kernel/drivers/net/can/usb/peak_usb/pcan_usb_fd.c

   1 /*
   2  * CAN driver for PEAK System PCAN-USB FD / PCAN-USB Pro FD adapter
   3  *
   4  * Copyright (C) 2013-2014 Stephane Grosjean <s.grosjean@peak-system.com>
   5  *
   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.
   9  *
  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.
  14  */
  15 #include <linux/netdevice.h>
  16 #include <linux/usb.h>
  17 #include <linux/module.h>
  18
  19 #include <linux/can.h>
  20 #include <linux/can/dev.h>
  21 #include <linux/can/error.h>
  22
  23 #include "pcan_usb_core.h"
  24 #include "pcan_usb_pro.h"
  25 #include "pcan_ucan.h"
  26
  27 MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB FD adapter");
  28 MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB Pro FD adapter");
  29
  30 #define PCAN_USBPROFD_CHANNEL_COUNT     2
  31 #define PCAN_USBFD_CHANNEL_COUNT        1
  32
  33 /* PCAN-USB Pro FD adapter internal clock (Hz) */
  34 #define PCAN_UFD_CRYSTAL_HZ             80000000
  35
  36 #define PCAN_UFD_CMD_BUFFER_SIZE        512
  37 #define PCAN_UFD_LOSPD_PKT_SIZE         64
  38
  39 /* PCAN-USB Pro FD command timeout (ms.) */
  40 #define PCAN_UFD_CMD_TIMEOUT_MS         1000
  41
  42 /* PCAN-USB Pro FD rx/tx buffers size */
  43 #define PCAN_UFD_RX_BUFFER_SIZE         2048
  44 #define PCAN_UFD_TX_BUFFER_SIZE         512
  45
  46 /* read some versions info from the hw devcie */
  47 struct __packed pcan_ufd_fw_info {
  48         __le16  size_of;        /* sizeof this */
  49         __le16  type;           /* type of this structure */
  50         u8      hw_type;        /* Type of hardware (HW_TYPE_xxx) */
  51         u8      bl_version[3];  /* Bootloader version */
  52         u8      hw_version;     /* Hardware version (PCB) */
  53         u8      fw_version[3];  /* Firmware version */
  54         __le32  dev_id[2];      /* "device id" per CAN */
  55         __le32  ser_no;         /* S/N */
  56         __le32  flags;          /* special functions */
  57 };
  58
  59 /* handle device specific info used by the netdevices */
  60 struct pcan_usb_fd_if {
  61         struct peak_usb_device  *dev[PCAN_USB_MAX_CHANNEL];
  62         struct pcan_ufd_fw_info fw_info;
  63         struct peak_time_ref    time_ref;
  64         int                     cm_ignore_count;
  65         int                     dev_opened_count;
  66 };
  67
  68 /* device information */
  69 struct pcan_usb_fd_device {
  70         struct peak_usb_device  dev;
  71         struct can_berr_counter bec;
  72         struct pcan_usb_fd_if   *usb_if;
  73         u8                      *cmd_buffer_addr;
  74 };
  75
  76 /* Extended USB commands (non uCAN commands) */
  77
  78 /* Clock Modes command */
  79 #define PCAN_UFD_CMD_CLK_SET            0x80
  80
  81 #define PCAN_UFD_CLK_80MHZ              0x0
  82 #define PCAN_UFD_CLK_60MHZ              0x1
  83 #define PCAN_UFD_CLK_40MHZ              0x2
  84 #define PCAN_UFD_CLK_30MHZ              0x3
  85 #define PCAN_UFD_CLK_24MHZ              0x4
  86 #define PCAN_UFD_CLK_20MHZ              0x5
  87 #define PCAN_UFD_CLK_DEF                PCAN_UFD_CLK_80MHZ
  88
  89 struct __packed pcan_ufd_clock {
  90         __le16  opcode_channel;
  91
  92         u8      mode;
  93         u8      unused[5];
  94 };
  95
  96 /* LED control command */
  97 #define PCAN_UFD_CMD_LED_SET            0x86
  98
  99 #define PCAN_UFD_LED_DEV                0x00
 100 #define PCAN_UFD_LED_FAST               0x01
 101 #define PCAN_UFD_LED_SLOW               0x02
 102 #define PCAN_UFD_LED_ON                 0x03
 103 #define PCAN_UFD_LED_OFF                0x04
 104 #define PCAN_UFD_LED_DEF                PCAN_UFD_LED_DEV
 105
 106 struct __packed pcan_ufd_led {
 107         __le16  opcode_channel;
 108
 109         u8      mode;
 110         u8      unused[5];
 111 };
 112
 113 /* Extended usage of uCAN commands CMD_xxx_xx_OPTION for PCAN-USB Pro FD */
 114 #define PCAN_UFD_FLTEXT_CALIBRATION     0x8000
 115
 116 struct __packed pcan_ufd_options {
 117         __le16  opcode_channel;
 118
 119         __le16  ucan_mask;
 120         u16     unused;
 121         __le16  usb_mask;
 122 };
 123
 124 /* Extended usage of uCAN messages for PCAN-USB Pro FD */
 125 #define PCAN_UFD_MSG_CALIBRATION        0x100
 126
 127 struct __packed pcan_ufd_ts_msg {
 128         __le16  size;
 129         __le16  type;
 130         __le32  ts_low;
 131         __le32  ts_high;
 132         __le16  usb_frame_index;
 133         u16     unused;
 134 };
 135
 136 #define PCAN_UFD_MSG_OVERRUN            0x101
 137
 138 #define PCAN_UFD_OVMSG_CHANNEL(o)       ((o)->channel & 0xf)
 139
 140 struct __packed pcan_ufd_ovr_msg {
 141         __le16  size;
 142         __le16  type;
 143         __le32  ts_low;
 144         __le32  ts_high;
 145         u8      channel;
 146         u8      unused[3];
 147 };
 148
 149 static inline int pufd_omsg_get_channel(struct pcan_ufd_ovr_msg *om)
 150 {
 151         return om->channel & 0xf;
 152 }
 153
 154 /* Clock mode frequency values */
 155 static const u32 pcan_usb_fd_clk_freq[6] = {
 156         [PCAN_UFD_CLK_80MHZ] = 80000000,
 157         [PCAN_UFD_CLK_60MHZ] = 60000000,
 158         [PCAN_UFD_CLK_40MHZ] = 40000000,
 159         [PCAN_UFD_CLK_30MHZ] = 30000000,
 160         [PCAN_UFD_CLK_24MHZ] = 24000000,
 161         [PCAN_UFD_CLK_20MHZ] = 20000000
 162 };
 163
 164 /* return a device USB interface */
 165 static inline
 166 struct pcan_usb_fd_if *pcan_usb_fd_dev_if(struct peak_usb_device *dev)
 167 {
 168         struct pcan_usb_fd_device *pdev =
 169                         container_of(dev, struct pcan_usb_fd_device, dev);
 170         return pdev->usb_if;
 171 }
 172
 173 /* return a device USB commands buffer */
 174 static inline void *pcan_usb_fd_cmd_buffer(struct peak_usb_device *dev)
 175 {
 176         struct pcan_usb_fd_device *pdev =
 177                         container_of(dev, struct pcan_usb_fd_device, dev);
 178         return pdev->cmd_buffer_addr;
 179 }
 180
 181 /* send PCAN-USB Pro FD commands synchronously */
 182 static int pcan_usb_fd_send_cmd(struct peak_usb_device *dev, void *cmd_tail)
 183 {
 184         void *cmd_head = pcan_usb_fd_cmd_buffer(dev);
 185         int err = 0;
 186         u8 *packet_ptr;
 187         int i, n = 1, packet_len;
 188         ptrdiff_t cmd_len;
 189
 190         /* usb device unregistered? */
 191         if (!(dev->state & PCAN_USB_STATE_CONNECTED))
 192                 return 0;
 193
 194         /* if a packet is not filled completely by commands, the command list
 195          * is terminated with an "end of collection" record.
 196          */
 197         cmd_len = cmd_tail - cmd_head;
 198         if (cmd_len <= (PCAN_UFD_CMD_BUFFER_SIZE - sizeof(u64))) {
 199                 memset(cmd_tail, 0xff, sizeof(u64));
 200                 cmd_len += sizeof(u64);
 201         }
 202
 203         packet_ptr = cmd_head;
 204
 205         /* firmware is not able to re-assemble 512 bytes buffer in full-speed */
 206         if ((dev->udev->speed != USB_SPEED_HIGH) &&
 207             (cmd_len > PCAN_UFD_LOSPD_PKT_SIZE)) {
 208                 packet_len = PCAN_UFD_LOSPD_PKT_SIZE;
 209                 n += cmd_len / packet_len;
 210         } else {
 211                 packet_len = cmd_len;
 212         }
 213
 214         for (i = 0; i < n; i++) {
 215                 err = usb_bulk_msg(dev->udev,
 216                                    usb_sndbulkpipe(dev->udev,
 217                                                    PCAN_USBPRO_EP_CMDOUT),
 218                                    packet_ptr, packet_len,
 219                                    NULL, PCAN_UFD_CMD_TIMEOUT_MS);
 220                 if (err) {
 221                         netdev_err(dev->netdev,
 222                                    "sending command failure: %d\n", err);
 223                         break;
 224                 }
 225
 226                 packet_ptr += packet_len;
 227         }
 228
 229         return err;
 230 }
 231
 232 /* build the commands list in the given buffer, to enter operational mode */
 233 static int pcan_usb_fd_build_restart_cmd(struct peak_usb_device *dev, u8 *buf)
 234 {
 235         struct pucan_wr_err_cnt *prc;
 236         struct pucan_command *cmd;
 237         u8 *pc = buf;
 238
 239         /* 1st, reset error counters: */
 240         prc = (struct pucan_wr_err_cnt *)pc;
 241         prc->opcode_channel = pucan_cmd_opcode_channel(dev,
 242                                                        PUCAN_CMD_WR_ERR_CNT);
 243
 244         /* select both counters */
 245         prc->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE|PUCAN_WRERRCNT_RE);
 246
 247         /* and reset their values */
 248         prc->tx_counter = 0;
 249         prc->rx_counter = 0;
 250
 251         /* moves the pointer forward */
 252         pc += sizeof(struct pucan_wr_err_cnt);
 253
 254         /* add command to switch from ISO to non-ISO mode, if fw allows it */
 255         if (dev->can.ctrlmode_supported & CAN_CTRLMODE_FD_NON_ISO) {
 256                 struct pucan_options *puo = (struct pucan_options *)pc;
 257
 258                 puo->opcode_channel =
 259                         (dev->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) ?
 260                         pucan_cmd_opcode_channel(dev,
 261                                                  PUCAN_CMD_CLR_DIS_OPTION) :
 262                         pucan_cmd_opcode_channel(dev, PUCAN_CMD_SET_EN_OPTION);
 263
 264                 puo->options = cpu_to_le16(PUCAN_OPTION_CANDFDISO);
 265
 266                 /* to be sure that no other extended bits will be taken into
 267                  * account
 268                  */
 269                 puo->unused = 0;
 270
 271                 /* moves the pointer forward */
 272                 pc += sizeof(struct pucan_options);
 273         }
 274
 275         /* next, go back to operational mode */
 276         cmd = (struct pucan_command *)pc;
 277         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 278                                 (dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) ?
 279                                                 PUCAN_CMD_LISTEN_ONLY_MODE :
 280                                                 PUCAN_CMD_NORMAL_MODE);
 281         pc += sizeof(struct pucan_command);
 282
 283         return pc - buf;
 284 }
 285
 286 /* set CAN bus on/off */
 287 static int pcan_usb_fd_set_bus(struct peak_usb_device *dev, u8 onoff)
 288 {
 289         u8 *pc = pcan_usb_fd_cmd_buffer(dev);
 290         int l;
 291
 292         if (onoff) {
 293                 /* build the cmds list to enter operational mode */
 294                 l = pcan_usb_fd_build_restart_cmd(dev, pc);
 295         } else {
 296                 struct pucan_command *cmd = (struct pucan_command *)pc;
 297
 298                 /* build cmd to go back to reset mode */
 299                 cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 300                                                         PUCAN_CMD_RESET_MODE);
 301                 l = sizeof(struct pucan_command);
 302         }
 303
 304         /* send the command */
 305         return pcan_usb_fd_send_cmd(dev, pc + l);
 306 }
 307
 308 /* set filtering masks:
 309  *
 310  *      idx  in range [0..63] selects a row #idx, all rows otherwise
 311  *      mask in range [0..0xffffffff] defines up to 32 CANIDs in the row(s)
 312  *
 313  *      Each bit of this 64 x 32 bits array defines a CANID value:
 314  *
 315  *      bit[i,j] = 1 implies that CANID=(i x 32)+j will be received, while
 316  *      bit[i,j] = 0 implies that CANID=(i x 32)+j will be discarded.
 317  */
 318 static int pcan_usb_fd_set_filter_std(struct peak_usb_device *dev, int idx,
 319                                       u32 mask)
 320 {
 321         struct pucan_filter_std *cmd = pcan_usb_fd_cmd_buffer(dev);
 322         int i, n;
 323
 324         /* select all rows when idx is out of range [0..63] */
 325         if ((idx < 0) || (idx >= (1 << PUCAN_FLTSTD_ROW_IDX_BITS))) {
 326                 n = 1 << PUCAN_FLTSTD_ROW_IDX_BITS;
 327                 idx = 0;
 328
 329         /* select the row (and only the row) otherwise */
 330         } else {
 331                 n = idx + 1;
 332         }
 333
 334         for (i = idx; i < n; i++, cmd++) {
 335                 cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 336                                                         PUCAN_CMD_FILTER_STD);
 337                 cmd->idx = cpu_to_le16(i);
 338                 cmd->mask = cpu_to_le32(mask);
 339         }
 340
 341         /* send the command */
 342         return pcan_usb_fd_send_cmd(dev, cmd);
 343 }
 344
 345 /* set/unset options
 346  *
 347  *      onoff   set(1)/unset(0) options
 348  *      mask    each bit defines a kind of options to set/unset
 349  */
 350 static int pcan_usb_fd_set_options(struct peak_usb_device *dev,
 351                                    bool onoff, u16 ucan_mask, u16 usb_mask)
 352 {
 353         struct pcan_ufd_options *cmd = pcan_usb_fd_cmd_buffer(dev);
 354
 355         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 356                                         (onoff) ? PUCAN_CMD_SET_EN_OPTION :
 357                                                   PUCAN_CMD_CLR_DIS_OPTION);
 358
 359         cmd->ucan_mask = cpu_to_le16(ucan_mask);
 360         cmd->usb_mask = cpu_to_le16(usb_mask);
 361
 362         /* send the command */
 363         return pcan_usb_fd_send_cmd(dev, ++cmd);
 364 }
 365
 366 /* setup LED control */
 367 static int pcan_usb_fd_set_can_led(struct peak_usb_device *dev, u8 led_mode)
 368 {
 369         struct pcan_ufd_led *cmd = pcan_usb_fd_cmd_buffer(dev);
 370
 371         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 372                                                        PCAN_UFD_CMD_LED_SET);
 373         cmd->mode = led_mode;
 374
 375         /* send the command */
 376         return pcan_usb_fd_send_cmd(dev, ++cmd);
 377 }
 378
 379 /* set CAN clock domain */
 380 static int pcan_usb_fd_set_clock_domain(struct peak_usb_device *dev,
 381                                         u8 clk_mode)
 382 {
 383         struct pcan_ufd_clock *cmd = pcan_usb_fd_cmd_buffer(dev);
 384
 385         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 386                                                        PCAN_UFD_CMD_CLK_SET);
 387         cmd->mode = clk_mode;
 388
 389         /* send the command */
 390         return pcan_usb_fd_send_cmd(dev, ++cmd);
 391 }
 392
 393 /* set bittiming for CAN and CAN-FD header */
 394 static int pcan_usb_fd_set_bittiming_slow(struct peak_usb_device *dev,
 395                                           struct can_bittiming *bt)
 396 {
 397         struct pucan_timing_slow *cmd = pcan_usb_fd_cmd_buffer(dev);
 398
 399         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 400                                                        PUCAN_CMD_TIMING_SLOW);
 401         cmd->sjw_t = PUCAN_TSLOW_SJW_T(bt->sjw - 1,
 402                                 dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES);
 403
 404         cmd->tseg2 = PUCAN_TSLOW_TSEG2(bt->phase_seg2 - 1);
 405         cmd->tseg1 = PUCAN_TSLOW_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
 406         cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(bt->brp - 1));
 407
 408         cmd->ewl = 96;  /* default */
 409
 410         /* send the command */
 411         return pcan_usb_fd_send_cmd(dev, ++cmd);
 412 }
 413
 414 /* set CAN-FD bittiming for data */
 415 static int pcan_usb_fd_set_bittiming_fast(struct peak_usb_device *dev,
 416                                           struct can_bittiming *bt)
 417 {
 418         struct pucan_timing_fast *cmd = pcan_usb_fd_cmd_buffer(dev);
 419
 420         cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
 421                                                        PUCAN_CMD_TIMING_FAST);
 422         cmd->sjw = PUCAN_TFAST_SJW(bt->sjw - 1);
 423         cmd->tseg2 = PUCAN_TFAST_TSEG2(bt->phase_seg2 - 1);
 424         cmd->tseg1 = PUCAN_TFAST_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
 425         cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(bt->brp - 1));
 426
 427         /* send the command */
 428         return pcan_usb_fd_send_cmd(dev, ++cmd);
 429 }
 430
 431 /* handle restart but in asynchronously way
 432  * (uses PCAN-USB Pro code to complete asynchronous request)
 433  */
 434 static int pcan_usb_fd_restart_async(struct peak_usb_device *dev,
 435                                      struct urb *urb, u8 *buf)
 436 {
 437         u8 *pc = buf;
 438
 439         /* build the entire cmds list in the provided buffer, to go back into
 440          * operational mode.
 441          */
 442         pc += pcan_usb_fd_build_restart_cmd(dev, pc);
 443
 444         /* add EOC */
 445         memset(pc, 0xff, sizeof(struct pucan_command));
 446         pc += sizeof(struct pucan_command);
 447
 448         /* complete the URB */
 449         usb_fill_bulk_urb(urb, dev->udev,
 450                           usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT),
 451                           buf, pc - buf,
 452                           pcan_usb_pro_restart_complete, dev);
 453
 454         /* and submit it. */
 455         return usb_submit_urb(urb, GFP_ATOMIC);
 456 }
 457
 458 static int pcan_usb_fd_drv_loaded(struct peak_usb_device *dev, bool loaded)
 459 {
 460         struct pcan_usb_fd_device *pdev =
 461                         container_of(dev, struct pcan_usb_fd_device, dev);
 462
 463         pdev->cmd_buffer_addr[0] = 0;
 464         pdev->cmd_buffer_addr[1] = !!loaded;
 465
 466         return pcan_usb_pro_send_req(dev,
 467                                 PCAN_USBPRO_REQ_FCT,
 468                                 PCAN_USBPRO_FCT_DRVLD,
 469                                 pdev->cmd_buffer_addr,
 470                                 PCAN_USBPRO_FCT_DRVLD_REQ_LEN);
 471 }
 472
 473 static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if,
 474                                      struct pucan_msg *rx_msg)
 475 {
 476         struct pucan_rx_msg *rm = (struct pucan_rx_msg *)rx_msg;
 477         struct peak_usb_device *dev = usb_if->dev[pucan_msg_get_channel(rm)];
 478         struct net_device *netdev = dev->netdev;
 479         struct canfd_frame *cfd;
 480         struct sk_buff *skb;
 481         const u16 rx_msg_flags = le16_to_cpu(rm->flags);
 482
 483         if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) {
 484                 /* CANFD frame case */
 485                 skb = alloc_canfd_skb(netdev, &cfd);
 486                 if (!skb)
 487                         return -ENOMEM;
 488
 489                 if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH)
 490                         cfd->flags |= CANFD_BRS;
 491
 492                 if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND)
 493                         cfd->flags |= CANFD_ESI;
 494
 495                 cfd->len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(rm)));
 496         } else {
 497                 /* CAN 2.0 frame case */
 498                 skb = alloc_can_skb(netdev, (struct can_frame **)&cfd);
 499                 if (!skb)
 500                         return -ENOMEM;
 501
 502                 cfd->len = get_can_dlc(pucan_msg_get_dlc(rm));
 503         }
 504
 505         cfd->can_id = le32_to_cpu(rm->can_id);
 506
 507         if (rx_msg_flags & PUCAN_MSG_EXT_ID)
 508                 cfd->can_id |= CAN_EFF_FLAG;
 509
 510         if (rx_msg_flags & PUCAN_MSG_RTR)
 511                 cfd->can_id |= CAN_RTR_FLAG;
 512         else
 513                 memcpy(cfd->data, rm->d, cfd->len);
 514
 515         peak_usb_netif_rx(skb, &usb_if->time_ref,
 516                           le32_to_cpu(rm->ts_low), le32_to_cpu(rm->ts_high));
 517
 518         netdev->stats.rx_packets++;
 519         netdev->stats.rx_bytes += cfd->len;
 520
 521         return 0;
 522 }
 523
 524 /* handle uCAN status message */
 525 static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if *usb_if,
 526                                      struct pucan_msg *rx_msg)
 527 {
 528         struct pucan_status_msg *sm = (struct pucan_status_msg *)rx_msg;
 529         struct peak_usb_device *dev = usb_if->dev[pucan_stmsg_get_channel(sm)];
 530         struct pcan_usb_fd_device *pdev =
 531                         container_of(dev, struct pcan_usb_fd_device, dev);
 532         enum can_state new_state = CAN_STATE_ERROR_ACTIVE;
 533         enum can_state rx_state, tx_state;
 534         struct net_device *netdev = dev->netdev;
 535         struct can_frame *cf;
 536         struct sk_buff *skb;
 537
 538         /* nothing should be sent while in BUS_OFF state */
 539         if (dev->can.state == CAN_STATE_BUS_OFF)
 540                 return 0;
 541
 542         if (sm->channel_p_w_b & PUCAN_BUS_BUSOFF) {
 543                 new_state = CAN_STATE_BUS_OFF;
 544         } else if (sm->channel_p_w_b & PUCAN_BUS_PASSIVE) {
 545                 new_state = CAN_STATE_ERROR_PASSIVE;
 546         } else if (sm->channel_p_w_b & PUCAN_BUS_WARNING) {
 547                 new_state = CAN_STATE_ERROR_WARNING;
 548         } else {
 549                 /* no error bit (so, no error skb, back to active state) */
 550                 dev->can.state = CAN_STATE_ERROR_ACTIVE;
 551                 pdev->bec.txerr = 0;
 552                 pdev->bec.rxerr = 0;
 553                 return 0;
 554         }
 555
 556         /* state hasn't changed */
 557         if (new_state == dev->can.state)
 558                 return 0;
 559
 560         /* handle bus state change */
 561         tx_state = (pdev->bec.txerr >= pdev->bec.rxerr) ? new_state : 0;
 562         rx_state = (pdev->bec.txerr <= pdev->bec.rxerr) ? new_state : 0;
 563
 564         /* allocate an skb to store the error frame */
 565         skb = alloc_can_err_skb(netdev, &cf);
 566         if (skb)
 567                 can_change_state(netdev, cf, tx_state, rx_state);
 568
 569         /* things must be done even in case of OOM */
 570         if (new_state == CAN_STATE_BUS_OFF)
 571                 can_bus_off(netdev);
 572
 573         if (!skb)
 574                 return -ENOMEM;
 575
 576         peak_usb_netif_rx(skb, &usb_if->time_ref,
 577                           le32_to_cpu(sm->ts_low), le32_to_cpu(sm->ts_high));
 578
 579         netdev->stats.rx_packets++;
 580         netdev->stats.rx_bytes += cf->can_dlc;
 581
 582         return 0;
 583 }
 584
 585 /* handle uCAN error message */
 586 static int pcan_usb_fd_decode_error(struct pcan_usb_fd_if *usb_if,
 587                                     struct pucan_msg *rx_msg)
 588 {
 589         struct pucan_error_msg *er = (struct pucan_error_msg *)rx_msg;
 590         struct peak_usb_device *dev = usb_if->dev[pucan_ermsg_get_channel(er)];
 591         struct pcan_usb_fd_device *pdev =
 592                         container_of(dev, struct pcan_usb_fd_device, dev);
 593
 594         /* keep a trace of tx and rx error counters for later use */
 595         pdev->bec.txerr = er->tx_err_cnt;
 596         pdev->bec.rxerr = er->rx_err_cnt;
 597
 598         return 0;
 599 }
 600
 601 /* handle uCAN overrun message */
 602 static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if *usb_if,
 603                                       struct pucan_msg *rx_msg)
 604 {
 605         struct pcan_ufd_ovr_msg *ov = (struct pcan_ufd_ovr_msg *)rx_msg;
 606         struct peak_usb_device *dev = usb_if->dev[pufd_omsg_get_channel(ov)];
 607         struct net_device *netdev = dev->netdev;
 608         struct can_frame *cf;
 609         struct sk_buff *skb;
 610
 611         /* allocate an skb to store the error frame */
 612         skb = alloc_can_err_skb(netdev, &cf);
 613         if (!skb)
 614                 return -ENOMEM;
 615
 616         cf->can_id |= CAN_ERR_CRTL;
 617         cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
 618
 619         peak_usb_netif_rx(skb, &usb_if->time_ref,
 620                           le32_to_cpu(ov->ts_low), le32_to_cpu(ov->ts_high));
 621
 622         netdev->stats.rx_over_errors++;
 623         netdev->stats.rx_errors++;
 624
 625         return 0;
 626 }
 627
 628 /* handle USB calibration message */
 629 static void pcan_usb_fd_decode_ts(struct pcan_usb_fd_if *usb_if,
 630                                   struct pucan_msg *rx_msg)
 631 {
 632         struct pcan_ufd_ts_msg *ts = (struct pcan_ufd_ts_msg *)rx_msg;
 633
 634         /* should wait until clock is stabilized */
 635         if (usb_if->cm_ignore_count > 0)
 636                 usb_if->cm_ignore_count--;
 637         else
 638                 peak_usb_set_ts_now(&usb_if->time_ref, le32_to_cpu(ts->ts_low));
 639 }
 640
 641 /* callback for bulk IN urb */
 642 static int pcan_usb_fd_decode_buf(struct peak_usb_device *dev, struct urb *urb)
 643 {
 644         struct pcan_usb_fd_if *usb_if = pcan_usb_fd_dev_if(dev);
 645         struct net_device *netdev = dev->netdev;
 646         struct pucan_msg *rx_msg;
 647         u8 *msg_ptr, *msg_end;
 648         int err = 0;
 649
 650         /* loop reading all the records from the incoming message */
 651         msg_ptr = urb->transfer_buffer;
 652         msg_end = urb->transfer_buffer + urb->actual_length;
 653         for (; msg_ptr < msg_end;) {
 654                 u16 rx_msg_type, rx_msg_size;
 655
 656                 rx_msg = (struct pucan_msg *)msg_ptr;
 657                 if (!rx_msg->size) {
 658                         /* null packet found: end of list */
 659                         break;
 660                 }
 661
 662                 rx_msg_size = le16_to_cpu(rx_msg->size);
 663                 rx_msg_type = le16_to_cpu(rx_msg->type);
 664
 665                 /* check if the record goes out of current packet */
 666                 if (msg_ptr + rx_msg_size > msg_end) {
 667                         netdev_err(netdev,
 668                                    "got frag rec: should inc usb rx buf sze\n");
 669                         err = -EBADMSG;
 670                         break;
 671                 }
 672
 673                 switch (rx_msg_type) {
 674                 case PUCAN_MSG_CAN_RX:
 675                         err = pcan_usb_fd_decode_canmsg(usb_if, rx_msg);
 676                         if (err < 0)
 677                                 goto fail;
 678                         break;
 679
 680                 case PCAN_UFD_MSG_CALIBRATION:
 681                         pcan_usb_fd_decode_ts(usb_if, rx_msg);
 682                         break;
 683
 684                 case PUCAN_MSG_ERROR:
 685                         err = pcan_usb_fd_decode_error(usb_if, rx_msg);
 686                         if (err < 0)
 687                                 goto fail;
 688                         break;
 689
 690                 case PUCAN_MSG_STATUS:
 691                         err = pcan_usb_fd_decode_status(usb_if, rx_msg);
 692                         if (err < 0)
 693                                 goto fail;
 694                         break;
 695
 696                 case PCAN_UFD_MSG_OVERRUN:
 697                         err = pcan_usb_fd_decode_overrun(usb_if, rx_msg);
 698                         if (err < 0)
 699                                 goto fail;
 700                         break;
 701
 702                 default:
 703                         netdev_err(netdev,
 704                                    "unhandled msg type 0x%02x (%d): ignored\n",
 705                                    rx_msg_type, rx_msg_type);
 706                         break;
 707                 }
 708
 709                 msg_ptr += rx_msg_size;
 710         }
 711
 712 fail:
 713         if (err)
 714                 pcan_dump_mem("received msg",
 715                               urb->transfer_buffer, urb->actual_length);
 716         return err;
 717 }
 718
 719 /* CAN/CANFD frames encoding callback */
 720 static int pcan_usb_fd_encode_msg(struct peak_usb_device *dev,
 721                                   struct sk_buff *skb, u8 *obuf, size_t *size)
 722 {
 723         struct pucan_tx_msg *tx_msg = (struct pucan_tx_msg *)obuf;
 724         struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
 725         u16 tx_msg_size, tx_msg_flags;
 726         u8 can_dlc;
 727
 728         tx_msg_size = ALIGN(sizeof(struct pucan_tx_msg) + cfd->len, 4);
 729         tx_msg->size = cpu_to_le16(tx_msg_size);
 730         tx_msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX);
 731
 732         tx_msg_flags = 0;
 733         if (cfd->can_id & CAN_EFF_FLAG) {
 734                 tx_msg_flags |= PUCAN_MSG_EXT_ID;
 735                 tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_EFF_MASK);
 736         } else {
 737                 tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_SFF_MASK);
 738         }
 739
 740         if (can_is_canfd_skb(skb)) {
 741                 /* considering a CANFD frame */
 742                 can_dlc = can_len2dlc(cfd->len);
 743
 744                 tx_msg_flags |= PUCAN_MSG_EXT_DATA_LEN;
 745
 746                 if (cfd->flags & CANFD_BRS)
 747                         tx_msg_flags |= PUCAN_MSG_BITRATE_SWITCH;
 748
 749                 if (cfd->flags & CANFD_ESI)
 750                         tx_msg_flags |= PUCAN_MSG_ERROR_STATE_IND;
 751         } else {
 752                 /* CAND 2.0 frames */
 753                 can_dlc = cfd->len;
 754
 755                 if (cfd->can_id & CAN_RTR_FLAG)
 756                         tx_msg_flags |= PUCAN_MSG_RTR;
 757         }
 758
 759         tx_msg->flags = cpu_to_le16(tx_msg_flags);
 760         tx_msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(dev->ctrl_idx, can_dlc);
 761         memcpy(tx_msg->d, cfd->data, cfd->len);
 762
 763         /* add null size message to tag the end (messages are 32-bits aligned)
 764          */
 765         tx_msg = (struct pucan_tx_msg *)(obuf + tx_msg_size);
 766
 767         tx_msg->size = 0;
 768
 769         /* set the whole size of the USB packet to send */
 770         *size = tx_msg_size + sizeof(u32);
 771
 772         return 0;
 773 }
 774
 775 /* start the interface (last chance before set bus on) */
 776 static int pcan_usb_fd_start(struct peak_usb_device *dev)
 777 {
 778         struct pcan_usb_fd_device *pdev =
 779                         container_of(dev, struct pcan_usb_fd_device, dev);
 780         int err;
 781
 782         /* set filter mode: all acceptance */
 783         err = pcan_usb_fd_set_filter_std(dev, -1, 0xffffffff);
 784         if (err)
 785                 return err;
 786
 787         /* opening first device: */
 788         if (pdev->usb_if->dev_opened_count == 0) {
 789                 /* reset time_ref */
 790                 peak_usb_init_time_ref(&pdev->usb_if->time_ref,
 791                                        &pcan_usb_pro_fd);
 792
 793                 /* enable USB calibration messages */
 794                 err = pcan_usb_fd_set_options(dev, 1,
 795                                               PUCAN_OPTION_ERROR,
 796                                               PCAN_UFD_FLTEXT_CALIBRATION);
 797         }
 798
 799         pdev->usb_if->dev_opened_count++;
 800
 801         /* reset cached error counters */
 802         pdev->bec.txerr = 0;
 803         pdev->bec.rxerr = 0;
 804
 805         return err;
 806 }
 807
 808 /* socket callback used to copy berr counters values receieved through USB */
 809 static int pcan_usb_fd_get_berr_counter(const struct net_device *netdev,
 810                                         struct can_berr_counter *bec)
 811 {
 812         struct peak_usb_device *dev = netdev_priv(netdev);
 813         struct pcan_usb_fd_device *pdev =
 814                         container_of(dev, struct pcan_usb_fd_device, dev);
 815
 816         *bec = pdev->bec;
 817
 818         /* must return 0 */
 819         return 0;
 820 }
 821
 822 /* stop interface (last chance before set bus off) */
 823 static int pcan_usb_fd_stop(struct peak_usb_device *dev)
 824 {
 825         struct pcan_usb_fd_device *pdev =
 826                         container_of(dev, struct pcan_usb_fd_device, dev);
 827
 828         /* turn off special msgs for that interface if no other dev opened */
 829         if (pdev->usb_if->dev_opened_count == 1)
 830                 pcan_usb_fd_set_options(dev, 0,
 831                                         PUCAN_OPTION_ERROR,
 832                                         PCAN_UFD_FLTEXT_CALIBRATION);
 833         pdev->usb_if->dev_opened_count--;
 834
 835         return 0;
 836 }
 837
 838 /* called when probing, to initialize a device object */
 839 static int pcan_usb_fd_init(struct peak_usb_device *dev)
 840 {
 841         struct pcan_usb_fd_device *pdev =
 842                         container_of(dev, struct pcan_usb_fd_device, dev);
 843         int i, err = -ENOMEM;
 844
 845         /* do this for 1st channel only */
 846         if (!dev->prev_siblings) {
 847                 /* allocate netdevices common structure attached to first one */
 848                 pdev->usb_if = kzalloc(sizeof(*pdev->usb_if), GFP_KERNEL);
 849                 if (!pdev->usb_if)
 850                         goto err_out;
 851
 852                 /* allocate command buffer once for all for the interface */
 853                 pdev->cmd_buffer_addr = kmalloc(PCAN_UFD_CMD_BUFFER_SIZE,
 854                                                 GFP_KERNEL);
 855                 if (!pdev->cmd_buffer_addr)
 856                         goto err_out_1;
 857
 858                 /* number of ts msgs to ignore before taking one into account */
 859                 pdev->usb_if->cm_ignore_count = 5;
 860
 861                 err = pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_INFO,
 862                                             PCAN_USBPRO_INFO_FW,
 863                                             &pdev->usb_if->fw_info,
 864                                             sizeof(pdev->usb_if->fw_info));
 865                 if (err) {
 866                         dev_err(dev->netdev->dev.parent,
 867                                 "unable to read %s firmware info (err %d)\n",
 868                                 dev->adapter->name, err);
 869                         goto err_out_2;
 870                 }
 871
 872                 /* explicit use of dev_xxx() instead of netdev_xxx() here:
 873                  * information displayed are related to the device itself, not
 874                  * to the canx (channel) device.
 875                  */
 876                 dev_info(dev->netdev->dev.parent,
 877                          "PEAK-System %s v%u fw v%u.%u.%u (%u channels)\n",
 878                          dev->adapter->name, pdev->usb_if->fw_info.hw_version,
 879                          pdev->usb_if->fw_info.fw_version[0],
 880                          pdev->usb_if->fw_info.fw_version[1],
 881                          pdev->usb_if->fw_info.fw_version[2],
 882                          dev->adapter->ctrl_count);
 883
 884                 /* check for ability to switch between ISO/non-ISO modes */
 885                 if (pdev->usb_if->fw_info.fw_version[0] >= 2) {
 886                         /* firmware >= 2.x supports ISO/non-ISO switching */
 887                         dev->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO;
 888                 } else {
 889                         /* firmware < 2.x only supports fixed(!) non-ISO */
 890                         dev->can.ctrlmode |= CAN_CTRLMODE_FD_NON_ISO;
 891                 }
 892
 893                 /* tell the hardware the can driver is running */
 894                 err = pcan_usb_fd_drv_loaded(dev, 1);
 895                 if (err) {
 896                         dev_err(dev->netdev->dev.parent,
 897                                 "unable to tell %s driver is loaded (err %d)\n",
 898                                 dev->adapter->name, err);
 899                         goto err_out_2;
 900                 }
 901         } else {
 902                 /* otherwise, simply copy previous sibling's values */
 903                 struct pcan_usb_fd_device *ppdev =
 904                         container_of(dev->prev_siblings,
 905                                      struct pcan_usb_fd_device, dev);
 906
 907                 pdev->usb_if = ppdev->usb_if;
 908                 pdev->cmd_buffer_addr = ppdev->cmd_buffer_addr;
 909
 910                 /* do a copy of the ctrlmode[_supported] too */
 911                 dev->can.ctrlmode = ppdev->dev.can.ctrlmode;
 912                 dev->can.ctrlmode_supported = ppdev->dev.can.ctrlmode_supported;
 913         }
 914
 915         pdev->usb_if->dev[dev->ctrl_idx] = dev;
 916         dev->device_number =
 917                 le32_to_cpu(pdev->usb_if->fw_info.dev_id[dev->ctrl_idx]);
 918
 919         /* set clock domain */
 920         for (i = 0; i < ARRAY_SIZE(pcan_usb_fd_clk_freq); i++)
 921                 if (dev->adapter->clock.freq == pcan_usb_fd_clk_freq[i])
 922                         break;
 923
 924         if (i >= ARRAY_SIZE(pcan_usb_fd_clk_freq)) {
 925                 dev_warn(dev->netdev->dev.parent,
 926                          "incompatible clock frequencies\n");
 927                 err = -EINVAL;
 928                 goto err_out_2;
 929         }
 930
 931         pcan_usb_fd_set_clock_domain(dev, i);
 932
 933         /* set LED in default state (end of init phase) */
 934         pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_DEF);
 935
 936         return 0;
 937
 938 err_out_2:
 939         kfree(pdev->cmd_buffer_addr);
 940 err_out_1:
 941         kfree(pdev->usb_if);
 942 err_out:
 943         return err;
 944 }
 945
 946 /* called when driver module is being unloaded */
 947 static void pcan_usb_fd_exit(struct peak_usb_device *dev)
 948 {
 949         struct pcan_usb_fd_device *pdev =
 950                         container_of(dev, struct pcan_usb_fd_device, dev);
 951
 952         /* when rmmod called before unplug and if down, should reset things
 953          * before leaving
 954          */
 955         if (dev->can.state != CAN_STATE_STOPPED) {
 956                 /* set bus off on the corresponding channel */
 957                 pcan_usb_fd_set_bus(dev, 0);
 958         }
 959
 960         /* switch off corresponding CAN LEDs */
 961         pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_OFF);
 962
 963         /* if channel #0 (only) */
 964         if (dev->ctrl_idx == 0) {
 965                 /* turn off calibration message if any device were opened */
 966                 if (pdev->usb_if->dev_opened_count > 0)
 967                         pcan_usb_fd_set_options(dev, 0,
 968                                                 PUCAN_OPTION_ERROR,
 969                                                 PCAN_UFD_FLTEXT_CALIBRATION);
 970
 971                 /* tell USB adapter that the driver is being unloaded */
 972                 pcan_usb_fd_drv_loaded(dev, 0);
 973         }
 974 }
 975
 976 /* called when the USB adapter is unplugged */
 977 static void pcan_usb_fd_free(struct peak_usb_device *dev)
 978 {
 979         /* last device: can free shared objects now */
 980         if (!dev->prev_siblings && !dev->next_siblings) {
 981                 struct pcan_usb_fd_device *pdev =
 982                         container_of(dev, struct pcan_usb_fd_device, dev);
 983
 984                 /* free commands buffer */
 985                 kfree(pdev->cmd_buffer_addr);
 986
 987                 /* free usb interface object */
 988                 kfree(pdev->usb_if);
 989         }
 990 }
 991
 992 /* describes the PCAN-USB FD adapter */
 993 const struct peak_usb_adapter pcan_usb_fd = {
 994         .name = "PCAN-USB FD",
 995         .device_id = PCAN_USBFD_PRODUCT_ID,
 996         .ctrl_count = PCAN_USBFD_CHANNEL_COUNT,
 997         .ctrlmode_supported = CAN_CTRLMODE_FD |
 998                         CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
 999         .clock = {
1000                 .freq = PCAN_UFD_CRYSTAL_HZ,
1001         },
1002         .bittiming_const = {
1003                 .name = "pcan_usb_fd",
1004                 .tseg1_min = 1,
1005                 .tseg1_max = 64,
1006                 .tseg2_min = 1,
1007                 .tseg2_max = 16,
1008                 .sjw_max = 16,
1009                 .brp_min = 1,
1010                 .brp_max = 1024,
1011                 .brp_inc = 1,
1012         },
1013         .data_bittiming_const = {
1014                 .name = "pcan_usb_fd",
1015                 .tseg1_min = 1,
1016                 .tseg1_max = 16,
1017                 .tseg2_min = 1,
1018                 .tseg2_max = 8,
1019                 .sjw_max = 4,
1020                 .brp_min = 1,
1021                 .brp_max = 1024,
1022                 .brp_inc = 1,
1023         },
1024
1025         /* size of device private data */
1026         .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1027
1028         /* timestamps usage */
1029         .ts_used_bits = 32,
1030         .ts_period = 1000000, /* calibration period in ts. */
1031         .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1032         .us_per_ts_shift = 0,
1033
1034         /* give here messages in/out endpoints */
1035         .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
1036         .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0},
1037
1038         /* size of rx/tx usb buffers */
1039         .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
1040         .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
1041
1042         /* device callbacks */
1043         .intf_probe = pcan_usb_pro_probe,       /* same as PCAN-USB Pro */
1044         .dev_init = pcan_usb_fd_init,
1045
1046         .dev_exit = pcan_usb_fd_exit,
1047         .dev_free = pcan_usb_fd_free,
1048         .dev_set_bus = pcan_usb_fd_set_bus,
1049         .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
1050         .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
1051         .dev_decode_buf = pcan_usb_fd_decode_buf,
1052         .dev_start = pcan_usb_fd_start,
1053         .dev_stop = pcan_usb_fd_stop,
1054         .dev_restart_async = pcan_usb_fd_restart_async,
1055         .dev_encode_msg = pcan_usb_fd_encode_msg,
1056
1057         .do_get_berr_counter = pcan_usb_fd_get_berr_counter,
1058 };
1059
1060 /* describes the PCAN-USB Pro FD adapter */
1061 const struct peak_usb_adapter pcan_usb_pro_fd = {
1062         .name = "PCAN-USB Pro FD",
1063         .device_id = PCAN_USBPROFD_PRODUCT_ID,
1064         .ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT,
1065         .ctrlmode_supported = CAN_CTRLMODE_FD |
1066                         CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
1067         .clock = {
1068                 .freq = PCAN_UFD_CRYSTAL_HZ,
1069         },
1070         .bittiming_const = {
1071                 .name = "pcan_usb_pro_fd",
1072                 .tseg1_min = 1,
1073                 .tseg1_max = 64,
1074                 .tseg2_min = 1,
1075                 .tseg2_max = 16,
1076                 .sjw_max = 16,
1077                 .brp_min = 1,
1078                 .brp_max = 1024,
1079                 .brp_inc = 1,
1080         },
1081         .data_bittiming_const = {
1082                 .name = "pcan_usb_pro_fd",
1083                 .tseg1_min = 1,
1084                 .tseg1_max = 16,
1085                 .tseg2_min = 1,
1086                 .tseg2_max = 8,
1087                 .sjw_max = 4,
1088                 .brp_min = 1,
1089                 .brp_max = 1024,
1090                 .brp_inc = 1,
1091         },
1092
1093         /* size of device private data */
1094         .sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
1095
1096         /* timestamps usage */
1097         .ts_used_bits = 32,
1098         .ts_period = 1000000, /* calibration period in ts. */
1099         .us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
1100         .us_per_ts_shift = 0,
1101
1102         /* give here messages in/out endpoints */
1103         .ep_msg_in = PCAN_USBPRO_EP_MSGIN,
1104         .ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1},
1105
1106         /* size of rx/tx usb buffers */
1107         .rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
1108         .tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
1109
1110         /* device callbacks */
1111         .intf_probe = pcan_usb_pro_probe,       /* same as PCAN-USB Pro */
1112         .dev_init = pcan_usb_fd_init,
1113
1114         .dev_exit = pcan_usb_fd_exit,
1115         .dev_free = pcan_usb_fd_free,
1116         .dev_set_bus = pcan_usb_fd_set_bus,
1117         .dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
1118         .dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
1119         .dev_decode_buf = pcan_usb_fd_decode_buf,
1120         .dev_start = pcan_usb_fd_start,
1121         .dev_stop = pcan_usb_fd_stop,
1122         .dev_restart_async = pcan_usb_fd_restart_async,
1123         .dev_encode_msg = pcan_usb_fd_encode_msg,
1124
1125         .do_get_berr_counter = pcan_usb_fd_get_berr_counter,
1126 };