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|
/*
* CAN driver for PEAK System PCAN-USB adapter
* Derived from the PCAN project file driver/src/pcan_usb.c
*
* Copyright (C) 2003-2010 PEAK System-Technik GmbH
* Copyright (C) 2011-2012 Stephane Grosjean <s.grosjean@peak-system.com>
*
* Many thanks to Klaus Hitschler <klaus.hitschler@gmx.de>
*
* 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.
*/
#include <linux/netdevice.h>
#include <linux/usb.h>
#include <linux/module.h>
#include <linux/can.h>
#include <linux/can/dev.h>
#include <linux/can/error.h>
#include "pcan_usb_core.h"
MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB adapter");
/* PCAN-USB Endpoints */
#define PCAN_USB_EP_CMDOUT 1
#define PCAN_USB_EP_CMDIN (PCAN_USB_EP_CMDOUT | USB_DIR_IN)
#define PCAN_USB_EP_MSGOUT 2
#define PCAN_USB_EP_MSGIN (PCAN_USB_EP_MSGOUT | USB_DIR_IN)
/* PCAN-USB command struct */
#define PCAN_USB_CMD_FUNC 0
#define PCAN_USB_CMD_NUM 1
#define PCAN_USB_CMD_ARGS 2
#define PCAN_USB_CMD_ARGS_LEN 14
#define PCAN_USB_CMD_LEN (PCAN_USB_CMD_ARGS + \
PCAN_USB_CMD_ARGS_LEN)
/* PCAN-USB command timeout (ms.) */
#define PCAN_USB_COMMAND_TIMEOUT 1000
/* PCAN-USB startup timeout (ms.) */
#define PCAN_USB_STARTUP_TIMEOUT 10
/* PCAN-USB rx/tx buffers size */
#define PCAN_USB_RX_BUFFER_SIZE 64
#define PCAN_USB_TX_BUFFER_SIZE 64
#define PCAN_USB_MSG_HEADER_LEN 2
/* PCAN-USB adapter internal clock (MHz) */
#define PCAN_USB_CRYSTAL_HZ 16000000
/* PCAN-USB USB message record status/len field */
#define PCAN_USB_STATUSLEN_TIMESTAMP (1 << 7)
#define PCAN_USB_STATUSLEN_INTERNAL (1 << 6)
#define PCAN_USB_STATUSLEN_EXT_ID (1 << 5)
#define PCAN_USB_STATUSLEN_RTR (1 << 4)
#define PCAN_USB_STATUSLEN_DLC (0xf)
/* PCAN-USB error flags */
#define PCAN_USB_ERROR_TXFULL 0x01
#define PCAN_USB_ERROR_RXQOVR 0x02
#define PCAN_USB_ERROR_BUS_LIGHT 0x04
#define PCAN_USB_ERROR_BUS_HEAVY 0x08
#define PCAN_USB_ERROR_BUS_OFF 0x10
#define PCAN_USB_ERROR_RXQEMPTY 0x20
#define PCAN_USB_ERROR_QOVR 0x40
#define PCAN_USB_ERROR_TXQFULL 0x80
/* SJA1000 modes */
#define SJA1000_MODE_NORMAL 0x00
#define SJA1000_MODE_INIT 0x01
/*
* tick duration = 42.666 us =>
* (tick_number * 44739243) >> 20 ~ (tick_number * 42666) / 1000
* accuracy = 10^-7
*/
#define PCAN_USB_TS_DIV_SHIFTER 20
#define PCAN_USB_TS_US_PER_TICK 44739243
/* PCAN-USB messages record types */
#define PCAN_USB_REC_ERROR 1
#define PCAN_USB_REC_ANALOG 2
#define PCAN_USB_REC_BUSLOAD 3
#define PCAN_USB_REC_TS 4
#define PCAN_USB_REC_BUSEVT 5
/* private to PCAN-USB adapter */
struct pcan_usb {
struct peak_usb_device dev;
struct peak_time_ref time_ref;
struct timer_list restart_timer;
};
/* incoming message context for decoding */
struct pcan_usb_msg_context {
u16 ts16;
u8 prev_ts8;
u8 *ptr;
u8 *end;
u8 rec_cnt;
u8 rec_idx;
u8 rec_data_idx;
struct net_device *netdev;
struct pcan_usb *pdev;
};
/*
* send a command
*/
static int pcan_usb_send_cmd(struct peak_usb_device *dev, u8 f, u8 n, u8 *p)
{
int err;
int actual_length;
/* usb device unregistered? */
if (!(dev->state & PCAN_USB_STATE_CONNECTED))
return 0;
dev->cmd_buf[PCAN_USB_CMD_FUNC] = f;
dev->cmd_buf[PCAN_USB_CMD_NUM] = n;
if (p)
memcpy(dev->cmd_buf + PCAN_USB_CMD_ARGS,
p, PCAN_USB_CMD_ARGS_LEN);
err = usb_bulk_msg(dev->udev,
usb_sndbulkpipe(dev->udev, PCAN_USB_EP_CMDOUT),
dev->cmd_buf, PCAN_USB_CMD_LEN, &actual_length,
PCAN_USB_COMMAND_TIMEOUT);
if (err)
netdev_err(dev->netdev,
"sending cmd f=0x%x n=0x%x failure: %d\n",
f, n, err);
return err;
}
/*
* send a command then wait for its response
*/
static int pcan_usb_wait_rsp(struct peak_usb_device *dev, u8 f, u8 n, u8 *p)
{
int err;
int actual_length;
/* usb device unregistered? */
if (!(dev->state & PCAN_USB_STATE_CONNECTED))
return 0;
/* first, send command */
err = pcan_usb_send_cmd(dev, f, n, NULL);
if (err)
return err;
err = usb_bulk_msg(dev->udev,
usb_rcvbulkpipe(dev->udev, PCAN_USB_EP_CMDIN),
dev->cmd_buf, PCAN_USB_CMD_LEN, &actual_length,
PCAN_USB_COMMAND_TIMEOUT);
if (err)
netdev_err(dev->netdev,
"waiting rsp f=0x%x n=0x%x failure: %d\n", f, n, err);
else if (p)
memcpy(p, dev->cmd_buf + PCAN_USB_CMD_ARGS,
PCAN_USB_CMD_ARGS_LEN);
return err;
}
static int pcan_usb_set_sja1000(struct peak_usb_device *dev, u8 mode)
{
u8 args[PCAN_USB_CMD_ARGS_LEN] = {
[1] = mode,
};
return pcan_usb_send_cmd(dev, 9, 2, args);
}
static int pcan_usb_set_bus(struct peak_usb_device *dev, u8 onoff)
{
u8 args[PCAN_USB_CMD_ARGS_LEN] = {
[0] = !!onoff,
};
return pcan_usb_send_cmd(dev, 3, 2, args);
}
static int pcan_usb_set_silent(struct peak_usb_device *dev, u8 onoff)
{
u8 args[PCAN_USB_CMD_ARGS_LEN] = {
[0] = !!onoff,
};
return pcan_usb_send_cmd(dev, 3, 3, args);
}
static int pcan_usb_set_ext_vcc(struct peak_usb_device *dev, u8 onoff)
{
u8 args[PCAN_USB_CMD_ARGS_LEN] = {
[0] = !!onoff,
};
return pcan_usb_send_cmd(dev, 10, 2, args);
}
/*
* set bittiming value to can
*/
static int pcan_usb_set_bittiming(struct peak_usb_device *dev,
struct can_bittiming *bt)
{
u8 args[PCAN_USB_CMD_ARGS_LEN];
u8 btr0, btr1;
btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6
|