can: peak_usb: add support for PEAK new CANFD USB adapters
authorStephane Grosjean <s.grosjean@peak-system.com>
Fri, 23 Jan 2015 10:31:25 +0000 (11:31 +0100)
committerMarc Kleine-Budde <mkl@pengutronix.de>
Wed, 28 Jan 2015 13:47:06 +0000 (14:47 +0100)
Add support for the following new PEAK-System technik CANFD USB adapters:

PCAN-USB FD             single CANFD channel USB adapter
PCAN-USB Pro FD         dual CANFD channels USB adapter

Signed-off-by: Stephane Grosjean <s.grosjean@peak-system.com>
Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>
Acked-by: Andri Yngvason <andri.yngvason@marel.com>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
drivers/net/can/usb/Kconfig
drivers/net/can/usb/peak_usb/Makefile
drivers/net/can/usb/peak_usb/pcan_ucan.h [new file with mode: 0644]
drivers/net/can/usb/peak_usb/pcan_usb_core.c
drivers/net/can/usb/peak_usb/pcan_usb_core.h
drivers/net/can/usb/peak_usb/pcan_usb_fd.c [new file with mode: 0644]

index f6f5500..bcb272f 100644 (file)
@@ -59,10 +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"
index 1aefbc8..1839e9c 100644 (file)
@@ -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
diff --git a/drivers/net/can/usb/peak_usb/pcan_ucan.h b/drivers/net/can/usb/peak_usb/pcan_ucan.h
new file mode 100644 (file)
index 0000000..1ba7c25
--- /dev/null
@@ -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
index 7587337..7921cff 100644 (file)
@@ -37,6 +37,8 @@ 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 */
 };
 
@@ -46,6 +48,8 @@ MODULE_DEVICE_TABLE(usb, peak_usb_table);
 static const struct peak_usb_adapter *const peak_usb_adapters_list[] = {
        &pcan_usb,
        &pcan_usb_pro,
+       &pcan_usb_fd,
+       &pcan_usb_pro_fd,
 };
 
 /*
index 0e76b84..9e624f0 100644 (file)
@@ -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"
 
@@ -86,6 +88,8 @@ struct peak_usb_adapter {
 
 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;
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
new file mode 100644 (file)
index 0000000..962c3f0
--- /dev/null
@@ -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,
+};