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.frCo-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>

drivers/net/can/usb/etas_es58x/Makefile

 # 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

drivers/net/can/usb/etas_es58x/es58x_core.c

@@ -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;

drivers/net/can/usb/etas_es58x/es58x_core.h

@@ -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;

drivers/net/can/usb/etas_es58x/es58x_fd.h

+/* 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__ */