can: peak_usb_fd: add support for ISO / non-ISO mode switching

The PCAN USB (pro) FD adapters with firmware versions > 2.x support the
switching between ISO (default) and non-ISO conform bitstreams on the CAN bus.
The setting for the 2.x firmware adapters can be modified with the 'ip' tool
from the iproute2 package (option: fd-non-iso [on|off]).

Signed-off-by: Stephane Grosjean <s.grosjean@peak-system.com>
Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>
Tested-by: Oliver Hartkopp <socketcan@hartkopp.net>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>

diff --git a/drivers/net/can/usb/peak_usb/pcan_ucan.h b/drivers/net/can/usb/peak_usb/pcan_ucan.h
index 1fb33307be4edb94d5f51da59d3593d46ea5425f..e8fc4952c6b074f80a2af132d2bc161e7fd3d8c7 100644 (file)
--- a/drivers/net/can/usb/peak_usb/pcan_ucan.h
+++ b/drivers/net/can/usb/peak_usb/pcan_ucan.h
@@ -104,6 +104,7 @@ struct __packed pucan_wr_err_cnt {
 /* uCAN SET_EN/CLR_DIS _OPTION command fields */
 #define PUCAN_OPTION_ERROR             0x0001
 #define PUCAN_OPTION_BUSLOAD           0x0002
+#define PUCAN_OPTION_CANDFDISO         0x0004
 
 struct __packed pucan_options {
        __le16  opcode_channel;

diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
index 7506a8352edd0e7d44fab41d3062f44e5e99c16c..a9221ad9f1a0a0387de1ebf8470c0d360e895773 100644 (file)
--- a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
@@ -251,6 +251,27 @@ static int pcan_usb_fd_build_restart_cmd(struct peak_usb_device *dev, u8 *buf)
        /* moves the pointer forward */
        pc += sizeof(struct pucan_wr_err_cnt);
 
+       /* add command to switch from ISO to non-ISO mode, if fw allows it */
+       if (dev->can.ctrlmode_supported & CAN_CTRLMODE_FD_NON_ISO) {
+               struct pucan_options *puo = (struct pucan_options *)pc;
+
+               puo->opcode_channel =
+                       (dev->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) ?
+                       pucan_cmd_opcode_channel(dev,
+                                                PUCAN_CMD_CLR_DIS_OPTION) :
+                       pucan_cmd_opcode_channel(dev, PUCAN_CMD_SET_EN_OPTION);
+
+               puo->options = cpu_to_le16(PUCAN_OPTION_CANDFDISO);
+
+               /* to be sure that no other extended bits will be taken into
+                * account
+                */
+               puo->unused = 0;
+
+               /* moves the pointer forward */
+               pc += sizeof(struct pucan_options);
+       }
+
        /* next, go back to operational mode */
        cmd = (struct pucan_command *)pc;
        cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
@@ -860,8 +881,14 @@ static int pcan_usb_fd_init(struct peak_usb_device *dev)
                         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;
+               /* check for ability to switch between ISO/non-ISO modes */
+               if (pdev->usb_if->fw_info.fw_version[0] >= 2) {
+                       /* firmware >= 2.x supports ISO/non-ISO switching */
+                       dev->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO;
+               } else {
+                       /* firmware < 2.x only supports fixed(!) 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);