Re: [PATCH v2] can: kvaser_usb: Add support for Kvaser CAN/USB devices

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On 08/06/2012 07:21 AM, Olivier Sobrie wrote:
> This driver provides support for several Kvaser CAN/USB devices.
> Such kind of devices supports up to three can network interfaces.

s/can/CAN/

> It has been tested with a Kvaser USB Leaf Light (one network interface)
> connected to a pch_can interface.
> The firmware version of the Kvaser device was 2.5.205.
> 
> List of Kvaser devices supported by the driver:
>   - Kvaser Leaf prototype (P010v2 and v3)
>   - Kvaser Leaf Light (P010v3)
>   - Kvaser Leaf Professional HS
>   - Kvaser Leaf SemiPro HS
>   - Kvaser Leaf Professional LS
>   - Kvaser Leaf Professional SWC
>   - Kvaser Leaf Professional LIN
>   - Kvaser Leaf SemiPro LS
>   - Kvaser Leaf SemiPro SWC
>   - Kvaser Memorator II, Prototype
>   - Kvaser Memorator II HS/HS
>   - Kvaser USBcan Professional HS/HS
>   - Kvaser Leaf Light GI
>   - Kvaser Leaf Professional HS (OBD-II connector)
>   - Kvaser Memorator Professional HS/LS
>   - Kvaser Leaf Light "China"
>   - Kvaser BlackBird SemiPro
>   - Kvaser OEM Mercury
>   - Kvaser OEM Leaf
>   - Kvaser USBcan R

Impressive list! What CAN controllers are used inside the devices? SJA1000?

> Signed-off-by: Olivier Sobrie <olivier@xxxxxxxxx>
> ---
> Changes since v1:
>   - added copyrights
>   - kvaser_usb.h merged into kvaser.c
>   - added kvaser_usb_get_endpoints to find eindpoints instead of
>     hardcoding their address
>   - some cleanup and comestic changes
>   - fixed issues with errors handling
>   - fixed restart-ms == 0 case
>   - removed do_get_berr_counter method since the hardware doens't return
>     good values for txerr and rxerr.
> 
> If someone in the linux-usb mailing can review it, it would be nice.
> 
> Concerning the errors, it behaves like that now:
> 
> 1) Short-circuit CAN-H and CAN-L and restart-ms = 0
> 
> t0: short-circuit + 'cansend can1 123#112233'
> 
>   can1  2000008C  [8] 00 0C 90 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-warning,tx-error-warning}
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-error
>   can1  2000008C  [8] 00 30 90 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-passive,tx-error-passive}
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-error
>   can1  200000C8  [8] 00 00 90 00 00 00 00 00   ERRORFRAME
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-off
> 	bus-error
> 
> t1: remove short-circuit + 'ip link set can1 type can restart'
> 
>   can1  20000100  [8] 00 00 00 00 00 00 00 00   ERRORFRAME
> 	restarted-after-bus-off
>   can1  20000004  [8] 00 0C 00 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-warning,tx-error-warning}

Why do we get the last error message? Maybe the firmware does it that
way (going down passive->warning->active).

> 2) Short-circuit CAN-H and CAN-L and restart-ms = 100
> 
> t0: short-circuit + cansend can1 123#112233
> 
>   can1  2000008C  [8] 00 0C 90 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-warning,tx-error-warning}
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-error
>   can1  2000008C  [8] 00 30 90 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-passive,tx-error-passive}
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-error
>   can1  200000C8  [8] 00 00 90 00 00 00 00 00   ERRORFRAME
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-off
> 	bus-error
>   can1  2000018C  [8] 00 0C 90 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-warning,tx-error-warning}
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-error
> 	restarted-after-bus-off
>   can1  2000008C  [8] 00 0C 90 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-warning,tx-error-warning}
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-error
>   can1  2000008C  [8] 00 30 90 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-passive,tx-error-passive}
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-error
>   can1  200000C8  [8] 00 00 90 00 00 00 00 00   ERRORFRAME
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-off
> 	bus-error
>   ...
> 
>   can1  2000018C  [8] 00 0C 90 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-warning,tx-error-warning}
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-error
> 	restarted-after-bus-off
>   can1  2000008C  [8] 00 0C 90 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-warning,tx-error-warning}
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-error
>   can1  2000008C  [8] 00 30 90 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-passive,tx-error-passive}
> 	protocol-violation{{tx-recessive-bit-error,error-on-tx}{}}
> 	bus-error
> 
> t1: remove short-circuit
> 
>   can1  123  [3] 11 22 33
>   can1  20000008  [8] 00 00 40 00 00 00 00 00   ERRORFRAME
> 	protocol-violation{{back-to-error-active}{}}

The order is still inverted but likely the firmware is doing it that way.

> 3) CAN-H and CAN-L disconnected
> 
> t0: CAN-H and CAN-L disconnected + cansend can1 123#112233
> 
>   can1  20000004  [8] 00 30 00 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-passive,tx-error-passive}
>   can1  2000008C  [8] 00 30 80 1B 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-passive,tx-error-passive}
> 	protocol-violation{{error-on-tx}{acknowledge-delimiter}}
> 	bus-error
> 
> t1: CAN-H and CAN-L reconnected
> 
>   can1  123  [3] 11 22 33
>   can1  20000004  [8] 00 30 00 00 00 00 00 00   ERRORFRAME
> 	controller-problem{rx-error-passive,tx-error-passive}

Why do we get an error-passive message? Now I will have a closer look to
the code...

> Let me know if it is correct.
> 
> Thanks,
> 
> Olivier
> 
>  drivers/net/can/usb/Kconfig      |   33 +
>  drivers/net/can/usb/Makefile     |    1 +
>  drivers/net/can/usb/kvaser_usb.c | 1437 ++++++++++++++++++++++++++++++++++++++
>  3 files changed, 1471 insertions(+)
>  create mode 100644 drivers/net/can/usb/kvaser_usb.c
> 
> diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig
> index 0a68768..578955f 100644
> --- a/drivers/net/can/usb/Kconfig
> +++ b/drivers/net/can/usb/Kconfig
> @@ -13,6 +13,39 @@ config CAN_ESD_USB2
>            This driver supports the CAN-USB/2 interface
>            from esd electronic system design gmbh (http://www.esd.eu).
>  
> +config CAN_KVASER_USB
> +	tristate "Kvaser CAN/USB interface"
> +	---help---
> +	  This driver adds support for Kvaser CAN/USB devices like Kvaser
> +	  Leaf Light.
> +
> +	  The driver gives support for the following devices:
> +	    - Kvaser Leaf prototype (P010v2 and v3)
> +	    - Kvaser Leaf Light (P010v3)
> +	    - Kvaser Leaf Professional HS
> +	    - Kvaser Leaf SemiPro HS
> +	    - Kvaser Leaf Professional LS
> +	    - Kvaser Leaf Professional SWC
> +	    - Kvaser Leaf Professional LIN
> +	    - Kvaser Leaf SemiPro LS
> +	    - Kvaser Leaf SemiPro SWC
> +	    - Kvaser Memorator II, Prototype
> +	    - Kvaser Memorator II HS/HS
> +	    - Kvaser USBcan Professional HS/HS
> +	    - Kvaser Leaf Light GI
> +	    - Kvaser Leaf Professional HS (OBD-II connector)
> +	    - Kvaser Memorator Professional HS/LS
> +	    - Kvaser Leaf Light "China"
> +	    - Kvaser BlackBird SemiPro
> +	    - Kvaser OEM Mercury
> +	    - Kvaser OEM Leaf
> +	    - Kvaser USBcan R
> +
> +	  If unsure, say N.
> +
> +	  To compile this driver as a module, choose M here: the
> +	  module will be called kvaser_usb.
> +
>  config CAN_PEAK_USB
>  	tristate "PEAK PCAN-USB/USB Pro interfaces"
>  	---help---
> diff --git a/drivers/net/can/usb/Makefile b/drivers/net/can/usb/Makefile
> index da6d1d3..80a2ee4 100644
> --- a/drivers/net/can/usb/Makefile
> +++ b/drivers/net/can/usb/Makefile
> @@ -4,6 +4,7 @@
>  
>  obj-$(CONFIG_CAN_EMS_USB) += ems_usb.o
>  obj-$(CONFIG_CAN_ESD_USB2) += esd_usb2.o
> +obj-$(CONFIG_CAN_KVASER_USB) += kvaser_usb.o
>  obj-$(CONFIG_CAN_PEAK_USB) += peak_usb/
>  
>  ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG
> diff --git a/drivers/net/can/usb/kvaser_usb.c b/drivers/net/can/usb/kvaser_usb.c
> new file mode 100644
> index 0000000..eea0655
> --- /dev/null
> +++ b/drivers/net/can/usb/kvaser_usb.c
> @@ -0,0 +1,1437 @@
> +/*
> + * This program is free software; you can redistribute it and/or
> + * modify it under the terms of the GNU General Public License as
> + * published by the Free Software Foundation version 2.
> + *
> + * Parts of this driver are based on the following:
> + *  - Kvaser linux leaf driver (version 4.78)
> + *  - CAN driver for esd CAN-USB/2
> + *
> + * Copyright (C) 2002-2006 KVASER AB, Sweden. All rights reserved.
> + * Copyright (C) 2010 Matthias Fuchs <matthias.fuchs@xxxxxx>, esd gmbh
> + * Copyright (C) 2012 Olivier Sobrie <olivier@xxxxxxxxx>
> + */
> +
> +#include <linux/init.h>
> +#include <linux/completion.h>
> +#include <linux/module.h>
> +#include <linux/netdevice.h>
> +#include <linux/usb.h>
> +
> +#include <linux/can.h>
> +#include <linux/can/dev.h>
> +#include <linux/can/error.h>
> +
> +#define MAX_TX_URBS			16
> +#define MAX_RX_URBS			4
> +#define START_TIMEOUT			1000
> +#define STOP_TIMEOUT			1000
> +#define USB_SEND_TIMEOUT		1000
> +#define USB_RECV_TIMEOUT		1000

A comment on the units would be nice!

> +#define RX_BUFFER_SIZE			3072
> +#define CAN_USB_CLOCK			8000000
> +#define MAX_NET_DEVICES			3
> +
> +/* Kvaser USB devices */
> +#define KVASER_VENDOR_ID		0x0bfd
> +#define USB_LEAF_DEVEL_PRODUCT_ID	10
> +#define USB_LEAF_LITE_PRODUCT_ID	11
> +#define USB_LEAF_PRO_PRODUCT_ID		12
> +#define USB_LEAF_SPRO_PRODUCT_ID	14
> +#define USB_LEAF_PRO_LS_PRODUCT_ID	15
> +#define USB_LEAF_PRO_SWC_PRODUCT_ID	16
> +#define USB_LEAF_PRO_LIN_PRODUCT_ID	17
> +#define USB_LEAF_SPRO_LS_PRODUCT_ID	18
> +#define USB_LEAF_SPRO_SWC_PRODUCT_ID	19
> +#define USB_MEMO2_DEVEL_PRODUCT_ID	22
> +#define USB_MEMO2_HSHS_PRODUCT_ID	23
> +#define USB_UPRO_HSHS_PRODUCT_ID	24
> +#define USB_LEAF_LITE_GI_PRODUCT_ID	25
> +#define USB_LEAF_PRO_OBDII_PRODUCT_ID	26
> +#define USB_MEMO2_HSLS_PRODUCT_ID	27
> +#define USB_LEAF_LITE_CH_PRODUCT_ID	28
> +#define USB_BLACKBIRD_SPRO_PRODUCT_ID	29
> +#define USB_OEM_MERCURY_PRODUCT_ID	34
> +#define USB_OEM_LEAF_PRODUCT_ID		35
> +#define USB_CAN_R_PRODUCT_ID		39
> +
> +/* USB devices features */
> +#define KVASER_HAS_SILENT_MODE		BIT(0)
> +
> +/* Message header size */
> +#define MSG_HEADER_LEN			2
> +
> +/* Can message flags */
> +#define MSG_FLAG_ERROR_FRAME		BIT(0)
> +#define MSG_FLAG_OVERRUN		BIT(1)
> +#define MSG_FLAG_NERR			BIT(2)
> +#define MSG_FLAG_WAKEUP			BIT(3)
> +#define MSG_FLAG_REMOTE_FRAME		BIT(4)
> +#define MSG_FLAG_RESERVED		BIT(5)
> +#define MSG_FLAG_TX_ACK			BIT(6)
> +#define MSG_FLAG_TX_REQUEST		BIT(7)
> +
> +/* Can states */
> +#define M16C_STATE_BUS_RESET		BIT(0)
> +#define M16C_STATE_BUS_ERROR		BIT(4)
> +#define M16C_STATE_BUS_PASSIVE		BIT(5)
> +#define M16C_STATE_BUS_OFF		BIT(6)
> +
> +/* Can msg ids */
> +#define CMD_RX_STD_MESSAGE		12
> +#define CMD_TX_STD_MESSAGE		13
> +#define CMD_RX_EXT_MESSAGE		14
> +#define CMD_TX_EXT_MESSAGE		15
> +#define CMD_SET_BUS_PARAMS		16
> +#define CMD_GET_BUS_PARAMS		17
> +#define CMD_GET_BUS_PARAMS_REPLY	18
> +#define CMD_GET_CHIP_STATE		19
> +#define CMD_CHIP_STATE_EVENT		20
> +#define CMD_SET_CTRL_MODE		21
> +#define CMD_GET_CTRL_MODE		22
> +#define CMD_GET_CTRL_MODE_REPLY		23
> +#define CMD_RESET_CHIP			24
> +#define CMD_RESET_CARD			25
> +#define CMD_START_CHIP			26
> +#define CMD_START_CHIP_REPLY		27
> +#define CMD_STOP_CHIP			28
> +#define CMD_STOP_CHIP_REPLY		29
> +#define CMD_GET_CARD_INFO2		32
> +#define CMD_GET_CARD_INFO		34
> +#define CMD_GET_CARD_INFO_REPLY		35
> +#define CMD_GET_SOFTWARE_INFO		38
> +#define CMD_GET_SOFTWARE_INFO_REPLY	39
> +#define CMD_ERROR_EVENT			45
> +#define CMD_FLUSH_QUEUE			48
> +#define CMD_RESET_ERROR_COUNTER		49
> +#define CMD_TX_ACKNOWLEDGE		50
> +#define CMD_CAN_ERROR_EVENT		51
> +#define CMD_USB_THROTTLE		77
> +
> +/* error factors */
> +#define M16C_EF_ACKE			BIT(0)
> +#define M16C_EF_CRCE			BIT(1)
> +#define M16C_EF_FORME			BIT(2)
> +#define M16C_EF_STFE			BIT(3)
> +#define M16C_EF_BITE0			BIT(4)
> +#define M16C_EF_BITE1			BIT(5)
> +#define M16C_EF_RCVE			BIT(6)
> +#define M16C_EF_TRE			BIT(7)
> +
> +/* bittiming parameters */
> +#define KVASER_USB_TSEG1_MIN		1
> +#define KVASER_USB_TSEG1_MAX		16
> +#define KVASER_USB_TSEG2_MIN		1
> +#define KVASER_USB_TSEG2_MAX		8
> +#define KVASER_USB_SJW_MAX		4
> +#define KVASER_USB_BRP_MIN		1
> +#define KVASER_USB_BRP_MAX		64
> +#define KVASER_USB_BRP_INC		1
> +
> +/* ctrl modes */
> +#define KVASER_CTRL_MODE_NORMAL		1
> +#define KVASER_CTRL_MODE_SILENT		2
> +#define KVASER_CTRL_MODE_SELFRECEPTION	3
> +#define KVASER_CTRL_MODE_OFF		4
> +
> +struct kvaser_msg_simple {
> +	u8 tid;
> +	u8 channel;
> +} __packed;
> +
> +struct kvaser_msg_cardinfo {
> +	u8 tid;
> +	u8 nchannels;
> +	__le32 serial_number;
> +	__le32 padding;
> +	__le32 clock_resolution;
> +	__le32 mfgdate;
> +	u8 ean[8];
> +	u8 hw_revision;
> +	u8 usb_hs_mode;
> +	__le16 padding2;
> +} __packed;
> +
> +struct kvaser_msg_cardinfo2 {
> +	u8 tid;
> +	u8 channel;
> +	u8 pcb_id[24];
> +	__le32 oem_unlock_code;
> +} __packed;
> +
> +struct kvaser_msg_softinfo {
> +	u8 tid;
> +	u8 channel;
> +	__le32 sw_options;
> +	__le32 fw_version;
> +	__le16 max_outstanding_tx;
> +	__le16 padding[9];
> +} __packed;
> +
> +struct kvaser_msg_busparams {
> +	u8 tid;
> +	u8 channel;
> +	__le32 bitrate;
> +	u8 tseg1;
> +	u8 tseg2;
> +	u8 sjw;
> +	u8 no_samp;
> +} __packed;
> +
> +struct kvaser_msg_tx_can {
> +	u8 channel;
> +	u8 tid;
> +	u8 msg[14];
> +	u8 padding;
> +	u8 flags;
> +} __packed;
> +
> +struct kvaser_msg_rx_can {
> +	u8 channel;
> +	u8 flag;
> +	__le16 time[3];
> +	u8 msg[14];
> +} __packed;
> +
> +struct kvaser_msg_chip_state_event {
> +	u8 tid;
> +	u8 channel;
> +	__le16 time[3];
> +	u8 tx_errors_count;
> +	u8 rx_errors_count;
> +	u8 status;
> +	u8 padding[3];
> +} __packed;
> +
> +struct kvaser_msg_tx_acknowledge {
> +	u8 channel;
> +	u8 tid;
> +	__le16 time[3];
> +	u8 flags;
> +	u8 time_offset;
> +} __packed;
> +
> +struct kvaser_msg_error_event {
> +	u8 tid;
> +	u8 flags;
> +	__le16 time[3];
> +	u8 channel;
> +	u8 padding;
> +	u8 tx_errors_count;
> +	u8 rx_errors_count;
> +	u8 status;
> +	u8 error_factor;
> +} __packed;
> +
> +struct kvaser_msg_ctrl_mode {
> +	u8 tid;
> +	u8 channel;
> +	u8 ctrl_mode;
> +	u8 padding[3];
> +} __packed;
> +
> +struct kvaser_msg_flush_queue {
> +	u8 tid;
> +	u8 channel;
> +	u8 flags;
> +	u8 padding[3];
> +} __packed;
> +
> +struct kvaser_msg {
> +	u8 len;
> +	u8 id;
> +	union	{
> +		struct kvaser_msg_simple simple;
> +		struct kvaser_msg_cardinfo cardinfo;
> +		struct kvaser_msg_cardinfo2 cardinfo2;
> +		struct kvaser_msg_softinfo softinfo;
> +		struct kvaser_msg_busparams busparams;
> +		struct kvaser_msg_tx_can tx_can;
> +		struct kvaser_msg_rx_can rx_can;
> +		struct kvaser_msg_chip_state_event chip_state_event;
> +		struct kvaser_msg_tx_acknowledge tx_acknowledge;
> +		struct kvaser_msg_error_event error_event;
> +		struct kvaser_msg_ctrl_mode ctrl_mode;
> +		struct kvaser_msg_flush_queue flush_queue;
> +	} u;
> +} __packed;
> +
> +struct kvaser_usb_tx_urb_context {
> +	struct kvaser_usb_net_priv *priv;
> +	u32 echo_index;
> +	int dlc;
> +};
> +
> +struct kvaser_usb {
> +	struct usb_device *udev;
> +	struct kvaser_usb_net_priv *nets[MAX_NET_DEVICES];
> +
> +	struct usb_endpoint_descriptor *bulk_in, *bulk_out;
> +	struct usb_anchor rx_submitted;
> +
> +	u32 fw_version;
> +	unsigned int nchannels;
> +
> +	bool rxinitdone;
> +};
> +
> +struct kvaser_usb_net_priv {
> +	struct can_priv can;
> +
> +	atomic_t active_tx_urbs;
> +	struct usb_anchor tx_submitted;
> +	struct kvaser_usb_tx_urb_context tx_contexts[MAX_TX_URBS];
> +
> +	struct completion start_comp, stop_comp;
> +
> +	struct kvaser_usb *dev;
> +	struct net_device *netdev;
> +	int channel;
> +
> +	struct can_frame cf_err_old;
> +};
> +
> +static struct usb_device_id kvaser_usb_table[] = {
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_DEVEL_PRODUCT_ID) },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_PRODUCT_ID) },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_PRODUCT_ID),
> +		.driver_info = KVASER_HAS_SILENT_MODE },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_PRODUCT_ID),
> +		.driver_info = KVASER_HAS_SILENT_MODE },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_LS_PRODUCT_ID),
> +		.driver_info = KVASER_HAS_SILENT_MODE },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_SWC_PRODUCT_ID),
> +		.driver_info = KVASER_HAS_SILENT_MODE },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_LIN_PRODUCT_ID),
> +		.driver_info = KVASER_HAS_SILENT_MODE },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_LS_PRODUCT_ID),
> +		.driver_info = KVASER_HAS_SILENT_MODE },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_SWC_PRODUCT_ID),
> +		.driver_info = KVASER_HAS_SILENT_MODE },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_DEVEL_PRODUCT_ID),
> +		.driver_info = KVASER_HAS_SILENT_MODE },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_HSHS_PRODUCT_ID),
> +		.driver_info = KVASER_HAS_SILENT_MODE },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_UPRO_HSHS_PRODUCT_ID) },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_GI_PRODUCT_ID) },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_OBDII_PRODUCT_ID),
> +		.driver_info = KVASER_HAS_SILENT_MODE },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_HSLS_PRODUCT_ID) },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_CH_PRODUCT_ID) },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_BLACKBIRD_SPRO_PRODUCT_ID) },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_OEM_MERCURY_PRODUCT_ID) },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_OEM_LEAF_PRODUCT_ID) },
> +	{ USB_DEVICE(KVASER_VENDOR_ID, USB_CAN_R_PRODUCT_ID) },
> +	{ }
> +};
> +MODULE_DEVICE_TABLE(usb, kvaser_usb_table);
> +
> +static inline int kvaser_usb_send_msg(const struct kvaser_usb *dev,
> +				      struct kvaser_msg *msg)
> +{
> +	int actual_len;
> +
> +	return usb_bulk_msg(dev->udev,
> +			    usb_sndbulkpipe(dev->udev,
> +					dev->bulk_out->bEndpointAddress),
> +			    msg, msg->len, &actual_len,
> +			    USB_SEND_TIMEOUT);
> +}
> +
> +static int kvaser_usb_wait_msg(const struct kvaser_usb *dev, u8 id,
> +			       struct kvaser_msg *msg)
> +{
> +	struct kvaser_msg *tmp;
> +	void *buf;
> +	int actual_len;
> +	int err;
> +	int pos = 0;
> +
> +	buf = kzalloc(RX_BUFFER_SIZE, GFP_KERNEL);
> +	if (!buf)
> +		return -ENOMEM;
> +
> +	err = usb_bulk_msg(dev->udev,
> +			   usb_rcvbulkpipe(dev->udev,
> +					   dev->bulk_in->bEndpointAddress),
> +			   buf, RX_BUFFER_SIZE, &actual_len,
> +			   USB_RECV_TIMEOUT);
> +	if (err < 0) {
> +		kfree(buf);
> +		return err;
> +	}

goto might be more elegant/efficient here.

> +
> +	while (pos <= actual_len - MSG_HEADER_LEN) {
> +		tmp = buf + pos;
> +
> +		if (!tmp->len)
> +			break;
> +
> +		if (pos + tmp->len > actual_len) {
> +			dev_err(dev->udev->dev.parent, "Format error\n");
> +			break;
> +		}
> +
> +		if (tmp->id == id) {
> +			memcpy(msg, tmp, tmp->len);
> +			kfree(buf);
> +			return 0;
> +		}
> +
> +		pos += tmp->len;
> +	}
> +
> +	kfree(buf);
> +
> +	return -EINVAL;
> +}
> +
> +static int kvaser_usb_send_simple_msg(const struct kvaser_usb *dev,
> +				      u8 msg_id, int channel)
> +{
> +	struct kvaser_msg msg = {
> +		.len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_simple),
> +		.id = msg_id,
> +		.u.simple.channel = channel,
> +		.u.simple.tid = 0xff,
> +	};
> +
> +	return kvaser_usb_send_msg(dev, &msg);
> +}
> +
> +static int kvaser_usb_get_software_info(struct kvaser_usb *dev)
> +{
> +	struct kvaser_msg msg;
> +	int err;
> +
> +	err = kvaser_usb_send_simple_msg(dev, CMD_GET_SOFTWARE_INFO, 0);
> +	if (err)
> +		return err;
> +
> +	err = kvaser_usb_wait_msg(dev, CMD_GET_SOFTWARE_INFO_REPLY, &msg);
> +	if (err)
> +		return err;
> +
> +	dev->fw_version = le32_to_cpu(msg.u.softinfo.fw_version);
> +
> +	return 0;
> +}
> +
> +static int kvaser_usb_get_card_info(struct kvaser_usb *dev)
> +{
> +	struct kvaser_msg msg;
> +	int err;
> +
> +	err = kvaser_usb_send_simple_msg(dev, CMD_GET_CARD_INFO, 0);
> +	if (err)
> +		return err;
> +
> +	err = kvaser_usb_wait_msg(dev, CMD_GET_CARD_INFO_REPLY, &msg);
> +	if (err)
> +		return err;
> +
> +	dev->nchannels = msg.u.cardinfo.nchannels;
> +
> +	return 0;
> +}
> +
> +static void kvaser_usb_tx_acknowledge(const struct kvaser_usb *dev,
> +				      const struct kvaser_msg *msg)
> +{
> +	struct net_device_stats *stats;
> +	struct kvaser_usb_tx_urb_context *context;
> +	struct kvaser_usb_net_priv *priv;
> +	u8 channel = msg->u.tx_acknowledge.channel;
> +	u8 tid = msg->u.tx_acknowledge.tid;
> +
> +	if (channel >= dev->nchannels) {
> +		dev_err(dev->udev->dev.parent,
> +			"Invalid channel number (%d)\n", channel);
> +		return;
> +	}
> +
> +	priv = dev->nets[channel];
> +
> +	if (!netif_device_present(priv->netdev))
> +		return;
> +
> +	stats = &priv->netdev->stats;
> +
> +	context = &priv->tx_contexts[tid % MAX_TX_URBS];
> +
> +	/*
> +	 * It looks like the firmware never sets the flags field of the
> +	 * tx_acknowledge frame and never reports a transmit failure.
> +	 * If the can message can't be transmited (e.g. incompatible
> +	 * bitrates), a frame CMD_CAN_ERROR_EVENT is sent (with a null
> +	 * tid) and the firmware tries to transmit again the packet until
> +	 * it succeeds. Once the packet is successfully transmitted, then
> +	 * the tx_acknowledge frame is sent.
> +	 */
> +
> +	stats->tx_packets++;
> +	stats->tx_bytes += context->dlc;
> +	can_get_echo_skb(priv->netdev, context->echo_index);
> +
> +	context->echo_index = MAX_TX_URBS;
> +	atomic_dec(&priv->active_tx_urbs);
> +
> +	netif_wake_queue(priv->netdev);
> +}
> +
> +static void kvaser_usb_simple_msg_callback(struct urb *urb)
> +{
> +	struct net_device *netdev = urb->context;
> +
> +	if (urb->status)
> +		netdev_warn(netdev, "urb status received: %d\n",
> +			    urb->status);
> +}
> +
> +static int kvaser_usb_simple_msg_async(struct kvaser_usb_net_priv *priv,
> +				       u8 msg_id)
> +{
> +	struct kvaser_usb *dev = priv->dev;
> +	struct net_device *netdev = priv->netdev;
> +	struct kvaser_msg *msg;
> +	struct urb *urb;
> +	void *buf;
> +	int err;
> +
> +	urb = usb_alloc_urb(0, GFP_ATOMIC);
> +	if (!urb) {
> +		netdev_err(netdev, "No memory left for URBs\n");
> +		return -ENOMEM;
> +	}
> +
> +	buf = usb_alloc_coherent(dev->udev, sizeof(struct kvaser_msg),
> +				 GFP_ATOMIC, &urb->transfer_dma);
> +	if (!buf) {
> +		netdev_err(netdev, "No memory left for USB buffer\n");
> +		return -ENOMEM;
> +	}
> +
> +	msg = (struct kvaser_msg *)buf;
> +	msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_simple);
> +	msg->id = msg_id;
> +	msg->u.simple.channel = priv->channel;
> +
> +	usb_fill_bulk_urb(urb, dev->udev,
> +			  usb_sndbulkpipe(dev->udev,
> +					  dev->bulk_out->bEndpointAddress),
> +			  buf, msg->len,
> +			  kvaser_usb_simple_msg_callback, priv);
> +	urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
> +	usb_anchor_urb(urb, &priv->tx_submitted);
> +
> +	err = usb_submit_urb(urb, GFP_ATOMIC);
> +	if (err) {
> +		netdev_err(netdev, "Error transmitting URB\n");
> +		usb_unanchor_urb(urb);
> +		return err;
> +	}
> +
> +	return 0;
> +}
> +
> +static void kvaser_usb_unlink_tx_urbs(struct kvaser_usb_net_priv *priv)
> +{
> +	int i;
> +
> +	usb_kill_anchored_urbs(&priv->tx_submitted);
> +	atomic_set(&priv->active_tx_urbs, 0);
> +
> +	for (i = 0; i < MAX_TX_URBS; i++)
> +		priv->tx_contexts[i].echo_index = MAX_TX_URBS;
> +}
> +
> +static void kvaser_usb_rx_error(const struct kvaser_usb *dev,
> +				const struct kvaser_msg *msg)
> +{
> +	struct can_frame *cf;
> +	struct sk_buff *skb;
> +	struct net_device_stats *stats;
> +	struct kvaser_usb_net_priv *priv;
> +	unsigned int new_state;
> +	u8 channel, status;
> +
> +	if (msg->id == CMD_CAN_ERROR_EVENT) {
> +		channel = msg->u.error_event.channel;
> +		status =  msg->u.error_event.status;
> +	} else {
> +		channel = msg->u.chip_state_event.channel;
> +		status =  msg->u.chip_state_event.status;
> +	}
> +
> +	if (channel >= dev->nchannels) {
> +		dev_err(dev->udev->dev.parent,
> +			"Invalid channel number (%d)\n", channel);
> +		return;
> +	}
> +
> +	priv = dev->nets[channel];
> +	stats = &priv->netdev->stats;
> +
> +	if (status & M16C_STATE_BUS_RESET) {
> +		kvaser_usb_unlink_tx_urbs(priv);
> +		return;
> +	}
> +	skb = alloc_can_err_skb(priv->netdev, &cf);
> +	if (!skb) {
> +		stats->rx_dropped++;
> +		return;

Cleanup? kvaser_usb_unlink_tx_urbs()?

> +	}
> +
> +	if (status & M16C_STATE_BUS_OFF) {
> +		cf->can_id |= CAN_ERR_BUSOFF;
> +
> +		if (!priv->can.restart_ms)
> +			kvaser_usb_simple_msg_async(priv, CMD_STOP_CHIP);
> +
> +		if (!priv->can.state != CAN_ERR_BUSOFF) {
> +			priv->can.can_stats.bus_off++;
> +			netif_carrier_off(priv->netdev);
> +		}
> +
> +		new_state = CAN_STATE_BUS_OFF;
> +	} else if (status & M16C_STATE_BUS_PASSIVE) {
> +		cf->can_id |= CAN_ERR_CRTL;
> +		cf->data[1] = CAN_ERR_CRTL_TX_PASSIVE |
> +			      CAN_ERR_CRTL_RX_PASSIVE;

State changes should only be report when the state really changes.
Therefore it should go under the if block below.

> +		if (priv->can.state != CAN_STATE_ERROR_PASSIVE)
> +			priv->can.can_stats.error_passive++;
> +
> +		new_state = CAN_STATE_ERROR_PASSIVE;
> +	} else if (status & M16C_STATE_BUS_ERROR) {

Hm, strange, a bus error is not a state change. You use here if...else
if... Isn't it possible that more than one bit is set.

> +		cf->can_id |= CAN_ERR_CRTL;
> +		cf->data[1] = CAN_ERR_CRTL_TX_WARNING |
> +			      CAN_ERR_CRTL_RX_WARNING;

See above.

> +		if (priv->can.state != CAN_STATE_ERROR_WARNING)
> +			priv->can.can_stats.error_warning++;
> +
> +		new_state = CAN_STATE_ERROR_WARNING;
> +	} else {
> +		cf->can_id |= CAN_ERR_PROT;
> +		cf->data[2] = CAN_ERR_PROT_ACTIVE;
> +
> +		new_state = CAN_STATE_ERROR_ACTIVE;
> +	}
> +
> +	if (priv->can.restart_ms &&
> +	    (priv->can.state >= CAN_STATE_BUS_OFF) &&
> +	    (new_state < CAN_STATE_BUS_OFF)) {
> +		cf->can_id |= CAN_ERR_RESTARTED;
> +		priv->can.can_stats.restarts++;
> +		netif_carrier_on(priv->netdev);
> +	}
> +
> +	if (msg->id == CMD_CAN_ERROR_EVENT) {
> +		u8 error_factor = msg->u.error_event.error_factor;
> +
> +		priv->can.can_stats.bus_error++;
> +		stats->rx_errors++;
> +
> +		cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
> +
> +		if (error_factor & M16C_EF_ACKE)
> +			cf->data[3] |= (CAN_ERR_PROT_LOC_ACK |
> +					CAN_ERR_PROT_LOC_ACK_DEL);
> +		if (error_factor & M16C_EF_CRCE)
> +			cf->data[3] |= (CAN_ERR_PROT_LOC_CRC_SEQ |
> +					CAN_ERR_PROT_LOC_CRC_DEL);
> +		if (error_factor & M16C_EF_FORME)
> +			cf->data[2] |= CAN_ERR_PROT_FORM;
> +		if (error_factor & M16C_EF_STFE)
> +			cf->data[2] |= CAN_ERR_PROT_STUFF;
> +		if (error_factor & M16C_EF_BITE0)
> +			cf->data[2] |= CAN_ERR_PROT_BIT0;
> +		if (error_factor & M16C_EF_BITE1)
> +			cf->data[2] |= CAN_ERR_PROT_BIT1;
> +		if (error_factor & M16C_EF_TRE)
> +			cf->data[2] |= CAN_ERR_PROT_TX;
> +	}
> +
> +	priv->can.state = new_state;
> +
> +	if (!memcmp(cf, &priv->cf_err_old, sizeof(*cf))) {
> +		kfree_skb(skb);
> +		return;
> +	}

Hm, the firmware seems not to clear error conditions? Anyway, state
change and error reporting is magic on many CAN controllers. Just the
SJA1000 is doing it nicely.

> +	netif_rx(skb);
> +
> +	priv->cf_err_old = *cf;
> +
> +	stats->rx_packets++;
> +	stats->rx_bytes += cf->can_dlc;
> +}
> +
> +static void kvaser_usb_rx_can_msg(const struct kvaser_usb *dev,
> +				  const struct kvaser_msg *msg)
> +{
> +	struct kvaser_usb_net_priv *priv;
> +	struct can_frame *cf;
> +	struct sk_buff *skb;
> +	struct net_device_stats *stats;
> +	u8 channel = msg->u.rx_can.channel;
> +
> +	if (channel >= dev->nchannels) {
> +		dev_err(dev->udev->dev.parent,
> +			"Invalid channel number (%d)\n", channel);
> +		return;
> +	}
> +
> +	priv = dev->nets[channel];
> +	stats = &priv->netdev->stats;
> +
> +	skb = alloc_can_skb(priv->netdev, &cf);
> +	if (skb == NULL) {

s/skb == NULL)/!skb/ ?

> +		stats->tx_dropped++;
> +		return;
> +	}
> +
> +	cf->can_id = ((msg->u.rx_can.msg[0] & 0x1f) << 6) |
> +		     (msg->u.rx_can.msg[1] & 0x3f);
> +	cf->can_dlc = get_can_dlc(msg->u.rx_can.msg[5]);
> +
> +	if (msg->id == CMD_RX_EXT_MESSAGE) {
> +		cf->can_id <<= 18;
> +		cf->can_id |= ((msg->u.rx_can.msg[2] & 0x0f) << 14) |
> +			      ((msg->u.rx_can.msg[3] & 0xff) << 6) |
> +			      (msg->u.rx_can.msg[4] & 0x3f);
> +		cf->can_id |= CAN_EFF_FLAG;
> +	}
> +
> +	if (msg->u.rx_can.flag & MSG_FLAG_REMOTE_FRAME) {
> +		cf->can_id |= CAN_RTR_FLAG;
> +	} else if (msg->u.rx_can.flag & (MSG_FLAG_ERROR_FRAME |
> +					 MSG_FLAG_NERR)) {
> +		cf->can_id |= CAN_ERR_FLAG;
> +		cf->can_dlc = CAN_ERR_DLC;
> +		cf->data[1] = CAN_ERR_CRTL_UNSPEC;

What is the meaning of such errors? A comment, netdev_err() or
netdev_dbg() would be nice.

> +
> +		stats->rx_errors++;
> +	} else if (msg->u.rx_can.flag & MSG_FLAG_OVERRUN) {
> +		cf->can_id = CAN_ERR_FLAG | CAN_ERR_CRTL;
> +		cf->can_dlc = CAN_ERR_DLC;
> +		cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
> +
> +		stats->rx_over_errors++;
> +		stats->rx_errors++;
> +	} else if (!msg->u.rx_can.flag) {
> +		memcpy(cf->data, &msg->u.rx_can.msg[6], cf->can_dlc);
> +	} else {
> +		kfree_skb(skb);
> +		return;
> +	}
> +
> +	netif_rx(skb);
> +
> +	stats->rx_packets++;
> +	stats->rx_bytes += cf->can_dlc;
> +}
> +
> +static void kvaser_usb_start_chip_reply(const struct kvaser_usb *dev,
> +					const struct kvaser_msg *msg)
> +{
> +	struct kvaser_usb_net_priv *priv;
> +	u8 channel = msg->u.simple.channel;
> +
> +	if (channel >= dev->nchannels) {
> +		dev_err(dev->udev->dev.parent,
> +			"Invalid channel number (%d)\n", channel);
> +		return;
> +	}
> +
> +	priv = dev->nets[channel];
> +
> +	if (completion_done(&priv->start_comp) &&
> +	    netif_queue_stopped(priv->netdev)) {
> +		netif_wake_queue(priv->netdev);
> +	} else {
> +		netif_start_queue(priv->netdev);
> +		complete(&priv->start_comp);
> +	}
> +}
> +
> +static void kvaser_usb_stop_chip_reply(const struct kvaser_usb *dev,
> +				       const struct kvaser_msg *msg)
> +{
> +	struct kvaser_usb_net_priv *priv;
> +	u8 channel = msg->u.simple.channel;
> +
> +	if (channel >= dev->nchannels) {
> +		dev_err(dev->udev->dev.parent,
> +			"Invalid channel number (%d)\n", channel);
> +		return;
> +	}
> +
> +	priv = dev->nets[channel];
> +
> +	complete(&priv->stop_comp);
> +}
> +
> +static void kvaser_usb_handle_message(const struct kvaser_usb *dev,
> +				      const struct kvaser_msg *msg)
> +{
> +	switch (msg->id) {
> +	case CMD_START_CHIP_REPLY:
> +		kvaser_usb_start_chip_reply(dev, msg);
> +		break;
> +
> +	case CMD_STOP_CHIP_REPLY:
> +		kvaser_usb_stop_chip_reply(dev, msg);
> +		break;
> +
> +	case CMD_RX_STD_MESSAGE:
> +	case CMD_RX_EXT_MESSAGE:
> +		kvaser_usb_rx_can_msg(dev, msg);
> +		break;
> +
> +	case CMD_CHIP_STATE_EVENT:
> +	case CMD_CAN_ERROR_EVENT:
> +		kvaser_usb_rx_error(dev, msg);
> +		break;
> +
> +	case CMD_TX_ACKNOWLEDGE:
> +		kvaser_usb_tx_acknowledge(dev, msg);
> +		break;
> +
> +	default:
> +		dev_warn(dev->udev->dev.parent,
> +			 "Unhandled message (%d)\n", msg->id);
> +		break;
> +	}
> +}
> +
> +static void kvaser_usb_read_bulk_callback(struct urb *urb)
> +{
> +	struct kvaser_usb *dev = urb->context;
> +	struct kvaser_msg *msg;
> +	int pos = 0;
> +	int err, i;
> +
> +	switch (urb->status) {
> +	case 0:
> +		break;
> +	case -ENOENT:
> +	case -ESHUTDOWN:
> +		return;
> +	default:
> +		dev_info(dev->udev->dev.parent, "Rx URB aborted (%d)\n",
> +			 urb->status);
> +		goto resubmit_urb;
> +	}
> +
> +	while (pos <= urb->actual_length - MSG_HEADER_LEN) {
> +		msg = urb->transfer_buffer + pos;
> +
> +		if (!msg->len)
> +			break;
> +
> +		if (pos + msg->len > urb->actual_length) {
> +			dev_err(dev->udev->dev.parent, "Format error\n");
> +			break;
> +		}
> +
> +		kvaser_usb_handle_message(dev, msg);
> +
> +		pos += msg->len;
> +	}
> +
> +resubmit_urb:
> +	usb_fill_bulk_urb(urb, dev->udev,
> +			  usb_rcvbulkpipe(dev->udev,
> +					  dev->bulk_in->bEndpointAddress),
> +			  urb->transfer_buffer, RX_BUFFER_SIZE,
> +			  kvaser_usb_read_bulk_callback, dev);
> +
> +	err = usb_submit_urb(urb, GFP_ATOMIC);
> +	if (err == -ENODEV) {
> +		for (i = 0; i < dev->nchannels; i++) {
> +			if (!dev->nets[i])
> +				continue;
> +
> +			netif_device_detach(dev->nets[i]->netdev);
> +		}
> +	} else if (err) {
> +		dev_err(dev->udev->dev.parent,
> +			"Failed resubmitting read bulk urb: %d\n", err);
> +	}
> +
> +	return;
> +}
> +
> +static int kvaser_usb_setup_rx_urbs(struct kvaser_usb *dev)
> +{
> +	int i, err = 0;
> +
> +	if (dev->rxinitdone)
> +		return 0;
> +
> +	for (i = 0; i < MAX_RX_URBS; i++) {
> +		struct urb *urb = NULL;
> +		u8 *buf = NULL;
> +
> +		urb = usb_alloc_urb(0, GFP_KERNEL);
> +		if (!urb) {
> +			dev_warn(dev->udev->dev.parent,
> +				 "No memory left for URBs\n");
> +			err = -ENOMEM;
> +			break;
> +		}
> +
> +		buf = usb_alloc_coherent(dev->udev, RX_BUFFER_SIZE,
> +					 GFP_KERNEL, &urb->transfer_dma);
> +		if (!buf) {
> +			dev_warn(dev->udev->dev.parent,
> +				 "No memory left for USB buffer\n");
> +			usb_free_urb(urb);
> +			err = -ENOMEM;
> +			break;
> +		}
> +
> +		usb_fill_bulk_urb(urb, dev->udev,
> +				  usb_rcvbulkpipe(dev->udev,
> +					  dev->bulk_in->bEndpointAddress),
> +				  buf, RX_BUFFER_SIZE,
> +				  kvaser_usb_read_bulk_callback,
> +				  dev);
> +		urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
> +		usb_anchor_urb(urb, &dev->rx_submitted);
> +
> +		err = usb_submit_urb(urb, GFP_KERNEL);
> +		if (err) {
> +			usb_unanchor_urb(urb);
> +			usb_free_coherent(dev->udev, RX_BUFFER_SIZE, buf,
> +					  urb->transfer_dma);
> +			break;
> +		}
> +
> +		usb_free_urb(urb);
> +	}
> +
> +	if (i == 0) {
> +		dev_warn(dev->udev->dev.parent,
> +			 "Cannot setup read URBs, error %d\n", err);
> +		return err;
> +	} else if (i < MAX_RX_URBS) {
> +		dev_warn(dev->udev->dev.parent,
> +			 "RX performances may be slow\n");
> +	}
> +
> +	dev->rxinitdone = true;
> +
> +	return 0;
> +}
> +
> +static int kvaser_usb_set_opt_mode(const struct kvaser_usb_net_priv *priv)
> +{
> +	struct kvaser_msg msg = {
> +		.id = CMD_SET_CTRL_MODE,
> +		.len = MSG_HEADER_LEN +
> +		       sizeof(struct kvaser_msg_ctrl_mode),
> +		.u.ctrl_mode.tid = 0xff,
> +		.u.ctrl_mode.channel = priv->channel,
> +	};
> +
> +	if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
> +		msg.u.ctrl_mode.ctrl_mode = KVASER_CTRL_MODE_SILENT;
> +	else
> +		msg.u.ctrl_mode.ctrl_mode = KVASER_CTRL_MODE_NORMAL;
> +
> +	return kvaser_usb_send_msg(priv->dev, &msg);
> +}
> +
> +static int kvaser_usb_start_chip(struct kvaser_usb_net_priv *priv)
> +{
> +	int err;
> +
> +	init_completion(&priv->start_comp);
> +
> +	err = kvaser_usb_send_simple_msg(priv->dev, CMD_START_CHIP,
> +					 priv->channel);
> +	if (err)
> +		return err;
> +
> +	if (!wait_for_completion_timeout(&priv->start_comp,
> +					 msecs_to_jiffies(START_TIMEOUT)))
> +		return -ETIMEDOUT;
> +
> +	return 0;
> +}
> +
> +static int kvaser_usb_open(struct net_device *netdev)
> +{
> +	struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
> +	struct kvaser_usb *dev = priv->dev;
> +	int err;
> +
> +	err = open_candev(netdev);
> +	if (err)
> +		return err;
> +
> +	err = kvaser_usb_setup_rx_urbs(dev);
> +	if (err)
> +		return err;

close_candev()? Using "goto" is preferred for error handling.

> +
> +	err = kvaser_usb_set_opt_mode(priv);
> +	if (err)
> +		return err;
> +
> +	err = kvaser_usb_start_chip(priv);
> +	if (err) {
> +		netdev_warn(netdev, "Cannot start device, error %d\n", err);
> +		close_candev(netdev);
> +		return err;
> +	}
> +
> +	priv->can.state = CAN_STATE_ERROR_ACTIVE;
> +
> +	return 0;
> +}
> +
> +static void kvaser_usb_unlink_all_urbs(struct kvaser_usb *dev)
> +{
> +	int i;
> +
> +	usb_kill_anchored_urbs(&dev->rx_submitted);
> +
> +	for (i = 0; i < MAX_NET_DEVICES; i++) {
> +		struct kvaser_usb_net_priv *priv = dev->nets[i];
> +
> +		if (priv)
> +			kvaser_usb_unlink_tx_urbs(priv);
> +	}
> +}
> +
> +static int kvaser_usb_stop_chip(struct kvaser_usb_net_priv *priv)
> +{
> +	int err;
> +
> +	init_completion(&priv->stop_comp);
> +
> +	err = kvaser_usb_send_simple_msg(priv->dev, CMD_STOP_CHIP,
> +					 priv->channel);
> +	if (err)
> +		return err;
> +
> +	if (!wait_for_completion_timeout(&priv->stop_comp,
> +					 msecs_to_jiffies(STOP_TIMEOUT)))
> +		return -ETIMEDOUT;
> +
> +	return 0;
> +}
> +
> +static int kvaser_usb_flush_queue(struct kvaser_usb_net_priv *priv)
> +{
> +	struct kvaser_msg msg = {
> +		.id = CMD_FLUSH_QUEUE,
> +		.len = MSG_HEADER_LEN +
> +		       sizeof(struct kvaser_msg_flush_queue),
> +		.u.flush_queue.channel = priv->channel,
> +		.u.flush_queue.flags = 0x00,
> +	};
> +
> +	return kvaser_usb_send_msg(priv->dev, &msg);
> +}
> +
> +static int kvaser_usb_close(struct net_device *netdev)
> +{
> +	struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
> +	struct kvaser_usb *dev = priv->dev;
> +	int err;
> +
> +	netif_stop_queue(netdev);
> +
> +	err = kvaser_usb_flush_queue(priv);
> +	if (err)
> +		netdev_warn(netdev, "Cannot flush queue, error %d\n", err);
> +
> +	if (kvaser_usb_send_simple_msg(dev, CMD_RESET_CHIP, priv->channel))
> +		netdev_warn(netdev, "Cannot reset card, error %d\n", err);
> +
> +	err = kvaser_usb_stop_chip(priv);
> +	if (err) {
> +		netdev_warn(netdev, "Cannot stop device, error %d\n", err);
> +		return err;

close_candev()? Returning here is maybe not a good idea?

> +	}
> +
> +	priv->can.state = CAN_STATE_STOPPED;
> +	close_candev(priv->netdev);
> +
> +	return 0;
> +}
> +
> +static void kvaser_usb_write_bulk_callback(struct urb *urb)
> +{
> +	struct kvaser_usb_tx_urb_context *context = urb->context;
> +	struct kvaser_usb_net_priv *priv;
> +	struct net_device *netdev;
> +
> +	if (WARN_ON(!context))
> +		return;
> +
> +	priv = context->priv;
> +	netdev = priv->netdev;
> +
> +	usb_free_coherent(urb->dev, urb->transfer_buffer_length,
> +			  urb->transfer_buffer, urb->transfer_dma);
> +
> +	if (!netif_device_present(netdev))
> +		return;
> +
> +	if (urb->status)
> +		netdev_info(netdev, "Tx URB aborted (%d)\n", urb->status);
> +}
> +
> +static netdev_tx_t kvaser_usb_start_xmit(struct sk_buff *skb,
> +					 struct net_device *netdev)
> +{
> +	struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
> +	struct kvaser_usb *dev = priv->dev;
> +	struct net_device_stats *stats = &netdev->stats;
> +	struct can_frame *cf = (struct can_frame *)skb->data;
> +	struct kvaser_usb_tx_urb_context *context = NULL;
> +	struct urb *urb;
> +	void *buf;
> +	struct kvaser_msg *msg;
> +	int i, err;
> +	int ret = NETDEV_TX_OK;
> +
> +	if (can_dropped_invalid_skb(netdev, skb))
> +		return NETDEV_TX_OK;
> +
> +	urb = usb_alloc_urb(0, GFP_ATOMIC);
> +	if (!urb) {
> +		netdev_err(netdev, "No memory left for URBs\n");
> +		stats->tx_dropped++;
> +		dev_kfree_skb(skb);
> +		return NETDEV_TX_OK;
> +	}
> +
> +	buf = usb_alloc_coherent(dev->udev, sizeof(struct kvaser_msg),
> +				 GFP_ATOMIC, &urb->transfer_dma);
> +	if (!buf) {
> +		netdev_err(netdev, "No memory left for USB buffer\n");
> +		stats->tx_dropped++;
> +		dev_kfree_skb(skb);
> +		goto nobufmem;
> +	}
> +
> +	msg = (struct kvaser_msg *)buf;
> +	msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_tx_can);
> +	msg->u.tx_can.flags = 0;
> +	msg->u.tx_can.channel = priv->channel;
> +
> +	if (cf->can_id & CAN_EFF_FLAG) {
> +		msg->id = CMD_TX_EXT_MESSAGE;
> +		msg->u.tx_can.msg[0] = (cf->can_id >> 24) & 0x1f;
> +		msg->u.tx_can.msg[1] = (cf->can_id >> 18) & 0x3f;
> +		msg->u.tx_can.msg[2] = (cf->can_id >> 14) & 0x0f;
> +		msg->u.tx_can.msg[3] = (cf->can_id >> 6) & 0xff;
> +		msg->u.tx_can.msg[4] = cf->can_id & 0x3f;
> +	} else {
> +		msg->id = CMD_TX_STD_MESSAGE;
> +		msg->u.tx_can.msg[0] = (cf->can_id >> 6) & 0x1f;
> +		msg->u.tx_can.msg[1] = cf->can_id & 0x3f;
> +	}
> +
> +	msg->u.tx_can.msg[5] = cf->can_dlc;
> +	memcpy(&msg->u.tx_can.msg[6], cf->data, cf->can_dlc);
> +
> +	if (cf->can_id & CAN_RTR_FLAG)
> +		msg->u.tx_can.flags |= MSG_FLAG_REMOTE_FRAME;
> +
> +	for (i = 0; i < ARRAY_SIZE(priv->tx_contexts); i++) {
> +		if (priv->tx_contexts[i].echo_index == MAX_TX_URBS) {
> +			context = &priv->tx_contexts[i];
> +			break;
> +		}
> +	}
> +
> +	if (!context) {
> +		netdev_warn(netdev, "cannot find free context\n");
> +		ret =  NETDEV_TX_BUSY;
> +		goto releasebuf;
> +	}
> +
> +	context->priv = priv;
> +	context->echo_index = i;
> +	context->dlc = cf->can_dlc;
> +
> +	msg->u.tx_can.tid = context->echo_index;
> +
> +	usb_fill_bulk_urb(urb, dev->udev,
> +			  usb_sndbulkpipe(dev->udev,
> +					  dev->bulk_out->bEndpointAddress),
> +			  buf, msg->len,
> +			  kvaser_usb_write_bulk_callback, context);
> +	urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
> +	usb_anchor_urb(urb, &priv->tx_submitted);
> +
> +	can_put_echo_skb(skb, netdev, context->echo_index);
> +
> +	atomic_inc(&priv->active_tx_urbs);
> +
> +	if (atomic_read(&priv->active_tx_urbs) >= MAX_TX_URBS)
> +		netif_stop_queue(netdev);
> +
> +	err = usb_submit_urb(urb, GFP_ATOMIC);
> +	if (unlikely(err)) {
> +		can_free_echo_skb(netdev, context->echo_index);
> +
> +		atomic_dec(&priv->active_tx_urbs);
> +		usb_unanchor_urb(urb);
> +
> +		stats->tx_dropped++;
> +
> +		if (err == -ENODEV)
> +			netif_device_detach(netdev);
> +		else
> +			netdev_warn(netdev, "Failed tx_urb %d\n", err);
> +
> +		goto releasebuf;
> +	}
> +
> +	netdev->trans_start = jiffies;
> +
> +	usb_free_urb(urb);
> +
> +	return NETDEV_TX_OK;
> +
> +releasebuf:
> +	usb_free_coherent(dev->udev, sizeof(struct kvaser_msg),
> +			  buf, urb->transfer_dma);
> +nobufmem:
> +	usb_free_urb(urb);
> +	return ret;
> +}
> +
> +static const struct net_device_ops kvaser_usb_netdev_ops = {
> +	.ndo_open = kvaser_usb_open,
> +	.ndo_stop = kvaser_usb_close,
> +	.ndo_start_xmit = kvaser_usb_start_xmit,
> +};
> +
> +static struct can_bittiming_const kvaser_usb_bittiming_const = {
> +	.name = "kvaser_usb",
> +	.tseg1_min = KVASER_USB_TSEG1_MIN,
> +	.tseg1_max = KVASER_USB_TSEG1_MAX,
> +	.tseg2_min = KVASER_USB_TSEG2_MIN,
> +	.tseg2_max = KVASER_USB_TSEG2_MAX,
> +	.sjw_max = KVASER_USB_SJW_MAX,
> +	.brp_min = KVASER_USB_BRP_MIN,
> +	.brp_max = KVASER_USB_BRP_MAX,
> +	.brp_inc = KVASER_USB_BRP_INC,
> +};
> +
> +static int kvaser_usb_set_bittiming(struct net_device *netdev)
> +{
> +	struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
> +	struct can_bittiming *bt = &priv->can.bittiming;
> +	struct kvaser_usb *dev = priv->dev;
> +	struct kvaser_msg msg = {
> +		.id = CMD_SET_BUS_PARAMS,
> +		.len = MSG_HEADER_LEN +
> +		       sizeof(struct kvaser_msg_busparams),
> +		.u.busparams.channel = priv->channel,
> +		.u.busparams.tid = 0xff,
> +		.u.busparams.bitrate = cpu_to_le32(bt->bitrate),
> +		.u.busparams.sjw = bt->sjw,
> +		.u.busparams.tseg1 = bt->prop_seg + bt->phase_seg1,
> +		.u.busparams.tseg2 = bt->phase_seg2,
> +	};
> +
> +	if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
> +		msg.u.busparams.no_samp = 3;
> +	else
> +		msg.u.busparams.no_samp = 1;
> +
> +	return kvaser_usb_send_msg(dev, &msg);
> +}
> +
> +static int kvaser_usb_set_mode(struct net_device *netdev,
> +			       enum can_mode mode)
> +{
> +	struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
> +	int err;
> +
> +	switch (mode) {
> +	case CAN_MODE_START:
> +		err = kvaser_usb_simple_msg_async(priv, CMD_START_CHIP);
> +		if (err)
> +			return err;
> +		break;
> +	default:
> +		return -EOPNOTSUPP;
> +	}
> +
> +	return 0;
> +}
> +
> +static int kvaser_usb_init_one(struct usb_interface *intf,
> +			       const struct usb_device_id *id, int channel)
> +{
> +	struct kvaser_usb *dev = usb_get_intfdata(intf);
> +	struct net_device *netdev;
> +	struct kvaser_usb_net_priv *priv;
> +	int i, err;
> +
> +	netdev = alloc_candev(sizeof(*priv), MAX_TX_URBS);
> +	if (!netdev) {
> +		dev_err(&intf->dev, "Cannot alloc candev\n");
> +		return -ENOMEM;
> +	}
> +
> +	priv = netdev_priv(netdev);
> +
> +	init_completion(&priv->start_comp);
> +	init_completion(&priv->stop_comp);
> +
> +	init_usb_anchor(&priv->tx_submitted);
> +	atomic_set(&priv->active_tx_urbs, 0);
> +
> +	for (i = 0; i < ARRAY_SIZE(priv->tx_contexts); i++)
> +		priv->tx_contexts[i].echo_index = MAX_TX_URBS;
> +
> +	priv->dev = dev;
> +	priv->netdev = netdev;
> +	priv->channel = channel;
> +
> +	priv->can.state = CAN_STATE_STOPPED;
> +	priv->can.clock.freq = CAN_USB_CLOCK;
> +	priv->can.bittiming_const = &kvaser_usb_bittiming_const;
> +	priv->can.do_set_bittiming = kvaser_usb_set_bittiming;
> +	priv->can.do_set_mode = kvaser_usb_set_mode;
> +	priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES;
> +	if (id->driver_info & KVASER_HAS_SILENT_MODE)
> +		priv->can.ctrlmode_supported |= CAN_CTRLMODE_LISTENONLY;
> +
> +	netdev->flags |= IFF_ECHO;
> +
> +	netdev->netdev_ops = &kvaser_usb_netdev_ops;
> +
> +	SET_NETDEV_DEV(netdev, &intf->dev);
> +
> +	err = register_candev(netdev);
> +	if (err) {
> +		dev_err(&intf->dev, "Failed to register can device\n");
> +		free_candev(netdev);
> +		return err;
> +	}
> +
> +	dev->nets[channel] = priv;
> +	netdev_dbg(netdev, "device registered\n");
> +
> +	return 0;
> +}
> +
> +static void kvaser_usb_get_endpoints(const struct usb_interface *intf,
> +				     struct usb_endpoint_descriptor **in,
> +				     struct usb_endpoint_descriptor **out)
> +{
> +	const struct usb_host_interface *iface_desc;
> +	struct usb_endpoint_descriptor *endpoint;
> +	int i;
> +
> +	iface_desc = &intf->altsetting[0];
> +
> +	for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
> +		endpoint = &iface_desc->endpoint[i].desc;
> +
> +		if (usb_endpoint_is_bulk_in(endpoint))
> +			*in = endpoint;
> +
> +		if (usb_endpoint_is_bulk_out(endpoint))
> +			*out = endpoint;
> +	}
> +}
> +
> +static int kvaser_usb_probe(struct usb_interface *intf,
> +			    const struct usb_device_id *id)
> +{
> +	struct kvaser_usb *dev;
> +	int err = -ENOMEM;
> +	int i;
> +
> +	dev = devm_kzalloc(&intf->dev, sizeof(*dev), GFP_KERNEL);
> +	if (!dev)
> +		return -ENOMEM;
> +
> +	kvaser_usb_get_endpoints(intf, &dev->bulk_in, &dev->bulk_out);
> +	if (!dev->bulk_in || !dev->bulk_out) {
> +		dev_err(&intf->dev, "Cannot get usb endpoint(s)");
> +		return err;
> +	}
> +
> +	dev->udev = interface_to_usbdev(intf);
> +
> +	init_usb_anchor(&dev->rx_submitted);
> +
> +	usb_set_intfdata(intf, dev);
> +
> +	for (i = 0; i < MAX_NET_DEVICES; i++)
> +		kvaser_usb_send_simple_msg(dev, CMD_RESET_CHIP, i);
> +
> +	err = kvaser_usb_get_software_info(dev);
> +	if (err) {
> +		dev_err(&intf->dev,
> +			"Cannot get software infos, error %d\n", err);
> +		return err;
> +	}
> +
> +	err = kvaser_usb_get_card_info(dev);
> +	if (err) {
> +		dev_err(&intf->dev,
> +			"Cannot get card infos, error %d\n", err);
> +		return err;
> +	}
> +
> +	dev_dbg(&intf->dev, "Firmware version: %d.%d.%d\n",
> +		((dev->fw_version >> 24) & 0xff),
> +		((dev->fw_version >> 16) & 0xff),
> +		(dev->fw_version & 0xffff));
> +
> +	for (i = 0; i < dev->nchannels; i++)
> +		kvaser_usb_init_one(intf, id, i);
> +
> +	return 0;
> +}
> +
> +static void kvaser_usb_disconnect(struct usb_interface *intf)
> +{
> +	struct kvaser_usb *dev = usb_get_intfdata(intf);
> +	int i;
> +
> +	usb_set_intfdata(intf, NULL);
> +
> +	if (!dev)
> +		return;
> +
> +	for (i = 0; i < dev->nchannels; i++) {
> +		if (!dev->nets[i])
> +			continue;
> +
> +		unregister_netdev(dev->nets[i]->netdev);
> +		free_candev(dev->nets[i]->netdev);
> +	}
> +
> +	kvaser_usb_unlink_all_urbs(dev);
> +}
> +
> +static struct usb_driver kvaser_usb_driver = {
> +	.name = "kvaser_usb",
> +	.probe = kvaser_usb_probe,
> +	.disconnect = kvaser_usb_disconnect,
> +	.id_table = kvaser_usb_table
> +};
> +
> +module_usb_driver(kvaser_usb_driver);
> +
> +MODULE_AUTHOR("Olivier Sobrie <olivier@xxxxxxxxx>");
> +MODULE_DESCRIPTION("Can driver for Kvaser CAN/USB devices");

s/Can/CAN/

> +MODULE_LICENSE("GPL v2");

Wolfgang.


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