summaryrefslogtreecommitdiff
path: root/drivers/net/can/usb/etas_es58x/es58x_fd.c
blob: fa87b0b78e3eb5f39d5dd17151f47ccb4da32f3d (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
// SPDX-License-Identifier: GPL-2.0

/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
 *
 * File es58x_fd.c: Adds support to ETAS ES582.1 and ES584.1 (naming
 * convention: we use the term "ES58X FD" when referring to those two
 * variants together).
 *
 * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
 * Copyright (c) 2020 ETAS K.K.. All rights reserved.
 * Copyright (c) 2020-2022 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
 */

#include <asm/unaligned.h>
#include <linux/kernel.h>
#include <linux/units.h>

#include "es58x_core.h"
#include "es58x_fd.h"

/**
 * es58x_fd_sizeof_rx_tx_msg() - Calculate the actual length of the
 *	structure of a rx or tx message.
 * @msg: message of variable length, must have a dlc and a len fields.
 *
 * Even if RTR frames have actually no payload, the ES58X devices
 * still expect it. Must be a macro in order to accept several types
 * (struct es58x_fd_tx_can_msg and struct es58x_fd_rx_can_msg) as an
 * input.
 *
 * Return: length of the message.
 */
#define es58x_fd_sizeof_rx_tx_msg(msg)					\
({									\
	typeof(msg) __msg = (msg);					\
	size_t __msg_len;						\
									\
	if (__msg.flags & ES58X_FLAG_FD_DATA)				\
		__msg_len = canfd_sanitize_len(__msg.len);		\
	else								\
		__msg_len = can_cc_dlc2len(__msg.dlc);			\
									\
	offsetof(typeof(__msg), data[__msg_len]);			\
})

static enum es58x_fd_cmd_type es58x_fd_cmd_type(struct net_device *netdev)
{
	u32 ctrlmode = es58x_priv(netdev)->can.ctrlmode;

	if (ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO))
		return ES58X_FD_CMD_TYPE_CANFD;
	else
		return ES58X_FD_CMD_TYPE_CAN;
}

static u16 es58x_fd_get_msg_len(const union es58x_urb_cmd *urb_cmd)
{
	return get_unaligned_le16(&urb_cmd->es58x_fd_urb_cmd.msg_len);
}

static int es58x_fd_echo_msg(struct net_device *netdev,
			     const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
	struct es58x_priv *priv = es58x_priv(netdev);
	const struct es58x_fd_echo_msg *echo_msg;
	struct es58x_device *es58x_dev = priv->es58x_dev;
	u64 *tstamps = es58x_dev->timestamps;
	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
	int i, num_element;
	u32 rcv_packet_idx;

	const u32 mask = GENMASK(BITS_PER_TYPE(mask) - 1,
				 BITS_PER_TYPE(echo_msg->packet_idx));

	num_element = es58x_msg_num_element(es58x_dev->dev,
					    es58x_fd_urb_cmd->echo_msg,
					    msg_len);
	if (num_element < 0)
		return num_element;
	echo_msg = es58x_fd_urb_cmd->echo_msg;

	rcv_packet_idx = (priv->tx_tail & mask) | echo_msg[0].packet_idx;
	for (i = 0; i < num_element; i++) {
		if ((u8)rcv_packet_idx != echo_msg[i].packet_idx) {
			netdev_err(netdev, "Packet idx jumped from %u to %u\n",
				   (u8)rcv_packet_idx - 1,
				   echo_msg[i].packet_idx);
			return -EBADMSG;
		}

		tstamps[i] = get_unaligned_le64(&echo_msg[i].timestamp);
		rcv_packet_idx++;
	}

	return es58x_can_get_echo_skb(netdev, priv->tx_tail, tstamps, num_element);
}

static int es58x_fd_rx_can_msg(struct net_device *netdev,
			       const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
	const u8 *rx_can_msg_buf = es58x_fd_urb_cmd->rx_can_msg_buf;
	u16 rx_can_msg_buf_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
	int pkts, ret;

	ret = es58x_check_msg_max_len(es58x_dev->dev,
				      es58x_fd_urb_cmd->rx_can_msg_buf,
				      rx_can_msg_buf_len);
	if (ret)
		return ret;

	for (pkts = 0; rx_can_msg_buf_len > 0; pkts++) {
		const struct es58x_fd_rx_can_msg *rx_can_msg =
		    (const struct es58x_fd_rx_can_msg *)rx_can_msg_buf;
		bool is_can_fd = !!(rx_can_msg->flags & ES58X_FLAG_FD_DATA);
		/* rx_can_msg_len is the length of the rx_can_msg
		 * buffer. Not to be confused with rx_can_msg->len
		 * which is the length of the CAN payload
		 * rx_can_msg->data.
		 */
		u16 rx_can_msg_len = es58x_fd_sizeof_rx_tx_msg(*rx_can_msg);

		if (rx_can_msg_len > rx_can_msg_buf_len) {
			netdev_err(netdev,
				   "%s: Expected a rx_can_msg of size %d but only %d bytes are left in rx_can_msg_buf\n",
				   __func__,
				   rx_can_msg_len, rx_can_msg_buf_len);
			return -EMSGSIZE;
		}
		if (rx_can_msg->len > CANFD_MAX_DLEN) {
			netdev_err(netdev,
				   "%s: Data length is %d but maximum should be %d\n",
				   __func__, rx_can_msg->len, CANFD_MAX_DLEN);
			return -EMSGSIZE;
		}

		if (netif_running(netdev)) {
			u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
			canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);
			u8 dlc;

			if (is_can_fd)
				dlc = can_fd_len2dlc(rx_can_msg->len);
			else
				dlc = rx_can_msg->dlc;

			ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
					       can_id, rx_can_msg->flags, dlc);
			if (ret)
				break;
		}

		rx_can_msg_buf_len -= rx_can_msg_len;
		rx_can_msg_buf += rx_can_msg_len;
	}

	if (!netif_running(netdev)) {
		if (net_ratelimit())
			netdev_info(netdev,
				    "%s: %s is down, dropping %d rx packets\n",
				    __func__, netdev->name, pkts);
		netdev->stats.rx_dropped += pkts;
	}

	return ret;
}

static int es58x_fd_rx_event_msg(struct net_device *netdev,
				 const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
	const struct es58x_fd_rx_event_msg *rx_event_msg;
	int ret;

	rx_event_msg = &es58x_fd_urb_cmd->rx_event_msg;
	ret = es58x_check_msg_len(es58x_dev->dev, *rx_event_msg, msg_len);
	if (ret)
		return ret;

	return es58x_rx_err_msg(netdev, rx_event_msg->error_code,
				rx_event_msg->event_code,
				get_unaligned_le64(&rx_event_msg->timestamp));
}

static int es58x_fd_rx_cmd_ret_u32(struct net_device *netdev,
				   const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd,
				   enum es58x_ret_type cmd_ret_type)
{
	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
	int ret;

	ret = es58x_check_msg_len(es58x_dev->dev,
				  es58x_fd_urb_cmd->rx_cmd_ret_le32, msg_len);
	if (ret)
		return ret;

	return es58x_rx_cmd_ret_u32(netdev, cmd_ret_type,
				    get_unaligned_le32(&es58x_fd_urb_cmd->rx_cmd_ret_le32));
}

static int es58x_fd_tx_ack_msg(struct net_device *netdev,
			       const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
	const struct es58x_fd_tx_ack_msg *tx_ack_msg;
	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
	int ret;

	tx_ack_msg = &es58x_fd_urb_cmd->tx_ack_msg;
	ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
	if (ret)
		return ret;

	return es58x_tx_ack_msg(netdev,
				get_unaligned_le16(&tx_ack_msg->tx_free_entries),
				get_unaligned_le32(&tx_ack_msg->rx_cmd_ret_le32));
}

static int es58x_fd_can_cmd_id(struct es58x_device *es58x_dev,
			       const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
	struct net_device *netdev;
	int ret;

	ret = es58x_get_netdev(es58x_dev, es58x_fd_urb_cmd->channel_idx,
			       ES58X_FD_CHANNEL_IDX_OFFSET, &netdev);
	if (ret)
		return ret;

	switch ((enum es58x_fd_can_cmd_id)es58x_fd_urb_cmd->cmd_id) {
	case ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL:
		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
					       ES58X_RET_TYPE_ENABLE_CHANNEL);

	case ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL:
		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
					       ES58X_RET_TYPE_DISABLE_CHANNEL);

	case ES58X_FD_CAN_CMD_ID_TX_MSG:
		return es58x_fd_tx_ack_msg(netdev, es58x_fd_urb_cmd);

	case ES58X_FD_CAN_CMD_ID_ECHO_MSG:
		return es58x_fd_echo_msg(netdev, es58x_fd_urb_cmd);

	case ES58X_FD_CAN_CMD_ID_RX_MSG:
		return es58x_fd_rx_can_msg(netdev, es58x_fd_urb_cmd);

	case ES58X_FD_CAN_CMD_ID_RESET_RX:
		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
					       ES58X_RET_TYPE_RESET_RX);

	case ES58X_FD_CAN_CMD_ID_RESET_TX:
		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
					       ES58X_RET_TYPE_RESET_TX);

	case ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG:
		return es58x_fd_rx_event_msg(netdev, es58x_fd_urb_cmd);

	default:
		return -EBADRQC;
	}
}

static int es58x_fd_device_cmd_id(struct es58x_device *es58x_dev,
				  const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
{
	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
	int ret;

	switch ((enum es58x_fd_dev_cmd_id)es58x_fd_urb_cmd->cmd_id) {
	case ES58X_FD_DEV_CMD_ID_TIMESTAMP:
		ret = es58x_check_msg_len(es58x_dev->dev,
					  es58x_fd_urb_cmd->timestamp, msg_len);
		if (ret)
			return ret;
		es58x_rx_timestamp(es58x_dev,
				   get_unaligned_le64(&es58x_fd_urb_cmd->timestamp));
		return 0;

	default:
		return -EBADRQC;
	}
}

static int es58x_fd_handle_urb_cmd(struct es58x_device *es58x_dev,
				   const union es58x_urb_cmd *urb_cmd)
{
	const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd;
	int ret;

	es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;

	switch ((enum es58x_fd_cmd_type)es58x_fd_urb_cmd->cmd_type) {
	case ES58X_FD_CMD_TYPE_CAN:
	case ES58X_FD_CMD_TYPE_CANFD:
		ret = es58x_fd_can_cmd_id(es58x_dev, es58x_fd_urb_cmd);
		break;

	case ES58X_FD_CMD_TYPE_DEVICE:
		ret = es58x_fd_device_cmd_id(es58x_dev, es58x_fd_urb_cmd);
		break;

	default:
		ret = -EBADRQC;
		break;
	}

	if (ret == -EBADRQC)
		dev_err(es58x_dev->dev,
			"%s: Unknown command type (0x%02X) and command ID (0x%02X) combination\n",
			__func__, es58x_fd_urb_cmd->cmd_type,
			es58x_fd_urb_cmd->cmd_id);

	return ret;
}

static void es58x_fd_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
				     u8 cmd_id, u8 channel_idx, u16 msg_len)
{
	struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;

	es58x_fd_urb_cmd->SOF = cpu_to_le16(es58x_fd_param.tx_start_of_frame);
	es58x_fd_urb_cmd->cmd_type = cmd_type;
	es58x_fd_urb_cmd->cmd_id = cmd_id;
	es58x_fd_urb_cmd->channel_idx = channel_idx;
	es58x_fd_urb_cmd->msg_len = cpu_to_le16(msg_len);
}

static int es58x_fd_tx_can_msg(struct es58x_priv *priv,
			       const struct sk_buff *skb)
{
	struct es58x_device *es58x_dev = priv->es58x_dev;
	union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer;
	struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
	struct can_frame *cf = (struct can_frame *)skb->data;
	struct es58x_fd_tx_can_msg *tx_can_msg;
	bool is_fd = can_is_canfd_skb(skb);
	u16 msg_len;
	int ret;

	if (priv->tx_can_msg_cnt == 0) {
		msg_len = 0;
		es58x_fd_fill_urb_header(urb_cmd,
					 is_fd ? ES58X_FD_CMD_TYPE_CANFD
					       : ES58X_FD_CMD_TYPE_CAN,
					 ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK,
					 priv->channel_idx, msg_len);
	} else {
		msg_len = es58x_fd_get_msg_len(urb_cmd);
	}

	ret = es58x_check_msg_max_len(es58x_dev->dev,
				      es58x_fd_urb_cmd->tx_can_msg_buf,
				      msg_len + sizeof(*tx_can_msg));
	if (ret)
		return ret;

	/* Fill message contents. */
	tx_can_msg = (typeof(tx_can_msg))&es58x_fd_urb_cmd->raw_msg[msg_len];
	tx_can_msg->packet_idx = (u8)priv->tx_head;
	put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
	tx_can_msg->flags = (u8)es58x_get_flags(skb);
	if (is_fd)
		tx_can_msg->len = cf->len;
	else
		tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
	memcpy(tx_can_msg->data, cf->data, cf->len);

	/* Calculate new sizes */
	msg_len += es58x_fd_sizeof_rx_tx_msg(*tx_can_msg);
	priv->tx_urb->transfer_buffer_length = es58x_get_urb_cmd_len(es58x_dev,
								     msg_len);
	put_unaligned_le16(msg_len, &es58x_fd_urb_cmd->msg_len);

	return 0;
}

static void es58x_fd_convert_bittiming(struct es58x_fd_bittiming *es58x_fd_bt,
				       struct can_bittiming *bt)
{
	/* The actual value set in the hardware registers is one less
	 * than the functional value.
	 */
	const int offset = 1;

	es58x_fd_bt->bitrate = cpu_to_le32(bt->bitrate);
	es58x_fd_bt->tseg1 =
	    cpu_to_le16(bt->prop_seg + bt->phase_seg1 - offset);
	es58x_fd_bt->tseg2 = cpu_to_le16(bt->phase_seg2 - offset);
	es58x_fd_bt->brp = cpu_to_le16(bt->brp - offset);
	es58x_fd_bt->sjw = cpu_to_le16(bt->sjw - offset);
}

static int es58x_fd_enable_channel(struct es58x_priv *priv)
{
	struct es58x_device *es58x_dev = priv->es58x_dev;
	struct net_device *netdev = es58x_dev->netdev[priv->channel_idx];
	struct es58x_fd_tx_conf_msg tx_conf_msg = { 0 };
	u32 ctrlmode;
	size_t conf_len = 0;

	es58x_fd_convert_bittiming(&tx_conf_msg.nominal_bittiming,
				   &priv->can.bittiming);
	ctrlmode = priv->can.ctrlmode;

	if (ctrlmode & CAN_CTRLMODE_3_SAMPLES)
		tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_THREE;
	else
		tx_conf_msg.samples_per_bit = ES58X_SAMPLES_PER_BIT_ONE;
	tx_conf_msg.sync_edge = ES58X_SYNC_EDGE_SINGLE;
	tx_conf_msg.physical_layer = ES58X_PHYSICAL_LAYER_HIGH_SPEED;
	tx_conf_msg.echo_mode = ES58X_ECHO_ON;
	if (ctrlmode & CAN_CTRLMODE_LISTENONLY)
		tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_PASSIVE;
	else
		tx_conf_msg.ctrlmode |=  ES58X_FD_CTRLMODE_ACTIVE;

	if (ctrlmode & CAN_CTRLMODE_FD_NON_ISO) {
		tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD_NON_ISO;
		tx_conf_msg.canfd_enabled = 1;
	} else if (ctrlmode & CAN_CTRLMODE_FD) {
		tx_conf_msg.ctrlmode |= ES58X_FD_CTRLMODE_FD;
		tx_conf_msg.canfd_enabled = 1;
	}

	if (tx_conf_msg.canfd_enabled) {
		es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming,
					   &priv->can.data_bittiming);

		if (can_tdc_is_enabled(&priv->can)) {
			tx_conf_msg.tdc_enabled = 1;
			tx_conf_msg.tdco = cpu_to_le16(priv->can.tdc.tdco);
			tx_conf_msg.tdcf = cpu_to_le16(priv->can.tdc.tdcf);
		}

		conf_len = ES58X_FD_CANFD_CONF_LEN;
	} else {
		conf_len = ES58X_FD_CAN_CONF_LEN;
	}

	return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
			      ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL,
			      &tx_conf_msg, conf_len, priv->channel_idx);
}

static int es58x_fd_disable_channel(struct es58x_priv *priv)
{
	/* The type (ES58X_FD_CMD_TYPE_CAN or ES58X_FD_CMD_TYPE_CANFD) does
	 * not matter here.
	 */
	return es58x_send_msg(priv->es58x_dev, ES58X_FD_CMD_TYPE_CAN,
			      ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL,
			      ES58X_EMPTY_MSG, 0, priv->channel_idx);
}

static int es58x_fd_get_timestamp(struct es58x_device *es58x_dev)
{
	return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_DEVICE,
			      ES58X_FD_DEV_CMD_ID_TIMESTAMP, ES58X_EMPTY_MSG,
			      0, ES58X_CHANNEL_IDX_NA);
}

/* Nominal bittiming constants for ES582.1 and ES584.1 as specified in
 * the microcontroller datasheet: "SAM E70/S70/V70/V71 Family" section
 * 49.6.8 "MCAN Nominal Bit Timing and Prescaler Register" from
 * Microchip.
 *
 * The values from the specification are the hardware register
 * values. To convert them to the functional values, all ranges were
 * incremented by 1 (e.g. range [0..n-1] changed to [1..n]).
 */
static const struct can_bittiming_const es58x_fd_nom_bittiming_const = {
	.name = "ES582.1/ES584.1",
	.tseg1_min = 2,
	.tseg1_max = 256,
	.tseg2_min = 2,
	.tseg2_max = 128,
	.sjw_max = 128,
	.brp_min = 1,
	.brp_max = 512,
	.brp_inc = 1
};

/* Data bittiming constants for ES582.1 and ES584.1 as specified in
 * the microcontroller datasheet: "SAM E70/S70/V70/V71 Family" section
 * 49.6.4 "MCAN Data Bit Timing and Prescaler Register" from
 * Microchip.
 */
static const struct can_bittiming_const es58x_fd_data_bittiming_const = {
	.name = "ES582.1/ES584.1",
	.tseg1_min = 2,
	.tseg1_max = 32,
	.tseg2_min = 1,
	.tseg2_max = 16,
	.sjw_max = 8,
	.brp_min = 1,
	.brp_max = 32,
	.brp_inc = 1
};

/* Transmission Delay Compensation constants for ES582.1 and ES584.1
 * as specified in the microcontroller datasheet: "SAM E70/S70/V70/V71
 * Family" section 49.6.15 "MCAN Transmitter Delay Compensation
 * Register" from Microchip.
 */
static const struct can_tdc_const es58x_tdc_const = {
	.tdcv_min = 0,
	.tdcv_max = 0, /* Manual mode not supported. */
	.tdco_min = 0,
	.tdco_max = 127,
	.tdcf_min = 0,
	.tdcf_max = 127
};

const struct es58x_parameters es58x_fd_param = {
	.bittiming_const = &es58x_fd_nom_bittiming_const,
	.data_bittiming_const = &es58x_fd_data_bittiming_const,
	.tdc_const = &es58x_tdc_const,
	/* The devices use NXP TJA1044G transievers which guarantee
	 * the timing for data rates up to 5 Mbps. Bitrates up to 8
	 * Mbps work in an optimal environment but are not recommended
	 * for production environment.
	 */
	.bitrate_max = 8 * MEGA /* BPS */,
	.clock = {.freq = 80 * MEGA /* Hz */},
	.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
	    CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO |
	    CAN_CTRLMODE_CC_LEN8_DLC | CAN_CTRLMODE_TDC_AUTO,
	.tx_start_of_frame = 0xCEFA,	/* FACE in little endian */
	.rx_start_of_frame = 0xFECA,	/* CAFE in little endian */
	.tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN,
	.rx_urb_cmd_max_len = ES58X_FD_RX_URB_CMD_MAX_LEN,
	/* Size of internal device TX queue is 500.
	 *
	 * However, when reaching value around 278, the device's busy
	 * LED turns on and thus maximum value of 500 is never reached
	 * in practice. Also, when this value is too high, some error
	 * on the echo_msg were witnessed when the device is
	 * recovering from bus off.
	 *
	 * For above reasons, a value that would prevent the device
	 * from becoming busy was chosen. In practice, BQL would
	 * prevent the value from even getting closer to below
	 * maximum, so no impact on performance was measured.
	 */
	.fifo_mask = 255, /* echo_skb_max = 256 */
	.dql_min_limit = CAN_FRAME_LEN_MAX * 15, /* Empirical value. */
	.tx_bulk_max = ES58X_FD_TX_BULK_MAX,
	.urb_cmd_header_len = ES58X_FD_URB_CMD_HEADER_LEN,
	.rx_urb_max = ES58X_RX_URBS_MAX,
	.tx_urb_max = ES58X_TX_URBS_MAX
};

const struct es58x_operators es58x_fd_ops = {
	.get_msg_len = es58x_fd_get_msg_len,
	.handle_urb_cmd = es58x_fd_handle_urb_cmd,
	.fill_urb_header = es58x_fd_fill_urb_header,
	.tx_can_msg = es58x_fd_tx_can_msg,
	.enable_channel = es58x_fd_enable_channel,
	.disable_channel = es58x_fd_disable_channel,
	.reset_device = NULL, /* Not implemented in the device firmware. */
	.get_timestamp = es58x_fd_get_timestamp
};