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Message-Id: <20250922071543.73923-5-zhangqing@rock-chips.com>
Date: Mon, 22 Sep 2025 15:15:43 +0800
From: Elaine Zhang <zhangqing@...k-chips.com>
To: zhangqing@...k-chips.com,
mkl@...gutronix.de,
kernel@...gutronix.de,
mailhol.vincent@...adoo.fr,
robh@...nel.org,
krzk+dt@...nel.org,
conor+dt@...nel.org,
heiko@...ech.de,
cl@...k-chips.com,
kever.yang@...k-chips.com
Cc: linux-can@...r.kernel.org,
linux-arm-kernel@...ts.infradead.org,
linux-rockchip@...ts.infradead.org,
linux-kernel@...r.kernel.org,
devicetree@...r.kernel.org
Subject: [PATCH v7 4/4] net: can: rockchip: support dma for rk3576 rx
The new can controller of rk3576 supports rx dma.
Signed-off-by: Elaine Zhang <zhangqing@...k-chips.com>
---
.../net/can/rockchip/rockchip_canfd-core.c | 62 +++++++++-
drivers/net/can/rockchip/rockchip_canfd-rx.c | 109 ++++++++++++++++++
drivers/net/can/rockchip/rockchip_canfd.h | 9 ++
3 files changed, 178 insertions(+), 2 deletions(-)
diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index e36cf4cb6743..fab2f8525208 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -400,6 +400,9 @@ static void rk3576canfd_chip_start(struct rkcanfd_priv *priv)
RK3576CANFD_REG_BRS_CFG_BRS_NEGSYNC_EN |
RK3576CANFD_REG_BRS_CFG_BRS_POSSYNC_EN);
+ if (priv->dma_thr)
+ rkcanfd_write(priv, RK3576CANFD_REG_DMA_CTRL,
+ RK3576CANFD_REG_DMA_CTRL_DMA_RX_EN | priv->dma_thr);
rkcanfd_set_bittiming(priv);
priv->devtype_data.interrupts_disable(priv);
@@ -1291,10 +1294,34 @@ static const struct of_device_id rkcanfd_of_match[] = {
};
MODULE_DEVICE_TABLE(of, rkcanfd_of_match);
+static int rk3576_canfd_dma_init(struct rkcanfd_priv *priv, struct resource *res)
+{
+ struct dma_slave_config rxconf = {
+ .direction = DMA_DEV_TO_MEM,
+ .src_addr = res->start + RK3576CANFD_REG_RXFRD,
+ .src_addr_width = 4,
+ .dst_addr_width = 4,
+ .src_maxburst = 9,
+ };
+
+ priv->dma_thr = rxconf.src_maxburst - 1;
+ priv->dma_size = RK3576CANFD_REG_STR_STATE_INTM_LEFT_CNT_UNIT * 4;
+ priv->rxbuf = dma_alloc_coherent(priv->ndev->dev.parent,
+ priv->dma_size * RK3576CANFD_SRAM_MAX_FIFO_CNT,
+ &priv->rx_dma_dst_addr, GFP_KERNEL);
+ if (!priv->rxbuf) {
+ priv->rxbuf = NULL;
+ return -ENOMEM;
+ }
+ dmaengine_slave_config(priv->rxchan, &rxconf);
+ return 0;
+}
+
static int rkcanfd_probe(struct platform_device *pdev)
{
struct rkcanfd_priv *priv;
struct net_device *ndev;
+ struct resource *res;
const void *match;
int err;
@@ -1316,7 +1343,7 @@ static int rkcanfd_probe(struct platform_device *pdev)
goto out_free_candev;
}
- priv->regs = devm_platform_ioremap_resource(pdev, 0);
+ priv->regs = devm_platform_get_and_ioremap_resource(pdev, 0, &res);
if (IS_ERR(priv->regs)) {
err = PTR_ERR(priv->regs);
goto out_free_candev;
@@ -1351,10 +1378,22 @@ static int rkcanfd_probe(struct platform_device *pdev)
priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
}
+ priv->rxchan = dma_request_chan(&pdev->dev, "rx");
+ if (IS_ERR(priv->rxchan)) {
+ netdev_warn(priv->ndev,
+ "Failed to request RX-DMA channel: %pe, continuing without DMA",
+ priv->rxchan);
+ priv->rxchan = NULL;
+ } else {
+ err = rk3576_canfd_dma_init(priv, res);
+ if (err)
+ goto out_can_dma_rx_chan_del;
+ }
+
err = can_rx_offload_add_manual(ndev, &priv->offload,
RKCANFD_NAPI_WEIGHT);
if (err)
- goto out_free_candev;
+ goto out_can_dma_rx_chan_del;
err = rkcanfd_register(priv);
if (err)
@@ -1364,6 +1403,15 @@ static int rkcanfd_probe(struct platform_device *pdev)
out_can_rx_offload_del:
can_rx_offload_del(&priv->offload);
+out_can_dma_rx_chan_del:
+ if (priv->rxbuf) {
+ dma_free_coherent(priv->ndev->dev.parent,
+ priv->dma_size * RK3576CANFD_SRAM_MAX_FIFO_CNT,
+ priv->rxbuf, priv->rx_dma_dst_addr);
+ priv->rxbuf = NULL;
+ }
+ if (priv->rxchan)
+ dma_release_channel(priv->rxchan);
out_free_candev:
free_candev(ndev);
@@ -1375,6 +1423,16 @@ static void rkcanfd_remove(struct platform_device *pdev)
struct rkcanfd_priv *priv = platform_get_drvdata(pdev);
struct net_device *ndev = priv->ndev;
+ if (priv->rxbuf) {
+ dma_free_coherent(priv->ndev->dev.parent,
+ priv->dma_size * RK3576CANFD_SRAM_MAX_FIFO_CNT,
+ priv->rxbuf, priv->rx_dma_dst_addr);
+ priv->rxbuf = NULL;
+ }
+
+ if (priv->rxchan)
+ dma_release_channel(priv->rxchan);
+
rkcanfd_unregister(priv);
can_rx_offload_del(&priv->offload);
free_candev(ndev);
diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
index d6f39393c7ea..7c858fb06528 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-rx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -277,6 +277,71 @@ static int rk3576canfd_handle_rx_int_one(struct rkcanfd_priv *priv)
return 0;
}
+static int rk3576canfd_handle_rx_dma(struct rkcanfd_priv *priv, u32 addr)
+{
+ struct net_device_stats *stats = &priv->ndev->stats;
+ struct canfd_frame *skb_cfd;
+ struct sk_buff *skb;
+ u32 frameinfo, id, data[16] = {0};
+ u8 dlc;
+ int i;
+
+ frameinfo = *(u32 *)(priv->rxbuf + addr * RK3576CANFD_REG_STR_STATE_INTM_LEFT_CNT_UNIT);
+ id = *(u32 *)(priv->rxbuf + 1 + addr * RK3576CANFD_REG_STR_STATE_INTM_LEFT_CNT_UNIT);
+ for (i = 0; i < (RK3576CANFD_REG_STR_STATE_INTM_LEFT_CNT_UNIT - 2); i++)
+ data[i] = *(u32 *)(priv->rxbuf + 2 + i +
+ addr * RK3576CANFD_REG_STR_STATE_INTM_LEFT_CNT_UNIT);
+
+ if (frameinfo & RK3576CANFD_REG_RXFRD_FRAMEINFO_FDF)
+ skb = alloc_canfd_skb(priv->ndev, &skb_cfd);
+ else
+ skb = alloc_can_skb(priv->ndev, (struct can_frame **)&skb_cfd);
+
+ if (!skb) {
+ stats->rx_dropped++;
+
+ return 0;
+ }
+
+ if (frameinfo & RK3576CANFD_REG_RXFRD_FRAMEINFO_FRAME_FORMAT)
+ skb_cfd->can_id = FIELD_GET(RKCANFD_REG_FD_ID_EFF, id) |
+ CAN_EFF_FLAG;
+ else
+ skb_cfd->can_id = FIELD_GET(RKCANFD_REG_FD_ID_SFF, id);
+
+ dlc = FIELD_GET(RK3576CANFD_REG_RXFRD_FRAMEINFO_DATA_LENGTH,
+ frameinfo);
+
+ /* CAN-FD */
+ if (frameinfo & RK3576CANFD_REG_RXFRD_FRAMEINFO_FDF) {
+ skb_cfd->len = can_fd_dlc2len(dlc);
+
+ /* The cfd is not allocated by alloc_canfd_skb(), so
+ * set CANFD_FDF here.
+ */
+ skb_cfd->flags |= CANFD_FDF;
+
+ if (frameinfo & RK3576CANFD_REG_RXFRD_FRAMEINFO_BRS)
+ skb_cfd->flags |= CANFD_BRS;
+ } else {
+ skb_cfd->len = can_cc_dlc2len(dlc);
+
+ if (frameinfo & RK3576CANFD_REG_RXFRD_FRAMEINFO_RTR)
+ skb_cfd->can_id |= CAN_RTR_FLAG;
+ }
+ if (!(skb_cfd->can_id & CAN_RTR_FLAG)) {
+ /* Change CANFD data format to SocketCAN data format */
+ for (i = 0; i < skb_cfd->len; i += 4)
+ *(u32 *)(skb_cfd->data + i) = data[i / 4];
+ }
+
+ stats->rx_packets++;
+ stats->rx_bytes += skb_cfd->len;
+ netif_rx(skb);
+
+ return 0;
+}
+
static int rkcanfd_handle_rx_int_one(struct rkcanfd_priv *priv)
{
struct net_device_stats *stats = &priv->ndev->stats;
@@ -372,6 +437,43 @@ rk3576canfd_rx_fifo_get_len(const struct rkcanfd_priv *priv)
return DIV_ROUND_UP(val, RK3576CANFD_REG_STR_STATE_INTM_LEFT_CNT_UNIT);
}
+static void rk3576_canfd_rx_dma_callback(void *data)
+{
+ struct rkcanfd_priv *priv = data;
+ int i;
+
+ for (i = 0; i < priv->quota; i++)
+ rk3576canfd_handle_rx_dma(priv, i);
+
+ rkcanfd_write(priv, RK3576CANFD_REG_INT_MASK, priv->reg_int_mask_default);
+}
+
+static int rk3576_canfd_rx_dma(struct rkcanfd_priv *priv)
+{
+ struct dma_async_tx_descriptor *rxdesc = NULL;
+ const u32 reg = rkcanfd_read(priv, RK3576CANFD_REG_STR_STATE);
+ int quota = FIELD_GET(RK3576CANFD_REG_STR_STATE_INTM_LEFT_CNT, reg);
+
+ quota = DIV_ROUND_UP(quota, RK3576CANFD_REG_STR_STATE_INTM_LEFT_CNT_UNIT);
+ priv->quota = quota;
+ if (priv->quota == 0) {
+ rkcanfd_write(priv, RK3576CANFD_REG_INT_MASK, priv->reg_int_mask_default);
+ return 0;
+ }
+
+ rxdesc = dmaengine_prep_slave_single(priv->rxchan, priv->rx_dma_dst_addr,
+ priv->dma_size * priv->quota, DMA_DEV_TO_MEM, 0);
+ if (!rxdesc)
+ return -ENOMSG;
+
+ rxdesc->callback = rk3576_canfd_rx_dma_callback;
+ rxdesc->callback_param = priv;
+
+ dmaengine_submit(rxdesc);
+ dma_async_issue_pending(priv->rxchan);
+ return 0;
+}
+
int rkcanfd_handle_rx_int(struct rkcanfd_priv *priv)
{
unsigned int len;
@@ -391,6 +493,13 @@ int rkcanfd_handle_rk3576_rx_int(struct rkcanfd_priv *priv)
unsigned int len;
int err;
+ if (priv->rxchan) {
+ err = rk3576_canfd_rx_dma(priv);
+ if (err)
+ return err;
+ else
+ return 0;
+ }
while ((len = rk3576canfd_rx_fifo_get_len(priv))) {
err = rk3576canfd_handle_rx_int_one(priv);
if (err)
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index 6b77a19e0d4a..30bd692486e6 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -11,6 +11,8 @@
#include <linux/can/dev.h>
#include <linux/can/rx-offload.h>
#include <linux/clk.h>
+#include <linux/dma-mapping.h>
+#include <linux/dmaengine.h>
#include <linux/io.h>
#include <linux/netdevice.h>
#include <linux/reset.h>
@@ -532,6 +534,7 @@
#define RK3576CANFD_ISM_WATERMASK_CANFD 0x6c /* word */
#define RK3576CANFD_SRAM_MAX_DEPTH 256 /* word */
+#define RK3576CANFD_SRAM_MAX_FIFO_CNT (RK3576CANFD_SRAM_MAX_DEPTH / RK3576CANFD_SRAM_MAX_DEPTH)
#define RK3576CANFD_CANFD_FILTER GENMASK(28, 0)
@@ -749,6 +752,12 @@ struct rkcanfd_priv {
struct reset_control *reset;
struct clk_bulk_data *clks;
int clks_num;
+ u32 dma_size;
+ u32 dma_thr;
+ int quota;
+ struct dma_chan *rxchan;
+ u32 *rxbuf;
+ dma_addr_t rx_dma_dst_addr;
};
static inline u32
--
2.34.1
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