diff options
Diffstat (limited to 'drivers/net/can/peak_canfd')
| -rw-r--r-- | drivers/net/can/peak_canfd/Kconfig | 13 | ||||
| -rw-r--r-- | drivers/net/can/peak_canfd/Makefile | 5 | ||||
| -rw-r--r-- | drivers/net/can/peak_canfd/peak_canfd.c | 794 | ||||
| -rw-r--r-- | drivers/net/can/peak_canfd/peak_canfd_user.h | 55 | ||||
| -rw-r--r-- | drivers/net/can/peak_canfd/peak_pciefd_main.c | 877 |
5 files changed, 1744 insertions, 0 deletions
diff --git a/drivers/net/can/peak_canfd/Kconfig b/drivers/net/can/peak_canfd/Kconfig new file mode 100644 index 000000000..84b30978a --- /dev/null +++ b/drivers/net/can/peak_canfd/Kconfig @@ -0,0 +1,13 @@ +config CAN_PEAK_PCIEFD + depends on PCI + tristate "PEAK-System PCAN-PCIe FD cards" + ---help--- + This driver adds support for the PEAK-System PCI Express FD + CAN-FD cards family. + These 1x or 2x CAN-FD channels cards offer CAN 2.0 a/b as well as + CAN-FD access to the CAN bus. Besides the nominal bitrate of up to + 1 Mbit/s, the data bytes of CAN-FD frames can be transmitted with + up to 12 Mbit/s. A galvanic isolation of the CAN ports protects the + electronics of the card and the respective computer against + disturbances of up to 500 Volts. The PCAN-PCI Express FD can be + operated with ambient temperatures in a range of -40 to +85 °C. diff --git a/drivers/net/can/peak_canfd/Makefile b/drivers/net/can/peak_canfd/Makefile new file mode 100644 index 000000000..3dc7a6a0b --- /dev/null +++ b/drivers/net/can/peak_canfd/Makefile @@ -0,0 +1,5 @@ +# +# Makefile for the PEAK-System CAN-FD IP module drivers +# +obj-$(CONFIG_CAN_PEAK_PCIEFD) += peak_pciefd.o +peak_pciefd-y := peak_pciefd_main.o peak_canfd.o diff --git a/drivers/net/can/peak_canfd/peak_canfd.c b/drivers/net/can/peak_canfd/peak_canfd.c new file mode 100644 index 000000000..2d73667ea --- /dev/null +++ b/drivers/net/can/peak_canfd/peak_canfd.c @@ -0,0 +1,794 @@ +/* + * Copyright (C) 2007, 2011 Wolfgang Grandegger <wg@grandegger.com> + * Copyright (C) 2012 Stephane Grosjean <s.grosjean@peak-system.com> + * + * Copyright (C) 2016 PEAK System-Technik GmbH + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the version 2 of the GNU General Public License + * as published by the Free Software Foundation + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + */ + +#include <linux/can.h> +#include <linux/can/dev.h> + +#include "peak_canfd_user.h" + +/* internal IP core cache size (used as default echo skbs max number) */ +#define PCANFD_ECHO_SKB_MAX 24 + +/* bittiming ranges of the PEAK-System PC CAN-FD interfaces */ +static const struct can_bittiming_const peak_canfd_nominal_const = { + .name = "peak_canfd", + .tseg1_min = 1, + .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS), + .tseg2_min = 1, + .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS), + .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS), + .brp_min = 1, + .brp_max = (1 << PUCAN_TSLOW_BRP_BITS), + .brp_inc = 1, +}; + +static const struct can_bittiming_const peak_canfd_data_const = { + .name = "peak_canfd", + .tseg1_min = 1, + .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS), + .tseg2_min = 1, + .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS), + .sjw_max = (1 << PUCAN_TFAST_SJW_BITS), + .brp_min = 1, + .brp_max = (1 << PUCAN_TFAST_BRP_BITS), + .brp_inc = 1, +}; + +static struct peak_canfd_priv *pucan_init_cmd(struct peak_canfd_priv *priv) +{ + priv->cmd_len = 0; + return priv; +} + +static void *pucan_add_cmd(struct peak_canfd_priv *priv, int cmd_op) +{ + struct pucan_command *cmd; + + if (priv->cmd_len + sizeof(*cmd) > priv->cmd_maxlen) + return NULL; + + cmd = priv->cmd_buffer + priv->cmd_len; + + /* reset all unused bit to default */ + memset(cmd, 0, sizeof(*cmd)); + + cmd->opcode_channel = pucan_cmd_opcode_channel(priv->index, cmd_op); + priv->cmd_len += sizeof(*cmd); + + return cmd; +} + +static int pucan_write_cmd(struct peak_canfd_priv *priv) +{ + int err; + + if (priv->pre_cmd) { + err = priv->pre_cmd(priv); + if (err) + return err; + } + + err = priv->write_cmd(priv); + if (err) + return err; + + if (priv->post_cmd) + err = priv->post_cmd(priv); + + return err; +} + +/* uCAN commands interface functions */ +static int pucan_set_reset_mode(struct peak_canfd_priv *priv) +{ + pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RESET_MODE); + return pucan_write_cmd(priv); +} + +static int pucan_set_normal_mode(struct peak_canfd_priv *priv) +{ + int err; + + pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_NORMAL_MODE); + err = pucan_write_cmd(priv); + if (!err) + priv->can.state = CAN_STATE_ERROR_ACTIVE; + + return err; +} + +static int pucan_set_listen_only_mode(struct peak_canfd_priv *priv) +{ + int err; + + pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_LISTEN_ONLY_MODE); + err = pucan_write_cmd(priv); + if (!err) + priv->can.state = CAN_STATE_ERROR_ACTIVE; + + return err; +} + +static int pucan_set_timing_slow(struct peak_canfd_priv *priv, + const struct can_bittiming *pbt) +{ + struct pucan_timing_slow *cmd; + + cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_SLOW); + + cmd->sjw_t = PUCAN_TSLOW_SJW_T(pbt->sjw - 1, + priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES); + cmd->tseg1 = PUCAN_TSLOW_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1); + cmd->tseg2 = PUCAN_TSLOW_TSEG2(pbt->phase_seg2 - 1); + cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(pbt->brp - 1)); + + cmd->ewl = 96; /* default */ + + netdev_dbg(priv->ndev, + "nominal: brp=%u tseg1=%u tseg2=%u sjw=%u\n", + le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw_t); + + return pucan_write_cmd(priv); +} + +static int pucan_set_timing_fast(struct peak_canfd_priv *priv, + const struct can_bittiming *pbt) +{ + struct pucan_timing_fast *cmd; + + cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_FAST); + + cmd->sjw = PUCAN_TFAST_SJW(pbt->sjw - 1); + cmd->tseg1 = PUCAN_TFAST_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1); + cmd->tseg2 = PUCAN_TFAST_TSEG2(pbt->phase_seg2 - 1); + cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(pbt->brp - 1)); + + netdev_dbg(priv->ndev, + "data: brp=%u tseg1=%u tseg2=%u sjw=%u\n", + le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw); + + return pucan_write_cmd(priv); +} + +static int pucan_set_std_filter(struct peak_canfd_priv *priv, u8 row, u32 mask) +{ + struct pucan_std_filter *cmd; + + cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_STD_FILTER); + + /* all the 11-bits CAN ID values are represented by one bit in a + * 64 rows array of 32 bits: the upper 6 bits of the CAN ID select the + * row while the lowest 5 bits select the bit in that row. + * + * bit filter + * 1 passed + * 0 discarded + */ + + /* select the row */ + cmd->idx = row; + + /* set/unset bits in the row */ + cmd->mask = cpu_to_le32(mask); + + return pucan_write_cmd(priv); +} + +static int pucan_tx_abort(struct peak_canfd_priv *priv, u16 flags) +{ + struct pucan_tx_abort *cmd; + + cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TX_ABORT); + + cmd->flags = cpu_to_le16(flags); + + return pucan_write_cmd(priv); +} + +static int pucan_clr_err_counters(struct peak_canfd_priv *priv) +{ + struct pucan_wr_err_cnt *cmd; + + cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_WR_ERR_CNT); + + cmd->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE | PUCAN_WRERRCNT_RE); + cmd->tx_counter = 0; + cmd->rx_counter = 0; + + return pucan_write_cmd(priv); +} + +static int pucan_set_options(struct peak_canfd_priv *priv, u16 opt_mask) +{ + struct pucan_options *cmd; + + cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_EN_OPTION); + + cmd->options = cpu_to_le16(opt_mask); + + return pucan_write_cmd(priv); +} + +static int pucan_clr_options(struct peak_canfd_priv *priv, u16 opt_mask) +{ + struct pucan_options *cmd; + + cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_CLR_DIS_OPTION); + + cmd->options = cpu_to_le16(opt_mask); + + return pucan_write_cmd(priv); +} + +static int pucan_setup_rx_barrier(struct peak_canfd_priv *priv) +{ + pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RX_BARRIER); + + return pucan_write_cmd(priv); +} + +/* handle the reception of one CAN frame */ +static int pucan_handle_can_rx(struct peak_canfd_priv *priv, + struct pucan_rx_msg *msg) +{ + struct net_device_stats *stats = &priv->ndev->stats; + struct canfd_frame *cf; + struct sk_buff *skb; + const u16 rx_msg_flags = le16_to_cpu(msg->flags); + u8 cf_len; + + if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) + cf_len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(msg))); + else + cf_len = get_can_dlc(pucan_msg_get_dlc(msg)); + + /* if this frame is an echo, */ + if (rx_msg_flags & PUCAN_MSG_LOOPED_BACK) { + unsigned long flags; + + spin_lock_irqsave(&priv->echo_lock, flags); + can_get_echo_skb(priv->ndev, msg->client); + + /* count bytes of the echo instead of skb */ + stats->tx_bytes += cf_len; + stats->tx_packets++; + + /* restart tx queue (a slot is free) */ + netif_wake_queue(priv->ndev); + + spin_unlock_irqrestore(&priv->echo_lock, flags); + + /* if this frame is only an echo, stop here. Otherwise, + * continue to push this application self-received frame into + * its own rx queue. + */ + if (!(rx_msg_flags & PUCAN_MSG_SELF_RECEIVE)) + return 0; + } + + /* otherwise, it should be pushed into rx fifo */ + if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) { + /* CANFD frame case */ + skb = alloc_canfd_skb(priv->ndev, &cf); + if (!skb) + return -ENOMEM; + + if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH) + cf->flags |= CANFD_BRS; + + if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND) + cf->flags |= CANFD_ESI; + } else { + /* CAN 2.0 frame case */ + skb = alloc_can_skb(priv->ndev, (struct can_frame **)&cf); + if (!skb) + return -ENOMEM; + } + + cf->can_id = le32_to_cpu(msg->can_id); + cf->len = cf_len; + + if (rx_msg_flags & PUCAN_MSG_EXT_ID) + cf->can_id |= CAN_EFF_FLAG; + + if (rx_msg_flags & PUCAN_MSG_RTR) + cf->can_id |= CAN_RTR_FLAG; + else + memcpy(cf->data, msg->d, cf->len); + + stats->rx_bytes += cf->len; + stats->rx_packets++; + + netif_rx(skb); + + return 0; +} + +/* handle rx/tx error counters notification */ +static int pucan_handle_error(struct peak_canfd_priv *priv, + struct pucan_error_msg *msg) +{ + priv->bec.txerr = msg->tx_err_cnt; + priv->bec.rxerr = msg->rx_err_cnt; + + return 0; +} + +/* handle status notification */ +static int pucan_handle_status(struct peak_canfd_priv *priv, + struct pucan_status_msg *msg) +{ + struct net_device *ndev = priv->ndev; + struct net_device_stats *stats = &ndev->stats; + struct can_frame *cf; + struct sk_buff *skb; + + /* this STATUS is the CNF of the RX_BARRIER: Tx path can be setup */ + if (pucan_status_is_rx_barrier(msg)) { + + if (priv->enable_tx_path) { + int err = priv->enable_tx_path(priv); + + if (err) + return err; + } + + /* wake network queue up (echo_skb array is empty) */ + netif_wake_queue(ndev); + + return 0; + } + + skb = alloc_can_err_skb(ndev, &cf); + + /* test state error bits according to their priority */ + if (pucan_status_is_busoff(msg)) { + netdev_dbg(ndev, "Bus-off entry status\n"); + priv->can.state = CAN_STATE_BUS_OFF; + priv->can.can_stats.bus_off++; + can_bus_off(ndev); + if (skb) + cf->can_id |= CAN_ERR_BUSOFF; + + } else if (pucan_status_is_passive(msg)) { + netdev_dbg(ndev, "Error passive status\n"); + priv->can.state = CAN_STATE_ERROR_PASSIVE; + priv->can.can_stats.error_passive++; + if (skb) { + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ? + CAN_ERR_CRTL_TX_PASSIVE : + CAN_ERR_CRTL_RX_PASSIVE; + cf->data[6] = priv->bec.txerr; + cf->data[7] = priv->bec.rxerr; + } + + } else if (pucan_status_is_warning(msg)) { + netdev_dbg(ndev, "Error warning status\n"); + priv->can.state = CAN_STATE_ERROR_WARNING; + priv->can.can_stats.error_warning++; + if (skb) { + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ? + CAN_ERR_CRTL_TX_WARNING : + CAN_ERR_CRTL_RX_WARNING; + cf->data[6] = priv->bec.txerr; + cf->data[7] = priv->bec.rxerr; + } + + } else if (priv->can.state != CAN_STATE_ERROR_ACTIVE) { + /* back to ERROR_ACTIVE */ + netdev_dbg(ndev, "Error active status\n"); + can_change_state(ndev, cf, CAN_STATE_ERROR_ACTIVE, + CAN_STATE_ERROR_ACTIVE); + } else { + dev_kfree_skb(skb); + return 0; + } + + if (!skb) { + stats->rx_dropped++; + return -ENOMEM; + } + + stats->rx_packets++; + stats->rx_bytes += cf->can_dlc; + netif_rx(skb); + + return 0; +} + +/* handle uCAN Rx overflow notification */ +static int pucan_handle_cache_critical(struct peak_canfd_priv *priv) +{ + struct net_device_stats *stats = &priv->ndev->stats; + struct can_frame *cf; + struct sk_buff *skb; + + stats->rx_over_errors++; + stats->rx_errors++; + + skb = alloc_can_err_skb(priv->ndev, &cf); + if (!skb) { + stats->rx_dropped++; + return -ENOMEM; + } + + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; + + cf->data[6] = priv->bec.txerr; + cf->data[7] = priv->bec.rxerr; + + stats->rx_bytes += cf->can_dlc; + stats->rx_packets++; + netif_rx(skb); + + return 0; +} + +/* handle a single uCAN message */ +int peak_canfd_handle_msg(struct peak_canfd_priv *priv, + struct pucan_rx_msg *msg) +{ + u16 msg_type = le16_to_cpu(msg->type); + int msg_size = le16_to_cpu(msg->size); + int err; + + if (!msg_size || !msg_type) { + /* null packet found: end of list */ + goto exit; + } + + switch (msg_type) { + case PUCAN_MSG_CAN_RX: + err = pucan_handle_can_rx(priv, (struct pucan_rx_msg *)msg); + break; + case PUCAN_MSG_ERROR: + err = pucan_handle_error(priv, (struct pucan_error_msg *)msg); + break; + case PUCAN_MSG_STATUS: + err = pucan_handle_status(priv, (struct pucan_status_msg *)msg); + break; + case PUCAN_MSG_CACHE_CRITICAL: + err = pucan_handle_cache_critical(priv); + break; + default: + err = 0; + } + + if (err < 0) + return err; + +exit: + return msg_size; +} + +/* handle a list of rx_count messages from rx_msg memory address */ +int peak_canfd_handle_msgs_list(struct peak_canfd_priv *priv, + struct pucan_rx_msg *msg_list, int msg_count) +{ + void *msg_ptr = msg_list; + int i, msg_size = 0; + + for (i = 0; i < msg_count; i++) { + msg_size = peak_canfd_handle_msg(priv, msg_ptr); + + /* a null packet can be found at the end of a list */ + if (msg_size <= 0) + break; + + msg_ptr += ALIGN(msg_size, 4); + } + + if (msg_size < 0) + return msg_size; + + return i; +} + +static int peak_canfd_start(struct peak_canfd_priv *priv) +{ + int err; + + err = pucan_clr_err_counters(priv); + if (err) + goto err_exit; + + priv->echo_idx = 0; + + priv->bec.txerr = 0; + priv->bec.rxerr = 0; + + if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) + err = pucan_set_listen_only_mode(priv); + else + err = pucan_set_normal_mode(priv); + +err_exit: + return err; +} + +static void peak_canfd_stop(struct peak_canfd_priv *priv) +{ + int err; + + /* go back to RESET mode */ + err = pucan_set_reset_mode(priv); + if (err) { + netdev_err(priv->ndev, "channel %u reset failed\n", + priv->index); + } else { + /* abort last Tx (MUST be done in RESET mode only!) */ + pucan_tx_abort(priv, PUCAN_TX_ABORT_FLUSH); + } +} + +static int peak_canfd_set_mode(struct net_device *ndev, enum can_mode mode) +{ + struct peak_canfd_priv *priv = netdev_priv(ndev); + + switch (mode) { + case CAN_MODE_START: + peak_canfd_start(priv); + netif_wake_queue(ndev); + break; + default: + return -EOPNOTSUPP; + } + + return 0; +} + +static int peak_canfd_get_berr_counter(const struct net_device *ndev, + struct can_berr_counter *bec) +{ + struct peak_canfd_priv *priv = netdev_priv(ndev); + + *bec = priv->bec; + return 0; +} + +static int peak_canfd_open(struct net_device *ndev) +{ + struct peak_canfd_priv *priv = netdev_priv(ndev); + int i, err = 0; + + err = open_candev(ndev); + if (err) { + netdev_err(ndev, "open_candev() failed, error %d\n", err); + goto err_exit; + } + + err = pucan_set_reset_mode(priv); + if (err) + goto err_close; + + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { + if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) + err = pucan_clr_options(priv, PUCAN_OPTION_CANDFDISO); + else + err = pucan_set_options(priv, PUCAN_OPTION_CANDFDISO); + + if (err) + goto err_close; + } + + /* set option: get rx/tx error counters */ + err = pucan_set_options(priv, PUCAN_OPTION_ERROR); + if (err) + goto err_close; + + /* accept all standard CAN ID */ + for (i = 0; i <= PUCAN_FLTSTD_ROW_IDX_MAX; i++) + pucan_set_std_filter(priv, i, 0xffffffff); + + err = peak_canfd_start(priv); + if (err) + goto err_close; + + /* receiving the RB status says when Tx path is ready */ + err = pucan_setup_rx_barrier(priv); + if (!err) + goto err_exit; + +err_close: + close_candev(ndev); +err_exit: + return err; +} + +static int peak_canfd_set_bittiming(struct net_device *ndev) +{ + struct peak_canfd_priv *priv = netdev_priv(ndev); + + return pucan_set_timing_slow(priv, &priv->can.bittiming); +} + +static int peak_canfd_set_data_bittiming(struct net_device *ndev) +{ + struct peak_canfd_priv *priv = netdev_priv(ndev); + + return pucan_set_timing_fast(priv, &priv->can.data_bittiming); +} + +static int peak_canfd_close(struct net_device *ndev) +{ + struct peak_canfd_priv *priv = netdev_priv(ndev); + + netif_stop_queue(ndev); + peak_canfd_stop(priv); + close_candev(ndev); + + return 0; +} + +static netdev_tx_t peak_canfd_start_xmit(struct sk_buff *skb, + struct net_device *ndev) +{ + struct peak_canfd_priv *priv = netdev_priv(ndev); + struct net_device_stats *stats = &ndev->stats; + struct canfd_frame *cf = (struct canfd_frame *)skb->data; + struct pucan_tx_msg *msg; + u16 msg_size, msg_flags; + unsigned long flags; + bool should_stop_tx_queue; + int room_left; + u8 can_dlc; + + if (can_dropped_invalid_skb(ndev, skb)) + return NETDEV_TX_OK; + + msg_size = ALIGN(sizeof(*msg) + cf->len, 4); + msg = priv->alloc_tx_msg(priv, msg_size, &room_left); + + /* should never happen except under bus-off condition and (auto-)restart + * mechanism + */ + if (!msg) { + stats->tx_dropped++; + netif_stop_queue(ndev); + return NETDEV_TX_BUSY; + } + + msg->size = cpu_to_le16(msg_size); + msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX); + msg_flags = 0; + + if (cf->can_id & CAN_EFF_FLAG) { + msg_flags |= PUCAN_MSG_EXT_ID; + msg->can_id = cpu_to_le32(cf->can_id & CAN_EFF_MASK); + } else { + msg->can_id = cpu_to_le32(cf->can_id & CAN_SFF_MASK); + } + + if (can_is_canfd_skb(skb)) { + /* CAN FD frame format */ + can_dlc = can_len2dlc(cf->len); + + msg_flags |= PUCAN_MSG_EXT_DATA_LEN; + + if (cf->flags & CANFD_BRS) + msg_flags |= PUCAN_MSG_BITRATE_SWITCH; + + if (cf->flags & CANFD_ESI) + msg_flags |= PUCAN_MSG_ERROR_STATE_IND; + } else { + /* CAN 2.0 frame format */ + can_dlc = cf->len; + + if (cf->can_id & CAN_RTR_FLAG) + msg_flags |= PUCAN_MSG_RTR; + } + + /* always ask loopback for echo management */ + msg_flags |= PUCAN_MSG_LOOPED_BACK; + + /* set driver specific bit to differentiate with application loopback */ + if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK) + msg_flags |= PUCAN_MSG_SELF_RECEIVE; + + msg->flags = cpu_to_le16(msg_flags); + msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(priv->index, can_dlc); + memcpy(msg->d, cf->data, cf->len); + + /* struct msg client field is used as an index in the echo skbs ring */ + msg->client = priv->echo_idx; + + spin_lock_irqsave(&priv->echo_lock, flags); + + /* prepare and save echo skb in internal slot */ + can_put_echo_skb(skb, ndev, priv->echo_idx); + + /* move echo index to the next slot */ + priv->echo_idx = (priv->echo_idx + 1) % priv->can.echo_skb_max; + + /* if next slot is not free, stop network queue (no slot free in echo + * skb ring means that the controller did not write these frames on + * the bus: no need to continue). + */ + should_stop_tx_queue = !!(priv->can.echo_skb[priv->echo_idx]); + + /* stop network tx queue if not enough room to save one more msg too */ + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) + should_stop_tx_queue |= (room_left < + (sizeof(*msg) + CANFD_MAX_DLEN)); + else + should_stop_tx_queue |= (room_left < + (sizeof(*msg) + CAN_MAX_DLEN)); + + if (should_stop_tx_queue) + netif_stop_queue(ndev); + + spin_unlock_irqrestore(&priv->echo_lock, flags); + + /* write the skb on the interface */ + priv->write_tx_msg(priv, msg); + + return NETDEV_TX_OK; +} + +static const struct net_device_ops peak_canfd_netdev_ops = { + .ndo_open = peak_canfd_open, + .ndo_stop = peak_canfd_close, + .ndo_start_xmit = peak_canfd_start_xmit, + .ndo_change_mtu = can_change_mtu, +}; + +struct net_device *alloc_peak_canfd_dev(int sizeof_priv, int index, + int echo_skb_max) +{ + struct net_device *ndev; + struct peak_canfd_priv *priv; + + /* we DO support local echo */ + if (echo_skb_max < 0) + echo_skb_max = PCANFD_ECHO_SKB_MAX; + + /* allocate the candev object */ + ndev = alloc_candev(sizeof_priv, echo_skb_max); + if (!ndev) + return NULL; + + priv = netdev_priv(ndev); + + /* complete now socket-can initialization side */ + priv->can.state = CAN_STATE_STOPPED; + priv->can.bittiming_const = &peak_canfd_nominal_const; + priv->can.data_bittiming_const = &peak_canfd_data_const; + + priv->can.do_set_mode = peak_canfd_set_mode; + priv->can.do_get_berr_counter = peak_canfd_get_berr_counter; + priv->can.do_set_bittiming = peak_canfd_set_bittiming; + priv->can.do_set_data_bittiming = peak_canfd_set_data_bittiming; + priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | + CAN_CTRLMODE_LISTENONLY | + CAN_CTRLMODE_3_SAMPLES | + CAN_CTRLMODE_FD | + CAN_CTRLMODE_FD_NON_ISO | + CAN_CTRLMODE_BERR_REPORTING; + + priv->ndev = ndev; + priv->index = index; + priv->cmd_len = 0; + spin_lock_init(&priv->echo_lock); + + ndev->flags |= IFF_ECHO; + ndev->netdev_ops = &peak_canfd_netdev_ops; + ndev->dev_id = index; + + return ndev; +} diff --git a/drivers/net/can/peak_canfd/peak_canfd_user.h b/drivers/net/can/peak_canfd/peak_canfd_user.h new file mode 100644 index 000000000..bf6de47f6 --- /dev/null +++ b/drivers/net/can/peak_canfd/peak_canfd_user.h @@ -0,0 +1,55 @@ +/* + * CAN driver for PEAK System micro-CAN based adapters + * + * Copyright (C) 2003-2011 PEAK System-Technik GmbH + * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com> + * + * 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; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + */ +#ifndef PEAK_CANFD_USER_H +#define PEAK_CANFD_USER_H + +#include <linux/can/dev/peak_canfd.h> + +#define PCANFD_ECHO_SKB_DEF -1 + +/* data structure private to each uCAN interface */ +struct peak_canfd_priv { + struct can_priv can; /* socket-can private data */ + struct net_device *ndev; /* network device */ + int index; /* channel index */ + + struct can_berr_counter bec; /* rx/tx err counters */ + + int echo_idx; /* echo skb free slot index */ + spinlock_t echo_lock; + + int cmd_len; + void *cmd_buffer; + int cmd_maxlen; + + int (*pre_cmd)(struct peak_canfd_priv *priv); + int (*write_cmd)(struct peak_canfd_priv *priv); + int (*post_cmd)(struct peak_canfd_priv *priv); + + int (*enable_tx_path)(struct peak_canfd_priv *priv); + void *(*alloc_tx_msg)(struct peak_canfd_priv *priv, u16 msg_size, + int *room_left); + int (*write_tx_msg)(struct peak_canfd_priv *priv, + struct pucan_tx_msg *msg); +}; + +struct net_device *alloc_peak_canfd_dev(int sizeof_priv, int index, + int echo_skb_max); +int peak_canfd_handle_msg(struct peak_canfd_priv *priv, + struct pucan_rx_msg *msg); +int peak_canfd_handle_msgs_list(struct peak_canfd_priv *priv, + struct pucan_rx_msg *rx_msg, int rx_count); +#endif diff --git a/drivers/net/can/peak_canfd/peak_pciefd_main.c b/drivers/net/can/peak_canfd/peak_pciefd_main.c new file mode 100644 index 000000000..c458d5fdc --- /dev/null +++ b/drivers/net/can/peak_canfd/peak_pciefd_main.c @@ -0,0 +1,877 @@ +/* + * Copyright (C) 2007, 2011 Wolfgang Grandegger <wg@grandegger.com> + * Copyright (C) 2012 Stephane Grosjean <s.grosjean@peak-system.com> + * + * Derived from the PCAN project file driver/src/pcan_pci.c: + * + * Copyright (C) 2001-2006 PEAK System-Technik GmbH + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the version 2 of the GNU General Public License + * as published by the Free Software Foundation + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + */ + +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/interrupt.h> +#include <linux/netdevice.h> +#include <linux/delay.h> +#include <linux/pci.h> +#include <linux/io.h> +#include <linux/can.h> +#include <linux/can/dev.h> + +#include "peak_canfd_user.h" + +MODULE_AUTHOR("Stephane Grosjean <s.grosjean@peak-system.com>"); +MODULE_DESCRIPTION("Socket-CAN driver for PEAK PCAN PCIe/M.2 FD family cards"); +MODULE_SUPPORTED_DEVICE("PEAK PCAN PCIe/M.2 FD CAN cards"); +MODULE_LICENSE("GPL v2"); + +#define PCIEFD_DRV_NAME "peak_pciefd" + +#define PEAK_PCI_VENDOR_ID 0x001c /* The PCI device and vendor IDs */ +#define PEAK_PCIEFD_ID 0x0013 /* for PCIe slot cards */ +#define PCAN_CPCIEFD_ID 0x0014 /* for Compact-PCI Serial slot cards */ +#define PCAN_PCIE104FD_ID 0x0017 /* for PCIe-104 Express slot cards */ +#define PCAN_MINIPCIEFD_ID 0x0018 /* for mini-PCIe slot cards */ +#define PCAN_PCIEFD_OEM_ID 0x0019 /* for PCIe slot OEM cards */ +#define PCAN_M2_ID 0x001a /* for M2 slot cards */ + +/* PEAK PCIe board access description */ +#define PCIEFD_BAR0_SIZE (64 * 1024) +#define PCIEFD_RX_DMA_SIZE (4 * 1024) +#define PCIEFD_TX_DMA_SIZE (4 * 1024) + +#define PCIEFD_TX_PAGE_SIZE (2 * 1024) + +/* System Control Registers */ +#define PCIEFD_REG_SYS_CTL_SET 0x0000 /* set bits */ +#define PCIEFD_REG_SYS_CTL_CLR 0x0004 /* clear bits */ + +/* Version info registers */ +#define PCIEFD_REG_SYS_VER1 0x0040 /* version reg #1 */ +#define PCIEFD_REG_SYS_VER2 0x0044 /* version reg #2 */ + +#define PCIEFD_FW_VERSION(x, y, z) (((u32)(x) << 24) | \ + ((u32)(y) << 16) | \ + ((u32)(z) << 8)) + +/* System Control Registers Bits */ +#define PCIEFD_SYS_CTL_TS_RST 0x00000001 /* timestamp clock */ +#define PCIEFD_SYS_CTL_CLK_EN 0x00000002 /* system clock */ + +/* CAN-FD channel addresses */ +#define PCIEFD_CANX_OFF(c) (((c) + 1) * 0x1000) + +#define PCIEFD_ECHO_SKB_MAX PCANFD_ECHO_SKB_DEF + +/* CAN-FD channel registers */ +#define PCIEFD_REG_CAN_MISC 0x0000 /* Misc. control */ +#define PCIEFD_REG_CAN_CLK_SEL 0x0008 /* Clock selector */ +#define PCIEFD_REG_CAN_CMD_PORT_L 0x0010 /* 64-bits command port */ +#define PCIEFD_REG_CAN_CMD_PORT_H 0x0014 +#define PCIEFD_REG_CAN_TX_REQ_ACC 0x0020 /* Tx request accumulator */ +#define PCIEFD_REG_CAN_TX_CTL_SET 0x0030 /* Tx control set register */ +#define PCIEFD_REG_CAN_TX_CTL_CLR 0x0038 /* Tx control clear register */ +#define PCIEFD_REG_CAN_TX_DMA_ADDR_L 0x0040 /* 64-bits addr for Tx DMA */ +#define PCIEFD_REG_CAN_TX_DMA_ADDR_H 0x0044 +#define PCIEFD_REG_CAN_RX_CTL_SET 0x0050 /* Rx control set register */ +#define PCIEFD_REG_CAN_RX_CTL_CLR 0x0058 /* Rx control clear register */ +#define PCIEFD_REG_CAN_RX_CTL_WRT 0x0060 /* Rx control write register */ +#define PCIEFD_REG_CAN_RX_CTL_ACK 0x0068 /* Rx control ACK register */ +#define PCIEFD_REG_CAN_RX_DMA_ADDR_L 0x0070 /* 64-bits addr for Rx DMA */ +#define PCIEFD_REG_CAN_RX_DMA_ADDR_H 0x0074 + +/* CAN-FD channel misc register bits */ +#define CANFD_MISC_TS_RST 0x00000001 /* timestamp cnt rst */ + +/* CAN-FD channel Clock SELector Source & DIVider */ +#define CANFD_CLK_SEL_DIV_MASK 0x00000007 +#define CANFD_CLK_SEL_DIV_60MHZ 0x00000000 /* SRC=240MHz only */ +#define CANFD_CLK_SEL_DIV_40MHZ 0x00000001 /* SRC=240MHz only */ +#define CANFD_CLK_SEL_DIV_30MHZ 0x00000002 /* SRC=240MHz only */ +#define CANFD_CLK_SEL_DIV_24MHZ 0x00000003 /* SRC=240MHz only */ +#define CANFD_CLK_SEL_DIV_20MHZ 0x00000004 /* SRC=240MHz only */ + +#define CANFD_CLK_SEL_SRC_MASK 0x00000008 /* 0=80MHz, 1=240MHz */ +#define CANFD_CLK_SEL_SRC_240MHZ 0x00000008 +#define CANFD_CLK_SEL_SRC_80MHZ (~CANFD_CLK_SEL_SRC_240MHZ & \ + CANFD_CLK_SEL_SRC_MASK) + +#define CANFD_CLK_SEL_20MHZ (CANFD_CLK_SEL_SRC_240MHZ |\ + CANFD_CLK_SEL_DIV_20MHZ) +#define CANFD_CLK_SEL_24MHZ (CANFD_CLK_SEL_SRC_240MHZ |\ + CANFD_CLK_SEL_DIV_24MHZ) +#define CANFD_CLK_SEL_30MHZ (CANFD_CLK_SEL_SRC_240MHZ |\ + CANFD_CLK_SEL_DIV_30MHZ) +#define CANFD_CLK_SEL_40MHZ (CANFD_CLK_SEL_SRC_240MHZ |\ + CANFD_CLK_SEL_DIV_40MHZ) +#define CANFD_CLK_SEL_60MHZ (CANFD_CLK_SEL_SRC_240MHZ |\ + CANFD_CLK_SEL_DIV_60MHZ) +#define CANFD_CLK_SEL_80MHZ (CANFD_CLK_SEL_SRC_80MHZ) + +/* CAN-FD channel Rx/Tx control register bits */ +#define CANFD_CTL_UNC_BIT 0x00010000 /* Uncached DMA mem */ +#define CANFD_CTL_RST_BIT 0x00020000 /* reset DMA action */ +#define CANFD_CTL_IEN_BIT 0x00040000 /* IRQ enable */ + +/* Rx IRQ Count and Time Limits */ +#define CANFD_CTL_IRQ_CL_DEF 16 /* Rx msg max nb per IRQ in Rx DMA */ +#define CANFD_CTL_IRQ_TL_DEF 10 /* Time before IRQ if < CL (x100 µs) */ + +#define CANFD_OPTIONS_SET (CANFD_OPTION_ERROR | CANFD_OPTION_BUSLOAD) + +/* Tx anticipation window (link logical address should be aligned on 2K + * boundary) + */ +#define PCIEFD_TX_PAGE_COUNT (PCIEFD_TX_DMA_SIZE / PCIEFD_TX_PAGE_SIZE) + +#define CANFD_MSG_LNK_TX 0x1001 /* Tx msgs link */ + +/* 32-bits IRQ status fields, heading Rx DMA area */ +static inline int pciefd_irq_tag(u32 irq_status) +{ + return irq_status & 0x0000000f; +} + +static inline int pciefd_irq_rx_cnt(u32 irq_status) +{ + return (irq_status & 0x000007f0) >> 4; +} + +static inline int pciefd_irq_is_lnk(u32 irq_status) +{ + return irq_status & 0x00010000; +} + +/* Rx record */ +struct pciefd_rx_dma { + __le32 irq_status; + __le32 sys_time_low; + __le32 sys_time_high; + struct pucan_rx_msg msg[0]; +} __packed __aligned(4); + +/* Tx Link record */ +struct pciefd_tx_link { + __le16 size; + __le16 type; + __le32 laddr_lo; + __le32 laddr_hi; +} __packed __aligned(4); + +/* Tx page descriptor */ +struct pciefd_page { + void *vbase; /* page virtual address */ + dma_addr_t lbase; /* page logical address */ + u32 offset; + u32 size; +}; + +/* CAN-FD channel object */ +struct pciefd_board; +struct pciefd_can { + struct peak_canfd_priv ucan; /* must be the first member */ + void __iomem *reg_base; /* channel config base addr */ + struct pciefd_board *board; /* reverse link */ + + struct pucan_command pucan_cmd; /* command buffer */ + + dma_addr_t rx_dma_laddr; /* DMA virtual and logical addr */ + void *rx_dma_vaddr; /* for Rx and Tx areas */ + dma_addr_t tx_dma_laddr; + void *tx_dma_vaddr; + + struct pciefd_page tx_pages[PCIEFD_TX_PAGE_COUNT]; + u16 tx_pages_free; /* free Tx pages counter */ + u16 tx_page_index; /* current page used for Tx */ + spinlock_t tx_lock; + + u32 irq_status; + u32 irq_tag; /* next irq tag */ +}; + +/* PEAK-PCIe FD board object */ +struct pciefd_board { + void __iomem *reg_base; + struct pci_dev *pci_dev; + int can_count; + spinlock_t cmd_lock; /* 64-bits cmds must be atomic */ + struct pciefd_can *can[0]; /* array of network devices */ +}; + +/* supported device ids. */ +static const struct pci_device_id peak_pciefd_tbl[] = { + {PEAK_PCI_VENDOR_ID, PEAK_PCIEFD_ID, PCI_ANY_ID, PCI_ANY_ID,}, + {PEAK_PCI_VENDOR_ID, PCAN_CPCIEFD_ID, PCI_ANY_ID, PCI_ANY_ID,}, + {PEAK_PCI_VENDOR_ID, PCAN_PCIE104FD_ID, PCI_ANY_ID, PCI_ANY_ID,}, + {PEAK_PCI_VENDOR_ID, PCAN_MINIPCIEFD_ID, PCI_ANY_ID, PCI_ANY_ID,}, + {PEAK_PCI_VENDOR_ID, PCAN_PCIEFD_OEM_ID, PCI_ANY_ID, PCI_ANY_ID,}, + {PEAK_PCI_VENDOR_ID, PCAN_M2_ID, PCI_ANY_ID, PCI_ANY_ID,}, + {0,} +}; + +MODULE_DEVICE_TABLE(pci, peak_pciefd_tbl); + +/* read a 32 bits value from a SYS block register */ +static inline u32 pciefd_sys_readreg(const struct pciefd_board *priv, u16 reg) +{ + return readl(priv->reg_base + reg); +} + +/* write a 32 bits value into a SYS block register */ +static inline void pciefd_sys_writereg(const struct pciefd_board *priv, + u32 val, u16 reg) +{ + writel(val, priv->reg_base + reg); +} + +/* read a 32 bits value from CAN-FD block register */ +static inline u32 pciefd_can_readreg(const struct pciefd_can *priv, u16 reg) +{ + return readl(priv->reg_base + reg); +} + +/* write a 32 bits value into a CAN-FD block register */ +static inline void pciefd_can_writereg(const struct pciefd_can *priv, + u32 val, u16 reg) +{ + writel(val, priv->reg_base + reg); +} + +/* give a channel logical Rx DMA address to the board */ +static void pciefd_can_setup_rx_dma(struct pciefd_can *priv) +{ +#ifdef CONFIG_ARCH_DMA_ADDR_T_64BIT + const u32 dma_addr_h = (u32)(priv->rx_dma_laddr >> 32); +#else + const u32 dma_addr_h = 0; +#endif + + /* (DMA must be reset for Rx) */ + pciefd_can_writereg(priv, CANFD_CTL_RST_BIT, PCIEFD_REG_CAN_RX_CTL_SET); + + /* write the logical address of the Rx DMA area for this channel */ + pciefd_can_writereg(priv, (u32)priv->rx_dma_laddr, + PCIEFD_REG_CAN_RX_DMA_ADDR_L); + pciefd_can_writereg(priv, dma_addr_h, PCIEFD_REG_CAN_RX_DMA_ADDR_H); + + /* also indicates that Rx DMA is cacheable */ + pciefd_can_writereg(priv, CANFD_CTL_UNC_BIT, PCIEFD_REG_CAN_RX_CTL_CLR); +} + +/* clear channel logical Rx DMA address from the board */ +static void pciefd_can_clear_rx_dma(struct pciefd_can *priv) +{ + /* DMA must be reset for Rx */ + pciefd_can_writereg(priv, CANFD_CTL_RST_BIT, PCIEFD_REG_CAN_RX_CTL_SET); + + /* clear the logical address of the Rx DMA area for this channel */ + pciefd_can_writereg(priv, 0, PCIEFD_REG_CAN_RX_DMA_ADDR_L); + pciefd_can_writereg(priv, 0, PCIEFD_REG_CAN_RX_DMA_ADDR_H); +} + +/* give a channel logical Tx DMA address to the board */ +static void pciefd_can_setup_tx_dma(struct pciefd_can *priv) +{ +#ifdef CONFIG_ARCH_DMA_ADDR_T_64BIT + const u32 dma_addr_h = (u32)(priv->tx_dma_laddr >> 32); +#else + const u32 dma_addr_h = 0; +#endif + + /* (DMA must be reset for Tx) */ + pciefd_can_writereg(priv, CANFD_CTL_RST_BIT, PCIEFD_REG_CAN_TX_CTL_SET); + + /* write the logical address of the Tx DMA area for this channel */ + pciefd_can_writereg(priv, (u32)priv->tx_dma_laddr, + PCIEFD_REG_CAN_TX_DMA_ADDR_L); + pciefd_can_writereg(priv, dma_addr_h, PCIEFD_REG_CAN_TX_DMA_ADDR_H); + + /* also indicates that Tx DMA is cacheable */ + pciefd_can_writereg(priv, CANFD_CTL_UNC_BIT, PCIEFD_REG_CAN_TX_CTL_CLR); +} + +/* clear channel logical Tx DMA address from the board */ +static void pciefd_can_clear_tx_dma(struct pciefd_can *priv) +{ + /* DMA must be reset for Tx */ + pciefd_can_writereg(priv, CANFD_CTL_RST_BIT, PCIEFD_REG_CAN_TX_CTL_SET); + + /* clear the logical address of the Tx DMA area for this channel */ + pciefd_can_writereg(priv, 0, PCIEFD_REG_CAN_TX_DMA_ADDR_L); + pciefd_can_writereg(priv, 0, PCIEFD_REG_CAN_TX_DMA_ADDR_H); +} + +static void pciefd_can_ack_rx_dma(struct pciefd_can *priv) +{ + /* read value of current IRQ tag and inc it for next one */ + priv->irq_tag = le32_to_cpu(*(__le32 *)priv->rx_dma_vaddr); + priv->irq_tag++; + priv->irq_tag &= 0xf; + + /* write the next IRQ tag for this CAN */ + pciefd_can_writereg(priv, priv->irq_tag, PCIEFD_REG_CAN_RX_CTL_ACK); +} + +/* IRQ handler */ +static irqreturn_t pciefd_irq_handler(int irq, void *arg) +{ + struct pciefd_can *priv = arg; + struct pciefd_rx_dma *rx_dma = priv->rx_dma_vaddr; + + /* INTA mode only to sync with PCIe transaction */ + if (!pci_dev_msi_enabled(priv->board->pci_dev)) + (void)pciefd_sys_readreg(priv->board, PCIEFD_REG_SYS_VER1); + + /* read IRQ status from the first 32-bits of the Rx DMA area */ + priv->irq_status = le32_to_cpu(rx_dma->irq_status); + + /* check if this (shared) IRQ is for this CAN */ + if (pciefd_irq_tag(priv->irq_status) != priv->irq_tag) + return IRQ_NONE; + + /* handle rx messages (if any) */ + peak_canfd_handle_msgs_list(&priv->ucan, + rx_dma->msg, + pciefd_irq_rx_cnt(priv->irq_status)); + + /* handle tx link interrupt (if any) */ + if (pciefd_irq_is_lnk(priv->irq_status)) { + unsigned long flags; + + spin_lock_irqsave(&priv->tx_lock, flags); + priv->tx_pages_free++; + spin_unlock_irqrestore(&priv->tx_lock, flags); + + /* wake producer up (only if enough room in echo_skb array) */ + spin_lock_irqsave(&priv->ucan.echo_lock, flags); + if (!priv->ucan.can.echo_skb[priv->ucan.echo_idx]) + netif_wake_queue(priv->ucan.ndev); + + spin_unlock_irqrestore(&priv->ucan.echo_lock, flags); + } + + /* re-enable Rx DMA transfer for this CAN */ + pciefd_can_ack_rx_dma(priv); + + return IRQ_HANDLED; +} + +static int pciefd_enable_tx_path(struct peak_canfd_priv *ucan) +{ + struct pciefd_can *priv = (struct pciefd_can *)ucan; + int i; + + /* initialize the Tx pages descriptors */ + priv->tx_pages_free = PCIEFD_TX_PAGE_COUNT - 1; + priv->tx_page_index = 0; + + priv->tx_pages[0].vbase = priv->tx_dma_vaddr; + priv->tx_pages[0].lbase = priv->tx_dma_laddr; + + for (i = 0; i < PCIEFD_TX_PAGE_COUNT; i++) { + priv->tx_pages[i].offset = 0; + priv->tx_pages[i].size = PCIEFD_TX_PAGE_SIZE - + sizeof(struct pciefd_tx_link); + if (i) { + priv->tx_pages[i].vbase = + priv->tx_pages[i - 1].vbase + + PCIEFD_TX_PAGE_SIZE; + priv->tx_pages[i].lbase = + priv->tx_pages[i - 1].lbase + + PCIEFD_TX_PAGE_SIZE; + } + } + + /* setup Tx DMA addresses into IP core */ + pciefd_can_setup_tx_dma(priv); + + /* start (TX_RST=0) Tx Path */ + pciefd_can_writereg(priv, CANFD_CTL_RST_BIT, PCIEFD_REG_CAN_TX_CTL_CLR); + + return 0; +} + +/* board specific CANFD command pre-processing */ +static int pciefd_pre_cmd(struct peak_canfd_priv *ucan) +{ + struct pciefd_can *priv = (struct pciefd_can *)ucan; + u16 cmd = pucan_cmd_get_opcode(&priv->pucan_cmd); + int err; + + /* pre-process command */ + switch (cmd) { + case PUCAN_CMD_NORMAL_MODE: + case PUCAN_CMD_LISTEN_ONLY_MODE: + + if (ucan->can.state == CAN_STATE_BUS_OFF) + break; + + /* going into operational mode: setup IRQ handler */ + err = request_irq(priv->ucan.ndev->irq, + pciefd_irq_handler, + IRQF_SHARED, + PCIEFD_DRV_NAME, + priv); + if (err) + return err; + + /* setup Rx DMA address */ + pciefd_can_setup_rx_dma(priv); + + /* setup max count of msgs per IRQ */ + pciefd_can_writereg(priv, (CANFD_CTL_IRQ_TL_DEF) << 8 | + CANFD_CTL_IRQ_CL_DEF, + PCIEFD_REG_CAN_RX_CTL_WRT); + + /* clear DMA RST for Rx (Rx start) */ + pciefd_can_writereg(priv, CANFD_CTL_RST_BIT, + PCIEFD_REG_CAN_RX_CTL_CLR); + + /* reset timestamps */ + pciefd_can_writereg(priv, !CANFD_MISC_TS_RST, + PCIEFD_REG_CAN_MISC); + + /* do an initial ACK */ + pciefd_can_ack_rx_dma(priv); + + /* enable IRQ for this CAN after having set next irq_tag */ + pciefd_can_writereg(priv, CANFD_CTL_IEN_BIT, + PCIEFD_REG_CAN_RX_CTL_SET); + + /* Tx path will be setup as soon as RX_BARRIER is received */ + break; + default: + break; + } + + return 0; +} + +/* write a command */ +static int pciefd_write_cmd(struct peak_canfd_priv *ucan) +{ + struct pciefd_can *priv = (struct pciefd_can *)ucan; + unsigned long flags; + + /* 64-bits command is atomic */ + spin_lock_irqsave(&priv->board->cmd_lock, flags); + + pciefd_can_writereg(priv, *(u32 *)ucan->cmd_buffer, + PCIEFD_REG_CAN_CMD_PORT_L); + pciefd_can_writereg(priv, *(u32 *)(ucan->cmd_buffer + 4), + PCIEFD_REG_CAN_CMD_PORT_H); + + spin_unlock_irqrestore(&priv->board->cmd_lock, flags); + + return 0; +} + +/* board specific CANFD command post-processing */ +static int pciefd_post_cmd(struct peak_canfd_priv *ucan) +{ + struct pciefd_can *priv = (struct pciefd_can *)ucan; + u16 cmd = pucan_cmd_get_opcode(&priv->pucan_cmd); + + switch (cmd) { + case PUCAN_CMD_RESET_MODE: + + if (ucan->can.state == CAN_STATE_STOPPED) + break; + + /* controller now in reset mode: */ + + /* disable IRQ for this CAN */ + pciefd_can_writereg(priv, CANFD_CTL_IEN_BIT, + PCIEFD_REG_CAN_RX_CTL_CLR); + + /* stop and reset DMA addresses in Tx/Rx engines */ + pciefd_can_clear_tx_dma(priv); + pciefd_can_clear_rx_dma(priv); + + /* wait for above commands to complete (read cycle) */ + (void)pciefd_sys_readreg(priv->board, PCIEFD_REG_SYS_VER1); + + free_irq(priv->ucan.ndev->irq, priv); + + ucan->can.state = CAN_STATE_STOPPED; + + break; + } + + return 0; +} + +static void *pciefd_alloc_tx_msg(struct peak_canfd_priv *ucan, u16 msg_size, + int *room_left) +{ + struct pciefd_can *priv = (struct pciefd_can *)ucan; + struct pciefd_page *page = priv->tx_pages + priv->tx_page_index; + unsigned long flags; + void *msg; + + spin_lock_irqsave(&priv->tx_lock, flags); + + if (page->offset + msg_size > page->size) { + struct pciefd_tx_link *lk; + + /* not enough space in this page: try another one */ + if (!priv->tx_pages_free) { + spin_unlock_irqrestore(&priv->tx_lock, flags); + + /* Tx overflow */ + return NULL; + } + + priv->tx_pages_free--; + + /* keep address of the very last free slot of current page */ + lk = page->vbase + page->offset; + + /* next, move on a new free page */ + priv->tx_page_index = (priv->tx_page_index + 1) % + PCIEFD_TX_PAGE_COUNT; + page = priv->tx_pages + priv->tx_page_index; + + /* put link record to this new page at the end of prev one */ + lk->size = cpu_to_le16(sizeof(*lk)); + lk->type = cpu_to_le16(CANFD_MSG_LNK_TX); + lk->laddr_lo = cpu_to_le32(page->lbase); + +#ifdef CONFIG_ARCH_DMA_ADDR_T_64BIT + lk->laddr_hi = cpu_to_le32(page->lbase >> 32); +#else + lk->laddr_hi = 0; +#endif + /* next msgs will be put from the begininng of this new page */ + page->offset = 0; + } + + *room_left = priv->tx_pages_free * page->size; + + spin_unlock_irqrestore(&priv->tx_lock, flags); + + msg = page->vbase + page->offset; + + /* give back room left in the tx ring */ + *room_left += page->size - (page->offset + msg_size); + + return msg; +} + +static int pciefd_write_tx_msg(struct peak_canfd_priv *ucan, + struct pucan_tx_msg *msg) +{ + struct pciefd_can *priv = (struct pciefd_can *)ucan; + struct pciefd_page *page = priv->tx_pages + priv->tx_page_index; + + /* this slot is now reserved for writing the frame */ + page->offset += le16_to_cpu(msg->size); + + /* tell the board a frame has been written in Tx DMA area */ + pciefd_can_writereg(priv, 1, PCIEFD_REG_CAN_TX_REQ_ACC); + + return 0; +} + +/* probe for CAN-FD channel #pciefd_board->can_count */ +static int pciefd_can_probe(struct pciefd_board *pciefd) +{ + struct net_device *ndev; + struct pciefd_can *priv; + u32 clk; + int err; + + /* allocate the candev object with default isize of echo skbs ring */ + ndev = alloc_peak_canfd_dev(sizeof(*priv), pciefd->can_count, + PCIEFD_ECHO_SKB_MAX); + if (!ndev) { + dev_err(&pciefd->pci_dev->dev, + "failed to alloc candev object\n"); + goto failure; + } + + priv = netdev_priv(ndev); + + /* fill-in candev private object: */ + + /* setup PCIe-FD own callbacks */ + priv->ucan.pre_cmd = pciefd_pre_cmd; + priv->ucan.write_cmd = pciefd_write_cmd; + priv->ucan.post_cmd = pciefd_post_cmd; + priv->ucan.enable_tx_path = pciefd_enable_tx_path; + priv->ucan.alloc_tx_msg = pciefd_alloc_tx_msg; + priv->ucan.write_tx_msg = pciefd_write_tx_msg; + + /* setup PCIe-FD own command buffer */ + priv->ucan.cmd_buffer = &priv->pucan_cmd; + priv->ucan.cmd_maxlen = sizeof(priv->pucan_cmd); + + priv->board = pciefd; + + /* CAN config regs block address */ + priv->reg_base = pciefd->reg_base + PCIEFD_CANX_OFF(priv->ucan.index); + + /* allocate non-cacheable DMA'able 4KB memory area for Rx */ + priv->rx_dma_vaddr = dmam_alloc_coherent(&pciefd->pci_dev->dev, + PCIEFD_RX_DMA_SIZE, + &priv->rx_dma_laddr, + GFP_KERNEL); + if (!priv->rx_dma_vaddr) { + dev_err(&pciefd->pci_dev->dev, + "Rx dmam_alloc_coherent(%u) failure\n", + PCIEFD_RX_DMA_SIZE); + goto err_free_candev; + } + + /* allocate non-cacheable DMA'able 4KB memory area for Tx */ + priv->tx_dma_vaddr = dmam_alloc_coherent(&pciefd->pci_dev->dev, + PCIEFD_TX_DMA_SIZE, + &priv->tx_dma_laddr, + GFP_KERNEL); + if (!priv->tx_dma_vaddr) { + dev_err(&pciefd->pci_dev->dev, + "Tx dmam_alloc_coherent(%u) failure\n", + PCIEFD_TX_DMA_SIZE); + goto err_free_candev; + } + + /* CAN clock in RST mode */ + pciefd_can_writereg(priv, CANFD_MISC_TS_RST, PCIEFD_REG_CAN_MISC); + + /* read current clock value */ + clk = pciefd_can_readreg(priv, PCIEFD_REG_CAN_CLK_SEL); + switch (clk) { + case CANFD_CLK_SEL_20MHZ: + priv->ucan.can.clock.freq = 20 * 1000 * 1000; + break; + case CANFD_CLK_SEL_24MHZ: + priv->ucan.can.clock.freq = 24 * 1000 * 1000; + break; + case CANFD_CLK_SEL_30MHZ: + priv->ucan.can.clock.freq = 30 * 1000 * 1000; + break; + case CANFD_CLK_SEL_40MHZ: + priv->ucan.can.clock.freq = 40 * 1000 * 1000; + break; + case CANFD_CLK_SEL_60MHZ: + priv->ucan.can.clock.freq = 60 * 1000 * 1000; + break; + default: + pciefd_can_writereg(priv, CANFD_CLK_SEL_80MHZ, + PCIEFD_REG_CAN_CLK_SEL); + + /* fallthough */ + case CANFD_CLK_SEL_80MHZ: + priv->ucan.can.clock.freq = 80 * 1000 * 1000; + break; + } + + ndev->irq = pciefd->pci_dev->irq; + + SET_NETDEV_DEV(ndev, &pciefd->pci_dev->dev); + + err = register_candev(ndev); + if (err) { + dev_err(&pciefd->pci_dev->dev, + "couldn't register CAN device: %d\n", err); + goto err_free_candev; + } + + spin_lock_init(&priv->tx_lock); + + /* save the object address in the board structure */ + pciefd->can[pciefd->can_count] = priv; + + dev_info(&pciefd->pci_dev->dev, "%s at reg_base=0x%p irq=%d\n", + ndev->name, priv->reg_base, ndev->irq); + + return 0; + +err_free_candev: + free_candev(ndev); + +failure: + return -ENOMEM; +} + +/* remove a CAN-FD channel by releasing all of its resources */ +static void pciefd_can_remove(struct pciefd_can *priv) +{ + /* unregister (close) the can device to go back to RST mode first */ + unregister_candev(priv->ucan.ndev); + + /* finally, free the candev object */ + free_candev(priv->ucan.ndev); +} + +/* remove all CAN-FD channels by releasing their own resources */ +static void pciefd_can_remove_all(struct pciefd_board *pciefd) +{ + while (pciefd->can_count > 0) + pciefd_can_remove(pciefd->can[--pciefd->can_count]); +} + +/* probe for the entire device */ +static int peak_pciefd_probe(struct pci_dev *pdev, + const struct pci_device_id *ent) +{ + struct pciefd_board *pciefd; + int err, can_count; + u16 sub_sys_id; + u8 hw_ver_major; + u8 hw_ver_minor; + u8 hw_ver_sub; + u32 v2; + + err = pci_enable_device(pdev); + if (err) + return err; + err = pci_request_regions(pdev, PCIEFD_DRV_NAME); + if (err) + goto err_disable_pci; + + /* the number of channels depends on sub-system id */ + err = pci_read_config_word(pdev, PCI_SUBSYSTEM_ID, &sub_sys_id); + if (err) + goto err_release_regions; + + dev_dbg(&pdev->dev, "probing device %04x:%04x:%04x\n", + pdev->vendor, pdev->device, sub_sys_id); + + if (sub_sys_id >= 0x0012) + can_count = 4; + else if (sub_sys_id >= 0x0010) + can_count = 3; + else if (sub_sys_id >= 0x0004) + can_count = 2; + else + can_count = 1; + + /* allocate board structure object */ + pciefd = devm_kzalloc(&pdev->dev, struct_size(pciefd, can, can_count), + GFP_KERNEL); + if (!pciefd) { + err = -ENOMEM; + goto err_release_regions; + } + + /* initialize the board structure */ + pciefd->pci_dev = pdev; + spin_lock_init(&pciefd->cmd_lock); + + /* save the PCI BAR0 virtual address for further system regs access */ + pciefd->reg_base = pci_iomap(pdev, 0, PCIEFD_BAR0_SIZE); + if (!pciefd->reg_base) { + dev_err(&pdev->dev, "failed to map PCI resource #0\n"); + err = -ENOMEM; + goto err_release_regions; + } + + /* read the firmware version number */ + v2 = pciefd_sys_readreg(pciefd, PCIEFD_REG_SYS_VER2); + + hw_ver_major = (v2 & 0x0000f000) >> 12; + hw_ver_minor = (v2 & 0x00000f00) >> 8; + hw_ver_sub = (v2 & 0x000000f0) >> 4; + + dev_info(&pdev->dev, + "%ux CAN-FD PCAN-PCIe FPGA v%u.%u.%u:\n", can_count, + hw_ver_major, hw_ver_minor, hw_ver_sub); + +#ifdef CONFIG_ARCH_DMA_ADDR_T_64BIT + /* FW < v3.3.0 DMA logic doesn't handle correctly the mix of 32-bit and + * 64-bit logical addresses: this workaround forces usage of 32-bit + * DMA addresses only when such a fw is detected. + */ + if (PCIEFD_FW_VERSION(hw_ver_major, hw_ver_minor, hw_ver_sub) < + PCIEFD_FW_VERSION(3, 3, 0)) { + err = dma_set_mask_and_coherent(&pdev->dev, DMA_BIT_MASK(32)); + if (err) + dev_warn(&pdev->dev, + "warning: can't set DMA mask %llxh (err %d)\n", + DMA_BIT_MASK(32), err); + } +#endif + + /* stop system clock */ + pciefd_sys_writereg(pciefd, PCIEFD_SYS_CTL_CLK_EN, + PCIEFD_REG_SYS_CTL_CLR); + + pci_set_master(pdev); + + /* create now the corresponding channels objects */ + while (pciefd->can_count < can_count) { + err = pciefd_can_probe(pciefd); + if (err) + goto err_free_canfd; + + pciefd->can_count++; + } + + /* set system timestamps counter in RST mode */ + pciefd_sys_writereg(pciefd, PCIEFD_SYS_CTL_TS_RST, + PCIEFD_REG_SYS_CTL_SET); + + /* wait a bit (read cycle) */ + (void)pciefd_sys_readreg(pciefd, PCIEFD_REG_SYS_VER1); + + /* free all clocks */ + pciefd_sys_writereg(pciefd, PCIEFD_SYS_CTL_TS_RST, + PCIEFD_REG_SYS_CTL_CLR); + + /* start system clock */ + pciefd_sys_writereg(pciefd, PCIEFD_SYS_CTL_CLK_EN, + PCIEFD_REG_SYS_CTL_SET); + + /* remember the board structure address in the device user data */ + pci_set_drvdata(pdev, pciefd); + + return 0; + +err_free_canfd: + pciefd_can_remove_all(pciefd); + + pci_iounmap(pdev, pciefd->reg_base); + +err_release_regions: + pci_release_regions(pdev); + +err_disable_pci: + pci_disable_device(pdev); + + /* pci_xxx_config_word() return positive PCIBIOS_xxx error codes while + * the probe() function must return a negative errno in case of failure + * (err is unchanged if negative) */ + return pcibios_err_to_errno(err); +} + +/* free the board structure object, as well as its resources: */ +static void peak_pciefd_remove(struct pci_dev *pdev) +{ + struct pciefd_board *pciefd = pci_get_drvdata(pdev); + + /* release CAN-FD channels resources */ + pciefd_can_remove_all(pciefd); + + pci_iounmap(pdev, pciefd->reg_base); + + pci_release_regions(pdev); + pci_disable_device(pdev); +} + +static struct pci_driver peak_pciefd_driver = { + .name = PCIEFD_DRV_NAME, + .id_table = peak_pciefd_tbl, + .probe = peak_pciefd_probe, + .remove = peak_pciefd_remove, +}; + +module_pci_driver(peak_pciefd_driver); |