From patchwork Thu Oct 24 23:03:00 2013 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Sergei Shtylyov X-Patchwork-Id: 3094041 Return-Path: X-Original-To: patchwork-linux-sh@patchwork.kernel.org Delivered-To: patchwork-parsemail@patchwork2.web.kernel.org Received: from mail.kernel.org (mail.kernel.org [198.145.19.201]) by patchwork2.web.kernel.org (Postfix) with ESMTP id A0F5ABF924 for ; Thu, 24 Oct 2013 23:03:33 +0000 (UTC) Received: from mail.kernel.org (localhost [127.0.0.1]) by mail.kernel.org (Postfix) with ESMTP id 61C8B20387 for ; Thu, 24 Oct 2013 23:03:31 +0000 (UTC) Received: from vger.kernel.org (vger.kernel.org [209.132.180.67]) by mail.kernel.org (Postfix) with ESMTP id 1220320378 for ; Thu, 24 Oct 2013 23:03:29 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1751722Ab3JXXDF (ORCPT ); Thu, 24 Oct 2013 19:03:05 -0400 Received: from mail-la0-f53.google.com ([209.85.215.53]:59902 "EHLO mail-la0-f53.google.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1753474Ab3JXXDD (ORCPT ); Thu, 24 Oct 2013 19:03:03 -0400 Received: by mail-la0-f53.google.com with SMTP id eo20so2502576lab.12 for ; Thu, 24 Oct 2013 16:03:00 -0700 (PDT) X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20130820; h=x-gm-message-state:to:subject:cc:from:organization:date :mime-version:content-type:content-transfer-encoding:message-id; bh=7wVmCWr8+3omBcTfa7CbOsonJq9oCZ4fqFWXZxbEFgU=; b=fcz5d6zyYybmeAnmjh9TjctJn2mEN+r7NH2frQrtUlHydgzCRCwMvaT4vZS/VyLsFk rONwKeNaYWaxcSr0hgMH/OqumUuhmZncZkgnbYuwsSaOZK2kMXTsZF/qKzST+Y9t5G+b IpFmurhDe8l8CQ/SHH5p/1dfhCKODbRHlGxSakTPOJb8eKyhJsgEYgDwmo31FKiWSpRZ 2FacPkmONbMtdkT2WB34LQMyZ96ft3EXlMeUuPL/WS255+mYSNOM0QYrP57q0dlVByT+ d0nt+JlA7ZBaovvGKLRSGqlWWCJsS7FgOhuDoPwPK2K14HSMEYowxAcMa+z+KCpDgNsc 5fgA== X-Gm-Message-State: ALoCoQnfREdApw3W0A7KOI8VdILO5iSxVVU/8gHw7MeT6PaH+2Ty4RqbPOgIoJJTdVV3WNwQLFqb X-Received: by 10.112.168.35 with SMTP id zt3mr289987lbb.11.1382655780343; Thu, 24 Oct 2013 16:03:00 -0700 (PDT) Received: from wasted.dev.rtsoft.ru (ppp91-76-93-197.pppoe.mtu-net.ru. [91.76.93.197]) by mx.google.com with ESMTPSA id u20sm425748lbh.7.2013.10.24.16.02.58 for (version=TLSv1 cipher=RC4-SHA bits=128/128); Thu, 24 Oct 2013 16:02:59 -0700 (PDT) To: netdev@vger.kernel.org, wg@grandegger.com, mkl@pengutronix.de, linux-can@vger.kernel.org Subject: [PATCH v2] can: add Renesas R-Car CAN driver Cc: linux-sh@vger.kernel.org, vksavl@gmail.com From: Sergei Shtylyov Organization: Cogent Embedded Date: Fri, 25 Oct 2013 03:03:00 +0400 MIME-Version: 1.0 Message-Id: <201310250303.00695.sergei.shtylyov@cogentembedded.com> Sender: linux-sh-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-sh@vger.kernel.org X-Spam-Status: No, score=-7.3 required=5.0 tests=BAYES_00, RCVD_IN_DNSWL_HI, RP_MATCHES_RCVD, UNPARSEABLE_RELAY autolearn=ham version=3.3.1 X-Spam-Checker-Version: SpamAssassin 3.3.1 (2010-03-16) on mail.kernel.org X-Virus-Scanned: ClamAV using ClamSMTP Add support for the CAN controller found in Renesas R-Car SoCs. Signed-off-by: Sergei Shtylyov --- The patch is against the 'linux-can-next.git' repo. 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 realicstic 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 | 920 ++++++++++++++++++++++++++++++++++ include/linux/can/platform/rcar_can.h | 15 4 files changed, 945 insertions(+) -- To unsubscribe from this list: send the line "unsubscribe linux-sh" in the body of a message to majordomo@vger.kernel.org More majordomo info at http://vger.kernel.org/majordomo-info.html 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 +1,920 @@ +/* + * Renesas R-Car CAN device driver + * + * Copyright (C) 2013 Cogent Embedded, Inc. + * 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define DRV_NAME "rcar_can" + +#define RCAR_CAN_MIER1 0x42C /* Mailbox Interrupt Enable Register 1 */ +#define RCAR_CAN_MKR(n) ((n) < 2 ? 0x430 + 4 * (n) : 0x400 + 4 * ((n) - 2)) + /* Mask Register */ +#define RCAR_CAN_MKIVLR0 0x438 /* Mask Invalid Register 0 */ +#define RCAR_CAN_MIER0 0x43C /* Mailbox Interrupt Enable Register 0 */ + +#define RCAR_CAN_MCTL(n) (0x800 + (n)) /* Message Control Register */ +#define RCAR_CAN_CTLR 0x840 /* Control Register */ +#define RCAR_CAN_STR 0x842 /* Status Register */ +#define RCAR_CAN_BCR 0x844 /* Bit Configuration Register */ +#define RCAR_CAN_CLKR 0x847 /* Clock Select Register */ +#define RCAR_CAN_EIER 0x84C /* Error Interrupt Enable Register */ +#define RCAR_CAN_EIFR 0x84D /* Err Interrupt Factor Judge Register */ +#define RCAR_CAN_RECR 0x84E /* Receive Error Count Register */ +#define RCAR_CAN_TECR 0x84F /* Transmit Error Count Register */ +#define RCAR_CAN_ECSR 0x850 /* Error Code Store Register */ +#define RCAR_CAN_MSSR 0x852 /* Mailbox Search Status Register */ +#define RCAR_CAN_MSMR 0x853 /* Mailbox Search Mode Register */ +#define RCAR_CAN_TCR 0x858 /* Test Control Register */ +#define RCAR_CAN_IER 0x860 /* Interrupt Enable Register */ +#define RCAR_CAN_ISR 0x861 /* Interrupt Status Register */ + +/* Control Register bits */ +#define CTLR_BOM (3 << 11) /* Bus-Off Recovery Mode Bits */ +#define CTLR_BOM_ENT BIT(11) /* Entry to halt mode at bus-off entry */ +#define CTLR_SLPM BIT(10) +#define CTLR_HALT BIT(9) +#define CTLR_RESET BIT(8) +#define CTLR_FORCE_RESET (3 << 8) +#define CTLR_TPM BIT(4) /* Transmission Priority Mode Select Bit */ +#define CTLR_IDFM_MIXED BIT(2) /* Mixed ID mode */ + +/* Message Control Register bits */ +#define MCTL_TRMREQ BIT(7) +#define MCTL_RECREQ BIT(6) +#define MCTL_ONESHOT BIT(4) +#define MCTL_SENTDATA BIT(0) +#define MCTL_NEWDATA BIT(0) + +#define N_RX_MKREGS 2 /* Number of mask registers */ + /* for Rx mailboxes 0-31 */ + +/* Bit Configuration Register settings */ +#define BCR_TSEG1(x) (((x) & 0x0f) << 28) +#define BCR_BPR(x) (((x) & 0x3ff) << 16) +#define BCR_SJW(x) (((x) & 0x3) << 12) +#define BCR_TSEG2(x) (((x) & 0x07) << 8) + +/* Mailbox and Mask Registers bits */ +#define RCAR_CAN_IDE BIT(31) +#define RCAR_CAN_RTR BIT(30) +#define RCAR_CAN_SID_SHIFT 18 + +/* Interrupt Enable Register bits */ +#define IER_ERSIE BIT(5) /* Error (ERS) Interrupt Enable Bit */ +#define IER_RXM0IE BIT(2) /* Mailbox 0 Successful Reception (RXM0) */ + /* Interrupt Enable Bit */ +#define IER_RXM1IE BIT(1) /* Mailbox 1 Successful Reception (RXM0) */ + /* Interrupt Enable Bit */ +#define IER_TXMIE BIT(0) /* Mailbox 32 to 63 Successful Tx */ + /* Interrupt Enable Bit */ + +/* Interrupt Status Register bits */ +#define ISR_ERSF BIT(5) /* Error (ERS) Interrupt Status Bit */ +#define ISR_RXM0F BIT(2) /* Mailbox 0 Successful Reception (RXM0) */ + /* Interrupt Status Bit */ +#define ISR_RXM1F BIT(1) /* Mailbox 1 to 63 Successful Reception */ + /* (RXM1) Interrupt Status Bit */ +#define ISR_TXMF BIT(0) /* Mailbox 32 to 63 Successful Transmission */ + /* (TXM) Interrupt Status Bit */ + +/* Error Interrupt Enable Register bits */ +#define EIER_BLIE BIT(7) /* Bus Lock Interrupt Enable */ +#define EIER_OLIE BIT(6) /* Overload Frame Transmit Interrupt Enable */ +#define EIER_ORIE BIT(5) /* Receive Overrun Interrupt Enable */ +#define EIER_BORIE BIT(4) /* Bus-Off Recovery Interrupt Enable */ + +#define EIER_BOEIE BIT(3) /* Bus-Off Entry Interrupt Enable */ +#define EIER_EPIE BIT(2) /* Error Passive Interrupt Enable */ +#define EIER_EWIE BIT(1) /* Error Warning Interrupt Enable */ +#define EIER_BEIE BIT(0) /* Bus Error Interrupt Enable */ + +/* Error Interrupt Factor Judge Register bits */ +#define EIFR_BLIF BIT(7) /* Bus Lock Detect Flag */ +#define EIFR_OLIF BIT(6) /* Overload Frame Transmission Detect Flag */ +#define EIFR_ORIF BIT(5) /* Receive Overrun Detect Flag */ +#define EIFR_BORIF BIT(4) /* Bus-Off Recovery Detect Flag */ +#define EIFR_BOEIF BIT(3) /* Bus-Off Entry Detect Flag */ +#define EIFR_EPIF BIT(2) /* Error Passive Detect Flag */ +#define EIFR_EWIF BIT(1) /* Error Warning Detect Flag */ +#define EIFR_BEIF BIT(0) /* Bus Error Detect Flag */ + +/* Error Code Store Register bits */ +#define ECSR_EDPM BIT(7) /* Error Display Mode Select Bit */ +#define ECSR_ADEF BIT(6) /* ACK Delimiter Error Flag */ +#define ECSR_BE0F BIT(5) /* Bit Error (dominant) Flag */ +#define ECSR_BE1F BIT(4) /* Bit Error (recessive) Flag */ +#define ECSR_CEF BIT(3) /* CRC Error Flag */ +#define ECSR_AEF BIT(2) /* ACK Error Flag */ +#define ECSR_FEF BIT(1) /* Form Error Flag */ +#define ECSR_SEF BIT(0) /* Stuff Error Flag */ + +/* Mailbox Search Status Register bits */ +#define MSSR_SEST BIT(7) /* Search Result Status Bit */ +#define MSSR_MBNST 0x3f /* Search Result Mailbox Number Status mask */ + +/* Mailbox Search Mode Register values */ +#define MSMR_TXMB 1 /* Transmit mailbox search mode */ +#define MSMR_RXMB 0 /* Receive mailbox search mode */ + +/* Mailbox configuration: + * mailbox 0 - not used + * mailbox 1-31 - Rx + * mailbox 32-63 - Tx + * no FIFO mailboxes + */ +#define N_MBX 64 +#define FIRST_TX_MB 32 +#define N_TX_MB (N_MBX - FIRST_TX_MB) +#define RX_MBX_MASK 0xFFFFFFFE + +#define RCAR_CAN_NAPI_WEIGHT (FIRST_TX_MB - 1) + +static bool autorecovery; +module_param(autorecovery, bool, 0644); +MODULE_PARM_DESC(autorecovery, "Automatic hardware recovery from bus-off"); + +/* 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 */ +}; + +struct rcar_can_regs { + struct rcar_can_mbox_regs mb[N_MBX]; +}; + +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 mier_lock; + u8 clock_select; + u8 ier; +}; + +static const struct can_bittiming_const rcar_can_bittiming_const = { + .name = DRV_NAME, + .tseg1_min = 4, + .tseg1_max = 16, + .tseg2_min = 2, + .tseg2_max = 8, + .sjw_max = 4, + .brp_min = 1, + .brp_max = 1024, + .brp_inc = 1, +}; + +static inline u32 rcar_can_readl(struct rcar_can_priv *priv, int reg) +{ + return readl((void __iomem *)priv->regs + reg); +} + +static inline u16 rcar_can_readw(struct rcar_can_priv *priv, int reg) +{ + return readw((void __iomem *)priv->regs + reg); +} + +static inline u8 rcar_can_readb(struct rcar_can_priv *priv, int reg) +{ + return readb((void __iomem *)priv->regs + reg); +} + +static inline void rcar_can_writel(struct rcar_can_priv *priv, int reg, u32 val) +{ + writel(val, (void __iomem *)priv->regs + reg); +} + +static inline void rcar_can_writew(struct rcar_can_priv *priv, int reg, u16 val) +{ + writew(val, (void __iomem *)priv->regs + reg); +} + +static inline void rcar_can_writeb(struct rcar_can_priv *priv, int reg, u8 val) +{ + writeb(val, (void __iomem *)priv->regs + reg); +} + +static void tx_failure_cleanup(struct net_device *ndev) +{ + struct rcar_can_priv *priv = netdev_priv(ndev); + u32 mier1; + u8 mbx; + + spin_lock(&priv->mier_lock); + mier1 = rcar_can_readl(priv, RCAR_CAN_MIER1); + for (mbx = FIRST_TX_MB; mbx < N_MBX; mbx++) { + if (mier1 & BIT(mbx - FIRST_TX_MB)) { + rcar_can_writeb(priv, RCAR_CAN_MCTL(mbx), 0); + can_free_echo_skb(ndev, mbx - FIRST_TX_MB); + } + } + rcar_can_writel(priv, RCAR_CAN_MIER1, 0); + spin_unlock(&priv->mier_lock); +} + +static void rcar_can_start(struct net_device *ndev); + +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 = rcar_can_readb(priv, RCAR_CAN_EIFR); + if (eifr & (EIFR_EWIF | EIFR_EPIF)) { + cf->can_id |= CAN_ERR_CRTL; + txerr = rcar_can_readb(priv, RCAR_CAN_TECR); + rxerr = rcar_can_readb(priv, RCAR_CAN_RECR); + } + if (eifr & EIFR_BEIF) { + int rx_errors = 0, tx_errors = 0; + u8 ecsr; + + if (priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT) + tx_failure_cleanup(ndev); + netdev_dbg(priv->ndev, "Bus error interrupt:\n"); + cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_PROT; + cf->data[2] = CAN_ERR_PROT_UNSPEC; + + ecsr = rcar_can_readb(priv, RCAR_CAN_ECSR); + if (ecsr & ECSR_ADEF) { + netdev_dbg(priv->ndev, "ACK Delimiter Error\n"); + cf->data[3] |= CAN_ERR_PROT_LOC_ACK_DEL; + tx_errors++; + rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_ADEF); + } + if (ecsr & ECSR_BE0F) { + netdev_dbg(priv->ndev, "Bit Error (dominant)\n"); + cf->data[2] |= CAN_ERR_PROT_BIT0; + tx_errors++; + rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_BE0F); + } + if (ecsr & ECSR_BE1F) { + netdev_dbg(priv->ndev, "Bit Error (recessive)\n"); + cf->data[2] |= CAN_ERR_PROT_BIT1; + tx_errors++; + rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_BE1F); + } + if (ecsr & ECSR_CEF) { + netdev_dbg(priv->ndev, "CRC Error\n"); + cf->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ; + rx_errors++; + rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_CEF); + } + if (ecsr & 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++; + rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_AEF); + } + if (ecsr & ECSR_FEF) { + netdev_dbg(priv->ndev, "Form Error\n"); + cf->data[2] |= CAN_ERR_PROT_FORM; + rx_errors++; + rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_FEF); + } + if (ecsr & ECSR_SEF) { + netdev_dbg(priv->ndev, "Stuff Error\n"); + cf->data[2] |= CAN_ERR_PROT_STUFF; + rx_errors++; + rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_SEF); + } + + priv->can.can_stats.bus_error++; + ndev->stats.rx_errors += rx_errors; + ndev->stats.tx_errors += tx_errors; + rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_BEIF); + } + if (eifr & EIFR_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 */ + rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_EWIF); + } + if (eifr & EIFR_EPIF) { + netdev_dbg(priv->ndev, "Error passive interrupt\n"); + priv->can.state = CAN_STATE_ERROR_PASSIVE; + priv->can.can_stats.error_passive++; + cf->data[1] |= txerr > rxerr ? CAN_ERR_CRTL_TX_PASSIVE : + CAN_ERR_CRTL_RX_PASSIVE; + /* Clear interrupt condition */ + rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_EPIF); + } + if (eifr & EIFR_BOEIF) { + netdev_dbg(priv->ndev, "Bus-off entry interrupt\n"); + tx_failure_cleanup(ndev); + priv->ier = IER_ERSIE; + rcar_can_writeb(priv, RCAR_CAN_IER, priv->ier); + priv->can.state = CAN_STATE_BUS_OFF; + cf->can_id |= CAN_ERR_BUSOFF; + /* Clear interrupt condition */ + rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_BOEIF); + can_bus_off(ndev); + } + if (eifr & EIFR_BORIF) { + netdev_dbg(priv->ndev, "Bus-off recovery interrupt\n"); + priv->can.state = CAN_STATE_ERROR_ACTIVE; + cf->can_id |= CAN_ERR_RESTARTED; + rcar_can_start(priv->ndev); + priv->can.can_stats.restarts++; + netif_carrier_on(ndev); + netif_wake_queue(ndev); + } + if (eifr & EIFR_ORIF) { + netdev_dbg(priv->ndev, "Receive overrun error interrupt\n"); + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW; + ndev->stats.rx_over_errors++; + ndev->stats.rx_errors++; + rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_ORIF); + } + if (eifr & EIFR_OLIF) { + netdev_dbg(priv->ndev, + "Overload Frame Transmission error interrupt\n"); + cf->can_id |= CAN_ERR_PROT; + cf->data[2] |= CAN_ERR_PROT_OVERLOAD; + ndev->stats.rx_over_errors++; + ndev->stats.rx_errors++; + rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_OLIF); + } + + netif_rx(skb); + stats->rx_packets++; + stats->rx_bytes += cf->can_dlc; +} + +static irqreturn_t rcar_can_interrupt(int irq, void *dev_id) +{ + struct net_device *ndev = (struct net_device *)dev_id; + struct rcar_can_priv *priv = netdev_priv(ndev); + struct net_device_stats *stats = &ndev->stats; + u8 isr; + + isr = rcar_can_readb(priv, RCAR_CAN_ISR); + if (!(isr & priv->ier)) + return IRQ_NONE; + + if (isr & ISR_ERSF) + rcar_can_error(ndev); + + if (isr & ISR_TXMF) { + u32 ie_mask = 0; + int i; + + /* Set Transmit Mailbox Search Mode */ + rcar_can_writeb(priv, RCAR_CAN_MSMR, MSMR_TXMB); + for (i = 0; i < N_TX_MB; i++) { + u8 mctl, mbx; + + mbx = rcar_can_readb(priv, RCAR_CAN_MSSR); + if (mbx & MSSR_SEST) + break; + mbx &= MSSR_MBNST; + stats->tx_bytes += readb(&priv->regs->mb[mbx].dlc); + stats->tx_packets++; + mctl = rcar_can_readb(priv, RCAR_CAN_MCTL(mbx)); + /* Bits SENTDATA and TRMREQ cannot be + * set to 0 simultaneously + */ + mctl &= ~MCTL_TRMREQ; + rcar_can_writeb(priv, RCAR_CAN_MCTL(mbx), mctl); + mctl &= ~MCTL_SENTDATA; + /* Clear interrupt */ + rcar_can_writeb(priv, RCAR_CAN_MCTL(mbx), mctl); + ie_mask |= BIT(mbx - FIRST_TX_MB); + can_get_echo_skb(ndev, mbx - FIRST_TX_MB); + can_led_event(ndev, CAN_LED_EVENT_TX); + } + /* Set receive mailbox search mode */ + rcar_can_writeb(priv, RCAR_CAN_MSMR, MSMR_RXMB); + /* Disable mailbox interrupt, mark mailbox as free */ + if (ie_mask) { + u32 mier1; + + spin_lock(&priv->mier_lock); + mier1 = rcar_can_readl(priv, RCAR_CAN_MIER1); + rcar_can_writel(priv, RCAR_CAN_MIER1, mier1 & ~ie_mask); + spin_unlock(&priv->mier_lock); + netif_wake_queue(ndev); + } + } + if (isr & ISR_RXM1F) { + if (napi_schedule_prep(&priv->napi)) { + /* Disable Rx interrupts */ + priv->ier &= ~IER_RXM1IE; + rcar_can_writeb(priv, RCAR_CAN_IER, priv->ier); + __napi_schedule(&priv->napi); + } + } + return IRQ_HANDLED; +} + +static int rcar_can_set_bittiming(struct net_device *dev) +{ + struct rcar_can_priv *priv = netdev_priv(dev); + struct can_bittiming *bt = &priv->can.bittiming; + u32 bcr; + u16 ctlr; + u8 clkr; + + clk_prepare_enable(priv->clk); + /* rcar_can_set_bittiming() is called in CAN sleep mode. + * Can write to BCR in CAN reset mode or CAN halt mode. + * Cannot write to CLKR in halt mode, so go to reset mode. + */ + ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR); + ctlr &= ~CTLR_SLPM; + ctlr |= CTLR_FORCE_RESET; + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr); + /* Don't overwrite CLKR with 32-bit BCR access */ + /* CLKR has 8-bit access */ + clkr = rcar_can_readb(priv, RCAR_CAN_CLKR); + bcr = BCR_TSEG1(bt->phase_seg1 + bt->prop_seg - 1) | + BCR_BPR(bt->brp - 1) | BCR_SJW(bt->sjw - 1) | + BCR_TSEG2(bt->phase_seg2 - 1); + rcar_can_writel(priv, RCAR_CAN_BCR, bcr); + rcar_can_writeb(priv, RCAR_CAN_CLKR, clkr); + ctlr |= CTLR_SLPM; + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr); + clk_disable_unprepare(priv->clk); + return 0; +} + +static void rcar_can_start(struct net_device *ndev) +{ + struct rcar_can_priv *priv = netdev_priv(ndev); + u16 ctlr, n; + + /* Set controller to known mode: + * - normal mailbox mode (no FIFO); + * - accept all messages (no filter). + * CAN is in sleep mode after MCU hardware or software reset. + */ + ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR); + ctlr &= ~CTLR_SLPM; + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr); + /* Go to reset mode */ + ctlr |= CTLR_FORCE_RESET; + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr); + ctlr |= CTLR_IDFM_MIXED; /* Select mixed ID mode */ + ctlr |= CTLR_TPM; /* Set mailbox number priority transmit mode */ + ctlr &= ~CTLR_BOM; /* Automatic recovery */ + /* compliant with ISO11898-1 */ + if (!autorecovery || priv->can.restart_ms) + ctlr |= CTLR_BOM_ENT; /* Entry to halt mode automatically */ + /* at bus-off */ + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr); + + rcar_can_writeb(priv, RCAR_CAN_CLKR, priv->clock_select); + + /* Accept all SID and EID */ + for (n = 0; n < N_RX_MKREGS; n++) + rcar_can_writel(priv, RCAR_CAN_MKR(n), 0); + rcar_can_writel(priv, RCAR_CAN_MKIVLR0, 0); + + /* Initial value of MIER1 undefined. Mark all Tx mailboxes as free. */ + rcar_can_writel(priv, RCAR_CAN_MIER1, 0); + + priv->ier = IER_TXMIE | IER_ERSIE | IER_RXM1IE; + rcar_can_writeb(priv, RCAR_CAN_IER, priv->ier); + + /* Accumulate error codes */ + rcar_can_writeb(priv, RCAR_CAN_ECSR, ECSR_EDPM); + /* Enable error interrupts */ + rcar_can_writeb(priv, RCAR_CAN_EIER, + EIER_EWIE | EIER_EPIE | EIER_BOEIE | + (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING ? + EIER_BEIE : 0) | EIER_ORIE | EIER_OLIE | EIER_BORIE); + /* Enable interrupts for RX mailboxes */ + rcar_can_writel(priv, RCAR_CAN_MIER0, RX_MBX_MASK); + priv->can.state = CAN_STATE_ERROR_ACTIVE; + + /* Write to the CiMCTLj register in CAN + * operation mode or CAN halt mode. + * Configure mailboxes 0-31 as Rx mailboxes. + * Configure mailboxes 32-63 as Tx mailboxes. + */ + /* Go to halt mode */ + ctlr |= CTLR_HALT; + ctlr &= ~CTLR_RESET; + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr); + for (n = 0; n < FIRST_TX_MB; n++) { + /* According to documentation we should clear MCTL + * register before configuring mailbox. + */ + rcar_can_writeb(priv, RCAR_CAN_MCTL(n), 0); + rcar_can_writeb(priv, RCAR_CAN_MCTL(n), MCTL_RECREQ); + rcar_can_writeb(priv, RCAR_CAN_MCTL(FIRST_TX_MB + n), 0); + } + /* Go to operation mode */ + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr & ~CTLR_FORCE_RESET); +} + +static int rcar_can_open(struct net_device *ndev) +{ + struct rcar_can_priv *priv = netdev_priv(ndev); + int err; + + clk_prepare_enable(priv->clk); + err = open_candev(ndev); + if (err) { + netdev_err(ndev, "open_candev() failed %d\n", err); + goto out; + } + napi_enable(&priv->napi); + err = request_irq(ndev->irq, rcar_can_interrupt, 0, ndev->name, ndev); + if (err) { + netdev_err(ndev, "error requesting interrupt %x\n", ndev->irq); + goto out_close; + } + can_led_event(ndev, CAN_LED_EVENT_OPEN); + rcar_can_start(ndev); + netif_start_queue(ndev); + return 0; +out_close: + napi_disable(&priv->napi); + close_candev(ndev); + 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; + + /* Go to (force) reset mode */ + ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR); + ctlr |= CTLR_FORCE_RESET; + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr); + rcar_can_writel(priv, RCAR_CAN_MIER0, 0); + rcar_can_writel(priv, RCAR_CAN_MIER1, 0); + rcar_can_writeb(priv, RCAR_CAN_IER, 0); + rcar_can_writeb(priv, RCAR_CAN_EIER, 0); + /* Go to sleep mode */ + ctlr |= CTLR_SLPM; + rcar_can_writew(priv, RCAR_CAN_CTLR, 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, mier1, mbxno, i; + unsigned long flags; + u8 mctl = 0; + + if (can_dropped_invalid_skb(ndev, skb)) + return NETDEV_TX_OK; + + spin_lock_irqsave(&priv->mier_lock, flags); + mier1 = rcar_can_readl(priv, RCAR_CAN_MIER1); + if (mier1) { + i = __builtin_clz(mier1); + mbxno = i ? N_MBX - i : FIRST_TX_MB; + } else { + mbxno = FIRST_TX_MB; + } + mier1 |= BIT(mbxno - FIRST_TX_MB); + rcar_can_writel(priv, RCAR_CAN_MIER1, mier1); + spin_unlock_irqrestore(&priv->mier_lock, flags); + if (unlikely(mier1 == 0xffffffff)) + netif_stop_queue(ndev); + + 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; + } + writel(data, &priv->regs->mb[mbxno].id); + + writeb(cf->can_dlc, &priv->regs->mb[mbxno].dlc); + + for (i = 0; i < cf->can_dlc; i++) + writeb(cf->data[i], &priv->regs->mb[mbxno].data[i]); + + can_put_echo_skb(skb, ndev, mbxno - FIRST_TX_MB); + + priv->ier |= IER_TXMIE; + rcar_can_writeb(priv, RCAR_CAN_IER, priv->ier); + + if (priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT) + mctl |= MCTL_ONESHOT; + + /* Start TX */ + mctl |= MCTL_TRMREQ; + rcar_can_writeb(priv, RCAR_CAN_MCTL(mbxno), mctl); + return NETDEV_TX_OK; +} + +static const struct net_device_ops rcar_can_netdev_ops = { + .ndo_open = rcar_can_open, + .ndo_stop = rcar_can_close, + .ndo_start_xmit = rcar_can_start_xmit, +}; + +static void rcar_can_rx_pkt(struct rcar_can_priv *priv, int mbx) +{ + struct net_device_stats *stats = &priv->ndev->stats; + struct can_frame *cf; + struct sk_buff *skb; + u32 data; + u8 dlc; + + skb = alloc_can_skb(priv->ndev, &cf); + if (!skb) { + stats->rx_dropped++; + return; + } + + data = readl(&priv->regs->mb[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[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[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; + + /* Find mailbox */ + while (num_pkts < quota) { + u8 mctl, mbx; + + mbx = rcar_can_readb(priv, RCAR_CAN_MSSR); + if (mbx & MSSR_SEST) + break; + mbx &= MSSR_MBNST; + mctl = rcar_can_readb(priv, RCAR_CAN_MCTL(mbx)); + /* Clear interrupt */ + rcar_can_writeb(priv, RCAR_CAN_MCTL(mbx), + mctl & ~MCTL_NEWDATA); + rcar_can_rx_pkt(priv, mbx); + ++num_pkts; + } + /* All packets processed */ + if (num_pkts < quota) { + napi_complete(napi); + priv->ier |= IER_RXM1IE; + rcar_can_writeb(priv, RCAR_CAN_IER, priv->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); + bec->txerr = rcar_can_readb(priv, RCAR_CAN_TECR); + bec->rxerr = rcar_can_readb(priv, RCAR_CAN_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), N_MBX - FIRST_TX_MB); + if (!ndev) { + dev_err(&pdev->dev, "alloc_candev failed\n"); + err = -ENOMEM; + goto fail; + } + + priv = netdev_priv(ndev); + + priv->clk = devm_clk_get(&pdev->dev, NULL); + if (IS_ERR(priv->clk)) { + err = PTR_ERR(priv->clk); + dev_err(&pdev->dev, "cannot get clock: %d\n", err); + goto fail_clk; + } + + ndev->netdev_ops = &rcar_can_netdev_ops; + ndev->irq = irq; + ndev->flags |= IFF_ECHO; + priv->ndev = ndev; + priv->regs = (struct rcar_can_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_bittiming = rcar_can_set_bittiming; + priv->can.do_set_mode = rcar_can_do_set_mode; + priv->can.do_get_berr_counter = rcar_can_get_berr_counter; + priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING | + CAN_CTRLMODE_ONE_SHOT; + platform_set_drvdata(pdev, ndev); + SET_NETDEV_DEV(ndev, &pdev->dev); + spin_lock_init(&priv->mier_lock); + + netif_napi_add(ndev, &priv->napi, rcar_can_rx_poll, + RCAR_CAN_NAPI_WEIGHT); + err = register_candev(ndev); + if (err) { + dev_err(&pdev->dev, "register_candev() failed\n"); + goto fail_candev; + } + + devm_can_led_init(ndev); + + dev_info(&pdev->dev, "device registered (reg_base=%p, irq=%u)\n", + priv->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 = rcar_can_readw(priv, RCAR_CAN_CTLR); + ctlr |= CTLR_HALT; + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr); + ctlr |= CTLR_SLPM; + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr); + priv->can.state = CAN_STATE_SLEEPING; + + clk_disable(priv->clk); + return 0; +} + +static int rcar_can_resume(struct device *dev) +{ + struct net_device *ndev = dev_get_drvdata(dev); + struct rcar_can_priv *priv = netdev_priv(ndev); + u16 ctlr; + + clk_enable(priv->clk); + + ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR); + ctlr &= ~CTLR_SLPM; + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr); + ctlr &= ~CTLR_FORCE_RESET; + rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr); + priv->can.state = CAN_STATE_ERROR_ACTIVE; + + if (netif_running(ndev)) { + netif_device_attach(ndev); + netif_start_queue(ndev); + } + return 0; +} +#endif + +static SIMPLE_DEV_PM_OPS(rcar_can_pm_ops, rcar_can_suspend, rcar_can_resume); + +static struct platform_driver rcar_can_driver = { + .driver = { + .name = DRV_NAME, + .owner = THIS_MODULE, + .pm = &rcar_can_pm_ops, + }, + .probe = rcar_can_probe, + .remove = rcar_can_remove, +}; + +module_platform_driver(rcar_can_driver); + +MODULE_AUTHOR("Cogent Embedded, Inc."); +MODULE_LICENSE("GPL"); +MODULE_DESCRIPTION("CAN driver for Renesas R-Car SoC"); +MODULE_ALIAS("platform:" DRV_NAME); Index: linux-can-next/include/linux/can/platform/rcar_can.h =================================================================== --- /dev/null +++ linux-can-next/include/linux/can/platform/rcar_can.h @@ -0,0 +1,15 @@ +#ifndef _CAN_PLATFORM_RCAR_CAN_H_ +#define _CAN_PLATFORM_RCAR_CAN_H_ + +#include + +/* Clock Select Register settings */ +#define CLKR_CLKEXT 3 /* Externally input clock */ +#define CLKR_CLKP2 1 /* Peripheral clock (clkp2) */ +#define CLKR_CLKP1 0 /* Peripheral clock (clkp1) */ + +struct rcar_can_platform_data { + u8 clock_select; /* Clock source select */ +}; + +#endif /* !_CAN_PLATFORM_RCAR_CAN_H_ */