); + dev->stats.rx_errors++; + priv->can.can_stats.bus_error++; + cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; + cf->data[2] |= CAN_ERR_PROT_STUFF; + } + + /* Acknowledgement Error */ + if (reg_sr & AT91_IRQ_AERR) { + dev_dbg(dev->dev.parent, "AERR irq\n"); + dev->stats.tx_errors++; + cf->can_id |= CAN_ERR_ACK; + } + + /* Form error */ + if (reg_sr & AT91_IRQ_FERR) { + dev_dbg(dev->dev.parent, "FERR irq\n"); + dev->stats.rx_errors++; + priv->can.can_stats.bus_error++; + cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; + cf->data[2] |= CAN_ERR_PROT_FORM; + } + + /* Bit Error */ + if (reg_sr & AT91_IRQ_BERR) { + dev_dbg(dev->dev.parent, "BERR irq\n"); + dev->stats.tx_errors++; + priv->can.can_stats.bus_error++; + cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; + cf->data[2] |= CAN_ERR_PROT_BIT; + } +} + +static int at91_poll_err(struct net_device *dev, int quota, u32 reg_sr) +{ + struct sk_buff *skb; + struct can_frame *cf; + + if (quota == 0) + return 0; + + skb = alloc_can_err_skb(dev, &cf); + if (unlikely(!skb)) + return 0; + + at91_poll_err_frame(dev, cf, reg_sr); + netif_receive_skb(skb); + + dev->last_rx = jiffies; + dev->stats.rx_packets++; + dev->stats.rx_bytes += cf->can_dlc; + + return 1; +} + +static int at91_poll(struct napi_struct *napi, int quota) +{ + struct net_device *dev = napi->dev; + const struct at91_priv *priv = netdev_priv(dev); + u32 reg_sr = at91_read(priv, AT91_SR); + int work_done = 0; + + if (reg_sr & AT91_IRQ_MB_RX) + work_done += at91_poll_rx(dev, quota - work_done); + + /* + * The error bits are clear on read, + * so use saved value from irq handler. + */ + reg_sr |= priv->reg_sr; + if (reg_sr & AT91_IRQ_ERR_FRAME) + work_done += at91_poll_err(dev, quota - work_done, reg_sr); + + if (work_done < quota) { + /* enable IRQs for frame errors and all mailboxes >= rx_next */ + u32 reg_ier = AT91_IRQ_ERR_FRAME; + reg_ier |= AT91_IRQ_MB_RX & ~AT91_MB_RX_MASK(priv->rx_next); + + napi_complete(napi); + at91_write(priv, AT91_IER, reg_ier); + } + + return work_done; +} + +/* + * theory of operation: + * + * priv->tx_echo holds the number of the oldest can_frame put for + * transmission into the hardware, but not yet ACKed by the CAN tx + * complete IRQ. + * + * We iterate from priv->tx_echo to priv->tx_next and check if the + * packet has been transmitted, echo it back to the CAN framework. If + * we discover a not yet transmitted package, stop looking for more. + * + */ +static void at91_irq_tx(struct net_device *dev, u32 reg_sr) +{ + struct at91_priv *priv = netdev_priv(dev); + u32 reg_msr; + unsigned int mb; + + /* masking of reg_sr not needed, already done by at91_irq */ + + for (/* nix */; (priv->tx_next - priv->tx_echo) > 0; priv->tx_echo++) { + mb = get_tx_echo_mb(priv); + + /* no event in mailbox? */ + if (!(reg_sr & (1 << mb))) + break; + + /* Disable irq for this TX mailbox */ + at91_write(priv, AT91_IDR, 1 << mb); + + /* + * only echo if mailbox signals us a transfer + * complete (MSR_MRDY). Otherwise it's a tansfer + * abort. "can_bus_off()" takes care about the skbs + * parked in the echo queue. + */ + reg_msr = at91_read(priv, AT91_MSR(mb)); + if (likely(reg_msr & AT91_MSR_MRDY && + ~reg_msr & AT91_MSR_MABT)) { + /* _NOTE_: substract AT91_MB_TX_FIRST offset from mb! */ + can_get_echo_skb(dev, mb - AT91_MB_TX_FIRST); + dev->stats.tx_packets++; + } + } + + /* + * restart queue if we don't have a wrap around but restart if + * we get a TX int for the last can frame directly before a + * wrap around. + */ + if ((priv->tx_next & AT91_NEXT_MASK) != 0 || + (priv->tx_echo & AT91_NEXT_MASK) == 0) + netif_wake_queue(dev); +} + +static void at91_irq_err_state(struct net_device *dev, + struct can_frame *cf, enum can_state new_state) +{ + struct at91_priv *priv = netdev_priv(dev); + u32 reg_idr, reg_ier, reg_ecr; + u8 tec, rec; + + reg_ecr = at91_read(priv, AT91_ECR); + rec = reg_ecr & 0xff; + tec = reg_ecr >> 16; + + switch (priv->can.state) { + case CAN_STATE_ERROR_ACTIVE: + /* + * from: ERROR_ACTIVE + * to : ERROR_WARNING, ERROR_PASSIVE, BUS_OFF + * => : there was a warning int + */ + if (new_state >= CAN_STATE_ERROR_WARNING && + new_state <= CAN_STATE_BUS_OFF) { + dev_dbg(dev->dev.parent, "Error Warning IRQ\n"); + priv->can.can_stats.error_warning++; + + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] = (tec > rec) ? + CAN_ERR_CRTL_TX_WARNING : + CAN_ERR_CRTL_RX_WARNING; + } + case CAN_STATE_ERROR_WARNING: /* fallthrough */ + /* + * from: ERROR_ACTIVE, ERROR_WARNING + * to : ERROR_PASSIVE, BUS_OFF + * => : error passive int + */ + if (new_state >= CAN_STATE_ERROR_PASSIVE && + new_state <= CAN_STATE_BUS_OFF) { + dev_dbg(dev->dev.parent, "Error Passive IRQ\n"); + priv->can.can_stats.error_passive++; + + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] = (tec > rec) ? + CAN_ERR_CRTL_TX_PASSIVE : + CAN_ERR_CRTL_RX_PASSIVE; + } + break; + case CAN_STATE_BUS_OFF: + /* + * from: BUS_OFF + * to : ERROR_ACTIVE, ERROR_WARNING, ERROR_PASSIVE + */ + if (new_state <= CAN_STATE_ERROR_PASSIVE) { + cf->can_id |= CAN_ERR_RESTARTED; + + dev_dbg(dev->dev.parent, "restarted\n"); + priv->can.can_stats.restarts++; + + netif_carrier_on(dev); + netif_wake_queue(dev); + } + break; + default: + break; + } + + + /* process state changes depending on the new state */ + switch (new_state) { + case CAN_STATE_ERROR_ACTIVE: + /* + * actually we want to enable AT91_IRQ_WARN here, but + * it screws up the system under certain + * circumstances. so just enable AT91_IRQ_ERRP, thus + * the "fallthrough" + */ + dev_dbg(dev->dev.parent, "Error Active\n"); + cf->can_id |= CAN_ERR_PROT; + cf->data[2] = CAN_ERR_PROT_ACTIVE; + case CAN_STATE_ERROR_WARNING: /* fallthrough */ + reg_idr = AT91_IRQ_ERRA | AT91_IRQ_WARN | AT91_IRQ_BOFF; + reg_ier = AT91_IRQ_ERRP; + break; + case CAN_STATE_ERROR_PASSIVE: + reg_idr = AT91_IRQ_ERRA | AT91_IRQ_WARN | AT91_IRQ_ERRP; + reg_ier = AT91_IRQ_BOFF; + break; + case CAN_STATE_BUS_OFF: + reg_idr = AT91_IRQ_ERRA | AT91_IRQ_ERRP | + AT91_IRQ_WARN | AT91_IRQ_BOFF; + reg_ier = 0; + + cf->can_id |= CAN_ERR_BUSOFF; + + dev_dbg(dev->dev.parent, "bus-off\n"); + netif_carrier_off(dev); + priv->can.can_stats.bus_off++; + + /* turn off chip, if restart is disabled */ + if (!priv->can.restart_ms) { + at91_chip_stop(dev, CAN_STATE_BUS_OFF); + return; + } + break; + default: + break; + } + + at91_write(priv, AT91_IDR, reg_idr); + at91_write(priv, AT91_IER, reg_ier); +} + +static void at91_irq_err(struct net_device *dev) +{ + struct at91_priv *priv = netdev_priv(dev); + struct sk_buff *skb; + struct can_frame *cf; + enum can_state new_state; + u32 reg_sr; + + reg_sr = at91_read(priv, AT91_SR); + + /* we need to look at the unmasked reg_sr */ + if (unlikely(reg_sr & AT91_IRQ_BOFF)) + new_state = CAN_STATE_BUS_OFF; + else if (unlikely(reg_sr & AT91_IRQ_ERRP)) + new_state = CAN_STATE_ERROR_PASSIVE; + else if (unlikely(reg_sr & AT91_IRQ_WARN)) + new_state = CAN_STATE_ERROR_WARNING; + else if (likely(reg_sr & AT91_IRQ_ERRA)) + new_state = CAN_STATE_ERROR_ACTIVE; + else { + dev_err(dev->dev.parent, "BUG! hardware in undefined state\n"); + return; + } + + /* state hasn't changed */ + if (likely(new_state == priv->can.state)) + return; + + skb = alloc_can_err_skb(dev, &cf); + if (unlikely(!skb)) + return; + + at91_irq_err_state(dev, cf, new_state); + netif_rx(skb); + + dev->last_rx = jiffies; + dev->stats.rx_packets++; + dev->stats.rx_bytes += cf->can_dlc; + + priv->can.state = new_state; +} + +/* + * interrupt handler + */ +static irqreturn_t at91_irq(int irq, void *dev_id) +{ + struct net_device *dev = dev_id; + struct at91_priv *priv = netdev_priv(dev); + irqreturn_t handled = IRQ_NONE; + u32 reg_sr, reg_imr; + + reg_sr = at91_read(priv, AT91_SR); + reg_imr = at91_read(priv, AT91_IMR); + + /* Ignore masked interrupts */ + reg_sr &= reg_imr; + if (!reg_sr) + goto exit; + + handled = IRQ_HANDLED; + + /* Receive or error interrupt? -> napi */ + if (reg_sr & (AT91_IRQ_MB_RX | AT91_IRQ_ERR_FRAME)) { + /* + * The error bits are clear on read, + * save for later use. + */ + priv->reg_sr = reg_sr; + at91_write(priv, AT91_IDR, + AT91_IRQ_MB_RX | AT91_IRQ_ERR_FRAME); + napi_schedule(&priv->napi); + } + + /* Transmission complete interrupt */ + if (reg_sr & AT91_IRQ_MB_TX) + at91_irq_tx(dev, reg_sr); + + at91_irq_err(dev); + + exit: + return handled; +} + +static int at91_open(struct net_device *dev) +{ + struct at91_priv *priv = netdev_priv(dev); + int err; + + clk_enable(priv->clk); + + /* check or determine and set bittime */ + err = open_candev(dev); + if (err) + goto out; + + /* register interrupt handler */ + if (request_irq(dev->irq, at91_irq, IRQF_SHARED, + dev->name, dev)) { + err = -EAGAIN; + goto out_close; + } + + /* start chip and queuing */ + at91_chip_start(dev); + napi_enable(&priv->napi); + netif_start_queue(dev); + + return 0; + + out_close: + close_candev(dev); + out: + clk_disable(priv->clk); + + return err; +} + +/* + * stop CAN bus activity + */ +static int at91_close(struct net_device *dev) +{ + struct at91_priv *priv = netdev_priv(dev); + + netif_stop_queue(dev); + napi_disable(&priv->napi); + at91_chip_stop(dev, CAN_STATE_STOPPED); + + free_irq(dev->irq, dev); + clk_disable(priv->clk); + + close_candev(dev); + + return 0; +} + +static int at91_set_mode(struct net_device *dev, enum can_mode mode) +{ + switch (mode) { + case CAN_MODE_START: + at91_chip_start(dev); + netif_wake_queue(dev); + break; + + default: + return -EOPNOTSUPP; + } + + return 0; +} + +static const struct net_device_ops at91_netdev_ops = { + .ndo_open = at91_open, + .ndo_stop = at91_close, + .ndo_start_xmit = at91_start_xmit, +}; + +static int __init at91_can_probe(struct platform_device *pdev) +{ + struct net_device *dev; + struct at91_priv *priv; + struct resource *res; + struct clk *clk; + void __iomem *addr; + int err, irq; + + clk = clk_get(&pdev->dev, "can_clk"); + if (IS_ERR(clk)) { + dev_err(&pdev->dev, "no clock defined\n"); + err = -ENODEV; + goto exit; + } + + res = platform_get_resource(pdev, IORESOURCE_MEM, 0); + irq = platform_get_irq(pdev, 0); + if (!res || !irq) { + err = -ENODEV; + goto exit_put; + } + + if (!request_mem_region(res->start, + resource_size(res), + pdev->name)) { + err = -EBUSY; + goto exit_put; + } + + addr = ioremap_nocache(res->start, resource_size(res)); + if (!addr) { + err = -ENOMEM; + goto exit_release; + } + + dev = alloc_candev(sizeof(struct at91_priv)); + if (!dev) { + err = -ENOMEM; + goto exit_iounmap; + } + + dev->netdev_ops = &at91_netdev_ops; + dev->irq = irq; + dev->flags |= IFF_ECHO; + + priv = netdev_priv(dev); + priv->can.clock.freq = clk_get_rate(clk); + priv->can.bittiming_const = &at91_bittiming_const; + priv->can.do_set_bittiming = at91_set_bittiming; + priv->can.do_set_mode = at91_set_mode; + priv->reg_base = addr; + priv->dev = dev; + priv->clk = clk; + priv->pdata = pdev->dev.platform_data; + + netif_napi_add(dev, &priv->napi, at91_poll, AT91_NAPI_WEIGHT); + + dev_set_drvdata(&pdev->dev, dev); + SET_NETDEV_DEV(dev, &pdev->dev); + + err = register_candev(dev); + if (err) { + dev_err(&pdev->dev, "registering netdev failed\n"); + goto exit_free; + } + + dev_info(&pdev->dev, "device registered (reg_base=%p, irq=%d)\n", + priv->reg_base, dev->irq); + + return 0; + + exit_free: + free_netdev(dev); + exit_iounmap: + iounmap(addr); + exit_release: + release_mem_region(res->start, resource_size(res)); + exit_put: + clk_put(clk); + exit: + return err; +} + +static int __devexit at91_can_remove(struct platform_device *pdev) +{ + struct net_device *dev = platform_get_drvdata(pdev); + struct at91_priv *priv = netdev_priv(dev); + struct resource *res; + + unregister_netdev(dev); + + platform_set_drvdata(pdev, NULL); + + free_netdev(dev); + + iounmap(priv->reg_base); + + res = platform_get_resource(pdev, IORESOURCE_MEM, 0); + release_mem_region(res->start, resource_size(res)); + + clk_put(priv->clk); + + return 0; +} + +static struct platform_driver at91_can_driver = { + .probe = at91_can_probe, + .remove = __devexit_p(at91_can_remove), + .driver = { + .name = DRV_NAME, + .owner = THIS_MODULE, + }, +}; + +static int __init at91_can_module_init(void) +{ + printk(KERN_INFO "%s netdevice driver\n", DRV_NAME); + return platform_driver_register(&at91_can_driver); +} + +static void __exit at91_can_module_exit(void) +{ + platform_driver_unregister(&at91_can_driver); + printk(KERN_INFO "%s: driver removed\n", DRV_NAME); +} + +module_init(at91_can_module_init); +module_exit(at91_can_module_exit); + +MODULE_AUTHOR("Marc Kleine-Budde <mkl@pengutronix.de>"); +MODULE_LICENSE("GPL v2"); +MODULE_DESCRIPTION(DRV_NAME " CAN netdevice driver"); diff --git a/drivers/net/can/dev.c b/drivers/net/can/dev.c index f0b9a1e1db46..2868fe842a41 100644 --- a/drivers/net/can/dev.c +++ b/drivers/net/can/dev.c @@ -589,6 +589,22 @@ static int can_changelink(struct net_device *dev, return 0; } +static size_t can_get_size(const struct net_device *dev) +{ + struct can_priv *priv = netdev_priv(dev); + size_t size; + + size = nla_total_size(sizeof(u32)); /* IFLA_CAN_STATE */ + size += sizeof(struct can_ctrlmode); /* IFLA_CAN_CTRLMODE */ + size += nla_total_size(sizeof(u32)); /* IFLA_CAN_RESTART_MS */ + size += sizeof(struct can_bittiming); /* IFLA_CAN_BITTIMING */ + size += sizeof(struct can_clock); /* IFLA_CAN_CLOCK */ + if (priv->bittiming_const) /* IFLA_CAN_BITTIMING_CONST */ + size += sizeof(struct can_bittiming_const); + + return size; +} + static int can_fill_info(struct sk_buff *skb, const struct net_device *dev) { struct can_priv *priv = netdev_priv(dev); @@ -613,6 +629,11 @@ nla_put_failure: return -EMSGSIZE; } +static size_t can_get_xstats_size(const struct net_device *dev) +{ + return sizeof(struct can_device_stats); +} + static int can_fill_xstats(struct sk_buff *skb, const struct net_device *dev) { struct can_priv *priv = netdev_priv(dev); @@ -639,7 +660,9 @@ static struct rtnl_link_ops can_link_ops __read_mostly = { .setup = can_setup, .newlink = can_newlink, .changelink = can_changelink, + .get_size = can_get_size, .fill_info = can_fill_info, + .get_xstats_size = can_get_xstats_size, .fill_xstats = can_fill_xstats, }; diff --git a/drivers/net/can/sja1000/Kconfig b/drivers/net/can/sja1000/Kconfig new file mode 100644 index 000000000000..4c674927f247 --- /dev/null +++ b/drivers/net/can/sja1000/Kconfig @@ -0,0 +1,47 @@ +menuconfig CAN_SJA1000 + tristate "Philips/NXP SJA1000 devices" + depends on CAN_DEV && HAS_IOMEM + +if CAN_SJA1000 + +config CAN_SJA1000_ISA + tristate "ISA Bus based legacy SJA1000 driver" + depends on ISA + ---help--- + This driver adds legacy support for SJA1000 chips connected to + the ISA bus using I/O port, memory mapped or indirect access. + +config CAN_SJA1000_PLATFORM + tristate "Generic Platform Bus based SJA1000 driver" + ---help--- + This driver adds support for the SJA1000 chips connected to + the "platform bus" (Linux abstraction for directly to the + processor attached devices). Which can be found on various + boards from Phytec (http://www.phytec.de) like the PCM027, + PCM038. + +config CAN_SJA1000_OF_PLATFORM + tristate "Generic OF Platform Bus based SJA1000 driver" + depends on PPC_OF + ---help--- + This driver adds support for the SJA1000 chips connected to + the OpenFirmware "platform bus" found on embedded systems with + OpenFirmware bindings, e.g. if you have a PowerPC based system + you may want to enable this option. + +config CAN_EMS_PCI + tristate "EMS CPC-PCI, CPC-PCIe and CPC-104P Card" + depends on PCI + ---help--- + This driver is for the one, two or four channel CPC-PCI, + CPC-PCIe and CPC-104P cards from EMS Dr. Thomas Wuensche + (http://www.ems-wuensche.de). + +config CAN_KVASER_PCI + tristate "Kvaser PCIcanx and Kvaser PCIcan PCI Cards" + depends on PCI + ---help--- + This driver is for the the PCIcanx and PCIcan cards (1, 2 or + 4 channel) from Kvaser (http://www.kvaser.com). + +endif diff --git a/drivers/net/can/sja1000/ems_pci.c b/drivers/net/can/sja1000/ems_pci.c index 7d84b8ac9c1c..fd04789d3370 100644 --- a/drivers/net/can/sja1000/ems_pci.c +++ b/drivers/net/can/sja1000/ems_pci.c @@ -94,12 +94,14 @@ struct ems_pci_card { #define EMS_PCI_CDR (CDR_CBP | CDR_CLKOUT_MASK) #define EMS_PCI_V1_BASE_BAR 1 -#define EMS_PCI_V1_MEM_SIZE 4096 +#define EMS_PCI_V1_CONF_SIZE 4096 /* size of PITA control area */ #define EMS_PCI_V2_BASE_BAR 2 -#define EMS_PCI_V2_MEM_SIZE 128 +#define EMS_PCI_V2_CONF_SIZE 128 /* size of PLX control area */ #define EMS_PCI_CAN_BASE_OFFSET 0x400 /* offset where the controllers starts */ #define EMS_PCI_CAN_CTRL_SIZE 0x200 /* memory size for each controller */ +#define EMS_PCI_BASE_SIZE 4096 /* size of controller area */ + static struct pci_device_id ems_pci_tbl[] = { /* CPC-PCI v1 */ {PCI_VENDOR_ID_SIEMENS, 0x2104, PCI_ANY_ID, PCI_ANY_ID,}, @@ -224,7 +226,7 @@ static int __devinit ems_pci_add_card(struct pci_dev *pdev, struct sja1000_priv *priv; struct net_device *dev; struct ems_pci_card *card; - int max_chan, mem_size, base_bar; + int max_chan, conf_size, base_bar; int err, i; /* Enabling PCI device */ @@ -251,22 +253,22 @@ static int __devinit ems_pci_add_card(struct pci_dev *pdev, card->version = 2; /* CPC-PCI v2 */ max_chan = EMS_PCI_V2_MAX_CHAN; base_bar = EMS_PCI_V2_BASE_BAR; - mem_size = EMS_PCI_V2_MEM_SIZE; + conf_size = EMS_PCI_V2_CONF_SIZE; } else { card->version = 1; /* CPC-PCI v1 */ max_chan = EMS_PCI_V1_MAX_CHAN; base_bar = EMS_PCI_V1_BASE_BAR; - mem_size = EMS_PCI_V1_MEM_SIZE; + conf_size = EMS_PCI_V1_CONF_SIZE; } /* Remap configuration space and controller memory area */ - card->conf_addr = pci_iomap(pdev, 0, mem_size); + card->conf_addr = pci_iomap(pdev, 0, conf_size); if (card->conf_addr == NULL) { err = -ENOMEM; goto failure_cleanup; } - card->base_addr = pci_iomap(pdev, base_bar, mem_size); + card->base_addr = pci_iomap(pdev, base_bar, EMS_PCI_BASE_SIZE); if (card->base_addr == NULL) { err = -ENOMEM; goto failure_cleanup; diff --git a/drivers/net/can/sja1000/sja1000_of_platform.c b/drivers/net/can/sja1000/sja1000_of_platform.c index 3373560405ba..9dd076a626a5 100644 --- a/drivers/net/can/sja1000/sja1000_of_platform.c +++ b/drivers/net/can/sja1000/sja1000_of_platform.c @@ -213,6 +213,7 @@ static struct of_device_id __devinitdata sja1000_ofp_table[] = { {.compatible = "nxp,sja1000"}, {}, }; +MODULE_DEVICE_TABLE(of, sja1000_ofp_table); static struct of_platform_driver sja1000_ofp_driver = { .owner = THIS_MODULE, diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig new file mode 100644 index 000000000000..bbc78e0b8a15 --- /dev/null +++ b/drivers/net/can/usb/Kconfig @@ -0,0 +1,10 @@ +menu "CAN USB interfaces" + depends on USB && CAN_DEV + +config CAN_EMS_USB + tristate "EMS CPC-USB/ARM7 CAN/USB interface" + ---help--- + This driver is for the one channel CPC-USB/ARM7 CAN/USB interface + from from EMS Dr. Thomas Wuensche (http://www.ems-wuensche.de). + +endmenu diff --git a/drivers/net/can/usb/Makefile b/drivers/net/can/usb/Makefile new file mode 100644 index 000000000000..0afd51d4c7a5 --- /dev/null +++ b/drivers/net/can/usb/Makefile @@ -0,0 +1,7 @@ +# +# Makefile for the Linux Controller Area Network USB drivers. +# + +obj-$(CONFIG_CAN_EMS_USB) += ems_usb.o + +ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c new file mode 100644 index 000000000000..abdbd9c2b788 --- /dev/null +++ b/drivers/net/can/usb/ems_usb.c @@ -0,0 +1,1158 @@ +/* + * CAN driver for EMS Dr. Thomas Wuensche CPC-USB/ARM7 + * + * Copyright (C) 2004-2009 EMS Dr. Thomas Wuensche + * + * This program is free software; you can redistribute it and/or modify it + * under the terms of the GNU General Public License as published + * by the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. + */ +#include <linux/init.h> +#include <linux/signal.h> +#include <linux/slab.h> +#include <linux/module.h> +#include <linux/netdevice.h> +#include <linux/usb.h> + +#include <linux/can.h> +#include <linux/can/dev.h> +#include <linux/can/error.h> + +MODULE_AUTHOR("Sebastian Haas <haas@ems-wuensche.com>"); +MODULE_DESCRIPTION("CAN driver for EMS Dr. Thomas Wuensche CAN/USB interfaces"); +MODULE_LICENSE("GPL v2"); + +/* Control-Values for CPC_Control() Command Subject Selection */ +#define CONTR_CAN_MESSAGE 0x04 +#define CONTR_CAN_STATE 0x0C +#define CONTR_BUS_ERROR 0x1C + +/* Control Command Actions */ +#define CONTR_CONT_OFF 0 +#define CONTR_CONT_ON 1 +#define CONTR_ONCE 2 + +/* Messages from CPC to PC */ +#define CPC_MSG_TYPE_CAN_FRAME 1 /* CAN data frame */ +#define CPC_MSG_TYPE_RTR_FRAME 8 /* CAN remote frame */ +#define CPC_MSG_TYPE_CAN_PARAMS 12 /* Actual CAN parameters */ +#define CPC_MSG_TYPE_CAN_STATE 14 /* CAN state message */ +#define CPC_MSG_TYPE_EXT_CAN_FRAME 16 /* Extended CAN data frame */ +#define CPC_MSG_TYPE_EXT_RTR_FRAME 17 /* Extended remote frame */ +#define CPC_MSG_TYPE_CONTROL 19 /* change interface behavior */ +#define CPC_MSG_TYPE_CONFIRM 20 /* command processed confirmation */ +#define CPC_MSG_TYPE_OVERRUN 21 /* overrun events */ +#define CPC_MSG_TYPE_CAN_FRAME_ERROR 23 /* detected bus errors */ +#define CPC_MSG_TYPE_ERR_COUNTER 25 /* RX/TX error counter */ + +/* Messages from the PC to the CPC interface */ +#define CPC_CMD_TYPE_CAN_FRAME 1 /* CAN data frame */ +#define CPC_CMD_TYPE_CONTROL 3 /* control of interface behavior */ +#define CPC_CMD_TYPE_CAN_PARAMS 6 /* set CAN parameters */ +#define CPC_CMD_TYPE_RTR_FRAME 13 /* CAN remote frame */ +#define CPC_CMD_TYPE_CAN_STATE 14 /* CAN state message */ +#define CPC_CMD_TYPE_EXT_CAN_FRAME 15 /* Extended CAN data frame */ +#define CPC_CMD_TYPE_EXT_RTR_FRAME 16 /* Extended CAN remote frame */ +#define CPC_CMD_TYPE_CAN_EXIT 200 /* exit the CAN */ + +#define CPC_CMD_TYPE_INQ_ERR_COUNTER 25 /* request the CAN error counters */ +#define CPC_CMD_TYPE_CLEAR_MSG_QUEUE 8 /* clear CPC_MSG queue */ +#define CPC_CMD_TYPE_CLEAR_CMD_QUEUE 28 /* clear CPC_CMD queue */ + +#define CPC_CC_TYPE_SJA1000 2 /* Philips basic CAN controller */ + +#define CPC_CAN_ECODE_ERRFRAME 0x01 /* Ecode type */ + +/* Overrun types */ +#define CPC_OVR_EVENT_CAN 0x01 +#define CPC_OVR_EVENT_CANSTATE 0x02 +#define CPC_OVR_EVENT_BUSERROR 0x04 + +/* + * If the CAN controller lost a message we indicate it with the highest bit + * set in the count field. + */ +#define CPC_OVR_HW 0x80 + +/* Size of the "struct ems_cpc_msg" without the union */ +#define CPC_MSG_HEADER_LEN 11 +#define CPC_CAN_MSG_MIN_SIZE 5 + +/* Define these values to match your devices */ +#define USB_CPCUSB_VENDOR_ID 0x12D6 + +#define USB_CPCUSB_ARM7_PRODUCT_ID 0x0444 + +/* Mode register NXP LPC2119/SJA1000 CAN Controller */ +#define SJA1000_MOD_NORMAL 0x00 +#define SJA1000_MOD_RM 0x01 + +/* ECC register NXP LPC2119/SJA1000 CAN Controller */ +#define SJA1000_ECC_SEG 0x1F +#define SJA1000_ECC_DIR 0x20 +#define SJA1000_ECC_ERR 0x06 +#define SJA1000_ECC_BIT 0x00 +#define SJA1000_ECC_FORM 0x40 +#define SJA1000_ECC_STUFF 0x80 +#define SJA1000_ECC_MASK 0xc0 + +/* Status register content */ +#define SJA1000_SR_BS 0x80 +#define SJA1000_SR_ES 0x40 + +#define SJA1000_DEFAULT_OUTPUT_CONTROL 0xDA + +/* + * The device actually uses a 16MHz clock to generate the CAN clock + * but it expects SJA1000 bit settings based on 8MHz (is internally + * converted). + */ +#define EMS_USB_ARM7_CLOCK 8000000 + +/* + * CAN-Message representation in a CPC_MSG. Message object type is + * CPC_MSG_TYPE_CAN_FRAME or CPC_MSG_TYPE_RTR_FRAME or + * CPC_MSG_TYPE_EXT_CAN_FRAME or CPC_MSG_TYPE_EXT_RTR_FRAME. + */ +struct cpc_can_msg { + u32 id; + u8 length; + u8 msg[8]; +}; + +/* Representation of the CAN parameters for the SJA1000 controller */ +struct cpc_sja1000_params { + u8 mode; + u8 acc_code0; + u8 acc_code1; + u8 acc_code2; + u8 acc_code3; + u8 acc_mask0; + u8 acc_mask1; + u8 acc_mask2; + u8 acc_mask3; + u8 btr0; + u8 btr1; + u8 outp_contr; +}; + +/* CAN params message representation */ +struct cpc_can_params { + u8 cc_type; + + /* Will support M16C CAN controller in the future */ + union { + struct cpc_sja1000_params sja1000; + } cc_params; +}; + +/* Structure for confirmed message handling */ +struct cpc_confirm { + u8 error; /* error code */ +}; + +/* Structure for overrun conditions */ +struct cpc_overrun { + u8 event; + u8 count; +}; + +/* SJA1000 CAN errors (compatible to NXP LPC2119) */ +struct cpc_sja1000_can_error { + u8 ecc; + u8 rxerr; + u8 txerr; +}; + +/* structure for CAN error conditions */ +struct cpc_can_error { + u8 ecode; + + struct { + u8 cc_type; + + /* Other controllers may also provide error code capture regs */ + union { + struct cpc_sja1000_can_error sja1000; + } regs; + } cc; +}; + +/* + * Structure containing RX/TX error counter. This structure is used to request + * the values of the CAN controllers TX and RX error counter. + */ +struct cpc_can_err_counter { + u8 rx; + u8 tx; +}; + +/* Main message type used between library and application */ +struct __attribute__ ((packed)) ems_cpc_msg { + u8 type; /* type of message */ + u8 length; /* length of data within union 'msg' */ + u8 msgid; /* confirmation handle */ + u32 ts_sec; /* timestamp in seconds */ + u32 ts_nsec; /* timestamp in nano seconds */ + + union { + u8 generic[64]; + struct cpc_can_msg can_msg; + struct cpc_can_params can_params; + struct cpc_confirm confirmation; + struct cpc_overrun overrun; + struct cpc_can_error error; + struct cpc_can_err_counter err_counter; + u8 can_state; + } msg; +}; + +/* + * Table of devices that work with this driver + * NOTE: This driver supports only CPC-USB/ARM7 (LPC2119) yet. + */ +static struct usb_device_id ems_usb_table[] = { + {USB_DEVICE(USB_CPCUSB_VENDOR_ID, USB_CPCUSB_ARM7_PRODUCT_ID)}, + {} /* Terminating entry */ +}; + +MODULE_DEVICE_TABLE(usb, ems_usb_table); + +#define RX_BUFFER_SIZE 64 +#define CPC_HEADER_SIZE 4 +#define INTR_IN_BUFFER_SIZE 4 + +#define MAX_RX_URBS 10 +#define MAX_TX_URBS CAN_ECHO_SKB_MAX + +struct ems_usb; + +struct ems_tx_urb_context { + struct ems_usb *dev; + + u32 echo_index; + u8 dlc; +}; + +struct ems_usb { + struct can_priv can; /* must be the first member */ + int open_time; + + struct sk_buff *echo_skb[MAX_TX_URBS]; + + struct usb_device *udev; + struct net_device *netdev; + + atomic_t active_tx_urbs; + struct usb_anchor tx_submitted; + struct ems_tx_urb_context tx_contexts[MAX_TX_URBS]; + + struct usb_anchor rx_submitted; + + struct urb *intr_urb; + + u8 *tx_msg_buffer; + + u8 *intr_in_buffer; + unsigned int free_slots; /* remember number of available slots */ + + struct ems_cpc_msg active_params; /* active controller parameters */ +}; + +static void ems_usb_read_interrupt_callback(struct urb *urb) +{ + struct ems_usb *dev = urb->context; + struct net_device *netdev = dev->netdev; + int err; + + if (!netif_device_present(netdev)) + return; + + switch (urb->status) { + case 0: + dev->free_slots = dev->intr_in_buffer[1]; + break; + + case -ECONNRESET: /* unlink */ + case -ENOENT: + case -ESHUTDOWN: + return; + + default: + dev_info(netdev->dev.parent, "Rx interrupt aborted %d\n", + urb->status); + break; + } + + err = usb_submit_urb(urb, GFP_ATOMIC); + + if (err == -ENODEV) + netif_device_detach(netdev); + else if (err) + dev_err(netdev->dev.parent, + "failed resubmitting intr urb: %d\n", err); + + return; +} + +static void ems_usb_rx_can_msg(struct ems_usb *dev, struct ems_cpc_msg *msg) +{ + struct can_frame *cf; + struct sk_buff *skb; + int i; + struct net_device_stats *stats = &dev->netdev->stats; + + skb = netdev_alloc_skb(dev->netdev, sizeof(struct can_frame)); + if (skb == NULL) + return; + + skb->protocol = htons(ETH_P_CAN); + + cf = (struct can_frame *)skb_put(skb, sizeof(struct can_frame)); + + cf->can_id = le32_to_cpu(msg->msg.can_msg.id); + cf->can_dlc = min_t(u8, msg->msg.can_msg.length, 8); + + if (msg->type == CPC_MSG_TYPE_EXT_CAN_FRAME + || msg->type == CPC_MSG_TYPE_EXT_RTR_FRAME) + cf->can_id |= CAN_EFF_FLAG; + + if (msg->type == CPC_MSG_TYPE_RTR_FRAME + || msg->type == CPC_MSG_TYPE_EXT_RTR_FRAME) { + cf->can_id |= CAN_RTR_FLAG; + } else { + for (i = 0; i < cf->can_dlc; i++) + cf->data[i] = msg->msg.can_msg.msg[i]; + } + + netif_rx(skb); + + stats->rx_packets++; + stats->rx_bytes += cf->can_dlc; +} + +static void ems_usb_rx_err(struct ems_usb *dev, struct ems_cpc_msg *msg) +{ + struct can_frame *cf; + struct sk_buff *skb; + struct net_device_stats *stats = &dev->netdev->stats; + + skb = netdev_alloc_skb(dev->netdev, sizeof(struct can_frame)); + if (skb == NULL) + return; + + skb->protocol = htons(ETH_P_CAN); + + cf = (struct can_frame *)skb_put(skb, sizeof(struct can_frame)); + memset(cf, 0, sizeof(struct can_frame)); + + cf->can_id = CAN_ERR_FLAG; + cf->can_dlc = CAN_ERR_DLC; + + if (msg->type == CPC_MSG_TYPE_CAN_STATE) { + u8 state = msg->msg.can_state; + + if (state & SJA1000_SR_BS) { + dev->can.state = CAN_STATE_BUS_OFF; + cf->can_id |= CAN_ERR_BUSOFF; + + can_bus_off(dev->netdev); + } else if (state & SJA1000_SR_ES) { + dev->can.state = CAN_STATE_ERROR_WARNING; + dev->can.can_stats.error_warning++; + } else { + dev->can.state = CAN_STATE_ERROR_ACTIVE; + dev->can.can_stats.error_passive++; + } + } else if (msg->type == CPC_MSG_TYPE_CAN_FRAME_ERROR) { + u8 ecc = msg->msg.error.cc.regs.sja1000.ecc; + u8 txerr = msg->msg.error.cc.regs.sja1000.txerr; + u8 rxerr = msg->msg.error.cc.regs.sja1000.rxerr; + + /* bus error interrupt */ + dev->can.can_stats.bus_error++; + stats->rx_errors++; + + cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; + + switch (ecc & SJA1000_ECC_MASK) { + case SJA1000_ECC_BIT: + cf->data[2] |= CAN_ERR_PROT_BIT; + break; + case SJA1000_ECC_FORM: + cf->data[2] |= CAN_ERR_PROT_FORM; + break; + case SJA1000_ECC_STUFF: + cf->data[2] |= CAN_ERR_PROT_STUFF; + break; + default: + cf->data[2] |= CAN_ERR_PROT_UNSPEC; + cf->data[3] = ecc & SJA1000_ECC_SEG; + break; + } + + /* Error occured during transmission? */ + if ((ecc & SJA1000_ECC_DIR) == 0) + cf->data[2] |= CAN_ERR_PROT_TX; + + if (dev->can.state == CAN_STATE_ERROR_WARNING || + dev->can.state == CAN_STATE_ERROR_PASSIVE) { + cf->data[1] = (txerr > rxerr) ? + CAN_ERR_CRTL_TX_PASSIVE : CAN_ERR_CRTL_RX_PASSIVE; + } + } else if (msg->type == CPC_MSG_TYPE_OVERRUN) { + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; + + stats->rx_over_errors++; + stats->rx_errors++; + } + + netif_rx(skb); + + stats->rx_packets++; + stats->rx_bytes += cf->can_dlc; +} + +/* + * callback for bulk IN urb + */ +static void ems_usb_read_bulk_callback(struct urb *urb) +{ + struct ems_usb *dev = urb->context; + struct net_device *netdev; + int retval; + + netdev = dev->netdev; + + if (!netif_device_present(netdev)) + return; + + switch (urb->status) { + case 0: /* success */ + break; + + case -ENOENT: + return; + + default: + dev_info(netdev->dev.parent, "Rx URB aborted (%d)\n", + urb->status); + goto resubmit_urb; + } + + if (urb->actual_length > CPC_HEADER_SIZE) { + struct ems_cpc_msg *msg; + u8 *ibuf = urb->transfer_buffer; + u8 msg_count, again, start; + + msg_count = ibuf[0] & ~0x80; + again = ibuf[0] & 0x80; + + start = CPC_HEADER_SIZE; + + while (msg_count) { + msg = (struct ems_cpc_msg *)&ibuf[start]; + + switch (msg->type) { + case CPC_MSG_TYPE_CAN_STATE: + /* Process CAN state changes */ + ems_usb_rx_err(dev, msg); + break; + + case CPC_MSG_TYPE_CAN_FRAME: + case CPC_MSG_TYPE_EXT_CAN_FRAME: + case CPC_MSG_TYPE_RTR_FRAME: + case CPC_MSG_TYPE_EXT_RTR_FRAME: + ems_usb_rx_can_msg(dev, msg); + break; + + case CPC_MSG_TYPE_CAN_FRAME_ERROR: + /* Process errorframe */ + ems_usb_rx_err(dev, msg); + break; + + case CPC_MSG_TYPE_OVERRUN: + /* Message lost while receiving */ + ems_usb_rx_err(dev, msg); + break; + } + + start += CPC_MSG_HEADER_LEN + msg->length; + msg_count--; + + if (start > urb->transfer_buffer_length) { + dev_err(netdev->dev.parent, "format error\n"); + break; + } + } + } + +resubmit_urb: + usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 2), + urb->transfer_buffer, RX_BUFFER_SIZE, + ems_usb_read_bulk_callback, dev); + + retval = usb_submit_urb(urb, GFP_ATOMIC); + + if (retval == -ENODEV) + netif_device_detach(netdev); + else if (retval) + dev_err(netdev->dev.parent, + "failed resubmitting read bulk urb: %d\n", retval); + + return; +} + +/* + * callback for bulk IN urb + */ +static void ems_usb_write_bulk_callback(struct urb *urb) +{ + struct ems_tx_urb_context *context = urb->context; + struct ems_usb *dev; + struct net_device *netdev; + + BUG_ON(!context); + + dev = context->dev; + netdev = dev->netdev; + + /* free up our allocated buffer */ + usb_buffer_free(urb->dev, urb->transfer_buffer_length, + urb->transfer_buffer, urb->transfer_dma); + + atomic_dec(&dev->active_tx_urbs); + + if (!netif_device_present(netdev)) + return; + + if (urb->status) + dev_info(netdev->dev.parent, "Tx URB aborted (%d)\n", + urb->status); + + netdev->trans_start = jiffies; + + /* transmission complete interrupt */ + netdev->stats.tx_packets++; + netdev->stats.tx_bytes += context->dlc; + + can_get_echo_skb(netdev, context->echo_index); + + /* Release context */ + context->echo_index = MAX_TX_URBS; + + if (netif_queue_stopped(netdev)) + netif_wake_queue(netdev); +} + +/* + * Send the given CPC command synchronously + */ +static int ems_usb_command_msg(struct ems_usb *dev, struct ems_cpc_msg *msg) +{ + int actual_length; + + /* Copy payload */ + memcpy(&dev->tx_msg_buffer[CPC_HEADER_SIZE], msg, + msg->length + CPC_MSG_HEADER_LEN); + + /* Clear header */ + memset(&dev->tx_msg_buffer[0], 0, CPC_HEADER_SIZE); + + return usb_bulk_msg(dev->udev, usb_sndbulkpipe(dev->udev, 2), + &dev->tx_msg_buffer[0], + msg->length + CPC_MSG_HEADER_LEN + CPC_HEADER_SIZE, + &actual_length, 1000); +} + +/* + * Change CAN controllers' mode register + */ +static int ems_usb_write_mode(struct ems_usb *dev, u8 mode) +{ + dev->active_params.msg.can_params.cc_params.sja1000.mode = mode; + + return ems_usb_command_msg(dev, &dev->active_params); +} + +/* + * Send a CPC_Control command to change behaviour when interface receives a CAN + * message, bus error or CAN state changed notifications. + */ +static int ems_usb_control_cmd(struct ems_usb *dev, u8 val) +{ + struct ems_cpc_msg cmd; + + cmd.type = CPC_CMD_TYPE_CONTROL; + cmd.length = CPC_MSG_HEADER_LEN + 1; + + cmd.msgid = 0; + + cmd.msg.generic[0] = val; + + return ems_usb_command_msg(dev, &cmd); +} + +/* + * Start interface + */ +static int ems_usb_start(struct ems_usb *dev) +{ + struct net_device *netdev = dev->netdev; + int err, i; + + dev->intr_in_buffer[0] = 0; + dev->free_slots = 15; /* initial size */ + + for (i = 0; i < MAX_RX_URBS; i++) { + struct urb *urb = NULL; + u8 *buf = NULL; + + /* create a URB, and a buffer for it */ + urb = usb_alloc_urb(0, GFP_KERNEL); + if (!urb) { + dev_err(netdev->dev.parent, + "No memory left for URBs\n"); + return -ENOMEM; + } + + buf = usb_buffer_alloc(dev->udev, RX_BUFFER_SIZE, GFP_KERNEL, + &urb->transfer_dma); + if (!buf) { + dev_err(netdev->dev.parent, + "No memory left for USB buffer\n"); + usb_free_urb(urb); + return -ENOMEM; + } + + usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 2), + buf, RX_BUFFER_SIZE, + ems_usb_read_bulk_callback, dev); + urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; + usb_anchor_urb(urb, &dev->rx_submitted); + + err = usb_submit_urb(urb, GFP_KERNEL); + if (err) { + if (err == -ENODEV) + netif_device_detach(dev->netdev); + + usb_unanchor_urb(urb); + usb_buffer_free(dev->udev, RX_BUFFER_SIZE, buf, + urb->transfer_dma); + break; + } + + /* Drop reference, USB core will take care of freeing it */ + usb_free_urb(urb); + } + + /* Did we submit any URBs */ + if (i == 0) { + dev_warn(netdev->dev.parent, "couldn't setup read URBs\n"); + return err; + } + + /* Warn if we've couldn't transmit all the URBs */ + if (i < MAX_RX_URBS) + dev_warn(netdev->dev.parent, "rx performance may be slow\n"); + + /* Setup and start interrupt URB */ + usb_fill_int_urb(dev->intr_urb, dev->udev, + usb_rcvintpipe(dev->udev, 1), + dev->intr_in_buffer, + INTR_IN_BUFFER_SIZE, + ems_usb_read_interrupt_callback, dev, 1); + + err = usb_submit_urb(dev->intr_urb, GFP_KERNEL); + if (err) { + if (err == -ENODEV) + netif_device_detach(dev->netdev); + + dev_warn(netdev->dev.parent, "intr URB submit failed: %d\n", + err); + + return err; + } + + /* CPC-USB will transfer received message to host */ + err = ems_usb_control_cmd(dev, CONTR_CAN_MESSAGE | CONTR_CONT_ON); + if (err) + goto failed; + + /* CPC-USB will transfer CAN state changes to host */ + err = ems_usb_control_cmd(dev, CONTR_CAN_STATE | CONTR_CONT_ON); + if (err) + goto failed; + + /* CPC-USB will transfer bus errors to host */ + err = ems_usb_control_cmd(dev, CONTR_BUS_ERROR | CONTR_CONT_ON); + if (err) + goto failed; + + err = ems_usb_write_mode(dev, SJA1000_MOD_NORMAL); + if (err) + goto failed; + + dev->can.state = CAN_STATE_ERROR_ACTIVE; + + return 0; + +failed: + if (err == -ENODEV) + netif_device_detach(dev->netdev); + + dev_warn(netdev->dev.parent, "couldn't submit control: %d\n", err); + + return err; +} + +static void unlink_all_urbs(struct ems_usb *dev) +{ + int i; + + usb_unlink_urb(dev->intr_urb); + + usb_kill_anchored_urbs(&dev->rx_submitted); + + usb_kill_anchored_urbs(&dev->tx_submitted); + atomic_set(&dev->active_tx_urbs, 0); + + for (i = 0; i < MAX_TX_URBS; i++) + dev->tx_contexts[i].echo_index = MAX_TX_URBS; +} + +static int ems_usb_open(struct net_device *netdev) +{ + struct ems_usb *dev = netdev_priv(netdev); + int err; + + err = ems_usb_write_mode(dev, SJA1000_MOD_RM); + if (err) + return err; + + /* common open */ + err = open_candev(netdev); + if (err) + return err; + + /* finally start device */ + err = ems_usb_start(dev); + if (err) { + if (err == -ENODEV) + netif_device_detach(dev->netdev); + + dev_warn(netdev->dev.parent, "couldn't start device: %d\n", + err); + + close_candev(netdev); + + return err; + } + + dev->open_time = jiffies; + + netif_start_queue(netdev); + + return 0; +} + +static netdev_tx_t ems_usb_start_xmit(struct sk_buff *skb, struct net_device *netdev) +{ + struct ems_usb *dev = netdev_priv(netdev); + struct ems_tx_urb_context *context = NULL; + struct net_device_stats *stats = &netdev->stats; + struct can_frame *cf = (struct can_frame *)skb->data; + struct ems_cpc_msg *msg; + struct urb *urb; + u8 *buf; + int i, err; + size_t size = CPC_HEADER_SIZE + CPC_MSG_HEADER_LEN + + sizeof(struct cpc_can_msg); + + /* create a URB, and a buffer for it, and copy the data to the URB */ + urb = usb_alloc_urb(0, GFP_ATOMIC); + if (!urb) { + dev_err(netdev->dev.parent, "No memory left for URBs\n"); + goto nomem; + } + + buf = usb_buffer_alloc(dev->udev, size, GFP_ATOMIC, &urb->transfer_dma); + if (!buf) { + dev_err(netdev->dev.parent, "No memory left for USB buffer\n"); + usb_free_urb(urb); + goto nomem; + } + + msg = (struct ems_cpc_msg *)&buf[CPC_HEADER_SIZE]; + + msg->msg.can_msg.id = cf->can_id & CAN_ERR_MASK; + msg->msg.can_msg.length = cf->can_dlc; + + if (cf->can_id & CAN_RTR_FLAG) { + msg->type = cf->can_id & CAN_EFF_FLAG ? + CPC_CMD_TYPE_EXT_RTR_FRAME : CPC_CMD_TYPE_RTR_FRAME; + + msg->length = CPC_CAN_MSG_MIN_SIZE; + } else { + msg->type = cf->can_id & CAN_EFF_FLAG ? + CPC_CMD_TYPE_EXT_CAN_FRAME : CPC_CMD_TYPE_CAN_FRAME; + + for (i = 0; i < cf->can_dlc; i++) + msg->msg.can_msg.msg[i] = cf->data[i]; + + msg->length = CPC_CAN_MSG_MIN_SIZE + cf->can_dlc; + } + + /* Respect byte order */ + msg->msg.can_msg.id = cpu_to_le32(msg->msg.can_msg.id); + + for (i = 0; i < MAX_TX_URBS; i++) { + if (dev->tx_contexts[i].echo_index == MAX_TX_URBS) { + context = &dev->tx_contexts[i]; + break; + } + } + + /* + * May never happen! When this happens we'd more URBs in flight as + * allowed (MAX_TX_URBS). + */ + if (!context) { + usb_unanchor_urb(urb); + usb_buffer_free(dev->udev, size, buf, urb->transfer_dma); + + dev_warn(netdev->dev.parent, "couldn't find free context\n"); + + return NETDEV_TX_BUSY; + } + + context->dev = dev; + context->echo_index = i; + context->dlc = cf->can_dlc; + + usb_fill_bulk_urb(urb, dev->udev, usb_sndbulkpipe(dev->udev, 2), buf, + size, ems_usb_write_bulk_callback, context); + urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; + usb_anchor_urb(urb, &dev->tx_submitted); + + can_put_echo_skb(skb, netdev, context->echo_index); + + atomic_inc(&dev->active_tx_urbs); + + err = usb_submit_urb(urb, GFP_ATOMIC); + if (unlikely(err)) { + can_free_echo_skb(netdev, context->echo_index); + + usb_unanchor_urb(urb); + usb_buffer_free(dev->udev, size, buf, urb->transfer_dma); + dev_kfree_skb(skb); + + atomic_dec(&dev->active_tx_urbs); + + if (err == -ENODEV) { + netif_device_detach(netdev); + } else { + dev_warn(netdev->dev.parent, "failed tx_urb %d\n", err); + + stats->tx_dropped++; + } + } else { + netdev->trans_start = jiffies; + + /* Slow down tx path */ + if (atomic_read(&dev->active_tx_urbs) >= MAX_TX_URBS || + dev->free_slots < 5) { + netif_stop_queue(netdev); + } + } + + /* + * Release our reference to this URB, the USB core will eventually free + * it entirely. + */ + usb_free_urb(urb); + + return NETDEV_TX_OK; + +nomem: + if (skb) + dev_kfree_skb(skb); + + stats->tx_dropped++; + + return NETDEV_TX_OK; +} + +static int ems_usb_close(struct net_device *netdev) +{ + struct ems_usb *dev = netdev_priv(netdev); + + /* Stop polling */ + unlink_all_urbs(dev); + + netif_stop_queue(netdev); + + /* Set CAN controller to reset mode */ + if (ems_usb_write_mode(dev, SJA1000_MOD_RM)) + dev_warn(netdev->dev.parent, "couldn't stop device"); + + close_candev(netdev); + + dev->open_time = 0; + + return 0; +} + +static const struct net_device_ops ems_usb_netdev_ops = { + .ndo_open = ems_usb_open, + .ndo_stop = ems_usb_close, + .ndo_start_xmit = ems_usb_start_xmit, +}; + +static struct can_bittiming_const ems_usb_bittiming_const = { + .name = "ems_usb", + .tseg1_min = 1, + .tseg1_max = 16, + .tseg2_min = 1, + .tseg2_max = 8, + .sjw_max = 4, + .brp_min = 1, + .brp_max = 64, + .brp_inc = 1, +}; + +static int ems_usb_set_mode(struct net_device *netdev, enum can_mode mode) +{ + struct ems_usb *dev = netdev_priv(netdev); + + if (!dev->open_time) + return -EINVAL; + + switch (mode) { + case CAN_MODE_START: + if (ems_usb_write_mode(dev, SJA1000_MOD_NORMAL)) + dev_warn(netdev->dev.parent, "couldn't start device"); + + if (netif_queue_stopped(netdev)) + netif_wake_queue(netdev); + break; + + default: + return -EOPNOTSUPP; + } + + return 0; +} + +static int ems_usb_set_bittiming(struct net_device *netdev) +{ + struct ems_usb *dev = netdev_priv(netdev); + struct can_bittiming *bt = &dev->can.bittiming; + u8 btr0, btr1; + + btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6); + btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) | + (((bt->phase_seg2 - 1) & 0x7) << 4); + if (dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES) + btr1 |= 0x80; + + dev_info(netdev->dev.parent, "setting BTR0=0x%02x BTR1=0x%02x\n", + btr0, btr1); + + dev->active_params.msg.can_params.cc_params.sja1000.btr0 = btr0; + dev->active_params.msg.can_params.cc_params.sja1000.btr1 = btr1; + + return ems_usb_command_msg(dev, &dev->active_params); +} + +static void init_params_sja1000(struct ems_cpc_msg *msg) +{ + struct cpc_sja1000_params *sja1000 = + &msg->msg.can_params.cc_params.sja1000; + + msg->type = CPC_CMD_TYPE_CAN_PARAMS; + msg->length = sizeof(struct cpc_can_params); + msg->msgid = 0; + + msg->msg.can_params.cc_type = CPC_CC_TYPE_SJA1000; + + /* Acceptance filter open */ + sja1000->acc_code0 = 0x00; + sja1000->acc_code1 = 0x00; + sja1000->acc_code2 = 0x00; + sja1000->acc_code3 = 0x00; + + /* Acceptance filter open */ + sja1000->acc_mask0 = 0xFF; + sja1000->acc_mask1 = 0xFF; + sja1000->acc_mask2 = 0xFF; + sja1000->acc_mask3 = 0xFF; + + sja1000->btr0 = 0; + sja1000->btr1 = 0; + + sja1000->outp_contr = SJA1000_DEFAULT_OUTPUT_CONTROL; + sja1000->mode = SJA1000_MOD_RM; +} + +/* + * probe function for new CPC-USB devices + */ +static int ems_usb_probe(struct usb_interface *intf, + const struct usb_device_id *id) +{ + struct net_device *netdev; + struct ems_usb *dev; + int i, err = -ENOMEM; + + netdev = alloc_candev(sizeof(struct ems_usb)); + if (!netdev) { + dev_err(netdev->dev.parent, "Couldn't alloc candev\n"); + return -ENOMEM; + } + + dev = netdev_priv(netdev); + + dev->udev = interface_to_usbdev(intf); + dev->netdev = netdev; + + dev->can.state = CAN_STATE_STOPPED; + dev->can.clock.freq = EMS_USB_ARM7_CLOCK; + dev->can.bittiming_const = &ems_usb_bittiming_const; + dev->can.do_set_bittiming = ems_usb_set_bittiming; + dev->can.do_set_mode = ems_usb_set_mode; + + netdev->flags |= IFF_ECHO; /* we support local echo */ + + netdev->netdev_ops = &ems_usb_netdev_ops; + + netdev->flags |= IFF_ECHO; /* we support local echo */ + + init_usb_anchor(&dev->rx_submitted); + + init_usb_anchor(&dev->tx_submitted); + atomic_set(&dev->active_tx_urbs, 0); + + for (i = 0; i < MAX_TX_URBS; i++) + dev->tx_contexts[i].echo_index = MAX_TX_URBS; + + dev->intr_urb = usb_alloc_urb(0, GFP_KERNEL); + if (!dev->intr_urb) { + dev_err(netdev->dev.parent, "Couldn't alloc intr URB\n"); + goto cleanup_candev; + } + + dev->intr_in_buffer = kzalloc(INTR_IN_BUFFER_SIZE, GFP_KERNEL); + if (!dev->intr_in_buffer) { + dev_err(netdev->dev.parent, "Couldn't alloc Intr buffer\n"); + goto cleanup_intr_urb; + } + + dev->tx_msg_buffer = kzalloc(CPC_HEADER_SIZE + + sizeof(struct ems_cpc_msg), GFP_KERNEL); + if (!dev->tx_msg_buffer) { + dev_err(netdev->dev.parent, "Couldn't alloc Tx buffer\n"); + goto cleanup_intr_in_buffer; + } + + usb_set_intfdata(intf, dev); + + SET_NETDEV_DEV(netdev, &intf->dev); + + init_params_sja1000(&dev->active_params); + + err = ems_usb_command_msg(dev, &dev->active_params); + if (err) { + dev_err(netdev->dev.parent, + "couldn't initialize controller: %d\n", err); + goto cleanup_tx_msg_buffer; + } + + err = register_candev(netdev); + if (err) { + dev_err(netdev->dev.parent, + "couldn't register CAN device: %d\n", err); + goto cleanup_tx_msg_buffer; + } + + return 0; + +cleanup_tx_msg_buffer: + kfree(dev->tx_msg_buffer); + +cleanup_intr_in_buffer: + kfree(dev->intr_in_buffer); + +cleanup_intr_urb: + usb_free_urb(dev->intr_urb); + +cleanup_candev: + free_candev(netdev); + + return err; +} + +/* + * called by the usb core when the device is removed from the system + */ +static void ems_usb_disconnect(struct usb_interface *intf) +{ + struct ems_usb *dev = usb_get_intfdata(intf); + + usb_set_intfdata(intf, NULL); + + if (dev) { + unregister_netdev(dev->netdev); + free_candev(dev->netdev); + + unlink_all_urbs(dev); + + usb_free_urb(dev->intr_urb); + + kfree(dev->intr_in_buffer); + } +} + +/* usb specific object needed to register this driver with the usb subsystem */ +static struct usb_driver ems_usb_driver = { + .name = "ems_usb", + .probe = ems_usb_probe, + .disconnect = ems_usb_disconnect, + .id_table = ems_usb_table, +}; + +static int __init ems_usb_init(void) +{ + int err; + + printk(KERN_INFO "CPC-USB kernel driver loaded\n"); + + /* register this driver with the USB subsystem */ + err = usb_register(&ems_usb_driver); + + if (err) { + err("usb_register failed. Error number %d\n", err); + return err; + } + + return 0; +} + +static void __exit ems_usb_exit(void) +{ + /* deregister this driver with the USB subsystem */ + usb_deregister(&ems_usb_driver); +} + +module_init(ems_usb_init); +module_exit(ems_usb_exit); |