aboutsummaryrefslogtreecommitdiff
path: root/drivers/net/can/usb/kvaser_usb.c
blob: 3b95465882401fc556c647071b8c27f5724a8dbf (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
/*
 * 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@esd.eu>, esd gmbh
 * Copyright (C) 2012 Olivier Sobrie <olivier@sobrie.be>
 */

#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 /* msecs */
#define STOP_TIMEOUT			1000 /* msecs */
#define USB_SEND_TIMEOUT		1000 /* msecs */
#define USB_RECV_TIMEOUT		1000 /* msecs */
#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)
#define KVASER_HAS_TXRX_ERRORS		BIT(1)

/* 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
#define CMD_LOG_MESSAGE			106

/* 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

/* log message */
#define KVASER_EXTENDED_FRAME		BIT(31)

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_log_message {
	u8 channel;
	u8 flags;
	__le16 time[3];
	u8 dlc;
	u8 time_offset;
	__le32 id;
	u8 data[8];
} __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;
		struct kvaser_msg_log_message log_message;
	} 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;
	void *rxbuf[MAX_RX_URBS];
	dma_addr_t rxbuf_dma[MAX_RX_URBS];
};

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_berr_counter bec;
};

static const 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_TXRX_ERRORS |
			       KVASER_HAS_SILENT_MODE },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS |
			       KVASER_HAS_SILENT_MODE },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_LS_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS |
			       KVASER_HAS_SILENT_MODE },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_SWC_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS |
			       KVASER_HAS_SILENT_MODE },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_PRO_LIN_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS |
			       KVASER_HAS_SILENT_MODE },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_LS_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS |
			       KVASER_HAS_SILENT_MODE },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_SPRO_SWC_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS |
			       KVASER_HAS_SILENT_MODE },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_DEVEL_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS |
			       KVASER_HAS_SILENT_MODE },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_HSHS_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS |
			       KVASER_HAS_SILENT_MODE },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_UPRO_HSHS_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS },
	{ 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_TXRX_ERRORS |
			       KVASER_HAS_SILENT_MODE },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MEMO2_HSLS_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_CH_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_BLACKBIRD_SPRO_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_OEM_MERCURY_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_OEM_LEAF_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS },
	{ USB_DEVICE(KVASER_VENDOR_ID, USB_CAN_R_PRODUCT_ID),
		.driver_info = KVASER_HAS_TXRX_ERRORS },
	{ }
};
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)
		goto end;

	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);
			goto end;
		}

		pos += tmp->len;
	}

	err = -EINVAL;

end:
	kfree(buf);

	return err;
}

static int kvaser_usb_send_simple_msg(const struct kvaser_usb *dev,
				      u8 msg_id, int channel)
{
	struct kvaser_msg *msg;
	int rc;

	msg = kmalloc(sizeof(*msg), GFP_KERNEL);
	if (!msg)
		return -ENOMEM;

	msg->id = msg_id;
	msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_simple);
	msg->u.simple.channel = channel;
	msg->u.simple.tid = 0xff;

	rc = kvaser_usb_send_msg(dev, msg);

	kfree(msg);
	return rc;
}

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;
	struct sk_buff *skb;
	struct can_frame *cf;
	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];

	/* Sometimes the state change doesn't come after a bus-off event */
	if (priv->can.restart_ms &&
	    (priv->can.state >= CAN_STATE_BUS_OFF)) {
		skb = alloc_can_err_skb(priv->netdev, &cf);
		if (skb) {
			cf->can_id |= CAN_ERR_RESTARTED;
			netif_rx(skb);

			stats->rx_packets++;
			stats->rx_bytes += cf->can_dlc;
		} else {
			netdev_err(priv->netdev,
				   "No memory left for err_skb\n");
		}

		priv->can.can_stats.restarts++;
		netif_carrier_on(priv->netdev);

		priv->can.state = CAN_STATE_ERROR_ACTIVE;
	}

	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;

	kfree(urb->transfer_buffer);

	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 = kmalloc(sizeof(struct kvaser_msg), GFP_ATOMIC);
	if (!buf) {
		usb_free_urb(urb);
		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);
	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);
		usb_free_urb(urb);
		kfree(buf);
		return err;
	}

	usb_free_urb(urb);

	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, txerr, rxerr, error_factor;

	switch (msg->id) {
	case CMD_CAN_ERROR_EVENT:
		channel = msg->u.error_event.channel;
		status =  msg->u.error_event.status;
		txerr = msg->u.error_event.tx_errors_count;
		rxerr = msg->u.error_event.rx_errors_count;
		error_factor = msg->u.error_event.error_factor;
		break;
	case CMD_LOG_MESSAGE:
		channel = msg->u.log_message.channel;
		status = msg->u.log_message.data[0];
		txerr = msg->u.log_message.data[2];
		rxerr = msg->u.log_message.data[3];
		error_factor = msg->u.log_message.data[1];
		break;
	case CMD_CHIP_STATE_EVENT:
		channel = msg->u.chip_state_event.channel;
		status =  msg->u.chip_state_event.status;
		txerr = msg->u.chip_state_event.tx_errors_count;
		rxerr = msg->u.chip_state_event.rx_errors_count;
		error_factor = 0;
		break;
	default:
		dev_err(dev->udev->dev.parent, "Invalid msg id (%d)\n",
			msg->id);
		return;
	}

	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;
	}

	new_state = priv->can.state;

	netdev_dbg(priv->netdev, "Error status: 0x%02x\n", status);

	if (status & M16C_STATE_BUS_OFF) {
		cf->can_id |= CAN_ERR_BUSOFF;

		priv->can.can_stats.bus_off++;
		if (!priv->can.restart_ms)
			kvaser_usb_simple_msg_async(priv, CMD_STOP_CHIP);

		netif_carrier_off(priv->netdev);

		new_state = CAN_STATE_BUS_OFF;
	} else if (status & M16C_STATE_BUS_PASSIVE) {
		if (priv->can.state != CAN_STATE_ERROR_PASSIVE) {
			cf->can_id |= CAN_ERR_CRTL;

			if (txerr || rxerr)
				cf->data[1] = (txerr > rxerr)
						? CAN_ERR_CRTL_TX_PASSIVE
						: CAN_ERR_CRTL_RX_PASSIVE;
			else
				cf->data[1] = CAN_ERR_CRTL_TX_PASSIVE |
					      CAN_ERR_CRTL_RX_PASSIVE;

			priv->can.can_stats.error_passive++;
		}

		new_state = CAN_STATE_ERROR_PASSIVE;
	}

	if (status == M16C_STATE_BUS_ERROR) {
		if ((priv->can.state < CAN_STATE_ERROR_WARNING) &&
		    ((txerr >= 96) || (rxerr >= 96))) {
			cf->can_id |= CAN_ERR_CRTL;
			cf->data[1] = (txerr > rxerr)
					? CAN_ERR_CRTL_TX_WARNING
					: CAN_ERR_CRTL_RX_WARNING;

			priv->can.can_stats.error_warning++;
			new_state = CAN_STATE_ERROR_WARNING;
		} else if (priv->can.state > CAN_STATE_ERROR_ACTIVE) {
			cf->can_id |= CAN_ERR_PROT;
			cf->data[2] = CAN_ERR_PROT_ACTIVE;

			new_state = CAN_STATE_ERROR_ACTIVE;
		}
	}

	if (!status) {
		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;
		netif_carrier_on(priv->netdev);

		priv->can.can_stats.restarts++;
	}

	if (error_factor) {
		priv->can.can_stats.bus_error++;
		stats->rx_errors++;

		cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_PROT;

		if (error_factor & M16C_EF_ACKE)
			cf->data[3] |= (CAN_ERR_PROT_LOC_ACK);
		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;
	}

	cf->data[6] = txerr;
	cf->data[7] = rxerr;

	priv->bec.txerr = txerr;
	priv->bec.rxerr = rxerr;

	priv->can.state = new_state;

	netif_rx(skb);

	stats->rx_packets++;
	stats->rx_bytes += cf->can_dlc;
}

static void kvaser_usb_rx_can_err(const struct kvaser_usb_net_priv *priv,
				  const struct kvaser_msg *msg)
{
	struct can_frame *cf;
	struct sk_buff *skb;
	struct net_device_stats *stats = &priv->netdev->stats;

	if (msg->u.rx_can.flag & (MSG_FLAG_ERROR_FRAME |
					 MSG_FLAG_NERR)) {
		netdev_err(priv->netdev, "Unknow error (flags: 0x%02x)\n",
			   msg->u.rx_can.flag);

		stats->rx_errors++;
		return;
	}

	if (msg->u.rx_can.flag & MSG_FLAG_OVERRUN) {
		skb = alloc_can_err_skb(priv->netdev, &cf);
		if (!skb) {
			stats->rx_dropped++;
			return;
		}

		cf->can_id |= CAN_ERR_CRTL;
		cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;

		stats->rx_over_errors++;
		stats->rx_errors++;

		netif_rx(skb);

		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;

	if ((msg->u.rx_can.flag & MSG_FLAG_ERROR_FRAME) &&
	    (msg->id == CMD_LOG_MESSAGE)) {
		kvaser_usb_rx_error(dev, msg);
		return;
	} else if (msg->u.rx_can.flag & (MSG_FLAG_ERROR_FRAME |
					 MSG_FLAG_NERR |
					 MSG_FLAG_OVERRUN)) {
		kvaser_usb_rx_can_err(priv, msg);
		return;
	} else if (msg->u.rx_can.flag & ~MSG_FLAG_REMOTE_FRAME) {
		netdev_warn(priv->netdev,
			    "Unhandled frame (flags: 0x%02x)",
			    msg->u.rx_can.flag);
		return;
	}

	skb = alloc_can_skb(priv->netdev, &cf);
	if (!skb) {
		stats->tx_dropped++;
		return;
	}

	if (msg->id == CMD_LOG_MESSAGE) {
		cf->can_id = le32_to_cpu(msg->u.log_message.id);
		if (cf->can_id & KVASER_EXTENDED_FRAME)
			cf->can_id &= CAN_EFF_MASK | CAN_EFF_FLAG;
		else
			cf->can_id &= CAN_SFF_MASK;

		cf->can_dlc = get_can_dlc(msg->u.log_message.dlc);

		if (msg->u.log_message.flags & MSG_FLAG_REMOTE_FRAME)
			cf->can_id |= CAN_RTR_FLAG;
		else
			memcpy(cf->data, &msg->u.log_message.data,
			       cf->can_dlc);
	} else {
		cf->can_id = ((msg->u.rx_can.msg[0] & 0x1f) << 6) |
			     (msg->u.rx_can.msg[1] & 0x3f);

		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;
		}

		cf->can_dlc = get_can_dlc(msg->u.rx_can.msg[5]);

		if (msg->u.rx_can.flag & MSG_FLAG_REMOTE_FRAME)
			cf->can_id |= CAN_RTR_FLAG;
		else
			memcpy(cf->data, &msg->u.rx_can.msg[6],
			       cf->can_dlc);
	}

	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:
	case CMD_LOG_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;
		dma_addr_t buf_dma;

		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, &buf_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_dma = buf_dma;
		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,
					  buf_dma);
			usb_free_urb(urb);
			break;
		}

		dev->rxbuf[i] = buf;
		dev->rxbuf_dma[i] = buf_dma;

		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;
	int rc;

	msg = kmalloc(sizeof(*msg), GFP_KERNEL);
	if (!msg)
		return -ENOMEM;

	msg->id = CMD_SET_CTRL_MODE;
	msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_ctrl_mode);
	msg->u.ctrl_mode.tid = 0xff;
	msg->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;

	rc = kvaser_usb_send_msg(priv->dev, msg);

	kfree(msg);
	return rc;
}

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)
		goto error;

	err = kvaser_usb_set_opt_mode(priv);
	if (err)
		goto error;

	err = kvaser_usb_start_chip(priv);
	if (err) {
		netdev_warn(netdev, "Cannot start device, error %d\n", err);
		goto error;
	}

	priv->can.state = CAN_STATE_ERROR_ACTIVE;

	return 0;

error:
	close_candev(netdev);
	return err;
}

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_RX_URBS; i++)
		usb_free_coherent(dev->udev, RX_BUFFER_SIZE,
				  dev->rxbuf[i],
				  dev->rxbuf_dma[i]);

	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;
	int rc;

	msg = kmalloc(sizeof(*msg), GFP_KERNEL);
	if (!msg)
		return -ENOMEM;

	msg->id = CMD_FLUSH_QUEUE;
	msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_flush_queue);
	msg->u.flush_queue.channel = priv->channel;
	msg->u.flush_queue.flags = 0x00;

	rc = kvaser_usb_send_msg(priv->dev, msg);

	kfree(msg);
	return rc;
}

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);

	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;

	kfree(urb->transfer_buffer);

	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++;
		goto nourbmem;
	}

	buf = kmalloc(sizeof(struct kvaser_msg), GFP_ATOMIC);
	if (!buf) {
		stats->tx_dropped++;
		goto nobufmem;
	}

	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);
	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);

		skb = NULL; /* set to NULL to avoid double free in
			     * dev_kfree_skb(skb) */

		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;
	}

	usb_free_urb(urb);

	return NETDEV_TX_OK;

releasebuf:
	kfree(buf);
nobufmem:
	usb_free_urb(urb);
nourbmem:
	dev_kfree_skb(skb);
	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 const 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;
	int rc;

	msg = kmalloc(sizeof(*msg), GFP_KERNEL);
	if (!msg)
		return -ENOMEM;

	msg->id = CMD_SET_BUS_PARAMS;
	msg->len = MSG_HEADER_LEN + sizeof(struct kvaser_msg_busparams);
	msg->u.busparams.channel = priv->channel;
	msg->u.busparams.tid = 0xff;
	msg->u.busparams.bitrate = cpu_to_le32(bt->bitrate);
	msg->u.busparams.sjw = bt->sjw;
	msg->u.busparams.tseg1 = bt->prop_seg + bt->phase_seg1;
	msg->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;

	rc = kvaser_usb_send_msg(dev, msg);

	kfree(msg);
	return rc;
}

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_get_berr_counter(const struct net_device *netdev,
				       struct can_berr_counter *bec)
{
	struct kvaser_usb_net_priv *priv = netdev_priv(netdev);

	*bec = priv->bec;

	return 0;
}

static void kvaser_usb_remove_interfaces(struct kvaser_usb *dev)
{
	int i;

	for (i = 0; i < dev->nchannels; i++) {
		if (!dev->nets[i])
			continue;

		unregister_netdev(dev->nets[i]->netdev);
	}

	kvaser_usb_unlink_all_urbs(dev);

	for (i = 0; i < dev->nchannels; i++) {
		if (!dev->nets[i])
			continue;

		free_candev(dev->nets[i]->netdev);
	}
}

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;
	if (id->driver_info & KVASER_HAS_TXRX_ERRORS)
		priv->can.do_get_berr_counter = kvaser_usb_get_berr_counter;
	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);

	dev->nets[channel] = priv;

	err = register_candev(netdev);
	if (err) {
		dev_err(&intf->dev, "Failed to register can device\n");
		free_candev(netdev);
		dev->nets[channel] = NULL;
		return err;
	}

	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++) {
		err = kvaser_usb_init_one(intf, id, i);
		if (err) {
			kvaser_usb_remove_interfaces(dev);
			return err;
		}
	}

	return 0;
}

static void kvaser_usb_disconnect(struct usb_interface *intf)
{
	struct kvaser_usb *dev = usb_get_intfdata(intf);

	usb_set_intfdata(intf, NULL);

	if (!dev)
		return;

	kvaser_usb_remove_interfaces(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@sobrie.be>");
MODULE_DESCRIPTION("CAN driver for Kvaser CAN/USB devices");
MODULE_LICENSE("GPL v2");