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Message-Id: <201309280211.39068.sergei.shtylyov@cogentembedded.com>
Date: Sat, 28 Sep 2013 02:11:38 +0400
From: Sergei Shtylyov <sergei.shtylyov@...entembedded.com>
To: netdev@...r.kernel.org, wg@...ndegger.com, mkl@...gutronix.de,
linux-can@...r.kernel.org
Cc: linux-sh@...r.kernel.org
Subject: [PATCH] can: add Renesas R-Car CAN driver
Add support for the CAN controller found in Renesas R-Car SoCs.
Signed-off-by: Sergei Shtylyov <sergei.shtylyov@...entembedded.com>
---
The patch is against the 'linux-can-next.git' repo.
drivers/net/can/Kconfig | 9
drivers/net/can/Makefile | 1
drivers/net/can/rcar_can.c | 898 ++++++++++++++++++++++++++++++++++
include/linux/can/platform/rcar_can.h | 15
4 files changed, 923 insertions(+)
Index: linux-can-next/drivers/net/can/Kconfig
===================================================================
--- linux-can-next.orig/drivers/net/can/Kconfig
+++ linux-can-next/drivers/net/can/Kconfig
@@ -125,6 +125,15 @@ config CAN_GRCAN
endian syntheses of the cores would need some modifications on
the hardware level to work.
+config CAN_RCAR
+ tristate "Renesas R-Car CAN controller"
+ ---help---
+ Say Y here if you want to use CAN controller found on Renesas R-Car
+ SoCs.
+
+ To compile this driver as a module, choose M here: the module will
+ be called rcar_can.
+
source "drivers/net/can/mscan/Kconfig"
source "drivers/net/can/sja1000/Kconfig"
Index: linux-can-next/drivers/net/can/Makefile
===================================================================
--- linux-can-next.orig/drivers/net/can/Makefile
+++ linux-can-next/drivers/net/can/Makefile
@@ -25,5 +25,6 @@ obj-$(CONFIG_CAN_JANZ_ICAN3) += janz-ica
obj-$(CONFIG_CAN_FLEXCAN) += flexcan.o
obj-$(CONFIG_PCH_CAN) += pch_can.o
obj-$(CONFIG_CAN_GRCAN) += grcan.o
+obj-$(CONFIG_CAN_RCAR) += rcar_can.o
ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG
Index: linux-can-next/drivers/net/can/rcar_can.c
===================================================================
--- /dev/null
+++ linux-can-next/drivers/net/can/rcar_can.c
@@ -0,0 +1,898 @@
+/*
+ * Renesas R-Car CAN device driver
+ *
+ * Copyright (C) 2013 Cogent Embedded, Inc. <source@...entembedded.com>
+ * Copyright (C) 2013 Renesas Solutions Corp.
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation; either version 2 of the License, or (at your
+ * option) any later version.
+ */
+
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/types.h>
+#include <linux/interrupt.h>
+#include <linux/errno.h>
+#include <linux/netdevice.h>
+#include <linux/platform_device.h>
+#include <linux/can/led.h>
+#include <linux/can/dev.h>
+#include <linux/clk.h>
+#include <linux/can/platform/rcar_can.h>
+
+#define DRV_NAME "rcar_can"
+
+#define RCAR_CAN_MIER1 0x42C /* CANi Mailbox Interrupt Enable Register 1 */
+#define RCAR_CAN_MKR(n) ((n) < 2 ? 0x430 + 4 * (n) : 0x400 + 4 * ((n) - 2))
+ /* CANi Mask Register */
+#define RCAR_CAN_MKIVLR0 0x438 /* CANi Mask Invalid Register 0 */
+#define RCAR_CAN_MIER0 0x43C /* CANi Mailbox Interrupt Enable Register 0 */
+
+#define RCAR_CAN_MCTL(n) (0x800 + (n)) /* CANi Message Control Register */
+#define RCAR_CAN_CTLR 0x840 /* CANi Control Register */
+#define RCAR_CAN_STR 0x842 /* CANi Status Register */
+#define RCAR_CAN_BCR 0x844 /* CANi Bit Configuration Register */
+#define RCAR_CAN_CLKR 0x847 /* CANi Clock Select Register */
+#define RCAR_CAN_EIER 0x84C /* CANi Error Interrupt Enable Register */
+#define RCAR_CAN_EIFR 0x84D /* CANi Err Interrupt Factor Judge Register */
+#define RCAR_CAN_RECR 0x84E /* CANi Receive Error Count Register */
+#define RCAR_CAN_TECR 0x84F /* CANi Transmit Error Count Register */
+#define RCAR_CAN_ECSR 0x850 /* CANi Error Code Store Register */
+#define RCAR_CAN_MSSR 0x852 /* CANi Mailbox Search Status Register */
+#define RCAR_CAN_MSMR 0x853 /* CANi Mailbox Search Mode Register */
+#define RCAR_CAN_TCR 0x858 /* CANi Test Control Register */
+#define RCAR_CAN_IER 0x860 /* CANi Interrupt Enable Register */
+#define RCAR_CAN_ISR 0x861 /* CANi Interrupt Status Register */
+
+/* Offsets of RCAR_CAN Mailbox Registers */
+#define MBX_HDR_OFFSET 0x0
+#define MBX_DLC_OFFSET 0x5
+#define MBX_DATA_OFFSET 0x6
+
+#define RCAR_CAN_MBX_SIZE 0x10
+
+/* Control Register bits */
+#define CTLR_SLPM BIT(10)
+#define CTLR_HALT BIT(9)
+#define CTLR_RESET BIT(8)
+#define CTLR_FORCE_RESET (3 << 8)
+#define CTLR_TPM BIT(4) /* Transmission Priority Mode Select Bit */
+#define CTLR_IDFM_MIXED BIT(2) /* Mixed ID mode */
+
+/* Message Control Register bits */
+#define MCTL_TRMREQ BIT(7)
+#define MCTL_RECREQ BIT(6)
+#define MCTL_ONESHOT BIT(4)
+#define MCTL_SENTDATA BIT(0)
+#define MCTL_NEWDATA BIT(0)
+
+#define N_RX_MKREGS 2 /* Number of mask registers */
+ /* for Rx mailboxes 0-31 */
+
+/* Bit Configuration Register settings */
+#define BCR_TSEG1(x) (((x) & 0x0f) << 28)
+#define BCR_BPR(x) (((x) & 0x3ff) << 16)
+#define BCR_SJW(x) (((x) & 0x3) << 12)
+#define BCR_TSEG2(x) (((x) & 0x07) << 8)
+
+/* Mailbox and Mask Registers bits */
+#define RCAR_CAN_IDE BIT(31)
+#define RCAR_CAN_RTR BIT(30)
+#define RCAR_CAN_SID_SHIFT 18
+
+/* Interrupt Enable Register bits */
+#define IER_ERSIE BIT(5) /* Error (ERS) Interrupt Enable Bit */
+#define IER_RXM0IE BIT(2) /* Mailbox 0 Successful Reception (RXM0) */
+ /* Interrupt Enable Bit */
+#define IER_RXM1IE BIT(1) /* Mailbox 1 Successful Reception (RXM0) */
+ /* Interrupt Enable Bit */
+#define IER_TXMIE BIT(0) /* Mailbox 32 to 63 Successful Tx */
+ /* Interrupt Enable Bit */
+
+/* Interrupt Status Register bits */
+#define ISR_ERSF BIT(5) /* Error (ERS) Interrupt Status Bit */
+#define ISR_RXM0F BIT(2) /* Mailbox 0 Successful Reception (RXM0) */
+ /* Interrupt Status Bit */
+#define ISR_RXM1F BIT(1) /* Mailbox 1 to 63 Successful Reception */
+ /* (RXM1) Interrupt Status Bit */
+#define ISR_TXMF BIT(0) /* Mailbox 32 to 63 Successful Transmission */
+ /* (TXM) Interrupt Status Bit */
+
+/* Error Interrupt Enable Register bits */
+#define EIER_BLIE BIT(7) /* Bus Lock Interrupt Enable */
+#define EIER_OLIE BIT(6) /* Overload Frame Transmit Interrupt Enable */
+#define EIER_ORIE BIT(5) /* Receive Overrun Interrupt Enable */
+#define EIER_BORIE BIT(4) /* Bus-Off Recovery Interrupt Enable */
+
+#define EIER_BOEIE BIT(3) /* Bus-Off Entry Interrupt Enable */
+#define EIER_EPIE BIT(2) /* Error Passive Interrupt Enable */
+#define EIER_EWIE BIT(1) /* Error Warning Interrupt Enable */
+#define EIER_BEIE BIT(0) /* Bus Error Interrupt Enable */
+
+/* Error Interrupt Factor Judge Register bits */
+#define EIFR_BLIF BIT(7) /* Bus Lock Detect Flag */
+#define EIFR_OLIF BIT(6) /* Overload Frame Transmission Detect Flag */
+#define EIFR_ORIF BIT(5) /* Receive Overrun Detect Flag */
+#define EIFR_BORIF BIT(4) /* Bus-Off Recovery Detect Flag */
+#define EIFR_BOEIF BIT(3) /* Bus-Off Entry Detect Flag */
+#define EIFR_EPIF BIT(2) /* Error Passive Detect Flag */
+#define EIFR_EWIF BIT(1) /* Error Warning Detect Flag */
+#define EIFR_BEIF BIT(0) /* Bus Error Detect Flag */
+
+/* Error Code Store Register bits */
+#define ECSR_EDPM BIT(7) /* Error Display Mode Select Bit */
+#define ECSR_ADEF BIT(6) /* ACK Delimiter Error Flag */
+#define ECSR_BE0F BIT(5) /* Bit Error (dominant) Flag */
+#define ECSR_BE1F BIT(4) /* Bit Error (recessive) Flag */
+#define ECSR_CEF BIT(3) /* CRC Error Flag */
+#define ECSR_AEF BIT(2) /* ACK Error Flag */
+#define ECSR_FEF BIT(1) /* Form Error Flag */
+#define ECSR_SEF BIT(0) /* Stuff Error Flag */
+
+/* Mailbox Search Status Register bits */
+#define MSSR_SEST BIT(7) /* Search Result Status Bit */
+#define MSSR_MBNST 0x3f /* Search Result Mailbox Number Status mask */
+
+/* Mailbox Search Mode Register values */
+#define MSMR_TXMB 1 /* Transmit mailbox search mode */
+#define MSMR_RXMB 0 /* Receive mailbox search mode */
+
+/* Mailbox configuration:
+ * mailbox 0 - not used
+ * mailbox 1-31 - Rx
+ * mailbox 32-63 - Tx
+ * no FIFO mailboxes
+ */
+#define N_MBX 64
+#define FIRST_TX_MB 32
+#define RX_MBX_MASK 0xFFFFFFFE
+
+#define RCAR_CAN_NAPI_WEIGHT (FIRST_TX_MB - 1)
+
+struct rcar_can_priv {
+ struct can_priv can; /* Must be the first member! */
+ struct net_device *ndev;
+ struct napi_struct napi;
+ void __iomem *reg_base;
+ struct clk *clk;
+ spinlock_t mier_lock;
+ u8 clock_select;
+};
+
+static const struct can_bittiming_const rcar_can_bittiming_const = {
+ .name = DRV_NAME,
+ .tseg1_min = 4,
+ .tseg1_max = 16,
+ .tseg2_min = 2,
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 1,
+ .brp_max = 1024,
+ .brp_inc = 1,
+};
+
+static inline u32 rcar_can_readl(struct rcar_can_priv *priv, int reg)
+{
+ return readl(priv->reg_base + reg);
+}
+
+static inline u16 rcar_can_readw(struct rcar_can_priv *priv, int reg)
+{
+ return readw(priv->reg_base + reg);
+}
+
+static inline u8 rcar_can_readb(struct rcar_can_priv *priv, int reg)
+{
+ return readb(priv->reg_base + reg);
+}
+
+static inline void rcar_can_writel(struct rcar_can_priv *priv, int reg, u32 val)
+{
+ writel(val, priv->reg_base + reg);
+}
+
+static inline void rcar_can_writew(struct rcar_can_priv *priv, int reg, u16 val)
+{
+ writew(val, priv->reg_base + reg);
+}
+
+static inline void rcar_can_writeb(struct rcar_can_priv *priv, int reg, u8 val)
+{
+ writeb(val, priv->reg_base + reg);
+}
+
+static inline u32 rcar_can_mbx_readl(struct rcar_can_priv *priv,
+ u32 mbxno, u8 offset)
+{
+ return rcar_can_readl(priv, RCAR_CAN_MBX_SIZE * mbxno + offset);
+}
+
+static inline u8 rcar_can_mbx_readb(struct rcar_can_priv *priv,
+ u32 mbxno, u8 offset)
+{
+ return rcar_can_readb(priv, RCAR_CAN_MBX_SIZE * mbxno + offset);
+}
+
+static inline void rcar_can_mbx_writel(struct rcar_can_priv *priv, u32 mbxno,
+ u8 offset, u32 val)
+{
+ rcar_can_writel(priv, RCAR_CAN_MBX_SIZE * mbxno + offset, val);
+}
+
+static inline void rcar_can_mbx_writeb(struct rcar_can_priv *priv, u32 mbxno,
+ u8 offset, u8 val)
+{
+ rcar_can_writeb(priv, RCAR_CAN_MBX_SIZE * mbxno + offset, val);
+}
+
+static void rcar_can_error(struct net_device *ndev)
+{
+ struct rcar_can_priv *priv = netdev_priv(ndev);
+ struct net_device_stats *stats = &ndev->stats;
+ struct can_frame *cf;
+ struct sk_buff *skb;
+ u8 eifr;
+
+ /* Propagate the error condition to the CAN stack */
+ skb = alloc_can_err_skb(ndev, &cf);
+ if (!skb) {
+ if (printk_ratelimit())
+ netdev_err(priv->ndev,
+ "%s: alloc_can_err_skb() failed\n",
+ __func__);
+ return;
+ }
+
+ eifr = rcar_can_readb(priv, RCAR_CAN_EIFR);
+ if (eifr & EIFR_EWIF) {
+ netdev_dbg(priv->ndev, "Error warning interrupt\n");
+ priv->can.state = CAN_STATE_ERROR_WARNING;
+ priv->can.can_stats.error_warning++;
+ cf->can_id |= CAN_ERR_CRTL;
+ if (rcar_can_readb(priv, RCAR_CAN_TECR) > 96)
+ cf->data[1] |= CAN_ERR_CRTL_TX_WARNING;
+ if (rcar_can_readb(priv, RCAR_CAN_RECR) > 96)
+ cf->data[1] |= CAN_ERR_CRTL_RX_WARNING;
+ /* Clear interrupt condition */
+ rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_EWIF);
+ }
+ if (eifr & EIFR_EPIF) {
+ netdev_dbg(priv->ndev, "Error passive interrupt\n");
+ priv->can.state = CAN_STATE_ERROR_PASSIVE;
+ priv->can.can_stats.error_passive++;
+ cf->can_id |= CAN_ERR_CRTL;
+ if (rcar_can_readb(priv, RCAR_CAN_TECR) > 127)
+ cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
+ if (rcar_can_readb(priv, RCAR_CAN_RECR) > 127)
+ cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
+ /* Clear interrupt condition */
+ rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_EPIF);
+ }
+ if (eifr & EIFR_BOEIF) {
+ netdev_dbg(priv->ndev, "Bus-off entry interrupt\n");
+ priv->can.state = CAN_STATE_BUS_OFF;
+ cf->can_id |= CAN_ERR_BUSOFF;
+ /* Clear interrupt condition */
+ rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_BOEIF);
+ /* Disable all interrupts in bus-off to avoid int hog */
+ rcar_can_writeb(priv, RCAR_CAN_EIER, 0);
+ rcar_can_writeb(priv, RCAR_CAN_IER, 0);
+ can_bus_off(ndev);
+ }
+ if (eifr & EIFR_BEIF) {
+ int rx_errors = 0, tx_errors = 0, bus_errors = 0;
+ u8 ecsr;
+
+ netdev_dbg(priv->ndev, "Bus error interrupt:\n");
+ cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_PROT;
+ cf->data[2] = CAN_ERR_PROT_UNSPEC;
+
+ ecsr = rcar_can_readb(priv, RCAR_CAN_ECSR);
+ if (ecsr & ECSR_ADEF) {
+ netdev_dbg(priv->ndev, "ACK Delimiter Error\n");
+ cf->data[3] |= CAN_ERR_PROT_LOC_ACK_DEL;
+ bus_errors++;
+ tx_errors++;
+ rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_ADEF);
+ }
+ if (ecsr & ECSR_BE0F) {
+ netdev_dbg(priv->ndev, "Bit Error (dominant)\n");
+ cf->data[2] |= CAN_ERR_PROT_BIT0;
+ bus_errors++;
+ tx_errors++;
+ rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_BE0F);
+ }
+ if (ecsr & ECSR_BE1F) {
+ netdev_dbg(priv->ndev, "Bit Error (recessive)\n");
+ cf->data[2] |= CAN_ERR_PROT_BIT1;
+ bus_errors++;
+ tx_errors++;
+ rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_BE1F);
+ }
+ if (ecsr & ECSR_CEF) {
+ netdev_dbg(priv->ndev, "CRC Error\n");
+ cf->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
+ bus_errors++;
+ rx_errors++;
+ rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_CEF);
+ }
+ if (ecsr & ECSR_AEF) {
+ netdev_dbg(priv->ndev, "ACK Error\n");
+ cf->data[3] |= CAN_ERR_PROT_LOC_ACK;
+ bus_errors++;
+ tx_errors++;
+ rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_AEF);
+ }
+ if (ecsr & ECSR_FEF) {
+ netdev_dbg(priv->ndev, "Form Error\n");
+ cf->data[2] |= CAN_ERR_PROT_FORM;
+ bus_errors++;
+ rx_errors++;
+ rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_FEF);
+ }
+ if (ecsr & ECSR_SEF) {
+ netdev_dbg(priv->ndev, "Stuff Error\n");
+ cf->data[2] |= CAN_ERR_PROT_STUFF;
+ bus_errors++;
+ rx_errors++;
+ rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_SEF);
+ }
+
+ priv->can.can_stats.bus_error += bus_errors;
+ ndev->stats.rx_errors += rx_errors;
+ ndev->stats.tx_errors += tx_errors;
+ rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_BEIF);
+ }
+ if (eifr & EIFR_ORIF) {
+ netdev_dbg(priv->ndev, "Receive overrun error interrupt\n");
+ cf->can_id |= CAN_ERR_CRTL;
+ cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
+ ndev->stats.rx_over_errors++;
+ ndev->stats.rx_errors++;
+ rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_ORIF);
+ }
+ if (eifr & EIFR_OLIF) {
+ netdev_dbg(priv->ndev,
+ "Overload Frame Transmission error interrupt\n");
+ cf->can_id |= CAN_ERR_PROT;
+ cf->data[2] |= CAN_ERR_PROT_OVERLOAD;
+ ndev->stats.rx_over_errors++;
+ ndev->stats.rx_errors++;
+ rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_OLIF);
+ }
+
+ netif_rx(skb);
+ stats->rx_packets++;
+ stats->rx_bytes += cf->can_dlc;
+}
+
+static irqreturn_t rcar_can_interrupt(int irq, void *dev_id)
+{
+ struct net_device *ndev = (struct net_device *)dev_id;
+ struct rcar_can_priv *priv = netdev_priv(ndev);
+ struct net_device_stats *stats = &ndev->stats;
+ u8 isr;
+
+ isr = rcar_can_readb(priv, RCAR_CAN_ISR);
+ if (isr & ISR_ERSF)
+ rcar_can_error(ndev);
+
+ if (isr & ISR_TXMF) {
+ u32 ie_mask = 0;
+
+ /* Set Transmit Mailbox Search Mode */
+ rcar_can_writeb(priv, RCAR_CAN_MSMR, MSMR_TXMB);
+ while (1) {
+ u8 mctl, mbx;
+
+ mbx = rcar_can_readb(priv, RCAR_CAN_MSSR);
+ if (mbx & MSSR_SEST)
+ break;
+ mbx &= MSSR_MBNST;
+ mctl = rcar_can_readb(priv, RCAR_CAN_MCTL(mbx));
+ /* Bits SENTDATA and TRMREQ cannot be
+ * set to 0 simultaneously
+ */
+ mctl &= ~MCTL_TRMREQ;
+ rcar_can_writeb(priv, RCAR_CAN_MCTL(mbx), mctl);
+ mctl &= ~MCTL_SENTDATA;
+ /* Clear interrupt */
+ rcar_can_writeb(priv, RCAR_CAN_MCTL(mbx), mctl);
+ ie_mask |= BIT(mbx - FIRST_TX_MB);
+ stats->tx_bytes += can_get_echo_skb(ndev,
+ mbx - FIRST_TX_MB);
+ stats->tx_packets++;
+ can_led_event(ndev, CAN_LED_EVENT_TX);
+ }
+ /* Set receive mailbox search mode */
+ rcar_can_writeb(priv, RCAR_CAN_MSMR, MSMR_RXMB);
+ /* Disable mailbox interrupt, mark mailbox as free */
+ if (ie_mask) {
+ u32 mier1;
+
+ spin_lock(&priv->mier_lock);
+ mier1 = rcar_can_readl(priv, RCAR_CAN_MIER1);
+ rcar_can_writel(priv, RCAR_CAN_MIER1, mier1 & ~ie_mask);
+ spin_unlock(&priv->mier_lock);
+ if (unlikely(netif_queue_stopped(ndev)))
+ netif_wake_queue(ndev);
+ }
+ }
+ if (isr & ISR_RXM1F) {
+ if (napi_schedule_prep(&priv->napi)) {
+ /* Disable Rx interrupts */
+ rcar_can_writeb(priv, RCAR_CAN_IER,
+ rcar_can_readb(priv, RCAR_CAN_IER) &
+ ~IER_RXM1IE);
+ __napi_schedule(&priv->napi);
+ }
+ }
+ return IRQ_HANDLED;
+}
+
+static int rcar_can_set_bittiming(struct net_device *dev)
+{
+ struct rcar_can_priv *priv = netdev_priv(dev);
+ struct can_bittiming *bt = &priv->can.bittiming;
+ u32 bcr;
+ u16 ctlr;
+ u8 clkr;
+
+ ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+ if (ctlr & CTLR_SLPM) {
+ /* Write to BCR in CAN reset mode or CAN halt mode */
+ return -EBUSY;
+ }
+ /* Don't overwrite CLKR with 32-bit BCR access */
+ /* CLKR has 8-bit access */
+ clkr = rcar_can_readb(priv, RCAR_CAN_CLKR);
+ bcr = BCR_TSEG1(bt->phase_seg1 + bt->prop_seg - 1) |
+ BCR_BPR(bt->brp - 1) | BCR_SJW(bt->sjw - 1) |
+ BCR_TSEG2(bt->phase_seg2 - 1);
+ rcar_can_writel(priv, RCAR_CAN_BCR, bcr);
+ rcar_can_writeb(priv, RCAR_CAN_CLKR, clkr);
+ return 0;
+}
+
+static void rcar_can_start(struct net_device *ndev)
+{
+ struct rcar_can_priv *priv = netdev_priv(ndev);
+ u16 ctlr, n;
+
+ /* Set controller to known mode:
+ * - normal mailbox mode (no FIFO);
+ * - accept all messages (no filter).
+ * CAN is in sleep mode after MCU hardware or software reset.
+ */
+ ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+ ctlr &= ~CTLR_SLPM;
+ rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+ /* Go to reset mode */
+ ctlr |= CTLR_FORCE_RESET;
+ rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+ ctlr |= CTLR_IDFM_MIXED; /* Select mixed ID mode */
+ ctlr &= ~CTLR_TPM; /* Set ID priority transmit mode */
+ rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+
+ rcar_can_writeb(priv, RCAR_CAN_CLKR, priv->clock_select);
+
+ /* Accept all SID and EID */
+ for (n = 0; n < N_RX_MKREGS; n++)
+ rcar_can_writel(priv, RCAR_CAN_MKR(n), 0);
+ rcar_can_writel(priv, RCAR_CAN_MKIVLR0, 0);
+
+ rcar_can_set_bittiming(ndev);
+
+ /* Initial value of MIER1 undefined. Mark all Tx mailboxes as free. */
+ rcar_can_writel(priv, RCAR_CAN_MIER1, 0);
+
+ rcar_can_writeb(priv, RCAR_CAN_IER, IER_TXMIE | IER_ERSIE | IER_RXM1IE);
+
+ /* Accumulate error codes */
+ rcar_can_writeb(priv, RCAR_CAN_ECSR, ECSR_EDPM);
+ /* Enable error interrupts */
+ rcar_can_writeb(priv, RCAR_CAN_EIER,
+ EIER_EWIE | EIER_EPIE | EIER_BOEIE | EIER_BEIE |
+ EIER_ORIE | EIER_OLIE);
+ /* Enable interrupts for RX mailboxes */
+ rcar_can_writel(priv, RCAR_CAN_MIER0, RX_MBX_MASK);
+ priv->can.state = CAN_STATE_ERROR_ACTIVE;
+
+ /* Write to the CiMCTLj register in CAN
+ * operation mode or CAN halt mode.
+ * Configure mailboxes 0-31 as Rx mailboxes.
+ * Configure mailboxes 32-63 as Tx mailboxes.
+ */
+ /* Go to halt mode */
+ ctlr |= CTLR_HALT;
+ ctlr &= ~CTLR_RESET;
+ rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+ for (n = 0; n < FIRST_TX_MB; n++) {
+ /* According to documentation we should clear MCTL
+ * register before configuring mailbox.
+ */
+ rcar_can_writeb(priv, RCAR_CAN_MCTL(n), 0);
+ rcar_can_writeb(priv, RCAR_CAN_MCTL(n), MCTL_RECREQ);
+ rcar_can_writeb(priv, RCAR_CAN_MCTL(FIRST_TX_MB + n), 0);
+ }
+ /* Go to operation mode */
+ rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr & ~CTLR_FORCE_RESET);
+}
+
+static int rcar_can_open(struct net_device *ndev)
+{
+ struct rcar_can_priv *priv = netdev_priv(ndev);
+ int err;
+
+ err = open_candev(ndev);
+ if (err) {
+ netdev_err(ndev, "open_candev() failed %d\n", err);
+ goto out;
+ }
+ napi_enable(&priv->napi);
+ err = request_irq(ndev->irq, rcar_can_interrupt, 0, ndev->name, ndev);
+ if (err) {
+ netdev_err(ndev, "error requesting interrupt %x\n", ndev->irq);
+ goto out_close;
+ }
+ can_led_event(ndev, CAN_LED_EVENT_OPEN);
+ rcar_can_start(ndev);
+ netif_start_queue(ndev);
+ return 0;
+out_close:
+ napi_disable(&priv->napi);
+ close_candev(ndev);
+out:
+ return err;
+}
+
+static void rcar_can_stop(struct net_device *ndev)
+{
+ struct rcar_can_priv *priv = netdev_priv(ndev);
+ u16 ctlr;
+
+ /* Go to (force) reset mode */
+ ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+ rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr | CTLR_FORCE_RESET);
+ rcar_can_writel(priv, RCAR_CAN_MIER0, 0);
+ rcar_can_writel(priv, RCAR_CAN_MIER1, 0);
+ rcar_can_writeb(priv, RCAR_CAN_IER, 0);
+ rcar_can_writeb(priv, RCAR_CAN_EIER, 0);
+ priv->can.state = CAN_STATE_STOPPED;
+}
+
+static int rcar_can_close(struct net_device *ndev)
+{
+ struct rcar_can_priv *priv = netdev_priv(ndev);
+
+ netif_stop_queue(ndev);
+ rcar_can_stop(ndev);
+ free_irq(ndev->irq, ndev);
+ napi_disable(&priv->napi);
+ close_candev(ndev);
+ can_led_event(ndev, CAN_LED_EVENT_STOP);
+ return 0;
+}
+
+static netdev_tx_t rcar_can_start_xmit(struct sk_buff *skb,
+ struct net_device *ndev)
+{
+ struct rcar_can_priv *priv = netdev_priv(ndev);
+ struct can_frame *cf = (struct can_frame *)skb->data;
+ u32 data, mier1, mbxno, i;
+ unsigned long flags;
+ u8 mctl;
+
+ if (can_dropped_invalid_skb(ndev, skb))
+ return NETDEV_TX_OK;
+
+ spin_lock_irqsave(&priv->mier_lock, flags);
+ mier1 = rcar_can_readl(priv, RCAR_CAN_MIER1);
+ if (unlikely(mier1 == ~0U)) {
+ spin_unlock_irqrestore(&priv->mier_lock, flags);
+ netif_stop_queue(ndev);
+ return NETDEV_TX_BUSY;
+ }
+ rcar_can_writel(priv, RCAR_CAN_MIER1, mier1 | (mier1 + 1));
+ spin_unlock_irqrestore(&priv->mier_lock, flags);
+ mbxno = ffz(mier1) + FIRST_TX_MB;
+
+ if (cf->can_id & CAN_EFF_FLAG) {
+ /* Extended frame format */
+ data = (cf->can_id & CAN_EFF_MASK) | RCAR_CAN_IDE;
+ } else {
+ /* Standard frame format */
+ data = (cf->can_id & CAN_SFF_MASK) << RCAR_CAN_SID_SHIFT;
+ }
+ if (cf->can_id & CAN_RTR_FLAG) {
+ /* Remote transmission request */
+ data |= RCAR_CAN_RTR;
+ }
+ rcar_can_mbx_writel(priv, mbxno, MBX_HDR_OFFSET, data);
+
+ rcar_can_mbx_writeb(priv, mbxno, MBX_DLC_OFFSET, cf->can_dlc);
+
+ for (i = 0; i < cf->can_dlc; i++)
+ rcar_can_mbx_writeb(priv, mbxno,
+ MBX_DATA_OFFSET + i, cf->data[i]);
+
+ can_put_echo_skb(skb, ndev, mbxno - FIRST_TX_MB);
+
+ rcar_can_writeb(priv, RCAR_CAN_IER,
+ rcar_can_readb(priv, RCAR_CAN_IER) | IER_TXMIE);
+
+ mctl = rcar_can_readb(priv, RCAR_CAN_MCTL(mbxno));
+ if (priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT)
+ mctl |= MCTL_ONESHOT;
+ else
+ mctl &= ~MCTL_ONESHOT;
+ /* Start TX */
+ mctl |= MCTL_TRMREQ;
+ rcar_can_writeb(priv, RCAR_CAN_MCTL(mbxno), mctl);
+ return NETDEV_TX_OK;
+}
+
+static const struct net_device_ops rcar_can_netdev_ops = {
+ .ndo_open = rcar_can_open,
+ .ndo_stop = rcar_can_close,
+ .ndo_start_xmit = rcar_can_start_xmit,
+};
+
+static void rcar_can_rx_pkt(struct rcar_can_priv *priv, int mbx)
+{
+ struct net_device_stats *stats = &priv->ndev->stats;
+ struct can_frame *cf;
+ struct sk_buff *skb;
+ u32 data;
+ u8 dlc;
+
+ skb = alloc_can_skb(priv->ndev, &cf);
+ if (!skb) {
+ stats->rx_dropped++;
+ if (printk_ratelimit())
+ netdev_err(priv->ndev,
+ "%s: alloc_can_skb() failed\n", __func__);
+ return;
+ }
+
+ data = rcar_can_mbx_readl(priv, mbx, MBX_HDR_OFFSET);
+ if (data & RCAR_CAN_IDE)
+ cf->can_id = (data & CAN_EFF_MASK) | CAN_EFF_FLAG;
+ else
+ cf->can_id = (data >> RCAR_CAN_SID_SHIFT) & CAN_SFF_MASK;
+ if (data & RCAR_CAN_RTR)
+ cf->can_id |= CAN_RTR_FLAG;
+
+ dlc = rcar_can_mbx_readb(priv, mbx, MBX_DLC_OFFSET);
+ cf->can_dlc = get_can_dlc(dlc);
+ for (dlc = 0; dlc < cf->can_dlc; dlc++)
+ cf->data[dlc] = rcar_can_mbx_readb(priv, mbx,
+ MBX_DATA_OFFSET + dlc);
+
+ can_led_event(priv->ndev, CAN_LED_EVENT_RX);
+
+ netif_receive_skb(skb);
+ stats->rx_bytes += cf->can_dlc;
+ stats->rx_packets++;
+}
+
+static int rcar_can_rx_poll(struct napi_struct *napi, int quota)
+{
+ struct rcar_can_priv *priv = container_of(napi,
+ struct rcar_can_priv, napi);
+ u32 num_pkts = 0;
+
+ /* Find mailbox */
+ while (1) {
+ u8 mctl, mbx;
+
+ mbx = rcar_can_readb(priv, RCAR_CAN_MSSR);
+ if (mbx & MSSR_SEST || num_pkts >= quota)
+ break;
+ mbx &= MSSR_MBNST;
+ mctl = rcar_can_readb(priv, RCAR_CAN_MCTL(mbx));
+ /* Clear interrupt */
+ rcar_can_writeb(priv, RCAR_CAN_MCTL(mbx),
+ mctl & ~MCTL_NEWDATA);
+ rcar_can_rx_pkt(priv, mbx);
+ ++num_pkts;
+ }
+ /* All packets processed */
+ if (num_pkts < quota) {
+ u8 ier;
+
+ napi_complete(napi);
+ ier = rcar_can_readb(priv, RCAR_CAN_IER);
+ rcar_can_writeb(priv, RCAR_CAN_IER, ier | IER_RXM1IE);
+ }
+ return num_pkts;
+}
+
+static int rcar_can_do_set_mode(struct net_device *ndev, enum can_mode mode)
+{
+ switch (mode) {
+ case CAN_MODE_START:
+ rcar_can_start(ndev);
+ netif_wake_queue(ndev);
+ return 0;
+ default:
+ return -EOPNOTSUPP;
+ }
+}
+
+static int rcar_can_get_berr_counter(const struct net_device *dev,
+ struct can_berr_counter *bec)
+{
+ struct rcar_can_priv *priv = netdev_priv(dev);
+
+ bec->txerr = rcar_can_readb(priv, RCAR_CAN_TECR);
+ bec->rxerr = rcar_can_readb(priv, RCAR_CAN_RECR);
+ return 0;
+}
+
+static int rcar_can_probe(struct platform_device *pdev)
+{
+ struct rcar_can_platform_data *pdata;
+ struct rcar_can_priv *priv;
+ struct net_device *ndev;
+ struct resource *mem;
+ void __iomem *addr;
+ int err = -ENODEV;
+ int irq;
+
+ pdata = pdev->dev.platform_data;
+ if (!pdata) {
+ dev_err(&pdev->dev, "No platform data provided!\n");
+ goto fail;
+ }
+
+ irq = platform_get_irq(pdev, 0);
+ if (!irq) {
+ dev_err(&pdev->dev, "No IRQ resource\n");
+ goto fail;
+ }
+
+ mem = platform_get_resource(pdev, IORESOURCE_MEM, 0);
+ addr = devm_ioremap_resource(&pdev->dev, mem);
+ if (IS_ERR(addr)) {
+ err = PTR_ERR(addr);
+ goto fail;
+ }
+
+ ndev = alloc_candev(sizeof(struct rcar_can_priv), N_MBX - FIRST_TX_MB);
+ if (!ndev) {
+ dev_err(&pdev->dev, "alloc_candev failed\n");
+ err = -ENOMEM;
+ goto fail;
+ }
+
+ priv = netdev_priv(ndev);
+
+ priv->clk = devm_clk_get(&pdev->dev, NULL);
+ if (IS_ERR(priv->clk)) {
+ err = PTR_ERR(priv->clk);
+ dev_err(&pdev->dev, "cannot get clock: %d\n", err);
+ goto fail_clk;
+ }
+ clk_enable(priv->clk);
+
+ ndev->netdev_ops = &rcar_can_netdev_ops;
+ ndev->irq = irq;
+ ndev->flags |= IFF_ECHO;
+ priv->ndev = ndev;
+ priv->reg_base = addr;
+ priv->clock_select = pdata->clock_select;
+ priv->can.clock.freq = clk_get_rate(priv->clk);
+ priv->can.bittiming_const = &rcar_can_bittiming_const;
+ priv->can.do_set_bittiming = rcar_can_set_bittiming;
+ priv->can.do_set_mode = rcar_can_do_set_mode;
+ priv->can.do_get_berr_counter = rcar_can_get_berr_counter;
+ priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+ CAN_CTRLMODE_ONE_SHOT;
+ platform_set_drvdata(pdev, ndev);
+ SET_NETDEV_DEV(ndev, &pdev->dev);
+ spin_lock_init(&priv->mier_lock);
+
+ netif_napi_add(ndev, &priv->napi, rcar_can_rx_poll,
+ RCAR_CAN_NAPI_WEIGHT);
+ err = register_candev(ndev);
+ if (err) {
+ dev_err(&pdev->dev, "register_candev() failed\n");
+ goto fail_candev;
+ }
+
+ devm_can_led_init(ndev);
+
+ dev_info(&pdev->dev, "device registered (reg_base=%p, irq=%u)\n",
+ priv->reg_base, ndev->irq);
+
+ return 0;
+fail_candev:
+ netif_napi_del(&priv->napi);
+fail_clk:
+ free_candev(ndev);
+fail:
+ return err;
+}
+
+static int rcar_can_remove(struct platform_device *pdev)
+{
+ struct net_device *ndev = platform_get_drvdata(pdev);
+ struct rcar_can_priv *priv = netdev_priv(ndev);
+ u16 ctlr;
+
+ unregister_candev(ndev);
+ netif_napi_del(&priv->napi);
+ /* Go to sleep mode */
+ ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+ rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr | CTLR_SLPM);
+ clk_disable(priv->clk);
+ free_candev(ndev);
+ return 0;
+}
+
+#ifdef CONFIG_PM_SLEEP
+static int rcar_can_suspend(struct device *dev)
+{
+ struct net_device *ndev = dev_get_drvdata(dev);
+ struct rcar_can_priv *priv = netdev_priv(ndev);
+ u16 ctlr;
+
+ if (netif_running(ndev)) {
+ netif_stop_queue(ndev);
+ netif_device_detach(ndev);
+ }
+ ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+ ctlr |= CTLR_HALT;
+ rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+ ctlr |= CTLR_SLPM;
+ rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+ priv->can.state = CAN_STATE_SLEEPING;
+
+ clk_disable(priv->clk);
+ return 0;
+}
+
+static int rcar_can_resume(struct device *dev)
+{
+ struct net_device *ndev = dev_get_drvdata(dev);
+ struct rcar_can_priv *priv = netdev_priv(ndev);
+ u16 ctlr;
+
+ clk_enable(priv->clk);
+
+ ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+ ctlr &= ~CTLR_SLPM;
+ rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+ ctlr &= ~CTLR_FORCE_RESET;
+ rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+ priv->can.state = CAN_STATE_ERROR_ACTIVE;
+
+ if (netif_running(ndev)) {
+ netif_device_attach(ndev);
+ netif_start_queue(ndev);
+ }
+ return 0;
+}
+#endif
+
+static SIMPLE_DEV_PM_OPS(rcar_can_pm_ops, rcar_can_suspend, rcar_can_resume);
+
+static struct platform_driver rcar_can_driver = {
+ .driver = {
+ .name = DRV_NAME,
+ .owner = THIS_MODULE,
+ .pm = &rcar_can_pm_ops,
+ },
+ .probe = rcar_can_probe,
+ .remove = rcar_can_remove,
+};
+
+module_platform_driver(rcar_can_driver);
+
+MODULE_AUTHOR("Cogent Embedded, Inc.");
+MODULE_LICENSE("GPL");
+MODULE_DESCRIPTION("CAN driver for Renesas R-Car SoC");
+MODULE_ALIAS("platform:" DRV_NAME);
Index: linux-can-next/include/linux/can/platform/rcar_can.h
===================================================================
--- /dev/null
+++ linux-can-next/include/linux/can/platform/rcar_can.h
@@ -0,0 +1,15 @@
+#ifndef _CAN_PLATFORM_RCAR_CAN_H_
+#define _CAN_PLATFORM_RCAR_CAN_H_
+
+#include <linux/types.h>
+
+/* Clock Select Register settings */
+#define CLKR_CLKEXT 3 /* Externally input clock */
+#define CLKR_CLKP2 1 /* Peripheral clock (clkp2) */
+#define CLKR_CLKP1 0 /* Peripheral clock (clkp1) */
+
+struct rcar_can_platform_data {
+ u8 clock_select; /* Clock source select */
+};
+
+#endif /* !_CAN_PLATFORM_RCAR_CAN_H_ */
--
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