[PATCH 1/1] can: esd_usb: Add support for esd CAN-USB/3
From: Frank Jungclaus
Date: Fri Jul 28 2023 - 11:09:17 EST
Add support for esd CAN-USB/3 and CAN FD to esd_usb.c.
Signed-off-by: Frank Jungclaus <frank.jungclaus@xxxxxx>
---
drivers/net/can/usb/esd_usb.c | 275 ++++++++++++++++++++++++++++++----
1 file changed, 244 insertions(+), 31 deletions(-)
diff --git a/drivers/net/can/usb/esd_usb.c b/drivers/net/can/usb/esd_usb.c
index 6201637ac0ff..41a0e4261d15 100644
--- a/drivers/net/can/usb/esd_usb.c
+++ b/drivers/net/can/usb/esd_usb.c
@@ -1,6 +1,6 @@
// SPDX-License-Identifier: GPL-2.0-only
/*
- * CAN driver for esd electronics gmbh CAN-USB/2 and CAN-USB/Micro
+ * CAN driver for esd electronics gmbh CAN-USB/2, CAN-USB/3 and CAN-USB/Micro
*
* Copyright (C) 2010-2012 esd electronic system design gmbh, Matthias Fuchs <socketcan@xxxxxx>
* Copyright (C) 2022-2023 esd electronics gmbh, Frank Jungclaus <frank.jungclaus@xxxxxx>
@@ -19,17 +19,19 @@
MODULE_AUTHOR("Matthias Fuchs <socketcan@xxxxxx>");
MODULE_AUTHOR("Frank Jungclaus <frank.jungclaus@xxxxxx>");
-MODULE_DESCRIPTION("CAN driver for esd electronics gmbh CAN-USB/2 and CAN-USB/Micro interfaces");
+MODULE_DESCRIPTION("CAN driver for esd electronics gmbh CAN-USB/2, CAN-USB/3 and CAN-USB/Micro interfaces");
MODULE_LICENSE("GPL v2");
/* USB vendor and product ID */
#define ESD_USB_ESDGMBH_VENDOR_ID 0x0ab4
#define ESD_USB_CANUSB2_PRODUCT_ID 0x0010
#define ESD_USB_CANUSBM_PRODUCT_ID 0x0011
+#define ESD_USB_CANUSB3_PRODUCT_ID 0x0014
/* CAN controller clock frequencies */
#define ESD_USB_2_CAN_CLOCK (60 * MEGA) /* Hz */
#define ESD_USB_M_CAN_CLOCK (36 * MEGA) /* Hz */
+#define ESD_USB_3_CAN_CLOCK (80 * MEGA) /* Hz */
/* Maximum number of CAN nets */
#define ESD_USB_MAX_NETS 2
@@ -44,6 +46,9 @@ MODULE_LICENSE("GPL v2");
/* esd CAN message flags - dlc field */
#define ESD_USB_RTR BIT(4)
+#define ESD_USB_NO_BRS BIT(4)
+#define ESD_USB_ESI BIT(5)
+#define ESD_USB_FD BIT(7)
/* esd CAN message flags - id field */
#define ESD_USB_EXTID BIT(29)
@@ -65,6 +70,9 @@ MODULE_LICENSE("GPL v2");
#define ESD_USB_M_SJW_SHIFT 24
#define ESD_USB_TRIPLE_SAMPLES BIT(23)
+/* Transmitter Delay Compensation */
+#define ESD_USB_3_TDC_MODE_AUTO 0
+
/* esd IDADD message */
#define ESD_USB_ID_ENABLE BIT(7)
#define ESD_USB_MAX_ID_SEGMENT 64
@@ -88,6 +96,21 @@ MODULE_LICENSE("GPL v2");
#define ESD_USB_MAX_RX_URBS 4
#define ESD_USB_MAX_TX_URBS 16 /* must be power of 2 */
+/* Modes for CAN-USB/3, to be used for esd_usb_3_set_baudrate_msg_x.mode */
+#define ESD_USB_3_BAUDRATE_MODE_DISABLE 0 /* remove from bus */
+#define ESD_USB_3_BAUDRATE_MODE_INDEX 1 /* ESD (CiA) bit rate idx */
+#define ESD_USB_3_BAUDRATE_MODE_BTR_CTRL 2 /* BTR values (controller)*/
+#define ESD_USB_3_BAUDRATE_MODE_BTR_CANONICAL 3 /* BTR values (canonical) */
+#define ESD_USB_3_BAUDRATE_MODE_NUM 4 /* numerical bit rate */
+#define ESD_USB_3_BAUDRATE_MODE_AUTOBAUD 5 /* autobaud */
+
+/* Flags for CAN-USB/3, to be used for esd_usb_3_set_baudrate_msg_x.flags */
+#define ESD_USB_3_BAUDRATE_FLAG_FD BIT(0) /* enable CAN FD mode */
+#define ESD_USB_3_BAUDRATE_FLAG_LOM BIT(1) /* enable listen only mode */
+#define ESD_USB_3_BAUDRATE_FLAG_STM BIT(2) /* enable self test mode */
+#define ESD_USB_3_BAUDRATE_FLAG_TRS BIT(3) /* enable triple sampling */
+#define ESD_USB_3_BAUDRATE_FLAG_TXP BIT(4) /* enable transmit pause */
+
struct esd_usb_header_msg {
u8 len; /* total message length in 32bit words */
u8 cmd;
@@ -122,6 +145,7 @@ struct esd_usb_rx_msg {
__le32 id; /* upper 3 bits contain flags */
union {
u8 data[CAN_MAX_DLEN];
+ u8 data_fd[CANFD_MAX_DLEN];
struct {
u8 status; /* CAN Controller Status */
u8 ecc; /* Error Capture Register */
@@ -138,7 +162,10 @@ struct esd_usb_tx_msg {
u8 dlc;
u32 hnd; /* opaque handle, not used by device */
__le32 id; /* upper 3 bits contain flags */
- u8 data[CAN_MAX_DLEN];
+ union {
+ u8 data[CAN_MAX_DLEN];
+ u8 data_fd[CANFD_MAX_DLEN];
+ };
};
struct esd_usb_tx_done_msg {
@@ -166,6 +193,50 @@ struct esd_usb_set_baudrate_msg {
__le32 baud;
};
+/* CAN-USB/3 baudrate configuration, used for nominal as well as for data bit rate */
+struct esd_usb_3_baudrate_cfg {
+ __le16 brp; /* bit rate pre-scaler */
+ __le16 tseg1; /* time segment before sample point */
+ __le16 tseg2; /* time segment after sample point */
+ __le16 sjw; /* synchronization jump Width */
+};
+
+/* In principle, the esd CAN-USB/3 supports Transmitter Delay Compensation (TDC),
+ * but currently only the automatic TDC mode is supported by this driver.
+ * An implementation for manual TDC configuration will follow.
+ *
+ * For information about struct esd_usb_3_tdc_cfg, see
+ * NTCAN Application Developers Manual, 6.2.25 NTCAN_TDC_CFG + related chapters
+ * https://esd.eu/fileadmin/esd/docs/manuals/NTCAN_Part1_Function_API_Manual_en_56.pdf
+ */
+struct esd_usb_3_tdc_cfg {
+ u8 tdc_mode; /* transmitter delay compensation mode */
+ u8 ssp_offset; /* secondary sample point offset in mtq */
+ s8 ssp_shift; /* secondary sample point shift in mtq */
+ u8 tdc_filter; /* TDC filter in mtq */
+};
+
+/* Extended version of the above set_baudrate_msg for a CAN-USB/3
+ * to define the CAN bit timing configuration of the CAN controller in
+ * CAN FD mode as well as in Classical CAN mode.
+ *
+ * The payload of this command is a NTCAN_BAUDRATE_X structure according to
+ * esd electronics gmbh, NTCAN Application Developers Manual, 6.2.15 NTCAN_BAUDRATE_X
+ * https://esd.eu/fileadmin/esd/docs/manuals/NTCAN_Part1_Function_API_Manual_en_56.pdf
+ */
+struct esd_usb_3_set_baudrate_msg_x {
+ u8 len; /* total message length in 32bit words */
+ u8 cmd;
+ u8 net;
+ u8 rsvd; /*reserved */
+ /* Payload ... */
+ __le16 mode; /* mode word, see ESD_USB_3_BAUDRATE_MODE_xxx */
+ __le16 flags; /* control flags, see ESD_USB_3_BAUDRATE_FLAG_xxx */
+ struct esd_usb_3_tdc_cfg tdc; /* TDC configuration */
+ struct esd_usb_3_baudrate_cfg nom; /* nominal bit rate */
+ struct esd_usb_3_baudrate_cfg data; /* data bit rate */
+};
+
/* Main message type used between library and application */
union __packed esd_usb_msg {
struct esd_usb_header_msg hdr;
@@ -175,12 +246,14 @@ union __packed esd_usb_msg {
struct esd_usb_tx_msg tx;
struct esd_usb_tx_done_msg txdone;
struct esd_usb_set_baudrate_msg setbaud;
+ struct esd_usb_3_set_baudrate_msg_x setbaud_x;
struct esd_usb_id_filter_msg filter;
};
static struct usb_device_id esd_usb_table[] = {
{USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSB2_PRODUCT_ID)},
{USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSBM_PRODUCT_ID)},
+ {USB_DEVICE(ESD_USB_ESDGMBH_VENDOR_ID, ESD_USB_CANUSB3_PRODUCT_ID)},
{}
};
MODULE_DEVICE_TABLE(usb, esd_usb_table);
@@ -321,9 +394,10 @@ static void esd_usb_rx_can_msg(struct esd_usb_net_priv *priv,
{
struct net_device_stats *stats = &priv->netdev->stats;
struct can_frame *cf;
+ struct canfd_frame *cfd;
struct sk_buff *skb;
- int i;
u32 id;
+ u8 len;
if (!netif_device_present(priv->netdev))
return;
@@ -333,27 +407,42 @@ static void esd_usb_rx_can_msg(struct esd_usb_net_priv *priv,
if (id & ESD_USB_EVENT) {
esd_usb_rx_event(priv, msg);
} else {
- skb = alloc_can_skb(priv->netdev, &cf);
+ if (msg->rx.dlc & ESD_USB_FD) {
+ skb = alloc_canfd_skb(priv->netdev, &cfd);
+ } else {
+ skb = alloc_can_skb(priv->netdev, &cf);
+ cfd = (struct canfd_frame *)cf;
+ }
+
if (skb == NULL) {
stats->rx_dropped++;
return;
}
- cf->can_id = id & ESD_USB_IDMASK;
- can_frame_set_cc_len(cf, msg->rx.dlc & ~ESD_USB_RTR,
- priv->can.ctrlmode);
-
- if (id & ESD_USB_EXTID)
- cf->can_id |= CAN_EFF_FLAG;
+ cfd->can_id = id & ESD_USB_IDMASK;
- if (msg->rx.dlc & ESD_USB_RTR) {
- cf->can_id |= CAN_RTR_FLAG;
+ if (msg->rx.dlc & ESD_USB_FD) {
+ /* masking by 0x0F is already done within can_fd_dlc2len() */
+ cfd->len = can_fd_dlc2len(msg->rx.dlc);
+ len = cfd->len;
+ if ((msg->rx.dlc & ESD_USB_NO_BRS) == 0)
+ cfd->flags |= CANFD_BRS;
+ if (msg->rx.dlc & ESD_USB_ESI)
+ cfd->flags |= CANFD_ESI;
} else {
- for (i = 0; i < cf->len; i++)
- cf->data[i] = msg->rx.data[i];
-
- stats->rx_bytes += cf->len;
+ can_frame_set_cc_len(cf, msg->rx.dlc & ~ESD_USB_RTR, priv->can.ctrlmode);
+ len = cf->len;
+ if (msg->rx.dlc & ESD_USB_RTR) {
+ cf->can_id |= CAN_RTR_FLAG;
+ len = 0;
+ }
}
+
+ if (id & ESD_USB_EXTID)
+ cfd->can_id |= CAN_EFF_FLAG;
+
+ memcpy(cfd->data, msg->rx.data_fd, len);
+ stats->rx_bytes += len;
stats->rx_packets++;
netif_rx(skb);
@@ -728,7 +817,7 @@ static netdev_tx_t esd_usb_start_xmit(struct sk_buff *skb,
struct esd_usb *dev = priv->usb;
struct esd_tx_urb_context *context = NULL;
struct net_device_stats *stats = &netdev->stats;
- struct can_frame *cf = (struct can_frame *)skb->data;
+ struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
union esd_usb_msg *msg;
struct urb *urb;
u8 *buf;
@@ -762,20 +851,29 @@ static netdev_tx_t esd_usb_start_xmit(struct sk_buff *skb,
msg->hdr.len = offsetof(struct esd_usb_tx_msg, data) / sizeof(u32);
msg->hdr.cmd = ESD_USB_CMD_CAN_TX;
msg->tx.net = priv->index;
- msg->tx.dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
- msg->tx.id = cpu_to_le32(cf->can_id & CAN_ERR_MASK);
- if (cf->can_id & CAN_RTR_FLAG)
- msg->tx.dlc |= ESD_USB_RTR;
+ if (can_is_canfd_skb(skb)) {
+ msg->tx.dlc = can_fd_len2dlc(cfd->len);
+ msg->tx.dlc |= ESD_USB_FD;
+
+ if ((cfd->flags & CANFD_BRS) == 0)
+ msg->tx.dlc |= ESD_USB_NO_BRS;
+ } else {
+ msg->tx.dlc = can_get_cc_dlc((struct can_frame *)cfd, priv->can.ctrlmode);
+
+ if (cfd->can_id & CAN_RTR_FLAG)
+ msg->tx.dlc |= ESD_USB_RTR;
+ }
+
+ msg->tx.id = cpu_to_le32(cfd->can_id & CAN_ERR_MASK);
- if (cf->can_id & CAN_EFF_FLAG)
+ if (cfd->can_id & CAN_EFF_FLAG)
msg->tx.id |= cpu_to_le32(ESD_USB_EXTID);
- for (i = 0; i < cf->len; i++)
- msg->tx.data[i] = cf->data[i];
+ memcpy(msg->tx.data_fd, cfd->data, cfd->len);
/* round up, then divide by 4 to add the payload length as # of 32bit words */
- msg->hdr.len += DIV_ROUND_UP(cf->len, sizeof(u32));
+ msg->hdr.len += DIV_ROUND_UP(cfd->len, sizeof(u32));
for (i = 0; i < ESD_USB_MAX_TX_URBS; i++) {
if (priv->tx_contexts[i].echo_index == ESD_USB_MAX_TX_URBS) {
@@ -962,6 +1060,105 @@ static int esd_usb_2_set_bittiming(struct net_device *netdev)
return err;
}
+/* Nominal bittiming constants, see
+ * Microchip SAM E70/S70/V70/V71, Data Sheet, Rev. G - 07/2022
+ * 48.6.8 MCAN Nominal Bit Timing and Prescaler Register
+ */
+static const struct can_bittiming_const esd_usb_3_nom_bittiming_const = {
+ .name = "esd_usb_3",
+ .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, see
+ * Microchip SAM E70/S70/V70/V71, Data Sheet, Rev. G - 07/2022
+ * 48.6.4 MCAN Data Bit Timing and Prescaler Register
+ */
+static const struct can_bittiming_const esd_usb_3_data_bittiming_const = {
+ .name = "esd_usb_3",
+ .tseg1_min = 2,
+ .tseg1_max = 32,
+ .tseg2_min = 1,
+ .tseg2_max = 16,
+ .sjw_max = 8,
+ .brp_min = 1,
+ .brp_max = 32,
+ .brp_inc = 1,
+};
+
+static int esd_usb_3_set_bittiming(struct net_device *netdev)
+{
+ const struct can_bittiming_const *nom_btc = &esd_usb_3_nom_bittiming_const;
+ const struct can_bittiming_const *data_btc = &esd_usb_3_data_bittiming_const;
+ struct esd_usb_net_priv *priv = netdev_priv(netdev);
+ struct can_bittiming *nom_bt = &priv->can.bittiming;
+ struct can_bittiming *data_bt = &priv->can.data_bittiming;
+ struct esd_usb_3_set_baudrate_msg_x *baud_x;
+ union esd_usb_msg *msg;
+ u16 flags = 0;
+ int err;
+
+ msg = kmalloc(sizeof(*msg), GFP_KERNEL);
+ if (!msg)
+ return -ENOMEM;
+
+ baud_x = &msg->setbaud_x;
+
+ /* Canonical is the most reasonable mode for SocketCAN on CAN-USB/3 ... */
+ baud_x->mode = cpu_to_le16(ESD_USB_3_BAUDRATE_MODE_BTR_CANONICAL);
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
+ flags |= ESD_USB_3_BAUDRATE_FLAG_LOM;
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
+ flags |= ESD_USB_3_BAUDRATE_FLAG_TRS;
+
+ baud_x->nom.brp = cpu_to_le16(nom_bt->brp & (nom_btc->brp_max - 1));
+ baud_x->nom.sjw = cpu_to_le16(nom_bt->sjw & (nom_btc->sjw_max - 1));
+ baud_x->nom.tseg1 = cpu_to_le16((nom_bt->prop_seg + nom_bt->phase_seg1)
+ & (nom_btc->tseg1_max - 1));
+ baud_x->nom.tseg2 = cpu_to_le16(nom_bt->phase_seg2 & (nom_btc->tseg2_max - 1));
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
+ baud_x->data.brp = cpu_to_le16(data_bt->brp & (data_btc->brp_max - 1));
+ baud_x->data.sjw = cpu_to_le16(data_bt->sjw & (data_btc->sjw_max - 1));
+ baud_x->data.tseg1 = cpu_to_le16((data_bt->prop_seg + data_bt->phase_seg1)
+ & (data_btc->tseg1_max - 1));
+ baud_x->data.tseg2 = cpu_to_le16(data_bt->phase_seg2 & (data_btc->tseg2_max - 1));
+ flags |= ESD_USB_3_BAUDRATE_FLAG_FD;
+ }
+
+ /* Currently this driver only supports the automatic TDC mode */
+ baud_x->tdc.tdc_mode = ESD_USB_3_TDC_MODE_AUTO;
+ baud_x->tdc.ssp_offset = 0;
+ baud_x->tdc.ssp_shift = 0;
+ baud_x->tdc.tdc_filter = 0;
+
+ baud_x->flags = cpu_to_le16(flags);
+ baud_x->net = priv->index;
+ baud_x->rsvd = 0;
+
+ /* set len as # of 32bit words */
+ msg->hdr.len = sizeof(struct esd_usb_3_set_baudrate_msg_x) / sizeof(u32);
+ msg->hdr.cmd = ESD_USB_CMD_SETBAUD;
+
+ netdev_dbg(netdev,
+ "ctrlmode=%#x/%#x, esd-net=%u, esd-mode=%#x, esd-flags=%#x\n",
+ priv->can.ctrlmode, priv->can.ctrlmode_supported,
+ priv->index, le16_to_cpu(baud_x->mode), flags);
+
+ err = esd_usb_send_msg(priv->usb, msg);
+
+ kfree(msg);
+ return err;
+}
+
static int esd_usb_get_berr_counter(const struct net_device *netdev,
struct can_berr_counter *bec)
{
@@ -1019,16 +1216,32 @@ static int esd_usb_probe_one_net(struct usb_interface *intf, int index)
CAN_CTRLMODE_CC_LEN8_DLC |
CAN_CTRLMODE_BERR_REPORTING;
- if (le16_to_cpu(dev->udev->descriptor.idProduct) ==
- ESD_USB_CANUSBM_PRODUCT_ID)
+ switch (le16_to_cpu(dev->udev->descriptor.idProduct)) {
+ case ESD_USB_CANUSB3_PRODUCT_ID:
+ priv->can.clock.freq = ESD_USB_3_CAN_CLOCK;
+ priv->can.ctrlmode_supported |= CAN_CTRLMODE_3_SAMPLES;
+ priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
+ priv->can.bittiming_const = &esd_usb_3_nom_bittiming_const;
+ priv->can.data_bittiming_const = &esd_usb_3_data_bittiming_const;
+ priv->can.do_set_bittiming = esd_usb_3_set_bittiming;
+ priv->can.do_set_data_bittiming = esd_usb_3_set_bittiming;
+ break;
+
+ case ESD_USB_CANUSBM_PRODUCT_ID:
priv->can.clock.freq = ESD_USB_M_CAN_CLOCK;
- else {
+ priv->can.bittiming_const = &esd_usb_2_bittiming_const;
+ priv->can.do_set_bittiming = esd_usb_2_set_bittiming;
+ break;
+
+ case ESD_USB_CANUSB2_PRODUCT_ID:
+ default:
priv->can.clock.freq = ESD_USB_2_CAN_CLOCK;
priv->can.ctrlmode_supported |= CAN_CTRLMODE_3_SAMPLES;
+ priv->can.bittiming_const = &esd_usb_2_bittiming_const;
+ priv->can.do_set_bittiming = esd_usb_2_set_bittiming;
+ break;
}
- priv->can.bittiming_const = &esd_usb_2_bittiming_const;
- priv->can.do_set_bittiming = esd_usb_2_set_bittiming;
priv->can.do_set_mode = esd_usb_set_mode;
priv->can.do_get_berr_counter = esd_usb_get_berr_counter;
--
2.25.1