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Date: Thu, 9 Mar 2017 18:36:36 +0100
From: Wolfgang Grandegger <wg@...ndegger.com>
To: Akshay Bhat <akshay.bhat@...esys.com>, mkl@...gutronix.de
Cc: linux-can@...r.kernel.org, netdev@...r.kernel.org,
devicetree@...r.kernel.org, linux-kernel@...r.kernel.org,
Akshay Bhat <nodeax@...il.com>
Subject: Re: [PATCH v2 2/2] can: spi: hi311x: Add Holt HI-311x CAN driver
Hello,
doing a quick review... I realized a few issues...
Am 17.01.2017 um 20:22 schrieb Akshay Bhat:
> This patch adds support for the Holt HI-311x CAN controller. The HI311x
> CAN controller is capable of transmitting and receiving standard data
> frames, extended data frames and remote frames. The HI311x interfaces
> with the host over SPI.
>
> Datasheet: www.holtic.com/documents/371-hi-3110_v-rev-jpdf.do
>
> Signed-off-by: Akshay Bhat <nodeax@...il.com>
> ---
>
> v1 -> v2:
> Address comments from Marc Kleine-Budde:
> - use u8 instead of uint8_t
> - alphabetically sort Makefile and Kconfig
> - copy over copyright information from mcp251x
> - use single space after each marco
> - add missing HI3110_ namespace in defines
> - remove magic number for IDE & SRR bits
> - simplify logic to populate extended CAN ID
> - remove unused parameters in hi3110_setup function
> - remove redundant frame->can_dlc length check
> - simplify error handling in hi3110_open function
> Address comments from Julia Lawall:
> - remove unnecessary semicolon after while loop in hi3110_can_ist
>
> drivers/net/can/spi/Kconfig | 6 +
> drivers/net/can/spi/Makefile | 1 +
> drivers/net/can/spi/hi311x.c | 1069 ++++++++++++++++++++++++++++++++++++++++++
> 3 files changed, 1076 insertions(+)
> create mode 100644 drivers/net/can/spi/hi311x.c
>
> diff --git a/drivers/net/can/spi/Kconfig b/drivers/net/can/spi/Kconfig
> index 148cae5..8f2e0dd 100644
> --- a/drivers/net/can/spi/Kconfig
> +++ b/drivers/net/can/spi/Kconfig
> @@ -1,6 +1,12 @@
> menu "CAN SPI interfaces"
> depends on SPI
>
> +config CAN_HI311X
> + tristate "Holt HI311x SPI CAN controllers"
> + depends on CAN_DEV && SPI && HAS_DMA
> + ---help---
> + Driver for the Holt HI311x SPI CAN controllers.
> +
> config CAN_MCP251X
> tristate "Microchip MCP251x SPI CAN controllers"
> depends on HAS_DMA
> diff --git a/drivers/net/can/spi/Makefile b/drivers/net/can/spi/Makefile
> index 0e86040..f59fa37 100644
> --- a/drivers/net/can/spi/Makefile
> +++ b/drivers/net/can/spi/Makefile
> @@ -3,4 +3,5 @@
> #
>
>
> +obj-$(CONFIG_CAN_HI311X) += hi311x.o
> obj-$(CONFIG_CAN_MCP251X) += mcp251x.o
> diff --git a/drivers/net/can/spi/hi311x.c b/drivers/net/can/spi/hi311x.c
> new file mode 100644
> index 0000000..cccfe2d
> --- /dev/null
> +++ b/drivers/net/can/spi/hi311x.c
> @@ -0,0 +1,1069 @@
> +/* CAN bus driver for Holt HI3110 CAN Controller with SPI Interface
> + *
> + * Copyright(C) Timesys Corporation 2016
> + *
> + * Based on Microchip 251x CAN Controller (mcp251x) Linux kernel driver
> + * Copyright 2009 Christian Pellegrin EVOL S.r.l.
> + * Copyright 2007 Raymarine UK, Ltd. All Rights Reserved.
> + * Copyright 2006 Arcom Control Systems Ltd.
> + *
> + * Based on CAN bus driver for the CCAN controller written by
> + * - Sascha Hauer, Marc Kleine-Budde, Pengutronix
> + * - Simon Kallweit, intefo AG
> + * Copyright 2007
> + *
> + * This program is free software; you can redistribute it and/or modify
> + * it under the terms of the GNU General Public License version 2 as
> + * published by the Free Software Foundation.
> + */
> +
> +#include <linux/can/core.h>
> +#include <linux/can/dev.h>
> +#include <linux/can/led.h>
> +#include <linux/clk.h>
> +#include <linux/completion.h>
> +#include <linux/delay.h>
> +#include <linux/device.h>
> +#include <linux/dma-mapping.h>
> +#include <linux/freezer.h>
> +#include <linux/interrupt.h>
> +#include <linux/io.h>
> +#include <linux/kernel.h>
> +#include <linux/module.h>
> +#include <linux/netdevice.h>
> +#include <linux/of.h>
> +#include <linux/of_device.h>
> +#include <linux/platform_device.h>
> +#include <linux/regulator/consumer.h>
> +#include <linux/slab.h>
> +#include <linux/spi/spi.h>
> +#include <linux/uaccess.h>
> +
> +#define HI3110_MASTER_RESET 0x56
> +#define HI3110_READ_CTRL0 0xD2
> +#define HI3110_READ_CTRL1 0xD4
> +#define HI3110_READ_STATF 0xE2
> +#define HI3110_WRITE_CTRL0 0x14
> +#define HI3110_WRITE_CTRL1 0x16
> +#define HI3110_WRITE_INTE 0x1C
> +#define HI3110_WRITE_BTR0 0x18
> +#define HI3110_WRITE_BTR1 0x1A
> +#define HI3110_READ_BTR0 0xD6
> +#define HI3110_READ_BTR1 0xD8
> +#define HI3110_READ_INTF 0xDE
> +#define HI3110_READ_ERR 0xDC
> +#define HI3110_READ_FIFO_WOTIME 0x48
> +#define HI3110_WRITE_FIFO 0x12
> +#define HI3110_READ_MESSTAT 0xDA
> +#define HI3110_READ_TEC 0xEC
> +
> +#define HI3110_CTRL0_MODE_MASK (7 << 5)
> +#define HI3110_CTRL0_NORMAL_MODE (0 << 5)
> +#define HI3110_CTRL0_LOOPBACK_MODE (1 << 5)
> +#define HI3110_CTRL0_MONITOR_MODE (2 << 5)
> +#define HI3110_CTRL0_SLEEP_MODE (3 << 5)
> +#define HI3110_CTRL0_INIT_MODE (4 << 5)
> +
> +#define HI3110_CTRL1_TXEN BIT(7)
> +
> +#define HI3110_INT_RXTMP BIT(7)
> +#define HI3110_INT_RXFIFO BIT(6)
> +#define HI3110_INT_TXCPLT BIT(5)
> +#define HI3110_INT_BUSERR BIT(4)
> +#define HI3110_INT_MCHG BIT(3)
> +#define HI3110_INT_WAKEUP BIT(2)
> +#define HI3110_INT_F1MESS BIT(1)
> +#define HI3110_INT_F0MESS BIT(0)
> +
> +#define HI3110_ERR_BUSOFF BIT(7)
> +#define HI3110_ERR_TXERRP BIT(6)
> +#define HI3110_ERR_RXERRP BIT(5)
> +#define HI3110_ERR_BITERR BIT(4)
> +#define HI3110_ERR_FRMERR BIT(3)
> +#define HI3110_ERR_CRCERR BIT(2)
> +#define HI3110_ERR_ACKERR BIT(1)
> +#define HI3110_ERR_STUFERR BIT(0)
> +#define HI3110_ERR_PROTOCOL_MASK (0x1F)
> +
> +#define HI3110_STAT_RXFMTY BIT(1)
> +
> +#define HI3110_BTR0_SJW_SHIFT 6
> +#define HI3110_BTR0_BRP_SHIFT 0
> +
> +#define HI3110_BTR1_SAMP_3PERBIT (1 << 7)
> +#define HI3110_BTR1_SAMP_1PERBIT (0 << 7)
> +#define HI3110_BTR1_TSEG2_SHIFT 4
> +#define HI3110_BTR1_TSEG1_SHIFT 0
> +
> +#define HI3110_FIFO_WOTIME_TAG_OFF 0
> +#define HI3110_FIFO_WOTIME_ID_OFF 1
> +#define HI3110_FIFO_WOTIME_DLC_OFF 5
> +#define HI3110_FIFO_WOTIME_DAT_OFF 6
> +
> +#define HI3110_FIFO_WOTIME_TAG_IDE BIT(7)
> +#define HI3110_FIFO_WOTIME_ID_RTR BIT(0)
> +
> +#define HI3110_FIFO_TAG_OFF 0
> +#define HI3110_FIFO_ID_OFF 1
> +#define HI3110_FIFO_STD_DLC_OFF 3
> +#define HI3110_FIFO_STD_DATA_OFF 4
> +#define HI3110_FIFO_EXT_DLC_OFF 5
> +#define HI3110_FIFO_EXT_DATA_OFF 6
> +
> +#define HI3110_CAN_FRAME_MAX_DATA_LEN 8
> +#define HI3110_RX_BUF_LEN 15
> +#define HI3110_TX_STD_BUF_LEN 12
> +#define HI3110_TX_EXT_BUF_LEN 14
> +#define HI3110_CAN_FRAME_MAX_BITS 128
> +#define HI3110_EFF_FLAGS 0x18 /* IDE + SRR */
> +
> +#define HI3110_TX_ECHO_SKB_MAX 1
> +
> +#define HI3110_OST_DELAY_MS (10)
> +
> +#define DEVICE_NAME "hi3110"
> +
> +static int hi3110_enable_dma = 1; /* Enable SPI DMA. Default: 1 (On) */
> +module_param(hi3110_enable_dma, int, 0444);
> +MODULE_PARM_DESC(hi3110_enable_dma, "Enable SPI DMA. Default: 1 (On)");
> +
> +static const struct can_bittiming_const hi3110_bittiming_const = {
> + .name = DEVICE_NAME,
> + .tseg1_min = 2,
> + .tseg1_max = 16,
> + .tseg2_min = 2,
> + .tseg2_max = 8,
> + .sjw_max = 4,
> + .brp_min = 1,
> + .brp_max = 64,
> + .brp_inc = 1,
> +};
> +
> +enum hi3110_model {
> + CAN_HI3110_HI3110 = 0x3110,
> +};
> +
> +struct hi3110_priv {
> + struct can_priv can;
> + struct net_device *net;
> + struct spi_device *spi;
> + enum hi3110_model model;
> +
> + struct mutex hi3110_lock; /* SPI device lock */
> +
> + u8 *spi_tx_buf;
> + u8 *spi_rx_buf;
> + dma_addr_t spi_tx_dma;
> + dma_addr_t spi_rx_dma;
> +
> + struct sk_buff *tx_skb;
> + int tx_len;
> +
> + struct workqueue_struct *wq;
> + struct work_struct tx_work;
> + struct work_struct restart_work;
> +
> + int force_quit;
> + int after_suspend;
> +#define HI3110_AFTER_SUSPEND_UP 1
> +#define HI3110_AFTER_SUSPEND_DOWN 2
> +#define HI3110_AFTER_SUSPEND_POWER 4
> +#define HI3110_AFTER_SUSPEND_RESTART 8
> + int restart_tx;
> + struct regulator *power;
> + struct regulator *transceiver;
> + struct clk *clk;
> +};
> +
> +static void hi3110_clean(struct net_device *net)
> +{
> + struct hi3110_priv *priv = netdev_priv(net);
> +
> + if (priv->tx_skb || priv->tx_len)
> + net->stats.tx_errors++;
> + if (priv->tx_skb)
> + dev_kfree_skb(priv->tx_skb);
> + if (priv->tx_len)
> + can_free_echo_skb(priv->net, 0);
> + priv->tx_skb = NULL;
> + priv->tx_len = 0;
> +}
> +
> +/* Note about handling of error return of hi3110_spi_trans: accessing
> + * registers via SPI is not really different conceptually than using
> + * normal I/O assembler instructions, although it's much more
> + * complicated from a practical POV. So it's not advisable to always
> + * check the return value of this function. Imagine that every
> + * read{b,l}, write{b,l} and friends would be bracketed in "if ( < 0)
> + * error();", it would be a great mess (well there are some situation
> + * when exception handling C++ like could be useful after all). So we
> + * just check that transfers are OK at the beginning of our
> + * conversation with the chip and to avoid doing really nasty things
> + * (like injecting bogus packets in the network stack).
> + */
> +static int hi3110_spi_trans(struct spi_device *spi, int len)
> +{
> + struct hi3110_priv *priv = spi_get_drvdata(spi);
> + struct spi_transfer t = {
> + .tx_buf = priv->spi_tx_buf,
> + .rx_buf = priv->spi_rx_buf,
> + .len = len,
> + .cs_change = 0,
> + };
> + struct spi_message m;
> + int ret;
> +
> + spi_message_init(&m);
> +
> + if (hi3110_enable_dma) {
> + t.tx_dma = priv->spi_tx_dma;
> + t.rx_dma = priv->spi_rx_dma;
> + m.is_dma_mapped = 1;
> + }
> +
> + spi_message_add_tail(&t, &m);
> +
> + ret = spi_sync(spi, &m);
> +
> + if (ret)
> + dev_err(&spi->dev, "spi transfer failed: ret = %d\n", ret);
> + return ret;
> +}
> +
> +static u8 hi3110_cmd(struct spi_device *spi, u8 command)
> +{
> + struct hi3110_priv *priv = spi_get_drvdata(spi);
> +
> + priv->spi_tx_buf[0] = command;
> + dev_dbg(&spi->dev, "hi3110_cmd: %02X\n", command);
> +
> + return hi3110_spi_trans(spi, 1);
> +}
> +
> +static u8 hi3110_read(struct spi_device *spi, u8 command)
> +{
> + struct hi3110_priv *priv = spi_get_drvdata(spi);
> + u8 val = 0;
> +
> + priv->spi_tx_buf[0] = command;
> + hi3110_spi_trans(spi, 2);
> + val = priv->spi_rx_buf[1];
> + dev_dbg(&spi->dev, "hi3110_read: %02X, %02X\n", command, val);
This produces a lot of output which is not useful for the normal user.
> +
> + return val;
> +}
> +
> +static void hi3110_write(struct spi_device *spi, u8 reg, u8 val)
> +{
> + struct hi3110_priv *priv = spi_get_drvdata(spi);
> +
> + priv->spi_tx_buf[0] = reg;
> + priv->spi_tx_buf[1] = val;
> + dev_dbg(&spi->dev, "hi3110_write: %02X, %02X\n", reg, val);
Ditto.
> +
> + hi3110_spi_trans(spi, 2);
> +}
> +
> +static void hi3110_hw_tx_frame(struct spi_device *spi, u8 *buf, int len)
> +{
> + struct hi3110_priv *priv = spi_get_drvdata(spi);
> +
> + priv->spi_tx_buf[0] = HI3110_WRITE_FIFO;
> + memcpy(priv->spi_tx_buf + 1, buf, len);
> + hi3110_spi_trans(spi, len + 1);
> +}
> +
> +static void hi3110_hw_tx(struct spi_device *spi, struct can_frame *frame)
> +{
> + u8 buf[HI3110_TX_EXT_BUF_LEN];
> +
> + buf[HI3110_FIFO_TAG_OFF] = 0;
> +
> + if (frame->can_id & CAN_EFF_FLAG) {
> + /* Extended frame */
> + buf[HI3110_FIFO_ID_OFF] = (frame->can_id & CAN_EFF_MASK) >> 21;
> + buf[HI3110_FIFO_ID_OFF + 1] =
> + (((frame->can_id & CAN_EFF_MASK) >> 13) & 0xe0) |
> + HI3110_EFF_FLAGS |
> + (((frame->can_id & CAN_EFF_MASK) >> 15) & 0x07);
> + buf[HI3110_FIFO_ID_OFF + 2] =
> + (frame->can_id & CAN_EFF_MASK) >> 7;
> + buf[HI3110_FIFO_ID_OFF + 3] =
> + ((frame->can_id & CAN_EFF_MASK) << 1) |
> + ((frame->can_id & CAN_RTR_FLAG) ? 1 : 0);
> +
> + buf[HI3110_FIFO_EXT_DLC_OFF] = frame->can_dlc;
> +
> + memcpy(buf + HI3110_FIFO_EXT_DATA_OFF,
> + frame->data, frame->can_dlc);
> +
> + hi3110_hw_tx_frame(spi, buf, HI3110_TX_EXT_BUF_LEN -
> + (HI3110_CAN_FRAME_MAX_DATA_LEN - frame->can_dlc));
> + } else {
> + /* Standard frame */
> + buf[HI3110_FIFO_ID_OFF] = (frame->can_id & CAN_SFF_MASK) >> 3;
> + buf[HI3110_FIFO_ID_OFF + 1] =
> + ((frame->can_id & CAN_SFF_MASK) << 5) |
> + ((frame->can_id & CAN_RTR_FLAG) ? (1 << 4) : 0);
> +
> + buf[HI3110_FIFO_STD_DLC_OFF] = frame->can_dlc;
> +
> + memcpy(buf + HI3110_FIFO_STD_DATA_OFF,
> + frame->data, frame->can_dlc);
> +
> + hi3110_hw_tx_frame(spi, buf, HI3110_TX_STD_BUF_LEN -
> + (HI3110_CAN_FRAME_MAX_DATA_LEN - frame->can_dlc));
> + }
> +}
> +
> +static void hi3110_hw_rx_frame(struct spi_device *spi, u8 *buf)
> +{
> + struct hi3110_priv *priv = spi_get_drvdata(spi);
> +
> + priv->spi_tx_buf[0] = HI3110_READ_FIFO_WOTIME;
> + hi3110_spi_trans(spi, HI3110_RX_BUF_LEN);
> + memcpy(buf, priv->spi_rx_buf + 1, HI3110_RX_BUF_LEN - 1);
> +}
> +
> +static void hi3110_hw_rx(struct spi_device *spi)
> +{
> + struct hi3110_priv *priv = spi_get_drvdata(spi);
> + struct sk_buff *skb;
> + struct can_frame *frame;
> + u8 buf[HI3110_RX_BUF_LEN - 1];
> +
> + skb = alloc_can_skb(priv->net, &frame);
> + if (!skb) {
> + dev_err(&spi->dev, "cannot allocate RX skb\n");
Please return silenty! Otherwise it will make the situation worse.
> + priv->net->stats.rx_dropped++;
> + return;
> + }
> +
> + hi3110_hw_rx_frame(spi, buf);
> + if (buf[HI3110_FIFO_WOTIME_TAG_OFF] & HI3110_FIFO_WOTIME_TAG_IDE) {
> + /* IDE is recessive (1), indicating extended 29-bit frame */
> + frame->can_id = CAN_EFF_FLAG;
> + frame->can_id |=
> + (buf[HI3110_FIFO_WOTIME_ID_OFF] << 21) |
> + (((buf[HI3110_FIFO_WOTIME_ID_OFF + 1] & 0xE0) >> 5) << 18) |
> + ((buf[HI3110_FIFO_WOTIME_ID_OFF + 1] & 0x07) << 15) |
> + (buf[HI3110_FIFO_WOTIME_ID_OFF + 2] << 7) |
> + (buf[HI3110_FIFO_WOTIME_ID_OFF + 3] >> 1);
> + } else {
> + /* IDE is dominant (0), frame indicating standard 11-bit */
> + frame->can_id =
> + (buf[HI3110_FIFO_WOTIME_ID_OFF] << 3) |
> + ((buf[HI3110_FIFO_WOTIME_ID_OFF + 1] & 0xE0) >> 5);
> + }
> +
> + if (buf[HI3110_FIFO_WOTIME_ID_OFF + 3] & HI3110_FIFO_WOTIME_ID_RTR) {
> + /* RTR is recessive (1), indicating remote request frame */
> + frame->can_id |= CAN_RTR_FLAG;
> + }
> +
> + /* Data length */
> + frame->can_dlc = get_can_dlc(buf[HI3110_FIFO_WOTIME_DLC_OFF] & 0x0F);
> + memcpy(frame->data, buf + HI3110_FIFO_WOTIME_DAT_OFF, frame->can_dlc);
No data bytes should not be copied for RTR messages.
> +
> + priv->net->stats.rx_packets++;
> + priv->net->stats.rx_bytes += frame->can_dlc;
> +
> + can_led_event(priv->net, CAN_LED_EVENT_RX);
> +
> + netif_rx_ni(skb);
> +}
> +
> +static void hi3110_hw_sleep(struct spi_device *spi)
> +{
> + hi3110_write(spi, HI3110_WRITE_CTRL0, HI3110_CTRL0_SLEEP_MODE);
> +}tx_skb
> +static netdev_tx_t hi3110_hard_start_xmit(struct sk_buff *skb,
> + struct net_device *net)
> +{
> + struct hi3110_priv *priv = netdev_priv(net);
> + struct spi_device *spi = priv->spi;
> +
> + if (priv->tx_skb || priv->tx_len) {
> + dev_warn(&spi->dev, "hard_xmit called while tx busy\n");
s/warn/err/? This should never happen; IIUC.
> + return NETDEV_TX_BUSY;
> + }
> +
> + if (can_dropped_invalid_skb(net, skb))
> + return NETDEV_TX_OK;
> +
> + netif_stop_queue(net);
The driver transfers the packets in sequence. Any chance to queue them?
At least there is a TX FIFO for 8 messages. That's bad for RT but would
increase the throughput.
> + priv->tx_skb = skb;
> + queue_work(priv->wq, &priv->tx_work);
> +
> + return NETDEV_TX_OK;
> +}
> +
> +static int hi3110_do_set_mode(struct net_device *net, enum can_mode mode)
> +{
> + struct hi3110_priv *priv = netdev_priv(net);
> +
> + switch (mode) {
> + case CAN_MODE_START:
> + hi3110_clean(net);
> + /* We have to delay work since SPI I/O may sleep */
> + priv->can.state = CAN_STATE_ERROR_ACTIVE;
> + priv->restart_tx = 1;
> + if (priv->can.restart_ms == 0)
> + priv->after_suspend = HI3110_AFTER_SUSPEND_RESTART;
> + queue_work(priv->wq, &priv->restart_work);
> + break;
> + default:
> + return -EOPNOTSUPP;
> + }
> +
> + return 0;
> +}
> +
> +static int hi3110_set_normal_mode(struct spi_device *spi)
> +{
> + struct hi3110_priv *priv = spi_get_drvdata(spi);
> + u8 reg;
> +
> + hi3110_write(spi, HI3110_WRITE_INTE, HI3110_INT_BUSERR |
> + HI3110_INT_RXFIFO | HI3110_INT_TXCPLT);
> +
> + /* Enable TX */
> + hi3110_write(spi, HI3110_WRITE_CTRL1, HI3110_CTRL1_TXEN);
> +
> + if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK) {
> + /* Put device into loopback mode */
> + hi3110_write(spi, HI3110_WRITE_CTRL0,
> + HI3110_CTRL0_LOOPBACK_MODE);
> + } else if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) {
> + /* Put device into listen-only mode */
> + hi3110_write(spi, HI3110_WRITE_CTRL0,
> + HI3110_CTRL0_MONITOR_MODE);
> + } else {
> + /* Put device into normal mode */
> + hi3110_write(spi, HI3110_WRITE_CTRL0,
> + HI3110_CTRL0_NORMAL_MODE);
"mode = x" and just one write is more compact.
> +
> + /* Wait for the device to enter normal mode */
> + mdelay(HI3110_OST_DELAY_MS);
> + reg = hi3110_read(spi, HI3110_READ_CTRL0);
> + if ((reg & HI3110_CTRL0_MODE_MASK) != HI3110_CTRL0_NORMAL_MODE)
> + return -EBUSY;
Is this not necesary for listen or loopbcak only mode?
> + }
> + priv->can.state = CAN_STATE_ERROR_ACTIVE;
> + return 0;
> +}
> +
> +static int hi3110_do_set_bittiming(struct net_device *net)
> +{
> + struct hi3110_priv *priv = netdev_priv(net);
> + struct can_bittiming *bt = &priv->can.bittiming;
> + struct spi_device *spi = priv->spi;
> +
> + hi3110_write(spi, HI3110_WRITE_BTR0,
> + ((bt->sjw - 1) << HI3110_BTR0_SJW_SHIFT) |
> + ((bt->brp - 1) << HI3110_BTR0_BRP_SHIFT));
> +
> + hi3110_write(spi, HI3110_WRITE_BTR1,
> + (priv->can.ctrlmode &
> + CAN_CTRLMODE_3_SAMPLES ?
> + HI3110_BTR1_SAMP_3PERBIT : HI3110_BTR1_SAMP_1PERBIT) |
> + ((bt->phase_seg1 + bt->prop_seg - 1)
> + << HI3110_BTR1_TSEG1_SHIFT) |
> + ((bt->phase_seg2 - 1) << HI3110_BTR1_TSEG2_SHIFT));
> +
> + dev_dbg(&spi->dev, "BT: 0x%02x 0x%02x\n",
> + hi3110_read(spi, HI3110_READ_BTR0),
> + hi3110_read(spi, HI3110_READ_BTR1));
> +
> + return 0;
> +}
> +
> +static int hi3110_setup(struct net_device *net)
> +{
> + hi3110_do_set_bittiming(net);
> + return 0;
> +}
> +
> +static int hi3110_hw_reset(struct spi_device *spi)
> +{
> + u8 reg;
> + int ret;
> +
> + /* Wait for oscillator startup timer after power up */
> + mdelay(HI3110_OST_DELAY_MS);
> +
> + ret = hi3110_cmd(spi, HI3110_MASTER_RESET);
> + if (ret)
> + return ret;
> +
> + /* Wait for oscillator startup timer after reset */
> + mdelay(HI3110_OST_DELAY_MS);
> +
> + reg = hi3110_read(spi, HI3110_READ_CTRL0);
> + if ((reg & HI3110_CTRL0_MODE_MASK) != HI3110_CTRL0_INIT_MODE)
> + return -ENODEV;
> +
> + /* As per the datasheet it appears the error flags are
> + * not cleared on reset. Explicitly clear them by performing a read
> + */
> + hi3110_read(spi, HI3110_READ_ERR);
> +
> + return 0;
> +}
> +
> +static int hi3110_hw_probe(struct spi_device *spi)
> +{
> + u8 statf;
> +
> + hi3110_hw_reset(spi);
> +
> + /* Confirm correct operation by checking against reset values
> + * in datasheet
> + */
> + statf = hi3110_read(spi, HI3110_READ_STATF);
> +
> + dev_dbg(&spi->dev, "statf: %02X\n", statf);
> +
> + if (statf != 0x82)
> + return -ENODEV;
> +
> + return 0;
> +}
> +
> +static int hi3110_power_enable(struct regulator *reg, int enable)
> +{
> + if (IS_ERR_OR_NULL(reg))
> + return 0;
> +
> + if (enable)
> + return regulator_enable(reg);
> + else
> + return regulator_disable(reg);
> +}
> +
> +static int hi3110_stop(struct net_device *net)
> +{
> + struct hi3110_priv *priv = netdev_priv(net);
> + struct spi_device *spi = priv->spi;
> +
> + close_candev(net);
> +
> + priv->force_quit = 1;
> + free_irq(spi->irq, priv);
> + destroy_workqueue(priv->wq);
> + priv->wq = NULL;
> +
> + mutex_lock(&priv->hi3110_lock);
> +
> + /* Disable transmit, interrupts and clear flags */
> + hi3110_write(spi, HI3110_WRITE_CTRL1, 0x0);
> + hi3110_write(spi, HI3110_WRITE_INTE, 0x0);
> + hi3110_read(spi, HI3110_READ_INTF);
> +
> + hi3110_clean(net);
> +
> + hi3110_hw_sleep(spi);
> +
> + hi3110_power_enable(priv->transceiver, 0);
> +
> + priv->can.state = CAN_STATE_STOPPED;
> +
> + mutex_unlock(&priv->hi3110_lock);
> +
> + can_led_event(net, CAN_LED_EVENT_STOP);
> +
> + return 0;
> +}
> +
> +static void hi3110_error_skb(struct net_device *net, int can_id,
> + int data1, int data2)
> +{
> + struct sk_buff *skb;
> + struct can_frame *frame;
> +
> + skb = alloc_can_err_skb(net, &frame);
> + if (skb) {
> + frame->can_id |= can_id;
> + frame->data[1] = data1;
> + frame->data[2] = data2;
> + netif_rx_ni(skb);
> + } else {
> + netdev_err(net, "cannot allocate error skb\n");
Please remove the error message. Not a good at low memory situations.
> + }
> +}
> +
> +static void hi3110_tx_work_handler(struct work_struct *ws)
> +{
> + struct hi3110_priv *priv = container_of(ws, struct hi3110_priv,
> + tx_work);
> + struct spi_device *spi = priv->spi;
> + struct net_device *net = priv->net;
> + struct can_frame *frame;
> +
> + mutex_lock(&priv->hi3110_lock);
> + if (priv->tx_skb) {
> + if (priv->can.state == CAN_STATE_BUS_OFF) {
> + hi3110_clean(net);
> + } else {
> + frame = (struct can_frame *)priv->tx_skb->data;
> + hi3110_hw_tx(spi, frame);
> + priv->tx_len = 1 + frame->can_dlc;
> + can_put_echo_skb(priv->tx_skb, net, 0);
> + priv->tx_skb = NULL;
> + }
> + }
> + mutex_unlock(&priv->hi3110_lock);
> +}
> +
> +static void hi3110_restart_work_handler(struct work_struct *ws)
> +{
> + struct hi3110_priv *priv = container_of(ws, struct hi3110_priv,
> + restart_work);
> + struct spi_device *spi = priv->spi;
> + struct net_device *net = priv->net;
> +
> + mutex_lock(&priv->hi3110_lock);
> + if (priv->after_suspend) {
> + hi3110_hw_reset(spi);
> + hi3110_setup(net);
> + if (priv->after_suspend & HI3110_AFTER_SUSPEND_RESTART) {
> + hi3110_set_normal_mode(spi);
> + } else if (priv->after_suspend & HI3110_AFTER_SUSPEND_UP) {
> + netif_device_attach(net);
> + hi3110_clean(net);
> + hi3110_set_normal_mode(spi);
> + netif_wake_queue(net);
> + } else {
> + hi3110_hw_sleep(spi);
> + }
> + priv->after_suspend = 0;
> + priv->force_quit = 0;
> + }
> +
> + if (priv->restart_tx) {
> + priv->restart_tx = 0;
> + hi3110_clean(net);
> + netif_wake_queue(net);
> + hi3110_error_skb(net, CAN_ERR_RESTARTED, 0, 0);
> + }
> + mutex_unlock(&priv->hi3110_lock);
> +}
> +
> +static irqreturn_t hi3110_can_ist(int irq, void *dev_id)
> +{
> + struct hi3110_priv *priv = dev_id;
> + struct spi_device *spi = priv->spi;
> + struct net_device *net = priv->net;
> +
> + mutex_lock(&priv->hi3110_lock);
> +
> + while (!priv->force_quit) {
> + enum can_state new_state;
> + u8 intf;
> + u8 eflag;
> + int can_id = 0, data1 = 0, data2 = 0;
> +
> + while (!(HI3110_STAT_RXFMTY &
> + hi3110_read(spi, HI3110_READ_STATF))) {
> + hi3110_hw_rx(spi);
> + }
> +
> + intf = hi3110_read(spi, HI3110_READ_INTF);
> + eflag = hi3110_read(spi, HI3110_READ_ERR);
> + /* Update can state */
> + if (eflag & HI3110_ERR_BUSOFF) {
> + new_state = CAN_STATE_BUS_OFF;
> + can_id |= CAN_ERR_BUSOFF;
> + } else if (eflag & HI3110_ERR_TXERRP) {
> + new_state = CAN_STATE_ERROR_PASSIVE;
> + can_id |= CAN_ERR_CRTL;
> + data1 |= CAN_ERR_CRTL_TX_PASSIVE;
> + } else if (eflag & HI3110_ERR_RXERRP) {
> + new_state = CAN_STATE_ERROR_PASSIVE;
> + can_id |= CAN_ERR_CRTL;
> + data1 |= CAN_ERR_CRTL_RX_PASSIVE;
> + } else {
> + new_state = CAN_STATE_ERROR_ACTIVE;
> + }
> +
> + /* Check for protocol errors */
> + if (eflag & HI3110_ERR_PROTOCOL_MASK) {
> + can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
> + priv->can.can_stats.bus_error++;
> + priv->net->stats.rx_errors++;
> + if (eflag & HI3110_ERR_BITERR)
> + data2 |= CAN_ERR_PROT_BIT;
> + else if (eflag & HI3110_ERR_FRMERR)
> + data2 |= CAN_ERR_PROT_FORM;
> + else if (eflag & HI3110_ERR_STUFERR)
> + data2 |= CAN_ERR_PROT_STUFF;
> + else
> + data2 |= CAN_ERR_PROT_UNSPEC;
And what about the ACK and CRC error defines at the beginning?
It's also comon to use netdev_dbg() on error interrupts.
> + }
Bus error reporting can flood the system with interrupts. Any chance to
implement CAN_CTRLMODE_BERR_REPORTING. I think the bus error interrupt
can be enabled/disabled.
> + /* Update can state statistics */
> + switch (priv->can.state) {
> + case CAN_STATE_ERROR_ACTIVE:
> + if (new_state >= CAN_STATE_ERROR_WARNING &&
> + new_state <= CAN_STATE_BUS_OFF)
> + priv->can.can_stats.error_warning++;
> + /* fallthrough */
> + case CAN_STATE_ERROR_WARNING:
> + if (new_state >= CAN_STATE_ERROR_PASSIVE &&
> + new_state <= CAN_STATE_BUS_OFF)
> + priv->can.can_stats.error_passive++;
> + break;
> + default:
> + break;
> + }
> + priv->can.state = new_state;
> +
> + if (intf & HI3110_INT_BUSERR) {
> + /* Note: HI3110 Does report overflow errors */
> + hi3110_error_skb(net, can_id, data1, data2);
> + }
Usually the bus error counts are filled in the error message frame as
well. It the counts are available, I would also be nice to have the
"do_get_berr_counter" callback as well.
> +
> + if (priv->can.state == CAN_STATE_BUS_OFF) {
> + if (priv->can.restart_ms == 0) {
> + priv->force_quit = 1;
> + priv->can.can_stats.bus_off++;
> + can_bus_off(net);
> + hi3110_hw_sleep(spi);
> + break;
> + }
> + }
> +
> + if (intf == 0)
> + break;
> +
> + if (intf & HI3110_INT_TXCPLT) {
> + net->stats.tx_packets++;
> + net->stats.tx_bytes += priv->tx_len - 1;
> + can_led_event(net, CAN_LED_EVENT_TX);
> + if (priv->tx_len) {
> + can_get_echo_skb(net, 0);
> + priv->tx_len = 0;
> + }
> + netif_wake_queue(net);
> + }
> + }
> + mutex_unlock(&priv->hi3110_lock);
> + return IRQ_HANDLED;
> +}
> +
> +static int hi3110_open(struct net_device *net)
> +{
> + struct hi3110_priv *priv = netdev_priv(net);
> + struct spi_device *spi = priv->spi;
> + unsigned long flags = IRQF_ONESHOT | IRQF_TRIGGER_RISING;
> + int ret;
> +
> + ret = open_candev(net);
> + if (ret) {
> + dev_err(&spi->dev, "unable to set initial baudrate!\n");
open_candev() does already print an error message.
> + return ret;
> + }
> +
> + mutex_lock(&priv->hi3110_lock);
> + hi3110_power_enable(priv->transceiver, 1);
> +
> + priv->force_quit = 0;
> + priv->tx_skb = NULL;
> + priv->tx_len = 0;
> +
> + ret = request_threaded_irq(spi->irq, NULL, hi3110_can_ist,
> + flags, DEVICE_NAME, priv);
> + if (ret) {
> + dev_err(&spi->dev, "failed to acquire irq %d\n", spi->irq);
> + goto out_close;
> + }
> +
> + priv->wq = alloc_workqueue("hi3110_wq", WQ_FREEZABLE | WQ_MEM_RECLAIM,
> + 0);
> + INIT_WORK(&priv->tx_work, hi3110_tx_work_handler);
> + INIT_WORK(&priv->restart_work, hi3110_restart_work_handler);
> +
> + ret = hi3110_hw_reset(spi);
> + if (ret)
> + goto out_free_irq;
> +
> + ret = hi3110_setup(net);
> + if (ret)
> + goto out_free_irq;
> +
> + ret = hi3110_set_normal_mode(spi);
> + if (ret)
> + goto out_free_irq;
> +
> + can_led_event(net, CAN_LED_EVENT_OPEN);
> + netif_wake_queue(net);
> + mutex_unlock(&priv->hi3110_lock);
> +
> + return 0;
> +
> +out_free_irq:
> + free_irq(spi->irq, priv);
> + hi3110_hw_sleep(spi);
> +
> +out_close:
> + hi3110_power_enable(priv->transceiver, 0);
> + close_candev(net);
> + mutex_unlock(&priv->hi3110_lock);
> + return ret;
> +}
> +
> +static const struct net_device_ops hi3110_netdev_ops = {
> + .ndo_open = hi3110_open,
> + .ndo_stop = hi3110_stop,
> + .ndo_start_xmit = hi3110_hard_start_xmit,
> +};
> +
> +static const struct of_device_id hi3110_of_match[] = {
> + {
> + .compatible = "holt,hi3110",
> + .data = (void *)CAN_HI3110_HI3110,
> + },
> + { }
> +};
> +MODULE_DEVICE_TABLE(of, hi3110_of_match);
> +
> +static const struct spi_device_id hi3110_id_table[] = {
> + {
> + .name = "hi3110",
> + .driver_data = (kernel_ulong_t)CAN_HI3110_HI3110,
> + },
> + { }
> +};
> +MODULE_DEVICE_TABLE(spi, hi3110_id_table);
> +
> +static int hi3110_can_probe(struct spi_device *spi)
> +{
> + const struct of_device_id *of_id = of_match_device(hi3110_of_match,
> + &spi->dev);
> + struct net_device *net;
> + struct hi3110_priv *priv;
> + struct clk *clk;
> + int freq, ret;
> +
> + clk = devm_clk_get(&spi->dev, NULL);
> + if (IS_ERR(clk)) {
> + dev_err(&spi->dev, "no CAN clock source defined\n");
> + return PTR_ERR(clk);
> + }
> + freq = clk_get_rate(clk);
> +
> + /* Sanity check */
> + if (freq > 40000000)
> + return -ERANGE;
> +
> + /* Allocate can/net device */
> + net = alloc_candev(sizeof(struct hi3110_priv), HI3110_TX_ECHO_SKB_MAX);
> + if (!net)
> + return -ENOMEM;
> +
> + if (!IS_ERR(clk)) {
> + ret = clk_prepare_enable(clk);
> + if (ret)
> + goto out_free;
> + }
> +
> + net->netdev_ops = &hi3110_netdev_ops;
> + net->flags |= IFF_ECHO;
> +
> + priv = netdev_priv(net);
> + priv->can.bittiming_const = &hi3110_bittiming_const;
> + priv->can.do_set_mode = hi3110_do_set_mode;
> + priv->can.clock.freq = freq / 2;
> + priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
> + CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY;
> + if (of_id)
> + priv->model = (enum hi3110_model)of_id->data;
> + else
> + priv->model = spi_get_device_id(spi)->driver_data;
> + priv->net = net;
> + priv->clk = clk;
> +
> + spi_set_drvdata(spi, priv);
> +
> + /* Configure the SPI bus */
> + spi->bits_per_word = 8;
> + ret = spi_setup(spi);
> + if (ret)
> + goto out_clk;
> +
> + priv->power = devm_regulator_get_optional(&spi->dev, "vdd");
> + priv->transceiver = devm_regulator_get_optional(&spi->dev, "xceiver");
> + if ((PTR_ERR(priv->power) == -EPROBE_DEFER) ||
> + (PTR_ERR(priv->transceiver) == -EPROBE_DEFER)) {
> + ret = -EPROBE_DEFER;
> + goto out_clk;
> + }
> +
> + ret = hi3110_power_enable(priv->power, 1);
> + if (ret)
> + goto out_clk;
> +
> + priv->spi = spi;
> + mutex_init(&priv->hi3110_lock);
> +
> + /* If requested, allocate DMA buffers */
> + if (hi3110_enable_dma) {
> + spi->dev.coherent_dma_mask = ~0;
> +
> + /* Minimum coherent DMA allocation is PAGE_SIZE, so allocate
> + * that much and share it between Tx and Rx DMA buffers.
> + */
> + priv->spi_tx_buf = dmam_alloc_coherent(&spi->dev,
> + PAGE_SIZE,
> + &priv->spi_tx_dma,
> + GFP_DMA);
> +
> + if (priv->spi_tx_buf) {
> + priv->spi_rx_buf = (priv->spi_tx_buf + (PAGE_SIZE / 2));
> + priv->spi_rx_dma = (dma_addr_t)(priv->spi_tx_dma +
> + (PAGE_SIZE / 2));
> + } else {
> + /* Fall back to non-DMA */
> + hi3110_enable_dma = 0;
> + }
> + }
> +
> + /* Allocate non-DMA buffers */
> + if (!hi3110_enable_dma) {
> + priv->spi_tx_buf = devm_kzalloc(&spi->dev, HI3110_RX_BUF_LEN,
> + GFP_KERNEL);
> + if (!priv->spi_tx_buf) {
> + ret = -ENOMEM;
> + goto error_probe;
> + }
> + priv->spi_rx_buf = devm_kzalloc(&spi->dev, HI3110_RX_BUF_LEN,
> + GFP_KERNEL);
> +
> + if (!priv->spi_rx_buf) {
> + ret = -ENOMEM;
> + goto error_probe;
> + }
> + }
> +
> + SET_NETDEV_DEV(net, &spi->dev);
> +
> + ret = hi3110_hw_probe(spi);
> + if (ret) {
> + if (ret == -ENODEV)
> + dev_err(&spi->dev, "Cannot initialize %x. Wrong wiring?\n",
> + priv->model);
> + goto error_probe;
> + }
> + hi3110_hw_sleep(spi);
> +
> + ret = register_candev(net);
> + if (ret)
> + goto error_probe;
> +
> + devm_can_led_init(net);
> + netdev_info(net, "%x successfully initialized.\n", priv->model);
> +
> + return 0;
> +
> +error_probe:
> + hi3110_power_enable(priv->power, 0);
> +
> +out_clk:
> + if (!IS_ERR(clk))
> + clk_disable_unprepare(clk);
> +
> +out_free:
> + free_candev(net);
> +
> + dev_err(&spi->dev, "Probe failed, err=%d\n", -ret);
> + return ret;
> +}
> +
> +static int hi3110_can_remove(struct spi_device *spi)
> +{
> + struct hi3110_priv *priv = spi_get_drvdata(spi);
> + struct net_device *net = priv->net;
> +
> + unregister_candev(net);
> +
> + hi3110_power_enable(priv->power, 0);
> +
> + if (!IS_ERR(priv->clk))
> + clk_disable_unprepare(priv->clk);
> +
> + free_candev(net);
> +
> + return 0;
> +}
> +
> +static int __maybe_unused hi3110_can_suspend(struct device *dev)
> +{
> + struct spi_device *spi = to_spi_device(dev);
> + struct hi3110_priv *priv = spi_get_drvdata(spi);
> + struct net_device *net = priv->net;
> +
> + priv->force_quit = 1;
> + disable_irq(spi->irq);
> +
> + /* Note: at this point neither IST nor workqueues are running.
> + * open/stop cannot be called anyway so locking is not needed
> + */
> + if (netif_running(net)) {
> + netif_device_detach(net);
> +
> + hi3110_hw_sleep(spi);
> + hi3110_power_enable(priv->transceiver, 0);
> + priv->after_suspend = HI3110_AFTER_SUSPEND_UP;
> + } else {
> + priv->after_suspend = HI3110_AFTER_SUSPEND_DOWN;
> + }
> +
> + if (!IS_ERR_OR_NULL(priv->power)) {
> + regulator_disable(priv->power);
> + priv->after_suspend |= HI3110_AFTER_SUSPEND_POWER;
> + }
> +
> + return 0;
> +}
> +
> +static int __maybe_unused hi3110_can_resume(struct device *dev)
> +{
> + struct spi_device *spi = to_spi_device(dev);
> + struct hi3110_priv *priv = spi_get_drvdata(spi);
> +
> + if (priv->after_suspend & HI3110_AFTER_SUSPEND_POWER)
> + hi3110_power_enable(priv->power, 1);
> +
> + if (priv->after_suspend & HI3110_AFTER_SUSPEND_UP) {
> + hi3110_power_enable(priv->transceiver, 1);
> + queue_work(priv->wq, &priv->restart_work);
> + } else {
> + priv->after_suspend = 0;
> + }
> +
> + priv->force_quit = 0;
> + enable_irq(spi->irq);
> + return 0;
> +}
> +
> +static SIMPLE_DEV_PM_OPS(hi3110_can_pm_ops, hi3110_can_suspend,
> + hi3110_can_resume);
> +
> +static struct spi_driver hi3110_can_driver = {
> + .driver = {
> + .name = DEVICE_NAME,
> + .of_match_table = hi3110_of_match,
> + .pm = &hi3110_can_pm_ops,
> + },
> + .id_table = hi3110_id_table,
> + .probe = hi3110_can_probe,
> + .remove = hi3110_can_remove,
> +};
> +
> +module_spi_driver(hi3110_can_driver);
> +
> +MODULE_AUTHOR("Akshay Bhat <akshay.bhat@...esys.com>");
> +MODULE_AUTHOR("Casey Fitzpatrick <casey.fitzpatrick@...esys.com>");
> +MODULE_DESCRIPTION("Holt HI-3110 CAN driver");
> +MODULE_LICENSE("GPL v2");
A few other things to check:
Run "cangen" and monitor the message with "candump -e any,0:0,#FFFFFFF".
Then 1) disconnect the cable or 2) short-circuit CAN low and high at the
connector. You should see error messages. After reconnection or removing
the short-circuit (and bus-off recovery) the state should go back to
"active".
Run "canfdtest" to check for out-of-order messages. I do not expect
problems with your driver, though.
Thanks,
Wolfgang.
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