1 // SPDX-License-Identifier: GPL-2.0
2
3 /* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
4 *
5 * File es581_4.c: Adds support to ETAS ES581.4.
6 *
7 * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
8 * Copyright (c) 2020 ETAS K.K.. All rights reserved.
9 * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
10 */
11
12 #include <linux/kernel.h>
13 #include <linux/units.h>
14 #include <asm/unaligned.h>
15
16 #include "es58x_core.h"
17 #include "es581_4.h"
18
19 /**
20 * es581_4_sizeof_rx_tx_msg() - Calculate the actual length of the
21 * structure of a rx or tx message.
22 * @msg: message of variable length, must have a dlc field.
23 *
24 * Even if RTR frames have actually no payload, the ES58X devices
25 * still expect it. Must be a macro in order to accept several types
26 * (struct es581_4_tx_can_msg and struct es581_4_rx_can_msg) as an
27 * input.
28 *
29 * Return: length of the message.
30 */
31 #define es581_4_sizeof_rx_tx_msg(msg) \
32 offsetof(typeof(msg), data[can_cc_dlc2len((msg).dlc)])
33
es581_4_get_msg_len(const union es58x_urb_cmd * urb_cmd)34 static u16 es581_4_get_msg_len(const union es58x_urb_cmd *urb_cmd)
35 {
36 return get_unaligned_le16(&urb_cmd->es581_4_urb_cmd.msg_len);
37 }
38
es581_4_echo_msg(struct es58x_device * es58x_dev,const struct es581_4_urb_cmd * es581_4_urb_cmd)39 static int es581_4_echo_msg(struct es58x_device *es58x_dev,
40 const struct es581_4_urb_cmd *es581_4_urb_cmd)
41 {
42 struct net_device *netdev;
43 const struct es581_4_bulk_echo_msg *bulk_echo_msg;
44 const struct es581_4_echo_msg *echo_msg;
45 u64 *tstamps = es58x_dev->timestamps;
46 u16 msg_len;
47 u32 first_packet_idx, packet_idx;
48 unsigned int dropped = 0;
49 int i, num_element, ret;
50
51 bulk_echo_msg = &es581_4_urb_cmd->bulk_echo_msg;
52 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len) -
53 sizeof(bulk_echo_msg->channel_no);
54 num_element = es58x_msg_num_element(es58x_dev->dev,
55 bulk_echo_msg->echo_msg, msg_len);
56 if (num_element <= 0)
57 return num_element;
58
59 ret = es58x_get_netdev(es58x_dev, bulk_echo_msg->channel_no,
60 ES581_4_CHANNEL_IDX_OFFSET, &netdev);
61 if (ret)
62 return ret;
63
64 echo_msg = &bulk_echo_msg->echo_msg[0];
65 first_packet_idx = get_unaligned_le32(&echo_msg->packet_idx);
66 packet_idx = first_packet_idx;
67 for (i = 0; i < num_element; i++) {
68 u32 tmp_idx;
69
70 echo_msg = &bulk_echo_msg->echo_msg[i];
71 tmp_idx = get_unaligned_le32(&echo_msg->packet_idx);
72 if (tmp_idx == packet_idx - 1) {
73 if (net_ratelimit())
74 netdev_warn(netdev,
75 "Received echo packet idx %u twice\n",
76 packet_idx - 1);
77 dropped++;
78 continue;
79 }
80 if (tmp_idx != packet_idx) {
81 netdev_err(netdev, "Echo packet idx jumped from %u to %u\n",
82 packet_idx - 1, echo_msg->packet_idx);
83 return -EBADMSG;
84 }
85
86 tstamps[i] = get_unaligned_le64(&echo_msg->timestamp);
87 packet_idx++;
88 }
89
90 netdev->stats.tx_dropped += dropped;
91 return es58x_can_get_echo_skb(netdev, first_packet_idx,
92 tstamps, num_element - dropped);
93 }
94
es581_4_rx_can_msg(struct es58x_device * es58x_dev,const struct es581_4_urb_cmd * es581_4_urb_cmd,u16 msg_len)95 static int es581_4_rx_can_msg(struct es58x_device *es58x_dev,
96 const struct es581_4_urb_cmd *es581_4_urb_cmd,
97 u16 msg_len)
98 {
99 const struct device *dev = es58x_dev->dev;
100 struct net_device *netdev;
101 int pkts, num_element, channel_no, ret;
102
103 num_element = es58x_msg_num_element(dev, es581_4_urb_cmd->rx_can_msg,
104 msg_len);
105 if (num_element <= 0)
106 return num_element;
107
108 channel_no = es581_4_urb_cmd->rx_can_msg[0].channel_no;
109 ret = es58x_get_netdev(es58x_dev, channel_no,
110 ES581_4_CHANNEL_IDX_OFFSET, &netdev);
111 if (ret)
112 return ret;
113
114 if (!netif_running(netdev)) {
115 if (net_ratelimit())
116 netdev_info(netdev,
117 "%s: %s is down, dropping %d rx packets\n",
118 __func__, netdev->name, num_element);
119 netdev->stats.rx_dropped += num_element;
120 return 0;
121 }
122
123 for (pkts = 0; pkts < num_element; pkts++) {
124 const struct es581_4_rx_can_msg *rx_can_msg =
125 &es581_4_urb_cmd->rx_can_msg[pkts];
126 u64 tstamp = get_unaligned_le64(&rx_can_msg->timestamp);
127 canid_t can_id = get_unaligned_le32(&rx_can_msg->can_id);
128
129 if (channel_no != rx_can_msg->channel_no)
130 return -EBADMSG;
131
132 ret = es58x_rx_can_msg(netdev, tstamp, rx_can_msg->data,
133 can_id, rx_can_msg->flags,
134 rx_can_msg->dlc);
135 if (ret)
136 break;
137 }
138
139 return ret;
140 }
141
es581_4_rx_err_msg(struct es58x_device * es58x_dev,const struct es581_4_rx_err_msg * rx_err_msg)142 static int es581_4_rx_err_msg(struct es58x_device *es58x_dev,
143 const struct es581_4_rx_err_msg *rx_err_msg)
144 {
145 struct net_device *netdev;
146 enum es58x_err error = get_unaligned_le32(&rx_err_msg->error);
147 int ret;
148
149 ret = es58x_get_netdev(es58x_dev, rx_err_msg->channel_no,
150 ES581_4_CHANNEL_IDX_OFFSET, &netdev);
151 if (ret)
152 return ret;
153
154 return es58x_rx_err_msg(netdev, error, 0,
155 get_unaligned_le64(&rx_err_msg->timestamp));
156 }
157
es581_4_rx_event_msg(struct es58x_device * es58x_dev,const struct es581_4_rx_event_msg * rx_event_msg)158 static int es581_4_rx_event_msg(struct es58x_device *es58x_dev,
159 const struct es581_4_rx_event_msg *rx_event_msg)
160 {
161 struct net_device *netdev;
162 enum es58x_event event = get_unaligned_le32(&rx_event_msg->event);
163 int ret;
164
165 ret = es58x_get_netdev(es58x_dev, rx_event_msg->channel_no,
166 ES581_4_CHANNEL_IDX_OFFSET, &netdev);
167 if (ret)
168 return ret;
169
170 return es58x_rx_err_msg(netdev, 0, event,
171 get_unaligned_le64(&rx_event_msg->timestamp));
172 }
173
es581_4_rx_cmd_ret_u32(struct es58x_device * es58x_dev,const struct es581_4_urb_cmd * es581_4_urb_cmd,enum es58x_ret_type ret_type)174 static int es581_4_rx_cmd_ret_u32(struct es58x_device *es58x_dev,
175 const struct es581_4_urb_cmd *es581_4_urb_cmd,
176 enum es58x_ret_type ret_type)
177 {
178 struct net_device *netdev;
179 const struct es581_4_rx_cmd_ret *rx_cmd_ret;
180 u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
181 int ret;
182
183 ret = es58x_check_msg_len(es58x_dev->dev,
184 es581_4_urb_cmd->rx_cmd_ret, msg_len);
185 if (ret)
186 return ret;
187
188 rx_cmd_ret = &es581_4_urb_cmd->rx_cmd_ret;
189
190 ret = es58x_get_netdev(es58x_dev, rx_cmd_ret->channel_no,
191 ES581_4_CHANNEL_IDX_OFFSET, &netdev);
192 if (ret)
193 return ret;
194
195 return es58x_rx_cmd_ret_u32(netdev, ret_type,
196 get_unaligned_le32(&rx_cmd_ret->rx_cmd_ret_le32));
197 }
198
es581_4_tx_ack_msg(struct es58x_device * es58x_dev,const struct es581_4_urb_cmd * es581_4_urb_cmd)199 static int es581_4_tx_ack_msg(struct es58x_device *es58x_dev,
200 const struct es581_4_urb_cmd *es581_4_urb_cmd)
201 {
202 struct net_device *netdev;
203 const struct es581_4_tx_ack_msg *tx_ack_msg;
204 u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
205 int ret;
206
207 tx_ack_msg = &es581_4_urb_cmd->tx_ack_msg;
208 ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
209 if (ret)
210 return ret;
211
212 if (tx_ack_msg->rx_cmd_ret_u8 != ES58X_RET_U8_OK)
213 return es58x_rx_cmd_ret_u8(es58x_dev->dev,
214 ES58X_RET_TYPE_TX_MSG,
215 tx_ack_msg->rx_cmd_ret_u8);
216
217 ret = es58x_get_netdev(es58x_dev, tx_ack_msg->channel_no,
218 ES581_4_CHANNEL_IDX_OFFSET, &netdev);
219 if (ret)
220 return ret;
221
222 return es58x_tx_ack_msg(netdev,
223 get_unaligned_le16(&tx_ack_msg->tx_free_entries),
224 ES58X_RET_U32_OK);
225 }
226
es581_4_dispatch_rx_cmd(struct es58x_device * es58x_dev,const struct es581_4_urb_cmd * es581_4_urb_cmd)227 static int es581_4_dispatch_rx_cmd(struct es58x_device *es58x_dev,
228 const struct es581_4_urb_cmd *es581_4_urb_cmd)
229 {
230 const struct device *dev = es58x_dev->dev;
231 u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
232 enum es581_4_rx_type rx_type = es581_4_urb_cmd->rx_can_msg[0].rx_type;
233 int ret = 0;
234
235 switch (rx_type) {
236 case ES581_4_RX_TYPE_MESSAGE:
237 return es581_4_rx_can_msg(es58x_dev, es581_4_urb_cmd, msg_len);
238
239 case ES581_4_RX_TYPE_ERROR:
240 ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_err_msg,
241 msg_len);
242 if (ret < 0)
243 return ret;
244 return es581_4_rx_err_msg(es58x_dev,
245 &es581_4_urb_cmd->rx_err_msg);
246
247 case ES581_4_RX_TYPE_EVENT:
248 ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_event_msg,
249 msg_len);
250 if (ret < 0)
251 return ret;
252 return es581_4_rx_event_msg(es58x_dev,
253 &es581_4_urb_cmd->rx_event_msg);
254
255 default:
256 dev_err(dev, "%s: Unknown rx_type 0x%02X\n", __func__, rx_type);
257 return -EBADRQC;
258 }
259 }
260
es581_4_handle_urb_cmd(struct es58x_device * es58x_dev,const union es58x_urb_cmd * urb_cmd)261 static int es581_4_handle_urb_cmd(struct es58x_device *es58x_dev,
262 const union es58x_urb_cmd *urb_cmd)
263 {
264 const struct es581_4_urb_cmd *es581_4_urb_cmd;
265 struct device *dev = es58x_dev->dev;
266 u16 msg_len = es581_4_get_msg_len(urb_cmd);
267 int ret;
268
269 es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
270
271 if (es581_4_urb_cmd->cmd_type != ES581_4_CAN_COMMAND_TYPE) {
272 dev_err(dev, "%s: Unknown command type (0x%02X)\n",
273 __func__, es581_4_urb_cmd->cmd_type);
274 return -EBADRQC;
275 }
276
277 switch ((enum es581_4_cmd_id)es581_4_urb_cmd->cmd_id) {
278 case ES581_4_CMD_ID_SET_BITTIMING:
279 return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
280 ES58X_RET_TYPE_SET_BITTIMING);
281
282 case ES581_4_CMD_ID_ENABLE_CHANNEL:
283 return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
284 ES58X_RET_TYPE_ENABLE_CHANNEL);
285
286 case ES581_4_CMD_ID_TX_MSG:
287 return es581_4_tx_ack_msg(es58x_dev, es581_4_urb_cmd);
288
289 case ES581_4_CMD_ID_RX_MSG:
290 return es581_4_dispatch_rx_cmd(es58x_dev, es581_4_urb_cmd);
291
292 case ES581_4_CMD_ID_RESET_RX:
293 ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
294 ES58X_RET_TYPE_RESET_RX);
295 return ret;
296
297 case ES581_4_CMD_ID_RESET_TX:
298 ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
299 ES58X_RET_TYPE_RESET_TX);
300 return ret;
301
302 case ES581_4_CMD_ID_DISABLE_CHANNEL:
303 return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
304 ES58X_RET_TYPE_DISABLE_CHANNEL);
305
306 case ES581_4_CMD_ID_TIMESTAMP:
307 ret = es58x_check_msg_len(dev, es581_4_urb_cmd->timestamp,
308 msg_len);
309 if (ret < 0)
310 return ret;
311 es58x_rx_timestamp(es58x_dev,
312 get_unaligned_le64(&es581_4_urb_cmd->timestamp));
313 return 0;
314
315 case ES581_4_CMD_ID_ECHO:
316 return es581_4_echo_msg(es58x_dev, es581_4_urb_cmd);
317
318 case ES581_4_CMD_ID_DEVICE_ERR:
319 ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_cmd_ret_u8,
320 msg_len);
321 if (ret)
322 return ret;
323 return es58x_rx_cmd_ret_u8(dev, ES58X_RET_TYPE_DEVICE_ERR,
324 es581_4_urb_cmd->rx_cmd_ret_u8);
325
326 default:
327 dev_warn(dev, "%s: Unexpected command ID: 0x%02X\n",
328 __func__, es581_4_urb_cmd->cmd_id);
329 return -EBADRQC;
330 }
331 }
332
es581_4_fill_urb_header(union es58x_urb_cmd * urb_cmd,u8 cmd_type,u8 cmd_id,u8 channel_idx,u16 msg_len)333 static void es581_4_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
334 u8 cmd_id, u8 channel_idx, u16 msg_len)
335 {
336 struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
337
338 es581_4_urb_cmd->SOF = cpu_to_le16(es581_4_param.tx_start_of_frame);
339 es581_4_urb_cmd->cmd_type = cmd_type;
340 es581_4_urb_cmd->cmd_id = cmd_id;
341 es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
342 }
343
es581_4_tx_can_msg(struct es58x_priv * priv,const struct sk_buff * skb)344 static int es581_4_tx_can_msg(struct es58x_priv *priv,
345 const struct sk_buff *skb)
346 {
347 struct es58x_device *es58x_dev = priv->es58x_dev;
348 union es58x_urb_cmd *urb_cmd = priv->tx_urb->transfer_buffer;
349 struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
350 struct can_frame *cf = (struct can_frame *)skb->data;
351 struct es581_4_tx_can_msg *tx_can_msg;
352 u16 msg_len;
353 int ret;
354
355 if (can_is_canfd_skb(skb))
356 return -EMSGSIZE;
357
358 if (priv->tx_can_msg_cnt == 0) {
359 msg_len = sizeof(es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg);
360 es581_4_fill_urb_header(urb_cmd, ES581_4_CAN_COMMAND_TYPE,
361 ES581_4_CMD_ID_TX_MSG,
362 priv->channel_idx, msg_len);
363 es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg = 0;
364 } else {
365 msg_len = es581_4_get_msg_len(urb_cmd);
366 }
367
368 ret = es58x_check_msg_max_len(es58x_dev->dev,
369 es581_4_urb_cmd->bulk_tx_can_msg,
370 msg_len + sizeof(*tx_can_msg));
371 if (ret)
372 return ret;
373
374 /* Fill message contents. */
375 tx_can_msg = (typeof(tx_can_msg))&es581_4_urb_cmd->raw_msg[msg_len];
376 put_unaligned_le32(es58x_get_raw_can_id(cf), &tx_can_msg->can_id);
377 put_unaligned_le32(priv->tx_head, &tx_can_msg->packet_idx);
378 put_unaligned_le16((u16)es58x_get_flags(skb), &tx_can_msg->flags);
379 tx_can_msg->channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;
380 tx_can_msg->dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
381
382 memcpy(tx_can_msg->data, cf->data, cf->len);
383
384 /* Calculate new sizes. */
385 es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg++;
386 msg_len += es581_4_sizeof_rx_tx_msg(*tx_can_msg);
387 priv->tx_urb->transfer_buffer_length = es58x_get_urb_cmd_len(es58x_dev,
388 msg_len);
389 es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
390
391 return 0;
392 }
393
es581_4_set_bittiming(struct es58x_priv * priv)394 static int es581_4_set_bittiming(struct es58x_priv *priv)
395 {
396 struct es581_4_tx_conf_msg tx_conf_msg = { 0 };
397 struct can_bittiming *bt = &priv->can.bittiming;
398
399 tx_conf_msg.bitrate = cpu_to_le32(bt->bitrate);
400 /* bt->sample_point is in tenth of percent. Convert it to percent. */
401 tx_conf_msg.sample_point = cpu_to_le32(bt->sample_point / 10U);
402 tx_conf_msg.samples_per_bit = cpu_to_le32(ES58X_SAMPLES_PER_BIT_ONE);
403 tx_conf_msg.bit_time = cpu_to_le32(can_bit_time(bt));
404 tx_conf_msg.sjw = cpu_to_le32(bt->sjw);
405 tx_conf_msg.sync_edge = cpu_to_le32(ES58X_SYNC_EDGE_SINGLE);
406 tx_conf_msg.physical_layer =
407 cpu_to_le32(ES58X_PHYSICAL_LAYER_HIGH_SPEED);
408 tx_conf_msg.echo_mode = cpu_to_le32(ES58X_ECHO_ON);
409 tx_conf_msg.channel_no = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;
410
411 return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,
412 ES581_4_CMD_ID_SET_BITTIMING, &tx_conf_msg,
413 sizeof(tx_conf_msg), priv->channel_idx);
414 }
415
es581_4_enable_channel(struct es58x_priv * priv)416 static int es581_4_enable_channel(struct es58x_priv *priv)
417 {
418 int ret;
419 u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;
420
421 ret = es581_4_set_bittiming(priv);
422 if (ret)
423 return ret;
424
425 return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,
426 ES581_4_CMD_ID_ENABLE_CHANNEL, &msg, sizeof(msg),
427 priv->channel_idx);
428 }
429
es581_4_disable_channel(struct es58x_priv * priv)430 static int es581_4_disable_channel(struct es58x_priv *priv)
431 {
432 u8 msg = priv->channel_idx + ES581_4_CHANNEL_IDX_OFFSET;
433
434 return es58x_send_msg(priv->es58x_dev, ES581_4_CAN_COMMAND_TYPE,
435 ES581_4_CMD_ID_DISABLE_CHANNEL, &msg, sizeof(msg),
436 priv->channel_idx);
437 }
438
es581_4_reset_device(struct es58x_device * es58x_dev)439 static int es581_4_reset_device(struct es58x_device *es58x_dev)
440 {
441 return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
442 ES581_4_CMD_ID_RESET_DEVICE,
443 ES58X_EMPTY_MSG, 0, ES58X_CHANNEL_IDX_NA);
444 }
445
es581_4_get_timestamp(struct es58x_device * es58x_dev)446 static int es581_4_get_timestamp(struct es58x_device *es58x_dev)
447 {
448 return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
449 ES581_4_CMD_ID_TIMESTAMP,
450 ES58X_EMPTY_MSG, 0, ES58X_CHANNEL_IDX_NA);
451 }
452
453 /* Nominal bittiming constants for ES581.4 as specified in the
454 * microcontroller datasheet: "Stellaris(R) LM3S5B91 Microcontroller"
455 * table 17-4 "CAN Protocol Ranges" from Texas Instruments.
456 */
457 static const struct can_bittiming_const es581_4_bittiming_const = {
458 .name = "ES581.4",
459 .tseg1_min = 1,
460 .tseg1_max = 8,
461 .tseg2_min = 1,
462 .tseg2_max = 8,
463 .sjw_max = 4,
464 .brp_min = 1,
465 .brp_max = 128,
466 .brp_inc = 1
467 };
468
469 const struct es58x_parameters es581_4_param = {
470 .bittiming_const = &es581_4_bittiming_const,
471 .data_bittiming_const = NULL,
472 .tdc_const = NULL,
473 .bitrate_max = 1 * MEGA /* BPS */,
474 .clock = {.freq = 50 * MEGA /* Hz */},
475 .ctrlmode_supported = CAN_CTRLMODE_CC_LEN8_DLC,
476 .tx_start_of_frame = 0xAFAF,
477 .rx_start_of_frame = 0xFAFA,
478 .tx_urb_cmd_max_len = ES581_4_TX_URB_CMD_MAX_LEN,
479 .rx_urb_cmd_max_len = ES581_4_RX_URB_CMD_MAX_LEN,
480 /* Size of internal device TX queue is 330.
481 *
482 * However, we witnessed some ES58X_ERR_PROT_CRC errors from
483 * the device and thus, echo_skb_max was lowered to the
484 * empirical value of 75 which seems stable and then rounded
485 * down to become a power of two.
486 *
487 * Root cause of those ES58X_ERR_PROT_CRC errors is still
488 * unclear.
489 */
490 .fifo_mask = 63, /* echo_skb_max = 64 */
491 .dql_min_limit = CAN_FRAME_LEN_MAX * 50, /* Empirical value. */
492 .tx_bulk_max = ES581_4_TX_BULK_MAX,
493 .urb_cmd_header_len = ES581_4_URB_CMD_HEADER_LEN,
494 .rx_urb_max = ES58X_RX_URBS_MAX,
495 .tx_urb_max = ES58X_TX_URBS_MAX
496 };
497
498 const struct es58x_operators es581_4_ops = {
499 .get_msg_len = es581_4_get_msg_len,
500 .handle_urb_cmd = es581_4_handle_urb_cmd,
501 .fill_urb_header = es581_4_fill_urb_header,
502 .tx_can_msg = es581_4_tx_can_msg,
503 .enable_channel = es581_4_enable_channel,
504 .disable_channel = es581_4_disable_channel,
505 .reset_device = es581_4_reset_device,
506 .get_timestamp = es581_4_get_timestamp
507 };
508