mirror of https://github.com/commaai/panda.git
socketcan: usb bulk mode for rx (#584)
This commit is contained in:
Greg Hogan
GitHub
parent
5778c0ae5d
commit
0ca5ad773f
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@ -1,8 +1,7 @@
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VERSION=0.0.1
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obj-m+=panda.o
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link:
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sudo dkms add `pwd`
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all: build install
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build:
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sudo dkms build panda/$(VERSION)
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@ -10,9 +9,16 @@ build:
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install:
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sudo dkms install panda/$(VERSION)
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all: build install
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remove:
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sudo dkms remove panda/$(VERSION) --all
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uninstall:
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sudo dkms uninstall panda/$(VERSION)
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sudo dkms remove panda/$(VERSION) --all
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clean: remove
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link:
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sudo dkms add `pwd`
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unload:
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sudo rmmod panda
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@ -7,12 +7,11 @@ This will allow the panda to work with tools such as `can-utils`
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- `apt-get install dkms gcc linux-headers-$(uname -r) make sudo`
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## Installation
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- `make link` (only needed the first time. It will report an error on subsequent attempts to link)
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- `make all`
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- `make install`
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- `make link` (optional, setup to build/install when kernel is updated)
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## Uninstall
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- `make uninstall`
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- `make clean`
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## Usage
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@ -86,7 +86,7 @@ MODULE_DEVICE_TABLE(usb, panda_usb_table);
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const int can_numbering[] = {0,1,2};
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struct panda_inf_priv *
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panda_get_inf_from_bus_id(struct panda_dev_priv *priv_dev, int bus_id){
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panda_get_inf_from_bus_id(struct panda_dev_priv *priv_dev, int bus_id) {
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int inf_num;
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for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++)
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if(can_numbering[inf_num] == bus_id)
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@ -107,8 +107,7 @@ static inline void panda_init_ctx(struct panda_inf_priv *priv)
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atomic_set(&priv->free_ctx_cnt, ARRAY_SIZE(priv->tx_context));
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}
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static inline struct panda_usb_ctx *panda_usb_get_free_ctx(struct panda_inf_priv *priv,
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struct can_frame *cf)
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static inline struct panda_usb_ctx *panda_usb_get_free_ctx(struct panda_inf_priv *priv, struct can_frame *cf)
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{
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int i = 0;
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struct panda_usb_ctx *ctx = NULL;
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@ -124,8 +123,8 @@ static inline struct panda_usb_ctx *panda_usb_get_free_ctx(struct panda_inf_priv
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}
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}
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printk("CTX num %d\n", atomic_read(&priv->free_ctx_cnt));
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if (!atomic_read(&priv->free_ctx_cnt)){
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//printk("CTX num %d\n", atomic_read(&priv->free_ctx_cnt));
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if (!atomic_read(&priv->free_ctx_cnt)) {
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/* That was the last free ctx. Slow down tx path */
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printk("SENDING TOO FAST\n");
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netif_stop_queue(priv->netdev);
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@ -148,19 +147,17 @@ static inline void panda_usb_free_ctx(struct panda_usb_ctx *ctx)
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netif_wake_queue(ctx->priv->netdev);
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}
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static void panda_urb_unlink(struct panda_inf_priv *priv)
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{
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usb_kill_anchored_urbs(&priv->priv_dev->rx_submitted);
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usb_kill_anchored_urbs(&priv->tx_submitted);
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}
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static int panda_set_output_enable(struct panda_inf_priv* priv, bool enable){
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static int panda_set_output_enable(struct panda_inf_priv* priv, bool enable) {
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return usb_control_msg(priv->priv_dev->udev,
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usb_sndctrlpipe(priv->priv_dev->udev, 0),
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0xDC, USB_TYPE_VENDOR | USB_RECIP_DEVICE,
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enable ? SAFETY_ALLOUTPUT : SAFETY_SILENT, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
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usb_sndctrlpipe(priv->priv_dev->udev, 0),
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0xDC, USB_TYPE_VENDOR | USB_RECIP_DEVICE,
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enable ? SAFETY_ALLOUTPUT : SAFETY_SILENT, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
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}
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static void panda_usb_write_bulk_callback(struct urb *urb)
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@ -173,8 +170,7 @@ static void panda_usb_write_bulk_callback(struct urb *urb)
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netdev = ctx->priv->netdev;
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/* free up our allocated buffer */
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usb_free_coherent(urb->dev, urb->transfer_buffer_length,
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urb->transfer_buffer, urb->transfer_dma);
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usb_free_coherent(urb->dev, urb->transfer_buffer_length, urb->transfer_buffer, urb->transfer_dma);
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if (!netif_device_present(netdev))
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return;
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@ -191,10 +187,7 @@ static void panda_usb_write_bulk_callback(struct urb *urb)
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panda_usb_free_ctx(ctx);
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}
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static netdev_tx_t panda_usb_xmit(struct panda_inf_priv *priv,
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struct panda_usb_can_msg *usb_msg,
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struct panda_usb_ctx *ctx)
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static netdev_tx_t panda_usb_xmit(struct panda_inf_priv *priv, struct panda_usb_can_msg *usb_msg, struct panda_usb_ctx *ctx)
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{
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struct urb *urb;
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u8 *buf;
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@ -205,9 +198,7 @@ static netdev_tx_t panda_usb_xmit(struct panda_inf_priv *priv,
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if (!urb)
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return -ENOMEM;
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buf = usb_alloc_coherent(priv->priv_dev->udev,
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PANDA_USB_TX_BUFF_SIZE, GFP_ATOMIC,
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&urb->transfer_dma);
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buf = usb_alloc_coherent(priv->priv_dev->udev, PANDA_USB_TX_BUFF_SIZE, GFP_ATOMIC, &urb->transfer_dma);
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if (!buf) {
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err = -ENOMEM;
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goto nomembuf;
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@ -216,9 +207,9 @@ static netdev_tx_t panda_usb_xmit(struct panda_inf_priv *priv,
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memcpy(buf, usb_msg, PANDA_USB_TX_BUFF_SIZE);
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usb_fill_bulk_urb(urb, priv->priv_dev->udev,
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usb_sndbulkpipe(priv->priv_dev->udev, 3), buf,
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PANDA_USB_TX_BUFF_SIZE, panda_usb_write_bulk_callback,
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ctx);
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usb_sndbulkpipe(priv->priv_dev->udev, 3), buf,
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PANDA_USB_TX_BUFF_SIZE, panda_usb_write_bulk_callback,
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ctx);
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urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
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usb_anchor_urb(urb, &priv->tx_submitted);
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@ -247,8 +238,7 @@ static netdev_tx_t panda_usb_xmit(struct panda_inf_priv *priv,
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return err;
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}
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static void panda_usb_process_can_rx(struct panda_dev_priv *priv_dev,
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struct panda_usb_can_msg *msg)
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static void panda_usb_process_can_rx(struct panda_dev_priv *priv_dev, struct panda_usb_can_msg *msg)
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{
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struct can_frame *cf;
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struct sk_buff *skb;
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@ -258,11 +248,11 @@ static void panda_usb_process_can_rx(struct panda_dev_priv *priv_dev,
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bus_num = (msg->bus_dat_len >> 4) & 0xf;
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priv_inf = panda_get_inf_from_bus_id(priv_dev, bus_num);
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if(!priv_inf){
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if (!priv_inf) {
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printk("Got something on an unused interface %d\n", bus_num);
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return;
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}
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printk("Recv bus %d\n", bus_num);
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//printk("Recv bus %d\n", bus_num);
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stats = &priv_inf->netdev->stats;
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//u16 sid;
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@ -274,9 +264,9 @@ static void panda_usb_process_can_rx(struct panda_dev_priv *priv_dev,
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if (!skb)
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return;
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if(msg->rir & PANDA_CAN_EXTENDED){
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if (msg->rir & PANDA_CAN_EXTENDED) {
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cf->can_id = (msg->rir >> 3) | CAN_EFF_FLAG;
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}else{
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} else {
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cf->can_id = (msg->rir >> 21);
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}
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@ -298,7 +288,7 @@ static void panda_usb_process_can_rx(struct panda_dev_priv *priv_dev,
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netif_rx(skb);
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}
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static void panda_usb_read_int_callback(struct urb *urb)
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static void panda_usb_read_bulk_callback(struct urb *urb)
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{
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struct panda_dev_priv *priv_dev = urb->context;
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int retval;
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@ -332,19 +322,20 @@ static void panda_usb_read_int_callback(struct urb *urb)
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}
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resubmit_urb:
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usb_fill_int_urb(urb, priv_dev->udev,
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usb_rcvintpipe(priv_dev->udev, 1),
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urb->transfer_buffer, PANDA_USB_RX_BUFF_SIZE,
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panda_usb_read_int_callback, priv_dev, 5);
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usb_fill_bulk_urb(urb, priv_dev->udev,
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usb_rcvbulkpipe(priv_dev->udev, 1),
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urb->transfer_buffer, PANDA_USB_RX_BUFF_SIZE,
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panda_usb_read_bulk_callback, priv_dev);
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retval = usb_submit_urb(urb, GFP_ATOMIC);
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if (retval == -ENODEV){
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for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++)
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if(priv_dev->interfaces[inf_num])
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netif_device_detach(priv_dev->interfaces[inf_num]->netdev);
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}else if (retval)
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if (retval == -ENODEV) {
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for (inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++)
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if (priv_dev->interfaces[inf_num])
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netif_device_detach(priv_dev->interfaces[inf_num]->netdev);
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} else if (retval) {
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dev_err(priv_dev->dev, "failed resubmitting read bulk urb: %d\n", retval);
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}
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}
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@ -355,12 +346,12 @@ static int panda_usb_start(struct panda_dev_priv *priv_dev)
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u8 *buf;
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int inf_num;
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for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++)
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for (inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++)
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panda_init_ctx(priv_dev->interfaces[inf_num]);
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err = usb_set_interface(priv_dev->udev, 0, 1);
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err = usb_set_interface(priv_dev->udev, 0, 0);
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if (err) {
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dev_err(priv_dev->dev, "Can not set alternate setting to 1, error: %i", err);
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dev_err(priv_dev->dev, "Can not set alternate setting to 0, error: %i", err);
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return err;
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}
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@ -370,18 +361,17 @@ static int panda_usb_start(struct panda_dev_priv *priv_dev)
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return -ENOMEM;
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}
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buf = usb_alloc_coherent(priv_dev->udev, PANDA_USB_RX_BUFF_SIZE,
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GFP_KERNEL, &urb->transfer_dma);
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buf = usb_alloc_coherent(priv_dev->udev, PANDA_USB_RX_BUFF_SIZE, GFP_KERNEL, &urb->transfer_dma);
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if (!buf) {
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dev_err(priv_dev->dev, "No memory left for USB buffer\n");
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usb_free_urb(urb);
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return -ENOMEM;
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}
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usb_fill_int_urb(urb, priv_dev->udev,
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usb_rcvintpipe(priv_dev->udev, 1),
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buf, PANDA_USB_RX_BUFF_SIZE,
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panda_usb_read_int_callback, priv_dev, 5);
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usb_fill_bulk_urb(urb, priv_dev->udev,
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usb_rcvbulkpipe(priv_dev->udev, 1),
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buf, PANDA_USB_RX_BUFF_SIZE,
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panda_usb_read_bulk_callback, priv_dev);
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urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
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usb_anchor_urb(urb, &priv_dev->rx_submitted);
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@ -389,8 +379,7 @@ static int panda_usb_start(struct panda_dev_priv *priv_dev)
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err = usb_submit_urb(urb, GFP_KERNEL);
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if (err) {
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usb_unanchor_urb(urb);
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usb_free_coherent(priv_dev->udev, PANDA_USB_RX_BUFF_SIZE,
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buf, urb->transfer_dma);
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usb_free_coherent(priv_dev->udev, PANDA_USB_RX_BUFF_SIZE, buf, urb->transfer_dma);
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usb_free_urb(urb);
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dev_err(priv_dev->dev, "Failed in start, while submitting urb.\n");
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return err;
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@ -439,8 +428,7 @@ static int panda_usb_close(struct net_device *netdev)
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return 0;
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}
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static netdev_tx_t panda_usb_start_xmit(struct sk_buff *skb,
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struct net_device *netdev)
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static netdev_tx_t panda_usb_start_xmit(struct sk_buff *skb, struct net_device *netdev)
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{
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struct panda_inf_priv *priv_inf = netdev_priv(netdev);
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struct can_frame *cf = (struct can_frame *)skb->data;
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@ -450,7 +438,7 @@ static netdev_tx_t panda_usb_start_xmit(struct sk_buff *skb,
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struct panda_usb_can_msg usb_msg = {};
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int bus = priv_inf->mcu_can_ifnum;
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if (can_dropped_invalid_skb(netdev, skb)){
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if (can_dropped_invalid_skb(netdev, skb)) {
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printk("Invalid CAN packet");
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return NETDEV_TX_OK;
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}
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@ -461,10 +449,9 @@ static netdev_tx_t panda_usb_start_xmit(struct sk_buff *skb,
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//everywhere and encouraged in the documentation.
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can_put_echo_skb(skb, priv_inf->netdev, ctx->ndx, NULL);
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if(cf->can_id & CAN_EFF_FLAG){
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usb_msg.rir = cpu_to_le32(((cf->can_id & 0x1FFFFFFF) << 3) |
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PANDA_CAN_TRANSMIT | PANDA_CAN_EXTENDED);
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}else{
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if (cf->can_id & CAN_EFF_FLAG) {
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usb_msg.rir = cpu_to_le32(((cf->can_id & 0x1FFFFFFF) << 3) | PANDA_CAN_TRANSMIT | PANDA_CAN_EXTENDED);
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} else {
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usb_msg.rir = cpu_to_le32(((cf->can_id & 0x7FF) << 21) | PANDA_CAN_TRANSMIT);
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}
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usb_msg.bus_dat_len = cpu_to_le32((cf->can_dlc & 0x0F) | (bus << 4));
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@ -475,7 +462,7 @@ static netdev_tx_t panda_usb_start_xmit(struct sk_buff *skb,
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//if (cf->can_id & CAN_RTR_FLAG)
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// usb_msg.dlc |= PANDA_DLC_RTR_MASK;
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netdev_err(netdev, "Received data from socket. canid: %x; len: %d\n", cf->can_id, cf->can_dlc);
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// printk("Received data from socket. bus: %x; canid: %x; len: %d\n", priv_inf->mcu_can_ifnum, cf->can_id, cf->can_dlc);
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err = panda_usb_xmit(priv_inf, &usb_msg, ctx);
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if (err)
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@ -498,8 +485,7 @@ static const struct net_device_ops panda_netdev_ops = {
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.ndo_start_xmit = panda_usb_start_xmit,
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};
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static int panda_usb_probe(struct usb_interface *intf,
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const struct usb_device_id *id)
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static int panda_usb_probe(struct usb_interface *intf, const struct usb_device_id *id)
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{
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struct net_device *netdev;
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struct panda_inf_priv *priv_inf;
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@ -518,7 +504,7 @@ static int panda_usb_probe(struct usb_interface *intf,
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usb_set_intfdata(intf, priv_dev);
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////// Interface privs
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for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++){
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for (inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++) {
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netdev = alloc_candev(sizeof(struct panda_inf_priv), PANDA_MAX_TX_URBS);
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if (!netdev) {
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dev_err(&intf->dev, "Couldn't alloc candev\n");
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@ -569,13 +555,14 @@ static int panda_usb_probe(struct usb_interface *intf,
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return 0;
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cleanup_candev:
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for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++){
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for (inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++) {
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priv_inf = priv_dev->interfaces[inf_num];
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if(priv_inf){
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if (priv_inf) {
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unregister_candev(priv_inf->netdev);
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free_candev(priv_inf->netdev);
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}else
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} else {
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break;
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}
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}
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kfree(priv_dev);
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@ -592,14 +579,15 @@ static void panda_usb_disconnect(struct usb_interface *intf)
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usb_set_intfdata(intf, NULL);
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for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++){
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for (inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++) {
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priv_inf = priv_dev->interfaces[inf_num];
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if(priv_inf){
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if (priv_inf) {
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netdev_info(priv_inf->netdev, "device disconnected\n");
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unregister_candev(priv_inf->netdev);
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free_candev(priv_inf->netdev);
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}else
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} else {
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break;
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}
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}
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panda_urb_unlink(priv_inf);
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