2 * CAN driver for EMS Dr. Thomas Wuensche CPC-USB/ARM7
4 * Copyright (C) 2004-2009 EMS Dr. Thomas Wuensche
6 * This program is free software; you can redistribute it and/or modify it
7 * under the terms of the GNU General Public License as published
8 * by the Free Software Foundation; version 2 of the License.
10 * This program is distributed in the hope that it will be useful, but
11 * WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 * General Public License for more details.
15 * You should have received a copy of the GNU General Public License along
16 * with this program; if not, write to the Free Software Foundation, Inc.,
17 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
19 #include <linux/signal.h>
20 #include <linux/slab.h>
21 #include <linux/module.h>
22 #include <linux/netdevice.h>
23 #include <linux/usb.h>
25 #include <linux/can.h>
26 #include <linux/can/dev.h>
27 #include <linux/can/error.h>
29 MODULE_AUTHOR("Sebastian Haas <haas@ems-wuensche.com>");
30 MODULE_DESCRIPTION("CAN driver for EMS Dr. Thomas Wuensche CAN/USB interfaces");
31 MODULE_LICENSE("GPL v2");
33 /* Control-Values for CPC_Control() Command Subject Selection */
34 #define CONTR_CAN_MESSAGE 0x04
35 #define CONTR_CAN_STATE 0x0C
36 #define CONTR_BUS_ERROR 0x1C
38 /* Control Command Actions */
39 #define CONTR_CONT_OFF 0
40 #define CONTR_CONT_ON 1
43 /* Messages from CPC to PC */
44 #define CPC_MSG_TYPE_CAN_FRAME 1 /* CAN data frame */
45 #define CPC_MSG_TYPE_RTR_FRAME 8 /* CAN remote frame */
46 #define CPC_MSG_TYPE_CAN_PARAMS 12 /* Actual CAN parameters */
47 #define CPC_MSG_TYPE_CAN_STATE 14 /* CAN state message */
48 #define CPC_MSG_TYPE_EXT_CAN_FRAME 16 /* Extended CAN data frame */
49 #define CPC_MSG_TYPE_EXT_RTR_FRAME 17 /* Extended remote frame */
50 #define CPC_MSG_TYPE_CONTROL 19 /* change interface behavior */
51 #define CPC_MSG_TYPE_CONFIRM 20 /* command processed confirmation */
52 #define CPC_MSG_TYPE_OVERRUN 21 /* overrun events */
53 #define CPC_MSG_TYPE_CAN_FRAME_ERROR 23 /* detected bus errors */
54 #define CPC_MSG_TYPE_ERR_COUNTER 25 /* RX/TX error counter */
56 /* Messages from the PC to the CPC interface */
57 #define CPC_CMD_TYPE_CAN_FRAME 1 /* CAN data frame */
58 #define CPC_CMD_TYPE_CONTROL 3 /* control of interface behavior */
59 #define CPC_CMD_TYPE_CAN_PARAMS 6 /* set CAN parameters */
60 #define CPC_CMD_TYPE_RTR_FRAME 13 /* CAN remote frame */
61 #define CPC_CMD_TYPE_CAN_STATE 14 /* CAN state message */
62 #define CPC_CMD_TYPE_EXT_CAN_FRAME 15 /* Extended CAN data frame */
63 #define CPC_CMD_TYPE_EXT_RTR_FRAME 16 /* Extended CAN remote frame */
64 #define CPC_CMD_TYPE_CAN_EXIT 200 /* exit the CAN */
66 #define CPC_CMD_TYPE_INQ_ERR_COUNTER 25 /* request the CAN error counters */
67 #define CPC_CMD_TYPE_CLEAR_MSG_QUEUE 8 /* clear CPC_MSG queue */
68 #define CPC_CMD_TYPE_CLEAR_CMD_QUEUE 28 /* clear CPC_CMD queue */
70 #define CPC_CC_TYPE_SJA1000 2 /* Philips basic CAN controller */
72 #define CPC_CAN_ECODE_ERRFRAME 0x01 /* Ecode type */
75 #define CPC_OVR_EVENT_CAN 0x01
76 #define CPC_OVR_EVENT_CANSTATE 0x02
77 #define CPC_OVR_EVENT_BUSERROR 0x04
80 * If the CAN controller lost a message we indicate it with the highest bit
81 * set in the count field.
83 #define CPC_OVR_HW 0x80
85 /* Size of the "struct ems_cpc_msg" without the union */
86 #define CPC_MSG_HEADER_LEN 11
87 #define CPC_CAN_MSG_MIN_SIZE 5
89 /* Define these values to match your devices */
90 #define USB_CPCUSB_VENDOR_ID 0x12D6
92 #define USB_CPCUSB_ARM7_PRODUCT_ID 0x0444
94 /* Mode register NXP LPC2119/SJA1000 CAN Controller */
95 #define SJA1000_MOD_NORMAL 0x00
96 #define SJA1000_MOD_RM 0x01
98 /* ECC register NXP LPC2119/SJA1000 CAN Controller */
99 #define SJA1000_ECC_SEG 0x1F
100 #define SJA1000_ECC_DIR 0x20
101 #define SJA1000_ECC_ERR 0x06
102 #define SJA1000_ECC_BIT 0x00
103 #define SJA1000_ECC_FORM 0x40
104 #define SJA1000_ECC_STUFF 0x80
105 #define SJA1000_ECC_MASK 0xc0
107 /* Status register content */
108 #define SJA1000_SR_BS 0x80
109 #define SJA1000_SR_ES 0x40
111 #define SJA1000_DEFAULT_OUTPUT_CONTROL 0xDA
114 * The device actually uses a 16MHz clock to generate the CAN clock
115 * but it expects SJA1000 bit settings based on 8MHz (is internally
118 #define EMS_USB_ARM7_CLOCK 8000000
120 #define CPC_TX_QUEUE_TRIGGER_LOW 25
121 #define CPC_TX_QUEUE_TRIGGER_HIGH 35
124 * CAN-Message representation in a CPC_MSG. Message object type is
125 * CPC_MSG_TYPE_CAN_FRAME or CPC_MSG_TYPE_RTR_FRAME or
126 * CPC_MSG_TYPE_EXT_CAN_FRAME or CPC_MSG_TYPE_EXT_RTR_FRAME.
134 /* Representation of the CAN parameters for the SJA1000 controller */
135 struct cpc_sja1000_params {
150 /* CAN params message representation */
151 struct cpc_can_params {
154 /* Will support M16C CAN controller in the future */
156 struct cpc_sja1000_params sja1000;
160 /* Structure for confirmed message handling */
162 u8 error; /* error code */
165 /* Structure for overrun conditions */
171 /* SJA1000 CAN errors (compatible to NXP LPC2119) */
172 struct cpc_sja1000_can_error {
178 /* structure for CAN error conditions */
179 struct cpc_can_error {
185 /* Other controllers may also provide error code capture regs */
187 struct cpc_sja1000_can_error sja1000;
193 * Structure containing RX/TX error counter. This structure is used to request
194 * the values of the CAN controllers TX and RX error counter.
196 struct cpc_can_err_counter {
201 /* Main message type used between library and application */
202 struct __packed ems_cpc_msg {
203 u8 type; /* type of message */
204 u8 length; /* length of data within union 'msg' */
205 u8 msgid; /* confirmation handle */
206 __le32 ts_sec; /* timestamp in seconds */
207 __le32 ts_nsec; /* timestamp in nano seconds */
211 struct cpc_can_msg can_msg;
212 struct cpc_can_params can_params;
213 struct cpc_confirm confirmation;
214 struct cpc_overrun overrun;
215 struct cpc_can_error error;
216 struct cpc_can_err_counter err_counter;
222 * Table of devices that work with this driver
223 * NOTE: This driver supports only CPC-USB/ARM7 (LPC2119) yet.
225 static struct usb_device_id ems_usb_table[] = {
226 {USB_DEVICE(USB_CPCUSB_VENDOR_ID, USB_CPCUSB_ARM7_PRODUCT_ID)},
227 {} /* Terminating entry */
230 MODULE_DEVICE_TABLE(usb, ems_usb_table);
232 #define RX_BUFFER_SIZE 64
233 #define CPC_HEADER_SIZE 4
234 #define INTR_IN_BUFFER_SIZE 4
236 #define MAX_RX_URBS 10
237 #define MAX_TX_URBS 10
241 struct ems_tx_urb_context {
249 struct can_priv can; /* must be the first member */
251 struct sk_buff *echo_skb[MAX_TX_URBS];
253 struct usb_device *udev;
254 struct net_device *netdev;
256 atomic_t active_tx_urbs;
257 struct usb_anchor tx_submitted;
258 struct ems_tx_urb_context tx_contexts[MAX_TX_URBS];
260 struct usb_anchor rx_submitted;
262 struct urb *intr_urb;
267 unsigned int free_slots; /* remember number of available slots */
269 struct ems_cpc_msg active_params; /* active controller parameters */
272 static void ems_usb_read_interrupt_callback(struct urb *urb)
274 struct ems_usb *dev = urb->context;
275 struct net_device *netdev = dev->netdev;
278 if (!netif_device_present(netdev))
281 switch (urb->status) {
283 dev->free_slots = dev->intr_in_buffer[1];
284 if (dev->free_slots > CPC_TX_QUEUE_TRIGGER_HIGH &&
285 netif_queue_stopped(netdev))
286 netif_wake_queue(netdev);
289 case -ECONNRESET: /* unlink */
295 netdev_info(netdev, "Rx interrupt aborted %d\n", urb->status);
299 err = usb_submit_urb(urb, GFP_ATOMIC);
302 netif_device_detach(netdev);
304 netdev_err(netdev, "failed resubmitting intr urb: %d\n", err);
307 static void ems_usb_rx_can_msg(struct ems_usb *dev, struct ems_cpc_msg *msg)
309 struct can_frame *cf;
312 struct net_device_stats *stats = &dev->netdev->stats;
314 skb = alloc_can_skb(dev->netdev, &cf);
318 cf->can_id = le32_to_cpu(msg->msg.can_msg.id);
319 cf->can_dlc = get_can_dlc(msg->msg.can_msg.length & 0xF);
321 if (msg->type == CPC_MSG_TYPE_EXT_CAN_FRAME ||
322 msg->type == CPC_MSG_TYPE_EXT_RTR_FRAME)
323 cf->can_id |= CAN_EFF_FLAG;
325 if (msg->type == CPC_MSG_TYPE_RTR_FRAME ||
326 msg->type == CPC_MSG_TYPE_EXT_RTR_FRAME) {
327 cf->can_id |= CAN_RTR_FLAG;
329 for (i = 0; i < cf->can_dlc; i++)
330 cf->data[i] = msg->msg.can_msg.msg[i];
334 stats->rx_bytes += cf->can_dlc;
338 static void ems_usb_rx_err(struct ems_usb *dev, struct ems_cpc_msg *msg)
340 struct can_frame *cf;
342 struct net_device_stats *stats = &dev->netdev->stats;
344 skb = alloc_can_err_skb(dev->netdev, &cf);
348 if (msg->type == CPC_MSG_TYPE_CAN_STATE) {
349 u8 state = msg->msg.can_state;
351 if (state & SJA1000_SR_BS) {
352 dev->can.state = CAN_STATE_BUS_OFF;
353 cf->can_id |= CAN_ERR_BUSOFF;
355 dev->can.can_stats.bus_off++;
356 can_bus_off(dev->netdev);
357 } else if (state & SJA1000_SR_ES) {
358 dev->can.state = CAN_STATE_ERROR_WARNING;
359 dev->can.can_stats.error_warning++;
361 dev->can.state = CAN_STATE_ERROR_ACTIVE;
362 dev->can.can_stats.error_passive++;
364 } else if (msg->type == CPC_MSG_TYPE_CAN_FRAME_ERROR) {
365 u8 ecc = msg->msg.error.cc.regs.sja1000.ecc;
366 u8 txerr = msg->msg.error.cc.regs.sja1000.txerr;
367 u8 rxerr = msg->msg.error.cc.regs.sja1000.rxerr;
369 /* bus error interrupt */
370 dev->can.can_stats.bus_error++;
373 cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
375 switch (ecc & SJA1000_ECC_MASK) {
376 case SJA1000_ECC_BIT:
377 cf->data[2] |= CAN_ERR_PROT_BIT;
379 case SJA1000_ECC_FORM:
380 cf->data[2] |= CAN_ERR_PROT_FORM;
382 case SJA1000_ECC_STUFF:
383 cf->data[2] |= CAN_ERR_PROT_STUFF;
386 cf->data[3] = ecc & SJA1000_ECC_SEG;
390 /* Error occurred during transmission? */
391 if ((ecc & SJA1000_ECC_DIR) == 0)
392 cf->data[2] |= CAN_ERR_PROT_TX;
394 if (dev->can.state == CAN_STATE_ERROR_WARNING ||
395 dev->can.state == CAN_STATE_ERROR_PASSIVE) {
396 cf->data[1] = (txerr > rxerr) ?
397 CAN_ERR_CRTL_TX_PASSIVE : CAN_ERR_CRTL_RX_PASSIVE;
399 } else if (msg->type == CPC_MSG_TYPE_OVERRUN) {
400 cf->can_id |= CAN_ERR_CRTL;
401 cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
403 stats->rx_over_errors++;
408 stats->rx_bytes += cf->can_dlc;
413 * callback for bulk IN urb
415 static void ems_usb_read_bulk_callback(struct urb *urb)
417 struct ems_usb *dev = urb->context;
418 struct net_device *netdev;
421 netdev = dev->netdev;
423 if (!netif_device_present(netdev))
426 switch (urb->status) {
427 case 0: /* success */
434 netdev_info(netdev, "Rx URB aborted (%d)\n", urb->status);
438 if (urb->actual_length > CPC_HEADER_SIZE) {
439 struct ems_cpc_msg *msg;
440 u8 *ibuf = urb->transfer_buffer;
443 msg_count = ibuf[0] & ~0x80;
445 start = CPC_HEADER_SIZE;
448 msg = (struct ems_cpc_msg *)&ibuf[start];
451 case CPC_MSG_TYPE_CAN_STATE:
452 /* Process CAN state changes */
453 ems_usb_rx_err(dev, msg);
456 case CPC_MSG_TYPE_CAN_FRAME:
457 case CPC_MSG_TYPE_EXT_CAN_FRAME:
458 case CPC_MSG_TYPE_RTR_FRAME:
459 case CPC_MSG_TYPE_EXT_RTR_FRAME:
460 ems_usb_rx_can_msg(dev, msg);
463 case CPC_MSG_TYPE_CAN_FRAME_ERROR:
464 /* Process errorframe */
465 ems_usb_rx_err(dev, msg);
468 case CPC_MSG_TYPE_OVERRUN:
469 /* Message lost while receiving */
470 ems_usb_rx_err(dev, msg);
474 start += CPC_MSG_HEADER_LEN + msg->length;
477 if (start > urb->transfer_buffer_length) {
478 netdev_err(netdev, "format error\n");
485 usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 2),
486 urb->transfer_buffer, RX_BUFFER_SIZE,
487 ems_usb_read_bulk_callback, dev);
489 retval = usb_submit_urb(urb, GFP_ATOMIC);
491 if (retval == -ENODEV)
492 netif_device_detach(netdev);
495 "failed resubmitting read bulk urb: %d\n", retval);
499 * callback for bulk IN urb
501 static void ems_usb_write_bulk_callback(struct urb *urb)
503 struct ems_tx_urb_context *context = urb->context;
505 struct net_device *netdev;
510 netdev = dev->netdev;
512 /* free up our allocated buffer */
513 usb_free_coherent(urb->dev, urb->transfer_buffer_length,
514 urb->transfer_buffer, urb->transfer_dma);
516 atomic_dec(&dev->active_tx_urbs);
518 if (!netif_device_present(netdev))
522 netdev_info(netdev, "Tx URB aborted (%d)\n", urb->status);
524 netif_trans_update(netdev);
526 /* transmission complete interrupt */
527 netdev->stats.tx_packets++;
528 netdev->stats.tx_bytes += context->dlc;
530 can_get_echo_skb(netdev, context->echo_index);
532 /* Release context */
533 context->echo_index = MAX_TX_URBS;
538 * Send the given CPC command synchronously
540 static int ems_usb_command_msg(struct ems_usb *dev, struct ems_cpc_msg *msg)
545 memcpy(&dev->tx_msg_buffer[CPC_HEADER_SIZE], msg,
546 msg->length + CPC_MSG_HEADER_LEN);
549 memset(&dev->tx_msg_buffer[0], 0, CPC_HEADER_SIZE);
551 return usb_bulk_msg(dev->udev, usb_sndbulkpipe(dev->udev, 2),
552 &dev->tx_msg_buffer[0],
553 msg->length + CPC_MSG_HEADER_LEN + CPC_HEADER_SIZE,
554 &actual_length, 1000);
558 * Change CAN controllers' mode register
560 static int ems_usb_write_mode(struct ems_usb *dev, u8 mode)
562 dev->active_params.msg.can_params.cc_params.sja1000.mode = mode;
564 return ems_usb_command_msg(dev, &dev->active_params);
568 * Send a CPC_Control command to change behaviour when interface receives a CAN
569 * message, bus error or CAN state changed notifications.
571 static int ems_usb_control_cmd(struct ems_usb *dev, u8 val)
573 struct ems_cpc_msg cmd;
575 cmd.type = CPC_CMD_TYPE_CONTROL;
576 cmd.length = CPC_MSG_HEADER_LEN + 1;
580 cmd.msg.generic[0] = val;
582 return ems_usb_command_msg(dev, &cmd);
588 static int ems_usb_start(struct ems_usb *dev)
590 struct net_device *netdev = dev->netdev;
593 dev->intr_in_buffer[0] = 0;
594 dev->free_slots = 50; /* initial size */
596 for (i = 0; i < MAX_RX_URBS; i++) {
597 struct urb *urb = NULL;
600 /* create a URB, and a buffer for it */
601 urb = usb_alloc_urb(0, GFP_KERNEL);
607 buf = usb_alloc_coherent(dev->udev, RX_BUFFER_SIZE, GFP_KERNEL,
610 netdev_err(netdev, "No memory left for USB buffer\n");
616 usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 2),
618 ems_usb_read_bulk_callback, dev);
619 urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
620 usb_anchor_urb(urb, &dev->rx_submitted);
622 err = usb_submit_urb(urb, GFP_KERNEL);
624 usb_unanchor_urb(urb);
625 usb_free_coherent(dev->udev, RX_BUFFER_SIZE, buf,
631 /* Drop reference, USB core will take care of freeing it */
635 /* Did we submit any URBs */
637 netdev_warn(netdev, "couldn't setup read URBs\n");
641 /* Warn if we've couldn't transmit all the URBs */
643 netdev_warn(netdev, "rx performance may be slow\n");
645 /* Setup and start interrupt URB */
646 usb_fill_int_urb(dev->intr_urb, dev->udev,
647 usb_rcvintpipe(dev->udev, 1),
650 ems_usb_read_interrupt_callback, dev, 1);
652 err = usb_submit_urb(dev->intr_urb, GFP_KERNEL);
654 netdev_warn(netdev, "intr URB submit failed: %d\n", err);
659 /* CPC-USB will transfer received message to host */
660 err = ems_usb_control_cmd(dev, CONTR_CAN_MESSAGE | CONTR_CONT_ON);
664 /* CPC-USB will transfer CAN state changes to host */
665 err = ems_usb_control_cmd(dev, CONTR_CAN_STATE | CONTR_CONT_ON);
669 /* CPC-USB will transfer bus errors to host */
670 err = ems_usb_control_cmd(dev, CONTR_BUS_ERROR | CONTR_CONT_ON);
674 err = ems_usb_write_mode(dev, SJA1000_MOD_NORMAL);
678 dev->can.state = CAN_STATE_ERROR_ACTIVE;
683 netdev_warn(netdev, "couldn't submit control: %d\n", err);
688 static void unlink_all_urbs(struct ems_usb *dev)
692 usb_unlink_urb(dev->intr_urb);
694 usb_kill_anchored_urbs(&dev->rx_submitted);
696 usb_kill_anchored_urbs(&dev->tx_submitted);
697 atomic_set(&dev->active_tx_urbs, 0);
699 for (i = 0; i < MAX_TX_URBS; i++)
700 dev->tx_contexts[i].echo_index = MAX_TX_URBS;
703 static int ems_usb_open(struct net_device *netdev)
705 struct ems_usb *dev = netdev_priv(netdev);
708 err = ems_usb_write_mode(dev, SJA1000_MOD_RM);
713 err = open_candev(netdev);
717 /* finally start device */
718 err = ems_usb_start(dev);
721 netif_device_detach(dev->netdev);
723 netdev_warn(netdev, "couldn't start device: %d\n", err);
725 close_candev(netdev);
731 netif_start_queue(netdev);
736 static netdev_tx_t ems_usb_start_xmit(struct sk_buff *skb, struct net_device *netdev)
738 struct ems_usb *dev = netdev_priv(netdev);
739 struct ems_tx_urb_context *context = NULL;
740 struct net_device_stats *stats = &netdev->stats;
741 struct can_frame *cf = (struct can_frame *)skb->data;
742 struct ems_cpc_msg *msg;
746 size_t size = CPC_HEADER_SIZE + CPC_MSG_HEADER_LEN
747 + sizeof(struct cpc_can_msg);
749 if (can_dropped_invalid_skb(netdev, skb))
752 /* create a URB, and a buffer for it, and copy the data to the URB */
753 urb = usb_alloc_urb(0, GFP_ATOMIC);
757 buf = usb_alloc_coherent(dev->udev, size, GFP_ATOMIC, &urb->transfer_dma);
759 netdev_err(netdev, "No memory left for USB buffer\n");
764 msg = (struct ems_cpc_msg *)&buf[CPC_HEADER_SIZE];
766 msg->msg.can_msg.id = cpu_to_le32(cf->can_id & CAN_ERR_MASK);
767 msg->msg.can_msg.length = cf->can_dlc;
769 if (cf->can_id & CAN_RTR_FLAG) {
770 msg->type = cf->can_id & CAN_EFF_FLAG ?
771 CPC_CMD_TYPE_EXT_RTR_FRAME : CPC_CMD_TYPE_RTR_FRAME;
773 msg->length = CPC_CAN_MSG_MIN_SIZE;
775 msg->type = cf->can_id & CAN_EFF_FLAG ?
776 CPC_CMD_TYPE_EXT_CAN_FRAME : CPC_CMD_TYPE_CAN_FRAME;
778 for (i = 0; i < cf->can_dlc; i++)
779 msg->msg.can_msg.msg[i] = cf->data[i];
781 msg->length = CPC_CAN_MSG_MIN_SIZE + cf->can_dlc;
784 for (i = 0; i < MAX_TX_URBS; i++) {
785 if (dev->tx_contexts[i].echo_index == MAX_TX_URBS) {
786 context = &dev->tx_contexts[i];
792 * May never happen! When this happens we'd more URBs in flight as
793 * allowed (MAX_TX_URBS).
796 usb_free_coherent(dev->udev, size, buf, urb->transfer_dma);
799 netdev_warn(netdev, "couldn't find free context\n");
801 return NETDEV_TX_BUSY;
805 context->echo_index = i;
806 context->dlc = cf->can_dlc;
808 usb_fill_bulk_urb(urb, dev->udev, usb_sndbulkpipe(dev->udev, 2), buf,
809 size, ems_usb_write_bulk_callback, context);
810 urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
811 usb_anchor_urb(urb, &dev->tx_submitted);
813 can_put_echo_skb(skb, netdev, context->echo_index);
815 atomic_inc(&dev->active_tx_urbs);
817 err = usb_submit_urb(urb, GFP_ATOMIC);
819 can_free_echo_skb(netdev, context->echo_index);
821 usb_unanchor_urb(urb);
822 usb_free_coherent(dev->udev, size, buf, urb->transfer_dma);
825 atomic_dec(&dev->active_tx_urbs);
827 if (err == -ENODEV) {
828 netif_device_detach(netdev);
830 netdev_warn(netdev, "failed tx_urb %d\n", err);
835 netif_trans_update(netdev);
837 /* Slow down tx path */
838 if (atomic_read(&dev->active_tx_urbs) >= MAX_TX_URBS ||
839 dev->free_slots < CPC_TX_QUEUE_TRIGGER_LOW) {
840 netif_stop_queue(netdev);
845 * Release our reference to this URB, the USB core will eventually free
859 static int ems_usb_close(struct net_device *netdev)
861 struct ems_usb *dev = netdev_priv(netdev);
864 unlink_all_urbs(dev);
866 netif_stop_queue(netdev);
868 /* Set CAN controller to reset mode */
869 if (ems_usb_write_mode(dev, SJA1000_MOD_RM))
870 netdev_warn(netdev, "couldn't stop device");
872 close_candev(netdev);
877 static const struct net_device_ops ems_usb_netdev_ops = {
878 .ndo_open = ems_usb_open,
879 .ndo_stop = ems_usb_close,
880 .ndo_start_xmit = ems_usb_start_xmit,
881 .ndo_change_mtu = can_change_mtu,
884 static const struct can_bittiming_const ems_usb_bittiming_const = {
896 static int ems_usb_set_mode(struct net_device *netdev, enum can_mode mode)
898 struct ems_usb *dev = netdev_priv(netdev);
902 if (ems_usb_write_mode(dev, SJA1000_MOD_NORMAL))
903 netdev_warn(netdev, "couldn't start device");
905 if (netif_queue_stopped(netdev))
906 netif_wake_queue(netdev);
916 static int ems_usb_set_bittiming(struct net_device *netdev)
918 struct ems_usb *dev = netdev_priv(netdev);
919 struct can_bittiming *bt = &dev->can.bittiming;
922 btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6);
923 btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) |
924 (((bt->phase_seg2 - 1) & 0x7) << 4);
925 if (dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
928 netdev_info(netdev, "setting BTR0=0x%02x BTR1=0x%02x\n", btr0, btr1);
930 dev->active_params.msg.can_params.cc_params.sja1000.btr0 = btr0;
931 dev->active_params.msg.can_params.cc_params.sja1000.btr1 = btr1;
933 return ems_usb_command_msg(dev, &dev->active_params);
936 static void init_params_sja1000(struct ems_cpc_msg *msg)
938 struct cpc_sja1000_params *sja1000 =
939 &msg->msg.can_params.cc_params.sja1000;
941 msg->type = CPC_CMD_TYPE_CAN_PARAMS;
942 msg->length = sizeof(struct cpc_can_params);
945 msg->msg.can_params.cc_type = CPC_CC_TYPE_SJA1000;
947 /* Acceptance filter open */
948 sja1000->acc_code0 = 0x00;
949 sja1000->acc_code1 = 0x00;
950 sja1000->acc_code2 = 0x00;
951 sja1000->acc_code3 = 0x00;
953 /* Acceptance filter open */
954 sja1000->acc_mask0 = 0xFF;
955 sja1000->acc_mask1 = 0xFF;
956 sja1000->acc_mask2 = 0xFF;
957 sja1000->acc_mask3 = 0xFF;
962 sja1000->outp_contr = SJA1000_DEFAULT_OUTPUT_CONTROL;
963 sja1000->mode = SJA1000_MOD_RM;
967 * probe function for new CPC-USB devices
969 static int ems_usb_probe(struct usb_interface *intf,
970 const struct usb_device_id *id)
972 struct net_device *netdev;
974 int i, err = -ENOMEM;
976 netdev = alloc_candev(sizeof(struct ems_usb), MAX_TX_URBS);
978 dev_err(&intf->dev, "ems_usb: Couldn't alloc candev\n");
982 dev = netdev_priv(netdev);
984 dev->udev = interface_to_usbdev(intf);
985 dev->netdev = netdev;
987 dev->can.state = CAN_STATE_STOPPED;
988 dev->can.clock.freq = EMS_USB_ARM7_CLOCK;
989 dev->can.bittiming_const = &ems_usb_bittiming_const;
990 dev->can.do_set_bittiming = ems_usb_set_bittiming;
991 dev->can.do_set_mode = ems_usb_set_mode;
992 dev->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES;
994 netdev->netdev_ops = &ems_usb_netdev_ops;
996 netdev->flags |= IFF_ECHO; /* we support local echo */
998 init_usb_anchor(&dev->rx_submitted);
1000 init_usb_anchor(&dev->tx_submitted);
1001 atomic_set(&dev->active_tx_urbs, 0);
1003 for (i = 0; i < MAX_TX_URBS; i++)
1004 dev->tx_contexts[i].echo_index = MAX_TX_URBS;
1006 dev->intr_urb = usb_alloc_urb(0, GFP_KERNEL);
1008 goto cleanup_candev;
1010 dev->intr_in_buffer = kzalloc(INTR_IN_BUFFER_SIZE, GFP_KERNEL);
1011 if (!dev->intr_in_buffer)
1012 goto cleanup_intr_urb;
1014 dev->tx_msg_buffer = kzalloc(CPC_HEADER_SIZE +
1015 sizeof(struct ems_cpc_msg), GFP_KERNEL);
1016 if (!dev->tx_msg_buffer)
1017 goto cleanup_intr_in_buffer;
1019 usb_set_intfdata(intf, dev);
1021 SET_NETDEV_DEV(netdev, &intf->dev);
1023 init_params_sja1000(&dev->active_params);
1025 err = ems_usb_command_msg(dev, &dev->active_params);
1027 netdev_err(netdev, "couldn't initialize controller: %d\n", err);
1028 goto cleanup_tx_msg_buffer;
1031 err = register_candev(netdev);
1033 netdev_err(netdev, "couldn't register CAN device: %d\n", err);
1034 goto cleanup_tx_msg_buffer;
1039 cleanup_tx_msg_buffer:
1040 kfree(dev->tx_msg_buffer);
1042 cleanup_intr_in_buffer:
1043 kfree(dev->intr_in_buffer);
1046 usb_free_urb(dev->intr_urb);
1049 free_candev(netdev);
1055 * called by the usb core when the device is removed from the system
1057 static void ems_usb_disconnect(struct usb_interface *intf)
1059 struct ems_usb *dev = usb_get_intfdata(intf);
1061 usb_set_intfdata(intf, NULL);
1064 unregister_netdev(dev->netdev);
1065 free_candev(dev->netdev);
1067 unlink_all_urbs(dev);
1069 usb_free_urb(dev->intr_urb);
1071 kfree(dev->intr_in_buffer);
1075 /* usb specific object needed to register this driver with the usb subsystem */
1076 static struct usb_driver ems_usb_driver = {
1078 .probe = ems_usb_probe,
1079 .disconnect = ems_usb_disconnect,
1080 .id_table = ems_usb_table,
1083 module_usb_driver(ems_usb_driver);