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Message-ID: <52DCE9E4.7010209@pengutronix.de>
Date: Mon, 20 Jan 2014 10:18:28 +0100
From: Marc Kleine-Budde <mkl@...gutronix.de>
To: Sergei Shtylyov <sergei.shtylyov@...entembedded.com>,
netdev@...r.kernel.org, wg@...ndegger.com,
linux-can@...r.kernel.org
CC: linux-sh@...r.kernel.org, vksavl@...il.com
Subject: Re: [PATCH v5] can: add Renesas R-Car CAN driver
On 12/26/2013 10:37 PM, 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.
>
> Changes in version 5:
> - removed the code specific to the mailbox mode handling and added the code
> for the FIFO mode, dropping support for CAN_CTRLMODE_ONE_SHOT;
> - stop accumulating errors in the byte 1 of an error frame;
> - added #define RCAR_CAN_CTLR_CANM for CTLR.CANM field, added 'CANM_' infix to
> all its values;
> - replaced ~RCAR_CAN_CTLR_CANM_FORCE_RESET with ~RCAR_CAN_CTLR_CANM;
> - added polling for the CAN reset status bit when going from/to CAN reset.
>
> Changes in version 4:
> - added 'RCAR_CAN_' prefix to all #define's;
> - replaced all BIT(N) invocations with (1 << N) which allowed to remove casts
> to 'u8';
> - called rcar_can_set_bittiming() from rcar_can_start() again and stopped
> registering it as do_set_bittiming() method which allowed to remove clock
> API calls and control register writes from this function and make it *void*;
> - added #define RCAR_CAN_CTLR_IDFM for more clarity;
> - clarified comment to #define RCAR_CAN_IER_TXMIE;
> - did some whitespace cleanups.
>
> Changes in version 3:
> - replaced the register #define's with 'struct rcar_can_regs' fields, replaced
> rcar_can_{read|write}[bwl]() with mere {read|write}[bwl]();
> - removed hardware bus-off recovery support which allowed to also remove
> rcar_can_start() prototype;
> - added RX/TX error count to error data frame for error warning/passive;
> - moved TX completion interrupt handling into separate function;
> - added '__packed' to 'struct rcar_can_mbox_regs' and 'struct rcar_can_regs';
> - removed unneeded type cast in the probe() method.
>
> Changes in version 2:
> - added function to clean up TX mailboxes after bus error and bus-off;
> - added module parameter to enable hardware recovery from bus-off, added handler
> for the bus-off recovery interrupt, and set the control register according to
> the parameter value and the restart timer setting in rcar_can_start();
> - changed the way CAN_ERR_CRTL_[RT]X_{PASSIVE|WARNING} flags are set to a more
> realistic one;
> - replaced MBX_* macros and rcar_can_mbx_{read|write}[bl]() functions with
> 'struct rcar_can_mbox_regs', 'struct rcar_can_regs', and {read|write}[bl](),
> replaced 'reg_base' field of 'struct rcar_can_priv' with 'struct rcar_can_regs
> __iomem *regs';
> - added 'ier' field to 'struct rcar_can_priv' to cache the current value of the
> interrupt enable register;
> - added a check for enabled interrupts on entry to rcar_can_interrupt();
> - limited transmit mailbox search loop in rcar_can_interrupt();
> - decoupled TX byte count increment from can_get_echo_skb() call;
> - removed netif_queue_stopped() call from rcar_can_interrupt();
> - added clk_prepare_enable()/clk_disable_unprepare() to ndo_{open|close}(),
> do_set_bittiming(), and do_get_berr_counter() methods, removed clk_enable()
> call from the probe() method and clk_disable() call from the remove() method;
> - allowed rcar_can_set_bittiming() to be called when the device is closed and
> remove explicit call to it from rcar_can_start();
> - switched to using mailbox number priority transmit mode, and switched to the
> sequential mailbox use in ndo_start_xmit() method;
> - stopped reading the message control registers in ndo_start_xmit() method;
> - avoided returning NETDEV_TX_BUSY from ndo_start_xmit() method;
> - stopped reading data when RTR bit is set in the CAN frame;
> - made 'num_pkts' variable *int* and moved its check to the *while* condition in
> rcar_can_rx_poll();
> - used dev_get_platdata() in the probe() method;
> - enabled bus error interrupt only if CAN_CTRLMODE_BERR_REPORTING flag is set;
> - started reporting CAN_CTRLMODE_BERR_REPORTING support and stopped reporting
> CAN_CTRLMODE_3_SAMPLES support;
> - set CAN_ERR_ACK flag on ACK error;
> - switched to incrementing bus error counter only once per bus error interrupt;
> - started switching to CAN sleep mode in rcar_can_stop() and stopped switching
> to it in the remove() method;
> - removed netdev_err() calls on allocation failure in rcar_can_error() and
> rcar_can_rx_pkt();
> - removed "CANi" from the register offset macro comments.
>
> drivers/net/can/Kconfig | 9
> drivers/net/can/Makefile | 1
> drivers/net/can/rcar_can.c | 857 ++++++++++++++++++++++++++++++++++
> include/linux/can/platform/rcar_can.h | 15
> 4 files changed, 882 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 +1,857 @@
> +/*
> + * 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 RCAR_CAN_DRV_NAME "rcar_can"
> +
> +/* Mailbox configuration:
> + * mailbox 60 - 63 - Rx FIFO mailboxes
> + * mailbox 56 - 59 - Tx FIFO mailboxes
> + * non-FIFO mailboxes are not used
> + */
> +#define RCAR_CAN_N_MBX 64 /* Number of mailboxes in non-FIFO mode */
> +#define RCAR_CAN_RX_FIFO_MBX 60 /* Mailbox - window to Rx FIFO */
> +#define RCAR_CAN_TX_FIFO_MBX 56 /* Mailbox - window to Tx FIFO */
> +#define RCAR_CAN_N_ECHO_SKB 10
> +
> +/* Mailbox registers structure */
> +struct rcar_can_mbox_regs {
> + u32 id; /* IDE and RTR bits, SID and EID */
> + u8 stub; /* Not used */
> + u8 dlc; /* Data Length Code - bits [0..3] */
> + u8 data[8]; /* Data Bytes */
> + u8 tsh; /* Time Stamp Higher Byte */
> + u8 tsl; /* Time Stamp Lower Byte */
> +} __packed;
If you have contact to the hardware designer please blame him for
placing the data register unaligned into the register space. :)
> +
> +struct rcar_can_regs {
> + struct rcar_can_mbox_regs mb[RCAR_CAN_N_MBX]; /* Mailbox registers */
> + u32 mkr_2_9[8]; /* Mask Registers 2-9 */
> + u32 fidcr[2]; /* FIFO Received ID Compare Register */
> + u32 mkivlr1; /* Mask Invalid Register 1 */
> + u32 mier1; /* Mailbox Interrupt Enable Register 1 */
> + u32 mkr_0_1[2]; /* Mask Registers 0-1 */
> + u32 mkivlr0; /* Mask Invalid Register 0*/
> + u32 mier0; /* Mailbox Interrupt Enable Register 0 */
> + u8 pad_440[0x3c0];
> + u8 mctl[64]; /* Message Control Registers */
> + u16 ctlr; /* Control Register */
> + u16 str; /* Status register */
> + u8 bcr[3]; /* Bit Configuration Register */
> + u8 clkr; /* Clock Select Register */
bcr[3] and clkr looks broken, see comment where the register is used.
> + u8 rfcr; /* Receive FIFO Control Register */
> + u8 rfpcr; /* Receive FIFO Pointer Control Register */
> + u8 tfcr; /* Transmit FIFO Control Register */
> + u8 tfpcr; /* Transmit FIFO Pointer Control Register */
> + u8 eier; /* Error Interrupt Enable Register */
> + u8 eifr; /* Error Interrupt Factor Judge Register */
> + u8 recr; /* Receive Error Count Register */
> + u8 tecr; /* Transmit Error Count Register */
> + u8 ecsr; /* Error Code Store Register */
> + u8 cssr; /* Channel Search Support Register */
> + u8 mssr; /* Mailbox Search Status Register */
> + u8 msmr; /* Mailbox Search Mode Register */
> + u16 tsr; /* Time Stamp Register */
> + u8 afsr; /* Acceptance Filter Support Register */
> + u8 pad_857;
> + u8 tcr; /* Test Control Register */
> + u8 pad_859[7];
> + u8 ier; /* Interrupt Enable Register */
> + u8 isr; /* Interrupt Status Register */
> + u8 pad_862;
> + u8 mbsmr; /* Mailbox Search Mask Register */
> +} __packed;
> +
> +struct rcar_can_priv {
> + struct can_priv can; /* Must be the first member! */
> + struct net_device *ndev;
> + struct napi_struct napi;
> + struct rcar_can_regs __iomem *regs;
> + struct clk *clk;
> + spinlock_t skb_lock;
> + u32 frames_queued;
> + u32 bytes_queued;
> + u8 clock_select;
> + u8 ier;
> +};
> +
> +static const struct can_bittiming_const rcar_can_bittiming_const = {
> + .name = RCAR_CAN_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,
> +};
> +
> +/* Control Register bits */
> +#define RCAR_CAN_CTLR_BOM (3 << 11) /* Bus-Off Recovery Mode Bits */
> +#define RCAR_CAN_CTLR_BOM_ENT (1 << 11) /* Entry to halt mode */
> + /* at bus-off entry */
> +#define RCAR_CAN_CTLR_SLPM (1 << 10)
> +#define RCAR_CAN_CTLR_CANM (3 << 8) /* Operating Mode Select Bit */
> +#define RCAR_CAN_CTLR_CANM_HALT (1 << 9)
> +#define RCAR_CAN_CTLR_CANM_RESET (1 << 8)
> +#define RCAR_CAN_CTLR_CANM_FORCE_RESET (3 << 8)
> +#define RCAR_CAN_CTLR_MLM (1 << 3) /* Message Lost Mode Select */
> +#define RCAR_CAN_CTLR_IDFM (3 << 1) /* ID Format Mode Select Bits */
> +#define RCAR_CAN_CTLR_IDFM_MIXED (1 << 2) /* Mixed ID mode */
> +#define RCAR_CAN_CTLR_MBM (1 << 0) /* Mailbox Mode select */
> +
> +/* Status Register bits */
> +#define RCAR_CAN_STR_RSTST (1 << 8) /* Reset Status Bit */
> +
> +/* FIFO Received ID Compare Registers 0 and 1 bits */
> +#define RCAR_CAN_FIDCR_IDE (1 << 31) /* ID Extension Bit */
> +#define RCAR_CAN_FIDCR_RTR (1 << 30) /* Remote Transmission Request Bit */
> +
> +/* Receive FIFO Control Register bits */
> +#define RCAR_CAN_RFCR_RFEST (1 << 7) /* Receive FIFO Empty Status Flag */
> +#define RCAR_CAN_RFCR_RFUST (7 << 1) /* Receive FIFO Unread Message */
> + /* Number Status Bits */
> +#define RCAR_CAN_RFCR_RFUST_SHIFT 1 /* Offset of Receive FIFO Unread */
> + /* Message Number Status Bits */
> +#define RCAR_CAN_RFCR_RFE (1 << 0) /* Receive FIFO Enable */
> +
> +/* Transmit FIFO Control Register bits */
> +#define RCAR_CAN_TFCR_TFUST (7 << 1) /* Transmit FIFO Unsent Message */
> + /* Number Status Bits */
> +#define RCAR_CAN_TFCR_TFUST_SHIFT 1 /* Offset of Transmit FIFO Unsent */
> + /* Message Number Status Bits */
> +#define RCAR_CAN_TFCR_TFE (1 << 0) /* Transmit FIFO Enable */
> +
> +#define RCAR_CAN_N_RX_MKREGS1 2 /* Number of mask registers */
> + /* for Rx mailboxes 0-31 */
> +#define RCAR_CAN_N_RX_MKREGS2 8
> +
> +/* Bit Configuration Register settings */
> +#define RCAR_CAN_BCR_TSEG1(x) (((x) & 0x0f) << 28)
> +#define RCAR_CAN_BCR_BPR(x) (((x) & 0x3ff) << 16)
> +#define RCAR_CAN_BCR_SJW(x) (((x) & 0x3) << 12)
> +#define RCAR_CAN_BCR_TSEG2(x) (((x) & 0x07) << 8)
> +
> +/* Mailbox and Mask Registers bits */
> +#define RCAR_CAN_IDE (1 << 31)
> +#define RCAR_CAN_RTR (1 << 30)
> +#define RCAR_CAN_SID_SHIFT 18
> +
> +/* Mailbox Interrupt Enable Register 1 bits */
> +#define RCAR_CAN_MIER1_RXFIE (1 << 28) /* Receive FIFO Interrupt Enable */
> +#define RCAR_CAN_MIER1_TXFIT (1 << 25) /* Transmit FIFO Interrupt Timing */
> + /* Generate interrupt when */
> + /* Tx FIFO becomes empty due to */
> + /* completion of transmission */
> +#define RCAR_CAN_MIER1_TXFIE (1 << 24) /* Transmit FIFO Interrupt Enable */
> +
> +/* Interrupt Enable Register bits */
> +#define RCAR_CAN_IER_ERSIE (1 << 5) /* Error (ERS) Interrupt Enable Bit */
> +#define RCAR_CAN_IER_RXFIE (1 << 4) /* Reception FIFO Interrupt */
> + /* Enable Bit */
> +#define RCAR_CAN_IER_TXFIE (1 << 3) /* Transmission FIFO Interrupt */
> + /* Enable Bit */
> +/* Interrupt Status Register bits */
> +#define RCAR_CAN_ISR_ERSF (1 << 5) /* Error (ERS) Interrupt Status Bit */
> +#define RCAR_CAN_ISR_RXFF (1 << 4) /* Reception FIFO Interrupt */
> + /* Status Bit */
> +#define RCAR_CAN_ISR_TXFF (1 << 3) /* Transmission FIFO Interrupt */
> + /* Status Bit */
> +
> +/* Error Interrupt Enable Register bits */
> +#define RCAR_CAN_EIER_BLIE (1 << 7) /* Bus Lock Interrupt Enable */
> +#define RCAR_CAN_EIER_OLIE (1 << 6) /* Overload Frame Transmit */
> + /* Interrupt Enable */
> +#define RCAR_CAN_EIER_ORIE (1 << 5) /* Receive Overrun Interrupt Enable */
> +#define RCAR_CAN_EIER_BORIE (1 << 4) /* Bus-Off Recovery Interrupt Enable */
> +#define RCAR_CAN_EIER_BOEIE (1 << 3) /* Bus-Off Entry Interrupt Enable */
> +#define RCAR_CAN_EIER_EPIE (1 << 2) /* Error Passive Interrupt Enable */
> +#define RCAR_CAN_EIER_EWIE (1 << 1) /* Error Warning Interrupt Enable */
> +#define RCAR_CAN_EIER_BEIE (1 << 0) /* Bus Error Interrupt Enable */
> +
> +/* Error Interrupt Factor Judge Register bits */
> +#define RCAR_CAN_EIFR_BLIF (1 << 7) /* Bus Lock Detect Flag */
> +#define RCAR_CAN_EIFR_OLIF (1 << 6) /* Overload Frame Transmission */
> + /* Detect Flag */
> +#define RCAR_CAN_EIFR_ORIF (1 << 5) /* Receive Overrun Detect Flag */
> +#define RCAR_CAN_EIFR_BORIF (1 << 4) /* Bus-Off Recovery Detect Flag */
> +#define RCAR_CAN_EIFR_BOEIF (1 << 3) /* Bus-Off Entry Detect Flag */
> +#define RCAR_CAN_EIFR_EPIF (1 << 2) /* Error Passive Detect Flag */
> +#define RCAR_CAN_EIFR_EWIF (1 << 1) /* Error Warning Detect Flag */
> +#define RCAR_CAN_EIFR_BEIF (1 << 0) /* Bus Error Detect Flag */
> +
> +/* Error Code Store Register bits */
> +#define RCAR_CAN_ECSR_EDPM (1 << 7) /* Error Display Mode Select Bit */
> +#define RCAR_CAN_ECSR_ADEF (1 << 6) /* ACK Delimiter Error Flag */
> +#define RCAR_CAN_ECSR_BE0F (1 << 5) /* Bit Error (dominant) Flag */
> +#define RCAR_CAN_ECSR_BE1F (1 << 4) /* Bit Error (recessive) Flag */
> +#define RCAR_CAN_ECSR_CEF (1 << 3) /* CRC Error Flag */
> +#define RCAR_CAN_ECSR_AEF (1 << 2) /* ACK Error Flag */
> +#define RCAR_CAN_ECSR_FEF (1 << 1) /* Form Error Flag */
> +#define RCAR_CAN_ECSR_SEF (1 << 0) /* Stuff Error Flag */
> +
> +#define RCAR_CAN_NAPI_WEIGHT 4
> +
> +static void tx_failure_cleanup(struct net_device *ndev)
> +{
> + u32 i;
> +
> + for (i = 0; i < RCAR_CAN_N_ECHO_SKB; i++)
> + can_free_echo_skb(ndev, i);
> +}
> +
> +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, txerr = 0, rxerr = 0;
> +
> + /* Propagate the error condition to the CAN stack */
> + skb = alloc_can_err_skb(ndev, &cf);
> + if (!skb)
> + return;
> +
> + eifr = readb(&priv->regs->eifr);
> + if (eifr & (RCAR_CAN_EIFR_EWIF | RCAR_CAN_EIFR_EPIF)) {
> + cf->can_id |= CAN_ERR_CRTL;
> + txerr = readb(&priv->regs->tecr);
> + rxerr = readb(&priv->regs->recr);
> + cf->data[6] = txerr;
> + cf->data[7] = rxerr;
> + }
> + if (eifr & RCAR_CAN_EIFR_BEIF) {
> + int rx_errors = 0, tx_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 = readb(&priv->regs->ecsr);
> + if (ecsr & RCAR_CAN_ECSR_ADEF) {
> + netdev_dbg(priv->ndev, "ACK Delimiter Error\n");
> + cf->data[3] |= CAN_ERR_PROT_LOC_ACK_DEL;
> + tx_errors++;
> + writeb(~RCAR_CAN_ECSR_ADEF, &priv->regs->ecsr);
> + }
> + if (ecsr & RCAR_CAN_ECSR_BE0F) {
> + netdev_dbg(priv->ndev, "Bit Error (dominant)\n");
> + cf->data[2] |= CAN_ERR_PROT_BIT0;
> + tx_errors++;
> + writeb(~RCAR_CAN_ECSR_BE0F, &priv->regs->ecsr);
> + }
> + if (ecsr & RCAR_CAN_ECSR_BE1F) {
> + netdev_dbg(priv->ndev, "Bit Error (recessive)\n");
> + cf->data[2] |= CAN_ERR_PROT_BIT1;
> + tx_errors++;
> + writeb(~RCAR_CAN_ECSR_BE1F, &priv->regs->ecsr);
> + }
> + if (ecsr & RCAR_CAN_ECSR_CEF) {
> + netdev_dbg(priv->ndev, "CRC Error\n");
> + cf->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
> + rx_errors++;
> + writeb(~RCAR_CAN_ECSR_CEF, &priv->regs->ecsr);
> + }
> + if (ecsr & RCAR_CAN_ECSR_AEF) {
> + netdev_dbg(priv->ndev, "ACK Error\n");
> + cf->can_id |= CAN_ERR_ACK;
> + cf->data[3] |= CAN_ERR_PROT_LOC_ACK;
> + tx_errors++;
> + writeb(~RCAR_CAN_ECSR_AEF, &priv->regs->ecsr);
> + }
> + if (ecsr & RCAR_CAN_ECSR_FEF) {
> + netdev_dbg(priv->ndev, "Form Error\n");
> + cf->data[2] |= CAN_ERR_PROT_FORM;
> + rx_errors++;
> + writeb(~RCAR_CAN_ECSR_FEF, &priv->regs->ecsr);
> + }
> + if (ecsr & RCAR_CAN_ECSR_SEF) {
> + netdev_dbg(priv->ndev, "Stuff Error\n");
> + cf->data[2] |= CAN_ERR_PROT_STUFF;
> + rx_errors++;
> + writeb(~RCAR_CAN_ECSR_SEF, &priv->regs->ecsr);
> + }
> +
> + priv->can.can_stats.bus_error++;
> + ndev->stats.rx_errors += rx_errors;
> + ndev->stats.tx_errors += tx_errors;
> + writeb(~RCAR_CAN_EIFR_BEIF, &priv->regs->eifr);
> + }
> + if (eifr & RCAR_CAN_EIFR_EWIF) {
> + netdev_dbg(priv->ndev, "Error warning interrupt\n");
> + priv->can.state = CAN_STATE_ERROR_WARNING;
> + priv->can.can_stats.error_warning++;
> + cf->data[1] = txerr > rxerr ? CAN_ERR_CRTL_TX_WARNING :
> + CAN_ERR_CRTL_RX_WARNING;
> + /* Clear interrupt condition */
> + writeb(~RCAR_CAN_EIFR_EWIF, &priv->regs->eifr);
> + }
> + if (eifr & RCAR_CAN_EIFR_EPIF) {
> + netdev_dbg(priv->ndev, "Error passive interrupt\n");
> + priv->can.state = CAN_STATE_ERROR_PASSIVE;
> + priv->can.can_stats.error_passive++;
> + cf->data[1] = txerr > rxerr ? CAN_ERR_CRTL_TX_PASSIVE :
> + CAN_ERR_CRTL_RX_PASSIVE;
> + /* Clear interrupt condition */
> + writeb(~RCAR_CAN_EIFR_EPIF, &priv->regs->eifr);
> + }
> + if (eifr & RCAR_CAN_EIFR_BOEIF) {
> + netdev_dbg(priv->ndev, "Bus-off entry interrupt\n");
> + tx_failure_cleanup(ndev);
> + priv->ier = RCAR_CAN_IER_ERSIE;
> + writeb(priv->ier, &priv->regs->ier);
> + priv->can.state = CAN_STATE_BUS_OFF;
> + cf->can_id |= CAN_ERR_BUSOFF;
> + /* Clear interrupt condition */
> + writeb(~RCAR_CAN_EIFR_BOEIF, &priv->regs->eifr);
> + can_bus_off(ndev);
> + }
> + if (eifr & RCAR_CAN_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++;
> + writeb(~RCAR_CAN_EIFR_ORIF, &priv->regs->eifr);
> + }
> + if (eifr & RCAR_CAN_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++;
> + writeb(~RCAR_CAN_EIFR_OLIF, &priv->regs->eifr);
> + }
> +
> + netif_rx(skb);
> + stats->rx_packets++;
> + stats->rx_bytes += cf->can_dlc;
> +}
> +
> +static void rcar_can_tx_done(struct net_device *ndev)
> +{
> + struct rcar_can_priv *priv = netdev_priv(ndev);
> + struct net_device_stats *stats = &ndev->stats;
> + int i;
> +
> + spin_lock(&priv->skb_lock);
> + for (i = 0; i < priv->frames_queued; i++)
> + can_get_echo_skb(ndev, i);
> + stats->tx_bytes += priv->bytes_queued;
> + stats->tx_packets += priv->frames_queued;
> + priv->bytes_queued = 0;
> + priv->frames_queued = 0;
> + spin_unlock(&priv->skb_lock);
This looks broken. What happens if you send 2 CAN frames in a row, the
first one is send, a TX complete interrupt is issued and you handle it
here? You assume, that all CAN frames have been sent.
> + can_led_event(ndev, CAN_LED_EVENT_TX);
> + netif_wake_queue(ndev);
> +}
> +
> +static irqreturn_t rcar_can_interrupt(int irq, void *dev_id)
> +{
> + struct net_device *ndev = (struct net_device *)dev_id;
the cast is not needed
> + struct rcar_can_priv *priv = netdev_priv(ndev);
> + u8 isr;
> +
> + isr = readb(&priv->regs->isr);
> + if (!(isr & priv->ier))
> + return IRQ_NONE;
> +
> + if (isr & RCAR_CAN_ISR_ERSF)
> + rcar_can_error(ndev);
> +
> + if (isr & RCAR_CAN_ISR_TXFF) {
> + /* Clear interrupt */
> + writeb(isr & ~RCAR_CAN_ISR_TXFF, &priv->regs->isr);
> + rcar_can_tx_done(ndev);
> + }
> +
> + if (isr & RCAR_CAN_ISR_RXFF) {
> + if (napi_schedule_prep(&priv->napi)) {
> + /* Disable Rx FIFO interrupts */
> + priv->ier &= ~RCAR_CAN_IER_RXFIE;
> + writeb(priv->ier, &priv->regs->ier);
> + __napi_schedule(&priv->napi);
> + }
> + }
> +
> + return IRQ_HANDLED;
> +}
> +
> +static void 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;
> + u8 clkr;
> +
> + /* Don't overwrite CLKR with 32-bit BCR access */
> + /* CLKR has 8-bit access */
Can you explain the register layout here? Why do you access BCR with 32
bits when the register is defined as 3x8 bit? Can't you make it a
standard 32 bit register?
> + clkr = readb(&priv->regs->clkr);
> + bcr = RCAR_CAN_BCR_TSEG1(bt->phase_seg1 + bt->prop_seg - 1) |
> + RCAR_CAN_BCR_BPR(bt->brp - 1) | RCAR_CAN_BCR_SJW(bt->sjw - 1) |
> + RCAR_CAN_BCR_TSEG2(bt->phase_seg2 - 1);
> + writel(bcr, &priv->regs->bcr);
> + writeb(clkr, &priv->regs->clkr);
> +}
> +
> +static void rcar_can_start(struct net_device *ndev)
> +{
> + struct rcar_can_priv *priv = netdev_priv(ndev);
> + u16 ctlr, str;
> +
> + /* Set controller to known mode:
> + * - FIFO mailbox mode
> + * - accept all messages
> + * - overrun mode
> + * CAN is in sleep mode after MCU hardware or software reset.
> + */
> + ctlr = readw(&priv->regs->ctlr);
> + ctlr &= ~RCAR_CAN_CTLR_SLPM;
> + writew(ctlr, &priv->regs->ctlr);
> + /* Go to reset mode */
> + ctlr |= RCAR_CAN_CTLR_CANM_FORCE_RESET;
> + writew(ctlr, &priv->regs->ctlr);
> + do {
> + str = readw(&priv->regs->str);
> + } while (!(str & RCAR_CAN_STR_RSTST));
Please add a timeout for this loop and the loop below.
> + rcar_can_set_bittiming(ndev);
> + ctlr |= RCAR_CAN_CTLR_IDFM_MIXED; /* Select mixed ID mode */
> + ctlr |= RCAR_CAN_CTLR_BOM_ENT; /* Entry to halt mode automatically */
> + /* at bus-off */
> + ctlr |= RCAR_CAN_CTLR_MBM; /* Select FIFO mailbox mode */
> + ctlr |= RCAR_CAN_CTLR_MLM; /* Overrun mode */
> + writew(ctlr, &priv->regs->ctlr);
> +
> + writeb(priv->clock_select, &priv->regs->clkr);
> +
> + /* Accept all SID and EID */
> + writel(0, &priv->regs->mkr_2_9[6]);
> + writel(0, &priv->regs->mkr_2_9[7]);
> + /* In FIFO mailbox mode, write "0" to bits 24 to 31 */
> + writel(0, &priv->regs->mkivlr1);
> + /* Accept all frames */
> + writel(0, &priv->regs->fidcr[0]);
> + writel(RCAR_CAN_FIDCR_IDE | RCAR_CAN_FIDCR_RTR, &priv->regs->fidcr[1]);
> + /* Enable and configure FIFO mailbox interrupts */
> + writel(RCAR_CAN_MIER1_RXFIE | RCAR_CAN_MIER1_TXFIT |
> + RCAR_CAN_MIER1_TXFIE, &priv->regs->mier1);
> +
> + priv->ier = RCAR_CAN_IER_ERSIE | RCAR_CAN_IER_RXFIE |
> + RCAR_CAN_IER_TXFIE;
> + writeb(priv->ier, &priv->regs->ier);
> +
> + /* Accumulate error codes */
> + writeb(RCAR_CAN_ECSR_EDPM, &priv->regs->ecsr);
> + /* Enable error interrupts */
> + writeb(RCAR_CAN_EIER_EWIE | RCAR_CAN_EIER_EPIE | RCAR_CAN_EIER_BOEIE |
> + (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING ?
> + RCAR_CAN_EIER_BEIE : 0) | RCAR_CAN_EIER_ORIE |
> + RCAR_CAN_EIER_OLIE, &priv->regs->eier);
> + priv->can.state = CAN_STATE_ERROR_ACTIVE;
> +
> + /* Go to operation mode */
> + writew(ctlr & ~RCAR_CAN_CTLR_CANM, &priv->regs->ctlr);
> + do {
> + str = readw(&priv->regs->str);
> + } while (str & RCAR_CAN_STR_RSTST);
> + /* Enable Rx and Tx FIFO */
> + writeb(RCAR_CAN_RFCR_RFE, &priv->regs->rfcr);
> + writeb(RCAR_CAN_TFCR_TFE, &priv->regs->tfcr);
> +}
> +
> +static int rcar_can_open(struct net_device *ndev)
> +{
> + struct rcar_can_priv *priv = netdev_priv(ndev);
> + int err;
> +
> + clk_prepare_enable(priv->clk);
clk_prepare_enable can fail
> + err = open_candev(ndev);
> + if (err) {
> + netdev_err(ndev, "open_candev() failed %d\n", err);
> + goto out;
please adjust the jump label, you have to disable the clock.
> + }
> + 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);
> + clk_disable_unprepare(priv->clk);
> +out:
> + return err;
> +}
> +
> +static void rcar_can_stop(struct net_device *ndev)
> +{
> + struct rcar_can_priv *priv = netdev_priv(ndev);
> + u16 ctlr, str;
> +
> + /* Go to (force) reset mode */
> + ctlr = readw(&priv->regs->ctlr);
> + ctlr |= RCAR_CAN_CTLR_CANM_FORCE_RESET;
> + writew(ctlr, &priv->regs->ctlr);
> + do {
> + str = readw(&priv->regs->str);
> + } while (!(str & RCAR_CAN_STR_RSTST));
please add a timeout to the loop
> + writel(0, &priv->regs->mier0);
> + writel(0, &priv->regs->mier1);
> + writeb(0, &priv->regs->ier);
> + writeb(0, &priv->regs->eier);
> + /* Go to sleep mode */
> + ctlr |= RCAR_CAN_CTLR_SLPM;
> + writew(ctlr, &priv->regs->ctlr);
> + 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);
> + clk_disable_unprepare(priv->clk);
> + 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, i;
> + unsigned long flags;
> + u8 tfcr;
> +
> + if (can_dropped_invalid_skb(ndev, skb))
> + return NETDEV_TX_OK;
> + tfcr = readb(&priv->regs->tfcr);
> + if ((tfcr & RCAR_CAN_TFCR_TFUST) >> RCAR_CAN_TFCR_TFUST_SHIFT > 2)
> + netif_stop_queue(ndev);
Can you explain what's checked here?
> +
> + 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;
> + }
You can move the comments into the line of if and else and remove the {
& } as there is only one line after if and else.
> + writel(data, &priv->regs->mb[RCAR_CAN_TX_FIFO_MBX].id);
> +
> + writeb(cf->can_dlc, &priv->regs->mb[RCAR_CAN_TX_FIFO_MBX].dlc);
> +
> + for (i = 0; i < cf->can_dlc; i++)
> + writeb(cf->data[i],
> + &priv->regs->mb[RCAR_CAN_TX_FIFO_MBX].data[i]);
> +
> + spin_lock_irqsave(&priv->skb_lock, flags);
> + can_put_echo_skb(skb, ndev, priv->frames_queued++);
> + priv->bytes_queued += cf->can_dlc;
How does the frames_queued and bytes_queued mechanism work?
> + spin_unlock_irqrestore(&priv->skb_lock, flags);
> + /* Start Tx: write 0xFF to the TFPCR register to increment
> + * the CPU-side pointer for the transmit FIFO to the next
> + * mailbox location
> + */
> + writeb(0xFF, &priv->regs->tfpcr);
please use lowercase for hex.
> +
> + return NETDEV_TX_OK;
I'm missing flow control here. You have to stop the queue if there isn't
any room in the tx fifo.
> +}
> +
> +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)
> +{
> + 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++;
> + return;
> + }
> +
> + data = readl(&priv->regs->mb[RCAR_CAN_RX_FIFO_MBX].id);
> + 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;
> +
> + dlc = readb(&priv->regs->mb[RCAR_CAN_RX_FIFO_MBX].dlc);
> + cf->can_dlc = get_can_dlc(dlc);
> + if (data & RCAR_CAN_RTR) {
> + cf->can_id |= CAN_RTR_FLAG;
> + } else {
> + for (dlc = 0; dlc < cf->can_dlc; dlc++)
> + cf->data[dlc] =
> + readb(&priv->regs->mb[RCAR_CAN_RX_FIFO_MBX].data[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);
> + int num_pkts = 0;
> +
> + while (num_pkts < quota) {
> + u8 i, rfcr, nframes, isr;
> +
> + isr = readb(&priv->regs->isr);
> + /* Clear interrupt bit */
> + if (isr & RCAR_CAN_ISR_RXFF)
> + writeb(isr & ~RCAR_CAN_ISR_RXFF, &priv->regs->isr);
> + rfcr = readb(&priv->regs->rfcr);
> + if (rfcr & RCAR_CAN_RFCR_RFEST)
> + break;
> + nframes = (rfcr & RCAR_CAN_RFCR_RFUST) >>
> + RCAR_CAN_RFCR_RFUST_SHIFT;
> + for (i = 0; i < nframes; i++) {
> + rcar_can_rx_pkt(priv);
> + /* Write 0xFF to the RFPCR register to increment
> + * the CPU-side pointer for the receive FIFO
> + * to the next mailbox location
> + */
> + writeb(0xFF, &priv->regs->rfpcr);
> + ++num_pkts;
> + }
The for loop inside the while loop makes no sense if you increment
num_pkts. You are not allowed to receive more than quota CAN frames.
> + }
> + /* All packets processed */
> + if (num_pkts < quota) {
> + napi_complete(napi);
> + priv->ier |= RCAR_CAN_IER_RXFIE;
> + writeb(priv->ier, &priv->regs->ier);
> + }
> + 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);
> +
> + clk_prepare_enable(priv->clk);
clk_prepare_enable can fail
> + bec->txerr = readb(&priv->regs->tecr);
> + bec->rxerr = readb(&priv->regs->recr);
> + clk_disable_unprepare(priv->clk);
> + 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 = dev_get_platdata(&pdev->dev);
> + 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), RCAR_CAN_N_ECHO_SKB);
> + 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;
> + }
> +
> + ndev->netdev_ops = &rcar_can_netdev_ops;
> + ndev->irq = irq;
> + ndev->flags |= IFF_ECHO;
> + priv->ndev = ndev;
> + priv->regs = 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_mode = rcar_can_do_set_mode;
> + priv->can.do_get_berr_counter = rcar_can_get_berr_counter;
> + priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING;
> + platform_set_drvdata(pdev, ndev);
> + SET_NETDEV_DEV(ndev, &pdev->dev);
> + spin_lock_init(&priv->skb_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->regs, 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);
> +
> + unregister_candev(ndev);
> + netif_napi_del(&priv->napi);
> + 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 = readw(&priv->regs->ctlr);
> + ctlr |= RCAR_CAN_CTLR_CANM_HALT;
> + writew(ctlr, &priv->regs->ctlr);
> + ctlr |= RCAR_CAN_CTLR_SLPM;
> + writew(ctlr, &priv->regs->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 = readw(&priv->regs->ctlr);
> + ctlr &= ~RCAR_CAN_CTLR_SLPM;
> + writew(ctlr, &priv->regs->ctlr);
> + ctlr &= ~RCAR_CAN_CTLR_CANM;
> + writew(ctlr, &priv->regs->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 = RCAR_CAN_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:" RCAR_CAN_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) */
Please make it an enum
> +
> +struct rcar_can_platform_data {
> + u8 clock_select; /* Clock source select */
> +};
> +
> +#endif /* !_CAN_PLATFORM_RCAR_CAN_H_ */
>
Marc
--
Pengutronix e.K. | Marc Kleine-Budde |
Industrial Linux Solutions | Phone: +49-231-2826-924 |
Vertretung West/Dortmund | Fax: +49-5121-206917-5555 |
Amtsgericht Hildesheim, HRA 2686 | http://www.pengutronix.de |
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