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Message-ID: <5250530F.6090901@grandegger.com>
Date: Sat, 05 Oct 2013 19:57:35 +0200
From: Wolfgang Grandegger <wg@...ndegger.com>
To: Sergei Shtylyov <sergei.shtylyov@...entembedded.com>,
netdev@...r.kernel.org, mkl@...gutronix.de,
linux-can@...r.kernel.org
CC: linux-sh@...r.kernel.org
Subject: Re: [PATCH] can: add Renesas R-Car CAN driver
On 09/28/2013 12:11 AM, Sergei Shtylyov wrote:
> 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 */
CANi on each line!? I would drop it.
> +/* Offsets of RCAR_CAN Mailbox Registers */
> +#define MBX_HDR_OFFSET 0x0
> +#define MBX_DLC_OFFSET 0x5
> +#define MBX_DATA_OFFSET 0x6
I see some advantages in using structs to describe the register layout
here. Better readability, type checking and the macros below will be
obsolete.
> +#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);
> +}
See my comment above. Reading the DLC from the mailbox could then be
done with:
writeb(val, &priv->regs.mb[mbxno].dlc]);
> +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;
> + }
IIRC, the policy is to return silently here. I only see the ti_hecc
driver is using printk_ratelimit(). Marc?
> + 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);
Please avoid casts. I think they are not needed anyway (here and below).
> + }
> + 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;
I think you can increment bus errors here for all types.:
bus_errors++;
> +
> + 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;
Please add here:
cf->can_id |= CAN_ERR_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);
can_get_echo_skb() may return 0 because local loopback can be disabled
by the user.
> + 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;
What about support for CAN_CTRLMODE_3_SAMPLES?
> +}
> +
> +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);
Bus error reporting might result in heavy system load, especially
because they are handled in the irq context. For this purpose we have
the CAN_CTRLMODE_BERR_REPORTING flag. Shoudl not be a big deal to
support it here (if the hardware is working properly):
rcar_can_writeb(priv, RCAR_CAN_EIER,
EIER_EWIE | EIER_EPIE | EIER_BOEIE |
(priv->can.ctrlmode &
CAN_CTRLMODE_BERR_REPORTING ? EIER_BEIE : 0) |
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;
> + }
I think it is possible the avoid the "return NETDEV_TX_BUSY" here in
most cases if you stop the queue at the end of the previous message.
> + rcar_can_writel(priv, RCAR_CAN_MIER1, mier1 | (mier1 + 1));
> + spin_unlock_irqrestore(&priv->mier_lock, flags);
> + mbxno = ffz(mier1) + FIRST_TX_MB;
How to you handle "mbxno" wrap around. Are messages then still send out
in order?
> +
> + 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;
> + }
Same comment as for alloc_can_err_skb().
> + 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;
IIRC, we should not copy data for RTR frames. At least for the SJA1000
we fixed:
commit 87e9af6cc67d842cd92b52b81f3f14e665e7ab05
Author: Kurt Van Dijck <kurt.van.dijck@....be>
Date: Mon May 2 04:50:48 2011 +0000
can: fix SJA1000 dlc for RTR packets
RTR frames do have a valid data length code on CAN.
The driver for SJA1000 did not handle that situation properly.
But I see that not all drivers do respect that rule.
> +
> + 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;
rcar_can_set_bittiming() is already called in the open function. Is this
intended?
Wolfgang.
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