Merge tag 'linux-can-next-for-3.20-20150128' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next

Marc Kleine-Budde says:

====================
pull-request: can-next 2015-28-01

this is a pull request of 12 patches for net-next/master.

There are 3 patches by Ahmed S. Darwish, which update the kvaser_usb
driver and add support for the USBcan-II based adapters. Stéphane
Grosjean contributes 7 patches for the peak_usb driver, which add
support for the CANFD USB adapters. I contribute 2 patches which clean
up the peak_usb driver structure a bit.
====================

Signed-off-by: David S. Miller <davem@davemloft.net>

drivers/net/can/usb/Kconfig

@@ -25,7 +25,7 @@ config CAN_KVASER_USB
 	tristate "Kvaser CAN/USB interface"
 	---help---
 	  This driver adds support for Kvaser CAN/USB devices like Kvaser
-	  Leaf Light.
+	  Leaf Light and Kvaser USBcan II.
 
 	  The driver provides support for the following devices:
 	    - Kvaser Leaf Light
@@ -46,6 +46,12 @@ config CAN_KVASER_USB
 	    - Kvaser USBcan R
 	    - Kvaser Leaf Light v2
 	    - Kvaser Mini PCI Express HS
+	    - Kvaser USBcan II HS/HS
+	    - Kvaser USBcan II HS/LS
+	    - Kvaser USBcan Rugged ("USBcan Rev B")
+	    - Kvaser Memorator HS/HS
+	    - Kvaser Memorator HS/LS
+	    - Scania VCI2 (if you have the Kvaser logo on top)
 
 	  If unsure, say N.
 
@@ -53,10 +59,18 @@ config CAN_KVASER_USB
 	  module will be called kvaser_usb.
 
 config CAN_PEAK_USB
-	tristate "PEAK PCAN-USB/USB Pro interfaces"
+	tristate "PEAK PCAN-USB/USB Pro interfaces for CAN 2.0b/CAN-FD"
 	---help---
-	  This driver supports the PCAN-USB and PCAN-USB Pro adapters
-	  from PEAK-System Technik (http://www.peak-system.com).
+	  This driver supports the PEAK-System Technik USB adapters that enable
+	  access to the CAN bus, with repect to the CAN 2.0b and/or CAN-FD
+	  standards, that is:
+
+	  PCAN-USB             single CAN 2.0b channel USB adapter
+	  PCAN-USB Pro         dual CAN 2.0b channels USB adapter
+	  PCAN-USB FD          single CAN-FD channel USB adapter
+	  PCAN-USB Pro FD      dual CAN-FD channels USB adapter
+
+	  (see also http://www.peak-system.com).
 
 config CAN_8DEV_USB
 	tristate "8 devices USB2CAN interface"

drivers/net/can/usb/kvaser_usb.c

@@ -6,10 +6,12 @@
  * Parts of this driver are based on the following:
  *  - Kvaser linux leaf driver (version 4.78)
  *  - CAN driver for esd CAN-USB/2
+ *  - Kvaser linux usbcanII driver (version 5.3)
  *
  * 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>
+ * Copyright (C) 2015 Valeo A.S.
  */
 
 #include <linux/completion.h>
@@ -30,8 +32,9 @@
 #define RX_BUFFER_SIZE			3072
 #define CAN_USB_CLOCK			8000000
 #define MAX_NET_DEVICES			3
+#define MAX_USBCAN_NET_DEVICES		2
 
-/* Kvaser USB devices */
+/* Kvaser Leaf USB devices */
 #define KVASER_VENDOR_ID		0x0bfd
 #define USB_LEAF_DEVEL_PRODUCT_ID	10
 #define USB_LEAF_LITE_PRODUCT_ID	11
@@ -56,6 +59,24 @@
 #define USB_LEAF_LITE_V2_PRODUCT_ID	288
 #define USB_MINI_PCIE_HS_PRODUCT_ID	289
 
+static inline bool kvaser_is_leaf(const struct usb_device_id *id)
+{
+	return id->idProduct >= USB_LEAF_DEVEL_PRODUCT_ID &&
+	       id->idProduct <= USB_MINI_PCIE_HS_PRODUCT_ID;
+}
+
+/* Kvaser USBCan-II devices */
+#define USB_USBCAN_REVB_PRODUCT_ID	2
+#define USB_VCI2_PRODUCT_ID		3
+#define USB_USBCAN2_PRODUCT_ID		4
+#define USB_MEMORATOR_PRODUCT_ID	5
+
+static inline bool kvaser_is_usbcan(const struct usb_device_id *id)
+{
+	return id->idProduct >= USB_USBCAN_REVB_PRODUCT_ID &&
+	       id->idProduct <= USB_MEMORATOR_PRODUCT_ID;
+}
+
 /* USB devices features */
 #define KVASER_HAS_SILENT_MODE		BIT(0)
 #define KVASER_HAS_TXRX_ERRORS		BIT(1)
@@ -73,7 +94,7 @@
 #define MSG_FLAG_TX_ACK			BIT(6)
 #define MSG_FLAG_TX_REQUEST		BIT(7)
 
-/* Can states */
+/* Can states (M16C CxSTRH register) */
 #define M16C_STATE_BUS_RESET		BIT(0)
 #define M16C_STATE_BUS_ERROR		BIT(4)
 #define M16C_STATE_BUS_PASSIVE		BIT(5)
@@ -98,7 +119,11 @@
 #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_LEAF_GET_CARD_INFO2		32
+#define CMD_USBCAN_RESET_CLOCK		32
+#define CMD_USBCAN_CLOCK_OVERFLOW_EVENT	33
+
 #define CMD_GET_CARD_INFO		34
 #define CMD_GET_CARD_INFO_REPLY		35
 #define CMD_GET_SOFTWARE_INFO		38
@@ -108,8 +133,9 @@
 #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
+
+#define CMD_LEAF_USB_THROTTLE		77
+#define CMD_LEAF_LOG_MESSAGE		106
 
 /* error factors */
 #define M16C_EF_ACKE			BIT(0)
@@ -121,6 +147,14 @@
 #define M16C_EF_RCVE			BIT(6)
 #define M16C_EF_TRE			BIT(7)
 
+/* Only Leaf-based devices can report M16C error factors,
+ * thus define our own error status flags for USBCANII
+ */
+#define USBCAN_ERROR_STATE_NONE		0
+#define USBCAN_ERROR_STATE_TX_ERROR	BIT(0)
+#define USBCAN_ERROR_STATE_RX_ERROR	BIT(1)
+#define USBCAN_ERROR_STATE_BUSERROR	BIT(2)
+
 /* bittiming parameters */
 #define KVASER_USB_TSEG1_MIN		1
 #define KVASER_USB_TSEG1_MAX		16
@@ -137,9 +171,18 @@
 #define KVASER_CTRL_MODE_SELFRECEPTION	3
 #define KVASER_CTRL_MODE_OFF		4
 
-/* log message */
+/* Extended CAN identifier flag */
 #define KVASER_EXTENDED_FRAME		BIT(31)
 
+/* Kvaser USB CAN dongles are divided into two major families:
+ * - Leaf: Based on Renesas M32C, running firmware labeled as 'filo'
+ * - UsbcanII: Based on Renesas M16C, running firmware labeled as 'helios'
+ */
+enum kvaser_usb_family {
+	KVASER_LEAF,
+	KVASER_USBCAN,
+};
+
 struct kvaser_msg_simple {
 	u8 tid;
 	u8 channel;
@@ -148,30 +191,55 @@ struct kvaser_msg_simple {
 struct kvaser_msg_cardinfo {
 	u8 tid;
 	u8 nchannels;
-	__le32 serial_number;
-	__le32 padding;
+	union {
+		struct {
+			__le32 serial_number;
+			__le32 padding;
+		} __packed leaf0;
+		struct {
+			__le32 serial_number_low;
+			__le32 serial_number_high;
+		} __packed usbcan0;
+	} __packed;
 	__le32 clock_resolution;
 	__le32 mfgdate;
 	u8 ean[8];
 	u8 hw_revision;
-	u8 usb_hs_mode;
-	__le16 padding2;
+	union {
+		struct {
+			u8 usb_hs_mode;
+		} __packed leaf1;
+		struct {
+			u8 padding;
+		} __packed usbcan1;
+	} __packed;
+	__le16 padding;
 } __packed;
 
 struct kvaser_msg_cardinfo2 {
 	u8 tid;
-	u8 channel;
+	u8 reserved;
 	u8 pcb_id[24];
 	__le32 oem_unlock_code;
 } __packed;
 
-struct kvaser_msg_softinfo {
+struct leaf_msg_softinfo {
 	u8 tid;
-	u8 channel;
+	u8 padding0;
 	__le32 sw_options;
 	__le32 fw_version;
 	__le16 max_outstanding_tx;
-	__le16 padding[9];
+	__le16 padding1[9];
+} __packed;
+
+struct usbcan_msg_softinfo {
+	u8 tid;
+	u8 fw_name[5];
+	__le16 max_outstanding_tx;
+	u8 padding[6];
+	__le32 fw_version;
+	__le16 checksum;
+	__le16 sw_options;
 } __packed;
 
 struct kvaser_msg_busparams {
@@ -188,36 +256,86 @@ struct kvaser_msg_tx_can {
 	u8 channel;
 	u8 tid;
 	u8 msg[14];
-	u8 padding;
-	u8 flags;
+	union {
+		struct {
+			u8 padding;
+			u8 flags;
+		} __packed leaf;
+		struct {
+			u8 flags;
+			u8 padding;
+		} __packed usbcan;
+	} __packed;
+} __packed;
+
+struct kvaser_msg_rx_can_header {
+	u8 channel;
+	u8 flag;
 } __packed;
 
-struct kvaser_msg_rx_can {
+struct leaf_msg_rx_can {
 	u8 channel;
 	u8 flag;
+
 	__le16 time[3];
 	u8 msg[14];
 } __packed;
 
-struct kvaser_msg_chip_state_event {
+struct usbcan_msg_rx_can {
+	u8 channel;
+	u8 flag;
+
+	u8 msg[14];
+	__le16 time;
+} __packed;
+
+struct leaf_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 usbcan_msg_chip_state_event {
+	u8 tid;
+	u8 channel;
+
+	u8 tx_errors_count;
+	u8 rx_errors_count;
+	__le16 time;
+
 	u8 status;
 	u8 padding[3];
 } __packed;
 
-struct kvaser_msg_tx_acknowledge {
+struct kvaser_msg_tx_acknowledge_header {
+	u8 channel;
+	u8 tid;
+} __packed;
+
+struct leaf_msg_tx_acknowledge {
 	u8 channel;
 	u8 tid;
+
 	__le16 time[3];
 	u8 flags;
 	u8 time_offset;
 } __packed;
 
-struct kvaser_msg_error_event {
+struct usbcan_msg_tx_acknowledge {
+	u8 channel;
+	u8 tid;
+
+	__le16 time;
+	__le16 padding;
+} __packed;
+
+struct leaf_msg_error_event {
 	u8 tid;
 	u8 flags;
 	__le16 time[3];
@@ -229,6 +347,18 @@ struct kvaser_msg_error_event {
 	u8 error_factor;
 } __packed;
 
+struct usbcan_msg_error_event {
+	u8 tid;
+	u8 padding;
+	u8 tx_errors_count_ch0;
+	u8 rx_errors_count_ch0;
+	u8 tx_errors_count_ch1;
+	u8 rx_errors_count_ch1;
+	u8 status_ch0;
+	u8 status_ch1;
+	__le16 time;
+} __packed;
+
 struct kvaser_msg_ctrl_mode {
 	u8 tid;
 	u8 channel;
@@ -243,7 +373,7 @@ struct kvaser_msg_flush_queue {
 	u8 padding[3];
 } __packed;
 
-struct kvaser_msg_log_message {
+struct leaf_msg_log_message {
 	u8 channel;
 	u8 flags;
 	__le16 time[3];
@@ -260,19 +390,57 @@ struct kvaser_msg {
 		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_rx_can_header rx_can_header;
+		struct kvaser_msg_tx_acknowledge_header tx_acknowledge_header;
+
+		union {
+			struct leaf_msg_softinfo softinfo;
+			struct leaf_msg_rx_can rx_can;
+			struct leaf_msg_chip_state_event chip_state_event;
+			struct leaf_msg_tx_acknowledge tx_acknowledge;
+			struct leaf_msg_error_event error_event;
+			struct leaf_msg_log_message log_message;
+		} __packed leaf;
+
+		union {
+			struct usbcan_msg_softinfo softinfo;
+			struct usbcan_msg_rx_can rx_can;
+			struct usbcan_msg_chip_state_event chip_state_event;
+			struct usbcan_msg_tx_acknowledge tx_acknowledge;
+			struct usbcan_msg_error_event error_event;
+		} __packed usbcan;
+
 		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;
 
+/* Summary of a kvaser error event, for a unified Leaf/Usbcan error
+ * handling. Some discrepancies between the two families exist:
+ *
+ * - USBCAN firmware does not report M16C "error factors"
+ * - USBCAN controllers has difficulties reporting if the raised error
+ *   event is for ch0 or ch1. They leave such arbitration to the OS
+ *   driver by letting it compare error counters with previous values
+ *   and decide the error event's channel. Thus for USBCAN, the channel
+ *   field is only advisory.
+ */
+struct kvaser_usb_error_summary {
+	u8 channel, status, txerr, rxerr;
+	union {
+		struct {
+			u8 error_factor;
+		} leaf;
+		struct {
+			u8 other_ch_status;
+			u8 error_state;
+		} usbcan;
+	};
+};
+
 struct kvaser_usb_tx_urb_context {
 	struct kvaser_usb_net_priv *priv;
 	u32 echo_index;
@@ -288,6 +456,7 @@ struct kvaser_usb {
 
 	u32 fw_version;
 	unsigned int nchannels;
+	enum kvaser_usb_family family;
 
 	bool rxinitdone;
 	void *rxbuf[MAX_RX_URBS];
@@ -311,6 +480,7 @@ struct kvaser_usb_net_priv {
 };
 
 static const struct usb_device_id kvaser_usb_table[] = {
+	/* Leaf family IDs */
 	{ 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),
@@ -360,6 +530,17 @@ static const struct usb_device_id kvaser_usb_table[] = {
 		.driver_info = KVASER_HAS_TXRX_ERRORS },
 	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_LITE_V2_PRODUCT_ID) },
 	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MINI_PCIE_HS_PRODUCT_ID) },
+
+	/* USBCANII family IDs */
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_USBCAN2_PRODUCT_ID),
+		.driver_info = KVASER_HAS_TXRX_ERRORS },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_USBCAN_REVB_PRODUCT_ID),
+		.driver_info = KVASER_HAS_TXRX_ERRORS },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MEMORATOR_PRODUCT_ID),
+		.driver_info = KVASER_HAS_TXRX_ERRORS },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_VCI2_PRODUCT_ID),
+		.driver_info = KVASER_HAS_TXRX_ERRORS },
+
 	{ }
 };
 MODULE_DEVICE_TABLE(usb, kvaser_usb_table);
@@ -463,7 +644,14 @@ static int kvaser_usb_get_software_info(struct kvaser_usb *dev)
 	if (err)
 		return err;
 
-	dev->fw_version = le32_to_cpu(msg.u.softinfo.fw_version);
+	switch (dev->family) {
+	case KVASER_LEAF:
+		dev->fw_version = le32_to_cpu(msg.u.leaf.softinfo.fw_version);
+		break;
+	case KVASER_USBCAN:
+		dev->fw_version = le32_to_cpu(msg.u.usbcan.softinfo.fw_version);
+		break;
+	}
 
 	return 0;
 }
@@ -482,7 +670,9 @@ static int kvaser_usb_get_card_info(struct kvaser_usb *dev)
 		return err;
 
 	dev->nchannels = msg.u.cardinfo.nchannels;
-	if (dev->nchannels > MAX_NET_DEVICES)
+	if ((dev->nchannels > MAX_NET_DEVICES) ||
+	    (dev->family == KVASER_USBCAN &&
+	     dev->nchannels > MAX_USBCAN_NET_DEVICES))
 		return -EINVAL;
 
 	return 0;
@@ -496,8 +686,10 @@ static void kvaser_usb_tx_acknowledge(const struct kvaser_usb *dev,
 	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;
+	u8 channel, tid;
+
+	channel = msg->u.tx_acknowledge_header.channel;
+	tid = msg->u.tx_acknowledge_header.tid;
 
 	if (channel >= dev->nchannels) {
 		dev_err(dev->udev->dev.parent,
@@ -615,158 +807,279 @@ static void kvaser_usb_unlink_tx_urbs(struct kvaser_usb_net_priv *priv)
 		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)
+static void kvaser_usb_rx_error_update_can_state(struct kvaser_usb_net_priv *priv,
+						 const struct kvaser_usb_error_summary *es,
+						 struct can_frame *cf)
 {
-	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;
+	struct kvaser_usb *dev = priv->dev;
+	struct net_device_stats *stats = &priv->netdev->stats;
+	enum can_state cur_state, new_state, tx_state, rx_state;
 
-	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];
+	netdev_dbg(priv->netdev, "Error status: 0x%02x\n", es->status);
+
+	new_state = cur_state = priv->can.state;
+
+	if (es->status & (M16C_STATE_BUS_OFF | M16C_STATE_BUS_RESET))
+		new_state = CAN_STATE_BUS_OFF;
+	else if (es->status & M16C_STATE_BUS_PASSIVE)
+		new_state = CAN_STATE_ERROR_PASSIVE;
+	else if (es->status & M16C_STATE_BUS_ERROR) {
+		if ((es->txerr >= 256) || (es->rxerr >= 256))
+			new_state = CAN_STATE_BUS_OFF;
+		else if ((es->txerr >= 128) || (es->rxerr >= 128))
+			new_state = CAN_STATE_ERROR_PASSIVE;
+		else if ((es->txerr >= 96) || (es->rxerr >= 96))
+			new_state = CAN_STATE_ERROR_WARNING;
+		else if (cur_state > CAN_STATE_ERROR_ACTIVE)
+			new_state = CAN_STATE_ERROR_ACTIVE;
+	}
+
+	if (!es->status)
+		new_state = CAN_STATE_ERROR_ACTIVE;
+
+	if (new_state != cur_state) {
+		tx_state = (es->txerr >= es->rxerr) ? new_state : 0;
+		rx_state = (es->txerr <= es->rxerr) ? new_state : 0;
+
+		can_change_state(priv->netdev, cf, tx_state, rx_state);
+	}
+
+	if (priv->can.restart_ms &&
+	    (cur_state >= CAN_STATE_BUS_OFF) &&
+	    (new_state < CAN_STATE_BUS_OFF)) {
+		priv->can.can_stats.restarts++;
+	}
+
+	switch (dev->family) {
+	case KVASER_LEAF:
+		if (es->leaf.error_factor) {
+			priv->can.can_stats.bus_error++;
+			stats->rx_errors++;
+		}
 		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;
+	case KVASER_USBCAN:
+		if (es->usbcan.error_state & USBCAN_ERROR_STATE_TX_ERROR)
+			stats->tx_errors++;
+		if (es->usbcan.error_state & USBCAN_ERROR_STATE_RX_ERROR)
+			stats->rx_errors++;
+		if (es->usbcan.error_state & USBCAN_ERROR_STATE_BUSERROR) {
+			priv->can.can_stats.bus_error++;
+		}
 		break;
-	default:
-		dev_err(dev->udev->dev.parent, "Invalid msg id (%d)\n",
-			msg->id);
-		return;
 	}
 
-	if (channel >= dev->nchannels) {
+	priv->bec.txerr = es->txerr;
+	priv->bec.rxerr = es->rxerr;
+}
+
+static void kvaser_usb_rx_error(const struct kvaser_usb *dev,
+				const struct kvaser_usb_error_summary *es)
+{
+	struct can_frame *cf, tmp_cf = { .can_id = CAN_ERR_FLAG, .can_dlc = CAN_ERR_DLC };
+	struct sk_buff *skb;
+	struct net_device_stats *stats;
+	struct kvaser_usb_net_priv *priv;
+	enum can_state old_state, new_state;
+
+	if (es->channel >= dev->nchannels) {
 		dev_err(dev->udev->dev.parent,
-			"Invalid channel number (%d)\n", channel);
+			"Invalid channel number (%d)\n", es->channel);
 		return;
 	}
 
-	priv = dev->nets[channel];
+	priv = dev->nets[es->channel];
 	stats = &priv->netdev->stats;
 
+	/* Update all of the can interface's state and error counters before
+	 * trying any memory allocation that can actually fail with -ENOMEM.
+	 *
+	 * We send a temporary stack-allocated error can frame to
+	 * can_change_state() for the very same reason.
+	 *
+	 * TODO: Split can_change_state() responsibility between updating the
+	 * can interface's state and counters, and the setting up of can error
+	 * frame ID and data to userspace. Remove stack allocation afterwards.
+	 */
+	old_state = priv->can.state;
+	kvaser_usb_rx_error_update_can_state(priv, es, &tmp_cf);
+	new_state = priv->can.state;
+
 	skb = alloc_can_err_skb(priv->netdev, &cf);
 	if (!skb) {
 		stats->rx_dropped++;
 		return;
 	}
+	memcpy(cf, &tmp_cf, sizeof(*cf));
+
+	if (new_state != old_state) {
+		if (es->status &
+		    (M16C_STATE_BUS_OFF | M16C_STATE_BUS_RESET)) {
+			if (!priv->can.restart_ms)
+				kvaser_usb_simple_msg_async(priv, CMD_STOP_CHIP);
+			netif_carrier_off(priv->netdev);
+		}
 
-	new_state = priv->can.state;
-
-	netdev_dbg(priv->netdev, "Error status: 0x%02x\n", status);
-
-	if (status & (M16C_STATE_BUS_OFF | M16C_STATE_BUS_RESET)) {
-		cf->can_id |= CAN_ERR_BUSOFF;
+		if (priv->can.restart_ms &&
+		    (old_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.bus_off++;
-		if (!priv->can.restart_ms)
-			kvaser_usb_simple_msg_async(priv, CMD_STOP_CHIP);
+	switch (dev->family) {
+	case KVASER_LEAF:
+		if (es->leaf.error_factor) {
+			cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_PROT;
+
+			if (es->leaf.error_factor & M16C_EF_ACKE)
+				cf->data[3] |= (CAN_ERR_PROT_LOC_ACK);
+			if (es->leaf.error_factor & M16C_EF_CRCE)
+				cf->data[3] |= (CAN_ERR_PROT_LOC_CRC_SEQ |
+						CAN_ERR_PROT_LOC_CRC_DEL);
+			if (es->leaf.error_factor & M16C_EF_FORME)
+				cf->data[2] |= CAN_ERR_PROT_FORM;
+			if (es->leaf.error_factor & M16C_EF_STFE)
+				cf->data[2] |= CAN_ERR_PROT_STUFF;
+			if (es->leaf.error_factor & M16C_EF_BITE0)
+				cf->data[2] |= CAN_ERR_PROT_BIT0;
+			if (es->leaf.error_factor & M16C_EF_BITE1)
+				cf->data[2] |= CAN_ERR_PROT_BIT1;
+			if (es->leaf.error_factor & M16C_EF_TRE)
+				cf->data[2] |= CAN_ERR_PROT_TX;
+		}
+		break;
+	case KVASER_USBCAN:
+		if (es->usbcan.error_state & USBCAN_ERROR_STATE_BUSERROR) {
+			cf->can_id |= CAN_ERR_BUSERROR;
+		}
+		break;
+	}
 
-		netif_carrier_off(priv->netdev);
+	cf->data[6] = es->txerr;
+	cf->data[7] = es->rxerr;
 
-		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++;
-		}
+	stats->rx_packets++;
+	stats->rx_bytes += cf->can_dlc;
+	netif_rx(skb);
+}
 
-		new_state = CAN_STATE_ERROR_PASSIVE;
-	} else 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) &&
-			   ((txerr < 96) && (rxerr < 96))) {
-			cf->can_id |= CAN_ERR_PROT;
-			cf->data[2] = CAN_ERR_PROT_ACTIVE;
+/* For USBCAN, report error to userspace iff the channels's errors counter
+ * has changed, or we're the only channel seeing a bus error state.
+ */
+static void kvaser_usbcan_conditionally_rx_error(const struct kvaser_usb *dev,
+						 struct kvaser_usb_error_summary *es)
+{
+	struct kvaser_usb_net_priv *priv;
+	int channel;
+	bool report_error;
 
-			new_state = CAN_STATE_ERROR_ACTIVE;
-		}
+	channel = es->channel;
+	if (channel >= dev->nchannels) {
+		dev_err(dev->udev->dev.parent,
+			"Invalid channel number (%d)\n", channel);
+		return;
 	}
 
-	if (!status) {
-		cf->can_id |= CAN_ERR_PROT;
-		cf->data[2] = CAN_ERR_PROT_ACTIVE;
+	priv = dev->nets[channel];
+	report_error = false;
 
-		new_state = CAN_STATE_ERROR_ACTIVE;
+	if (es->txerr != priv->bec.txerr) {
+		es->usbcan.error_state |= USBCAN_ERROR_STATE_TX_ERROR;
+		report_error = true;
+	}
+	if (es->rxerr != priv->bec.rxerr) {
+		es->usbcan.error_state |= USBCAN_ERROR_STATE_RX_ERROR;
+		report_error = true;
+	}
+	if ((es->status & M16C_STATE_BUS_ERROR) &&
+	    !(es->usbcan.other_ch_status & M16C_STATE_BUS_ERROR)) {
+		es->usbcan.error_state |= USBCAN_ERROR_STATE_BUSERROR;
+		report_error = true;
 	}
 
-	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);
+	if (report_error)
+		kvaser_usb_rx_error(dev, es);
+}
 
-		priv->can.can_stats.restarts++;
-	}
+static void kvaser_usbcan_rx_error(const struct kvaser_usb *dev,
+				   const struct kvaser_msg *msg)
+{
+	struct kvaser_usb_error_summary es = { };
 
-	if (error_factor) {
-		priv->can.can_stats.bus_error++;
-		stats->rx_errors++;
+	switch (msg->id) {
+	/* Sometimes errors are sent as unsolicited chip state events */
+	case CMD_CHIP_STATE_EVENT:
+		es.channel = msg->u.usbcan.chip_state_event.channel;
+		es.status =  msg->u.usbcan.chip_state_event.status;
+		es.txerr = msg->u.usbcan.chip_state_event.tx_errors_count;
+		es.rxerr = msg->u.usbcan.chip_state_event.rx_errors_count;
+		kvaser_usbcan_conditionally_rx_error(dev, &es);
+		break;
 
-		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;
-	}
+	case CMD_CAN_ERROR_EVENT:
+		es.channel = 0;
+		es.status = msg->u.usbcan.error_event.status_ch0;
+		es.txerr = msg->u.usbcan.error_event.tx_errors_count_ch0;
+		es.rxerr = msg->u.usbcan.error_event.rx_errors_count_ch0;
+		es.usbcan.other_ch_status =
+			msg->u.usbcan.error_event.status_ch1;
+		kvaser_usbcan_conditionally_rx_error(dev, &es);
+
+		/* The USBCAN firmware supports up to 2 channels.
+		 * Now that ch0 was checked, check if ch1 has any errors.
+		 */
+		if (dev->nchannels == MAX_USBCAN_NET_DEVICES) {
+			es.channel = 1;
+			es.status = msg->u.usbcan.error_event.status_ch1;
+			es.txerr = msg->u.usbcan.error_event.tx_errors_count_ch1;
+			es.rxerr = msg->u.usbcan.error_event.rx_errors_count_ch1;
+			es.usbcan.other_ch_status =
+				msg->u.usbcan.error_event.status_ch0;
+			kvaser_usbcan_conditionally_rx_error(dev, &es);
+		}
+		break;
 
-	cf->data[6] = txerr;
-	cf->data[7] = rxerr;
+	default:
+		dev_err(dev->udev->dev.parent, "Invalid msg id (%d)\n",
+			msg->id);
+	}
+}
 
-	priv->bec.txerr = txerr;
-	priv->bec.rxerr = rxerr;
+static void kvaser_leaf_rx_error(const struct kvaser_usb *dev,
+				 const struct kvaser_msg *msg)
+{
+	struct kvaser_usb_error_summary es = { };
 
-	priv->can.state = new_state;
+	switch (msg->id) {
+	case CMD_CAN_ERROR_EVENT:
+		es.channel = msg->u.leaf.error_event.channel;
+		es.status =  msg->u.leaf.error_event.status;
+		es.txerr = msg->u.leaf.error_event.tx_errors_count;
+		es.rxerr = msg->u.leaf.error_event.rx_errors_count;
+		es.leaf.error_factor = msg->u.leaf.error_event.error_factor;
+		break;
+	case CMD_LEAF_LOG_MESSAGE:
+		es.channel = msg->u.leaf.log_message.channel;
+		es.status = msg->u.leaf.log_message.data[0];
+		es.txerr = msg->u.leaf.log_message.data[2];
+		es.rxerr = msg->u.leaf.log_message.data[3];
+		es.leaf.error_factor = msg->u.leaf.log_message.data[1];
+		break;
+	case CMD_CHIP_STATE_EVENT:
+		es.channel = msg->u.leaf.chip_state_event.channel;
+		es.status =  msg->u.leaf.chip_state_event.status;
+		es.txerr = msg->u.leaf.chip_state_event.tx_errors_count;
+		es.rxerr = msg->u.leaf.chip_state_event.rx_errors_count;
+		es.leaf.error_factor = 0;
+		break;
+	default:
+		dev_err(dev->udev->dev.parent, "Invalid msg id (%d)\n",
+			msg->id);
+		return;
+	}
 
-	stats->rx_packets++;
-	stats->rx_bytes += cf->can_dlc;
-	netif_rx(skb);
+	kvaser_usb_rx_error(dev, &es);
 }
 
 static void kvaser_usb_rx_can_err(const struct kvaser_usb_net_priv *priv,
@@ -776,16 +1089,19 @@ static void kvaser_usb_rx_can_err(const struct kvaser_usb_net_priv *priv,
 	struct sk_buff *skb;
 	struct net_device_stats *stats = &priv->netdev->stats;
 
-	if (msg->u.rx_can.flag & (MSG_FLAG_ERROR_FRAME |
+	if (msg->u.rx_can_header.flag & (MSG_FLAG_ERROR_FRAME |
 					 MSG_FLAG_NERR)) {
 		netdev_err(priv->netdev, "Unknow error (flags: 0x%02x)\n",
-			   msg->u.rx_can.flag);
+			   msg->u.rx_can_header.flag);
 
 		stats->rx_errors++;
 		return;
 	}
 
-	if (msg->u.rx_can.flag & MSG_FLAG_OVERRUN) {
+	if (msg->u.rx_can_header.flag & MSG_FLAG_OVERRUN) {
+		stats->rx_over_errors++;
+		stats->rx_errors++;
+
 		skb = alloc_can_err_skb(priv->netdev, &cf);
 		if (!skb) {
 			stats->rx_dropped++;
@@ -795,9 +1111,6 @@ static void kvaser_usb_rx_can_err(const struct kvaser_usb_net_priv *priv,
 		cf->can_id |= CAN_ERR_CRTL;
 		cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
 
-		stats->rx_over_errors++;
-		stats->rx_errors++;
-
 		stats->rx_packets++;
 		stats->rx_bytes += cf->can_dlc;
 		netif_rx(skb);
@@ -811,7 +1124,8 @@ static void kvaser_usb_rx_can_msg(const struct kvaser_usb *dev,
 	struct can_frame *cf;
 	struct sk_buff *skb;
 	struct net_device_stats *stats;
-	u8 channel = msg->u.rx_can.channel;
+	u8 channel = msg->u.rx_can_header.channel;
+	const u8 *rx_msg = NULL;	/* GCC */
 
 	if (channel >= dev->nchannels) {
 		dev_err(dev->udev->dev.parent,
@@ -822,60 +1136,68 @@ static void kvaser_usb_rx_can_msg(const struct kvaser_usb *dev,
 	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);
+	if ((msg->u.rx_can_header.flag & MSG_FLAG_ERROR_FRAME) &&
+	    (dev->family == KVASER_LEAF && msg->id == CMD_LEAF_LOG_MESSAGE)) {
+		kvaser_leaf_rx_error(dev, msg);
 		return;
-	} else if (msg->u.rx_can.flag & (MSG_FLAG_ERROR_FRAME |
-					 MSG_FLAG_NERR |
-					 MSG_FLAG_OVERRUN)) {
+	} else if (msg->u.rx_can_header.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) {
+	} else if (msg->u.rx_can_header.flag & ~MSG_FLAG_REMOTE_FRAME) {
 		netdev_warn(priv->netdev,
 			    "Unhandled frame (flags: 0x%02x)",
-			    msg->u.rx_can.flag);
+			    msg->u.rx_can_header.flag);
 		return;
 	}
 
+	switch (dev->family) {
+	case KVASER_LEAF:
+		rx_msg = msg->u.leaf.rx_can.msg;
+		break;
+	case KVASER_USBCAN:
+		rx_msg = msg->u.usbcan.rx_can.msg;
+		break;
+	}
+
 	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 (dev->family == KVASER_LEAF && msg->id == CMD_LEAF_LOG_MESSAGE) {
+		cf->can_id = le32_to_cpu(msg->u.leaf.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);
+		cf->can_dlc = get_can_dlc(msg->u.leaf.log_message.dlc);
 
-		if (msg->u.log_message.flags & MSG_FLAG_REMOTE_FRAME)
+		if (msg->u.leaf.log_message.flags & MSG_FLAG_REMOTE_FRAME)
 			cf->can_id |= CAN_RTR_FLAG;
 		else
-			memcpy(cf->data, &msg->u.log_message.data,
+			memcpy(cf->data, &msg->u.leaf.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);
+		cf->can_id = ((rx_msg[0] & 0x1f) << 6) | (rx_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 |= ((rx_msg[2] & 0x0f) << 14) |
+				      ((rx_msg[3] & 0xff) << 6) |
+				      (rx_msg[4] & 0x3f);
 			cf->can_id |= CAN_EFF_FLAG;
 		}
 
-		cf->can_dlc = get_can_dlc(msg->u.rx_can.msg[5]);
+		cf->can_dlc = get_can_dlc(rx_msg[5]);
 
-		if (msg->u.rx_can.flag & MSG_FLAG_REMOTE_FRAME)
+		if (msg->u.rx_can_header.flag & MSG_FLAG_REMOTE_FRAME)
 			cf->can_id |= CAN_RTR_FLAG;
 		else
-			memcpy(cf->data, &msg->u.rx_can.msg[6],
+			memcpy(cf->data, &rx_msg[6],
 			       cf->can_dlc);
 	}
 
@@ -938,21 +1260,35 @@ static void kvaser_usb_handle_message(const struct kvaser_usb *dev,
 
 	case CMD_RX_STD_MESSAGE:
 	case CMD_RX_EXT_MESSAGE:
-	case CMD_LOG_MESSAGE:
+		kvaser_usb_rx_can_msg(dev, msg);
+		break;
+
+	case CMD_LEAF_LOG_MESSAGE:
+		if (dev->family != KVASER_LEAF)
+			goto warn;
 		kvaser_usb_rx_can_msg(dev, msg);
 		break;
 
 	case CMD_CHIP_STATE_EVENT:
 	case CMD_CAN_ERROR_EVENT:
-		kvaser_usb_rx_error(dev, msg);
+		if (dev->family == KVASER_LEAF)
+			kvaser_leaf_rx_error(dev, msg);
+		else
+			kvaser_usbcan_rx_error(dev, msg);
 		break;
 
 	case CMD_TX_ACKNOWLEDGE:
 		kvaser_usb_tx_acknowledge(dev, msg);
 		break;
 
+	/* Ignored messages */
+	case CMD_USBCAN_CLOCK_OVERFLOW_EVENT:
+		if (dev->family != KVASER_USBCAN)
+			goto warn;
+		break;
+
 	default:
-		dev_warn(dev->udev->dev.parent,
+warn:		dev_warn(dev->udev->dev.parent,
 			 "Unhandled message (%d)\n", msg->id);
 		break;
 	}
@@ -1172,7 +1508,7 @@ static void kvaser_usb_unlink_all_urbs(struct kvaser_usb *dev)
 				  dev->rxbuf[i],
 				  dev->rxbuf_dma[i]);
 
-	for (i = 0; i < MAX_NET_DEVICES; i++) {
+	for (i = 0; i < dev->nchannels; i++) {
 		struct kvaser_usb_net_priv *priv = dev->nets[i];
 
 		if (priv)
@@ -1280,6 +1616,7 @@ static netdev_tx_t kvaser_usb_start_xmit(struct sk_buff *skb,
 	struct kvaser_msg *msg;
 	int i, err;
 	int ret = NETDEV_TX_OK;
+	u8 *msg_tx_can_flags = NULL;		/* GCC */
 
 	if (can_dropped_invalid_skb(netdev, skb))
 		return NETDEV_TX_OK;
@@ -1301,9 +1638,19 @@ static netdev_tx_t kvaser_usb_start_xmit(struct sk_buff *skb,
 
 	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;
 
+	switch (dev->family) {
+	case KVASER_LEAF:
+		msg_tx_can_flags = &msg->u.tx_can.leaf.flags;
+		break;
+	case KVASER_USBCAN:
+		msg_tx_can_flags = &msg->u.tx_can.usbcan.flags;
+		break;
+	}
+
+	*msg_tx_can_flags = 0;
+
 	if (cf->can_id & CAN_EFF_FLAG) {
 		msg->id = CMD_TX_EXT_MESSAGE;
 		msg->u.tx_can.msg[0] = (cf->can_id >> 24) & 0x1f;
@@ -1321,7 +1668,7 @@ static netdev_tx_t kvaser_usb_start_xmit(struct sk_buff *skb,
 	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;
+		*msg_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) {
@@ -1590,6 +1937,17 @@ static int kvaser_usb_probe(struct usb_interface *intf,
 	if (!dev)
 		return -ENOMEM;
 
+	if (kvaser_is_leaf(id)) {
+		dev->family = KVASER_LEAF;
+	} else if (kvaser_is_usbcan(id)) {
+		dev->family = KVASER_USBCAN;
+	} else {
+		dev_err(&intf->dev,
+			"Product ID (%d) does not belong to any known Kvaser USB family",
+			id->idProduct);
+		return -ENODEV;
+	}
+
 	err = kvaser_usb_get_endpoints(intf, &dev->bulk_in, &dev->bulk_out);
 	if (err) {
 		dev_err(&intf->dev, "Cannot get usb endpoint(s)");

drivers/net/can/usb/peak_usb/Makefile

@@ -1,2 +1,2 @@
 obj-$(CONFIG_CAN_PEAK_USB) += peak_usb.o
-peak_usb-y = pcan_usb_core.o pcan_usb.o pcan_usb_pro.o
+peak_usb-y = pcan_usb_core.o pcan_usb.o pcan_usb_pro.o pcan_usb_fd.o

drivers/net/can/usb/peak_usb/pcan_ucan.h

@@ -0,0 +1,222 @@
+/*
+ * CAN driver for PEAK System micro-CAN based adapters
+ *
+ * Copyright (C) 2003-2011 PEAK System-Technik GmbH
+ * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com>
+ *
+ * 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 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ */
+#ifndef PUCAN_H
+#define PUCAN_H
+
+/* uCAN commands opcodes list (low-order 10 bits) */
+#define PUCAN_CMD_NOP			0x000
+#define PUCAN_CMD_RESET_MODE		0x001
+#define PUCAN_CMD_NORMAL_MODE		0x002
+#define PUCAN_CMD_LISTEN_ONLY_MODE	0x003
+#define PUCAN_CMD_TIMING_SLOW		0x004
+#define PUCAN_CMD_TIMING_FAST		0x005
+#define PUCAN_CMD_FILTER_STD		0x008
+#define PUCAN_CMD_TX_ABORT		0x009
+#define PUCAN_CMD_WR_ERR_CNT		0x00a
+#define PUCAN_CMD_RX_FRAME_ENABLE	0x00b
+#define PUCAN_CMD_RX_FRAME_DISABLE	0x00c
+#define PUCAN_CMD_END_OF_COLLECTION	0x3ff
+
+/* uCAN received messages list */
+#define PUCAN_MSG_CAN_RX		0x0001
+#define PUCAN_MSG_ERROR			0x0002
+#define PUCAN_MSG_STATUS		0x0003
+#define PUCAN_MSG_BUSLOAD		0x0004
+#define PUCAN_MSG_CAN_TX		0x1000
+
+/* uCAN command common header */
+struct __packed pucan_command {
+	__le16	opcode_channel;
+	u16	args[3];
+};
+
+/* uCAN TIMING_SLOW command fields */
+#define PUCAN_TSLOW_SJW_T(s, t)		(((s) & 0xf) | ((!!(t)) << 7))
+#define PUCAN_TSLOW_TSEG2(t)		((t) & 0xf)
+#define PUCAN_TSLOW_TSEG1(t)		((t) & 0x3f)
+#define PUCAN_TSLOW_BRP(b)		((b) & 0x3ff)
+
+struct __packed pucan_timing_slow {
+	__le16	opcode_channel;
+
+	u8	ewl;		/* Error Warning limit */
+	u8	sjw_t;		/* Sync Jump Width + Triple sampling */
+	u8	tseg2;		/* Timing SEGment 2 */
+	u8	tseg1;		/* Timing SEGment 1 */
+
+	__le16	brp;		/* BaudRate Prescaler */
+};
+
+/* uCAN TIMING_FAST command fields */
+#define PUCAN_TFAST_SJW(s)		((s) & 0x3)
+#define PUCAN_TFAST_TSEG2(t)		((t) & 0x7)
+#define PUCAN_TFAST_TSEG1(t)		((t) & 0xf)
+#define PUCAN_TFAST_BRP(b)		((b) & 0x3ff)
+
+struct __packed pucan_timing_fast {
+	__le16	opcode_channel;
+
+	u8	unused;
+	u8	sjw;		/* Sync Jump Width */
+	u8	tseg2;		/* Timing SEGment 2 */
+	u8	tseg1;		/* Timing SEGment 1 */
+
+	__le16	brp;		/* BaudRate Prescaler */
+};
+
+/* uCAN FILTER_STD command fields */
+#define PUCAN_FLTSTD_ROW_IDX_BITS	6
+
+struct __packed pucan_filter_std {
+	__le16	opcode_channel;
+
+	__le16	idx;
+	__le32	mask;		/* CAN-ID bitmask in idx range */
+};
+
+/* uCAN WR_ERR_CNT command fields */
+#define PUCAN_WRERRCNT_TE		0x4000	/* Tx error cntr write Enable */
+#define PUCAN_WRERRCNT_RE		0x8000	/* Rx error cntr write Enable */
+
+struct __packed pucan_wr_err_cnt {
+	__le16	opcode_channel;
+
+	__le16	sel_mask;
+	u8	tx_counter;	/* Tx error counter new value */
+	u8	rx_counter;	/* Rx error counter new value */
+
+	u16	unused;
+};
+
+/* uCAN RX_FRAME_ENABLE command fields */
+#define PUCAN_FLTEXT_ERROR		0x0001
+#define PUCAN_FLTEXT_BUSLOAD		0x0002
+
+struct __packed pucan_filter_ext {
+	__le16	opcode_channel;
+
+	__le16	ext_mask;
+	u32	unused;
+};
+
+/* uCAN received messages global format */
+struct __packed pucan_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+};
+
+/* uCAN flags for CAN/CANFD messages */
+#define PUCAN_MSG_SELF_RECEIVE		0x80
+#define PUCAN_MSG_ERROR_STATE_IND	0x40	/* error state indicator */
+#define PUCAN_MSG_BITRATE_SWITCH	0x20	/* bitrate switch */
+#define PUCAN_MSG_EXT_DATA_LEN		0x10	/* extended data length */
+#define PUCAN_MSG_SINGLE_SHOT		0x08
+#define PUCAN_MSG_LOOPED_BACK		0x04
+#define PUCAN_MSG_EXT_ID		0x02
+#define PUCAN_MSG_RTR			0x01
+
+struct __packed pucan_rx_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+	__le32	tag_low;
+	__le32	tag_high;
+	u8	channel_dlc;
+	u8	client;
+	__le16	flags;
+	__le32	can_id;
+	u8	d[0];
+};
+
+/* uCAN error types */
+#define PUCAN_ERMSG_BIT_ERROR		0
+#define PUCAN_ERMSG_FORM_ERROR		1
+#define PUCAN_ERMSG_STUFF_ERROR		2
+#define PUCAN_ERMSG_OTHER_ERROR		3
+#define PUCAN_ERMSG_ERR_CNT_DEC		4
+
+struct __packed pucan_error_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+	u8	channel_type_d;
+	u8	code_g;
+	u8	tx_err_cnt;
+	u8	rx_err_cnt;
+};
+
+#define PUCAN_BUS_PASSIVE		0x20
+#define PUCAN_BUS_WARNING		0x40
+#define PUCAN_BUS_BUSOFF		0x80
+
+struct __packed pucan_status_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+	u8	channel_p_w_b;
+	u8	unused[3];
+};
+
+/* uCAN transmitted message format */
+#define PUCAN_MSG_CHANNEL_DLC(c, d)	(((c) & 0xf) | ((d) << 4))
+
+struct __packed pucan_tx_msg {
+	__le16	size;
+	__le16	type;
+	__le32	tag_low;
+	__le32	tag_high;
+	u8	channel_dlc;
+	u8	client;
+	__le16	flags;
+	__le32	can_id;
+	u8	d[0];
+};
+
+/* build the cmd opcode_channel field with respect to the correct endianness */
+static inline __le16 pucan_cmd_opcode_channel(struct peak_usb_device *dev,
+					      int opcode)
+{
+	return cpu_to_le16(((dev->ctrl_idx) << 12) | ((opcode) & 0x3ff));
+}
+
+/* return the channel number part from any received message channel_dlc field */
+static inline int pucan_msg_get_channel(struct pucan_rx_msg *rm)
+{
+	return rm->channel_dlc & 0xf;
+}
+
+/* return the dlc value from any received message channel_dlc field */
+static inline int pucan_msg_get_dlc(struct pucan_rx_msg *rm)
+{
+	return rm->channel_dlc >> 4;
+}
+
+static inline int pucan_ermsg_get_channel(struct pucan_error_msg *em)
+{
+	return em->channel_type_d & 0x0f;
+}
+
+static inline int pucan_stmsg_get_channel(struct pucan_status_msg *sm)
+{
+	return sm->channel_p_w_b & 0x0f;
+}
+
+#endif

drivers/net/can/usb/peak_usb/pcan_usb.c

@@ -855,10 +855,11 @@ static int pcan_usb_probe(struct usb_interface *intf)
 /*
  * describe the PCAN-USB adapter
  */
-struct peak_usb_adapter pcan_usb = {
+const struct peak_usb_adapter pcan_usb = {
 	.name = "PCAN-USB",
 	.device_id = PCAN_USB_PRODUCT_ID,
 	.ctrl_count = 1,
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
 	.clock = {
 		.freq = PCAN_USB_CRYSTAL_HZ / 2 ,
 	},

drivers/net/can/usb/peak_usb/pcan_usb_core.c

@@ -37,16 +37,19 @@ MODULE_LICENSE("GPL v2");
 static struct usb_device_id peak_usb_table[] = {
 	{USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USB_PRODUCT_ID)},
 	{USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USBPRO_PRODUCT_ID)},
+	{USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USBFD_PRODUCT_ID)},
+	{USB_DEVICE(PCAN_USB_VENDOR_ID, PCAN_USBPROFD_PRODUCT_ID)},
 	{} /* Terminating entry */
 };
 
 MODULE_DEVICE_TABLE(usb, peak_usb_table);
 
 /* List of supported PCAN-USB adapters (NULL terminated list) */
-static struct peak_usb_adapter *peak_usb_adapters_list[] = {
+static const struct peak_usb_adapter *const peak_usb_adapters_list[] = {
 	&pcan_usb,
 	&pcan_usb_pro,
-	NULL,
+	&pcan_usb_fd,
+	&pcan_usb_pro_fd,
 };
 
 /*
@@ -65,7 +68,7 @@ void pcan_dump_mem(char *prompt, void *p, int l)
  * initialize a time_ref object with usb adapter own settings
  */
 void peak_usb_init_time_ref(struct peak_time_ref *time_ref,
-			    struct peak_usb_adapter *adapter)
+			    const struct peak_usb_adapter *adapter)
 {
 	if (time_ref) {
 		memset(time_ref, 0, sizeof(struct peak_time_ref));
@@ -164,6 +167,21 @@ void peak_usb_get_ts_tv(struct peak_time_ref *time_ref, u32 ts,
 	}
 }
 
+/*
+ * post received skb after having set any hw timestamp
+ */
+int peak_usb_netif_rx(struct sk_buff *skb,
+		      struct peak_time_ref *time_ref, u32 ts_low, u32 ts_high)
+{
+	struct skb_shared_hwtstamps *hwts = skb_hwtstamps(skb);
+	struct timeval tv;
+
+	peak_usb_get_ts_tv(time_ref, ts_low, &tv);
+	hwts->hwtstamp = timeval_to_ktime(tv);
+
+	return netif_rx(skb);
+}
+
 /*
  * callback for bulk Rx urb
  */
@@ -253,7 +271,7 @@ static void peak_usb_write_bulk_callback(struct urb *urb)
 	case 0:
 		/* transmission complete */
 		netdev->stats.tx_packets++;
-		netdev->stats.tx_bytes += context->dlc;
+		netdev->stats.tx_bytes += context->data_len;
 
 		/* prevent tx timeout */
 		netdev->trans_start = jiffies;
@@ -289,7 +307,7 @@ static netdev_tx_t peak_usb_ndo_start_xmit(struct sk_buff *skb,
 	struct peak_usb_device *dev = netdev_priv(netdev);
 	struct peak_tx_urb_context *context = NULL;
 	struct net_device_stats *stats = &netdev->stats;
-	struct can_frame *cf = (struct can_frame *)skb->data;
+	struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
 	struct urb *urb;
 	u8 *obuf;
 	int i, err;
@@ -322,7 +340,9 @@ static netdev_tx_t peak_usb_ndo_start_xmit(struct sk_buff *skb,
 	}
 
 	context->echo_index = i;
-	context->dlc = cf->can_dlc;
+
+	/* Note: this works with CANFD frames too */
+	context->data_len = cfd->len;
 
 	usb_anchor_urb(urb, &dev->tx_submitted);
 
@@ -679,19 +699,43 @@ static int peak_usb_set_mode(struct net_device *netdev, enum can_mode mode)
 }
 
 /*
- * candev callback used to set device bitrate.
+ * candev callback used to set device nominal/arbitration bitrate.
  */
 static int peak_usb_set_bittiming(struct net_device *netdev)
 {
 	struct peak_usb_device *dev = netdev_priv(netdev);
-	struct can_bittiming *bt = &dev->can.bittiming;
+	const struct peak_usb_adapter *pa = dev->adapter;
 
-	if (dev->adapter->dev_set_bittiming) {
-		int err = dev->adapter->dev_set_bittiming(dev, bt);
+	if (pa->dev_set_bittiming) {
+		struct can_bittiming *bt = &dev->can.bittiming;
+		int err = pa->dev_set_bittiming(dev, bt);
 
 		if (err)
 			netdev_info(netdev, "couldn't set bitrate (err %d)\n",
-				err);
+				    err);
+		return err;
+	}
+
+	return 0;
+}
+
+/*
+ * candev callback used to set device data bitrate.
+ */
+static int peak_usb_set_data_bittiming(struct net_device *netdev)
+{
+	struct peak_usb_device *dev = netdev_priv(netdev);
+	const struct peak_usb_adapter *pa = dev->adapter;
+
+	if (pa->dev_set_data_bittiming) {
+		struct can_bittiming *bt = &dev->can.data_bittiming;
+		int err = pa->dev_set_data_bittiming(dev, bt);
+
+		if (err)
+			netdev_info(netdev,
+				    "couldn't set data bitrate (err %d)\n",
+				    err);
+
 		return err;
 	}
 
@@ -709,7 +753,7 @@ static const struct net_device_ops peak_usb_netdev_ops = {
  * create one device which is attached to CAN controller #ctrl_idx of the
  * usb adapter.
  */
-static int peak_usb_create_dev(struct peak_usb_adapter *peak_usb_adapter,
+static int peak_usb_create_dev(const struct peak_usb_adapter *peak_usb_adapter,
 			       struct usb_interface *intf, int ctrl_idx)
 {
 	struct usb_device *usb_dev = interface_to_usbdev(intf);
@@ -750,9 +794,11 @@ static int peak_usb_create_dev(struct peak_usb_adapter *peak_usb_adapter,
 	dev->can.clock = peak_usb_adapter->clock;
 	dev->can.bittiming_const = &peak_usb_adapter->bittiming_const;
 	dev->can.do_set_bittiming = peak_usb_set_bittiming;
+	dev->can.data_bittiming_const = &peak_usb_adapter->data_bittiming_const;
+	dev->can.do_set_data_bittiming = peak_usb_set_data_bittiming;
 	dev->can.do_set_mode = peak_usb_set_mode;
-	dev->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
-				      CAN_CTRLMODE_LISTENONLY;
+	dev->can.do_get_berr_counter = peak_usb_adapter->do_get_berr_counter;
+	dev->can.ctrlmode_supported = peak_usb_adapter->ctrlmode_supported;
 
 	netdev->netdev_ops = &peak_usb_netdev_ops;
 
@@ -857,17 +903,18 @@ static int peak_usb_probe(struct usb_interface *intf,
 {
 	struct usb_device *usb_dev = interface_to_usbdev(intf);
 	const u16 usb_id_product = le16_to_cpu(usb_dev->descriptor.idProduct);
-	struct peak_usb_adapter *peak_usb_adapter, **pp;
+	const struct peak_usb_adapter *peak_usb_adapter = NULL;
 	int i, err = -ENOMEM;
 
 	usb_dev = interface_to_usbdev(intf);
 
 	/* get corresponding PCAN-USB adapter */
-	for (pp = peak_usb_adapters_list; *pp; pp++)
-		if ((*pp)->device_id == usb_id_product)
+	for (i = 0; i < ARRAY_SIZE(peak_usb_adapters_list); i++)
+		if (peak_usb_adapters_list[i]->device_id == usb_id_product) {
+			peak_usb_adapter = peak_usb_adapters_list[i];
 			break;
+		}
 
-	peak_usb_adapter = *pp;
 	if (!peak_usb_adapter) {
 		/* should never come except device_id bad usage in this file */
 		pr_err("%s: didn't find device id. 0x%x in devices list\n",

drivers/net/can/usb/peak_usb/pcan_usb_core.h

@@ -25,6 +25,8 @@
 /* supported device ids. */
 #define PCAN_USB_PRODUCT_ID		0x000c
 #define PCAN_USBPRO_PRODUCT_ID		0x000d
+#define PCAN_USBPROFD_PRODUCT_ID	0x0011
+#define PCAN_USBFD_PRODUCT_ID		0x0012
 
 #define PCAN_USB_DRIVER_NAME		"peak_usb"
 
@@ -44,8 +46,10 @@ struct peak_usb_device;
 struct peak_usb_adapter {
 	char *name;
 	u32 device_id;
+	u32 ctrlmode_supported;
 	struct can_clock clock;
 	const struct can_bittiming_const bittiming_const;
+	const struct can_bittiming_const data_bittiming_const;
 	unsigned int ctrl_count;
 
 	int (*intf_probe)(struct usb_interface *intf);
@@ -57,6 +61,8 @@ struct peak_usb_adapter {
 	int (*dev_close)(struct peak_usb_device *dev);
 	int (*dev_set_bittiming)(struct peak_usb_device *dev,
 					struct can_bittiming *bt);
+	int (*dev_set_data_bittiming)(struct peak_usb_device *dev,
+				      struct can_bittiming *bt);
 	int (*dev_set_bus)(struct peak_usb_device *dev, u8 onoff);
 	int (*dev_get_device_id)(struct peak_usb_device *dev, u32 *device_id);
 	int (*dev_decode_buf)(struct peak_usb_device *dev, struct urb *urb);
@@ -66,6 +72,8 @@ struct peak_usb_adapter {
 	int (*dev_stop)(struct peak_usb_device *dev);
 	int (*dev_restart_async)(struct peak_usb_device *dev, struct urb *urb,
 					u8 *buf);
+	int (*do_get_berr_counter)(const struct net_device *netdev,
+				   struct can_berr_counter *bec);
 	u8 ep_msg_in;
 	u8 ep_msg_out[PCAN_USB_MAX_CHANNEL];
 	u8 ts_used_bits;
@@ -78,21 +86,23 @@ struct peak_usb_adapter {
 	int sizeof_dev_private;
 };
 
-extern struct peak_usb_adapter pcan_usb;
-extern struct peak_usb_adapter pcan_usb_pro;
+extern const struct peak_usb_adapter pcan_usb;
+extern const struct peak_usb_adapter pcan_usb_pro;
+extern const struct peak_usb_adapter pcan_usb_fd;
+extern const struct peak_usb_adapter pcan_usb_pro_fd;
 
 struct peak_time_ref {
 	struct timeval tv_host_0, tv_host;
 	u32 ts_dev_1, ts_dev_2;
 	u64 ts_total;
 	u32 tick_count;
-	struct peak_usb_adapter *adapter;
+	const struct peak_usb_adapter *adapter;
 };
 
 struct peak_tx_urb_context {
 	struct peak_usb_device *dev;
 	u32 echo_index;
-	u8 dlc;
+	u8 data_len;
 	struct urb *urb;
 };
 
@@ -102,7 +112,7 @@ struct peak_tx_urb_context {
 /* PEAK-System USB device */
 struct peak_usb_device {
 	struct can_priv can;
-	struct peak_usb_adapter *adapter;
+	const struct peak_usb_adapter *adapter;
 	unsigned int ctrl_idx;
 	u32 state;
 
@@ -134,12 +144,14 @@ void pcan_dump_mem(char *prompt, void *p, int l);
 
 /* common timestamp management */
 void peak_usb_init_time_ref(struct peak_time_ref *time_ref,
-			    struct peak_usb_adapter *adapter);
+			    const struct peak_usb_adapter *adapter);
 void peak_usb_update_ts_now(struct peak_time_ref *time_ref, u32 ts_now);
 void peak_usb_set_ts_now(struct peak_time_ref *time_ref, u32 ts_now);
 void peak_usb_get_ts_tv(struct peak_time_ref *time_ref, u32 ts,
 			struct timeval *tv);
-
+int peak_usb_netif_rx(struct sk_buff *skb,
+		      struct peak_time_ref *time_ref, u32 ts_low, u32 ts_high);
 void peak_usb_async_complete(struct urb *urb);
 void peak_usb_restart_complete(struct peak_usb_device *dev);
+
 #endif

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

@@ -0,0 +1,1095 @@
+/*
+ * CAN driver for PEAK System PCAN-USB FD / PCAN-USB Pro FD adapter
+ *
+ * Copyright (C) 2013-2014 Stephane Grosjean <s.grosjean@peak-system.com>
+ *
+ * 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 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ */
+#include <linux/netdevice.h>
+#include <linux/usb.h>
+#include <linux/module.h>
+
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/can/error.h>
+
+#include "pcan_usb_core.h"
+#include "pcan_usb_pro.h"
+#include "pcan_ucan.h"
+
+MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB FD adapter");
+MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB Pro FD adapter");
+
+#define PCAN_USBPROFD_CHANNEL_COUNT	2
+#define PCAN_USBFD_CHANNEL_COUNT	1
+
+/* PCAN-USB Pro FD adapter internal clock (Hz) */
+#define PCAN_UFD_CRYSTAL_HZ		80000000
+
+#define PCAN_UFD_CMD_BUFFER_SIZE	512
+#define PCAN_UFD_LOSPD_PKT_SIZE		64
+
+/* PCAN-USB Pro FD command timeout (ms.) */
+#define PCAN_UFD_CMD_TIMEOUT_MS		1000
+
+/* PCAN-USB Pro FD rx/tx buffers size */
+#define PCAN_UFD_RX_BUFFER_SIZE		2048
+#define PCAN_UFD_TX_BUFFER_SIZE		512
+
+/* read some versions info from the hw devcie */
+struct __packed pcan_ufd_fw_info {
+	__le16	size_of;	/* sizeof this */
+	__le16	type;		/* type of this structure */
+	u8	hw_type;	/* Type of hardware (HW_TYPE_xxx) */
+	u8	bl_version[3];	/* Bootloader version */
+	u8	hw_version;	/* Hardware version (PCB) */
+	u8	fw_version[3];	/* Firmware version */
+	__le32	dev_id[2];	/* "device id" per CAN */
+	__le32	ser_no;		/* S/N */
+	__le32	flags;		/* special functions */
+};
+
+/* handle device specific info used by the netdevices */
+struct pcan_usb_fd_if {
+	struct peak_usb_device	*dev[PCAN_USB_MAX_CHANNEL];
+	struct pcan_ufd_fw_info	fw_info;
+	struct peak_time_ref	time_ref;
+	int			cm_ignore_count;
+	int			dev_opened_count;
+};
+
+/* device information */
+struct pcan_usb_fd_device {
+	struct peak_usb_device	dev;
+	struct can_berr_counter	bec;
+	struct pcan_usb_fd_if	*usb_if;
+	u8			*cmd_buffer_addr;
+};
+
+/* Extended USB commands (non uCAN commands) */
+
+/* Clock Modes command */
+#define PCAN_UFD_CMD_CLK_SET		0x80
+
+#define PCAN_UFD_CLK_80MHZ		0x0
+#define PCAN_UFD_CLK_60MHZ		0x1
+#define PCAN_UFD_CLK_40MHZ		0x2
+#define PCAN_UFD_CLK_30MHZ		0x3
+#define PCAN_UFD_CLK_24MHZ		0x4
+#define PCAN_UFD_CLK_20MHZ		0x5
+#define PCAN_UFD_CLK_DEF		PCAN_UFD_CLK_80MHZ
+
+struct __packed pcan_ufd_clock {
+	__le16	opcode_channel;
+
+	u8	mode;
+	u8	unused[5];
+};
+
+/* LED control command */
+#define PCAN_UFD_CMD_LED_SET		0x86
+
+#define PCAN_UFD_LED_DEV		0x00
+#define PCAN_UFD_LED_FAST		0x01
+#define PCAN_UFD_LED_SLOW		0x02
+#define PCAN_UFD_LED_ON			0x03
+#define PCAN_UFD_LED_OFF		0x04
+#define PCAN_UFD_LED_DEF		PCAN_UFD_LED_DEV
+
+struct __packed pcan_ufd_led {
+	__le16	opcode_channel;
+
+	u8	mode;
+	u8	unused[5];
+};
+
+/* Extended usage of uCAN commands CMD_RX_FRAME_xxxABLE for PCAN-USB Pro FD */
+#define PCAN_UFD_FLTEXT_CALIBRATION	0x8000
+
+struct __packed pcan_ufd_filter_ext {
+	__le16	opcode_channel;
+
+	__le16	ext_mask;
+	u16	unused;
+	__le16	usb_mask;
+};
+
+/* Extended usage of uCAN messages for PCAN-USB Pro FD */
+#define PCAN_UFD_MSG_CALIBRATION	0x100
+
+struct __packed pcan_ufd_ts_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+	__le16	usb_frame_index;
+	u16	unused;
+};
+
+#define PCAN_UFD_MSG_OVERRUN		0x101
+
+#define PCAN_UFD_OVMSG_CHANNEL(o)	((o)->channel & 0xf)
+
+struct __packed pcan_ufd_ovr_msg {
+	__le16	size;
+	__le16	type;
+	__le32	ts_low;
+	__le32	ts_high;
+	u8	channel;
+	u8	unused[3];
+};
+
+static inline int pufd_omsg_get_channel(struct pcan_ufd_ovr_msg *om)
+{
+	return om->channel & 0xf;
+}
+
+/* Clock mode frequency values */
+static const u32 pcan_usb_fd_clk_freq[6] = {
+	[PCAN_UFD_CLK_80MHZ] = 80000000,
+	[PCAN_UFD_CLK_60MHZ] = 60000000,
+	[PCAN_UFD_CLK_40MHZ] = 40000000,
+	[PCAN_UFD_CLK_30MHZ] = 30000000,
+	[PCAN_UFD_CLK_24MHZ] = 24000000,
+	[PCAN_UFD_CLK_20MHZ] = 20000000
+};
+
+/* return a device USB interface */
+static inline
+struct pcan_usb_fd_if *pcan_usb_fd_dev_if(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+	return pdev->usb_if;
+}
+
+/* return a device USB commands buffer */
+static inline void *pcan_usb_fd_cmd_buffer(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+	return pdev->cmd_buffer_addr;
+}
+
+/* send PCAN-USB Pro FD commands synchronously */
+static int pcan_usb_fd_send_cmd(struct peak_usb_device *dev, void *cmd_tail)
+{
+	void *cmd_head = pcan_usb_fd_cmd_buffer(dev);
+	int err;
+	u8 *packet_ptr;
+	int i, n = 1, packet_len;
+	ptrdiff_t cmd_len;
+
+	/* usb device unregistered? */
+	if (!(dev->state & PCAN_USB_STATE_CONNECTED))
+		return 0;
+
+	/* if a packet is not filled completely by commands, the command list
+	 * is terminated with an "end of collection" record.
+	 */
+	cmd_len = cmd_tail - cmd_head;
+	if (cmd_len <= (PCAN_UFD_CMD_BUFFER_SIZE - sizeof(u64))) {
+		memset(cmd_tail, 0xff, sizeof(u64));
+		cmd_len += sizeof(u64);
+	}
+
+	packet_ptr = cmd_head;
+
+	/* firmware is not able to re-assemble 512 bytes buffer in full-speed */
+	if ((dev->udev->speed != USB_SPEED_HIGH) &&
+	    (cmd_len > PCAN_UFD_LOSPD_PKT_SIZE)) {
+		packet_len = PCAN_UFD_LOSPD_PKT_SIZE;
+		n += cmd_len / packet_len;
+	} else {
+		packet_len = cmd_len;
+	}
+
+	for (i = 0; i < n; i++) {
+		err = usb_bulk_msg(dev->udev,
+				   usb_sndbulkpipe(dev->udev,
+						   PCAN_USBPRO_EP_CMDOUT),
+				   packet_ptr, packet_len,
+				   NULL, PCAN_UFD_CMD_TIMEOUT_MS);
+		if (err) {
+			netdev_err(dev->netdev,
+				   "sending command failure: %d\n", err);
+			break;
+		}
+
+		packet_ptr += packet_len;
+	}
+
+	return err;
+}
+
+/* build the commands list in the given buffer, to enter operational mode */
+static int pcan_usb_fd_build_restart_cmd(struct peak_usb_device *dev, u8 *buf)
+{
+	struct pucan_wr_err_cnt *prc;
+	struct pucan_command *cmd;
+	u8 *pc = buf;
+
+	/* 1st, reset error counters: */
+	prc = (struct pucan_wr_err_cnt *)pc;
+	prc->opcode_channel = pucan_cmd_opcode_channel(dev,
+						       PUCAN_CMD_WR_ERR_CNT);
+
+	/* select both counters */
+	prc->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE|PUCAN_WRERRCNT_RE);
+
+	/* and reset their values */
+	prc->tx_counter = 0;
+	prc->rx_counter = 0;
+
+	/* moves the pointer forward */
+	pc += sizeof(struct pucan_wr_err_cnt);
+
+	/* next, go back to operational mode */
+	cmd = (struct pucan_command *)pc;
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
+				(dev->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) ?
+						PUCAN_CMD_LISTEN_ONLY_MODE :
+						PUCAN_CMD_NORMAL_MODE);
+	pc += sizeof(struct pucan_command);
+
+	return pc - buf;
+}
+
+/* set CAN bus on/off */
+static int pcan_usb_fd_set_bus(struct peak_usb_device *dev, u8 onoff)
+{
+	u8 *pc = pcan_usb_fd_cmd_buffer(dev);
+	int l;
+
+	if (onoff) {
+		/* build the cmds list to enter operational mode */
+		l = pcan_usb_fd_build_restart_cmd(dev, pc);
+	} else {
+		struct pucan_command *cmd = (struct pucan_command *)pc;
+
+		/* build cmd to go back to reset mode */
+		cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
+							PUCAN_CMD_RESET_MODE);
+		l = sizeof(struct pucan_command);
+	}
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, pc + l);
+}
+
+/* set filtering masks:
+ *
+ *	idx  in range [0..63] selects a row #idx, all rows otherwise
+ *	mask in range [0..0xffffffff] defines up to 32 CANIDs in the row(s)
+ *
+ *	Each bit of this 64 x 32 bits array defines a CANID value:
+ *
+ *	bit[i,j] = 1 implies that CANID=(i x 32)+j will be received, while
+ *	bit[i,j] = 0 implies that CANID=(i x 32)+j will be discarded.
+ */
+static int pcan_usb_fd_set_filter_std(struct peak_usb_device *dev, int idx,
+				      u32 mask)
+{
+	struct pucan_filter_std *cmd = pcan_usb_fd_cmd_buffer(dev);
+	int i, n;
+
+	/* select all rows when idx is out of range [0..63] */
+	if ((idx < 0) || (idx >= (1 << PUCAN_FLTSTD_ROW_IDX_BITS))) {
+		n = 1 << PUCAN_FLTSTD_ROW_IDX_BITS;
+		idx = 0;
+
+	/* select the row (and only the row) otherwise */
+	} else {
+		n = idx + 1;
+	}
+
+	for (i = idx; i < n; i++, cmd++) {
+		cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
+							PUCAN_CMD_FILTER_STD);
+		cmd->idx = cpu_to_le16(i);
+		cmd->mask = cpu_to_le32(mask);
+	}
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, cmd);
+}
+
+/* set/unset notifications filter:
+ *
+ *	onoff	sets(1)/unset(0) notifications
+ *	mask	each bit defines a kind of notification to set/unset
+ */
+static int pcan_usb_fd_set_filter_ext(struct peak_usb_device *dev,
+				      bool onoff, u16 ext_mask, u16 usb_mask)
+{
+	struct pcan_ufd_filter_ext *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
+					(onoff) ? PUCAN_CMD_RX_FRAME_ENABLE :
+						  PUCAN_CMD_RX_FRAME_DISABLE);
+
+	cmd->ext_mask = cpu_to_le16(ext_mask);
+	cmd->usb_mask = cpu_to_le16(usb_mask);
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* setup LED control */
+static int pcan_usb_fd_set_can_led(struct peak_usb_device *dev, u8 led_mode)
+{
+	struct pcan_ufd_led *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
+						       PCAN_UFD_CMD_LED_SET);
+	cmd->mode = led_mode;
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* set CAN clock domain */
+static int pcan_usb_fd_set_clock_domain(struct peak_usb_device *dev,
+					u8 clk_mode)
+{
+	struct pcan_ufd_clock *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
+						       PCAN_UFD_CMD_CLK_SET);
+	cmd->mode = clk_mode;
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* set bittiming for CAN and CAN-FD header */
+static int pcan_usb_fd_set_bittiming_slow(struct peak_usb_device *dev,
+					  struct can_bittiming *bt)
+{
+	struct pucan_timing_slow *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
+						       PUCAN_CMD_TIMING_SLOW);
+	cmd->sjw_t = PUCAN_TSLOW_SJW_T(bt->sjw - 1,
+				dev->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES);
+
+	cmd->tseg2 = PUCAN_TSLOW_TSEG2(bt->phase_seg2 - 1);
+	cmd->tseg1 = PUCAN_TSLOW_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
+	cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(bt->brp - 1));
+
+	cmd->ewl = 96;	/* default */
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* set CAN-FD bittiming for data */
+static int pcan_usb_fd_set_bittiming_fast(struct peak_usb_device *dev,
+					  struct can_bittiming *bt)
+{
+	struct pucan_timing_fast *cmd = pcan_usb_fd_cmd_buffer(dev);
+
+	cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
+						       PUCAN_CMD_TIMING_FAST);
+	cmd->sjw = PUCAN_TFAST_SJW(bt->sjw - 1);
+	cmd->tseg2 = PUCAN_TFAST_TSEG2(bt->phase_seg2 - 1);
+	cmd->tseg1 = PUCAN_TFAST_TSEG1(bt->prop_seg + bt->phase_seg1 - 1);
+	cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(bt->brp - 1));
+
+	/* send the command */
+	return pcan_usb_fd_send_cmd(dev, ++cmd);
+}
+
+/* handle restart but in asynchronously way
+ * (uses PCAN-USB Pro code to complete asynchronous request)
+ */
+static int pcan_usb_fd_restart_async(struct peak_usb_device *dev,
+				     struct urb *urb, u8 *buf)
+{
+	u8 *pc = buf;
+
+	/* build the entire cmds list in the provided buffer, to go back into
+	 * operational mode.
+	 */
+	pc += pcan_usb_fd_build_restart_cmd(dev, pc);
+
+	/* add EOC */
+	memset(pc, 0xff, sizeof(struct pucan_command));
+	pc += sizeof(struct pucan_command);
+
+	/* complete the URB */
+	usb_fill_bulk_urb(urb, dev->udev,
+			  usb_sndbulkpipe(dev->udev, PCAN_USBPRO_EP_CMDOUT),
+			  buf, pc - buf,
+			  pcan_usb_pro_restart_complete, dev);
+
+	/* and submit it. */
+	return usb_submit_urb(urb, GFP_ATOMIC);
+}
+
+static int pcan_usb_fd_drv_loaded(struct peak_usb_device *dev, bool loaded)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+
+	pdev->cmd_buffer_addr[0] = 0;
+	pdev->cmd_buffer_addr[1] = !!loaded;
+
+	return pcan_usb_pro_send_req(dev,
+				PCAN_USBPRO_REQ_FCT,
+				PCAN_USBPRO_FCT_DRVLD,
+				pdev->cmd_buffer_addr,
+				PCAN_USBPRO_FCT_DRVLD_REQ_LEN);
+}
+
+static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if,
+				     struct pucan_msg *rx_msg)
+{
+	struct pucan_rx_msg *rm = (struct pucan_rx_msg *)rx_msg;
+	struct peak_usb_device *dev = usb_if->dev[pucan_msg_get_channel(rm)];
+	struct net_device *netdev = dev->netdev;
+	struct canfd_frame *cfd;
+	struct sk_buff *skb;
+	const u16 rx_msg_flags = le16_to_cpu(rm->flags);
+
+	if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) {
+		/* CANFD frame case */
+		skb = alloc_canfd_skb(netdev, &cfd);
+		if (!skb)
+			return -ENOMEM;
+
+		if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH)
+			cfd->flags |= CANFD_BRS;
+
+		if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND)
+			cfd->flags |= CANFD_ESI;
+
+		cfd->len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(rm)));
+	} else {
+		/* CAN 2.0 frame case */
+		skb = alloc_can_skb(netdev, (struct can_frame **)&cfd);
+		if (!skb)
+			return -ENOMEM;
+
+		cfd->len = get_can_dlc(pucan_msg_get_dlc(rm));
+	}
+
+	cfd->can_id = le32_to_cpu(rm->can_id);
+
+	if (rx_msg_flags & PUCAN_MSG_EXT_ID)
+		cfd->can_id |= CAN_EFF_FLAG;
+
+	if (rx_msg_flags & PUCAN_MSG_RTR)
+		cfd->can_id |= CAN_RTR_FLAG;
+	else
+		memcpy(cfd->data, rm->d, cfd->len);
+
+	peak_usb_netif_rx(skb, &usb_if->time_ref,
+			  le32_to_cpu(rm->ts_low), le32_to_cpu(rm->ts_high));
+
+	netdev->stats.rx_packets++;
+	netdev->stats.rx_bytes += cfd->len;
+
+	return 0;
+}
+
+/* handle uCAN status message */
+static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if *usb_if,
+				     struct pucan_msg *rx_msg)
+{
+	struct pucan_status_msg *sm = (struct pucan_status_msg *)rx_msg;
+	struct peak_usb_device *dev = usb_if->dev[pucan_stmsg_get_channel(sm)];
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+	enum can_state new_state = CAN_STATE_ERROR_ACTIVE;
+	enum can_state rx_state, tx_state;
+	struct net_device *netdev = dev->netdev;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+
+	/* nothing should be sent while in BUS_OFF state */
+	if (dev->can.state == CAN_STATE_BUS_OFF)
+		return 0;
+
+	if (sm->channel_p_w_b & PUCAN_BUS_BUSOFF) {
+		new_state = CAN_STATE_BUS_OFF;
+	} else if (sm->channel_p_w_b & PUCAN_BUS_PASSIVE) {
+		new_state = CAN_STATE_ERROR_PASSIVE;
+	} else if (sm->channel_p_w_b & PUCAN_BUS_WARNING) {
+		new_state = CAN_STATE_ERROR_WARNING;
+	} else {
+		/* no error bit (so, no error skb, back to active state) */
+		dev->can.state = CAN_STATE_ERROR_ACTIVE;
+		pdev->bec.txerr = 0;
+		pdev->bec.rxerr = 0;
+		return 0;
+	}
+
+	/* state hasn't changed */
+	if (new_state == dev->can.state)
+		return 0;
+
+	/* handle bus state change */
+	tx_state = (pdev->bec.txerr >= pdev->bec.rxerr) ? new_state : 0;
+	rx_state = (pdev->bec.txerr <= pdev->bec.rxerr) ? new_state : 0;
+
+	/* allocate an skb to store the error frame */
+	skb = alloc_can_err_skb(netdev, &cf);
+	if (skb)
+		can_change_state(netdev, cf, tx_state, rx_state);
+
+	/* things must be done even in case of OOM */
+	if (new_state == CAN_STATE_BUS_OFF)
+		can_bus_off(netdev);
+
+	if (!skb)
+		return -ENOMEM;
+
+	peak_usb_netif_rx(skb, &usb_if->time_ref,
+			  le32_to_cpu(sm->ts_low), le32_to_cpu(sm->ts_high));
+
+	netdev->stats.rx_packets++;
+	netdev->stats.rx_bytes += cf->can_dlc;
+
+	return 0;
+}
+
+/* handle uCAN error message */
+static int pcan_usb_fd_decode_error(struct pcan_usb_fd_if *usb_if,
+				    struct pucan_msg *rx_msg)
+{
+	struct pucan_error_msg *er = (struct pucan_error_msg *)rx_msg;
+	struct peak_usb_device *dev = usb_if->dev[pucan_ermsg_get_channel(er)];
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+
+	/* keep a trace of tx and rx error counters for later use */
+	pdev->bec.txerr = er->tx_err_cnt;
+	pdev->bec.rxerr = er->rx_err_cnt;
+
+	return 0;
+}
+
+/* handle uCAN overrun message */
+static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if *usb_if,
+				      struct pucan_msg *rx_msg)
+{
+	struct pcan_ufd_ovr_msg *ov = (struct pcan_ufd_ovr_msg *)rx_msg;
+	struct peak_usb_device *dev = usb_if->dev[pufd_omsg_get_channel(ov)];
+	struct net_device *netdev = dev->netdev;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+
+	/* allocate an skb to store the error frame */
+	skb = alloc_can_err_skb(netdev, &cf);
+	if (!skb)
+		return -ENOMEM;
+
+	cf->can_id |= CAN_ERR_CRTL;
+	cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
+
+	peak_usb_netif_rx(skb, &usb_if->time_ref,
+			  le32_to_cpu(ov->ts_low), le32_to_cpu(ov->ts_high));
+
+	netdev->stats.rx_over_errors++;
+	netdev->stats.rx_errors++;
+
+	return 0;
+}
+
+/* handle USB calibration message */
+static void pcan_usb_fd_decode_ts(struct pcan_usb_fd_if *usb_if,
+				  struct pucan_msg *rx_msg)
+{
+	struct pcan_ufd_ts_msg *ts = (struct pcan_ufd_ts_msg *)rx_msg;
+
+	/* should wait until clock is stabilized */
+	if (usb_if->cm_ignore_count > 0)
+		usb_if->cm_ignore_count--;
+	else
+		peak_usb_set_ts_now(&usb_if->time_ref, le32_to_cpu(ts->ts_low));
+}
+
+/* callback for bulk IN urb */
+static int pcan_usb_fd_decode_buf(struct peak_usb_device *dev, struct urb *urb)
+{
+	struct pcan_usb_fd_if *usb_if = pcan_usb_fd_dev_if(dev);
+	struct net_device *netdev = dev->netdev;
+	struct pucan_msg *rx_msg;
+	u8 *msg_ptr, *msg_end;
+	int err = 0;
+
+	/* loop reading all the records from the incoming message */
+	msg_ptr = urb->transfer_buffer;
+	msg_end = urb->transfer_buffer + urb->actual_length;
+	for (; msg_ptr < msg_end;) {
+		u16 rx_msg_type, rx_msg_size;
+
+		rx_msg = (struct pucan_msg *)msg_ptr;
+		if (!rx_msg->size) {
+			/* null packet found: end of list */
+			break;
+		}
+
+		rx_msg_size = le16_to_cpu(rx_msg->size);
+		rx_msg_type = le16_to_cpu(rx_msg->type);
+
+		/* check if the record goes out of current packet */
+		if (msg_ptr + rx_msg_size > msg_end) {
+			netdev_err(netdev,
+				   "got frag rec: should inc usb rx buf sze\n");
+			err = -EBADMSG;
+			break;
+		}
+
+		switch (rx_msg_type) {
+		case PUCAN_MSG_CAN_RX:
+			err = pcan_usb_fd_decode_canmsg(usb_if, rx_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case PCAN_UFD_MSG_CALIBRATION:
+			pcan_usb_fd_decode_ts(usb_if, rx_msg);
+			break;
+
+		case PUCAN_MSG_ERROR:
+			err = pcan_usb_fd_decode_error(usb_if, rx_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case PUCAN_MSG_STATUS:
+			err = pcan_usb_fd_decode_status(usb_if, rx_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		case PCAN_UFD_MSG_OVERRUN:
+			err = pcan_usb_fd_decode_overrun(usb_if, rx_msg);
+			if (err < 0)
+				goto fail;
+			break;
+
+		default:
+			netdev_err(netdev,
+				   "unhandled msg type 0x%02x (%d): ignored\n",
+				   rx_msg_type, rx_msg_type);
+			break;
+		}
+
+		msg_ptr += rx_msg_size;
+	}
+
+fail:
+	if (err)
+		pcan_dump_mem("received msg",
+			      urb->transfer_buffer, urb->actual_length);
+	return err;
+}
+
+/* CAN/CANFD frames encoding callback */
+static int pcan_usb_fd_encode_msg(struct peak_usb_device *dev,
+				  struct sk_buff *skb, u8 *obuf, size_t *size)
+{
+	struct pucan_tx_msg *tx_msg = (struct pucan_tx_msg *)obuf;
+	struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
+	u16 tx_msg_size, tx_msg_flags;
+	u8 can_dlc;
+
+	tx_msg_size = ALIGN(sizeof(struct pucan_tx_msg) + cfd->len, 4);
+	tx_msg->size = cpu_to_le16(tx_msg_size);
+	tx_msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX);
+
+	tx_msg_flags = 0;
+	if (cfd->can_id & CAN_EFF_FLAG) {
+		tx_msg_flags |= PUCAN_MSG_EXT_ID;
+		tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_EFF_MASK);
+	} else {
+		tx_msg->can_id = cpu_to_le32(cfd->can_id & CAN_SFF_MASK);
+	}
+
+	if (can_is_canfd_skb(skb)) {
+		/* considering a CANFD frame */
+		can_dlc = can_len2dlc(cfd->len);
+
+		tx_msg_flags |= PUCAN_MSG_EXT_DATA_LEN;
+
+		if (cfd->flags & CANFD_BRS)
+			tx_msg_flags |= PUCAN_MSG_BITRATE_SWITCH;
+
+		if (cfd->flags & CANFD_ESI)
+			tx_msg_flags |= PUCAN_MSG_ERROR_STATE_IND;
+	} else {
+		/* CAND 2.0 frames */
+		can_dlc = cfd->len;
+
+		if (cfd->can_id & CAN_RTR_FLAG)
+			tx_msg_flags |= PUCAN_MSG_RTR;
+	}
+
+	tx_msg->flags = cpu_to_le16(tx_msg_flags);
+	tx_msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(dev->ctrl_idx, can_dlc);
+	memcpy(tx_msg->d, cfd->data, cfd->len);
+
+	/* add null size message to tag the end (messages are 32-bits aligned)
+	 */
+	tx_msg = (struct pucan_tx_msg *)(obuf + tx_msg_size);
+
+	tx_msg->size = 0;
+
+	/* set the whole size of the USB packet to send */
+	*size = tx_msg_size + sizeof(u32);
+
+	return 0;
+}
+
+/* start the interface (last chance before set bus on) */
+static int pcan_usb_fd_start(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+	int err;
+
+	/* set filter mode: all acceptance */
+	err = pcan_usb_fd_set_filter_std(dev, -1, 0xffffffff);
+	if (err)
+		return err;
+
+	/* opening first device: */
+	if (pdev->usb_if->dev_opened_count == 0) {
+		/* reset time_ref */
+		peak_usb_init_time_ref(&pdev->usb_if->time_ref,
+				       &pcan_usb_pro_fd);
+
+		/* enable USB calibration messages */
+		err = pcan_usb_fd_set_filter_ext(dev, 1,
+						 PUCAN_FLTEXT_ERROR,
+						 PCAN_UFD_FLTEXT_CALIBRATION);
+	}
+
+	pdev->usb_if->dev_opened_count++;
+
+	/* reset cached error counters */
+	pdev->bec.txerr = 0;
+	pdev->bec.rxerr = 0;
+
+	return err;
+}
+
+/* socket callback used to copy berr counters values receieved through USB */
+static int pcan_usb_fd_get_berr_counter(const struct net_device *netdev,
+					struct can_berr_counter *bec)
+{
+	struct peak_usb_device *dev = netdev_priv(netdev);
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+
+	*bec = pdev->bec;
+
+	/* must return 0 */
+	return 0;
+}
+
+/* stop interface (last chance before set bus off) */
+static int pcan_usb_fd_stop(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+
+	/* turn off special msgs for that interface if no other dev opened */
+	if (pdev->usb_if->dev_opened_count == 1)
+		pcan_usb_fd_set_filter_ext(dev, 0,
+					   PUCAN_FLTEXT_ERROR,
+					   PCAN_UFD_FLTEXT_CALIBRATION);
+	pdev->usb_if->dev_opened_count--;
+
+	return 0;
+}
+
+/* called when probing, to initialize a device object */
+static int pcan_usb_fd_init(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+	int i, err = -ENOMEM;
+
+	/* do this for 1st channel only */
+	if (!dev->prev_siblings) {
+		/* allocate netdevices common structure attached to first one */
+		pdev->usb_if = kzalloc(sizeof(*pdev->usb_if), GFP_KERNEL);
+		if (!pdev->usb_if)
+			goto err_out;
+
+		/* allocate command buffer once for all for the interface */
+		pdev->cmd_buffer_addr = kmalloc(PCAN_UFD_CMD_BUFFER_SIZE,
+						GFP_KERNEL);
+		if (!pdev->cmd_buffer_addr)
+			goto err_out_1;
+
+		/* number of ts msgs to ignore before taking one into account */
+		pdev->usb_if->cm_ignore_count = 5;
+
+		err = pcan_usb_pro_send_req(dev, PCAN_USBPRO_REQ_INFO,
+					    PCAN_USBPRO_INFO_FW,
+					    &pdev->usb_if->fw_info,
+					    sizeof(pdev->usb_if->fw_info));
+		if (err) {
+			dev_err(dev->netdev->dev.parent,
+				"unable to read %s firmware info (err %d)\n",
+				dev->adapter->name, err);
+			goto err_out_2;
+		}
+
+		/* explicit use of dev_xxx() instead of netdev_xxx() here:
+		 * information displayed are related to the device itself, not
+		 * to the canx (channel) device.
+		 */
+		dev_info(dev->netdev->dev.parent,
+			 "PEAK-System %s v%u fw v%u.%u.%u (%u channels)\n",
+			 dev->adapter->name, pdev->usb_if->fw_info.hw_version,
+			 pdev->usb_if->fw_info.fw_version[0],
+			 pdev->usb_if->fw_info.fw_version[1],
+			 pdev->usb_if->fw_info.fw_version[2],
+			 dev->adapter->ctrl_count);
+
+		/* the currently supported hw is non-ISO */
+		dev->can.ctrlmode = CAN_CTRLMODE_FD_NON_ISO;
+
+		/* tell the hardware the can driver is running */
+		err = pcan_usb_fd_drv_loaded(dev, 1);
+		if (err) {
+			dev_err(dev->netdev->dev.parent,
+				"unable to tell %s driver is loaded (err %d)\n",
+				dev->adapter->name, err);
+			goto err_out_2;
+		}
+	} else {
+		/* otherwise, simply copy previous sibling's values */
+		struct pcan_usb_fd_device *ppdev =
+			container_of(dev->prev_siblings,
+				     struct pcan_usb_fd_device, dev);
+
+		pdev->usb_if = ppdev->usb_if;
+		pdev->cmd_buffer_addr = ppdev->cmd_buffer_addr;
+	}
+
+	pdev->usb_if->dev[dev->ctrl_idx] = dev;
+	dev->device_number =
+		le32_to_cpu(pdev->usb_if->fw_info.dev_id[dev->ctrl_idx]);
+
+	/* set clock domain */
+	for (i = 0; i < ARRAY_SIZE(pcan_usb_fd_clk_freq); i++)
+		if (dev->adapter->clock.freq == pcan_usb_fd_clk_freq[i])
+			break;
+
+	if (i >= ARRAY_SIZE(pcan_usb_fd_clk_freq)) {
+		dev_warn(dev->netdev->dev.parent,
+			 "incompatible clock frequencies\n");
+		err = -EINVAL;
+		goto err_out_2;
+	}
+
+	pcan_usb_fd_set_clock_domain(dev, i);
+
+	/* set LED in default state (end of init phase) */
+	pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_DEF);
+
+	return 0;
+
+err_out_2:
+	kfree(pdev->cmd_buffer_addr);
+err_out_1:
+	kfree(pdev->usb_if);
+err_out:
+	return err;
+}
+
+/* called when driver module is being unloaded */
+static void pcan_usb_fd_exit(struct peak_usb_device *dev)
+{
+	struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+
+	/* when rmmod called before unplug and if down, should reset things
+	 * before leaving
+	 */
+	if (dev->can.state != CAN_STATE_STOPPED) {
+		/* set bus off on the corresponding channel */
+		pcan_usb_fd_set_bus(dev, 0);
+	}
+
+	/* switch off corresponding CAN LEDs */
+	pcan_usb_fd_set_can_led(dev, PCAN_UFD_LED_OFF);
+
+	/* if channel #0 (only) */
+	if (dev->ctrl_idx == 0) {
+		/* turn off calibration message if any device were opened */
+		if (pdev->usb_if->dev_opened_count > 0)
+			pcan_usb_fd_set_filter_ext(dev, 0,
+						   PUCAN_FLTEXT_ERROR,
+						   PCAN_UFD_FLTEXT_CALIBRATION);
+
+		/* tell USB adapter that the driver is being unloaded */
+		pcan_usb_fd_drv_loaded(dev, 0);
+	}
+}
+
+/* called when the USB adapter is unplugged */
+static void pcan_usb_fd_free(struct peak_usb_device *dev)
+{
+	/* last device: can free shared objects now */
+	if (!dev->prev_siblings && !dev->next_siblings) {
+		struct pcan_usb_fd_device *pdev =
+			container_of(dev, struct pcan_usb_fd_device, dev);
+
+		/* free commands buffer */
+		kfree(pdev->cmd_buffer_addr);
+
+		/* free usb interface object */
+		kfree(pdev->usb_if);
+	}
+}
+
+/* describes the PCAN-USB FD adapter */
+const struct peak_usb_adapter pcan_usb_fd = {
+	.name = "PCAN-USB FD",
+	.device_id = PCAN_USBFD_PRODUCT_ID,
+	.ctrl_count = PCAN_USBFD_CHANNEL_COUNT,
+	.ctrlmode_supported = CAN_CTRLMODE_FD |
+			CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
+	.clock = {
+		.freq = PCAN_UFD_CRYSTAL_HZ,
+	},
+	.bittiming_const = {
+		.name = "pcan_usb_fd",
+		.tseg1_min = 1,
+		.tseg1_max = 64,
+		.tseg2_min = 1,
+		.tseg2_max = 16,
+		.sjw_max = 16,
+		.brp_min = 1,
+		.brp_max = 1024,
+		.brp_inc = 1,
+	},
+	.data_bittiming_const = {
+		.name = "pcan_usb_fd",
+		.tseg1_min = 1,
+		.tseg1_max = 16,
+		.tseg2_min = 1,
+		.tseg2_max = 8,
+		.sjw_max = 4,
+		.brp_min = 1,
+		.brp_max = 1024,
+		.brp_inc = 1,
+	},
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
+
+	/* timestamps usage */
+	.ts_used_bits = 32,
+	.ts_period = 1000000, /* calibration period in ts. */
+	.us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
+	.us_per_ts_shift = 0,
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = PCAN_USBPRO_EP_MSGIN,
+	.ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0},
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
+	.tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = pcan_usb_pro_probe,	/* same as PCAN-USB Pro */
+	.dev_init = pcan_usb_fd_init,
+
+	.dev_exit = pcan_usb_fd_exit,
+	.dev_free = pcan_usb_fd_free,
+	.dev_set_bus = pcan_usb_fd_set_bus,
+	.dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
+	.dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
+	.dev_decode_buf = pcan_usb_fd_decode_buf,
+	.dev_start = pcan_usb_fd_start,
+	.dev_stop = pcan_usb_fd_stop,
+	.dev_restart_async = pcan_usb_fd_restart_async,
+	.dev_encode_msg = pcan_usb_fd_encode_msg,
+
+	.do_get_berr_counter = pcan_usb_fd_get_berr_counter,
+};
+
+/* describes the PCAN-USB Pro FD adapter */
+const struct peak_usb_adapter pcan_usb_pro_fd = {
+	.name = "PCAN-USB Pro FD",
+	.device_id = PCAN_USBPROFD_PRODUCT_ID,
+	.ctrl_count = PCAN_USBPROFD_CHANNEL_COUNT,
+	.ctrlmode_supported = CAN_CTRLMODE_FD |
+			CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
+	.clock = {
+		.freq = PCAN_UFD_CRYSTAL_HZ,
+	},
+	.bittiming_const = {
+		.name = "pcan_usb_pro_fd",
+		.tseg1_min = 1,
+		.tseg1_max = 64,
+		.tseg2_min = 1,
+		.tseg2_max = 16,
+		.sjw_max = 16,
+		.brp_min = 1,
+		.brp_max = 1024,
+		.brp_inc = 1,
+	},
+	.data_bittiming_const = {
+		.name = "pcan_usb_pro_fd",
+		.tseg1_min = 1,
+		.tseg1_max = 16,
+		.tseg2_min = 1,
+		.tseg2_max = 8,
+		.sjw_max = 4,
+		.brp_min = 1,
+		.brp_max = 1024,
+		.brp_inc = 1,
+	},
+
+	/* size of device private data */
+	.sizeof_dev_private = sizeof(struct pcan_usb_fd_device),
+
+	/* timestamps usage */
+	.ts_used_bits = 32,
+	.ts_period = 1000000, /* calibration period in ts. */
+	.us_per_ts_scale = 1, /* us = (ts * scale) >> shift */
+	.us_per_ts_shift = 0,
+
+	/* give here messages in/out endpoints */
+	.ep_msg_in = PCAN_USBPRO_EP_MSGIN,
+	.ep_msg_out = {PCAN_USBPRO_EP_MSGOUT_0, PCAN_USBPRO_EP_MSGOUT_1},
+
+	/* size of rx/tx usb buffers */
+	.rx_buffer_size = PCAN_UFD_RX_BUFFER_SIZE,
+	.tx_buffer_size = PCAN_UFD_TX_BUFFER_SIZE,
+
+	/* device callbacks */
+	.intf_probe = pcan_usb_pro_probe,	/* same as PCAN-USB Pro */
+	.dev_init = pcan_usb_fd_init,
+
+	.dev_exit = pcan_usb_fd_exit,
+	.dev_free = pcan_usb_fd_free,
+	.dev_set_bus = pcan_usb_fd_set_bus,
+	.dev_set_bittiming = pcan_usb_fd_set_bittiming_slow,
+	.dev_set_data_bittiming = pcan_usb_fd_set_bittiming_fast,
+	.dev_decode_buf = pcan_usb_fd_decode_buf,
+	.dev_start = pcan_usb_fd_start,
+	.dev_stop = pcan_usb_fd_stop,
+	.dev_restart_async = pcan_usb_fd_restart_async,
+	.dev_encode_msg = pcan_usb_fd_encode_msg,
+
+	.do_get_berr_counter = pcan_usb_fd_get_berr_counter,
+};

drivers/net/can/usb/peak_usb/pcan_usb_pro.c

@@ -27,14 +27,6 @@
 
 MODULE_SUPPORTED_DEVICE("PEAK-System PCAN-USB Pro adapter");
 
-/* PCAN-USB Pro Endpoints */
-#define PCAN_USBPRO_EP_CMDOUT		1
-#define PCAN_USBPRO_EP_CMDIN		(PCAN_USBPRO_EP_CMDOUT | USB_DIR_IN)
-#define PCAN_USBPRO_EP_MSGOUT_0		2
-#define PCAN_USBPRO_EP_MSGIN		(PCAN_USBPRO_EP_MSGOUT_0 | USB_DIR_IN)
-#define PCAN_USBPRO_EP_MSGOUT_1		3
-#define PCAN_USBPRO_EP_UNUSED		(PCAN_USBPRO_EP_MSGOUT_1 | USB_DIR_IN)
-
 #define PCAN_USBPRO_CHANNEL_COUNT	2
 
 /* PCAN-USB Pro adapter internal clock (MHz) */
@@ -322,8 +314,8 @@ static int pcan_usb_pro_wait_rsp(struct peak_usb_device *dev,
 	return (i >= PCAN_USBPRO_RSP_SUBMIT_MAX) ? -ERANGE : err;
 }
 
-static int pcan_usb_pro_send_req(struct peak_usb_device *dev, int req_id,
-				 int req_value, void *req_addr, int req_size)
+int pcan_usb_pro_send_req(struct peak_usb_device *dev, int req_id,
+			  int req_value, void *req_addr, int req_size)
 {
 	int err;
 	u8 req_type;
@@ -475,7 +467,7 @@ static int pcan_usb_pro_set_bittiming(struct peak_usb_device *dev,
 	return pcan_usb_pro_set_bitrate(dev, ccbt);
 }
 
-static void pcan_usb_pro_restart_complete(struct urb *urb)
+void pcan_usb_pro_restart_complete(struct urb *urb)
 {
 	/* can delete usb resources */
 	peak_usb_async_complete(urb);
@@ -978,7 +970,7 @@ static void pcan_usb_pro_free(struct peak_usb_device *dev)
 /*
  * probe function for new PCAN-USB Pro usb interface
  */
-static int pcan_usb_pro_probe(struct usb_interface *intf)
+int pcan_usb_pro_probe(struct usb_interface *intf)
 {
 	struct usb_host_interface *if_desc;
 	int i;
@@ -1012,10 +1004,11 @@ static int pcan_usb_pro_probe(struct usb_interface *intf)
 /*
  * describe the PCAN-USB Pro adapter
  */
-struct peak_usb_adapter pcan_usb_pro = {
+const struct peak_usb_adapter pcan_usb_pro = {
 	.name = "PCAN-USB Pro",
 	.device_id = PCAN_USBPRO_PRODUCT_ID,
 	.ctrl_count = PCAN_USBPRO_CHANNEL_COUNT,
+	.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_LISTENONLY,
 	.clock = {
 		.freq = PCAN_USBPRO_CRYSTAL_HZ,
 	},

drivers/net/can/usb/peak_usb/pcan_usb_pro.h

@@ -27,6 +27,14 @@
 #define PCAN_USBPRO_INFO_BL		0
 #define PCAN_USBPRO_INFO_FW		1
 
+/* PCAN-USB Pro (FD) Endpoints */
+#define PCAN_USBPRO_EP_CMDOUT		1
+#define PCAN_USBPRO_EP_CMDIN		(PCAN_USBPRO_EP_CMDOUT | USB_DIR_IN)
+#define PCAN_USBPRO_EP_MSGOUT_0		2
+#define PCAN_USBPRO_EP_MSGIN		(PCAN_USBPRO_EP_MSGOUT_0 | USB_DIR_IN)
+#define PCAN_USBPRO_EP_MSGOUT_1		3
+#define PCAN_USBPRO_EP_UNUSED		(PCAN_USBPRO_EP_MSGOUT_1 | USB_DIR_IN)
+
 /* Vendor Request value for XXX_FCT */
 #define PCAN_USBPRO_FCT_DRVLD		5 /* tell device driver is loaded */
 #define PCAN_USBPRO_FCT_DRVLD_REQ_LEN	16
@@ -176,4 +184,9 @@ union pcan_usb_pro_rec {
 	struct pcan_usb_pro_txmsg	tx_msg;
 };
 
+int pcan_usb_pro_probe(struct usb_interface *intf);
+int pcan_usb_pro_send_req(struct peak_usb_device *dev, int req_id,
+			  int req_value, void *req_addr, int req_size);
+void pcan_usb_pro_restart_complete(struct urb *urb);
+
 #endif