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-rw-r--r--drivers/net/can/usb/peak_usb/pcan_ucan.h1
-rw-r--r--drivers/net/can/usb/peak_usb/pcan_usb_fd.c31
2 files changed, 30 insertions, 2 deletions
diff --git a/drivers/net/can/usb/peak_usb/pcan_ucan.h b/drivers/net/can/usb/peak_usb/pcan_ucan.h
index 1fb33307be4e..e8fc4952c6b0 100644
--- a/drivers/net/can/usb/peak_usb/pcan_ucan.h
+++ b/drivers/net/can/usb/peak_usb/pcan_ucan.h
@@ -104,6 +104,7 @@ struct __packed pucan_wr_err_cnt {
/* uCAN SET_EN/CLR_DIS _OPTION command fields */
#define PUCAN_OPTION_ERROR 0x0001
#define PUCAN_OPTION_BUSLOAD 0x0002
+#define PUCAN_OPTION_CANDFDISO 0x0004
struct __packed pucan_options {
__le16 opcode_channel;
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
index 7506a8352edd..a9221ad9f1a0 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
@@ -251,6 +251,27 @@ static int pcan_usb_fd_build_restart_cmd(struct peak_usb_device *dev, u8 *buf)
/* moves the pointer forward */
pc += sizeof(struct pucan_wr_err_cnt);
+ /* add command to switch from ISO to non-ISO mode, if fw allows it */
+ if (dev->can.ctrlmode_supported & CAN_CTRLMODE_FD_NON_ISO) {
+ struct pucan_options *puo = (struct pucan_options *)pc;
+
+ puo->opcode_channel =
+ (dev->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) ?
+ pucan_cmd_opcode_channel(dev,
+ PUCAN_CMD_CLR_DIS_OPTION) :
+ pucan_cmd_opcode_channel(dev, PUCAN_CMD_SET_EN_OPTION);
+
+ puo->options = cpu_to_le16(PUCAN_OPTION_CANDFDISO);
+
+ /* to be sure that no other extended bits will be taken into
+ * account
+ */
+ puo->unused = 0;
+
+ /* moves the pointer forward */
+ pc += sizeof(struct pucan_options);
+ }
+
/* next, go back to operational mode */
cmd = (struct pucan_command *)pc;
cmd->opcode_channel = pucan_cmd_opcode_channel(dev,
@@ -860,8 +881,14 @@ static int pcan_usb_fd_init(struct peak_usb_device *dev)
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;
+ /* check for ability to switch between ISO/non-ISO modes */
+ if (pdev->usb_if->fw_info.fw_version[0] >= 2) {
+ /* firmware >= 2.x supports ISO/non-ISO switching */
+ dev->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO;
+ } else {
+ /* firmware < 2.x only supports fixed(!) 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);