can: kvaser_usb: Add support for Kvaser USB hydra family

This patch adds support for a new Kvaser USB family, denoted hydra.
The hydra family currently contains USB devices with one CAN channel
up to five. There are devices with and without CAN FD support.

Signed-off-by: Jimmy Assarsson <extja@kvaser.com>
Signed-off-by: Christer Beskow <chbe@kvaser.com>
Signed-off-by: Nicklas Johansson <extnj@kvaser.com>
Signed-off-by: Martin Henriksson <mh@kvaser.com>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>

6 files changed, 2151 insertions, 12 deletions

diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig
index 87b7aa15d175..750d04d9e2ae 100644
--- a/drivers/net/can/usb/Kconfig
+++ b/drivers/net/can/usb/Kconfig
@@ -32,7 +32,7 @@ config CAN_KVASER_USB
 	tristate "Kvaser CAN/USB interface"
 	---help---
 	  This driver adds support for Kvaser CAN/USB devices like Kvaser
-	  Leaf Light and Kvaser USBcan II.
+	  Leaf Light, Kvaser USBcan II and Kvaser Memorator Pro 5xHS.
 
 	  The driver provides support for the following devices:
 	    - Kvaser Leaf Light
@@ -61,6 +61,18 @@ config CAN_KVASER_USB
 	    - Kvaser Memorator HS/HS
 	    - Kvaser Memorator HS/LS
 	    - Scania VCI2 (if you have the Kvaser logo on top)
+	    - Kvaser BlackBird v2
+	    - Kvaser Leaf Pro HS v2
+	    - Kvaser Hybrid 2xCAN/LIN
+	    - Kvaser Hybrid Pro 2xCAN/LIN
+	    - Kvaser Memorator 2xHS v2
+	    - Kvaser Memorator Pro 2xHS v2
+	    - Kvaser Memorator Pro 5xHS
+	    - Kvaser USBcan Light 4xHS
+	    - Kvaser USBcan Pro 2xHS v2
+	    - Kvaser USBcan Pro 5xHS
+	    - ATI Memorator Pro 2xHS v2
+	    - ATI USBcan Pro 2xHS v2
 
 	  If unsure, say N.
 
diff --git a/drivers/net/can/usb/kvaser_usb/Makefile b/drivers/net/can/usb/kvaser_usb/Makefile
index 37b69dbc71b0..9f41ddab6a5a 100644
--- a/drivers/net/can/usb/kvaser_usb/Makefile
+++ b/drivers/net/can/usb/kvaser_usb/Makefile
@@ -1,2 +1,2 @@
 obj-$(CONFIG_CAN_KVASER_USB) += kvaser_usb.o
-kvaser_usb-y = kvaser_usb_core.o kvaser_usb_leaf.o
+kvaser_usb-y = kvaser_usb_core.o kvaser_usb_leaf.o kvaser_usb_hydra.o
diff --git a/drivers/net/can/usb/kvaser_usb/kvaser_usb.h b/drivers/net/can/usb/kvaser_usb/kvaser_usb.h
index 82e6ecad034d..390b6bde883c 100644
--- a/drivers/net/can/usb/kvaser_usb/kvaser_usb.h
+++ b/drivers/net/can/usb/kvaser_usb/kvaser_usb.h
@@ -3,6 +3,7 @@
  *  - Kvaser linux leaf driver (version 4.78)
  *  - CAN driver for esd CAN-USB/2
  *  - Kvaser linux usbcanII driver (version 5.3)
+ *  - Kvaser linux mhydra driver (version 5.24)
  *
  * Copyright (C) 2002-2018 KVASER AB, Sweden. All rights reserved.
  * Copyright (C) 2010 Matthias Fuchs <matthias.fuchs@esd.eu>, esd gmbh
@@ -13,8 +14,10 @@
 #ifndef KVASER_USB_H
 #define KVASER_USB_H
 
-/* Kvaser USB CAN dongles are divided into two major families:
- * - Leaf: Based on Renesas M32C, running firmware labeled as 'filo'
+/* Kvaser USB CAN dongles are divided into three major platforms:
+ * - Hydra: Running firmware labeled as 'mhydra'
+ * - Leaf: Based on Renesas M32C or Freescale i.MX28, running firmware labeled
+ *         as 'filo'
  * - UsbcanII: Based on Renesas M16C, running firmware labeled as 'helios'
  */
 
@@ -30,12 +33,17 @@
 #define KVASER_USB_MAX_TX_URBS			128
 #define KVASER_USB_TIMEOUT			1000 /* msecs */
 #define KVASER_USB_RX_BUFFER_SIZE		3072
-#define KVASER_USB_MAX_NET_DEVICES		3
+#define KVASER_USB_MAX_NET_DEVICES		5
 
 /* USB devices features */
 #define KVASER_USB_HAS_SILENT_MODE		BIT(0)
 #define KVASER_USB_HAS_TXRX_ERRORS		BIT(1)
 
+/* Device capabilities */
+#define KVASER_USB_CAP_BERR_CAP			0x01
+#define KVASER_USB_CAP_EXT_CAP			0x02
+#define KVASER_USB_HYDRA_CAP_EXT_CMD		0x04
+
 struct kvaser_usb_dev_cfg;
 
 enum kvaser_usb_leaf_family {
@@ -43,11 +51,26 @@ enum kvaser_usb_leaf_family {
 	KVASER_USBCAN,
 };
 
+#define KVASER_USB_HYDRA_MAX_CMD_LEN		128
+struct kvaser_usb_dev_card_data_hydra {
+	u8 channel_to_he[KVASER_USB_MAX_NET_DEVICES];
+	u8 sysdbg_he;
+	spinlock_t transid_lock; /* lock for transid */
+	u16 transid;
+	/* lock for usb_rx_leftover and usb_rx_leftover_len */
+	spinlock_t usb_rx_leftover_lock;
+	u8 usb_rx_leftover[KVASER_USB_HYDRA_MAX_CMD_LEN];
+	u8 usb_rx_leftover_len;
+};
 struct kvaser_usb_dev_card_data {
 	u32 ctrlmode_supported;
-	struct {
-		enum kvaser_usb_leaf_family family;
-	} leaf;
+	u32 capabilities;
+	union {
+		struct {
+			enum kvaser_usb_leaf_family family;
+		} leaf;
+		struct kvaser_usb_dev_card_data_hydra hydra;
+	};
 };
 
 /* Context for an outstanding, not yet ACKed, transmission */
@@ -89,7 +112,7 @@ struct kvaser_usb_net_priv {
 	struct net_device *netdev;
 	int channel;
 
-	struct completion start_comp, stop_comp;
+	struct completion start_comp, stop_comp, flush_comp;
 	struct usb_anchor tx_submitted;
 
 	spinlock_t tx_contexts_lock; /* lock for active_tx_contexts */
@@ -101,12 +124,15 @@ struct kvaser_usb_net_priv {
  * struct kvaser_usb_dev_ops - Device specific functions
  * @dev_set_mode:		used for can.do_set_mode
  * @dev_set_bittiming:		used for can.do_set_bittiming
+ * @dev_set_data_bittiming:	used for can.do_set_data_bittiming
  * @dev_get_berr_counter:	used for can.do_get_berr_counter
  *
  * @dev_setup_endpoints:	setup USB in and out endpoints
  * @dev_init_card:		initialize card
  * @dev_get_software_info:	get software info
+ * @dev_get_software_details:	get software details
  * @dev_get_card_info:		get card info
+ * @dev_get_capabilities:	discover device capabilities
  *
  * @dev_set_opt_mode:		set ctrlmod
  * @dev_start_chip:		start the CAN controller
@@ -119,12 +145,15 @@ struct kvaser_usb_net_priv {
 struct kvaser_usb_dev_ops {
 	int (*dev_set_mode)(struct net_device *netdev, enum can_mode mode);
 	int (*dev_set_bittiming)(struct net_device *netdev);
+	int (*dev_set_data_bittiming)(struct net_device *netdev);
 	int (*dev_get_berr_counter)(const struct net_device *netdev,
 				    struct can_berr_counter *bec);
 	int (*dev_setup_endpoints)(struct kvaser_usb *dev);
 	int (*dev_init_card)(struct kvaser_usb *dev);
 	int (*dev_get_software_info)(struct kvaser_usb *dev);
+	int (*dev_get_software_details)(struct kvaser_usb *dev);
 	int (*dev_get_card_info)(struct kvaser_usb *dev);
+	int (*dev_get_capabilities)(struct kvaser_usb *dev);
 	int (*dev_set_opt_mode)(const struct kvaser_usb_net_priv *priv);
 	int (*dev_start_chip)(struct kvaser_usb_net_priv *priv);
 	int (*dev_stop_chip)(struct kvaser_usb_net_priv *priv);
@@ -144,6 +173,7 @@ struct kvaser_usb_dev_cfg {
 	const struct can_bittiming_const * const data_bittiming_const;
 };
 
+extern const struct kvaser_usb_dev_ops kvaser_usb_hydra_dev_ops;
 extern const struct kvaser_usb_dev_ops kvaser_usb_leaf_dev_ops;
 
 int kvaser_usb_recv_cmd(const struct kvaser_usb *dev, void *cmd, int len,
diff --git a/drivers/net/can/usb/kvaser_usb/kvaser_usb_core.c b/drivers/net/can/usb/kvaser_usb/kvaser_usb_core.c
index 55ac489037fc..b939a4c10b84 100644
--- a/drivers/net/can/usb/kvaser_usb/kvaser_usb_core.c
+++ b/drivers/net/can/usb/kvaser_usb/kvaser_usb_core.c
@@ -3,6 +3,7 @@
  *  - Kvaser linux leaf driver (version 4.78)
  *  - CAN driver for esd CAN-USB/2
  *  - Kvaser linux usbcanII driver (version 5.3)
+ *  - Kvaser linux mhydra driver (version 5.24)
  *
  * Copyright (C) 2002-2018 KVASER AB, Sweden. All rights reserved.
  * Copyright (C) 2010 Matthias Fuchs <matthias.fuchs@esd.eu>, esd gmbh
@@ -64,10 +65,26 @@
 #define USB_USBCAN2_PRODUCT_ID			4
 #define USB_MEMORATOR_PRODUCT_ID		5
 
+/* Kvaser Minihydra USB devices product ids */
+#define USB_BLACKBIRD_V2_PRODUCT_ID		258
+#define USB_MEMO_PRO_5HS_PRODUCT_ID		260
+#define USB_USBCAN_PRO_5HS_PRODUCT_ID		261
+#define USB_USBCAN_LIGHT_4HS_PRODUCT_ID		262
+#define USB_LEAF_PRO_HS_V2_PRODUCT_ID		263
+#define USB_USBCAN_PRO_2HS_V2_PRODUCT_ID	264
+#define USB_MEMO_2HS_PRODUCT_ID			265
+#define USB_MEMO_PRO_2HS_V2_PRODUCT_ID		266
+#define USB_HYBRID_CANLIN_PRODUCT_ID		267
+#define USB_ATI_USBCAN_PRO_2HS_V2_PRODUCT_ID	268
+#define USB_ATI_MEMO_PRO_2HS_V2_PRODUCT_ID	269
+#define USB_HYBRID_PRO_CANLIN_PRODUCT_ID	270
+
 static inline bool kvaser_is_leaf(const struct usb_device_id *id)
 {
-	return id->idProduct >= USB_LEAF_DEVEL_PRODUCT_ID &&
-	       id->idProduct <= USB_MINI_PCIE_2HS_PRODUCT_ID;
+	return (id->idProduct >= USB_LEAF_DEVEL_PRODUCT_ID &&
+		id->idProduct <= USB_CAN_R_PRODUCT_ID) ||
+		(id->idProduct >= USB_LEAF_LITE_V2_PRODUCT_ID &&
+		 id->idProduct <= USB_MINI_PCIE_2HS_PRODUCT_ID);
 }
 
 static inline bool kvaser_is_usbcan(const struct usb_device_id *id)
@@ -76,6 +93,12 @@ static inline bool kvaser_is_usbcan(const struct usb_device_id *id)
 	       id->idProduct <= USB_MEMORATOR_PRODUCT_ID;
 }
 
+static inline bool kvaser_is_hydra(const struct usb_device_id *id)
+{
+	return id->idProduct >= USB_BLACKBIRD_V2_PRODUCT_ID &&
+	       id->idProduct <= USB_HYBRID_PRO_CANLIN_PRODUCT_ID;
+}
+
 static const struct usb_device_id kvaser_usb_table[] = {
 	/* Leaf USB product IDs */
 	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_DEVEL_PRODUCT_ID) },
@@ -140,6 +163,20 @@ static const struct usb_device_id kvaser_usb_table[] = {
 		.driver_info = KVASER_USB_HAS_TXRX_ERRORS },
 	{ USB_DEVICE(KVASER_VENDOR_ID, USB_VCI2_PRODUCT_ID),
 		.driver_info = KVASER_USB_HAS_TXRX_ERRORS },
+
+	/* Minihydra USB product IDs */
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_BLACKBIRD_V2_PRODUCT_ID) },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO_PRO_5HS_PRODUCT_ID) },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_USBCAN_PRO_5HS_PRODUCT_ID) },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_USBCAN_LIGHT_4HS_PRODUCT_ID) },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_HS_V2_PRODUCT_ID) },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_USBCAN_PRO_2HS_V2_PRODUCT_ID) },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO_2HS_PRODUCT_ID) },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO_PRO_2HS_V2_PRODUCT_ID) },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_HYBRID_CANLIN_PRODUCT_ID) },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_ATI_USBCAN_PRO_2HS_V2_PRODUCT_ID) },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_ATI_MEMO_PRO_2HS_V2_PRODUCT_ID) },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_HYBRID_PRO_CANLIN_PRODUCT_ID) },
 	{ }
 };
 MODULE_DEVICE_TABLE(usb, kvaser_usb_table);
@@ -633,13 +670,20 @@ static int kvaser_usb_init_one(struct kvaser_usb *dev,
 	priv->can.bittiming_const = dev->cfg->bittiming_const;
 	priv->can.do_set_bittiming = dev->ops->dev_set_bittiming;
 	priv->can.do_set_mode = dev->ops->dev_set_mode;
-	if (id->driver_info & KVASER_USB_HAS_TXRX_ERRORS)
+	if ((id->driver_info & KVASER_USB_HAS_TXRX_ERRORS) ||
+	    (priv->dev->card_data.capabilities & KVASER_USB_CAP_BERR_CAP))
 		priv->can.do_get_berr_counter = dev->ops->dev_get_berr_counter;
 	if (id->driver_info & KVASER_USB_HAS_SILENT_MODE)
 		priv->can.ctrlmode_supported |= CAN_CTRLMODE_LISTENONLY;
 
 	priv->can.ctrlmode_supported |= dev->card_data.ctrlmode_supported;
 
+	if (priv->can.ctrlmode_supported & CAN_CTRLMODE_FD) {
+		priv->can.data_bittiming_const = dev->cfg->data_bittiming_const;
+		priv->can.do_set_data_bittiming =
+					dev->ops->dev_set_data_bittiming;
+	}
+
 	netdev->flags |= IFF_ECHO;
 
 	netdev->netdev_ops = &kvaser_usb_netdev_ops;
@@ -679,6 +723,8 @@ static int kvaser_usb_probe(struct usb_interface *intf,
 	} else if (kvaser_is_usbcan(id)) {
 		dev->card_data.leaf.family = KVASER_USBCAN;
 		dev->ops = &kvaser_usb_leaf_dev_ops;
+	} else if (kvaser_is_hydra(id)) {
+		dev->ops = &kvaser_usb_hydra_dev_ops;
 	} else {
 		dev_err(&intf->dev,
 			"Product ID (%d) is not a supported Kvaser USB device\n",
@@ -701,6 +747,7 @@ static int kvaser_usb_probe(struct usb_interface *intf,
 	usb_set_intfdata(intf, dev);
 
 	dev->card_data.ctrlmode_supported = 0;
+	dev->card_data.capabilities = 0;
 	err = dev->ops->dev_init_card(dev);
 	if (err) {
 		dev_err(&intf->dev,
@@ -715,6 +762,15 @@ static int kvaser_usb_probe(struct usb_interface *intf,
 		return err;
 	}
 
+	if (dev->ops->dev_get_software_details) {
+		err = dev->ops->dev_get_software_details(dev);
+		if (err) {
+			dev_err(&intf->dev,
+				"Cannot get software details, error %d\n", err);
+			return err;
+		}
+	}
+
 	if (WARN_ON(!dev->cfg))
 		return -ENODEV;
 
@@ -731,6 +787,16 @@ static int kvaser_usb_probe(struct usb_interface *intf,
 		return err;
 	}
 
+	if (dev->ops->dev_get_capabilities) {
+		err = dev->ops->dev_get_capabilities(dev);
+		if (err) {
+			dev_err(&intf->dev,
+				"Cannot get capabilities, error %d\n", err);
+			kvaser_usb_remove_interfaces(dev);
+			return err;
+		}
+	}
+
 	for (i = 0; i < dev->nchannels; i++) {
 		err = kvaser_usb_init_one(dev, id, i);
 		if (err) {
diff --git a/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c b/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
new file mode 100644
index 000000000000..c084bae5ec0a
--- /dev/null
+++ b/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
@@ -0,0 +1,2028 @@
+// SPDX-License-Identifier: GPL-2.0
+/* Parts of this driver are based on the following:
+ *  - Kvaser linux mhydra driver (version 5.24)
+ *  - CAN driver for esd CAN-USB/2
+ *
+ * Copyright (C) 2018 KVASER AB, Sweden. All rights reserved.
+ * Copyright (C) 2010 Matthias Fuchs <matthias.fuchs@esd.eu>, esd gmbh
+ *
+ * Known issues:
+ *  - Transition from CAN_STATE_ERROR_WARNING to CAN_STATE_ERROR_ACTIVE is only
+ *    reported after a call to do_get_berr_counter(), since firmware does not
+ *    distinguish between ERROR_WARNING and ERROR_ACTIVE.
+ *  - Hardware timestamps are not set for CAN Tx frames.
+ */
+
+#include <linux/completion.h>
+#include <linux/device.h>
+#include <linux/gfp.h>
+#include <linux/jiffies.h>
+#include <linux/kernel.h>
+#include <linux/netdevice.h>
+#include <linux/spinlock.h>
+#include <linux/string.h>
+#include <linux/types.h>
+#include <linux/usb.h>
+
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/can/error.h>
+#include <linux/can/netlink.h>
+
+#include "kvaser_usb.h"
+
+/* Forward declarations */
+static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_kcan;
+static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_flexc;
+
+#define KVASER_USB_HYDRA_BULK_EP_IN_ADDR	0x82
+#define KVASER_USB_HYDRA_BULK_EP_OUT_ADDR	0x02
+
+#define KVASER_USB_HYDRA_MAX_TRANSID		0xff
+#define KVASER_USB_HYDRA_MIN_TRANSID		0x01
+
+/* Minihydra command IDs */
+#define CMD_SET_BUSPARAMS_REQ			16
+#define CMD_GET_CHIP_STATE_REQ			19
+#define CMD_CHIP_STATE_EVENT			20
+#define CMD_SET_DRIVERMODE_REQ			21
+#define CMD_START_CHIP_REQ			26
+#define CMD_START_CHIP_RESP			27
+#define CMD_STOP_CHIP_REQ			28
+#define CMD_STOP_CHIP_RESP			29
+#define CMD_TX_CAN_MESSAGE			33
+#define CMD_GET_CARD_INFO_REQ			34
+#define CMD_GET_CARD_INFO_RESP			35
+#define CMD_GET_SOFTWARE_INFO_REQ		38
+#define CMD_GET_SOFTWARE_INFO_RESP		39
+#define CMD_ERROR_EVENT				45
+#define CMD_FLUSH_QUEUE				48
+#define CMD_TX_ACKNOWLEDGE			50
+#define CMD_FLUSH_QUEUE_RESP			66
+#define CMD_SET_BUSPARAMS_FD_REQ		69
+#define CMD_SET_BUSPARAMS_FD_RESP		70
+#define CMD_SET_BUSPARAMS_RESP			85
+#define CMD_GET_CAPABILITIES_REQ		95
+#define CMD_GET_CAPABILITIES_RESP		96
+#define CMD_RX_MESSAGE				106
+#define CMD_MAP_CHANNEL_REQ			200
+#define CMD_MAP_CHANNEL_RESP			201
+#define CMD_GET_SOFTWARE_DETAILS_REQ		202
+#define CMD_GET_SOFTWARE_DETAILS_RESP		203
+#define CMD_EXTENDED				255
+
+/* Minihydra extended command IDs */
+#define CMD_TX_CAN_MESSAGE_FD			224
+#define CMD_TX_ACKNOWLEDGE_FD			225
+#define CMD_RX_MESSAGE_FD			226
+
+/* Hydra commands are handled by different threads in firmware.
+ * The threads are denoted hydra entity (HE). Each HE got a unique 6-bit
+ * address. The address is used in hydra commands to get/set source and
+ * destination HE. There are two predefined HE addresses, the remaining
+ * addresses are different between devices and firmware versions. Hence, we need
+ * to enumerate the addresses (see kvaser_usb_hydra_map_channel()).
+ */
+
+/* Well-known HE addresses */
+#define KVASER_USB_HYDRA_HE_ADDRESS_ROUTER	0x00
+#define KVASER_USB_HYDRA_HE_ADDRESS_ILLEGAL	0x3e
+
+#define KVASER_USB_HYDRA_TRANSID_CANHE		0x40
+#define KVASER_USB_HYDRA_TRANSID_SYSDBG		0x61
+
+struct kvaser_cmd_map_ch_req {
+	char name[16];
+	u8 channel;
+	u8 reserved[11];
+} __packed;
+
+struct kvaser_cmd_map_ch_res {
+	u8 he_addr;
+	u8 channel;
+	u8 reserved[26];
+} __packed;
+
+struct kvaser_cmd_card_info {
+	__le32 serial_number;
+	__le32 clock_res;
+	__le32 mfg_date;
+	__le32 ean[2];
+	u8 hw_version;
+	u8 usb_mode;
+	u8 hw_type;
+	u8 reserved0;
+	u8 nchannels;
+	u8 reserved1[3];
+} __packed;
+
+struct kvaser_cmd_sw_info {
+	u8 reserved0[8];
+	__le16 max_outstanding_tx;
+	u8 reserved1[18];
+} __packed;
+
+struct kvaser_cmd_sw_detail_req {
+	u8 use_ext_cmd;
+	u8 reserved[27];
+} __packed;
+
+/* Software detail flags */
+#define KVASER_USB_HYDRA_SW_FLAG_FW_BETA	BIT(2)
+#define KVASER_USB_HYDRA_SW_FLAG_FW_BAD		BIT(4)
+#define KVASER_USB_HYDRA_SW_FLAG_FREQ_80M	BIT(5)
+#define KVASER_USB_HYDRA_SW_FLAG_EXT_CMD	BIT(9)
+#define KVASER_USB_HYDRA_SW_FLAG_CANFD		BIT(10)
+#define KVASER_USB_HYDRA_SW_FLAG_NONISO		BIT(11)
+#define KVASER_USB_HYDRA_SW_FLAG_EXT_CAP	BIT(12)
+struct kvaser_cmd_sw_detail_res {
+	__le32 sw_flags;
+	__le32 sw_version;
+	__le32 sw_name;
+	__le32 ean[2];
+	__le32 max_bitrate;
+	u8 reserved[4];
+} __packed;
+
+/* Sub commands for cap_req and cap_res */
+#define KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE	0x02
+#define KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT	0x05
+#define KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT	0x06
+struct kvaser_cmd_cap_req {
+	__le16 cap_cmd;
+	u8 reserved[26];
+} __packed;
+
+/* Status codes for cap_res */
+#define KVASER_USB_HYDRA_CAP_STAT_OK		0x00
+#define KVASER_USB_HYDRA_CAP_STAT_NOT_IMPL	0x01
+#define KVASER_USB_HYDRA_CAP_STAT_UNAVAIL	0x02
+struct kvaser_cmd_cap_res {
+	__le16 cap_cmd;
+	__le16 status;
+	__le32 mask;
+	__le32 value;
+	u8 reserved[16];
+} __packed;
+
+/* CMD_ERROR_EVENT error codes */
+#define KVASER_USB_HYDRA_ERROR_EVENT_CAN	0x01
+#define KVASER_USB_HYDRA_ERROR_EVENT_PARAM	0x09
+struct kvaser_cmd_error_event {
+	__le16 timestamp[3];
+	u8 reserved;
+	u8 error_code;
+	__le16 info1;
+	__le16 info2;
+} __packed;
+
+/* Chip state status flags. Used for chip_state_event and err_frame_data. */
+#define KVASER_USB_HYDRA_BUS_ERR_ACT		0x00
+#define KVASER_USB_HYDRA_BUS_ERR_PASS		BIT(5)
+#define KVASER_USB_HYDRA_BUS_BUS_OFF		BIT(6)
+struct kvaser_cmd_chip_state_event {
+	__le16 timestamp[3];
+	u8 tx_err_counter;
+	u8 rx_err_counter;
+	u8 bus_status;
+	u8 reserved[19];
+} __packed;
+
+/* Busparam modes */
+#define KVASER_USB_HYDRA_BUS_MODE_CAN		0x00
+#define KVASER_USB_HYDRA_BUS_MODE_CANFD_ISO	0x01
+#define KVASER_USB_HYDRA_BUS_MODE_NONISO	0x02
+struct kvaser_cmd_set_busparams {
+	__le32 bitrate;
+	u8 tseg1;
+	u8 tseg2;
+	u8 sjw;
+	u8 nsamples;
+	u8 reserved0[4];
+	__le32 bitrate_d;
+	u8 tseg1_d;
+	u8 tseg2_d;
+	u8 sjw_d;
+	u8 nsamples_d;
+	u8 canfd_mode;
+	u8 reserved1[7];
+} __packed;
+
+/* Ctrl modes */
+#define KVASER_USB_HYDRA_CTRLMODE_NORMAL	0x01
+#define KVASER_USB_HYDRA_CTRLMODE_LISTEN	0x02
+struct kvaser_cmd_set_ctrlmode {
+	u8 mode;
+	u8 reserved[27];
+} __packed;
+
+struct kvaser_err_frame_data {
+	u8 bus_status;
+	u8 reserved0;
+	u8 tx_err_counter;
+	u8 rx_err_counter;
+	u8 reserved1[4];
+} __packed;
+
+struct kvaser_cmd_rx_can {
+	u8 cmd_len;
+	u8 cmd_no;
+	u8 channel;
+	u8 flags;
+	__le16 timestamp[3];
+	u8 dlc;
+	u8 padding;
+	__le32 id;
+	union {
+		u8 data[8];
+		struct kvaser_err_frame_data err_frame_data;
+	};
+} __packed;
+
+/* Extended CAN ID flag. Used in rx_can and tx_can */
+#define KVASER_USB_HYDRA_EXTENDED_FRAME_ID	BIT(31)
+struct kvaser_cmd_tx_can {
+	__le32 id;
+	u8 data[8];
+	u8 dlc;
+	u8 flags;
+	__le16 transid;
+	u8 channel;
+	u8 reserved[11];
+} __packed;
+
+struct kvaser_cmd_header {
+	u8 cmd_no;
+	/* The destination HE address is stored in 0..5 of he_addr.
+	 * The upper part of source HE address is stored in 6..7 of he_addr, and
+	 * the lower part is stored in 12..15 of transid.
+	 */
+	u8 he_addr;
+	__le16 transid;
+} __packed;
+
+struct kvaser_cmd {
+	struct kvaser_cmd_header header;
+	union {
+		struct kvaser_cmd_map_ch_req map_ch_req;
+		struct kvaser_cmd_map_ch_res map_ch_res;
+
+		struct kvaser_cmd_card_info card_info;
+		struct kvaser_cmd_sw_info sw_info;
+		struct kvaser_cmd_sw_detail_req sw_detail_req;
+		struct kvaser_cmd_sw_detail_res sw_detail_res;
+
+		struct kvaser_cmd_cap_req cap_req;
+		struct kvaser_cmd_cap_res cap_res;
+
+		struct kvaser_cmd_error_event error_event;
+
+		struct kvaser_cmd_set_busparams set_busparams_req;
+
+		struct kvaser_cmd_chip_state_event chip_state_event;
+
+		struct kvaser_cmd_set_ctrlmode set_ctrlmode;
+
+		struct kvaser_cmd_rx_can rx_can;
+		struct kvaser_cmd_tx_can tx_can;
+	} __packed;
+} __packed;
+
+/* CAN frame flags. Used in rx_can, ext_rx_can, tx_can and ext_tx_can */
+#define KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME	BIT(0)
+#define KVASER_USB_HYDRA_CF_FLAG_OVERRUN	BIT(1)
+#define KVASER_USB_HYDRA_CF_FLAG_REMOTE_FRAME	BIT(4)
+#define KVASER_USB_HYDRA_CF_FLAG_EXTENDED_ID	BIT(5)
+/* CAN frame flags. Used in ext_rx_can and ext_tx_can */
+#define KVASER_USB_HYDRA_CF_FLAG_OSM_NACK	BIT(12)
+#define KVASER_USB_HYDRA_CF_FLAG_ABL		BIT(13)
+#define KVASER_USB_HYDRA_CF_FLAG_FDF		BIT(16)
+#define KVASER_USB_HYDRA_CF_FLAG_BRS		BIT(17)
+#define KVASER_USB_HYDRA_CF_FLAG_ESI		BIT(18)
+
+/* KCAN packet header macros. Used in ext_rx_can and ext_tx_can */
+#define KVASER_USB_KCAN_DATA_DLC_BITS		4
+#define KVASER_USB_KCAN_DATA_DLC_SHIFT		8
+#define KVASER_USB_KCAN_DATA_DLC_MASK \
+				GENMASK(KVASER_USB_KCAN_DATA_DLC_BITS - 1 + \
+				KVASER_USB_KCAN_DATA_DLC_SHIFT, \
+				KVASER_USB_KCAN_DATA_DLC_SHIFT)
+
+#define KVASER_USB_KCAN_DATA_BRS		BIT(14)
+#define KVASER_USB_KCAN_DATA_FDF		BIT(15)
+#define KVASER_USB_KCAN_DATA_OSM		BIT(16)
+#define KVASER_USB_KCAN_DATA_AREQ		BIT(31)
+#define KVASER_USB_KCAN_DATA_SRR		BIT(31)
+#define KVASER_USB_KCAN_DATA_RTR		BIT(29)
+#define KVASER_USB_KCAN_DATA_IDE		BIT(30)
+struct kvaser_cmd_ext_rx_can {
+	__le32 flags;
+	__le32 id;
+	__le32 kcan_id;
+	__le32 kcan_header;
+	__le64 timestamp;
+	union {
+		u8 kcan_payload[64];
+		struct kvaser_err_frame_data err_frame_data;
+	};
+} __packed;
+
+struct kvaser_cmd_ext_tx_can {
+	__le32 flags;
+	__le32 id;
+	__le32 kcan_id;
+	__le32 kcan_header;
+	u8 databytes;
+	u8 dlc;
+	u8 reserved[6];
+	u8 kcan_payload[64];
+} __packed;
+
+struct kvaser_cmd_ext_tx_ack {
+	__le32 flags;
+	u8 reserved0[4];
+	__le64 timestamp;
+	u8 reserved1[8];
+} __packed;
+
+/* struct for extended commands (CMD_EXTENDED) */
+struct kvaser_cmd_ext {
+	struct kvaser_cmd_header header;
+	__le16 len;
+	u8 cmd_no_ext;
+	u8 reserved;
+
+	union {
+		struct kvaser_cmd_ext_rx_can rx_can;
+		struct kvaser_cmd_ext_tx_can tx_can;
+		struct kvaser_cmd_ext_tx_ack tx_ack;
+	} __packed;
+} __packed;
+
+static const struct can_bittiming_const kvaser_usb_hydra_kcan_bittiming_c = {
+	.name = "kvaser_usb_kcan",
+	.tseg1_min = 1,
+	.tseg1_max = 255,
+	.tseg2_min = 1,
+	.tseg2_max = 32,
+	.sjw_max = 16,
+	.brp_min = 1,
+	.brp_max = 4096,
+	.brp_inc = 1,
+};
+
+static const struct can_bittiming_const kvaser_usb_hydra_flexc_bittiming_c = {
+	.name = "kvaser_usb_flex",
+	.tseg1_min = 4,
+	.tseg1_max = 16,
+	.tseg2_min = 2,
+	.tseg2_max = 8,
+	.sjw_max = 4,
+	.brp_min = 1,
+	.brp_max = 256,
+	.brp_inc = 1,
+};
+
+#define KVASER_USB_HYDRA_TRANSID_BITS		12
+#define KVASER_USB_HYDRA_TRANSID_MASK \
+				GENMASK(KVASER_USB_HYDRA_TRANSID_BITS - 1, 0)
+#define KVASER_USB_HYDRA_HE_ADDR_SRC_MASK	GENMASK(7, 6)
+#define KVASER_USB_HYDRA_HE_ADDR_DEST_MASK	GENMASK(5, 0)
+#define KVASER_USB_HYDRA_HE_ADDR_SRC_BITS	2
+static inline u16 kvaser_usb_hydra_get_cmd_transid(const struct kvaser_cmd *cmd)
+{
+	return le16_to_cpu(cmd->header.transid) & KVASER_USB_HYDRA_TRANSID_MASK;
+}
+
+static inline void kvaser_usb_hydra_set_cmd_transid(struct kvaser_cmd *cmd,
+						    u16 transid)
+{
+	cmd->header.transid =
+			cpu_to_le16(transid & KVASER_USB_HYDRA_TRANSID_MASK);
+}
+
+static inline u8 kvaser_usb_hydra_get_cmd_src_he(const struct kvaser_cmd *cmd)
+{
+	return (cmd->header.he_addr & KVASER_USB_HYDRA_HE_ADDR_SRC_MASK) >>
+		KVASER_USB_HYDRA_HE_ADDR_SRC_BITS |
+		le16_to_cpu(cmd->header.transid) >>
+		KVASER_USB_HYDRA_TRANSID_BITS;
+}
+
+static inline void kvaser_usb_hydra_set_cmd_dest_he(struct kvaser_cmd *cmd,
+						    u8 dest_he)
+{
+	cmd->header.he_addr =
+		(cmd->header.he_addr & KVASER_USB_HYDRA_HE_ADDR_SRC_MASK) |
+		(dest_he & KVASER_USB_HYDRA_HE_ADDR_DEST_MASK);
+}
+
+static u8 kvaser_usb_hydra_channel_from_cmd(const struct kvaser_usb *dev,
+					    const struct kvaser_cmd *cmd)
+{
+	int i;
+	u8 channel = 0xff;
+	u8 src_he = kvaser_usb_hydra_get_cmd_src_he(cmd);
+
+	for (i = 0; i < KVASER_USB_MAX_NET_DEVICES; i++) {
+		if (dev->card_data.hydra.channel_to_he[i] == src_he) {
+			channel = i;
+			break;
+		}
+	}
+
+	return channel;
+}
+
+static u16 kvaser_usb_hydra_get_next_transid(struct kvaser_usb *dev)
+{
+	unsigned long flags;
+	u16 transid;
+	struct kvaser_usb_dev_card_data_hydra *card_data =
+							&dev->card_data.hydra;
+
+	spin_lock_irqsave(&card_data->transid_lock, flags);
+	transid = card_data->transid;
+	if (transid >= KVASER_USB_HYDRA_MAX_TRANSID)
+		transid = KVASER_USB_HYDRA_MIN_TRANSID;
+	else
+		transid++;
+	card_data->transid = transid;
+	spin_unlock_irqrestore(&card_data->transid_lock, flags);
+
+	return transid;
+}
+
+static size_t kvaser_usb_hydra_cmd_size(struct kvaser_cmd *cmd)
+{
+	size_t ret;
+
+	if (cmd->header.cmd_no == CMD_EXTENDED)
+		ret = le16_to_cpu(((struct kvaser_cmd_ext *)cmd)->len);
+	else
+		ret = sizeof(struct kvaser_cmd);
+
+	return ret;
+}
+
+static struct kvaser_usb_net_priv *
+kvaser_usb_hydra_net_priv_from_cmd(const struct kvaser_usb *dev,
+				   const struct kvaser_cmd *cmd)
+{
+	struct kvaser_usb_net_priv *priv = NULL;
+	u8 channel = kvaser_usb_hydra_channel_from_cmd(dev, cmd);
+
+	if (channel >= dev->nchannels)
+		dev_err(&dev->intf->dev,
+			"Invalid channel number (%d)\n", channel);
+	else
+		priv = dev->nets[channel];
+
+	return priv;
+}
+
+static ktime_t
+kvaser_usb_hydra_ktime_from_rx_cmd(const struct kvaser_usb_dev_cfg *cfg,
+				   const struct kvaser_cmd *cmd)
+{
+	u64 ticks;
+
+	if (cmd->header.cmd_no == CMD_EXTENDED) {
+		struct kvaser_cmd_ext *cmd_ext = (struct kvaser_cmd_ext *)cmd;
+
+		ticks = le64_to_cpu(cmd_ext->rx_can.timestamp);
+	} else {
+		ticks = le16_to_cpu(cmd->rx_can.timestamp[0]);
+		ticks += (u64)(le16_to_cpu(cmd->rx_can.timestamp[1])) << 16;
+		ticks += (u64)(le16_to_cpu(cmd->rx_can.timestamp[2])) << 32;
+	}
+
+	return ns_to_ktime(div_u64(ticks * 1000, cfg->timestamp_freq));
+}
+
+static int kvaser_usb_hydra_send_simple_cmd(struct kvaser_usb *dev,
+					    u8 cmd_no, int channel)
+{
+	struct kvaser_cmd *cmd;
+	int err;
+
+	cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
+	if (!cmd)
+		return -ENOMEM;
+
+	cmd->header.cmd_no = cmd_no;
+	if (channel < 0) {
+		kvaser_usb_hydra_set_cmd_dest_he
+				(cmd, KVASER_USB_HYDRA_HE_ADDRESS_ILLEGAL);
+	} else {
+		if (channel >= KVASER_USB_MAX_NET_DEVICES) {
+			dev_err(&dev->intf->dev, "channel (%d) out of range.\n",
+				channel);
+			err = -EINVAL;
+			goto end;
+		}
+		kvaser_usb_hydra_set_cmd_dest_he
+			(cmd, dev->card_data.hydra.channel_to_he[channel]);
+	}
+	kvaser_usb_hydra_set_cmd_transid
+				(cmd, kvaser_usb_hydra_get_next_transid(dev));
+
+	err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
+	if (err)
+		goto end;
+
+end:
+	kfree(cmd);
+
+	return err;
+}
+
+static int
+kvaser_usb_hydra_send_simple_cmd_async(struct kvaser_usb_net_priv *priv,
+				       u8 cmd_no)
+{
+	struct kvaser_cmd *cmd;
+	struct kvaser_usb *dev = priv->dev;
+	int err;
+
+	cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_ATOMIC);
+	if (!cmd)
+		return -ENOMEM;
+
+	cmd->header.cmd_no = cmd_no;
+
+	kvaser_usb_hydra_set_cmd_dest_he
+		(cmd, dev->card_data.hydra.channel_to_he[priv->channel]);
+	kvaser_usb_hydra_set_cmd_transid
+				(cmd, kvaser_usb_hydra_get_next_transid(dev));
+
+	err = kvaser_usb_send_cmd_async(priv, cmd,
+					kvaser_usb_hydra_cmd_size(cmd));
+	if (err)
+		kfree(cmd);
+
+	return err;
+}
+
+/* This function is used for synchronously waiting on hydra control commands.
+ * Note: Compared to kvaser_usb_hydra_read_bulk_callback(), we never need to
+ *       handle partial hydra commands. Since hydra control commands are always
+ *       non-extended commands.
+ */
+static int kvaser_usb_hydra_wait_cmd(const struct kvaser_usb *dev, u8 cmd_no,
+				     struct kvaser_cmd *cmd)
+{
+	void *buf;
+	int err;
+	unsigned long timeout = jiffies + msecs_to_jiffies(KVASER_USB_TIMEOUT);
+
+	if (cmd->header.cmd_no == CMD_EXTENDED) {
+		dev_err(&dev->intf->dev, "Wait for CMD_EXTENDED not allowed\n");
+		return -EINVAL;
+	}
+
+	buf = kzalloc(KVASER_USB_RX_BUFFER_SIZE, GFP_KERNEL);
+	if (!buf)
+		return -ENOMEM;
+
+	do {
+		int actual_len = 0;
+		int pos = 0;
+
+		err = kvaser_usb_recv_cmd(dev, buf, KVASER_USB_RX_BUFFER_SIZE,
+					  &actual_len);
+		if (err < 0)
+			goto end;
+
+		while (pos < actual_len) {
+			struct kvaser_cmd *tmp_cmd;
+			size_t cmd_len;
+
+			tmp_cmd = buf + pos;
+			cmd_len = kvaser_usb_hydra_cmd_size(tmp_cmd);
+			if (pos + cmd_len > actual_len) {
+				dev_err_ratelimited(&dev->intf->dev,
+						    "Format error\n");
+				break;
+			}
+
+			if (tmp_cmd->header.cmd_no == cmd_no) {
+				memcpy(cmd, tmp_cmd, cmd_len);
+				goto end;
+			}
+			pos += cmd_len;
+		}
+	} while (time_before(jiffies, timeout));
+
+	err = -EINVAL;
+
+end:
+	kfree(buf);
+
+	return err;
+}
+
+static int kvaser_usb_hydra_map_channel_resp(struct kvaser_usb *dev,
+					     const struct kvaser_cmd *cmd)
+{
+	u8 he, channel;
+	u16 transid = kvaser_usb_hydra_get_cmd_transid(cmd);
+	struct kvaser_usb_dev_card_data_hydra *card_data =
+							&dev->card_data.hydra;
+
+	if (transid > 0x007f || transid < 0x0040) {
+		dev_err(&dev->intf->dev,
+			"CMD_MAP_CHANNEL_RESP, invalid transid: 0x%x\n",
+			transid);
+		return -EINVAL;
+	}
+
+	switch (transid) {
+	case KVASER_USB_HYDRA_TRANSID_CANHE:
+	case KVASER_USB_HYDRA_TRANSID_CANHE + 1:
+	case KVASER_USB_HYDRA_TRANSID_CANHE + 2:
+	case KVASER_USB_HYDRA_TRANSID_CANHE + 3:
+	case KVASER_USB_HYDRA_TRANSID_CANHE + 4:
+		channel = transid & 0x000f;
+		he = cmd->map_ch_res.he_addr;
+		card_data->channel_to_he[channel] = he;
+		break;
+	case KVASER_USB_HYDRA_TRANSID_SYSDBG:
+		card_data->sysdbg_he = cmd->map_ch_res.he_addr;
+		break;
+	default:
+		dev_warn(&dev->intf->dev,
+			 "Unknown CMD_MAP_CHANNEL_RESP transid=0x%x\n",
+			 transid);
+		break;
+	}
+
+	return 0;
+}
+
+static int kvaser_usb_hydra_map_channel(struct kvaser_usb *dev, u16 transid,
+					u8 channel, const char *name)
+{
+	struct kvaser_cmd *cmd;
+	int err;
+
+	cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
+	if (!cmd)
+		return -ENOMEM;
+
+	strcpy(cmd->map_ch_req.name, name);
+	cmd->header.cmd_no = CMD_MAP_CHANNEL_REQ;
+	kvaser_usb_hydra_set_cmd_dest_he
+				(cmd, KVASER_USB_HYDRA_HE_ADDRESS_ROUTER);
+	cmd->map_ch_req.channel = channel;
+
+	kvaser_usb_hydra_set_cmd_transid(cmd, transid);
+
+	err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
+	if (err)
+		goto end;
+
+	err = kvaser_usb_hydra_wait_cmd(dev, CMD_MAP_CHANNEL_RESP, cmd);
+	if (err)
+		goto end;
+
+	err = kvaser_usb_hydra_map_channel_resp(dev, cmd);
+	if (err)
+		goto end;
+
+end:
+	kfree(cmd);
+
+	return err;
+}
+
+static int kvaser_usb_hydra_get_single_capability(struct kvaser_usb *dev,
+						  u16 cap_cmd_req, u16 *status)
+{
+	struct kvaser_usb_dev_card_data *card_data = &dev->card_data;
+	struct kvaser_cmd *cmd;
+	u32 value = 0;
+	u32 mask = 0;
+	u16 cap_cmd_res;
+	int err;
+	int i;
+
+	cmd = kcalloc(1, sizeof(struct kvaser_cmd), GFP_KERNEL);
+	if (!cmd)
+		return -ENOMEM;
+
+	cmd->header.cmd_no = CMD_GET_CAPABILITIES_REQ;
+	cmd->cap_req.cap_cmd = cpu_to_le16(cap_cmd_req);
+
+	kvaser_usb_hydra_set_cmd_dest_he(cmd, card_data->hydra.sysdbg_he);
+	kvaser_usb_hydra_set_cmd_transid
+				(cmd, kvaser_usb_hydra_get_next_transid(dev));
+
+	err = kvaser_usb_send_cmd(dev, cmd, kvaser_usb_hydra_cmd_size(cmd));
+	if (err)
+		goto end;
+
+	err = kvaser_usb_hydra_wait_cmd(dev, CMD_GET_CAPABILITIES_RESP, cmd);
+	if (err)
+		goto end;
+
+	*status = le16_to_cpu(cmd->cap_res.status);
+
+	if (*status != KVASER_USB_HYDRA_CAP_STAT_OK)
+		goto end;
+
+	cap_cmd_res = le16_to_cpu(cmd->cap_res.cap_cmd);
+	switch (cap_cmd_res) {
+	case KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE:
+	case KVASER_USB_HYDRA_CAP_CMD_ERR_REPORT:
+	case KVASER_USB_HYDRA_CAP_CMD_ONE_SHOT:
+		value = le32_to_cpu(cmd->cap_res.value);
+		mask = le32_to_cpu(cmd->cap_res.mask);
+		break;
+	default:
+		dev_warn(&dev->intf->dev, "Unknown capability command %u\n",
+			 cap_cmd_res);
+		break;
+	}
+
+	for (i = 0; i < dev->nchannels; i++) {
+		if (BIT(i) & (value & mask)) {
+			switch (cap_cmd_res) {
+			case KVASER_USB_HYDRA_CAP_CMD_LISTEN_MODE:
+				card_data->ctrlm