mirror of
https://github.com/torvalds/linux.git
synced 2024-12-15 07:33:56 +00:00
can: etas_es58x: add support for the ETAS ES58X_FD CAN USB interfaces
This patch add support for the ES582.1 and ES584.1 interfaces from ETAS GmbH (https://www.etas.com/en/products/es58x.php). Link: https://lore.kernel.org/r/20210410095948.233305-4-mailhol.vincent@wanadoo.fr Co-developed-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com> Signed-off-by: Arunachalam Santhanam <arunachalam.santhanam@in.bosch.com> Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr> Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
This commit is contained in:
Vincent Mailhol
Marc Kleine-Budde
parent
1dfb6005a6
commit
c664e2137a
@ -1,3 +1,3 @@
|
||||
# SPDX-License-Identifier: GPL-2.0
|
||||
obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x.o
|
||||
etas_es58x-y = es58x_core.o es581_4.o
|
||||
etas_es58x-y = es58x_core.o es581_4.o es58x_fd.o
|
||||
|
||||
@ -28,6 +28,11 @@ MODULE_LICENSE("GPL v2");
|
||||
#define ES58X_MODULE_NAME "etas_es58x"
|
||||
#define ES58X_VENDOR_ID 0x108C
|
||||
#define ES581_4_PRODUCT_ID 0x0159
|
||||
#define ES582_1_PRODUCT_ID 0x0168
|
||||
#define ES584_1_PRODUCT_ID 0x0169
|
||||
|
||||
/* ES58X FD has some interface protocols unsupported by this driver. */
|
||||
#define ES58X_FD_INTERFACE_PROTOCOL 0
|
||||
|
||||
/* Table of devices which work with this driver. */
|
||||
static const struct usb_device_id es58x_id_table[] = {
|
||||
@ -35,6 +40,16 @@ static const struct usb_device_id es58x_id_table[] = {
|
||||
/* ETAS GmbH ES581.4 USB dual-channel CAN Bus Interface module. */
|
||||
USB_DEVICE(ES58X_VENDOR_ID, ES581_4_PRODUCT_ID),
|
||||
.driver_info = ES58X_DUAL_CHANNEL
|
||||
}, {
|
||||
/* ETAS GmbH ES582.1 USB dual-channel CAN FD Bus Interface module. */
|
||||
USB_DEVICE_INTERFACE_PROTOCOL(ES58X_VENDOR_ID, ES582_1_PRODUCT_ID,
|
||||
ES58X_FD_INTERFACE_PROTOCOL),
|
||||
.driver_info = ES58X_DUAL_CHANNEL | ES58X_FD_FAMILY
|
||||
}, {
|
||||
/* ETAS GmbH ES584.1 USB single-channel CAN FD Bus Interface module. */
|
||||
USB_DEVICE_INTERFACE_PROTOCOL(ES58X_VENDOR_ID, ES584_1_PRODUCT_ID,
|
||||
ES58X_FD_INTERFACE_PROTOCOL),
|
||||
.driver_info = ES58X_FD_FAMILY
|
||||
}, {
|
||||
/* Terminating entry */
|
||||
}
|
||||
@ -2164,8 +2179,8 @@ static int es58x_init_es58x_dev(struct usb_interface *intf,
|
||||
return ret;
|
||||
|
||||
if (driver_info & ES58X_FD_FAMILY) {
|
||||
return -ENODEV;
|
||||
/* Place holder for es58x_fd glue code. */
|
||||
param = &es58x_fd_param;
|
||||
ops = &es58x_fd_ops;
|
||||
} else {
|
||||
param = &es581_4_param;
|
||||
ops = &es581_4_ops;
|
||||
|
||||
@ -19,12 +19,15 @@
|
||||
#include <linux/can/dev.h>
|
||||
|
||||
#include "es581_4.h"
|
||||
#include "es58x_fd.h"
|
||||
|
||||
/* Driver constants */
|
||||
#define ES58X_RX_URBS_MAX 5 /* Empirical value */
|
||||
#define ES58X_TX_URBS_MAX 6 /* Empirical value */
|
||||
|
||||
#define ES58X_MAX(param) (ES581_4_##param)
|
||||
#define ES58X_MAX(param) \
|
||||
(ES581_4_##param > ES58X_FD_##param ? \
|
||||
ES581_4_##param : ES58X_FD_##param)
|
||||
#define ES58X_TX_BULK_MAX ES58X_MAX(TX_BULK_MAX)
|
||||
#define ES58X_RX_BULK_MAX ES58X_MAX(RX_BULK_MAX)
|
||||
#define ES58X_ECHO_BULK_MAX ES58X_MAX(ECHO_BULK_MAX)
|
||||
@ -213,6 +216,7 @@ enum es58x_ret_type {
|
||||
|
||||
union es58x_urb_cmd {
|
||||
struct es581_4_urb_cmd es581_4_urb_cmd;
|
||||
struct es58x_fd_urb_cmd es58x_fd_urb_cmd;
|
||||
struct { /* Common header parts of all variants */
|
||||
__le16 sof;
|
||||
u8 cmd_type;
|
||||
|
||||
562
drivers/net/can/usb/etas_es58x/es58x_fd.c
Normal file
562
drivers/net/can/usb/etas_es58x/es58x_fd.c
Normal file
@ -0,0 +1,562 @@
|
||||
// SPDX-License-Identifier: GPL-2.0
|
||||
|
||||
/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
|
||||
*
|
||||
* File es58x_fd.c: Adds support to ETAS ES582.1 and ES584.1 (naming
|
||||
* convention: we use the term "ES58X FD" when referring to those two
|
||||
* variants together).
|
||||
*
|
||||
* Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
|
||||
* Copyright (c) 2020 ETAS K.K.. All rights reserved.
|
||||
* Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
|
||||
*/
|
||||
|
||||
#include <linux/kernel.h>
|
||||
#include <asm/unaligned.h>
|
||||
|
||||
#include "es58x_core.h"
|
||||
#include "es58x_fd.h"
|
||||
|
||||
/**
|
||||
* es58x_fd_sizeof_rx_tx_msg() - Calculate the actual length of the
|
||||
* structure of a rx or tx message.
|
||||
* @msg: message of variable length, must have a dlc and a len fields.
|
||||
*
|
||||
* Even if RTR frames have actually no payload, the ES58X devices
|
||||
* still expect it. Must be a macro in order to accept several types
|
||||
* (struct es58x_fd_tx_can_msg and struct es58x_fd_rx_can_msg) as an
|
||||
* input.
|
||||
*
|
||||
* Return: length of the message.
|
||||
*/
|
||||
#define es58x_fd_sizeof_rx_tx_msg(msg) \
|
||||
({ \
|
||||
typeof(msg) __msg = (msg); \
|
||||
size_t __msg_len; \
|
||||
\
|
||||
if (__msg.flags & ES58X_FLAG_FD_DATA) \
|
||||
__msg_len = canfd_sanitize_len(__msg.len); \
|
||||
else \
|
||||
__msg_len = can_cc_dlc2len(__msg.dlc); \
|
||||
\
|
||||
offsetof(typeof(__msg), data[__msg_len]); \
|
||||
})
|
||||
|
||||
static enum es58x_fd_cmd_type es58x_fd_cmd_type(struct net_device *netdev)
|
||||
{
|
||||
u32 ctrlmode = es58x_priv(netdev)->can.ctrlmode;
|
||||
|
||||
if (ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO))
|
||||
return ES58X_FD_CMD_TYPE_CANFD;
|
||||
else
|
||||
return ES58X_FD_CMD_TYPE_CAN;
|
||||
}
|
||||
|
||||
static u16 es58x_fd_get_msg_len(const union es58x_urb_cmd *urb_cmd)
|
||||
{
|
||||
return get_unaligned_le16(&urb_cmd->es58x_fd_urb_cmd.msg_len);
|
||||
}
|
||||
|
||||
static int es58x_fd_echo_msg(struct net_device *netdev,
|
||||
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
|
||||
{
|
||||
struct es58x_priv *priv = es58x_priv(netdev);
|
||||
const struct es58x_fd_echo_msg *echo_msg;
|
||||
struct es58x_device *es58x_dev = priv->es58x_dev;
|
||||
u64 *tstamps = es58x_dev->timestamps;
|
||||
u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
|
||||
int i, num_element;
|
||||
u32 rcv_packet_idx;
|
||||
|
||||
const u32 mask = GENMASK(31, sizeof(echo_msg->packet_idx) * 8);
|
||||
|
||||
num_element = es58x_msg_num_element(es58x_dev->dev,
|
||||
es58x_fd_urb_cmd->echo_msg,
|
||||
msg_len);
|
||||
if (num_element < 0)
|
||||
return num_element;
|
||||
echo_msg = es58x_fd_urb_cmd->echo_msg;
|
||||
|
||||
rcv_packet_idx = (priv->tx_tail & mask) | echo_msg[0].packet_idx;
|
||||
for (i = 0; i < num_element; i++) {
|
||||
if ((u8)rcv_packet_idx != echo_msg[i].packet_idx) {
|
||||
netdev_err(netdev, "Packet idx jumped from %u to %u\n",
|
||||
(u8)rcv_packet_idx - 1,
|
||||
echo_msg[i].packet_idx);
|
||||
return -EBADMSG;
|
||||
}
|
||||
|
||||
tstamps[i] = get_unaligned_le64(&echo_msg[i].timestamp);
|
||||
rcv_packet_idx++;
|
||||
}
|
||||
|
||||
return es58x_can_get_echo_skb(netdev, priv->tx_tail, tstamps, num_element);
|
||||
}
|
||||
|
||||
static int es58x_fd_rx_can_msg(struct net_device *netdev,
|
||||
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
|
||||
{
|
||||
struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
|
||||
const u8 *rx_can_msg_buf = es58x_fd_urb_cmd->rx_can_msg_buf;
|
||||
u16 rx_can_msg_buf_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
|
||||
int pkts, ret;
|
||||
|
||||
ret = es58x_check_msg_max_len(es58x_dev->dev,
|
||||
es58x_fd_urb_cmd->rx_can_msg_buf,
|
||||
rx_can_msg_buf_len);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
for (pkts = 0; rx_can_msg_buf_len > 0; pkts++) {
|
||||
const struct es58x_fd_rx_can_msg *rx_can_msg =
|
||||
(const struct es58x_fd_rx_can_msg *)rx_can_msg_buf;
|
||||
bool is_can_fd = !!(rx_can_msg->flags & ES58X_FLAG_FD_DATA);
|
||||
/* rx_can_msg_len is the length of the rx_can_msg
|
||||
* buffer. Not to be confused with rx_can_msg->len
|
||||
* which is the length of the CAN payload
|
||||
* rx_can_msg->data.
|
||||
*/
|
||||
u16 rx_can_msg_len = es58x_fd_sizeof_rx_tx_msg(*rx_can_msg);
|
||||
|
||||
if (rx_can_msg_len > rx_can_msg_buf_len) {
|
||||
netdev_err(netdev,
|
||||
"%s: Expected a rx_can_msg of size %d but only %d bytes are left in rx_can_msg_buf\n",
|
||||
__func__,
|
||||
rx_can_msg_len, rx_can_msg_buf_len);
|
||||
return -EMSGSIZE;
|
||||
}
|
||||
if (rx_can_msg->len > CANFD_MAX_DLEN) {
|
||||
netdev_err(netdev,
|
||||
"%s: Data length is %d but maximum should be %d\n",
|
||||
__func__, rx_can_msg->len, CANFD_MAX_DLEN);
|
||||
return -EMSGSIZE;
|
||||
}
|
||||
|
||||
if (netif_running(netdev)) {
|
||||
u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
|
||||
canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);
|
||||
u8 dlc;
|
||||
|
||||
if (is_can_fd)
|
||||
dlc = can_fd_len2dlc(rx_can_msg->len);
|
||||
else
|
||||
dlc = rx_can_msg->dlc;
|
||||
|
||||
ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
|
||||
can_id, rx_can_msg->flags, dlc);
|
||||
if (ret)
|
||||
break;
|
||||
}
|
||||
|
||||
rx_can_msg_buf_len -= rx_can_msg_len;
|
||||
rx_can_msg_buf += rx_can_msg_len;
|
||||
}
|
||||
|
||||
if (!netif_running(netdev)) {
|
||||
if (net_ratelimit())
|
||||
netdev_info(netdev,
|
||||
"%s: %s is down, dropping %d rx packets\n",
|
||||
__func__, netdev->name, pkts);
|
||||
netdev->stats.rx_dropped += pkts;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int es58x_fd_rx_event_msg(struct net_device *netdev,
|
||||
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
|
||||
{
|
||||
struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
|
||||
u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
|
||||
const struct es58x_fd_rx_event_msg *rx_event_msg;
|
||||
int ret;
|
||||
|
||||
ret = es58x_check_msg_len(es58x_dev->dev, *rx_event_msg, msg_len);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
rx_event_msg = &es58x_fd_urb_cmd->rx_event_msg;
|
||||
|
||||
return es58x_rx_err_msg(netdev, rx_event_msg->error_code,
|
||||
rx_event_msg->event_code,
|
||||
get_unaligned_le64(&rx_event_msg->timestamp));
|
||||
}
|
||||
|
||||
static int es58x_fd_rx_cmd_ret_u32(struct net_device *netdev,
|
||||
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd,
|
||||
enum es58x_ret_type cmd_ret_type)
|
||||
{
|
||||
struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
|
||||
u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
|
||||
int ret;
|
||||
|
||||
ret = es58x_check_msg_len(es58x_dev->dev,
|
||||
es58x_fd_urb_cmd->rx_cmd_ret_le32, msg_len);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
return es58x_rx_cmd_ret_u32(netdev, cmd_ret_type,
|
||||
get_unaligned_le32(&es58x_fd_urb_cmd->rx_cmd_ret_le32));
|
||||
}
|
||||
|
||||
static int es58x_fd_tx_ack_msg(struct net_device *netdev,
|
||||
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
|
||||
{
|
||||
struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
|
||||
const struct es58x_fd_tx_ack_msg *tx_ack_msg;
|
||||
u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
|
||||
int ret;
|
||||
|
||||
tx_ack_msg = &es58x_fd_urb_cmd->tx_ack_msg;
|
||||
ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
return es58x_tx_ack_msg(netdev,
|
||||
get_unaligned_le16(&tx_ack_msg->tx_free_entries),
|
||||
get_unaligned_le32(&tx_ack_msg->rx_cmd_ret_le32));
|
||||
}
|
||||
|
||||
static int es58x_fd_can_cmd_id(struct es58x_device *es58x_dev,
|
||||
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
|
||||
{
|
||||
struct net_device *netdev;
|
||||
int ret;
|
||||
|
||||
ret = es58x_get_netdev(es58x_dev, es58x_fd_urb_cmd->channel_idx,
|
||||
ES58X_FD_CHANNEL_IDX_OFFSET, &netdev);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
switch ((enum es58x_fd_can_cmd_id)es58x_fd_urb_cmd->cmd_id) {
|
||||
case ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL:
|
||||
return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
|
||||
ES58X_RET_TYPE_ENABLE_CHANNEL);
|
||||
|
||||
case ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL:
|
||||
return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
|
||||
ES58X_RET_TYPE_DISABLE_CHANNEL);
|
||||
|
||||
case ES58X_FD_CAN_CMD_ID_TX_MSG:
|
||||
return es58x_fd_tx_ack_msg(netdev, es58x_fd_urb_cmd);
|
||||
|
||||
case ES58X_FD_CAN_CMD_ID_ECHO_MSG:
|
||||
return es58x_fd_echo_msg(netdev, es58x_fd_urb_cmd);
|
||||
|
||||
case ES58X_FD_CAN_CMD_ID_RX_MSG:
|
||||
return es58x_fd_rx_can_msg(netdev, es58x_fd_urb_cmd);
|
||||
|
||||
case ES58X_FD_CAN_CMD_ID_RESET_RX:
|
||||
return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
|
||||
ES58X_RET_TYPE_RESET_RX);
|
||||
|
||||
case ES58X_FD_CAN_CMD_ID_RESET_TX:
|
||||
return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
|
||||
ES58X_RET_TYPE_RESET_TX);
|
||||
|
||||
case ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG:
|
||||
return es58x_fd_rx_event_msg(netdev, es58x_fd_urb_cmd);
|
||||
|
||||
default:
|
||||
return -EBADRQC;
|
||||
}
|
||||
}
|
||||
|
||||
static int es58x_fd_device_cmd_id(struct es58x_device *es58x_dev,
|
||||
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
|
||||
{
|
||||
u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
|
||||
int ret;
|
||||
|
||||
switch ((enum es58x_fd_dev_cmd_id)es58x_fd_urb_cmd->cmd_id) {
|
||||
case ES58X_FD_DEV_CMD_ID_TIMESTAMP:
|
||||
ret = es58x_check_msg_len(es58x_dev->dev,
|
||||
es58x_fd_urb_cmd->timestamp, msg_len);
|
||||
if (ret)
|
||||
return ret;
|
||||
es58x_rx_timestamp(es58x_dev,
|
||||
get_unaligned_le64(&es58x_fd_urb_cmd->timestamp));
|
||||
return 0;
|
||||
|
||||
default:
|
||||
return -EBADRQC;
|
||||
}
|
||||
}
|
||||
|
||||
static int es58x_fd_handle_urb_cmd(struct es58x_device *es58x_dev,
|
||||
const union es58x_urb_cmd *urb_cmd)
|
||||
{
|
||||
const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd;
|
||||
int ret;
|
||||
|
||||
es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
|
||||
|
||||
switch ((enum es58x_fd_cmd_type)es58x_fd_urb_cmd->cmd_type) {
|
||||
case ES58X_FD_CMD_TYPE_CAN:
|
||||
case ES58X_FD_CMD_TYPE_CANFD:
|
||||
ret = es58x_fd_can_cmd_id(es58x_dev, es58x_fd_urb_cmd);
|
||||
break;
|
||||
|
||||
case ES58X_FD_CMD_TYPE_DEVICE:
|
||||
ret = es58x_fd_device_cmd_id(es58x_dev, es58x_fd_urb_cmd);
|
||||
break;
|
||||
|
||||
default:
|
||||
ret = -EBADRQC;
|
||||
break;
|
||||
}
|
||||
|
||||
if (ret == -EBADRQC)
|
||||
dev_err(es58x_dev->dev,
|
||||
"%s: Unknown command type (0x%02X) and command ID (0x%02X) combination\n",
|
||||
__func__, es58x_fd_urb_cmd->cmd_type,
|
||||
es58x_fd_urb_cmd->cmd_id);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
static void es58x_fd_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
|
||||
u8 cmd_id, u8 channel_idx, u16 msg_len)
|
||||
{
|
||||
struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
|
||||
|
||||
es58x_fd_urb_cmd->SOF = cpu_to_le16(es58x_fd_param.tx_start_of_frame);
|
||||
es58x_fd_urb_cmd->cmd_type = cmd_type;
|
||||
es58x_fd_urb_cmd->cmd_id = cmd_id;
|
||||
es58x_fd_urb_cmd->channel_idx = channel_idx;
|
||||
es58x_fd_urb_cmd->msg_len = cpu_to_le16(msg_len);
|
||||
}
|
||||
|
||||
static int es58x_fd_tx_can_msg(struct es58x_priv *priv,
|
||||
const struct sk_buff *skb)
|
||||
{
|
||||
struct es58x_device *es58x_dev = priv->es58x_dev;
|
||||
union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer;
|
||||
struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
|
||||
struct can_frame *cf = (struct can_frame *)skb->data;
|
||||
struct es58x_fd_tx_can_msg *tx_can_msg;
|
||||
bool is_fd = can_is_canfd_skb(skb);
|
||||
u16 msg_len;
|
||||
int ret;
|
||||
|
||||
if (priv->tx_can_msg_cnt == 0) {
|
||||
msg_len = 0;
|
||||
es58x_fd_fill_urb_header(urb_cmd,
|
||||
is_fd ? ES58X_FD_CMD_TYPE_CANFD
|
||||
: ES58X_FD_CMD_TYPE_CAN,
|
||||
ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK,
|
||||
priv->channel_idx, msg_len);
|
||||
} else {
|
||||
msg_len = es58x_fd_get_msg_len(urb_cmd);
|
||||
}
|
||||
|
||||
ret = es58x_check_msg_max_len(es58x_dev->dev,
|
||||
es58x_fd_urb_cmd->tx_can_msg_buf,
|
||||
msg_len + sizeof(*tx_can_msg));
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
/* Fill message contents. */
|
||||
tx_can_msg = (struct es58x_fd_tx_can_msg *)
|
||||
&es58x_fd_urb_cmd->tx_can_msg_buf[msg_len];
|
||||
tx_can_msg->packet_idx = (u8)priv->tx_head;
|
||||
put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
|
||||
tx_can_msg->flags = (u8)es58x_get_flags(skb);
|
||||
if (is_fd)
|
||||
tx_can_msg->len = cf->len;
|
||||
else
|
||||
tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
|
||||
memcpy(tx_can_msg->data, cf->data, cf->len);
|
||||
|
||||
/* Calculate new sizes */
|
||||
msg_len += es58x_fd_sizeof_rx_tx_msg(*tx_can_msg);
|
||||
priv->tx_urb->transfer_buffer_length = es58x_get_urb_cmd_len(es58x_dev,
|
||||
msg_len);
|
||||
put_unaligned_le16(msg_len, &es58x_fd_urb_cmd->msg_len);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void es58x_fd_convert_bittiming(struct es58x_fd_bittiming *es58x_fd_bt,
|
||||
struct can_bittiming *bt)
|
||||
{
|
||||
/* The actual value set in the hardware registers is one less
|
||||
* than the functional value.
|
||||
*/
|
||||
const int offset = 1;
|
||||
|
||||
es58x_fd_bt->bitrate = cpu_to_le32(bt->bitrate);
|
||||
es58x_fd_bt->tseg1 =
|
||||
cpu_to_le16(bt->prop_seg + bt->phase_seg1 - offset);
|
||||
es58x_fd_bt->tseg2 = cpu_to_le16(bt->phase_seg2 - offset);
|
||||
es58x_fd_bt->brp = cpu_to_le16(bt->brp - offset);
|
||||
es58x_fd_bt->sjw = cpu_to_le16(bt->sjw - offset);
|
||||
}
|
||||
|
||||
static int es58x_fd_enable_channel(struct es58x_priv *priv)
|
||||
{
|
||||
struct es58x_device *es58x_dev = priv->es58x_dev;
|
||||
struct net_device *netdev = es58x_dev->netdev[priv->channel_idx];
|
||||
struct es58x_fd_tx_conf_msg tx_conf_msg = { 0 };
|
||||
u32 ctrlmode;
|
||||
size_t conf_len = 0;
|
||||
|
||||
es58x_fd_convert_bittiming(&tx_conf_msg.nominal_bittiming,
|
||||
&priv->can.bittiming);
|
||||
ctrlmode = priv->can.ctrlmode;
|
||||
|
||||
if (ctrlmode & CAN_CTRLMODE_3_SAMPLES)
|
||||
tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_THREE;
|
||||
else
|
||||
tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_ONE;
|
||||
tx_conf_msg.sync_edge = ES58X_SYNC_EDGE_SINGLE;
|
||||
tx_conf_msg.physical_layer = ES58X_PHYSICAL_LAYER_HIGH_SPEED;
|
||||
tx_conf_msg.echo_mode = ES58X_ECHO_ON;
|
||||
if (ctrlmode & CAN_CTRLMODE_LISTENONLY)
|
||||
tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_PASSIVE;
|
||||
else
|
||||
tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_ACTIVE;
|
||||
|
||||
if (ctrlmode & CAN_CTRLMODE_FD_NON_ISO) {
|
||||
tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD_NON_ISO;
|
||||
tx_conf_msg.canfd_enabled = 1;
|
||||
} else if (ctrlmode & CAN_CTRLMODE_FD) {
|
||||
tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD;
|
||||
tx_conf_msg.canfd_enabled = 1;
|
||||
}
|
||||
|
||||
if (tx_conf_msg.canfd_enabled) {
|
||||
es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming,
|
||||
&priv->can.data_bittiming);
|
||||
|
||||
if (priv->can.tdc.tdco) {
|
||||
tx_conf_msg.tdc_enabled = 1;
|
||||
tx_conf_msg.tdco = cpu_to_le16(priv->can.tdc.tdco);
|
||||
tx_conf_msg.tdcf = cpu_to_le16(priv->can.tdc.tdcf);
|
||||
}
|
||||
|
||||
conf_len = ES58X_FD_CANFD_CONF_LEN;
|
||||
} else {
|
||||
conf_len = ES58X_FD_CAN_CONF_LEN;
|
||||
}
|
||||
|
||||
return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
|
||||
ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL,
|
||||
&tx_conf_msg, conf_len, priv->channel_idx);
|
||||
}
|
||||
|
||||
static int es58x_fd_disable_channel(struct es58x_priv *priv)
|
||||
{
|
||||
/* The type (ES58X_FD_CMD_TYPE_CAN or ES58X_FD_CMD_TYPE_CANFD) does
|
||||
* not matter here.
|
||||
*/
|
||||
return es58x_send_msg(priv->es58x_dev, ES58X_FD_CMD_TYPE_CAN,
|
||||
ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL,
|
||||
ES58X_EMPTY_MSG, 0, priv->channel_idx);
|
||||
}
|
||||
|
||||
static int es58x_fd_get_timestamp(struct es58x_device *es58x_dev)
|
||||
{
|
||||
return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_DEVICE,
|
||||
ES58X_FD_DEV_CMD_ID_TIMESTAMP, ES58X_EMPTY_MSG,
|
||||
0, ES58X_CHANNEL_IDX_NA);
|
||||
}
|
||||
|
||||
/* Nominal bittiming constants for ES582.1 and ES584.1 as specified in
|
||||
* the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
|
||||
* section 49.6.8 "MCAN Nominal Bit Timing and Prescaler Register"
|
||||
* from Microchip.
|
||||
*
|
||||
* The values from the specification are the hardware register
|
||||
* values. To convert them to the functional values, all ranges were
|
||||
* incremented by 1 (e.g. range [0..n-1] changed to [1..n]).
|
||||
*/
|
||||
static const struct can_bittiming_const es58x_fd_nom_bittiming_const = {
|
||||
.name = "ES582.1/ES584.1",
|
||||
.tseg1_min = 2,
|
||||
.tseg1_max = 256,
|
||||
.tseg2_min = 2,
|
||||
.tseg2_max = 128,
|
||||
.sjw_max = 128,
|
||||
.brp_min = 1,
|
||||
.brp_max = 512,
|
||||
.brp_inc = 1
|
||||
};
|
||||
|
||||
/* Data bittiming constants for ES582.1 and ES584.1 as specified in
|
||||
* the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
|
||||
* section 49.6.4 "MCAN Data Bit Timing and Prescaler Register" from
|
||||
* Microchip.
|
||||
*/
|
||||
static const struct can_bittiming_const es58x_fd_data_bittiming_const = {
|
||||
.name = "ES582.1/ES584.1",
|
||||
.tseg1_min = 2,
|
||||
.tseg1_max = 32,
|
||||
.tseg2_min = 1,
|
||||
.tseg2_max = 16,
|
||||
.sjw_max = 8,
|
||||
.brp_min = 1,
|
||||
.brp_max = 32,
|
||||
.brp_inc = 1
|
||||
};
|
||||
|
||||
/* Transmission Delay Compensation constants for ES582.1 and ES584.1
|
||||
* as specified in the microcontroller datasheet: "SAM
|
||||
* E701/S70/V70/V71 Family" section 49.6.15 "MCAN Transmitter Delay
|
||||
* Compensation Register" from Microchip.
|
||||
*/
|
||||
static const struct can_tdc_const es58x_tdc_const = {
|
||||
.tdcv_max = 0, /* Manual mode not supported. */
|
||||
.tdco_max = 127,
|
||||
.tdcf_max = 127
|
||||
};
|
||||
|
||||
const struct es58x_parameters es58x_fd_param = {
|
||||
.bittiming_const = &es58x_fd_nom_bittiming_const,
|
||||
.data_bittiming_const = &es58x_fd_data_bittiming_const,
|
||||
.tdc_const = &es58x_tdc_const,
|
||||
/* The devices use NXP TJA1044G transievers which guarantee
|
||||
* the timing for data rates up to 5 Mbps. Bitrates up to 8
|
||||
* Mbps work in an optimal environment but are not recommended
|
||||
* for production environment.
|
||||
*/
|
||||
.bitrate_max = 8 * CAN_MBPS,
|
||||
.clock = {.freq = 80 * CAN_MHZ},
|
||||
.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
|
||||
CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO |
|
||||
CAN_CTRLMODE_CC_LEN8_DLC,
|
||||
.tx_start_of_frame = 0xCEFA, /* FACE in little endian */
|
||||
.rx_start_of_frame = 0xFECA, /* CAFE in little endian */
|
||||
.tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN,
|
||||
.rx_urb_cmd_max_len = ES58X_FD_RX_URB_CMD_MAX_LEN,
|
||||
/* Size of internal device TX queue is 500.
|
||||
*
|
||||
* However, when reaching value around 278, the device's busy
|
||||
* LED turns on and thus maximum value of 500 is never reached
|
||||
* in practice. Also, when this value is too high, some error
|
||||
* on the echo_msg were witnessed when the device is
|
||||
* recovering from bus off.
|
||||
*
|
||||
* For above reasons, a value that would prevent the device
|
||||
* from becoming busy was chosen. In practice, BQL would
|
||||
* prevent the value from even getting closer to below
|
||||
* maximum, so no impact on performance was measured.
|
||||
*/
|
||||
.fifo_mask = 255, /* echo_skb_max = 256 */
|
||||
.dql_min_limit = CAN_FRAME_LEN_MAX * 15, /* Empirical value. */
|
||||
.tx_bulk_max = ES58X_FD_TX_BULK_MAX,
|
||||
.urb_cmd_header_len = ES58X_FD_URB_CMD_HEADER_LEN,
|
||||
.rx_urb_max = ES58X_RX_URBS_MAX,
|
||||
.tx_urb_max = ES58X_TX_URBS_MAX
|
||||
};
|
||||
|
||||
const struct es58x_operators es58x_fd_ops = {
|
||||
.get_msg_len = es58x_fd_get_msg_len,
|
||||
.handle_urb_cmd = es58x_fd_handle_urb_cmd,
|
||||
.fill_urb_header = es58x_fd_fill_urb_header,
|
||||
.tx_can_msg = es58x_fd_tx_can_msg,
|
||||
.enable_channel = es58x_fd_enable_channel,
|
||||
.disable_channel = es58x_fd_disable_channel,
|
||||
.reset_device = NULL, /* Not implemented in the device firmware. */
|
||||
.get_timestamp = es58x_fd_get_timestamp
|
||||
};
|
||||
243
drivers/net/can/usb/etas_es58x/es58x_fd.h
Normal file
243
drivers/net/can/usb/etas_es58x/es58x_fd.h
Normal file
@ -0,0 +1,243 @@
|
||||
/* SPDX-License-Identifier: GPL-2.0 */
|
||||
|
||||
/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
|
||||
*
|
||||
* File es58x_fd.h: Definitions and declarations specific to ETAS
|
||||
* ES582.1 and ES584.1 (naming convention: we use the term "ES58X FD"
|
||||
* when referring to those two variants together).
|
||||
*
|
||||
* Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
|
||||
* Copyright (c) 2020 ETAS K.K.. All rights reserved.
|
||||
* Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
|
||||
*/
|
||||
|
||||
#ifndef __ES58X_FD_H__
|
||||
#define __ES58X_FD_H__
|
||||
|
||||
#include <linux/types.h>
|
||||
|
||||
#define ES582_1_NUM_CAN_CH 2
|
||||
#define ES584_1_NUM_CAN_CH 1
|
||||
#define ES58X_FD_NUM_CAN_CH 2
|
||||
#define ES58X_FD_CHANNEL_IDX_OFFSET 0
|
||||
|
||||
#define ES58X_FD_TX_BULK_MAX 100
|
||||
#define ES58X_FD_RX_BULK_MAX 100
|
||||
#define ES58X_FD_ECHO_BULK_MAX 100
|
||||
|
||||
enum es58x_fd_cmd_type {
|
||||
ES58X_FD_CMD_TYPE_CAN = 0x03,
|
||||
ES58X_FD_CMD_TYPE_CANFD = 0x04,
|
||||
ES58X_FD_CMD_TYPE_DEVICE = 0xFF
|
||||
};
|
||||
|
||||
/* Command IDs for ES58X_FD_CMD_TYPE_{CAN,CANFD}. */
|
||||
enum es58x_fd_can_cmd_id {
|
||||
ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL = 0x01,
|
||||
ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL = 0x02,
|
||||
ES58X_FD_CAN_CMD_ID_TX_MSG = 0x05,
|
||||
ES58X_FD_CAN_CMD_ID_ECHO_MSG = 0x07,
|
||||
ES58X_FD_CAN_CMD_ID_RX_MSG = 0x10,
|
||||
ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG = 0x11,
|
||||
ES58X_FD_CAN_CMD_ID_RESET_RX = 0x20,
|
||||
ES58X_FD_CAN_CMD_ID_RESET_TX = 0x21,
|
||||
ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK = 0x55
|
||||
};
|
||||
|
||||
/* Command IDs for ES58X_FD_CMD_TYPE_DEVICE. */
|
||||
enum es58x_fd_dev_cmd_id {
|
||||
ES58X_FD_DEV_CMD_ID_GETTIMETICKS = 0x01,
|
||||
ES58X_FD_DEV_CMD_ID_TIMESTAMP = 0x02
|
||||
};
|
||||
|
||||
/**
|
||||
* enum es58x_fd_ctrlmode - Controller mode.
|
||||
* @ES58X_FD_CTRLMODE_ACTIVE: send and receive messages.
|
||||
* @ES58X_FD_CTRLMODE_PASSIVE: only receive messages (monitor). Do not
|
||||
* send anything, not even the acknowledgment bit.
|
||||
* @ES58X_FD_CTRLMODE_FD: CAN FD according to ISO11898-1.
|
||||
* @ES58X_FD_CTRLMODE_FD_NON_ISO: follow Bosch CAN FD Specification
|
||||
* V1.0
|
||||
* @ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING: How to
|
||||
* behave when CAN FD reserved bit is monitored as
|
||||
* dominant. (c.f. ISO 11898-1:2015, section 10.4.2.4 "Control
|
||||
* field", paragraph "r0 bit"). 0 (not disable = enable): send
|
||||
* error frame. 1 (disable): goes into bus integration mode
|
||||
* (c.f. below).
|
||||
* @ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION: 0: Edge
|
||||
* filtering is disabled. 1: Edge filtering is enabled. Two
|
||||
* consecutive dominant bits required to detect an edge for hard
|
||||
* synchronization.
|
||||
*/
|
||||
enum es58x_fd_ctrlmode {
|
||||
ES58X_FD_CTRLMODE_ACTIVE = 0,
|
||||
ES58X_FD_CTRLMODE_PASSIVE = BIT(0),
|
||||
ES58X_FD_CTRLMODE_FD = BIT(4),
|
||||
ES58X_FD_CTRLMODE_FD_NON_ISO = BIT(5),
|
||||
ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING = BIT(6),
|
||||
ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION = BIT(7)
|
||||
};
|
||||
|
||||
struct es58x_fd_bittiming {
|
||||
__le32 bitrate;
|
||||
__le16 tseg1; /* range: [tseg1_min-1..tseg1_max-1] */
|
||||
__le16 tseg2; /* range: [tseg2_min-1..tseg2_max-1] */
|
||||
__le16 brp; /* range: [brp_min-1..brp_max-1] */
|
||||
__le16 sjw; /* range: [0..sjw_max-1] */
|
||||
} __packed;
|
||||
|
||||
/**
|
||||
* struct es58x_fd_tx_conf_msg - Channel configuration.
|
||||
* @nominal_bittiming: Nominal bittiming.
|
||||
* @samples_per_bit: type enum es58x_samples_per_bit.
|
||||
* @sync_edge: type enum es58x_sync_edge.
|
||||
* @physical_layer: type enum es58x_physical_layer.
|
||||
* @echo_mode: type enum es58x_echo_mode.
|
||||
* @ctrlmode: type enum es58x_fd_ctrlmode.
|
||||
* @canfd_enabled: boolean (0: Classical CAN, 1: CAN and/or CANFD).
|
||||
* @data_bittiming: Bittiming for flexible data-rate transmission.
|
||||
* @tdc_enabled: Transmitter Delay Compensation switch (0: disabled,
|
||||
* 1: enabled). On very high bitrates, the delay between when the
|
||||
* bit is sent and received on the CANTX and CANRX pins of the
|
||||
* transceiver start to be significant enough for errors to occur
|
||||
* and thus need to be compensated.
|
||||
* @tdco: Transmitter Delay Compensation Offset. Offset value, in time
|
||||
* quanta, defining the delay between the start of the bit
|
||||
* reception on the CANRX pin of the transceiver and the SSP
|
||||
* (Secondary Sample Point). Valid values: 0 to 127.
|
||||
* @tdcf: Transmitter Delay Compensation Filter window. Defines the
|
||||
* minimum value for the SSP position, in time quanta. The
|
||||
* feature is enabled when TDCF is configured to a value greater
|
||||
* than TDCO. Valid values: 0 to 127.
|
||||
*
|
||||
* Please refer to the microcontroller datasheet: "SAM
|
||||
* E701/S70/V70/V71 Family" section 49 "Controller Area Network
|
||||
* (MCAN)" for additional information.
|
||||
*/
|
||||
struct es58x_fd_tx_conf_msg {
|
||||
struct es58x_fd_bittiming nominal_bittiming;
|
||||
u8 samples_per_bit;
|
||||
u8 sync_edge;
|
||||
u8 physical_layer;
|
||||
u8 echo_mode;
|
||||
u8 ctrlmode;
|
||||
u8 canfd_enabled;
|
||||
struct es58x_fd_bittiming data_bittiming;
|
||||
u8 tdc_enabled;
|
||||
__le16 tdco;
|
||||
__le16 tdcf;
|
||||
} __packed;
|
||||
|
||||
#define ES58X_FD_CAN_CONF_LEN \
|
||||
(offsetof(struct es58x_fd_tx_conf_msg, canfd_enabled))
|
||||
#define ES58X_FD_CANFD_CONF_LEN (sizeof(struct es58x_fd_tx_conf_msg))
|
||||
|
||||
struct es58x_fd_tx_can_msg {
|
||||
u8 packet_idx;
|
||||
__le32 can_id;
|
||||
u8 flags;
|
||||
union {
|
||||
u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
|
||||
u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
|
||||
} __packed;
|
||||
u8 data[CANFD_MAX_DLEN];
|
||||
} __packed;
|
||||
|
||||
#define ES58X_FD_CAN_TX_LEN \
|
||||
(offsetof(struct es58x_fd_tx_can_msg, data[CAN_MAX_DLEN]))
|
||||
#define ES58X_FD_CANFD_TX_LEN (sizeof(struct es58x_fd_tx_can_msg))
|
||||
|
||||
struct es58x_fd_rx_can_msg {
|
||||
__le64 timestamp;
|
||||
__le32 can_id;
|
||||
u8 flags;
|
||||
union {
|
||||
u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
|
||||
u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
|
||||
} __packed;
|
||||
u8 data[CANFD_MAX_DLEN];
|
||||
} __packed;
|
||||
|
||||
#define ES58X_FD_CAN_RX_LEN \
|
||||
(offsetof(struct es58x_fd_rx_can_msg, data[CAN_MAX_DLEN]))
|
||||
#define ES58X_FD_CANFD_RX_LEN (sizeof(struct es58x_fd_rx_can_msg))
|
||||
|
||||
struct es58x_fd_echo_msg {
|
||||
__le64 timestamp;
|
||||
u8 packet_idx;
|
||||
} __packed;
|
||||
|
||||
struct es58x_fd_rx_event_msg {
|
||||
__le64 timestamp;
|
||||
__le32 can_id;
|
||||
u8 flags; /* type enum es58x_flag */
|
||||
u8 error_type; /* 0: event, 1: error */
|
||||
u8 error_code;
|
||||
u8 event_code;
|
||||
} __packed;
|
||||
|
||||
struct es58x_fd_tx_ack_msg {
|
||||
__le32 rx_cmd_ret_le32; /* type enum es58x_cmd_ret_code_u32 */
|
||||
__le16 tx_free_entries; /* Number of remaining free entries in the device TX queue */
|
||||
} __packed;
|
||||
|
||||
/**
|
||||
* struct es58x_fd_urb_cmd - Commands received from or sent to the
|
||||
* ES58X FD device.
|
||||
* @SOF: Start of Frame.
|
||||
* @cmd_type: Command Type (type: enum es58x_fd_cmd_type). The CRC
|
||||
* calculation starts at this position.
|
||||
* @cmd_id: Command ID (type: enum es58x_fd_cmd_id).
|
||||
* @channel_idx: Channel index starting at 0.
|
||||
* @msg_len: Length of the message, excluding CRC (i.e. length of the
|
||||
* union).
|
||||
* @tx_conf_msg: Channel configuration.
|
||||
* @tx_can_msg_buf: Concatenation of Tx messages. Type is "u8[]"
|
||||
* instead of "struct es58x_fd_tx_msg[]" because the structure
|
||||
* has a flexible size.
|
||||
* @rx_can_msg_buf: Concatenation Rx messages. Type is "u8[]" instead
|
||||
* of "struct es58x_fd_rx_msg[]" because the structure has a
|
||||
* flexible size.
|
||||
* @echo_msg: Array of echo messages (e.g. Tx messages being looped
|
||||
* back).
|
||||
* @rx_event_msg: Error or event message.
|
||||
* @tx_ack_msg: Tx acknowledgment message.
|
||||
* @timestamp: Timestamp reply.
|
||||
* @rx_cmd_ret_le32: Rx 32 bits return code (type: enum
|
||||
* es58x_cmd_ret_code_u32).
|
||||
* @raw_msg: Message raw payload.
|
||||
* @reserved_for_crc16_do_not_use: The structure ends with a
|
||||
* CRC16. Because the structures in above union are of variable
|
||||
* lengths, we can not predict the offset of the CRC in
|
||||
* advance. Use functions es58x_get_crc() and es58x_set_crc() to
|
||||
* manipulate it.
|
||||
*/
|
||||
struct es58x_fd_urb_cmd {
|
||||
__le16 SOF;
|
||||
u8 cmd_type;
|
||||
u8 cmd_id;
|
||||
u8 channel_idx;
|
||||
__le16 msg_len;
|
||||
|
||||
union {
|
||||
struct es58x_fd_tx_conf_msg tx_conf_msg;
|
||||
u8 tx_can_msg_buf[ES58X_FD_TX_BULK_MAX * ES58X_FD_CANFD_TX_LEN];
|
||||
u8 rx_can_msg_buf[ES58X_FD_RX_BULK_MAX * ES58X_FD_CANFD_RX_LEN];
|
||||
struct es58x_fd_echo_msg echo_msg[ES58X_FD_ECHO_BULK_MAX];
|
||||
struct es58x_fd_rx_event_msg rx_event_msg;
|
||||
struct es58x_fd_tx_ack_msg tx_ack_msg;
|
||||
__le64 timestamp;
|
||||
__le32 rx_cmd_ret_le32;
|
||||
u8 raw_msg[0];
|
||||
} __packed;
|
||||
|
||||
__le16 reserved_for_crc16_do_not_use;
|
||||
} __packed;
|
||||
|
||||
#define ES58X_FD_URB_CMD_HEADER_LEN (offsetof(struct es58x_fd_urb_cmd, raw_msg))
|
||||
#define ES58X_FD_TX_URB_CMD_MAX_LEN \
|
||||
ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, tx_can_msg_buf)
|
||||
#define ES58X_FD_RX_URB_CMD_MAX_LEN \
|
||||
ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, rx_can_msg_buf)
|
||||
|
||||
#endif /* __ES58X_FD_H__ */
|
||||
Loading…
Reference in New Issue
Block a user