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linux-next/drivers/net/can/peak_canfd/peak_canfd.c
Thomas Gleixner aaa7cb268c treewide: Replace GPLv2 boilerplate/reference with SPDX - rule 495
Based on 1 normalized pattern(s):

  this program is free software you can redistribute it and or modify
  it under the terms of the version 2 of the gnu general public
  license as published by the free software foundation 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

extracted by the scancode license scanner the SPDX license identifier

  GPL-2.0-only

has been chosen to replace the boilerplate/reference in 10 file(s).

Signed-off-by: Thomas Gleixner <tglx@linutronix.de>
Reviewed-by: Allison Randal <allison@lohutok.net>
Reviewed-by: Enrico Weigelt <info@metux.net>
Cc: linux-spdx@vger.kernel.org
Link: https://lkml.kernel.org/r/20190604081206.259525894@linutronix.de
Signed-off-by: Greg Kroah-Hartman <gregkh@linuxfoundation.org>
2019-06-19 17:09:52 +02:00

782 lines
18 KiB
C

// SPDX-License-Identifier: GPL-2.0-only
/*
* Copyright (C) 2007, 2011 Wolfgang Grandegger <wg@grandegger.com>
* Copyright (C) 2012 Stephane Grosjean <s.grosjean@peak-system.com>
*
* Copyright (C) 2016 PEAK System-Technik GmbH
*/
#include <linux/can.h>
#include <linux/can/dev.h>
#include "peak_canfd_user.h"
/* internal IP core cache size (used as default echo skbs max number) */
#define PCANFD_ECHO_SKB_MAX 24
/* bittiming ranges of the PEAK-System PC CAN-FD interfaces */
static const struct can_bittiming_const peak_canfd_nominal_const = {
.name = "peak_canfd",
.tseg1_min = 1,
.tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
.tseg2_min = 1,
.tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
.sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
.brp_min = 1,
.brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
.brp_inc = 1,
};
static const struct can_bittiming_const peak_canfd_data_const = {
.name = "peak_canfd",
.tseg1_min = 1,
.tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS),
.tseg2_min = 1,
.tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS),
.sjw_max = (1 << PUCAN_TFAST_SJW_BITS),
.brp_min = 1,
.brp_max = (1 << PUCAN_TFAST_BRP_BITS),
.brp_inc = 1,
};
static struct peak_canfd_priv *pucan_init_cmd(struct peak_canfd_priv *priv)
{
priv->cmd_len = 0;
return priv;
}
static void *pucan_add_cmd(struct peak_canfd_priv *priv, int cmd_op)
{
struct pucan_command *cmd;
if (priv->cmd_len + sizeof(*cmd) > priv->cmd_maxlen)
return NULL;
cmd = priv->cmd_buffer + priv->cmd_len;
/* reset all unused bit to default */
memset(cmd, 0, sizeof(*cmd));
cmd->opcode_channel = pucan_cmd_opcode_channel(priv->index, cmd_op);
priv->cmd_len += sizeof(*cmd);
return cmd;
}
static int pucan_write_cmd(struct peak_canfd_priv *priv)
{
int err;
if (priv->pre_cmd) {
err = priv->pre_cmd(priv);
if (err)
return err;
}
err = priv->write_cmd(priv);
if (err)
return err;
if (priv->post_cmd)
err = priv->post_cmd(priv);
return err;
}
/* uCAN commands interface functions */
static int pucan_set_reset_mode(struct peak_canfd_priv *priv)
{
pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RESET_MODE);
return pucan_write_cmd(priv);
}
static int pucan_set_normal_mode(struct peak_canfd_priv *priv)
{
int err;
pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_NORMAL_MODE);
err = pucan_write_cmd(priv);
if (!err)
priv->can.state = CAN_STATE_ERROR_ACTIVE;
return err;
}
static int pucan_set_listen_only_mode(struct peak_canfd_priv *priv)
{
int err;
pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_LISTEN_ONLY_MODE);
err = pucan_write_cmd(priv);
if (!err)
priv->can.state = CAN_STATE_ERROR_ACTIVE;
return err;
}
static int pucan_set_timing_slow(struct peak_canfd_priv *priv,
const struct can_bittiming *pbt)
{
struct pucan_timing_slow *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_SLOW);
cmd->sjw_t = PUCAN_TSLOW_SJW_T(pbt->sjw - 1,
priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES);
cmd->tseg1 = PUCAN_TSLOW_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1);
cmd->tseg2 = PUCAN_TSLOW_TSEG2(pbt->phase_seg2 - 1);
cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(pbt->brp - 1));
cmd->ewl = 96; /* default */
netdev_dbg(priv->ndev,
"nominal: brp=%u tseg1=%u tseg2=%u sjw=%u\n",
le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw_t);
return pucan_write_cmd(priv);
}
static int pucan_set_timing_fast(struct peak_canfd_priv *priv,
const struct can_bittiming *pbt)
{
struct pucan_timing_fast *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_FAST);
cmd->sjw = PUCAN_TFAST_SJW(pbt->sjw - 1);
cmd->tseg1 = PUCAN_TFAST_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1);
cmd->tseg2 = PUCAN_TFAST_TSEG2(pbt->phase_seg2 - 1);
cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(pbt->brp - 1));
netdev_dbg(priv->ndev,
"data: brp=%u tseg1=%u tseg2=%u sjw=%u\n",
le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw);
return pucan_write_cmd(priv);
}
static int pucan_set_std_filter(struct peak_canfd_priv *priv, u8 row, u32 mask)
{
struct pucan_std_filter *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_STD_FILTER);
/* all the 11-bits CAN ID values are represented by one bit in a
* 64 rows array of 32 bits: the upper 6 bits of the CAN ID select the
* row while the lowest 5 bits select the bit in that row.
*
* bit filter
* 1 passed
* 0 discarded
*/
/* select the row */
cmd->idx = row;
/* set/unset bits in the row */
cmd->mask = cpu_to_le32(mask);
return pucan_write_cmd(priv);
}
static int pucan_tx_abort(struct peak_canfd_priv *priv, u16 flags)
{
struct pucan_tx_abort *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TX_ABORT);
cmd->flags = cpu_to_le16(flags);
return pucan_write_cmd(priv);
}
static int pucan_clr_err_counters(struct peak_canfd_priv *priv)
{
struct pucan_wr_err_cnt *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_WR_ERR_CNT);
cmd->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE | PUCAN_WRERRCNT_RE);
cmd->tx_counter = 0;
cmd->rx_counter = 0;
return pucan_write_cmd(priv);
}
static int pucan_set_options(struct peak_canfd_priv *priv, u16 opt_mask)
{
struct pucan_options *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_EN_OPTION);
cmd->options = cpu_to_le16(opt_mask);
return pucan_write_cmd(priv);
}
static int pucan_clr_options(struct peak_canfd_priv *priv, u16 opt_mask)
{
struct pucan_options *cmd;
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_CLR_DIS_OPTION);
cmd->options = cpu_to_le16(opt_mask);
return pucan_write_cmd(priv);
}
static int pucan_setup_rx_barrier(struct peak_canfd_priv *priv)
{
pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RX_BARRIER);
return pucan_write_cmd(priv);
}
/* handle the reception of one CAN frame */
static int pucan_handle_can_rx(struct peak_canfd_priv *priv,
struct pucan_rx_msg *msg)
{
struct net_device_stats *stats = &priv->ndev->stats;
struct canfd_frame *cf;
struct sk_buff *skb;
const u16 rx_msg_flags = le16_to_cpu(msg->flags);
u8 cf_len;
if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN)
cf_len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(msg)));
else
cf_len = get_can_dlc(pucan_msg_get_dlc(msg));
/* if this frame is an echo, */
if ((rx_msg_flags & PUCAN_MSG_LOOPED_BACK) &&
!(rx_msg_flags & PUCAN_MSG_SELF_RECEIVE)) {
unsigned long flags;
spin_lock_irqsave(&priv->echo_lock, flags);
can_get_echo_skb(priv->ndev, msg->client);
/* count bytes of the echo instead of skb */
stats->tx_bytes += cf_len;
stats->tx_packets++;
/* restart tx queue (a slot is free) */
netif_wake_queue(priv->ndev);
spin_unlock_irqrestore(&priv->echo_lock, flags);
return 0;
}
/* otherwise, it should be pushed into rx fifo */
if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) {
/* CANFD frame case */
skb = alloc_canfd_skb(priv->ndev, &cf);
if (!skb)
return -ENOMEM;
if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH)
cf->flags |= CANFD_BRS;
if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND)
cf->flags |= CANFD_ESI;
} else {
/* CAN 2.0 frame case */
skb = alloc_can_skb(priv->ndev, (struct can_frame **)&cf);
if (!skb)
return -ENOMEM;
}
cf->can_id = le32_to_cpu(msg->can_id);
cf->len = cf_len;
if (rx_msg_flags & PUCAN_MSG_EXT_ID)
cf->can_id |= CAN_EFF_FLAG;
if (rx_msg_flags & PUCAN_MSG_RTR)
cf->can_id |= CAN_RTR_FLAG;
else
memcpy(cf->data, msg->d, cf->len);
stats->rx_bytes += cf->len;
stats->rx_packets++;
netif_rx(skb);
return 0;
}
/* handle rx/tx error counters notification */
static int pucan_handle_error(struct peak_canfd_priv *priv,
struct pucan_error_msg *msg)
{
priv->bec.txerr = msg->tx_err_cnt;
priv->bec.rxerr = msg->rx_err_cnt;
return 0;
}
/* handle status notification */
static int pucan_handle_status(struct peak_canfd_priv *priv,
struct pucan_status_msg *msg)
{
struct net_device *ndev = priv->ndev;
struct net_device_stats *stats = &ndev->stats;
struct can_frame *cf;
struct sk_buff *skb;
/* this STATUS is the CNF of the RX_BARRIER: Tx path can be setup */
if (pucan_status_is_rx_barrier(msg)) {
if (priv->enable_tx_path) {
int err = priv->enable_tx_path(priv);
if (err)
return err;
}
/* start network queue (echo_skb array is empty) */
netif_start_queue(ndev);
return 0;
}
skb = alloc_can_err_skb(ndev, &cf);
/* test state error bits according to their priority */
if (pucan_status_is_busoff(msg)) {
netdev_dbg(ndev, "Bus-off entry status\n");
priv->can.state = CAN_STATE_BUS_OFF;
priv->can.can_stats.bus_off++;
can_bus_off(ndev);
if (skb)
cf->can_id |= CAN_ERR_BUSOFF;
} else if (pucan_status_is_passive(msg)) {
netdev_dbg(ndev, "Error passive status\n");
priv->can.state = CAN_STATE_ERROR_PASSIVE;
priv->can.can_stats.error_passive++;
if (skb) {
cf->can_id |= CAN_ERR_CRTL;
cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ?
CAN_ERR_CRTL_TX_PASSIVE :
CAN_ERR_CRTL_RX_PASSIVE;
cf->data[6] = priv->bec.txerr;
cf->data[7] = priv->bec.rxerr;
}
} else if (pucan_status_is_warning(msg)) {
netdev_dbg(ndev, "Error warning status\n");
priv->can.state = CAN_STATE_ERROR_WARNING;
priv->can.can_stats.error_warning++;
if (skb) {
cf->can_id |= CAN_ERR_CRTL;
cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ?
CAN_ERR_CRTL_TX_WARNING :
CAN_ERR_CRTL_RX_WARNING;
cf->data[6] = priv->bec.txerr;
cf->data[7] = priv->bec.rxerr;
}
} else if (priv->can.state != CAN_STATE_ERROR_ACTIVE) {
/* back to ERROR_ACTIVE */
netdev_dbg(ndev, "Error active status\n");
can_change_state(ndev, cf, CAN_STATE_ERROR_ACTIVE,
CAN_STATE_ERROR_ACTIVE);
} else {
dev_kfree_skb(skb);
return 0;
}
if (!skb) {
stats->rx_dropped++;
return -ENOMEM;
}
stats->rx_packets++;
stats->rx_bytes += cf->can_dlc;
netif_rx(skb);
return 0;
}
/* handle uCAN Rx overflow notification */
static int pucan_handle_cache_critical(struct peak_canfd_priv *priv)
{
struct net_device_stats *stats = &priv->ndev->stats;
struct can_frame *cf;
struct sk_buff *skb;
stats->rx_over_errors++;
stats->rx_errors++;
skb = alloc_can_err_skb(priv->ndev, &cf);
if (!skb) {
stats->rx_dropped++;
return -ENOMEM;
}
cf->can_id |= CAN_ERR_CRTL;
cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
cf->data[6] = priv->bec.txerr;
cf->data[7] = priv->bec.rxerr;
stats->rx_bytes += cf->can_dlc;
stats->rx_packets++;
netif_rx(skb);
return 0;
}
/* handle a single uCAN message */
int peak_canfd_handle_msg(struct peak_canfd_priv *priv,
struct pucan_rx_msg *msg)
{
u16 msg_type = le16_to_cpu(msg->type);
int msg_size = le16_to_cpu(msg->size);
int err;
if (!msg_size || !msg_type) {
/* null packet found: end of list */
goto exit;
}
switch (msg_type) {
case PUCAN_MSG_CAN_RX:
err = pucan_handle_can_rx(priv, (struct pucan_rx_msg *)msg);
break;
case PUCAN_MSG_ERROR:
err = pucan_handle_error(priv, (struct pucan_error_msg *)msg);
break;
case PUCAN_MSG_STATUS:
err = pucan_handle_status(priv, (struct pucan_status_msg *)msg);
break;
case PUCAN_MSG_CACHE_CRITICAL:
err = pucan_handle_cache_critical(priv);
break;
default:
err = 0;
}
if (err < 0)
return err;
exit:
return msg_size;
}
/* handle a list of rx_count messages from rx_msg memory address */
int peak_canfd_handle_msgs_list(struct peak_canfd_priv *priv,
struct pucan_rx_msg *msg_list, int msg_count)
{
void *msg_ptr = msg_list;
int i, msg_size = 0;
for (i = 0; i < msg_count; i++) {
msg_size = peak_canfd_handle_msg(priv, msg_ptr);
/* a null packet can be found at the end of a list */
if (msg_size <= 0)
break;
msg_ptr += ALIGN(msg_size, 4);
}
if (msg_size < 0)
return msg_size;
return i;
}
static int peak_canfd_start(struct peak_canfd_priv *priv)
{
int err;
err = pucan_clr_err_counters(priv);
if (err)
goto err_exit;
priv->echo_idx = 0;
priv->bec.txerr = 0;
priv->bec.rxerr = 0;
if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
err = pucan_set_listen_only_mode(priv);
else
err = pucan_set_normal_mode(priv);
err_exit:
return err;
}
static void peak_canfd_stop(struct peak_canfd_priv *priv)
{
int err;
/* go back to RESET mode */
err = pucan_set_reset_mode(priv);
if (err) {
netdev_err(priv->ndev, "channel %u reset failed\n",
priv->index);
} else {
/* abort last Tx (MUST be done in RESET mode only!) */
pucan_tx_abort(priv, PUCAN_TX_ABORT_FLUSH);
}
}
static int peak_canfd_set_mode(struct net_device *ndev, enum can_mode mode)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
switch (mode) {
case CAN_MODE_START:
peak_canfd_start(priv);
netif_wake_queue(ndev);
break;
default:
return -EOPNOTSUPP;
}
return 0;
}
static int peak_canfd_get_berr_counter(const struct net_device *ndev,
struct can_berr_counter *bec)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
*bec = priv->bec;
return 0;
}
static int peak_canfd_open(struct net_device *ndev)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
int i, err = 0;
err = open_candev(ndev);
if (err) {
netdev_err(ndev, "open_candev() failed, error %d\n", err);
goto err_exit;
}
err = pucan_set_reset_mode(priv);
if (err)
goto err_close;
if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)
err = pucan_clr_options(priv, PUCAN_OPTION_CANDFDISO);
else
err = pucan_set_options(priv, PUCAN_OPTION_CANDFDISO);
if (err)
goto err_close;
}
/* set option: get rx/tx error counters */
err = pucan_set_options(priv, PUCAN_OPTION_ERROR);
if (err)
goto err_close;
/* accept all standard CAN ID */
for (i = 0; i <= PUCAN_FLTSTD_ROW_IDX_MAX; i++)
pucan_set_std_filter(priv, i, 0xffffffff);
err = peak_canfd_start(priv);
if (err)
goto err_close;
/* receiving the RB status says when Tx path is ready */
err = pucan_setup_rx_barrier(priv);
if (!err)
goto err_exit;
err_close:
close_candev(ndev);
err_exit:
return err;
}
static int peak_canfd_set_bittiming(struct net_device *ndev)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
return pucan_set_timing_slow(priv, &priv->can.bittiming);
}
static int peak_canfd_set_data_bittiming(struct net_device *ndev)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
return pucan_set_timing_fast(priv, &priv->can.data_bittiming);
}
static int peak_canfd_close(struct net_device *ndev)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
netif_stop_queue(ndev);
peak_canfd_stop(priv);
close_candev(ndev);
return 0;
}
static netdev_tx_t peak_canfd_start_xmit(struct sk_buff *skb,
struct net_device *ndev)
{
struct peak_canfd_priv *priv = netdev_priv(ndev);
struct net_device_stats *stats = &ndev->stats;
struct canfd_frame *cf = (struct canfd_frame *)skb->data;
struct pucan_tx_msg *msg;
u16 msg_size, msg_flags;
unsigned long flags;
bool should_stop_tx_queue;
int room_left;
u8 can_dlc;
if (can_dropped_invalid_skb(ndev, skb))
return NETDEV_TX_OK;
msg_size = ALIGN(sizeof(*msg) + cf->len, 4);
msg = priv->alloc_tx_msg(priv, msg_size, &room_left);
/* should never happen except under bus-off condition and (auto-)restart
* mechanism
*/
if (!msg) {
stats->tx_dropped++;
netif_stop_queue(ndev);
return NETDEV_TX_BUSY;
}
msg->size = cpu_to_le16(msg_size);
msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX);
msg_flags = 0;
if (cf->can_id & CAN_EFF_FLAG) {
msg_flags |= PUCAN_MSG_EXT_ID;
msg->can_id = cpu_to_le32(cf->can_id & CAN_EFF_MASK);
} else {
msg->can_id = cpu_to_le32(cf->can_id & CAN_SFF_MASK);
}
if (can_is_canfd_skb(skb)) {
/* CAN FD frame format */
can_dlc = can_len2dlc(cf->len);
msg_flags |= PUCAN_MSG_EXT_DATA_LEN;
if (cf->flags & CANFD_BRS)
msg_flags |= PUCAN_MSG_BITRATE_SWITCH;
if (cf->flags & CANFD_ESI)
msg_flags |= PUCAN_MSG_ERROR_STATE_IND;
} else {
/* CAN 2.0 frame format */
can_dlc = cf->len;
if (cf->can_id & CAN_RTR_FLAG)
msg_flags |= PUCAN_MSG_RTR;
}
/* always ask loopback for echo management */
msg_flags |= PUCAN_MSG_LOOPED_BACK;
/* set driver specific bit to differentiate with application loopback */
if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK)
msg_flags |= PUCAN_MSG_SELF_RECEIVE;
msg->flags = cpu_to_le16(msg_flags);
msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(priv->index, can_dlc);
memcpy(msg->d, cf->data, cf->len);
/* struct msg client field is used as an index in the echo skbs ring */
msg->client = priv->echo_idx;
spin_lock_irqsave(&priv->echo_lock, flags);
/* prepare and save echo skb in internal slot */
can_put_echo_skb(skb, ndev, priv->echo_idx);
/* move echo index to the next slot */
priv->echo_idx = (priv->echo_idx + 1) % priv->can.echo_skb_max;
/* if next slot is not free, stop network queue (no slot free in echo
* skb ring means that the controller did not write these frames on
* the bus: no need to continue).
*/
should_stop_tx_queue = !!(priv->can.echo_skb[priv->echo_idx]);
/* stop network tx queue if not enough room to save one more msg too */
if (priv->can.ctrlmode & CAN_CTRLMODE_FD)
should_stop_tx_queue |= (room_left <
(sizeof(*msg) + CANFD_MAX_DLEN));
else
should_stop_tx_queue |= (room_left <
(sizeof(*msg) + CAN_MAX_DLEN));
if (should_stop_tx_queue)
netif_stop_queue(ndev);
spin_unlock_irqrestore(&priv->echo_lock, flags);
/* write the skb on the interface */
priv->write_tx_msg(priv, msg);
return NETDEV_TX_OK;
}
static const struct net_device_ops peak_canfd_netdev_ops = {
.ndo_open = peak_canfd_open,
.ndo_stop = peak_canfd_close,
.ndo_start_xmit = peak_canfd_start_xmit,
.ndo_change_mtu = can_change_mtu,
};
struct net_device *alloc_peak_canfd_dev(int sizeof_priv, int index,
int echo_skb_max)
{
struct net_device *ndev;
struct peak_canfd_priv *priv;
/* we DO support local echo */
if (echo_skb_max < 0)
echo_skb_max = PCANFD_ECHO_SKB_MAX;
/* allocate the candev object */
ndev = alloc_candev(sizeof_priv, echo_skb_max);
if (!ndev)
return NULL;
priv = netdev_priv(ndev);
/* complete now socket-can initialization side */
priv->can.state = CAN_STATE_STOPPED;
priv->can.bittiming_const = &peak_canfd_nominal_const;
priv->can.data_bittiming_const = &peak_canfd_data_const;
priv->can.do_set_mode = peak_canfd_set_mode;
priv->can.do_get_berr_counter = peak_canfd_get_berr_counter;
priv->can.do_set_bittiming = peak_canfd_set_bittiming;
priv->can.do_set_data_bittiming = peak_canfd_set_data_bittiming;
priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK |
CAN_CTRLMODE_LISTENONLY |
CAN_CTRLMODE_3_SAMPLES |
CAN_CTRLMODE_FD |
CAN_CTRLMODE_FD_NON_ISO |
CAN_CTRLMODE_BERR_REPORTING;
priv->ndev = ndev;
priv->index = index;
priv->cmd_len = 0;
spin_lock_init(&priv->echo_lock);
ndev->flags |= IFF_ECHO;
ndev->netdev_ops = &peak_canfd_netdev_ops;
ndev->dev_id = index;
return ndev;
}