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Message-Id: <1456824849-7987-1-git-send-email-ramesh.shanmugasundaram@bp.renesas.com>
Date: Tue, 1 Mar 2016 09:34:09 +0000
From: Ramesh Shanmugasundaram <ramesh.shanmugasundaram@...renesas.com>
To: mkl@...gutronix.de, wg@...ndegger.com, robh+dt@...nel.org,
pawel.moll@....com, mark.rutland@....com,
ijc+devicetree@...lion.org.uk, galak@...eaurora.org, corbet@....net
Cc: linux-renesas-soc@...r.kernel.org, devicetree@...r.kernel.org,
linux-can@...r.kernel.org, netdev@...r.kernel.org,
linux-doc@...r.kernel.org, geert+renesas@...der.be,
chris.paterson2@...esas.com,
Ramesh Shanmugasundaram <ramesh.shanmugasundaram@...renesas.com>
Subject: [PATCH] can: rcar_canfd: Add Renesas R-Car CAN FD driver
This patch adds support for the CAN FD controller found in Renesas R-Car
SoCs. The controller operates in CAN FD mode by default. Two test modes
are available and can be enabled by the "rcar_canfd.testmode" module
parameter. Refer to Documentation/kernel-parameters.txt.
CAN FD mode supports both Classical CAN & CAN FD frame formats. The
controller supports ISO 11898-1:2015 CAN FD format only.
This controller supports two channels and the driver can enable either
or both of the channels.
Driver uses Rx FIFOs (one per channel) for reception & Common FIFOs (one
per channel) for transmission. Rx filter rules are configured to the
minimum (one per channel) and it accepts Standard, Extended, Data &
Remote Frame combinations.
Note: There are few documentation errors in R-Car Gen3 Hardware User
Manual v0.5E with respect to CAN FD controller. They are listed below:
1. CAN FD interrupt numbers 29 & 30 are listed as per channel
interrupts. However, they are common to both channels (i.e.) they are
global and channel interrupts respectively.
2. CANFD clock is derived from PLL1. This is not documented.
3. CANFD clock is further divided by (1/2) within the CAN FD controller.
This is not documented.
4. The minimum value of NTSEG1 in RSCFDnCFDCmNCFG register is 2 Tq. It
is mentioned 4 Tq in the manual.
5. The maximum number of message RAM area the controller can use is 3584
bytes. It is mentioned 10752 bytes in the manual.
Signed-off-by: Ramesh Shanmugasundaram <ramesh.shanmugasundaram@...renesas.com>
---
Hi All,
This work is based on linux-can-next (tag:linux-can-next-for-4.6-20160226) with
the following patch applied on top
[PATCH] can: rcar_can: Add r8a7795 support
Pinctrl & Clock related to the controller are already submitted as below:
https://lkml.org/lkml/2016/2/25/546
https://lkml.org/lkml/2016/2/26/452
http://www.spinics.net/lists/arm-kernel/msg487238.html
DT submission will be done separately based on linux-next
Thanks,
Ramesh
---
.../devicetree/bindings/net/can/rcar_canfd.txt | 86 +
Documentation/kernel-parameters.txt | 8 +
drivers/net/can/Kconfig | 10 +
drivers/net/can/Makefile | 1 +
drivers/net/can/rcar_canfd.c | 1905 ++++++++++++++++++++
5 files changed, 2010 insertions(+)
create mode 100644 Documentation/devicetree/bindings/net/can/rcar_canfd.txt
create mode 100644 drivers/net/can/rcar_canfd.c
diff --git a/Documentation/devicetree/bindings/net/can/rcar_canfd.txt b/Documentation/devicetree/bindings/net/can/rcar_canfd.txt
new file mode 100644
index 0000000..4299bd8
--- /dev/null
+++ b/Documentation/devicetree/bindings/net/can/rcar_canfd.txt
@@ -0,0 +1,86 @@
+Renesas R-Car CAN FD controller Device Tree Bindings
+----------------------------------------------------
+
+Required properties:
+- compatible: Must contain one or more of the following:
+ - "renesas,rcar-gen3-canfd" for R-Car Gen3 compatible controller.
+ - "renesas,r8a7795-canfd" for R8A7795 (R-Car H3) compatible controller.
+
+ When compatible with the generic version, nodes must list the
+ SoC-specific version corresponding to the platform first, followed by the
+ family-specific and/or generic versions.
+
+- reg: physical base address and size of the R-Car CAN FD register map.
+- interrupts: interrupt specifier for the Global & Channel interrupts
+- clocks: phandles and clock specifiers for 3 clock inputs.
+- clock-names: 3 clock input name strings: "fck", "canfd", "can_clk".
+- pinctrl-0: pin control group to be used for this controller.
+- pinctrl-names: must be "default".
+
+Required properties for "renesas,r8a7795-canfd" compatible:
+In R8A7795 SoC, canfd clock is a div6 clock and can be used by both CAN
+and CAN FD controller at the same time. It needs to be scaled to maximum
+frequency if any of these controllers use it. This is done using the
+below properties.
+
+- assigned-clocks: phandle of canfd clock.
+- assigned-clock-rates: maximum frequency of this clock.
+
+Each channel is represented as a child node. They can be enabled/disabled
+using "status" property.
+
+Example
+-------
+
+SoC common .dtsi file:
+
+ canfd: canfd@...c0000 {
+ compatible = "renesas,r8a7795-canfd",
+ "renesas,rcar-gen3-canfd";
+ reg = <0 0xe66c0000 0 0x8000>;
+ interrupts = <GIC_SPI 29 IRQ_TYPE_LEVEL_HIGH>,
+ <GIC_SPI 30 IRQ_TYPE_LEVEL_HIGH>;
+ clocks = <&cpg CPG_MOD 914>,
+ <&cpg CPG_CORE R8A7795_CLK_CANFD>,
+ <&can_clk>;
+ clock-names = "fck", "canfd", "can_clk";
+ assigned-clocks = <&cpg CPG_CORE R8A7795_CLK_CANFD>;
+ assigned-clock-rates = <40000000>;
+ power-domains = <&cpg>;
+ status = "disabled";
+
+ channel0 {
+ status = "disabled";
+ };
+
+ channel1 {
+ status = "disabled";
+ };
+ };
+
+Board specific .dts file:
+
+E.g. below enables Channel 1 alone in the board.
+
+&canfd {
+ pinctrl-0 = <&canfd1_pins>;
+ pinctrl-names = "default";
+ status = "okay";
+
+ channel1 {
+ status = "okay";
+ };
+};
+
+E.g. below enables Channel 0 alone in the board using External clock
+as fCAN clock.
+
+&canfd {
+ pinctrl-0 = <&canfd0_pins &can_clk_pins>;
+ pinctrl-names = "default";
+ status = "okay";
+
+ channel0 {
+ status = "okay";
+ };
+};
diff --git a/Documentation/kernel-parameters.txt b/Documentation/kernel-parameters.txt
index 9a53c92..afbb5cd 100644
--- a/Documentation/kernel-parameters.txt
+++ b/Documentation/kernel-parameters.txt
@@ -3121,6 +3121,14 @@ bytes respectively. Such letter suffixes can also be entirely omitted.
ramdisk_size= [RAM] Sizes of RAM disks in kilobytes
See Documentation/blockdev/ramdisk.txt.
+ rcar_canfd.testmode=
+ [HW] Selects the Controller test mode
+ Format: {0|1|2}
+ 0 Test modes disabled (default)
+ 1 Self-test internal loopback mode
+ 2 Inter-channel test mode
+ Default: 0
+
rcu_nocbs= [KNL]
In kernels built with CONFIG_RCU_NOCB_CPU=y, set
the specified list of CPUs to be no-callback CPUs.
diff --git a/drivers/net/can/Kconfig b/drivers/net/can/Kconfig
index 0d40aef..0ecb4fe 100644
--- a/drivers/net/can/Kconfig
+++ b/drivers/net/can/Kconfig
@@ -114,6 +114,16 @@ config CAN_RCAR
To compile this driver as a module, choose M here: the module will
be called rcar_can.
+config CANFD_RCAR
+ tristate "Renesas R-Car CAN FD controller"
+ depends on ARCH_RENESAS || ARM
+ ---help---
+ Say Y here if you want to use CAN FD controller found on
+ Renesas R-Car SoCs.
+
+ To compile this driver as a module, choose M here: the module will
+ be called rcar_canfd.
+
config CAN_SUN4I
tristate "Allwinner A10 CAN controller"
depends on MACH_SUN4I || MACH_SUN7I || COMPILE_TEST
diff --git a/drivers/net/can/Makefile b/drivers/net/can/Makefile
index e3db0c8..401b150 100644
--- a/drivers/net/can/Makefile
+++ b/drivers/net/can/Makefile
@@ -25,6 +25,7 @@ obj-$(CONFIG_CAN_JANZ_ICAN3) += janz-ican3.o
obj-$(CONFIG_CAN_MSCAN) += mscan/
obj-$(CONFIG_CAN_M_CAN) += m_can/
obj-$(CONFIG_CAN_RCAR) += rcar_can.o
+obj-$(CONFIG_CANFD_RCAR) += rcar_canfd.o
obj-$(CONFIG_CAN_SJA1000) += sja1000/
obj-$(CONFIG_CAN_SUN4I) += sun4i_can.o
obj-$(CONFIG_CAN_TI_HECC) += ti_hecc.o
diff --git a/drivers/net/can/rcar_canfd.c b/drivers/net/can/rcar_canfd.c
new file mode 100644
index 0000000..6f85e25
--- /dev/null
+++ b/drivers/net/can/rcar_canfd.c
@@ -0,0 +1,1905 @@
+/* Renesas R-Car CAN FD device driver
+ *
+ * Copyright (C) 2015 Renesas Electronics 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/moduleparam.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/of.h>
+#include <linux/of_device.h>
+#include <linux/bitmap.h>
+#include <linux/bitops.h>
+#include <linux/iopoll.h>
+
+#define RCANFD_DRV_NAME "rcar_canfd"
+
+#define RCANFD_FIFO_DEPTH 8 /* Tx FIFO depth */
+#define RCANFD_NAPI_WEIGHT 8 /* Rx poll quota */
+
+#define RCANFD_NUM_CHANNELS 2
+#define RCANFD_CHANNELS_MASK 0x3 /* Two channels max */
+
+/* Rx FIFO is a global resource of the controller. There are 8 such FIFOs
+ * available. Each channel gets a dedicated Rx FIFO (i.e.) the channel
+ * number is added to RFFIFO index.
+ */
+#define RCANFD_RFFIFO_IDX 0
+
+/* Tx/Rx or Common FIFO is a per channel resource. Each channel has 3 Common
+ * FIFOs dedicated to them. Use the first (index 0) FIFO out of the 3 for Tx.
+ */
+#define RCANFD_CFFIFO_IDX 0
+
+/* Global register bits */
+#define RCANFD_GINTF_CANFD BIT(0)
+
+#define RCANFD_GCFG_TPRI BIT(0)
+#define RCANFD_GCFG_DCE BIT(1)
+#define RCANFD_GCFG_DCS BIT(4)
+#define RCANFD_GCFG_CMPOC BIT(5)
+#define RCANFD_GCFG_EEFE BIT(6)
+
+#define RCANFD_GCTR_SLPR BIT(2)
+#define RCANFD_GCTR_MODEMASK (0x3)
+#define RCANFD_GCTR_GOPM (0x0)
+#define RCANFD_GCTR_GRESET (0x1)
+#define RCANFD_GCTR_GHLT (0x2)
+
+#define RCANFD_GCTR_DEIE BIT(8)
+#define RCANFD_GCTR_MEIE BIT(9)
+#define RCANFD_GCTR_THLEIE BIT(10)
+#define RCANFD_GCTR_CFMPOFIE BIT(11)
+#define RCANFD_GCTR_TSRST BIT(16)
+
+#define RCANFD_GSTS_RAMINIT BIT(3)
+#define RCANFD_GSTS_SLP BIT(2)
+#define RCANFD_GSTS_HLT BIT(1)
+#define RCANFD_GSTS_RESET BIT(0)
+
+#define RCANFD_GSTS_GNOPM (BIT(0) | BIT(1) | BIT(2) | BIT(3))
+
+/* Channel register bits */
+#define RCANFD_CCTR_CSLPR BIT(2)
+#define RCANFD_CCTR_MODEMASK (0x3)
+#define RCANFD_CCTR_COPM (0x0)
+#define RCANFD_CCTR_CRESET (0x1)
+#define RCANFD_CCTR_CHLT (0x2)
+#define RCANFD_CCTR_CTMASK (0x3 << 25)
+#define RCANFD_CCTR_CTMS_ILB (0x3 << 25)
+#define RCANFD_CCTR_CTME BIT(24)
+#define RCANFD_CCTR_ERRD BIT(23)
+#define RCANFD_CCTR_BOMMASK (0x3 << 21)
+#define RCANFD_CCTR_BOM_ENTRY (0x1 << 21)
+#define RCANFD_CCTR_TDCVFIE BIT(19)
+#define RCANFD_CCTR_SOCOIE BIT(18)
+#define RCANFD_CCTR_EOCOIE BIT(17)
+#define RCANFD_CCTR_TAIE BIT(16)
+#define RCANFD_CCTR_ALIE BIT(15)
+#define RCANFD_CCTR_BLIE BIT(14)
+#define RCANFD_CCTR_OLIE BIT(13)
+#define RCANFD_CCTR_BORIE BIT(12)
+#define RCANFD_CCTR_BOEIE BIT(11)
+#define RCANFD_CCTR_EPIE BIT(10)
+#define RCANFD_CCTR_EWIE BIT(9)
+#define RCANFD_CCTR_BEIE BIT(8)
+
+#define RCANFD_CSTS_COM BIT(7)
+#define RCANFD_CSTS_REC BIT(6)
+#define RCANFD_CSTS_TRM BIT(5)
+#define RCANFD_CSTS_BO BIT(4)
+#define RCANFD_CSTS_EP BIT(3)
+#define RCANFD_CSTS_SLP BIT(2)
+#define RCANFD_CSTS_HALT BIT(1)
+#define RCANFD_CSTS_RESET BIT(0)
+
+#define RCANFD_CSTS_TECCNT(x) (((x) >> 24) & 0xff)
+#define RCANFD_CSTS_RECCNT(x) (((x) >> 16) & 0xff)
+
+/* Bit Configuration register */
+#define RCANFD_BRP(x) (((x) & 0x3ff) << 0)
+#define RCANFD_SJW(x) (((x) & 0x3) << 24)
+#define RCANFD_TSEG1(x) (((x) & 0xf) << 16)
+#define RCANFD_TSEG2(x) (((x) & 0x7) << 20)
+
+#define RCANFD_NR_BRP(x) (((x) & 0x3ff) << 0)
+#define RCANFD_NR_SJW(x) (((x) & 0x1f) << 11)
+#define RCANFD_NR_TSEG1(x) (((x) & 0x7f) << 16)
+#define RCANFD_NR_TSEG2(x) (((x) & 0x1f) << 24)
+
+#define RCANFD_DR_BRP(x) (((x) & 0xff) << 0)
+#define RCANFD_DR_SJW(x) (((x) & 0x7) << 24)
+#define RCANFD_DR_TSEG1(x) (((x) & 0xf) << 16)
+#define RCANFD_DR_TSEG2(x) (((x) & 0x7) << 20)
+
+/* Global Error flag bits */
+#define RCANFD_GERFL_EEF1 BIT(17)
+#define RCANFD_GERFL_EEF0 BIT(16)
+#define RCANFD_GERFL_CMPOF BIT(3)
+#define RCANFD_GERFL_THLES BIT(2)
+#define RCANFD_GERFL_MES BIT(1)
+#define RCANFD_GERFL_DEF BIT(0)
+
+#define RCANFD_GERFL_ERR(x) ((x) & (RCANFD_GERFL_EEF1 |\
+ RCANFD_GERFL_EEF0 |\
+ RCANFD_GERFL_MES |\
+ RCANFD_GERFL_CMPOF))
+
+/* Channel Error flag bits */
+#define RCANFD_CERFL_ADEF BIT(14)
+#define RCANFD_CERFL_B0EF BIT(13)
+#define RCANFD_CERFL_B1EF BIT(12)
+#define RCANFD_CERFL_CEF BIT(11)
+#define RCANFD_CERFL_AEF BIT(10)
+#define RCANFD_CERFL_FEF BIT(9)
+#define RCANFD_CERFL_SEF BIT(8)
+#define RCANFD_CERFL_ALEF BIT(7)
+#define RCANFD_CERFL_BLEF BIT(6)
+#define RCANFD_CERFL_OLEF BIT(5)
+#define RCANFD_CERFL_BOREF BIT(4)
+#define RCANFD_CERFL_BOEEF BIT(3)
+#define RCANFD_CERFL_EPEF BIT(2)
+#define RCANFD_CERFL_EWEF BIT(1)
+#define RCANFD_CERFL_BEF BIT(0)
+
+#define RCANFD_CERFL_ERR(x) ((x) & (0x7fff)) /* above bits 14:0 */
+
+/* CAN FD specific registers */
+#define RCANFD_DCFG_TDCE BIT(9)
+#define RCANFD_DCFG_TDCOC BIT(8)
+#define RCANFD_DCFG_TDCO(x) (((x) & 0x7f) >> 16)
+
+#define RCANFD_DCSTS_TDCR(x) (((x) >> 0) & 0x7f)
+#define RCANFD_DCSTS_SOCCNT(x) (((x) >> 24) & 0xff)
+#define RCANFD_DCSTS_EOCCNT(x) (((x) >> 16) & 0xff)
+
+#define RCANFD_DCSTS_TDCVF BIT(7)
+#define RCANFD_DCSTS_EOCO BIT(8)
+#define RCANFD_DCSTS_SOCO BIT(9)
+
+/* Rx FIFO bits */
+#define RCANFD_RFFIFO_RFIF BIT(3)
+#define RCANFD_RFFIFO_RFMLT BIT(2)
+#define RCANFD_RFFIFO_RFFLL BIT(1)
+#define RCANFD_RFFIFO_RFEMP BIT(0)
+
+#define RCANFD_RFFIFO_RFESI BIT(0)
+#define RCANFD_RFFIFO_RFBRS BIT(1)
+#define RCANFD_RFFIFO_RFFDF BIT(2)
+
+#define RCANFD_RFFIFO_RFIDE BIT(31)
+#define RCANFD_RFFIFO_RFRTR BIT(30)
+
+#define RCANFD_RFFIFO_RFDLC(x) (((x) >> 28) & 0xf)
+#define RCANFD_RFFIFO_RFPTR(x) (((x) >> 16) & 0xfff)
+#define RCANFD_RFFIFO_RFTS(x) (((x) >> 0) & 0xff)
+
+#define RCANFD_RFFIFO_RFIM BIT(12)
+#define RCANFD_RFFIFO_RFDC(x) (((x) & 0x7) << 8)
+#define RCANFD_RFFIFO_RFPLS(x) (((x) & 0x7) << 4)
+#define RCANFD_RFFIFO_RFIE BIT(1)
+#define RCANFD_RFFIFO_RFE BIT(0)
+
+/* Common FIFO bits */
+#define RCANFD_CMFIFO_TML(x) (((x) & 0xf) << 20)
+#define RCANFD_CMFIFO_M(x) (((x) & 0x3) << 16)
+#define RCANFD_CMFIFO_CFIM BIT(12)
+#define RCANFD_CMFIFO_DC(x) (((x) & 0x7) << 8)
+#define RCANFD_CMFIFO_PLS(x) (((x) & 0x7) << 4)
+#define RCANFD_CMFIFO_CFTXIE BIT(2)
+#define RCANFD_CMFIFO_CFE BIT(0)
+
+#define RCANFD_CMFIFO_CFTXIF BIT(4)
+#define RCANFD_CMFIFO_CFMLT BIT(2)
+#define RCANFD_CMFIFO_CFFLL BIT(1)
+#define RCANFD_CMFIFO_CFEMP BIT(0)
+#define RCANFD_CMFIFO_CFMC(x) (((x) >> 8) & 0xff)
+
+#define RCANFD_CMFIFO_CFESI BIT(0)
+#define RCANFD_CMFIFO_CFBRS BIT(1)
+#define RCANFD_CMFIFO_CFFDF BIT(2)
+
+#define RCANFD_CMFIFO_CFIDE BIT(31)
+#define RCANFD_CMFIFO_CFRTR BIT(30)
+#define RCANFD_CMFIFO_CFID(x) ((x) & 0x1fffffff)
+
+#define RCANFD_CMFIFO_CFDLC(x) (((x) & 0xf) << 28)
+#define RCANFD_CMFIFO_CFPTR(x) (((x) & 0xfff) << 16)
+#define RCANFD_CMFIFO_CFTS(x) (((x) & 0xff) << 0)
+
+/* Global Test Config register */
+#define RCANFD_GTSTCFG_C0CBCE BIT(0)
+#define RCANFD_GTSTCFG_C1CBCE BIT(1)
+
+#define RCANFD_GTSTCTR_ICBCTME BIT(0)
+
+/* AFL Rx rules registers */
+#define RCANFD_AFLCFG_SETRNC0(x) (((x) & 0xff) << 24)
+#define RCANFD_AFLCFG_SETRNC1(x) (((x) & 0xff) << 16)
+#define RCANFD_AFLCFG_GETRNC0(x) (((x) >> 24) & 0xff)
+#define RCANFD_AFLCFG_GETRNC1(x) (((x) >> 16) & 0xff)
+
+#define RCANFD_AFL_PAGENUM(entry) ((entry) / 16)
+
+#define RCANFD_AFLCTR_AFLDAE BIT(8)
+#define RCANFD_AFLCTR_AFLPN(x) ((x) & 0x1f)
+#define RCANFD_CHANNEL_NUMRULES 1 /* only one rule per channel */
+#define RCANFD_AFLID_GAFLLB BIT(29)
+#define RCANFD_AFLPTR1_RFFIFO(x) (1 << (x))
+
+/* Common register map offsets */
+
+/* Nominal rate registers */
+#define RCANFD_CCFG(m) (0x0000 + (0x10 * (m)))
+#define RCANFD_CCTR(m) (0x0004 + (0x10 * (m)))
+#define RCANFD_CSTS(m) (0x0008 + (0x10 * (m)))
+#define RCANFD_CERFL(m) (0x000C + (0x10 * (m)))
+
+/* Global registers */
+#define RCANFD_GCFG (0x0084)
+#define RCANFD_GCTR (0x0088)
+#define RCANFD_GSTS (0x008c)
+#define RCANFD_GERFL (0x0090)
+#define RCANFD_GTSC (0x0094)
+#define RCANFD_GAFLECTR (0x0098)
+#define RCANFD_GAFLCFG0 (0x009c)
+#define RCANFD_GAFLCFG1 (0x00a0)
+#define RCANFD_RMNB (0x00a4)
+
+#define RCANFD_RMND(y) (0x00a8 + (0x04 * (y)))
+
+/* Rx FIFO Control registers */
+#define RCANFD_RFCC(x) (0x00b8 + (0x04 * (x)))
+#define RCANFD_RFSTS(x) (0x00d8 + (0x04 * (x)))
+#define RCANFD_RFPCTR(x) (0x00f8 + (0x04 * (x)))
+
+/* Common FIFO Control registers */
+#define RCANFD_CFCC(ch, idx) (0x0118 + (0x0c * (ch)) + \
+ (0x04 * (idx)))
+#define RCANFD_CFSTS(ch, idx) (0x0178 + (0x0c * (ch)) + \
+ (0x04 * (idx)))
+#define RCANFD_CFPCTR(ch, idx) (0x01d8 + (0x0c * (ch)) + \
+ (0x04 * (idx)))
+
+#define RCANFD_FESTS (0x0238)
+#define RCANFD_FFSTS (0x023c)
+#define RCANFD_FMSTS (0x0240)
+#define RCANFD_RFISTS (0x0244)
+#define RCANFD_CFRISTS (0x0248)
+#define RCANFD_CFTISTS (0x024c)
+
+#define RCANFD_TMC(p) (0x0250 + (0x01 * (p)))
+#define RCANFD_TMSTS(p) (0x02d0 + (0x01 * (p)))
+
+#define RCANFD_TMTRSTS(y) (0x0350 + (0x04 * (y)))
+#define RCANFD_TMTARSTS(y) (0x0360 + (0x04 * (y)))
+#define RCANFD_TMTCSTS(y) (0x0370 + (0x04 * (y)))
+#define RCANFD_TMTASTS(y) (0x0380 + (0x04 * (y)))
+#define RCANFD_TMIEC(y) (0x0390 + (0x04 * (y)))
+
+#define RCANFD_TXQCC(m) (0x03a0 + (0x04 * (m)))
+#define RCANFD_TXQSTS(m) (0x03c0 + (0x04 * (m)))
+#define RCANFD_TXQPCTR(m) (0x03e0 + (0x04 * (m)))
+
+#define RCANFD_THLCC(m) (0x0400 + (0x04 * (m)))
+#define RCANFD_THLSTS(m) (0x0420 + (0x04 * (m)))
+#define RCANFD_THLPCTR(m) (0x0440 + (0x04 * (m)))
+
+#define RCANFD_GTINTSTS0 (0x0460)
+#define RCANFD_GTINTSTS1 (0x0464)
+#define RCANFD_GTSTCFG (0x0468)
+#define RCANFD_GTSTCTR (0x046c)
+#define RCANFD_GLOCKK (0x047c)
+#define RCANFD_GRMCFG (0x04fc)
+
+/* Receive rule registers */
+#define RCANFD_GAFLID(offset, j) ((offset) + (0x10 * (j)))
+#define RCANFD_GAFLM(offset, j) ((offset) + 0x04 + (0x10 * (j)))
+#define RCANFD_GAFLP0(offset, j) ((offset) + 0x08 + (0x10 * (j)))
+#define RCANFD_GAFLP1(offset, j) ((offset) + 0x0c + (0x10 * (j)))
+
+/* CAN FD mode specific regsiter map */
+
+/* Data bitrate registers */
+#define RCANFD_F_CDFG(m) (0x0500 + (0x20 * (m)))
+#define RCANFD_F_CFDCFG(m) (0x0504 + (0x20 * (m)))
+#define RCANFD_F_CFDCTR(m) (0x0508 + (0x20 * (m)))
+#define RCANFD_F_CFDSTS(m) (0x050c + (0x20 * (m)))
+#define RCANFD_F_CFDCRC(m) (0x0510 + (0x20 * (m)))
+
+#define RCANFD_F_GAFL_OFFSET (0x1000)
+
+#define RCANFD_F_RMID(q) (0x2000 + (0x10 * (q)))
+#define RCANFD_F_RMPTR(q) (0x2004 + (0x10 * (q)))
+#define RCANFD_F_RMFDSTS(q) (0x2008 + (0x10 * (q)))
+#define RCANFD_F_RMDF(q, b) (0x200c + (0x04 * (b)) + (0x20 * (q)))
+
+/* Rx FIFO data registers */
+#define RCANFD_F_RFOFFSET (0x3000)
+#define RCANFD_F_RFID(x) (RCANFD_F_RFOFFSET + (0x80 * (x)))
+#define RCANFD_F_RFPTR(x) (RCANFD_F_RFOFFSET + 0x04 + \
+ (0x80 * (x)))
+#define RCANFD_F_RFFDSTS(x) (RCANFD_F_RFOFFSET + 0x08 + \
+ (0x80 * (x)))
+#define RCANFD_F_RFDF(x, df) (RCANFD_F_RFOFFSET + 0x0c + \
+ (0x80 * (x)) + (0x04 * (df)))
+
+/* Common FIFO data registers */
+#define RCANFD_F_CFOFFSET (0x3400)
+#define RCANFD_F_CFID(ch, idx) (RCANFD_F_CFOFFSET + (0x180 * (ch)) + \
+ (0x80 * (idx)))
+#define RCANFD_F_CFPTR(ch, idx) (RCANFD_F_CFOFFSET + 0x04 + \
+ (0x180 * (ch)) + (0x80 * (idx)))
+#define RCANFD_F_CFFDCSTS(ch, idx) (RCANFD_F_CFOFFSET + 0x08 + \
+ (0x180 * (ch)) + (0x80 * (idx)))
+#define RCANFD_F_CFDF(ch, idx, df) (RCANFD_F_CFOFFSET + 0x0c + \
+ (0x180 * (ch)) + (0x80 * (idx)) + \
+ (0x04 * (df)))
+
+#define RCANFD_F_TMID(p) (0x4000 + (0x20 * (p)))
+#define RCANFD_F_TMPTR(p) (0x4004 + (0x20 * (p)))
+#define RCANFD_F_TMFDCTR(p) (0x4008 + (0x20 * (p)))
+#define RCANFD_F_TMDF(p, b) (0x400c + (0x20 * (p)) + (0x04 * (b)))
+
+#define RCANFD_F_THLACC(m) (0x6000 + (0x04 * (m)))
+#define RCANFD_F_RPGACC(r) (0x6400 + (0x04 * (r)))
+
+struct rcar_canfd_global;
+
+/* Channel priv data */
+struct rcar_canfd_channel {
+ struct can_priv can; /* Must be the first member */
+ struct net_device *ndev;
+ struct rcar_canfd_global *gpriv; /* Controller reference */
+ void __iomem *base; /* Register base address */
+#ifdef CONFIG_DEBUG_FS
+ struct dentry *dev_root;
+#endif /* CONFIG_DEBUG_FS */
+ struct napi_struct napi;
+ u8 tx_len[RCANFD_FIFO_DEPTH]; /* For net stats */
+ u32 tx_head; /* Incremented on xmit */
+ u32 tx_tail; /* Incremented on xmit done */
+ u32 channel; /* Channel number */
+};
+
+/* Global priv data */
+struct rcar_canfd_global {
+ struct rcar_canfd_channel *ch[RCANFD_NUM_CHANNELS];
+ void __iomem *base; /* Register base address */
+ struct platform_device *pdev; /* Respective platform device */
+ struct clk *clkp; /* Peripheral clock */
+ struct clk *can_clk; /* fCAN clock */
+ int clock_select; /* CANFD or Ext clock */
+ unsigned long channels_mask; /* Enabled channels mask */
+ u32 freq; /* fCAN clock frequency in Hz */
+};
+
+/* CAN FD mode nominal rate constants */
+static const struct can_bittiming_const rcar_canfd_nom_bittiming_const = {
+ .name = RCANFD_DRV_NAME,
+ .tseg1_min = 2,
+ .tseg1_max = 128,
+ .tseg2_min = 2,
+ .tseg2_max = 32,
+ .sjw_max = 32,
+ .brp_min = 1,
+ .brp_max = 1024,
+ .brp_inc = 1,
+};
+
+/* CAN FD mode data rate constants */
+static const struct can_bittiming_const rcar_canfd_data_bittiming_const = {
+ .name = RCANFD_DRV_NAME,
+ .tseg1_min = 2,
+ .tseg1_max = 16,
+ .tseg2_min = 2,
+ .tseg2_max = 8,
+ .sjw_max = 8,
+ .brp_min = 1,
+ .brp_max = 256,
+ .brp_inc = 1,
+};
+
+/* Test modes */
+enum {
+ RCANFD_TESTMODE_NONE = 0,
+ RCANFD_TESTMODE_INTERNAL_LOOPBACK,
+ RCANFD_TESTMODE_INTERCHANNEL,
+};
+
+static int testmode = RCANFD_TESTMODE_NONE;
+module_param(testmode, int, 0644);
+
+/* fCAN clock select register settings */
+enum {
+ RCANFD_CANFDCLK = 0, /* CANFD clock */
+ RCANFD_EXTCLK, /* Externally input clock */
+};
+
+/* Helper functions */
+static inline void rcar_canfd_update(u32 mask, u32 val, u32 __iomem *reg)
+{
+ u32 data = readl(reg);
+
+ data &= ~mask;
+ data |= (val & mask);
+ writel(data, reg);
+}
+
+#define rcar_canfd_read(priv, offset) \
+ readl(priv->base + (offset))
+#define rcar_canfd_write(priv, offset, val) \
+ writel(val, priv->base + (offset))
+#define rcar_canfd_set_bit(priv, reg, val) \
+ rcar_canfd_update(val, val, priv->base + (reg))
+#define rcar_canfd_clear_bit(priv, reg, val) \
+ rcar_canfd_update(val, 0, priv->base + (reg))
+#define rcar_canfd_update_bit(priv, reg, mask, val) \
+ rcar_canfd_update(mask, val, priv->base + (reg))
+
+static void rcar_canfd_get_data(struct canfd_frame *cf,
+ struct rcar_canfd_channel *priv, u32 off)
+{
+ u32 i, lwords;
+
+ lwords = cf->len / sizeof(u32);
+ if (cf->len % sizeof(u32))
+ lwords++;
+ for (i = 0; i < lwords; i++)
+ *((u32 *)cf->data + i) =
+ rcar_canfd_read(priv, off + (i * sizeof(u32)));
+}
+
+static void rcar_canfd_put_data(struct canfd_frame *cf,
+ struct rcar_canfd_channel *priv, u32 off)
+{
+ u32 i, j, lwords, leftover;
+ u32 data = 0;
+
+ lwords = cf->len / sizeof(u32);
+ leftover = cf->len % sizeof(u32);
+ for (i = 0; i < lwords; i++)
+ rcar_canfd_write(priv, off + (i * sizeof(u32)),
+ *((u32 *)cf->data + i));
+
+ if (leftover) {
+ u8 *p = (u8 *)((u32 *)cf->data + i);
+
+ for (j = 0; j < leftover; j++)
+ data |= p[j] << (j * 8);
+ rcar_canfd_write(priv, off + (i * sizeof(u32)), data);
+ }
+}
+
+#ifdef CONFIG_DEBUG_FS
+#include <linux/debugfs.h>
+
+static int rcar_canfd_showregs(struct seq_file *s, void *data)
+{
+ struct rcar_canfd_channel *priv = s->private;
+ u32 ch = priv->channel;
+ u32 rf = ch + RCANFD_RFFIFO_IDX;
+ u32 cf = RCANFD_CFFIFO_IDX;
+ u32 val, offset, i;
+
+ if (testmode)
+ seq_printf(s, "RCANFD : testmode = %d\n", testmode);
+ seq_printf(s, "RCANFD register dump: channel %u\n", ch);
+ seq_printf(s, "%-40s: %x\n", "g: cfg",
+ rcar_canfd_read(priv, RCANFD_GCFG));
+ seq_printf(s, "%-40s: %x\n", "g: ctr",
+ rcar_canfd_read(priv, RCANFD_GCTR));
+ seq_printf(s, "%-40s: %x\n", "g: sts",
+ rcar_canfd_read(priv, RCANFD_GSTS));
+ seq_printf(s, "%-40s: %x\n", "afl: ectr",
+ rcar_canfd_read(priv, RCANFD_GAFLECTR));
+ seq_printf(s, "%-40s: %x\n", "afl: cfg0",
+ rcar_canfd_read(priv, RCANFD_GAFLCFG0));
+ seq_printf(s, "%-40s: %x\n", "afl: cfg1",
+ rcar_canfd_read(priv, RCANFD_GAFLCFG1));
+
+ offset = RCANFD_F_GAFL_OFFSET;
+ val = rcar_canfd_read(priv, RCANFD_GAFLCFG0);
+ if (ch == 0) /* Channel */
+ i = 0; /* Start with 0th rule always */
+ else
+ i = RCANFD_AFLCFG_GETRNC0(val);
+
+ seq_printf(s, "%-40s: %x\n", "afl: id",
+ rcar_canfd_read(priv, RCANFD_GAFLID(offset, i)));
+ seq_printf(s, "%-40s: %x\n", "afl: mask",
+ rcar_canfd_read(priv, RCANFD_GAFLM(offset, i)));
+ seq_printf(s, "%-40s: %x\n", "afl: ptr0",
+ rcar_canfd_read(priv, RCANFD_GAFLP0(offset, i)));
+ seq_printf(s, "%-40s: %x\n", "afl: ptr1",
+ rcar_canfd_read(priv, RCANFD_GAFLP1(offset, i)));
+
+ seq_puts(s, "RCANFD Global and Channel error flags:\n");
+ val = rcar_canfd_read(priv, RCANFD_GERFL);
+ seq_printf(s, "%-40s: %x\n", "g: erfl", val);
+ if (val & RCANFD_GERFL_DEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "dlc error");
+ if (val & RCANFD_GERFL_MES)
+ seq_printf(s, "%-40s: %s\n", " --> ", "fifo msg lost");
+ if (val & RCANFD_GERFL_THLES)
+ seq_printf(s, "%-40s: %s\n", " --> ", "tx history lost");
+ if (val & RCANFD_GERFL_CMPOF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "payload overflow");
+ if (val & RCANFD_GERFL_EEF0)
+ seq_printf(s, "%-40s: %s\n", " --> ", "ecc ch0 error");
+ if (val & RCANFD_GERFL_EEF1)
+ seq_printf(s, "%-40s: %s\n", " --> ", "ecc ch1 error");
+ val = rcar_canfd_read(priv, RCANFD_CERFL(ch));
+ seq_printf(s, "%-40s: %x\n", "nr: erfl", val);
+ if (val & RCANFD_CERFL_ADEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "ack delimiter error");
+ if (val & RCANFD_CERFL_B0EF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "dominant bit error");
+ if (val & RCANFD_CERFL_B1EF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "recessive bit error");
+ if (val & RCANFD_CERFL_CEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "crc error");
+ if (val & RCANFD_CERFL_AEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "ack error");
+ if (val & RCANFD_CERFL_FEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "form error");
+ if (val & RCANFD_CERFL_SEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "stuff error");
+ if (val & RCANFD_CERFL_ALEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "arb lost");
+ if (val & RCANFD_CERFL_BLEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "bus lock");
+ if (val & RCANFD_CERFL_OLEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "overload");
+ if (val & RCANFD_CERFL_BOREF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "bus off recov");
+ if (val & RCANFD_CERFL_BOEEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "bus off entry");
+ if (val & RCANFD_CERFL_EPEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "error passive");
+ if (val & RCANFD_CERFL_EWEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "error warning");
+ if (val & RCANFD_CERFL_BEF)
+ seq_printf(s, "%-40s: %s\n", " --> ", "bus error");
+ seq_puts(s, "RCANFD Normal Control & Status Register:\n");
+ seq_printf(s, "%-40s: %x\n", "nr: ncfg",
+ rcar_canfd_read(priv, RCANFD_CCFG(ch)));
+ seq_printf(s, "%-40s: %x\n", "nr: ctr",
+ rcar_canfd_read(priv, RCANFD_CCTR(ch)));
+ val = rcar_canfd_read(priv, RCANFD_CSTS(ch));
+ seq_printf(s, "%-40s: %x\n", "nr: sts", val);
+ if (RCANFD_CSTS_TECCNT(val))
+ seq_printf(s, "%-40s: %x\n", " teccnt ",
+ RCANFD_CSTS_TECCNT(val));
+ if (RCANFD_CSTS_RECCNT(val))
+ seq_printf(s, "%-40s: %x\n", " reccnt ",
+ RCANFD_CSTS_RECCNT(val));
+ if (val & RCANFD_CSTS_BO)
+ seq_printf(s, "%-40s: %s\n", " --> ", "bus off status");
+ if (val & RCANFD_CSTS_EP)
+ seq_printf(s, "%-40s: %s\n", " --> ", "error passive status");
+ seq_puts(s, "RCANFD Data Status Register:\n");
+ seq_printf(s, "%-40s: %x\n", "dr: dcfg",
+ rcar_canfd_read(priv, RCANFD_F_CDFG(ch)));
+ seq_printf(s, "%-40s: %x\n", "dr: fdcfg",
+ rcar_canfd_read(priv, RCANFD_F_CFDCFG(ch)));
+ seq_printf(s, "%-40s: %x\n", "dr: fdctr",
+ rcar_canfd_read(priv, RCANFD_F_CFDCTR(ch)));
+ val = rcar_canfd_read(priv, RCANFD_F_CFDSTS(ch));
+ seq_printf(s, "%-40s: %x\n", "dr: sts", val);
+ if (RCANFD_DCSTS_TDCR(val))
+ seq_printf(s, "%-40s: %x\n", " tdcr ",
+ RCANFD_DCSTS_TDCR(val));
+ if (RCANFD_DCSTS_SOCCNT(val))
+ seq_printf(s, "%-40s: %x\n", " soccnt ",
+ RCANFD_DCSTS_SOCCNT(val));
+ if (RCANFD_DCSTS_EOCCNT(val))
+ seq_printf(s, "%-40s: %x\n", " eoccnt ",
+ RCANFD_DCSTS_EOCCNT(val));
+ if (val & RCANFD_DCSTS_EOCO)
+ seq_printf(s, "%-40s: %s\n", " --> ",
+ "error occurrence overflow");
+ if (val & RCANFD_DCSTS_TDCVF)
+ seq_printf(s, "%-40s: %s\n", " --> ",
+ "transmit delay correction violation");
+ seq_puts(s, "RCANFD FIFO Registers:\n");
+ seq_printf(s, "%-40s: %x\n", "rxfc: cc",
+ rcar_canfd_read(priv, RCANFD_RFCC(rf)));
+ seq_printf(s, "%-40s: %x\n", "rxfc: bsts",
+ rcar_canfd_read(priv, RCANFD_RFSTS(rf)));
+ seq_printf(s, "%-40s: %x\n", "rxfc: pctr",
+ rcar_canfd_read(priv, RCANFD_RFPCTR(rf)));
+ seq_printf(s, "%-40s: %x\n", "rxfifo: sts",
+ rcar_canfd_read(priv, RCANFD_F_RFFDSTS(rf)));
+ seq_printf(s, "%-40s: %x\n", "cmfc: cc",
+ rcar_canfd_read(priv, RCANFD_CFCC(ch, cf)));
+ seq_printf(s, "%-40s: %x\n", "cmfc: bsts",
+ rcar_canfd_read(priv, RCANFD_CFSTS(ch, cf)));
+ seq_printf(s, "%-40s: %x\n", "cmfc: pctr",
+ rcar_canfd_read(priv, RCANFD_CFPCTR(ch, cf)));
+ seq_printf(s, "%-40s: %x\n", "cmfifo: sts",
+ rcar_canfd_read(priv, RCANFD_F_CFFDCSTS(ch, cf)));
+ seq_printf(s, "%-40s: %x\n", "gtxintsts0",
+ rcar_canfd_read(priv, RCANFD_GTINTSTS0));
+
+ seq_puts(s, "done\n");
+ return 0;
+}
+
+static int rcar_canfd_regs_open(struct inode *inode, struct file *file)
+{
+ return single_open(file, rcar_canfd_showregs, inode->i_private);
+}
+
+static const struct file_operations rcar_canfd_regs_ops = {
+ .open = rcar_canfd_regs_open,
+ .read = seq_read,
+ .llseek = seq_lseek,
+ .release = single_release,
+};
+
+void rcar_canfd_init_debugfs(struct rcar_canfd_channel *priv)
+{
+ struct dentry *dev_root;
+ struct net_device *ndev = priv->ndev;
+
+ dev_root = debugfs_create_dir(dev_name(&ndev->dev), NULL);
+ priv->dev_root = dev_root;
+
+ if (IS_ERR(dev_root) || !dev_root) {
+ netdev_warn(ndev,
+ "failed to create debugfs dir for %s (ch %u)\n",
+ dev_name(&ndev->dev), priv->channel);
+ return;
+ }
+ debugfs_create_file("dumpregs", S_IFREG | S_IRUGO, dev_root, priv,
+ &rcar_canfd_regs_ops);
+}
+
+void rcar_canfd_remove_debugfs(struct rcar_canfd_channel *priv)
+{
+ debugfs_remove_recursive(priv->dev_root);
+}
+#else
+void rcar_canfd_init_debugfs(struct rcar_canfd_channel *priv)
+{
+}
+
+void rcar_canfd_remove_debugfs(struct rcar_canfd_channel *priv)
+{
+}
+#endif /* CONFIG_DEBUG_FS */
+
+static void rcar_canfd_tx_failure_cleanup(struct net_device *ndev)
+{
+ u32 i;
+
+ for (i = 0; i < RCANFD_FIFO_DEPTH; i++)
+ can_free_echo_skb(ndev, i);
+}
+
+static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv)
+{
+ u32 sts, ch;
+ int err;
+
+ /* Check RAMINIT flag as CAN RAM initialization takes place
+ * after the MCU reset
+ */
+ err = readl_poll_timeout((gpriv->base + RCANFD_GSTS), sts,
+ !(sts & RCANFD_GSTS_RAMINIT), 2, 500000);
+ if (err) {
+ dev_dbg(&gpriv->pdev->dev, "global raminit failed\n");
+ return err;
+ }
+
+ /* Transition to Global Reset mode */
+ rcar_canfd_clear_bit(gpriv, RCANFD_GCTR, RCANFD_GCTR_SLPR);
+ rcar_canfd_update_bit(gpriv, RCANFD_GCTR,
+ RCANFD_GCTR_MODEMASK, RCANFD_GCTR_GRESET);
+
+ /* Ensure Global reset mode */
+ err = readl_poll_timeout((gpriv->base + RCANFD_GSTS), sts,
+ (sts & RCANFD_GSTS_RESET), 2, 500000);
+ if (err) {
+ dev_dbg(&gpriv->pdev->dev, "global reset failed\n");
+ return err;
+ }
+
+ /* Reset Global error flags */
+ rcar_canfd_write(gpriv, RCANFD_GERFL, 0x0);
+
+ /* Set the controller into FD mode */
+ rcar_canfd_set_bit(gpriv, RCANFD_GRMCFG, RCANFD_GINTF_CANFD);
+
+ /* Transition all Channels to reset mode */
+ for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+ rcar_canfd_clear_bit(gpriv, RCANFD_CCTR(ch), RCANFD_CCTR_CSLPR);
+
+ rcar_canfd_update_bit(gpriv, RCANFD_CCTR(ch),
+ RCANFD_CCTR_MODEMASK,
+ RCANFD_CCTR_CRESET);
+
+ /* Ensure Channel reset mode */
+ err = readl_poll_timeout((gpriv->base + RCANFD_CSTS(ch)), sts,
+ (sts & RCANFD_CSTS_RESET), 2, 500000);
+ if (err) {
+ dev_dbg(&gpriv->pdev->dev,
+ "channel %u reset failed\n", ch);
+ return err;
+ }
+ }
+ return 0;
+}
+
+static void rcar_canfd_configure_controller(struct rcar_canfd_global *gpriv)
+{
+ u32 cfg, ch;
+
+ /* Global Configuration settings */
+ cfg = RCANFD_GCFG_EEFE; /* ECC error flag enabled */
+
+ /* Set External Clock if selected */
+ if (gpriv->clock_select != RCANFD_CANFDCLK)
+ cfg |= RCANFD_GCFG_DCS;
+
+ /* Truncate payload to configured message size RFPLS */
+ cfg |= RCANFD_GCFG_CMPOC;
+
+ rcar_canfd_set_bit(gpriv, RCANFD_GCFG, cfg);
+
+ /* Channel configuration settings */
+ for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+ rcar_canfd_set_bit(gpriv, RCANFD_CCTR(ch), RCANFD_CCTR_ERRD);
+ rcar_canfd_update_bit(gpriv, RCANFD_CCTR(ch),
+ RCANFD_CCTR_BOMMASK,
+ RCANFD_CCTR_BOM_ENTRY);
+ }
+}
+
+static int rcar_canfd_configure_selftest_mode(struct rcar_canfd_channel *priv)
+{
+ u32 sts, err;
+ u32 ch = priv->channel;
+
+ rcar_canfd_update_bit(priv, RCANFD_CCTR(ch),
+ RCANFD_CCTR_MODEMASK, RCANFD_CCTR_CHLT);
+
+ /* Verify channel mode change */
+ err = readl_poll_timeout((priv->base + RCANFD_CSTS(ch)), sts,
+ (sts & RCANFD_CSTS_HALT), 2, 500000);
+ if (err) {
+ netdev_dbg(priv->ndev, "channel halt failed\n");
+ return err;
+ }
+
+ /* Internal Selt Test mode */
+ rcar_canfd_update_bit(priv, RCANFD_CCTR(ch), RCANFD_CCTR_CTMASK,
+ RCANFD_CCTR_CTMS_ILB);
+ rcar_canfd_set_bit(priv, RCANFD_CCTR(ch), RCANFD_CCTR_CTME);
+ return 0;
+}
+
+static int rcar_canfd_configure_interch_mode(struct rcar_canfd_global *gpriv)
+{
+ u32 sts;
+ int err;
+
+ rcar_canfd_update_bit(gpriv, RCANFD_GCTR,
+ RCANFD_GCTR_MODEMASK, RCANFD_GCTR_GHLT);
+
+ /* Ensure Global Halt mode */
+ err = readl_poll_timeout((gpriv->base + RCANFD_GSTS), sts,
+ (sts & RCANFD_GSTS_HLT), 2, 500000);
+ if (err) {
+ dev_dbg(&gpriv->pdev->dev, "global halt mode failed\n");
+ return err;
+ }
+
+ rcar_canfd_set_bit(gpriv, RCANFD_GTSTCFG,
+ (RCANFD_GTSTCFG_C0CBCE | RCANFD_GTSTCFG_C1CBCE));
+ rcar_canfd_set_bit(gpriv, RCANFD_GTSTCTR, RCANFD_GTSTCTR_ICBCTME);
+
+ /* Verify inter-channel mode enabled */
+ err = readl_poll_timeout((gpriv->base + RCANFD_GTSTCTR), sts,
+ (sts & RCANFD_GTSTCTR_ICBCTME), 2, 500000);
+ if (err) {
+ dev_dbg(&gpriv->pdev->dev,
+ "global inter-channel test mode failed\n");
+ return err;
+ }
+ return 0;
+}
+
+static void rcar_canfd_configure_afl_rules(struct rcar_canfd_global *gpriv,
+ u32 ch)
+{
+ u32 cfg;
+ int start, page, num_rules = RCANFD_CHANNEL_NUMRULES;
+ u32 ridx = ch + RCANFD_RFFIFO_IDX;
+
+ if (ch == 0) {
+ start = 0; /* Start from 0th rule */
+ } else {
+ /* Get number of existing rules and adjust */
+ cfg = rcar_canfd_read(gpriv, RCANFD_GAFLCFG0);
+ start = RCANFD_AFLCFG_GETRNC0(cfg);
+ }
+
+ /* Enable write access to entry */
+ page = RCANFD_AFL_PAGENUM(start);
+ rcar_canfd_set_bit(gpriv, RCANFD_GAFLECTR,
+ (RCANFD_AFLCTR_AFLPN(page) | RCANFD_AFLCTR_AFLDAE));
+
+ /* Write number of rules for channel */
+ if (ch == 0)
+ rcar_canfd_set_bit(gpriv, RCANFD_GAFLCFG0,
+ RCANFD_AFLCFG_SETRNC0(num_rules));
+ else
+ rcar_canfd_set_bit(gpriv, RCANFD_GAFLCFG0,
+ RCANFD_AFLCFG_SETRNC1(num_rules));
+
+ /* Set the rule of that page */
+ if (testmode == RCANFD_TESTMODE_INTERNAL_LOOPBACK)
+ rcar_canfd_write(gpriv,
+ RCANFD_GAFLID(RCANFD_F_GAFL_OFFSET, start),
+ RCANFD_AFLID_GAFLLB);
+ else
+ /* Accept all IDs */
+ rcar_canfd_write(gpriv,
+ RCANFD_GAFLID(RCANFD_F_GAFL_OFFSET, start), 0);
+
+ /* IDE or RTR is not considered for matching */
+ rcar_canfd_write(gpriv, RCANFD_GAFLM(RCANFD_F_GAFL_OFFSET, start), 0);
+ /* Any data length accepted */
+ rcar_canfd_write(gpriv, RCANFD_GAFLP0(RCANFD_F_GAFL_OFFSET, start), 0);
+ /* Place the msg in corresponding Rx FIFO entry */
+ rcar_canfd_write(gpriv, RCANFD_GAFLP1(RCANFD_F_GAFL_OFFSET, start),
+ RCANFD_AFLPTR1_RFFIFO(ridx));
+
+ /* Disable write access to page */
+ rcar_canfd_clear_bit(gpriv, RCANFD_GAFLECTR, RCANFD_AFLCTR_AFLDAE);
+}
+
+static void rcar_canfd_configure_rx(struct rcar_canfd_global *gpriv, u32 ch)
+{
+ /* Rx FIFO is used for reception */
+ u32 cfg;
+ u16 rfdc, rfpls;
+
+ /* Select Rx FIFO based on channel */
+ u32 ridx = ch + RCANFD_RFFIFO_IDX;
+
+ rfdc = 2; /* b010 - 8 messages Rx FIFO depth */
+ rfpls = 7; /* b111 - Max 64 bytes payload */
+
+ cfg = (RCANFD_RFFIFO_RFIM | RCANFD_RFFIFO_RFDC(rfdc) |
+ RCANFD_RFFIFO_RFPLS(rfpls) | RCANFD_RFFIFO_RFIE);
+ rcar_canfd_write(gpriv, RCANFD_RFCC(ridx), cfg);
+}
+
+static void rcar_canfd_configure_tx(struct rcar_canfd_global *gpriv, u32 ch)
+{
+ /* Tx/Rx(Common) FIFO configured in Tx mode is
+ * used for transmission
+ *
+ * Each channel has 3 Common FIFO dedicated to them.
+ * Use the 1st (index 0) out of 3
+ */
+ u32 cfg;
+ u16 cftml, cfm, cfdc, cfpls;
+
+ cftml = 0; /* 0th buffer */
+ cfm = 1; /* b01 - Transmit mode */
+ cfdc = 2; /* b010 - 8 messages Tx FIFO depth */
+ cfpls = 7; /* b111 - Max 64 bytes payload */
+
+ cfg = (RCANFD_CMFIFO_TML(cftml) | RCANFD_CMFIFO_M(cfm) |
+ RCANFD_CMFIFO_CFIM | RCANFD_CMFIFO_DC(cfdc) |
+ RCANFD_CMFIFO_PLS(cfpls) | RCANFD_CMFIFO_CFTXIE);
+ rcar_canfd_write(gpriv, RCANFD_CFCC(ch, RCANFD_CFFIFO_IDX), cfg);
+
+ /* Clear FD mode specific control/status register */
+ rcar_canfd_write(gpriv, RCANFD_F_CFFDCSTS(ch, RCANFD_CFFIFO_IDX), 0);
+}
+
+static void rcar_canfd_enable_global_interrupts(struct rcar_canfd_global *gpriv)
+{
+ u32 ctr;
+
+ /* Clear any stray error interrupt flags */
+ rcar_canfd_write(gpriv, RCANFD_GERFL, 0);
+
+ /* Global interrupts setup */
+ ctr = RCANFD_GCTR_MEIE;
+ ctr |= RCANFD_GCTR_CFMPOFIE;
+
+ rcar_canfd_set_bit(gpriv, RCANFD_GCTR, ctr);
+}
+
+static void rcar_canfd_disable_global_interrupts(struct rcar_canfd_global
+ *gpriv)
+{
+ /* Disable all interrupts */
+ rcar_canfd_write(gpriv, RCANFD_GCTR, 0);
+
+ /* Clear any stray error interrupt flags */
+ rcar_canfd_write(gpriv, RCANFD_GERFL, 0);
+}
+
+static void rcar_canfd_enable_channel_interrupts(struct rcar_canfd_channel
+ *priv)
+{
+ u32 ctr, ch = priv->channel;
+
+ /* Clear any stray error flags */
+ rcar_canfd_write(priv, RCANFD_CERFL(ch), 0);
+
+ /* Channel interrupts setup */
+ ctr = (RCANFD_CCTR_TAIE |
+ RCANFD_CCTR_ALIE | RCANFD_CCTR_BLIE |
+ RCANFD_CCTR_OLIE | RCANFD_CCTR_BORIE |
+ RCANFD_CCTR_BOEIE | RCANFD_CCTR_EPIE |
+ RCANFD_CCTR_EWIE | RCANFD_CCTR_BEIE);
+ rcar_canfd_set_bit(priv, RCANFD_CCTR(ch), ctr);
+}
+
+static void rcar_canfd_disable_channel_interrupts(struct rcar_canfd_channel
+ *priv)
+{
+ u32 ctr, ch = priv->channel;
+
+ ctr = (RCANFD_CCTR_TAIE |
+ RCANFD_CCTR_ALIE | RCANFD_CCTR_BLIE |
+ RCANFD_CCTR_OLIE | RCANFD_CCTR_BORIE |
+ RCANFD_CCTR_BOEIE | RCANFD_CCTR_EPIE |
+ RCANFD_CCTR_EWIE | RCANFD_CCTR_BEIE);
+ rcar_canfd_clear_bit(priv, RCANFD_CCTR(ch), ctr);
+
+ /* Clear any stray error flags */
+ rcar_canfd_write(priv, RCANFD_CERFL(ch), 0);
+}
+
+static void rcar_canfd_global_error(struct net_device *ndev)
+{
+ struct rcar_canfd_channel *priv = netdev_priv(ndev);
+ struct net_device_stats *stats = &ndev->stats;
+ u32 ch = priv->channel;
+ u32 gerfl, sts;
+ u32 ridx = ch + RCANFD_RFFIFO_IDX;
+
+ gerfl = rcar_canfd_read(priv, RCANFD_GERFL);
+ if ((gerfl & RCANFD_GERFL_EEF0) && (ch == 0)) {
+ netdev_dbg(ndev, "Ch0: ECC Error flag\n");
+ stats->tx_dropped++;
+ }
+ if ((gerfl & RCANFD_GERFL_EEF1) && (ch == 1)) {
+ netdev_dbg(ndev, "Ch1: ECC Error flag\n");
+ stats->tx_dropped++;
+ }
+ if (gerfl & RCANFD_GERFL_MES) {
+ sts = rcar_canfd_read(priv,
+ RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX));
+ if (sts & RCANFD_CMFIFO_CFMLT) {
+ netdev_dbg(ndev, "Tx Message Lost flag\n");
+ stats->tx_dropped++;
+ rcar_canfd_write(priv,
+ RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX),
+ sts & ~RCANFD_CMFIFO_CFMLT);
+ }
+
+ sts = rcar_canfd_read(priv, RCANFD_RFSTS(ridx));
+ if (sts & RCANFD_RFFIFO_RFMLT) {
+ netdev_dbg(ndev, "Rx Message Lost flag\n");
+ stats->rx_dropped++;
+ rcar_canfd_write(priv, RCANFD_RFSTS(ridx),
+ sts & ~RCANFD_RFFIFO_RFMLT);
+ }
+ }
+ if (gerfl & RCANFD_GERFL_CMPOF) {
+ /* Message Lost flag will be set for respective channel
+ * when this condition happens with counters and flags
+ * already updated.
+ */
+ netdev_dbg(ndev, "global payload overflow interrupt\n");
+ }
+
+ /* Clear all global error interrupts. Only affected channels bits
+ * get cleared
+ */
+ rcar_canfd_write(priv, RCANFD_GERFL, 0);
+}
+
+static void rcar_canfd_error(struct net_device *ndev)
+{
+ struct rcar_canfd_channel *priv = netdev_priv(ndev);
+ struct net_device_stats *stats = &ndev->stats;
+ struct can_frame *cf;
+ struct sk_buff *skb;
+ u32 cerfl, csts;
+ u32 txerr = 0, rxerr = 0;
+ u32 ch = priv->channel;
+
+ /* Propagate the error condition to the CAN stack */
+ skb = alloc_can_err_skb(ndev, &cf);
+ if (!skb) {
+ stats->rx_dropped++;
+ return;
+ }
+
+ /* Channel error interrupt */
+ cerfl = rcar_canfd_read(priv, RCANFD_CERFL(ch));
+ csts = rcar_canfd_read(priv, RCANFD_CSTS(ch));
+ txerr = RCANFD_CSTS_TECCNT(csts);
+ rxerr = RCANFD_CSTS_RECCNT(csts);
+
+ netdev_dbg(ndev, "ch erfl %x sts %x txerr %u rxerr %u\n",
+ cerfl, csts, txerr, rxerr);
+
+ if (cerfl & RCANFD_CERFL_BEF) {
+ netdev_dbg(ndev, "Bus error\n");
+ cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_PROT;
+ cf->data[2] = CAN_ERR_PROT_UNSPEC;
+ priv->can.can_stats.bus_error++;
+ }
+ if (cerfl & RCANFD_CERFL_ADEF) {
+ netdev_dbg(ndev, "ACK Delimiter Error\n");
+ stats->tx_errors++;
+ cf->data[3] |= CAN_ERR_PROT_LOC_ACK_DEL;
+ }
+ if (cerfl & RCANFD_CERFL_B0EF) {
+ netdev_dbg(ndev, "Bit Error (dominant)\n");
+ stats->tx_errors++;
+ cf->data[2] |= CAN_ERR_PROT_BIT0;
+ }
+ if (cerfl & RCANFD_CERFL_B1EF) {
+ netdev_dbg(ndev, "Bit Error (recessive)\n");
+ stats->tx_errors++;
+ cf->data[2] |= CAN_ERR_PROT_BIT1;
+ }
+ if (cerfl & RCANFD_CERFL_CEF) {
+ netdev_dbg(ndev, "CRC Error\n");
+ stats->rx_errors++;
+ cf->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
+ }
+ if (cerfl & RCANFD_CERFL_AEF) {
+ netdev_dbg(ndev, "ACK Error\n");
+ stats->tx_errors++;
+ cf->can_id |= CAN_ERR_ACK;
+ cf->data[3] |= CAN_ERR_PROT_LOC_ACK;
+ }
+ if (cerfl & RCANFD_CERFL_FEF) {
+ netdev_dbg(ndev, "Form Error\n");
+ stats->rx_errors++;
+ cf->data[2] |= CAN_ERR_PROT_FORM;
+ }
+ if (cerfl & RCANFD_CERFL_SEF) {
+ netdev_dbg(ndev, "Stuff Error\n");
+ stats->rx_errors++;
+ cf->data[2] |= CAN_ERR_PROT_STUFF;
+ }
+ if (cerfl & RCANFD_CERFL_ALEF) {
+ netdev_dbg(ndev, "Arbitration lost Error\n");
+ priv->can.can_stats.arbitration_lost++;
+ cf->can_id |= CAN_ERR_LOSTARB;
+ cf->data[0] |= CAN_ERR_LOSTARB_UNSPEC;
+ }
+ if (cerfl & RCANFD_CERFL_BLEF) {
+ netdev_dbg(ndev, "Bus Lock Error\n");
+ stats->rx_errors++;
+ cf->can_id |= CAN_ERR_BUSERROR;
+ }
+ if (cerfl & RCANFD_CERFL_EWEF) {
+ netdev_dbg(ndev, "Error warning interrupt\n");
+ priv->can.state = CAN_STATE_ERROR_WARNING;
+ priv->can.can_stats.error_warning++;
+ cf->can_id |= CAN_ERR_CRTL;
+ cf->data[1] = txerr > rxerr ? CAN_ERR_CRTL_TX_WARNING :
+ CAN_ERR_CRTL_RX_WARNING;
+ cf->data[6] = txerr;
+ cf->data[7] = rxerr;
+ }
+ if (cerfl & RCANFD_CERFL_EPEF) {
+ netdev_dbg(ndev, "Error passive interrupt\n");
+ priv->can.state = CAN_STATE_ERROR_PASSIVE;
+ priv->can.can_stats.error_passive++;
+ cf->can_id |= CAN_ERR_CRTL;
+ cf->data[1] = txerr > rxerr ? CAN_ERR_CRTL_TX_PASSIVE :
+ CAN_ERR_CRTL_RX_PASSIVE;
+ cf->data[6] = txerr;
+ cf->data[7] = rxerr;
+ }
+ if (cerfl & RCANFD_CERFL_BOEEF) {
+ netdev_dbg(ndev, "Bus-off entry interrupt\n");
+ rcar_canfd_tx_failure_cleanup(ndev);
+ priv->can.state = CAN_STATE_BUS_OFF;
+ priv->can.can_stats.bus_off++;
+ can_bus_off(ndev);
+ cf->can_id |= CAN_ERR_BUSOFF;
+ }
+ if (cerfl & RCANFD_CERFL_OLEF) {
+ netdev_dbg(ndev,
+ "Overload Frame Transmission error interrupt\n");
+ stats->tx_errors++;
+ cf->can_id |= CAN_ERR_PROT;
+ cf->data[2] |= CAN_ERR_PROT_OVERLOAD;
+ }
+
+ /* Clear all channel error interrupts */
+ rcar_canfd_write(priv, RCANFD_CERFL(ch), 0);
+ stats->rx_packets++;
+ stats->rx_bytes += cf->can_dlc;
+ netif_rx(skb);
+}
+
+static void rcar_canfd_tx_done(struct net_device *ndev)
+{
+ struct rcar_canfd_channel *priv = netdev_priv(ndev);
+ struct net_device_stats *stats = &ndev->stats;
+ u32 sts;
+ u32 ch = priv->channel;
+
+ while (1) {
+ u8 unsent;
+
+ sts = rcar_canfd_read(priv,
+ RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX));
+ unsent = RCANFD_CMFIFO_CFMC(sts);
+
+ if (priv->tx_head - priv->tx_tail <= unsent)
+ break;
+
+ stats->tx_packets++;
+ stats->tx_bytes += priv->tx_len[priv->tx_tail %
+ RCANFD_FIFO_DEPTH];
+ priv->tx_len[priv->tx_tail % RCANFD_FIFO_DEPTH] = 0;
+ can_get_echo_skb(ndev, priv->tx_tail % RCANFD_FIFO_DEPTH);
+ priv->tx_tail++;
+ netif_wake_queue(ndev);
+ }
+
+ /* Clear interrupt */
+ rcar_canfd_write(priv, RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX),
+ sts & ~RCANFD_CMFIFO_CFTXIF);
+ can_led_event(ndev, CAN_LED_EVENT_TX);
+}
+
+static irqreturn_t rcar_canfd_global_interrupt(int irq, void *dev_id)
+{
+ struct rcar_canfd_global *gpriv = dev_id;
+ struct net_device *ndev;
+ struct rcar_canfd_channel *priv;
+ u32 sts, gerfl;
+ u32 ch, ridx;
+
+ /* Global error interrupts still indicate a condition specific
+ * to a channel. RxFIFO interrupt is a global interrupt.
+ */
+ for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+ priv = gpriv->ch[ch];
+ ndev = priv->ndev;
+ ridx = ch + RCANFD_RFFIFO_IDX;
+
+ /* Global error interrupts */
+ gerfl = rcar_canfd_read(priv, RCANFD_GERFL);
+ if (RCANFD_GERFL_ERR(gerfl))
+ rcar_canfd_global_error(ndev);
+
+ /* Handle Rx interrupts */
+ sts = rcar_canfd_read(priv, RCANFD_RFSTS(ridx));
+ if (sts & RCANFD_RFFIFO_RFIF) {
+ if (napi_schedule_prep(&priv->napi)) {
+ /* Disable Rx FIFO interrupts */
+ rcar_canfd_clear_bit(priv,
+ RCANFD_RFCC(ridx),
+ RCANFD_RFFIFO_RFIE);
+ __napi_schedule(&priv->napi);
+ }
+ }
+ }
+ return IRQ_HANDLED;
+}
+
+static irqreturn_t rcar_canfd_channel_interrupt(int irq, void *dev_id)
+{
+ struct rcar_canfd_global *gpriv = dev_id;
+ struct net_device *ndev;
+ struct rcar_canfd_channel *priv;
+ u32 sts, cerfl, ch;
+
+ /* Common FIFO is a per channel resource */
+ for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+ priv = gpriv->ch[ch];
+ ndev = priv->ndev;
+
+ /* Channel error interrupts */
+ cerfl = rcar_canfd_read(priv, RCANFD_CERFL(ch));
+ if (RCANFD_CERFL_ERR(cerfl))
+ rcar_canfd_error(ndev);
+
+ /* Handle Tx interrupts */
+ sts = rcar_canfd_read(priv,
+ RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX));
+ if (sts & RCANFD_CMFIFO_CFTXIF)
+ rcar_canfd_tx_done(ndev);
+ }
+ return IRQ_HANDLED;
+}
+
+static void rcar_canfd_set_bittiming(struct net_device *dev)
+{
+ struct rcar_canfd_channel *priv = netdev_priv(dev);
+ const struct can_bittiming *bt = &priv->can.bittiming;
+ const struct can_bittiming *dbt = &priv->can.data_bittiming;
+ u16 brp, sjw, tseg1, tseg2;
+ u32 cfg;
+ u32 ch = priv->channel;
+
+ /* Nominal bit timing settings */
+ brp = bt->brp - 1;
+ sjw = bt->sjw - 1;
+ tseg1 = bt->prop_seg + bt->phase_seg1 - 1;
+ tseg2 = bt->phase_seg2 - 1;
+
+ cfg = (RCANFD_NR_TSEG1(tseg1) | RCANFD_NR_BRP(brp) |
+ RCANFD_NR_SJW(sjw) | RCANFD_NR_TSEG2(tseg2));
+
+ rcar_canfd_write(priv, RCANFD_CCFG(ch), cfg);
+ netdev_dbg(priv->ndev, "nrate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n",
+ brp, sjw, tseg1, tseg2);
+
+ /* Data bit timing settings */
+ brp = dbt->brp - 1;
+ sjw = dbt->sjw - 1;
+ tseg1 = dbt->prop_seg + dbt->phase_seg1 - 1;
+ tseg2 = dbt->phase_seg2 - 1;
+
+ cfg = (RCANFD_DR_TSEG1(tseg1) | RCANFD_DR_BRP(brp) |
+ RCANFD_DR_SJW(sjw) | RCANFD_DR_TSEG2(tseg2));
+
+ rcar_canfd_write(priv, RCANFD_F_CDFG(ch), cfg);
+ netdev_dbg(priv->ndev, "drate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n",
+ brp, sjw, tseg1, tseg2);
+}
+
+static int rcar_canfd_start(struct net_device *ndev)
+{
+ struct rcar_canfd_channel *priv = netdev_priv(ndev);
+ int err = -EOPNOTSUPP;
+ u32 sts, ch = priv->channel;
+ u32 ridx = ch + RCANFD_RFFIFO_IDX;
+
+ /* Ensure channel starts in FD mode */
+ if (!(priv->can.ctrlmode & CAN_CTRLMODE_FD)) {
+ netdev_err(ndev, "enable can fd mode for channel %d\n", ch);
+ goto fail_mode;
+ }
+
+ rcar_canfd_set_bittiming(ndev);
+
+ rcar_canfd_enable_channel_interrupts(priv);
+
+ if (testmode == RCANFD_TESTMODE_INTERNAL_LOOPBACK) {
+ /* Enable self test mode */
+ err = rcar_canfd_configure_selftest_mode(priv);
+ if (err) {
+ netdev_err(ndev,
+ "channel %u self-test mode failed\n", ch);
+ goto fail_mode_change;
+ }
+ }
+
+ /* Set channel to Operational mode */
+ rcar_canfd_update_bit(priv, RCANFD_CCTR(ch),
+ RCANFD_CCTR_MODEMASK, RCANFD_CCTR_COPM);
+
+ /* Verify channel mode change */
+ err = readl_poll_timeout((priv->base + RCANFD_CSTS(ch)), sts,
+ (sts & RCANFD_CSTS_COM), 2, 500000);
+ if (err) {
+ netdev_err(ndev, "channel %u communication state failed\n", ch);
+ goto fail_mode_change;
+ }
+
+ /* Enable Common & Rx FIFO */
+ rcar_canfd_set_bit(priv, RCANFD_CFCC(ch, RCANFD_CFFIFO_IDX),
+ RCANFD_CMFIFO_CFE);
+ rcar_canfd_set_bit(priv, RCANFD_RFCC(ridx), RCANFD_RFFIFO_RFE);
+
+ priv->can.state = CAN_STATE_ERROR_ACTIVE;
+ return 0;
+
+fail_mode_change:
+ rcar_canfd_disable_channel_interrupts(priv);
+fail_mode:
+ return err;
+}
+
+static int rcar_canfd_open(struct net_device *ndev)
+{
+ struct rcar_canfd_channel *priv = netdev_priv(ndev);
+ struct rcar_canfd_global *gpriv = priv->gpriv;
+ int err;
+
+ /* Peripheral clock is already enabled in probe */
+ err = clk_prepare_enable(gpriv->can_clk);
+ if (err) {
+ netdev_err(ndev, "failed to enable CAN clock, error %d\n", err);
+ goto out_clock;
+ }
+
+ err = open_candev(ndev);
+ if (err) {
+ netdev_err(ndev, "open_candev() failed, error %d\n", err);
+ goto out_can_clock;
+ }
+
+ napi_enable(&priv->napi);
+ err = rcar_canfd_start(ndev);
+ if (err)
+ goto out_close;
+ netif_start_queue(ndev);
+ can_led_event(ndev, CAN_LED_EVENT_OPEN);
+ return 0;
+out_close:
+ napi_disable(&priv->napi);
+ close_candev(ndev);
+out_can_clock:
+ clk_disable_unprepare(gpriv->can_clk);
+out_clock:
+ return err;
+}
+
+static void rcar_canfd_stop(struct net_device *ndev)
+{
+ struct rcar_canfd_channel *priv = netdev_priv(ndev);
+ int err;
+ u32 sts, ch = priv->channel;
+ u32 ridx = ch + RCANFD_RFFIFO_IDX;
+
+ /* Transition to channel reset mode */
+ rcar_canfd_update_bit(priv, RCANFD_CCTR(ch),
+ RCANFD_CCTR_MODEMASK, RCANFD_CCTR_CRESET);
+
+ /* Check Channel reset mode */
+ err = readl_poll_timeout((priv->base + RCANFD_CSTS(ch)), sts,
+ (sts & RCANFD_CSTS_RESET), 2, 500000);
+ if (err)
+ netdev_err(ndev, "channel %u reset failed\n", ch);
+
+ rcar_canfd_disable_channel_interrupts(priv);
+
+ /* Disable Common & Rx FIFO */
+ rcar_canfd_clear_bit(priv, RCANFD_CFCC(ch, RCANFD_CFFIFO_IDX),
+ RCANFD_CMFIFO_CFE);
+ rcar_canfd_clear_bit(priv, RCANFD_RFCC(ridx), RCANFD_RFFIFO_RFE);
+
+ /* Set the state as STOPPED */
+ priv->can.state = CAN_STATE_STOPPED;
+}
+
+static int rcar_canfd_close(struct net_device *ndev)
+{
+ struct rcar_canfd_channel *priv = netdev_priv(ndev);
+ struct rcar_canfd_global *gpriv = priv->gpriv;
+
+ netif_stop_queue(ndev);
+ rcar_canfd_stop(ndev);
+ napi_disable(&priv->napi);
+ clk_disable_unprepare(gpriv->can_clk);
+ close_candev(ndev);
+ can_led_event(ndev, CAN_LED_EVENT_STOP);
+ return 0;
+}
+
+static netdev_tx_t rcar_canfd_start_xmit(struct sk_buff *skb,
+ struct net_device *ndev)
+{
+ struct rcar_canfd_channel *priv = netdev_priv(ndev);
+ struct canfd_frame *cf = (struct canfd_frame *)skb->data;
+ u32 sts, id, ptr;
+ u32 ch = priv->channel;
+
+ if (can_dropped_invalid_skb(ndev, skb))
+ return NETDEV_TX_OK;
+
+ if (cf->can_id & CAN_EFF_FLAG) {
+ id = cf->can_id & CAN_EFF_MASK;
+ id |= RCANFD_CMFIFO_CFIDE;
+ } else {
+ id = cf->can_id & CAN_SFF_MASK;
+ }
+
+ if (cf->can_id & CAN_RTR_FLAG)
+ id |= RCANFD_CMFIFO_CFRTR;
+
+ rcar_canfd_write(priv, RCANFD_F_CFID(ch, RCANFD_CFFIFO_IDX),
+ id);
+ ptr = RCANFD_CMFIFO_CFDLC(can_len2dlc(cf->len));
+ rcar_canfd_write(priv, RCANFD_F_CFPTR(ch, RCANFD_CFFIFO_IDX),
+ ptr);
+
+ rcar_canfd_put_data(cf, priv,
+ RCANFD_F_CFDF(ch, RCANFD_CFFIFO_IDX, 0));
+
+ priv->tx_len[priv->tx_head % RCANFD_FIFO_DEPTH] = cf->len;
+ can_put_echo_skb(skb, ndev, priv->tx_head % RCANFD_FIFO_DEPTH);
+ priv->tx_head++;
+
+ sts = rcar_canfd_read(priv, RCANFD_F_CFFDCSTS(ch, RCANFD_CFFIFO_IDX));
+ if (can_is_canfd_skb(skb)) {
+ /* CAN FD frame format */
+ sts |= RCANFD_CMFIFO_CFFDF;
+ if (cf->flags & CANFD_BRS)
+ sts |= RCANFD_CMFIFO_CFBRS;
+ else
+ sts &= ~RCANFD_CMFIFO_CFBRS;
+ } else {
+ sts &= ~RCANFD_CMFIFO_CFFDF;
+ }
+ rcar_canfd_write(priv, RCANFD_F_CFFDCSTS(ch, RCANFD_CFFIFO_IDX), sts);
+
+ /* Start Tx: Write 0xff to CFPC to increment the CPU-side
+ * pointer for the Common FIFO
+ */
+ rcar_canfd_write(priv, RCANFD_CFPCTR(ch, RCANFD_CFFIFO_IDX), 0xff);
+
+ /* Stop the queue if we've filled all FIFO entries */
+ if (priv->tx_head - priv->tx_tail >= RCANFD_FIFO_DEPTH)
+ netif_stop_queue(ndev);
+ return NETDEV_TX_OK;
+}
+
+static void rcar_canfd_rx_pkt(struct rcar_canfd_channel *priv)
+{
+ struct net_device_stats *stats = &priv->ndev->stats;
+ struct canfd_frame *cf;
+ struct sk_buff *skb;
+ u32 sts = 0, id, ptr;
+ u32 ch = priv->channel;
+ u32 ridx = ch + RCANFD_RFFIFO_IDX;
+
+ id = rcar_canfd_read(priv, RCANFD_F_RFID(ridx));
+ ptr = rcar_canfd_read(priv, RCANFD_F_RFPTR(ridx));
+
+ sts = rcar_canfd_read(priv, RCANFD_F_RFFDSTS(ridx));
+ if (sts & RCANFD_RFFIFO_RFFDF)
+ skb = alloc_canfd_skb(priv->ndev, &cf);
+ else
+ skb = alloc_can_skb(priv->ndev,
+ (struct can_frame **)&cf);
+
+ if (!skb) {
+ stats->rx_dropped++;
+ return;
+ }
+
+ if (sts & RCANFD_RFFIFO_RFFDF)
+ cf->len = can_dlc2len(RCANFD_RFFIFO_RFDLC(ptr));
+ else
+ cf->len = get_can_dlc(RCANFD_RFFIFO_RFDLC(ptr));
+
+ if (sts & RCANFD_RFFIFO_RFESI) {
+ cf->flags |= CANFD_ESI;
+ netdev_dbg(priv->ndev, "ESI Error\n");
+ }
+
+ if (id & RCANFD_RFFIFO_RFIDE)
+ cf->can_id = (id & CAN_EFF_MASK) | CAN_EFF_FLAG;
+ else
+ cf->can_id = id & CAN_SFF_MASK;
+
+ if (!(sts & RCANFD_RFFIFO_RFFDF) && (id & RCANFD_RFFIFO_RFRTR)) {
+ cf->can_id |= CAN_RTR_FLAG;
+ } else {
+ if (sts & RCANFD_RFFIFO_RFBRS)
+ cf->flags |= CANFD_BRS;
+
+ rcar_canfd_get_data(cf, priv, RCANFD_F_RFDF(ridx, 0));
+ }
+
+ /* Write 0xff to RFPC to increment the CPU-side
+ * pointer of the Rx FIFO
+ */
+ rcar_canfd_write(priv, RCANFD_RFPCTR(ridx), 0xff);
+
+ can_led_event(priv->ndev, CAN_LED_EVENT_RX);
+
+ stats->rx_bytes += cf->len;
+ stats->rx_packets++;
+ netif_receive_skb(skb);
+}
+
+static int rcar_canfd_rx_poll(struct napi_struct *napi, int quota)
+{
+ struct rcar_canfd_channel *priv =
+ container_of(napi, struct rcar_canfd_channel, napi);
+ int num_pkts;
+ u32 sts;
+ u32 ch = priv->channel;
+ u32 ridx = ch + RCANFD_RFFIFO_IDX;
+
+ for (num_pkts = 0; num_pkts < quota; num_pkts++) {
+ sts = rcar_canfd_read(priv, RCANFD_RFSTS(ridx));
+ /* Clear interrupt bit */
+ if (sts & RCANFD_RFFIFO_RFIF)
+ rcar_canfd_write(priv, RCANFD_RFSTS(ridx),
+ sts & ~RCANFD_RFFIFO_RFIF);
+
+ /* Check FIFO empty condition */
+ if (sts & RCANFD_RFFIFO_RFEMP)
+ break;
+
+ rcar_canfd_rx_pkt(priv);
+ }
+
+ /* All packets processed */
+ if (num_pkts < quota) {
+ napi_complete(napi);
+ /* Enable Rx FIFO interrupts */
+ rcar_canfd_set_bit(priv, RCANFD_RFCC(ridx), RCANFD_RFFIFO_RFIE);
+ }
+ return num_pkts;
+}
+
+static int rcar_canfd_do_set_mode(struct net_device *ndev, enum can_mode mode)
+{
+ int err;
+
+ switch (mode) {
+ case CAN_MODE_START:
+ err = rcar_canfd_start(ndev);
+ if (err)
+ return err;
+ netif_wake_queue(ndev);
+ return 0;
+ default:
+ return -EOPNOTSUPP;
+ }
+}
+
+static int rcar_canfd_get_berr_counter(const struct net_device *dev,
+ struct can_berr_counter *bec)
+{
+ struct rcar_canfd_channel *priv = netdev_priv(dev);
+ u32 val, ch = priv->channel;
+
+ /* Peripheral clock is already enabled in probe */
+ val = rcar_canfd_read(priv, RCANFD_CSTS(ch));
+ bec->txerr = RCANFD_CSTS_TECCNT(val);
+ bec->rxerr = RCANFD_CSTS_RECCNT(val);
+ return 0;
+}
+
+static const struct net_device_ops rcar_canfd_netdev_ops = {
+ .ndo_open = rcar_canfd_open,
+ .ndo_stop = rcar_canfd_close,
+ .ndo_start_xmit = rcar_canfd_start_xmit,
+ .ndo_change_mtu = can_change_mtu,
+};
+
+static int rcar_canfd_channel_probe(struct rcar_canfd_global *gpriv, u32 ch)
+{
+ struct platform_device *pdev = gpriv->pdev;
+ struct rcar_canfd_channel *priv;
+ struct net_device *ndev;
+ int err = -ENODEV;
+
+ ndev = alloc_candev(sizeof(*priv), RCANFD_FIFO_DEPTH);
+ if (!ndev) {
+ dev_err(&pdev->dev, "alloc_candev() failed\n");
+ err = -ENOMEM;
+ goto fail;
+ }
+ priv = netdev_priv(ndev);
+
+ ndev->netdev_ops = &rcar_canfd_netdev_ops;
+ ndev->flags |= IFF_ECHO;
+ priv->ndev = ndev;
+ priv->base = gpriv->base;
+ priv->channel = ch;
+ priv->can.clock.freq = gpriv->freq;
+ dev_info(&pdev->dev, "can_clk rate is %u\n", priv->can.clock.freq);
+
+ priv->can.bittiming_const = &rcar_canfd_nom_bittiming_const;
+ priv->can.data_bittiming_const =
+ &rcar_canfd_data_bittiming_const;
+
+ /* Controller starts in CAN FD mode, which supports classical CAN and
+ * CAN FD frames. For classical CAN frames only configurations, data
+ * bitrate should be configured the same as nominal bitrate.
+ */
+ priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING |
+ CAN_CTRLMODE_FD;
+
+ priv->can.do_set_mode = rcar_canfd_do_set_mode;
+ priv->can.do_get_berr_counter = rcar_canfd_get_berr_counter;
+ priv->gpriv = gpriv;
+ SET_NETDEV_DEV(ndev, &pdev->dev);
+
+ netif_napi_add(ndev, &priv->napi, rcar_canfd_rx_poll,
+ RCANFD_NAPI_WEIGHT);
+ err = register_candev(ndev);
+ if (err) {
+ dev_err(&pdev->dev,
+ "register_candev() failed, error %d\n", err);
+ goto fail_candev;
+ }
+
+ rcar_canfd_init_debugfs(priv);
+ devm_can_led_init(ndev);
+ gpriv->ch[priv->channel] = priv;
+ dev_info(&pdev->dev, "device registered (channel %u)\n", priv->channel);
+ return 0;
+
+fail_candev:
+ netif_napi_del(&priv->napi);
+ free_candev(ndev);
+fail:
+ return err;
+}
+
+static void rcar_canfd_channel_remove(struct rcar_canfd_global *gpriv, u32 ch)
+{
+ struct rcar_canfd_channel *priv = gpriv->ch[ch];
+
+ if (priv) {
+ unregister_candev(priv->ndev);
+ netif_napi_del(&priv->napi);
+ free_candev(priv->ndev);
+ }
+}
+
+static int rcar_canfd_probe(struct platform_device *pdev)
+{
+ struct resource *mem;
+ void __iomem *addr;
+ u32 sts, ch;
+ struct rcar_canfd_global *gpriv;
+ struct device_node *of_child;
+ unsigned long channels_mask = 0;
+ int err, ch_irq, g_irq;
+
+ of_child = of_get_child_by_name(pdev->dev.of_node, "channel0");
+ if (of_child && of_device_is_available(of_child))
+ channels_mask |= BIT(0); /* Channel 0 */
+
+ of_child = of_get_child_by_name(pdev->dev.of_node, "channel1");
+ if (of_child && of_device_is_available(of_child))
+ channels_mask |= BIT(1); /* Channel 1 */
+
+ ch_irq = platform_get_irq(pdev, 0);
+ if (ch_irq < 0) {
+ dev_err(&pdev->dev, "no Channel IRQ resource\n");
+ err = ch_irq;
+ goto fail_dev;
+ }
+
+ g_irq = platform_get_irq(pdev, 1);
+ if (g_irq < 0) {
+ dev_err(&pdev->dev, "no Global IRQ resource\n");
+ err = g_irq;
+ goto fail_dev;
+ }
+
+ /* Global controller context */
+ gpriv = devm_kzalloc(&pdev->dev, sizeof(*gpriv), GFP_KERNEL);
+ if (!gpriv) {
+ err = -ENOMEM;
+ goto fail_dev;
+ }
+ gpriv->pdev = pdev;
+ gpriv->channels_mask = channels_mask;
+
+ /* Peripheral clock */
+ gpriv->clkp = devm_clk_get(&pdev->dev, "fck");
+ if (IS_ERR(gpriv->clkp)) {
+ err = PTR_ERR(gpriv->clkp);
+ dev_err(&pdev->dev, "cannot get peripheral clock, error %d\n",
+ err);
+ goto fail_dev;
+ }
+
+ /* fCAN clock: Pick External clock. If not available fallback to
+ * CANFD clock
+ */
+ gpriv->can_clk = devm_clk_get(&pdev->dev, "can_clk");
+ if (IS_ERR(gpriv->can_clk)) {
+ gpriv->can_clk = devm_clk_get(&pdev->dev, "canfd");
+ if (IS_ERR(gpriv->can_clk)) {
+ err = PTR_ERR(gpriv->can_clk);
+ dev_err(&pdev->dev,
+ "cannot get canfd clock, error %d\n", err);
+ goto fail_dev;
+ }
+ gpriv->clock_select = RCANFD_CANFDCLK;
+
+ } else {
+ gpriv->clock_select = RCANFD_EXTCLK;
+ }
+ gpriv->freq = clk_get_rate(gpriv->can_clk);
+
+ if (gpriv->clock_select == RCANFD_CANFDCLK)
+ /* CANFD clock is further divided by (1/2) within the IP */
+ gpriv->freq /= 2;
+
+ 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_dev;
+ }
+ gpriv->base = addr;
+
+ /* Request IRQ that's common for both channels */
+ err = devm_request_irq(&pdev->dev, ch_irq,
+ rcar_canfd_channel_interrupt, 0,
+ "canfd.chn", gpriv);
+ if (err) {
+ dev_err(&pdev->dev, "devm_request_irq(%d) failed, error %d\n",
+ ch_irq, err);
+ goto fail_dev;
+ }
+ err = devm_request_irq(&pdev->dev, g_irq,
+ rcar_canfd_global_interrupt, 0,
+ "canfd.gbl", gpriv);
+ if (err) {
+ dev_err(&pdev->dev, "devm_request_irq(%d) failed, error %d\n",
+ g_irq, err);
+ goto fail_dev;
+ }
+
+ /* Enable peripheral clock for register access */
+ err = clk_prepare_enable(gpriv->clkp);
+ if (err) {
+ dev_err(&pdev->dev,
+ "failed to enable peripheral clock, error %d\n", err);
+ goto fail_dev;
+ }
+
+ err = rcar_canfd_reset_controller(gpriv);
+ if (err) {
+ dev_err(&pdev->dev, "reset controller failed\n");
+ goto fail_clk;
+ }
+
+ /* Controller in Global reset & Channel reset mode */
+ rcar_canfd_configure_controller(gpriv);
+
+ /* Configure per channel attributes */
+ for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+ /* Configure Channel's Rx fifo */
+ rcar_canfd_configure_rx(gpriv, ch);
+
+ /* Configure Channel's Tx (Common) fifo */
+ rcar_canfd_configure_tx(gpriv, ch);
+
+ /* Configure receive rules */
+ rcar_canfd_configure_afl_rules(gpriv, ch);
+ }
+
+ /* Configure inter-channel test mode when both channels enabled */
+ if ((testmode == RCANFD_TESTMODE_INTERCHANNEL) &&
+ (gpriv->channels_mask == RCANFD_CHANNELS_MASK)) {
+ err = rcar_canfd_configure_interch_mode(gpriv);
+ if (err)
+ goto fail_clk;
+ }
+
+ /* Configure common interrupts */
+ rcar_canfd_enable_global_interrupts(gpriv);
+
+ /* Start Global operation mode */
+ rcar_canfd_update_bit(gpriv, RCANFD_GCTR, RCANFD_GCTR_MODEMASK,
+ RCANFD_GCTR_GOPM);
+
+ /* Verify mode change */
+ err = readl_poll_timeout((gpriv->base + RCANFD_GSTS), sts,
+ !(sts & RCANFD_GSTS_GNOPM), 2, 500000);
+ if (err) {
+ dev_err(&pdev->dev, "global operational mode failed\n");
+ goto fail_mode;
+ }
+
+ for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+ err = rcar_canfd_channel_probe(gpriv, ch);
+ if (err)
+ goto fail_channel;
+ }
+
+ platform_set_drvdata(pdev, gpriv);
+ if (testmode)
+ dev_info(&pdev->dev, "in %s test mode\n",
+ (testmode == RCANFD_TESTMODE_INTERNAL_LOOPBACK) ?
+ "internal loopback" : "inter-channel");
+
+ dev_info(&pdev->dev, "global operational state (clk %d)\n",
+ gpriv->clock_select);
+ return 0;
+
+fail_channel:
+ for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS)
+ rcar_canfd_channel_remove(gpriv, ch);
+fail_mode:
+ rcar_canfd_disable_global_interrupts(gpriv);
+fail_clk:
+ clk_disable_unprepare(gpriv->clkp);
+fail_dev:
+ return err;
+}
+
+static int rcar_canfd_remove(struct platform_device *pdev)
+{
+ struct rcar_canfd_global *gpriv = platform_get_drvdata(pdev);
+ struct rcar_canfd_channel *priv;
+ u32 ch;
+
+ rcar_canfd_reset_controller(gpriv);
+ rcar_canfd_disable_global_interrupts(gpriv);
+
+ for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+ priv = gpriv->ch[ch];
+ if (priv) {
+ rcar_canfd_disable_channel_interrupts(priv);
+ rcar_canfd_remove_debugfs(priv);
+ unregister_candev(priv->ndev);
+ netif_napi_del(&priv->napi);
+ free_candev(priv->ndev);
+ }
+ }
+
+ /* Enter global sleep mode */
+ rcar_canfd_set_bit(gpriv, RCANFD_GCTR, RCANFD_GCTR_SLPR);
+ clk_disable_unprepare(gpriv->clkp);
+ return 0;
+}
+
+static int __maybe_unused rcar_canfd_suspend(struct device *dev)
+{
+ return 0;
+}
+
+static int __maybe_unused rcar_canfd_resume(struct device *dev)
+{
+ return 0;
+}
+
+static SIMPLE_DEV_PM_OPS(rcar_canfd_pm_ops, rcar_canfd_suspend,
+ rcar_canfd_resume);
+
+static const struct of_device_id rcar_canfd_of_table[] __maybe_unused = {
+ { .compatible = "renesas,rcar-gen3-canfd" },
+ { }
+};
+
+MODULE_DEVICE_TABLE(of, rcar_canfd_of_table);
+
+static struct platform_driver rcar_canfd_driver = {
+ .driver = {
+ .name = RCANFD_DRV_NAME,
+ .of_match_table = of_match_ptr(rcar_canfd_of_table),
+ .pm = &rcar_canfd_pm_ops,
+ },
+ .probe = rcar_canfd_probe,
+ .remove = rcar_canfd_remove,
+};
+
+module_platform_driver(rcar_canfd_driver);
+
+MODULE_AUTHOR("Ramesh Shanmugasundaram <ramesh.shanmugasundaram@...renesas.com>");
+MODULE_LICENSE("GPL");
+MODULE_DESCRIPTION("CAN FD driver for Renesas R-Car SoC");
+MODULE_ALIAS("platform:" RCANFD_DRV_NAME);
--
1.9.1
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