[PATCH V5 2/2] can: m_can: update to support CAN FD features
Dong Aisheng
b29396 at freescale.com
Tue Nov 18 03:00:55 PST 2014
Bosch M_CAN is CAN FD capable device. This patch implements the CAN
FD features include up to 64 bytes payload and bitrate switch function.
1) Change the Rx FIFO and Tx Buffer to 64 bytes for support CAN FD
up to 64 bytes payload. It's backward compatible with old 8 bytes
normal CAN frame.
2) Allocate can frame or canfd frame based on EDL bit
3) Bitrate Switch function is disabled by default and will be enabled
according to CANFD_BRS bit in cf->flags.
Acked-by: Oliver Hartkopp <socketcan at hartkopp.net>
Signed-off-by: Dong Aisheng <b29396 at freescale.com>
---
ChangeLog:
v4->v5:
* rebase version
v3->v4:
* no changes
v2->v3:
* integrate patch 4 into patch 1 in last series(allow to send std frame
on can fd mode)
* use suitable API to get cf->len according to RX_BUF_EDL bit
v1->v2:
* Allocate can frame or canfd frame based on EDL bit
* Only check and set RTR bit for normal frame (no EDL bit set)
---
drivers/net/can/m_can/m_can.c | 177 ++++++++++++++++++++++++++++++++----------
1 file changed, 134 insertions(+), 43 deletions(-)
diff --git a/drivers/net/can/m_can/m_can.c b/drivers/net/can/m_can/m_can.c
index 2f61676..d7bc462 100644
--- a/drivers/net/can/m_can/m_can.c
+++ b/drivers/net/can/m_can/m_can.c
@@ -105,14 +105,36 @@ enum m_can_mram_cfg {
MRAM_CFG_NUM,
};
+/* Fast Bit Timing & Prescaler Register (FBTP) */
+#define FBTR_FBRP_MASK 0x1f
+#define FBTR_FBRP_SHIFT 16
+#define FBTR_FTSEG1_SHIFT 8
+#define FBTR_FTSEG1_MASK (0xf << FBTR_FTSEG1_SHIFT)
+#define FBTR_FTSEG2_SHIFT 4
+#define FBTR_FTSEG2_MASK (0x7 << FBTR_FTSEG2_SHIFT)
+#define FBTR_FSJW_SHIFT 0
+#define FBTR_FSJW_MASK 0x3
+
/* Test Register (TEST) */
#define TEST_LBCK BIT(4)
/* CC Control Register(CCCR) */
-#define CCCR_TEST BIT(7)
-#define CCCR_MON BIT(5)
-#define CCCR_CCE BIT(1)
-#define CCCR_INIT BIT(0)
+#define CCCR_TEST BIT(7)
+#define CCCR_CMR_MASK 0x3
+#define CCCR_CMR_SHIFT 10
+#define CCCR_CMR_CANFD 0x1
+#define CCCR_CMR_CANFD_BRS 0x2
+#define CCCR_CMR_CAN 0x3
+#define CCCR_CME_MASK 0x3
+#define CCCR_CME_SHIFT 8
+#define CCCR_CME_CAN 0
+#define CCCR_CME_CANFD 0x1
+#define CCCR_CME_CANFD_BRS 0x2
+#define CCCR_TEST BIT(7)
+#define CCCR_MON BIT(5)
+#define CCCR_CCE BIT(1)
+#define CCCR_INIT BIT(0)
+#define CCCR_CANFD 0x10
/* Bit Timing & Prescaler Register (BTP) */
#define BTR_BRP_MASK 0x3ff
@@ -204,6 +226,7 @@ enum m_can_mram_cfg {
/* Rx Buffer / FIFO Element Size Configuration (RXESC) */
#define M_CAN_RXESC_8BYTES 0x0
+#define M_CAN_RXESC_64BYTES 0x777
/* Tx Buffer Configuration(TXBC) */
#define TXBC_NDTB_OFF 16
@@ -211,6 +234,7 @@ enum m_can_mram_cfg {
/* Tx Buffer Element Size Configuration(TXESC) */
#define TXESC_TBDS_8BYTES 0x0
+#define TXESC_TBDS_64BYTES 0x7
/* Tx Event FIFO Con.guration (TXEFC) */
#define TXEFC_EFS_OFF 16
@@ -219,11 +243,11 @@ enum m_can_mram_cfg {
/* Message RAM Configuration (in bytes) */
#define SIDF_ELEMENT_SIZE 4
#define XIDF_ELEMENT_SIZE 8
-#define RXF0_ELEMENT_SIZE 16
-#define RXF1_ELEMENT_SIZE 16
+#define RXF0_ELEMENT_SIZE 72
+#define RXF1_ELEMENT_SIZE 72
#define RXB_ELEMENT_SIZE 16
#define TXE_ELEMENT_SIZE 8
-#define TXB_ELEMENT_SIZE 16
+#define TXB_ELEMENT_SIZE 72
/* Message RAM Elements */
#define M_CAN_FIFO_ID 0x0
@@ -231,11 +255,17 @@ enum m_can_mram_cfg {
#define M_CAN_FIFO_DATA(n) (0x8 + ((n) << 2))
/* Rx Buffer Element */
+/* R0 */
#define RX_BUF_ESI BIT(31)
#define RX_BUF_XTD BIT(30)
#define RX_BUF_RTR BIT(29)
+/* R1 */
+#define RX_BUF_ANMF BIT(31)
+#define RX_BUF_EDL BIT(21)
+#define RX_BUF_BRS BIT(20)
/* Tx Buffer Element */
+/* R0 */
#define TX_BUF_XTD BIT(30)
#define TX_BUF_RTR BIT(29)
@@ -327,42 +357,67 @@ static inline void m_can_disable_all_interrupts(const struct m_can_priv *priv)
m_can_write(priv, M_CAN_ILE, 0x0);
}
-static void m_can_read_fifo(const struct net_device *dev, struct can_frame *cf,
- u32 rxfs)
+static void m_can_read_fifo(struct net_device *dev, u32 rxfs)
{
+ struct net_device_stats *stats = &dev->stats;
struct m_can_priv *priv = netdev_priv(dev);
+ struct canfd_frame *cf;
+ struct sk_buff *skb;
u32 id, fgi, dlc;
+ int i;
/* calculate the fifo get index for where to read data */
fgi = (rxfs & RXFS_FGI_MASK) >> RXFS_FGI_OFF;
+ dlc = m_can_fifo_read(priv, fgi, M_CAN_FIFO_DLC);
+ if (dlc & RX_BUF_EDL)
+ skb = alloc_canfd_skb(dev, &cf);
+ else
+ skb = alloc_can_skb(dev, (struct can_frame **)&cf);
+ if (!skb) {
+ stats->rx_dropped++;
+ return;
+ }
+
+ if (dlc & RX_BUF_EDL)
+ cf->len = can_dlc2len((dlc >> 16) & 0x0F);
+ else
+ cf->len = get_can_dlc((dlc >> 16) & 0x0F);
+
id = m_can_fifo_read(priv, fgi, M_CAN_FIFO_ID);
if (id & RX_BUF_XTD)
cf->can_id = (id & CAN_EFF_MASK) | CAN_EFF_FLAG;
else
cf->can_id = (id >> 18) & CAN_SFF_MASK;
- dlc = m_can_fifo_read(priv, fgi, M_CAN_FIFO_DLC);
- cf->can_dlc = get_can_dlc((dlc >> 16) & 0x0F);
+ if (id & RX_BUF_ESI) {
+ cf->flags |= CANFD_ESI;
+ netdev_dbg(dev, "ESI Error\n");
+ }
- if (id & RX_BUF_RTR) {
+ if (!(dlc & RX_BUF_EDL) && (id & RX_BUF_RTR)) {
cf->can_id |= CAN_RTR_FLAG;
} else {
- *(u32 *)(cf->data + 0) = m_can_fifo_read(priv, fgi,
- M_CAN_FIFO_DATA(0));
- *(u32 *)(cf->data + 4) = m_can_fifo_read(priv, fgi,
- M_CAN_FIFO_DATA(1));
+ if (dlc & RX_BUF_BRS)
+ cf->flags |= CANFD_BRS;
+
+ for (i = 0; i < cf->len; i += 4)
+ *(u32 *)(cf->data + i) =
+ m_can_fifo_read(priv, fgi,
+ M_CAN_FIFO_DATA(i / 4));
}
/* acknowledge rx fifo 0 */
m_can_write(priv, M_CAN_RXF0A, fgi);
+
+ stats->rx_packets++;
+ stats->rx_bytes += cf->len;
+
+ netif_receive_skb(skb);
}
static int m_can_do_rx_poll(struct net_device *dev, int quota)
{
struct m_can_priv *priv = netdev_priv(dev);
- struct net_device_stats *stats = &dev->stats;
- struct sk_buff *skb;
- struct can_frame *frame;
u32 pkts = 0;
u32 rxfs;
@@ -376,18 +431,7 @@ static int m_can_do_rx_poll(struct net_device *dev, int quota)
if (rxfs & RXFS_RFL)
netdev_warn(dev, "Rx FIFO 0 Message Lost\n");
- skb = alloc_can_skb(dev, &frame);
- if (!skb) {
- stats->rx_dropped++;
- return pkts;
- }
-
- m_can_read_fifo(dev, frame, rxfs);
-
- stats->rx_packets++;
- stats->rx_bytes += frame->can_dlc;
-
- netif_receive_skb(skb);
+ m_can_read_fifo(dev, rxfs);
quota--;
pkts++;
@@ -745,10 +789,23 @@ static const struct can_bittiming_const m_can_bittiming_const = {
.brp_inc = 1,
};
+static const struct can_bittiming_const m_can_data_bittiming_const = {
+ .name = KBUILD_MODNAME,
+ .tseg1_min = 2, /* Time segment 1 = prop_seg + phase_seg1 */
+ .tseg1_max = 16,
+ .tseg2_min = 1, /* Time segment 2 = phase_seg2 */
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 1,
+ .brp_max = 32,
+ .brp_inc = 1,
+};
+
static int m_can_set_bittiming(struct net_device *dev)
{
struct m_can_priv *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 reg_btp;
@@ -759,7 +816,17 @@ static int m_can_set_bittiming(struct net_device *dev)
reg_btp = (brp << BTR_BRP_SHIFT) | (sjw << BTR_SJW_SHIFT) |
(tseg1 << BTR_TSEG1_SHIFT) | (tseg2 << BTR_TSEG2_SHIFT);
m_can_write(priv, M_CAN_BTP, reg_btp);
- netdev_dbg(dev, "setting BTP 0x%x\n", reg_btp);
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
+ brp = dbt->brp - 1;
+ sjw = dbt->sjw - 1;
+ tseg1 = dbt->prop_seg + dbt->phase_seg1 - 1;
+ tseg2 = dbt->phase_seg2 - 1;
+ reg_btp = (brp << FBTR_FBRP_SHIFT) | (sjw << FBTR_FSJW_SHIFT) |
+ (tseg1 << FBTR_FTSEG1_SHIFT) |
+ (tseg2 << FBTR_FTSEG2_SHIFT);
+ m_can_write(priv, M_CAN_FBTP, reg_btp);
+ }
return 0;
}
@@ -779,8 +846,8 @@ static void m_can_chip_config(struct net_device *dev)
m_can_config_endisable(priv, true);
- /* RX Buffer/FIFO Element Size 8 bytes data field */
- m_can_write(priv, M_CAN_RXESC, M_CAN_RXESC_8BYTES);
+ /* RX Buffer/FIFO Element Size 64 bytes data field */
+ m_can_write(priv, M_CAN_RXESC, M_CAN_RXESC_64BYTES);
/* Accept Non-matching Frames Into FIFO 0 */
m_can_write(priv, M_CAN_GFC, 0x0);
@@ -789,8 +856,8 @@ static void m_can_chip_config(struct net_device *dev)
m_can_write(priv, M_CAN_TXBC, (1 << TXBC_NDTB_OFF) |
priv->mcfg[MRAM_TXB].off);
- /* only support 8 bytes firstly */
- m_can_write(priv, M_CAN_TXESC, TXESC_TBDS_8BYTES);
+ /* support 64 bytes payload */
+ m_can_write(priv, M_CAN_TXESC, TXESC_TBDS_64BYTES);
m_can_write(priv, M_CAN_TXEFC, (1 << TXEFC_EFS_OFF) |
priv->mcfg[MRAM_TXE].off);
@@ -805,7 +872,8 @@ static void m_can_chip_config(struct net_device *dev)
RXFC_FWM_1 | priv->mcfg[MRAM_RXF1].off);
cccr = m_can_read(priv, M_CAN_CCCR);
- cccr &= ~(CCCR_TEST | CCCR_MON);
+ cccr &= ~(CCCR_TEST | CCCR_MON | (CCCR_CMR_MASK << CCCR_CMR_SHIFT) |
+ (CCCR_CME_MASK << CCCR_CME_SHIFT));
test = m_can_read(priv, M_CAN_TEST);
test &= ~TEST_LBCK;
@@ -817,6 +885,9 @@ static void m_can_chip_config(struct net_device *dev)
test |= TEST_LBCK;
}
+ if (priv->can.ctrlmode & CAN_CTRLMODE_FD)
+ cccr |= CCCR_CME_CANFD_BRS << CCCR_CME_SHIFT;
+
m_can_write(priv, M_CAN_CCCR, cccr);
m_can_write(priv, M_CAN_TEST, test);
@@ -881,11 +952,13 @@ static struct net_device *alloc_m_can_dev(void)
priv->dev = dev;
priv->can.bittiming_const = &m_can_bittiming_const;
+ priv->can.data_bittiming_const = &m_can_data_bittiming_const;
priv->can.do_set_mode = m_can_set_mode;
priv->can.do_get_berr_counter = m_can_get_berr_counter;
priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK |
CAN_CTRLMODE_LISTENONLY |
- CAN_CTRLMODE_BERR_REPORTING;
+ CAN_CTRLMODE_BERR_REPORTING |
+ CAN_CTRLMODE_FD;
return dev;
}
@@ -968,8 +1041,9 @@ static netdev_tx_t m_can_start_xmit(struct sk_buff *skb,
struct net_device *dev)
{
struct m_can_priv *priv = netdev_priv(dev);
- struct can_frame *cf = (struct can_frame *)skb->data;
- u32 id;
+ struct canfd_frame *cf = (struct canfd_frame *)skb->data;
+ u32 id, cccr;
+ int i;
if (can_dropped_invalid_skb(dev, skb))
return NETDEV_TX_OK;
@@ -988,11 +1062,28 @@ static netdev_tx_t m_can_start_xmit(struct sk_buff *skb,
/* message ram configuration */
m_can_fifo_write(priv, 0, M_CAN_FIFO_ID, id);
- m_can_fifo_write(priv, 0, M_CAN_FIFO_DLC, cf->can_dlc << 16);
- m_can_fifo_write(priv, 0, M_CAN_FIFO_DATA(0), *(u32 *)(cf->data + 0));
- m_can_fifo_write(priv, 0, M_CAN_FIFO_DATA(1), *(u32 *)(cf->data + 4));
+ m_can_fifo_write(priv, 0, M_CAN_FIFO_DLC, can_len2dlc(cf->len) << 16);
+
+ for (i = 0; i < cf->len; i += 4)
+ m_can_fifo_write(priv, 0, M_CAN_FIFO_DATA(i / 4),
+ *(u32 *)(cf->data + i));
+
can_put_echo_skb(skb, dev, 0);
+ if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
+ cccr = m_can_read(priv, M_CAN_CCCR);
+ cccr &= ~(CCCR_CMR_MASK << CCCR_CMR_SHIFT);
+ if (can_is_canfd_skb(skb)) {
+ if (cf->flags & CANFD_BRS)
+ cccr |= CCCR_CMR_CANFD_BRS << CCCR_CMR_SHIFT;
+ else
+ cccr |= CCCR_CMR_CANFD << CCCR_CMR_SHIFT;
+ } else {
+ cccr |= CCCR_CMR_CAN << CCCR_CMR_SHIFT;
+ }
+ m_can_write(priv, M_CAN_CCCR, cccr);
+ }
+
/* enable first TX buffer to start transfer */
m_can_write(priv, M_CAN_TXBTIE, 0x1);
m_can_write(priv, M_CAN_TXBAR, 0x1);
--
1.9.1
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