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path: root/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
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Diffstat (limited to 'drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c')
-rw-r--r--drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c239
1 files changed, 147 insertions, 92 deletions
diff --git a/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c b/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
index c7ba768dfe17..a59f20dad692 100644
--- a/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
+++ b/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
@@ -10,9 +10,9 @@
* - 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/bitfield.h>
#include <linux/completion.h>
#include <linux/device.h>
#include <linux/gfp.h>
@@ -68,6 +68,8 @@ static const struct kvaser_usb_dev_cfg kvaser_usb_hydra_dev_cfg_rt;
#define CMD_SET_BUSPARAMS_RESP 85
#define CMD_GET_CAPABILITIES_REQ 95
#define CMD_GET_CAPABILITIES_RESP 96
+#define CMD_LED_ACTION_REQ 101
+#define CMD_LED_ACTION_RESP 102
#define CMD_RX_MESSAGE 106
#define CMD_MAP_CHANNEL_REQ 200
#define CMD_MAP_CHANNEL_RESP 201
@@ -112,7 +114,7 @@ struct kvaser_cmd_card_info {
__le32 clock_res;
__le32 mfg_date;
__le32 ean[2];
- u8 hw_version;
+ u8 hw_revision;
u8 usb_mode;
u8 hw_type;
u8 reserved0;
@@ -218,6 +220,22 @@ struct kvaser_cmd_get_busparams_res {
u8 reserved[20];
} __packed;
+/* The device has two LEDs per CAN channel
+ * The LSB of action field controls the state:
+ * 0 = ON
+ * 1 = OFF
+ * The remaining bits of action field is the LED index
+ */
+#define KVASER_USB_HYDRA_LED_IDX_MASK GENMASK(31, 1)
+#define KVASER_USB_HYDRA_LED_YELLOW_CH0_IDX 3
+#define KVASER_USB_HYDRA_LEDS_PER_CHANNEL 2
+struct kvaser_cmd_led_action_req {
+ u8 action;
+ u8 padding;
+ __le16 duration_ms;
+ u8 reserved[24];
+} __packed;
+
/* Ctrl modes */
#define KVASER_USB_HYDRA_CTRLMODE_NORMAL 0x01
#define KVASER_USB_HYDRA_CTRLMODE_LISTEN 0x02
@@ -261,6 +279,15 @@ struct kvaser_cmd_tx_can {
u8 reserved[11];
} __packed;
+struct kvaser_cmd_tx_ack {
+ __le32 id;
+ u8 data[8];
+ u8 dlc;
+ u8 flags;
+ __le16 timestamp[3];
+ u8 reserved0[8];
+} __packed;
+
struct kvaser_cmd_header {
u8 cmd_no;
/* The destination HE address is stored in 0..5 of he_addr.
@@ -291,12 +318,15 @@ struct kvaser_cmd {
struct kvaser_cmd_get_busparams_req get_busparams_req;
struct kvaser_cmd_get_busparams_res get_busparams_res;
+ struct kvaser_cmd_led_action_req led_action_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;
+ struct kvaser_cmd_tx_ack tx_ack;
} __packed;
} __packed;
@@ -522,23 +552,25 @@ kvaser_usb_hydra_net_priv_from_cmd(const struct kvaser_usb *dev,
return priv;
}
-static ktime_t
-kvaser_usb_hydra_ktime_from_rx_cmd(const struct kvaser_usb_dev_cfg *cfg,
- const struct kvaser_cmd *cmd)
+static ktime_t kvaser_usb_hydra_ktime_from_cmd(const struct kvaser_usb_dev_cfg *cfg,
+ const struct kvaser_cmd *cmd)
{
- u64 ticks;
+ ktime_t hwtstamp = 0;
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;
+ if (cmd_ext->cmd_no_ext == CMD_RX_MESSAGE_FD)
+ hwtstamp = kvaser_usb_timestamp64_to_ktime(cfg, cmd_ext->rx_can.timestamp);
+ else if (cmd_ext->cmd_no_ext == CMD_TX_ACKNOWLEDGE_FD)
+ hwtstamp = kvaser_usb_timestamp64_to_ktime(cfg, cmd_ext->tx_ack.timestamp);
+ } else if (cmd->header.cmd_no == CMD_RX_MESSAGE) {
+ hwtstamp = kvaser_usb_timestamp48_to_ktime(cfg, cmd->rx_can.timestamp);
+ } else if (cmd->header.cmd_no == CMD_TX_ACKNOWLEDGE) {
+ hwtstamp = kvaser_usb_timestamp48_to_ktime(cfg, cmd->tx_ack.timestamp);
}
- return ns_to_ktime(div_u64(ticks * 1000, cfg->timestamp_freq));
+ return hwtstamp;
}
static int kvaser_usb_hydra_send_simple_cmd(struct kvaser_usb *dev,
@@ -915,6 +947,42 @@ kvaser_usb_hydra_bus_status_to_can_state(const struct kvaser_usb_net_priv *priv,
}
}
+static void kvaser_usb_hydra_change_state(struct kvaser_usb_net_priv *priv,
+ const struct can_berr_counter *bec,
+ struct can_frame *cf,
+ enum can_state new_state)
+{
+ struct net_device *netdev = priv->netdev;
+ enum can_state old_state = priv->can.state;
+ enum can_state tx_state, rx_state;
+
+ tx_state = (bec->txerr >= bec->rxerr) ?
+ new_state : CAN_STATE_ERROR_ACTIVE;
+ rx_state = (bec->txerr <= bec->rxerr) ?
+ new_state : CAN_STATE_ERROR_ACTIVE;
+ can_change_state(netdev, cf, tx_state, rx_state);
+
+ if (new_state == CAN_STATE_BUS_OFF && old_state < CAN_STATE_BUS_OFF) {
+ if (priv->can.restart_ms == 0)
+ kvaser_usb_hydra_send_simple_cmd_async(priv, CMD_STOP_CHIP_REQ);
+
+ can_bus_off(netdev);
+ }
+
+ if (priv->can.restart_ms &&
+ old_state >= CAN_STATE_BUS_OFF &&
+ new_state < CAN_STATE_BUS_OFF) {
+ priv->can.can_stats.restarts++;
+ if (cf)
+ cf->can_id |= CAN_ERR_RESTARTED;
+ }
+ if (cf && new_state != CAN_STATE_BUS_OFF) {
+ cf->can_id |= CAN_ERR_CNT;
+ cf->data[6] = bec->txerr;
+ cf->data[7] = bec->rxerr;
+ }
+}
+
static void kvaser_usb_hydra_update_state(struct kvaser_usb_net_priv *priv,
u8 bus_status,
const struct can_berr_counter *bec)
@@ -940,41 +1008,11 @@ static void kvaser_usb_hydra_update_state(struct kvaser_usb_net_priv *priv,
return;
skb = alloc_can_err_skb(netdev, &cf);
- if (skb) {
- enum can_state tx_state, rx_state;
-
- tx_state = (bec->txerr >= bec->rxerr) ?
- new_state : CAN_STATE_ERROR_ACTIVE;
- rx_state = (bec->txerr <= bec->rxerr) ?
- new_state : CAN_STATE_ERROR_ACTIVE;
- can_change_state(netdev, cf, tx_state, rx_state);
- }
-
- if (new_state == CAN_STATE_BUS_OFF && old_state < CAN_STATE_BUS_OFF) {
- if (!priv->can.restart_ms)
- kvaser_usb_hydra_send_simple_cmd_async
- (priv, CMD_STOP_CHIP_REQ);
-
- can_bus_off(netdev);
- }
-
- if (!skb) {
+ kvaser_usb_hydra_change_state(priv, bec, cf, new_state);
+ if (skb)
+ netif_rx(skb);
+ else
netdev_warn(netdev, "No memory left for err_skb\n");
- return;
- }
-
- if (priv->can.restart_ms &&
- old_state >= CAN_STATE_BUS_OFF &&
- new_state < CAN_STATE_BUS_OFF)
- priv->can.can_stats.restarts++;
-
- if (new_state != CAN_STATE_BUS_OFF) {
- cf->can_id |= CAN_ERR_CNT;
- cf->data[6] = bec->txerr;
- cf->data[7] = bec->rxerr;
- }
-
- netif_rx(skb);
}
static void kvaser_usb_hydra_state_event(const struct kvaser_usb *dev,
@@ -1067,9 +1105,8 @@ kvaser_usb_hydra_error_frame(struct kvaser_usb_net_priv *priv,
{
struct net_device *netdev = priv->netdev;
struct net_device_stats *stats = &netdev->stats;
- struct can_frame *cf;
- struct sk_buff *skb;
- struct skb_shared_hwtstamps *shhwtstamps;
+ struct can_frame *cf = NULL;
+ struct sk_buff *skb = NULL;
struct can_berr_counter bec;
enum can_state new_state, old_state;
u8 bus_status;
@@ -1085,52 +1122,26 @@ kvaser_usb_hydra_error_frame(struct kvaser_usb_net_priv *priv,
kvaser_usb_hydra_bus_status_to_can_state(priv, bus_status, &bec,
&new_state);
- skb = alloc_can_err_skb(netdev, &cf);
+ if (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING)
+ skb = alloc_can_err_skb(netdev, &cf);
+ if (new_state != old_state)
+ kvaser_usb_hydra_change_state(priv, &bec, cf, new_state);
- if (new_state != old_state) {
+ if (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING) {
if (skb) {
- enum can_state tx_state, rx_state;
-
- tx_state = (bec.txerr >= bec.rxerr) ?
- new_state : CAN_STATE_ERROR_ACTIVE;
- rx_state = (bec.txerr <= bec.rxerr) ?
- new_state : CAN_STATE_ERROR_ACTIVE;
-
- can_change_state(netdev, cf, tx_state, rx_state);
+ struct skb_shared_hwtstamps *shhwtstamps = skb_hwtstamps(skb);
- if (priv->can.restart_ms &&
- old_state >= CAN_STATE_BUS_OFF &&
- new_state < CAN_STATE_BUS_OFF)
- cf->can_id |= CAN_ERR_RESTARTED;
- }
-
- if (new_state == CAN_STATE_BUS_OFF) {
- if (!priv->can.restart_ms)
- kvaser_usb_hydra_send_simple_cmd_async
- (priv, CMD_STOP_CHIP_REQ);
-
- can_bus_off(netdev);
+ shhwtstamps->hwtstamp = hwtstamp;
+ cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_CNT;
+ cf->data[6] = bec.txerr;
+ cf->data[7] = bec.rxerr;
+ netif_rx(skb);
+ } else {
+ stats->rx_dropped++;
+ netdev_warn(netdev, "No memory left for err_skb\n");
}
}
- if (!skb) {
- stats->rx_dropped++;
- netdev_warn(netdev, "No memory left for err_skb\n");
- return;
- }
-
- shhwtstamps = skb_hwtstamps(skb);
- shhwtstamps->hwtstamp = hwtstamp;
-
- cf->can_id |= CAN_ERR_BUSERROR;
- if (new_state != CAN_STATE_BUS_OFF) {
- cf->can_id |= CAN_ERR_CNT;
- cf->data[6] = bec.txerr;
- cf->data[7] = bec.rxerr;
- }
-
- netif_rx(skb);
-
priv->bec.txerr = bec.txerr;
priv->bec.rxerr = bec.rxerr;
}
@@ -1175,6 +1186,7 @@ static void kvaser_usb_hydra_tx_acknowledge(const struct kvaser_usb *dev,
bool one_shot_fail = false;
bool is_err_frame = false;
u16 transid = kvaser_usb_hydra_get_cmd_transid(cmd);
+ struct sk_buff *skb;
priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
if (!priv)
@@ -1201,6 +1213,9 @@ static void kvaser_usb_hydra_tx_acknowledge(const struct kvaser_usb *dev,
spin_lock_irqsave(&priv->tx_contexts_lock, irq_flags);
+ skb = priv->can.echo_skb[context->echo_index];
+ if (skb)
+ skb_hwtstamps(skb)->hwtstamp = kvaser_usb_hydra_ktime_from_cmd(dev->cfg, cmd);
len = can_get_echo_skb(priv->netdev, context->echo_index, NULL);
context->echo_index = dev->max_tx_urbs;
--priv->active_tx_contexts;
@@ -1234,7 +1249,7 @@ static void kvaser_usb_hydra_rx_msg_std(const struct kvaser_usb *dev,
stats = &priv->netdev->stats;
flags = cmd->rx_can.flags;
- hwtstamp = kvaser_usb_hydra_ktime_from_rx_cmd(dev->cfg, cmd);
+ hwtstamp = kvaser_usb_hydra_ktime_from_cmd(dev->cfg, cmd);
if (flags & KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME) {
kvaser_usb_hydra_error_frame(priv, &cmd->rx_can.err_frame_data,
@@ -1302,7 +1317,7 @@ static void kvaser_usb_hydra_rx_msg_ext(const struct kvaser_usb *dev,
KVASER_USB_KCAN_DATA_DLC_SHIFT;
flags = le32_to_cpu(cmd->rx_can.flags);
- hwtstamp = kvaser_usb_hydra_ktime_from_rx_cmd(dev->cfg, std_cmd);
+ hwtstamp = kvaser_usb_hydra_ktime_from_cmd(dev->cfg, std_cmd);
if (flags & KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME) {
kvaser_usb_hydra_error_frame(priv, &cmd->rx_can.err_frame_data,
@@ -1396,6 +1411,7 @@ static void kvaser_usb_hydra_handle_cmd_std(const struct kvaser_usb *dev,
/* Ignored commands */
case CMD_SET_BUSPARAMS_RESP:
case CMD_SET_BUSPARAMS_FD_RESP:
+ case CMD_LED_ACTION_RESP:
break;
default:
@@ -1823,6 +1839,7 @@ static int kvaser_usb_hydra_get_software_details(struct kvaser_usb *dev)
size_t cmd_len;
int err;
u32 flags;
+ u32 fw_version;
struct kvaser_usb_dev_card_data *card_data = &dev->card_data;
cmd = kzalloc(sizeof(*cmd), GFP_KERNEL);
@@ -1847,7 +1864,10 @@ static int kvaser_usb_hydra_get_software_details(struct kvaser_usb *dev)
if (err)
goto end;
- dev->fw_version = le32_to_cpu(cmd->sw_detail_res.sw_version);
+ fw_version = le32_to_cpu(cmd->sw_detail_res.sw_version);
+ dev->fw_version.major = FIELD_GET(KVASER_USB_SW_VERSION_MAJOR_MASK, fw_version);
+ dev->fw_version.minor = FIELD_GET(KVASER_USB_SW_VERSION_MINOR_MASK, fw_version);
+ dev->fw_version.build = FIELD_GET(KVASER_USB_SW_VERSION_BUILD_MASK, fw_version);
flags = le32_to_cpu(cmd->sw_detail_res.sw_flags);
if (flags & KVASER_USB_HYDRA_SW_FLAG_FW_BAD) {
@@ -1898,6 +1918,10 @@ static int kvaser_usb_hydra_get_card_info(struct kvaser_usb *dev)
err = kvaser_usb_hydra_wait_cmd(dev, CMD_GET_CARD_INFO_RESP, &cmd);
if (err)
return err;
+ dev->ean[1] = le32_to_cpu(cmd.card_info.ean[1]);
+ dev->ean[0] = le32_to_cpu(cmd.card_info.ean[0]);
+ dev->serial_number = le32_to_cpu(cmd.card_info.serial_number);
+ dev->hw_revision = cmd.card_info.hw_revision;
dev->nchannels = cmd.card_info.nchannels;
if (dev->nchannels > KVASER_USB_MAX_NET_DEVICES)
@@ -1952,6 +1976,36 @@ static int kvaser_usb_hydra_get_capabilities(struct kvaser_usb *dev)
return 0;
}
+static int kvaser_usb_hydra_set_led(struct kvaser_usb_net_priv *priv,
+ enum kvaser_usb_led_state state,
+ u16 duration_ms)
+{
+ struct kvaser_usb *dev = priv->dev;
+ struct kvaser_cmd *cmd;
+ size_t cmd_len;
+ int ret;
+
+ cmd = kzalloc(sizeof(*cmd), GFP_KERNEL);
+ if (!cmd)
+ return -ENOMEM;
+
+ cmd->header.cmd_no = CMD_LED_ACTION_REQ;
+ cmd_len = kvaser_usb_hydra_cmd_size(cmd);
+ kvaser_usb_hydra_set_cmd_dest_he(cmd, dev->card_data.hydra.sysdbg_he);
+ kvaser_usb_hydra_set_cmd_transid(cmd, kvaser_usb_hydra_get_next_transid(dev));
+
+ cmd->led_action_req.duration_ms = cpu_to_le16(duration_ms);
+ cmd->led_action_req.action = state |
+ FIELD_PREP(KVASER_USB_HYDRA_LED_IDX_MASK,
+ KVASER_USB_HYDRA_LED_YELLOW_CH0_IDX +
+ KVASER_USB_HYDRA_LEDS_PER_CHANNEL * priv->channel);
+
+ ret = kvaser_usb_send_cmd(dev, cmd, cmd_len);
+ kfree(cmd);
+
+ return ret;
+}
+
static int kvaser_usb_hydra_set_opt_mode(const struct kvaser_usb_net_priv *priv)
{
struct kvaser_usb *dev = priv->dev;
@@ -2155,6 +2209,7 @@ const struct kvaser_usb_dev_ops kvaser_usb_hydra_dev_ops = {
.dev_get_software_details = kvaser_usb_hydra_get_software_details,
.dev_get_card_info = kvaser_usb_hydra_get_card_info,
.dev_get_capabilities = kvaser_usb_hydra_get_capabilities,
+ .dev_set_led = kvaser_usb_hydra_set_led,
.dev_set_opt_mode = kvaser_usb_hydra_set_opt_mode,
.dev_start_chip = kvaser_usb_hydra_start_chip,
.dev_stop_chip = kvaser_usb_hydra_stop_chip,
generated by cgit (git 2.34.1) at 2025-12-26 10:04:50 +0000