stm32mp157/usb/usb_canfd/usb_canfd.c

#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/usb.h>
#include <linux/netdevice.h>
#include <linux/can.h>
#include <linux/can/dev.h>

#define USB_CAN_VENDOR  0xffff
#define USB_CAN_PRODUCT 0xffff
#define USB_MAX_RX_URBS 8  // 支持的最大 URB 数量

struct usb_can_priv {
    struct can_priv can;
    struct usb_device *udev;
    struct usb_interface *intf;
    struct net_device *netdev;

    u8 ep_in;
    u8 ep_out;

    struct urb *rx_urb[USB_MAX_RX_URBS]; // 支持多个URB
    u8 *rx_buf[USB_MAX_RX_URBS];

    struct urb *tx_urb;
    u8 *tx_buf;
};

static void usb_can_rx_callback(struct urb *urb)
{
    struct usb_can_priv *priv = urb->context;
    struct net_device *netdev = priv->netdev;
    struct sk_buff *skb;
    struct can_frame *cf;

    if (urb->status) {
        printk(KERN_ERR "USB CAN RX error: %d\n", urb->status);
        return;
    }

    skb = alloc_can_skb(netdev, &cf);
    if (!skb)
        goto resubmit;

    memcpy(cf, urb->transfer_buffer, sizeof(struct can_frame));

    netif_rx(skb);

resubmit:
    usb_submit_urb(urb, GFP_ATOMIC);  // 继续接收
}

static int usb_can_open(struct net_device *netdev)
{
    struct usb_can_priv *priv = netdev_priv(netdev);
    struct usb_host_interface *iface_desc;
    struct usb_endpoint_descriptor *ep;
    int i;

    iface_desc = priv->intf->cur_altsetting;

    for (i = 0; i < iface_desc->desc.bNumEndpoints; i++) {
        ep = &iface_desc->endpoint[i].desc;

        if (usb_endpoint_is_bulk_in(ep))
            priv->ep_in = ep->bEndpointAddress;

        if (usb_endpoint_is_bulk_out(ep))
            priv->ep_out = ep->bEndpointAddress;
    }

    // 设置 RX URBs
    for (i = 0; i < USB_MAX_RX_URBS; i++) {
        priv->rx_urb[i] = usb_alloc_urb(0, GFP_KERNEL);
        priv->rx_buf[i] = kmalloc(64, GFP_KERNEL);

        usb_fill_bulk_urb(priv->rx_urb[i],
                          priv->udev,
                          usb_rcvbulkpipe(priv->udev, priv->ep_in),
                          priv->rx_buf[i],
                          64,
                          usb_can_rx_callback,
                          priv);

        usb_submit_urb(priv->rx_urb[i], GFP_KERNEL);  // 提交URB以开始接收
    }

    netif_start_queue(netdev);

    return 0;
}

static int usb_can_stop(struct net_device *netdev)
{
    struct usb_can_priv *priv = netdev_priv(netdev);
    int i;

    netif_stop_queue(netdev);

    // 停止所有的URB接收
    for (i = 0; i < USB_MAX_RX_URBS; i++) {
        usb_kill_urb(priv->rx_urb[i]);
        usb_free_urb(priv->rx_urb[i]);
        kfree(priv->rx_buf[i]);
    }

    usb_free_urb(priv->tx_urb);
    kfree(priv->tx_buf);

    return 0;
}

static netdev_tx_t usb_can_start_xmit(struct sk_buff *skb, struct net_device *netdev)
{
    struct usb_can_priv *priv = netdev_priv(netdev);
    struct can_frame *cf = (struct can_frame *)skb->data;
    int actual_length;

    usb_bulk_msg(priv->udev,
                 usb_sndbulkpipe(priv->udev, priv->ep_out),
                 cf,
                 sizeof(struct can_frame),
                 &actual_length,
                 1000);  // 发送数据到USB设备

    dev_kfree_skb(skb);

    return NETDEV_TX_OK;
}

static const struct net_device_ops usb_can_netdev_ops = {
    .ndo_open       = usb_can_open,
    .ndo_stop       = usb_can_stop,
    .ndo_start_xmit = usb_can_start_xmit,
};

static int usb_can_probe(struct usb_interface *intf, const struct usb_device_id *id)
{
    struct net_device *netdev;
    struct usb_can_priv *priv;
    int i;

    netdev = alloc_candev(sizeof(struct usb_can_priv), 1);
    if (!netdev)
        return -ENOMEM;

    priv = netdev_priv(netdev);

    priv->udev = usb_get_dev(interface_to_usbdev(intf));
    priv->intf = intf;
    priv->netdev = netdev;

    netdev->netdev_ops = &usb_can_netdev_ops;

    priv->can.clock.freq = 48000000;  // 设置时钟频率

    SET_NETDEV_DEV(netdev, &intf->dev);

    register_candev(netdev);

    usb_set_intfdata(intf, priv);

    printk("usb_can_fd: device connected\n");

    return 0;
}

static void usb_can_disconnect(struct usb_interface *intf)
{
    struct usb_can_priv *priv = usb_get_intfdata(intf);

    unregister_candev(priv->netdev);
    free_candev(priv->netdev);

    printk("usb_can_fd: device disconnected\n");
}

static struct usb_device_id usb_can_id_table[] = {
    { USB_DEVICE(USB_CAN_VENDOR, USB_CAN_PRODUCT) },
    { }
};

MODULE_DEVICE_TABLE(usb, usb_can_id_table);

static struct usb_driver usb_can_driver = {
    .name       = "usb_can_fd",
    .probe      = usb_can_probe,
    .disconnect = usb_can_disconnect,
    .id_table   = usb_can_id_table,
};

module_usb_driver(usb_can_driver);

MODULE_LICENSE("GPL");
MODULE_AUTHOR("USB CAN Driver");
MODULE_DESCRIPTION("USB CAN FD Driver");