diff options
Diffstat (limited to 'drivers/net/can/rcar')
| -rw-r--r-- | drivers/net/can/rcar/Kconfig | 21 | ||||
| -rw-r--r-- | drivers/net/can/rcar/Makefile | 6 | ||||
| -rw-r--r-- | drivers/net/can/rcar/rcar_can.c | 935 | ||||
| -rw-r--r-- | drivers/net/can/rcar/rcar_canfd.c | 1859 |
4 files changed, 2821 insertions, 0 deletions
diff --git a/drivers/net/can/rcar/Kconfig b/drivers/net/can/rcar/Kconfig new file mode 100644 index 000000000..7b03a3a37 --- /dev/null +++ b/drivers/net/can/rcar/Kconfig @@ -0,0 +1,21 @@ +config CAN_RCAR + tristate "Renesas R-Car CAN controller" + depends on ARCH_RENESAS || ARM + ---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. + +config CAN_RCAR_CANFD + tristate "Renesas R-Car CAN FD controller" + depends on ARCH_RENESAS || ARM + ---help--- + Say Y here if you want to use CAN FD controller found on + Renesas R-Car SoCs. The driver puts the controller in CAN FD only + mode, which can interoperate with CAN2.0 nodes but does not support + dedicated CAN 2.0 mode. + + To compile this driver as a module, choose M here: the module will + be called rcar_canfd. diff --git a/drivers/net/can/rcar/Makefile b/drivers/net/can/rcar/Makefile new file mode 100644 index 000000000..08de36a4c --- /dev/null +++ b/drivers/net/can/rcar/Makefile @@ -0,0 +1,6 @@ +# +# Makefile for the Renesas R-Car CAN & CAN FD controller drivers +# + +obj-$(CONFIG_CAN_RCAR) += rcar_can.o +obj-$(CONFIG_CAN_RCAR_CANFD) += rcar_canfd.o diff --git a/drivers/net/can/rcar/rcar_can.c b/drivers/net/can/rcar/rcar_can.c new file mode 100644 index 000000000..963da8eda --- /dev/null +++ b/drivers/net/can/rcar/rcar_can.c @@ -0,0 +1,935 @@ +/* Renesas R-Car CAN device driver + * + * Copyright (C) 2013 Cogent Embedded, Inc. <source@cogentembedded.com> + * Copyright (C) 2013 Renesas Solutions Corp. + * + * This program is free software; you can redistribute it and/or modify it + * under the terms of the GNU General Public License as published by the + * Free Software Foundation; either version 2 of the License, or (at your + * option) any later version. + */ + +#include <linux/module.h> +#include <linux/kernel.h> +#include <linux/types.h> +#include <linux/interrupt.h> +#include <linux/errno.h> +#include <linux/netdevice.h> +#include <linux/platform_device.h> +#include <linux/can/led.h> +#include <linux/can/dev.h> +#include <linux/clk.h> +#include <linux/can/platform/rcar_can.h> +#include <linux/of.h> + +#define RCAR_CAN_DRV_NAME "rcar_can" + +#define RCAR_SUPPORTED_CLOCKS (BIT(CLKR_CLKP1) | BIT(CLKR_CLKP2) | \ + BIT(CLKR_CLKEXT)) + +/* Mailbox configuration: + * mailbox 60 - 63 - Rx FIFO mailboxes + * mailbox 56 - 59 - Tx FIFO mailboxes + * non-FIFO mailboxes are not used + */ +#define RCAR_CAN_N_MBX 64 /* Number of mailboxes in non-FIFO mode */ +#define RCAR_CAN_RX_FIFO_MBX 60 /* Mailbox - window to Rx FIFO */ +#define RCAR_CAN_TX_FIFO_MBX 56 /* Mailbox - window to Tx FIFO */ +#define RCAR_CAN_FIFO_DEPTH 4 + +/* 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[RCAR_CAN_N_MBX]; /* Mailbox registers */ + u32 mkr_2_9[8]; /* Mask Registers 2-9 */ + u32 fidcr[2]; /* FIFO Received ID Compare Register */ + u32 mkivlr1; /* Mask Invalid Register 1 */ + u32 mier1; /* Mailbox Interrupt Enable Register 1 */ + u32 mkr_0_1[2]; /* Mask Registers 0-1 */ + u32 mkivlr0; /* Mask Invalid Register 0*/ + u32 mier0; /* Mailbox Interrupt Enable Register 0 */ + u8 pad_440[0x3c0]; + u8 mctl[64]; /* Message Control Registers */ + u16 ctlr; /* Control Register */ + u16 str; /* Status register */ + u8 bcr[3]; /* Bit Configuration Register */ + u8 clkr; /* Clock Select Register */ + u8 rfcr; /* Receive FIFO Control Register */ + u8 rfpcr; /* Receive FIFO Pointer Control Register */ + u8 tfcr; /* Transmit FIFO Control Register */ + u8 tfpcr; /* Transmit FIFO Pointer Control Register */ + u8 eier; /* Error Interrupt Enable Register */ + u8 eifr; /* Error Interrupt Factor Judge Register */ + u8 recr; /* Receive Error Count Register */ + u8 tecr; /* Transmit Error Count Register */ + u8 ecsr; /* Error Code Store Register */ + u8 cssr; /* Channel Search Support Register */ + u8 mssr; /* Mailbox Search Status Register */ + u8 msmr; /* Mailbox Search Mode Register */ + u16 tsr; /* Time Stamp Register */ + u8 afsr; /* Acceptance Filter Support Register */ + u8 pad_857; + u8 tcr; /* Test Control Register */ + u8 pad_859[7]; + u8 ier; /* Interrupt Enable Register */ + u8 isr; /* Interrupt Status Register */ + u8 pad_862; + u8 mbsmr; /* Mailbox Search Mask Register */ +}; + +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; + struct clk *can_clk; + u8 tx_dlc[RCAR_CAN_FIFO_DEPTH]; + u32 tx_head; + u32 tx_tail; + u8 clock_select; + u8 ier; +}; + +static const struct can_bittiming_const rcar_can_bittiming_const = { + .name = RCAR_CAN_DRV_NAME, + .tseg1_min = 4, + .tseg1_max = 16, + .tseg2_min = 2, + .tseg2_max = 8, + .sjw_max = 4, + .brp_min = 1, + .brp_max = 1024, + .brp_inc = 1, +}; + +/* Control Register bits */ +#define RCAR_CAN_CTLR_BOM (3 << 11) /* Bus-Off Recovery Mode Bits */ +#define RCAR_CAN_CTLR_BOM_ENT (1 << 11) /* Entry to halt mode */ + /* at bus-off entry */ +#define RCAR_CAN_CTLR_SLPM (1 << 10) +#define RCAR_CAN_CTLR_CANM (3 << 8) /* Operating Mode Select Bit */ +#define RCAR_CAN_CTLR_CANM_HALT (1 << 9) +#define RCAR_CAN_CTLR_CANM_RESET (1 << 8) +#define RCAR_CAN_CTLR_CANM_FORCE_RESET (3 << 8) +#define RCAR_CAN_CTLR_MLM (1 << 3) /* Message Lost Mode Select */ +#define RCAR_CAN_CTLR_IDFM (3 << 1) /* ID Format Mode Select Bits */ +#define RCAR_CAN_CTLR_IDFM_MIXED (1 << 2) /* Mixed ID mode */ +#define RCAR_CAN_CTLR_MBM (1 << 0) /* Mailbox Mode select */ + +/* Status Register bits */ +#define RCAR_CAN_STR_RSTST (1 << 8) /* Reset Status Bit */ + +/* FIFO Received ID Compare Registers 0 and 1 bits */ +#define RCAR_CAN_FIDCR_IDE (1 << 31) /* ID Extension Bit */ +#define RCAR_CAN_FIDCR_RTR (1 << 30) /* Remote Transmission Request Bit */ + +/* Receive FIFO Control Register bits */ +#define RCAR_CAN_RFCR_RFEST (1 << 7) /* Receive FIFO Empty Status Flag */ +#define RCAR_CAN_RFCR_RFE (1 << 0) /* Receive FIFO Enable */ + +/* Transmit FIFO Control Register bits */ +#define RCAR_CAN_TFCR_TFUST (7 << 1) /* Transmit FIFO Unsent Message */ + /* Number Status Bits */ +#define RCAR_CAN_TFCR_TFUST_SHIFT 1 /* Offset of Transmit FIFO Unsent */ + /* Message Number Status Bits */ +#define RCAR_CAN_TFCR_TFE (1 << 0) /* Transmit FIFO Enable */ + +#define RCAR_CAN_N_RX_MKREGS1 2 /* Number of mask registers */ + /* for Rx mailboxes 0-31 */ +#define RCAR_CAN_N_RX_MKREGS2 8 + +/* Bit Configuration Register settings */ +#define RCAR_CAN_BCR_TSEG1(x) (((x) & 0x0f) << 20) +#define RCAR_CAN_BCR_BPR(x) (((x) & 0x3ff) << 8) +#define RCAR_CAN_BCR_SJW(x) (((x) & 0x3) << 4) +#define RCAR_CAN_BCR_TSEG2(x) ((x) & 0x07) + +/* Mailbox and Mask Registers bits */ +#define RCAR_CAN_IDE (1 << 31) +#define RCAR_CAN_RTR (1 << 30) +#define RCAR_CAN_SID_SHIFT 18 + +/* Mailbox Interrupt Enable Register 1 bits */ +#define RCAR_CAN_MIER1_RXFIE (1 << 28) /* Receive FIFO Interrupt Enable */ +#define RCAR_CAN_MIER1_TXFIE (1 << 24) /* Transmit FIFO Interrupt Enable */ + +/* Interrupt Enable Register bits */ +#define RCAR_CAN_IER_ERSIE (1 << 5) /* Error (ERS) Interrupt Enable Bit */ +#define RCAR_CAN_IER_RXFIE (1 << 4) /* Reception FIFO Interrupt */ + /* Enable Bit */ +#define RCAR_CAN_IER_TXFIE (1 << 3) /* Transmission FIFO Interrupt */ + /* Enable Bit */ +/* Interrupt Status Register bits */ +#define RCAR_CAN_ISR_ERSF (1 << 5) /* Error (ERS) Interrupt Status Bit */ +#define RCAR_CAN_ISR_RXFF (1 << 4) /* Reception FIFO Interrupt */ + /* Status Bit */ +#define RCAR_CAN_ISR_TXFF (1 << 3) /* Transmission FIFO Interrupt */ + /* Status Bit */ + +/* Error Interrupt Enable Register bits */ +#define RCAR_CAN_EIER_BLIE (1 << 7) /* Bus Lock Interrupt Enable */ +#define RCAR_CAN_EIER_OLIE (1 << 6) /* Overload Frame Transmit */ + /* Interrupt Enable */ +#define RCAR_CAN_EIER_ORIE (1 << 5) /* Receive Overrun Interrupt Enable */ +#define RCAR_CAN_EIER_BORIE (1 << 4) /* Bus-Off Recovery Interrupt Enable */ +#define RCAR_CAN_EIER_BOEIE (1 << 3) /* Bus-Off Entry Interrupt Enable */ +#define RCAR_CAN_EIER_EPIE (1 << 2) /* Error Passive Interrupt Enable */ +#define RCAR_CAN_EIER_EWIE (1 << 1) /* Error Warning Interrupt Enable */ +#define RCAR_CAN_EIER_BEIE (1 << 0) /* Bus Error Interrupt Enable */ + +/* Error Interrupt Factor Judge Register bits */ +#define RCAR_CAN_EIFR_BLIF (1 << 7) /* Bus Lock Detect Flag */ +#define RCAR_CAN_EIFR_OLIF (1 << 6) /* Overload Frame Transmission */ + /* Detect Flag */ +#define RCAR_CAN_EIFR_ORIF (1 << 5) /* Receive Overrun Detect Flag */ +#define RCAR_CAN_EIFR_BORIF (1 << 4) /* Bus-Off Recovery Detect Flag */ +#define RCAR_CAN_EIFR_BOEIF (1 << 3) /* Bus-Off Entry Detect Flag */ +#define RCAR_CAN_EIFR_EPIF (1 << 2) /* Error Passive Detect Flag */ +#define RCAR_CAN_EIFR_EWIF (1 << 1) /* Error Warning Detect Flag */ +#define RCAR_CAN_EIFR_BEIF (1 << 0) /* Bus Error Detect Flag */ + +/* Error Code Store Register bits */ +#define RCAR_CAN_ECSR_EDPM (1 << 7) /* Error Display Mode Select Bit */ +#define RCAR_CAN_ECSR_ADEF (1 << 6) /* ACK Delimiter Error Flag */ +#define RCAR_CAN_ECSR_BE0F (1 << 5) /* Bit Error (dominant) Flag */ +#define RCAR_CAN_ECSR_BE1F (1 << 4) /* Bit Error (recessive) Flag */ +#define RCAR_CAN_ECSR_CEF (1 << 3) /* CRC Error Flag */ +#define RCAR_CAN_ECSR_AEF (1 << 2) /* ACK Error Flag */ +#define RCAR_CAN_ECSR_FEF (1 << 1) /* Form Error Flag */ +#define RCAR_CAN_ECSR_SEF (1 << 0) /* Stuff Error Flag */ + +#define RCAR_CAN_NAPI_WEIGHT 4 +#define MAX_STR_READS 0x100 + +static void tx_failure_cleanup(struct net_device *ndev) +{ + int i; + + for (i = 0; i < RCAR_CAN_FIFO_DEPTH; i++) + can_free_echo_skb(ndev, i); +} + +static void rcar_can_error(struct net_device *ndev) +{ + struct rcar_can_priv *priv = netdev_priv(ndev); + struct net_device_stats *stats = &ndev->stats; + struct can_frame *cf; + struct sk_buff *skb; + u8 eifr, txerr = 0, rxerr = 0; + + /* Propagate the error condition to the CAN stack */ + skb = alloc_can_err_skb(ndev, &cf); + + eifr = readb(&priv->regs->eifr); + if (eifr & (RCAR_CAN_EIFR_EWIF | RCAR_CAN_EIFR_EPIF)) { + txerr = readb(&priv->regs->tecr); + rxerr = readb(&priv->regs->recr); + if (skb) { + cf->can_id |= CAN_ERR_CRTL; + cf->data[6] = txerr; + cf->data[7] = rxerr; + } + } + if (eifr & RCAR_CAN_EIFR_BEIF) { + int rx_errors = 0, tx_errors = 0; + u8 ecsr; + + netdev_dbg(priv->ndev, "Bus error interrupt:\n"); + if (skb) + cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_PROT; + + ecsr = readb(&priv->regs->ecsr); + if (ecsr & RCAR_CAN_ECSR_ADEF) { + netdev_dbg(priv->ndev, "ACK Delimiter Error\n"); + tx_errors++; + writeb(~RCAR_CAN_ECSR_ADEF, &priv->regs->ecsr); + if (skb) + cf->data[3] = CAN_ERR_PROT_LOC_ACK_DEL; + } + if (ecsr & RCAR_CAN_ECSR_BE0F) { + netdev_dbg(priv->ndev, "Bit Error (dominant)\n"); + tx_errors++; + writeb(~RCAR_CAN_ECSR_BE0F, &priv->regs->ecsr); + if (skb) + cf->data[2] |= CAN_ERR_PROT_BIT0; + } + if (ecsr & RCAR_CAN_ECSR_BE1F) { + netdev_dbg(priv->ndev, "Bit Error (recessive)\n"); + tx_errors++; + writeb(~RCAR_CAN_ECSR_BE1F, &priv->regs->ecsr); + if (skb) + cf->data[2] |= CAN_ERR_PROT_BIT1; + } + if (ecsr & RCAR_CAN_ECSR_CEF) { + netdev_dbg(priv->ndev, "CRC Error\n"); + rx_errors++; + writeb(~RCAR_CAN_ECSR_CEF, &priv->regs->ecsr); + if (skb) + cf->data[3] = CAN_ERR_PROT_LOC_CRC_SEQ; + } + if (ecsr & RCAR_CAN_ECSR_AEF) { + netdev_dbg(priv->ndev, "ACK Error\n"); + tx_errors++; + writeb(~RCAR_CAN_ECSR_AEF, &priv->regs->ecsr); + if (skb) { + cf->can_id |= CAN_ERR_ACK; + cf->data[3] = CAN_ERR_PROT_LOC_ACK; + } + } + if (ecsr & RCAR_CAN_ECSR_FEF) { + netdev_dbg(priv->ndev, "Form Error\n"); + rx_errors++; + writeb(~RCAR_CAN_ECSR_FEF, &priv->regs->ecsr); + if (skb) + cf->data[2] |= CAN_ERR_PROT_FORM; + } + if (ecsr & RCAR_CAN_ECSR_SEF) { + netdev_dbg(priv->ndev, "Stuff Error\n"); + rx_errors++; + writeb(~RCAR_CAN_ECSR_SEF, &priv->regs->ecsr); + if (skb) + cf->data[2] |= CAN_ERR_PROT_STUFF; + } + + priv->can.can_stats.bus_error++; + ndev->stats.rx_errors += rx_errors; + ndev->stats.tx_errors += tx_errors; + writeb(~RCAR_CAN_EIFR_BEIF, &priv->regs->eifr); + } + if (eifr & RCAR_CAN_EIFR_EWIF) { + netdev_dbg(priv->ndev, "Error warning interrupt\n"); + priv->can.state = CAN_STATE_ERROR_WARNING; + priv->can.can_stats.error_warning++; + /* Clear interrupt condition */ + writeb(~RCAR_CAN_EIFR_EWIF, &priv->regs->eifr); + if (skb) + cf->data[1] = txerr > rxerr ? CAN_ERR_CRTL_TX_WARNING : + CAN_ERR_CRTL_RX_WARNING; + } + if (eifr & RCAR_CAN_EIFR_EPIF) { + netdev_dbg(priv->ndev, "Error passive interrupt\n"); + priv->can.state = CAN_STATE_ERROR_PASSIVE; + priv->can.can_stats.error_passive++; + /* Clear interrupt condition */ + writeb(~RCAR_CAN_EIFR_EPIF, &priv->regs->eifr); + if (skb) + cf->data[1] = txerr > rxerr ? CAN_ERR_CRTL_TX_PASSIVE : + CAN_ERR_CRTL_RX_PASSIVE; + } + if (eifr & RCAR_CAN_EIFR_BOEIF) { + netdev_dbg(priv->ndev, "Bus-off entry interrupt\n"); + tx_failure_cleanup(ndev); + priv->ier = RCAR_CAN_IER_ERSIE; + writeb(priv->ier, &priv->regs->ier); + priv->can.state = CAN_STATE_BUS_OFF; + /* Clear interrupt condition */ + writeb(~RCAR_CAN_EIFR_BOEIF, &priv->regs->eifr); + priv->can.can_stats.bus_off++; + can_bus_off(ndev); + if (skb) + cf->can_id |= CAN_ERR_BUSOFF; + } + if (eifr & RCAR_CAN_EIFR_ORIF) { + netdev_dbg(priv->ndev, "Receive overrun error interrupt\n"); + ndev->stats.rx_over_errors++; + ndev->stats.rx_errors++; + writeb(~RCAR_CAN_EIFR_ORIF, &priv->regs->eifr); + if (skb) { + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; + } + } + if (eifr & RCAR_CAN_EIFR_OLIF) { + netdev_dbg(priv->ndev, + "Overload Frame Transmission error interrupt\n"); + ndev->stats.rx_over_errors++; + ndev->stats.rx_errors++; + writeb(~RCAR_CAN_EIFR_OLIF, &priv->regs->eifr); + if (skb) { + cf->can_id |= CAN_ERR_PROT; + cf->data[2] |= CAN_ERR_PROT_OVERLOAD; + } + } + + if (skb) { + stats->rx_packets++; + stats->rx_bytes += cf->can_dlc; + netif_rx(skb); + } +} + +static void rcar_can_tx_done(struct net_device *ndev) +{ + struct rcar_can_priv *priv = netdev_priv(ndev); + struct net_device_stats *stats = &ndev->stats; + u8 isr; + + while (1) { + u8 unsent = readb(&priv->regs->tfcr); + + unsent = (unsent & RCAR_CAN_TFCR_TFUST) >> + RCAR_CAN_TFCR_TFUST_SHIFT; + if (priv->tx_head - priv->tx_tail <= unsent) + break; + stats->tx_packets++; + stats->tx_bytes += priv->tx_dlc[priv->tx_tail % + RCAR_CAN_FIFO_DEPTH]; + priv->tx_dlc[priv->tx_tail % RCAR_CAN_FIFO_DEPTH] = 0; + can_get_echo_skb(ndev, priv->tx_tail % RCAR_CAN_FIFO_DEPTH); + priv->tx_tail++; + netif_wake_queue(ndev); + } + /* Clear interrupt */ + isr = readb(&priv->regs->isr); + writeb(isr & ~RCAR_CAN_ISR_TXFF, &priv->regs->isr); + can_led_event(ndev, CAN_LED_EVENT_TX); +} + +static irqreturn_t rcar_can_interrupt(int irq, void *dev_id) +{ + struct net_device *ndev = dev_id; + struct rcar_can_priv *priv = netdev_priv(ndev); + u8 isr; + + isr = readb(&priv->regs->isr); + if (!(isr & priv->ier)) + return IRQ_NONE; + + if (isr & RCAR_CAN_ISR_ERSF) + rcar_can_error(ndev); + + if (isr & RCAR_CAN_ISR_TXFF) + rcar_can_tx_done(ndev); + + if (isr & RCAR_CAN_ISR_RXFF) { + if (napi_schedule_prep(&priv->napi)) { + /* Disable Rx FIFO interrupts */ + priv->ier &= ~RCAR_CAN_IER_RXFIE; + writeb(priv->ier, &priv->regs->ier); + __napi_schedule(&priv->napi); + } + } + + return IRQ_HANDLED; +} + +static void rcar_can_set_bittiming(struct net_device *dev) +{ + struct rcar_can_priv *priv = netdev_priv(dev); + struct can_bittiming *bt = &priv->can.bittiming; + u32 bcr; + + bcr = RCAR_CAN_BCR_TSEG1(bt->phase_seg1 + bt->prop_seg - 1) | + RCAR_CAN_BCR_BPR(bt->brp - 1) | RCAR_CAN_BCR_SJW(bt->sjw - 1) | + RCAR_CAN_BCR_TSEG2(bt->phase_seg2 - 1); + /* Don't overwrite CLKR with 32-bit BCR access; CLKR has 8-bit access. + * All the registers are big-endian but they get byte-swapped on 32-bit + * read/write (but not on 8-bit, contrary to the manuals)... + */ + writel((bcr << 8) | priv->clock_select, &priv->regs->bcr); +} + +static void rcar_can_start(struct net_device *ndev) +{ + struct rcar_can_priv *priv = netdev_priv(ndev); + u16 ctlr; + int i; + + /* Set controller to known mode: + * - FIFO mailbox mode + * - accept all messages + * - overrun mode + * CAN is in sleep mode after MCU hardware or software reset. + */ + ctlr = readw(&priv->regs->ctlr); + ctlr &= ~RCAR_CAN_CTLR_SLPM; + writew(ctlr, &priv->regs->ctlr); + /* Go to reset mode */ + ctlr |= RCAR_CAN_CTLR_CANM_FORCE_RESET; + writew(ctlr, &priv->regs->ctlr); + for (i = 0; i < MAX_STR_READS; i++) { + if (readw(&priv->regs->str) & RCAR_CAN_STR_RSTST) + break; + } + rcar_can_set_bittiming(ndev); + ctlr |= RCAR_CAN_CTLR_IDFM_MIXED; /* Select mixed ID mode */ + ctlr |= RCAR_CAN_CTLR_BOM_ENT; /* Entry to halt mode automatically */ + /* at bus-off */ + ctlr |= RCAR_CAN_CTLR_MBM; /* Select FIFO mailbox mode */ + ctlr |= RCAR_CAN_CTLR_MLM; /* Overrun mode */ + writew(ctlr, &priv->regs->ctlr); + + /* Accept all SID and EID */ + writel(0, &priv->regs->mkr_2_9[6]); + writel(0, &priv->regs->mkr_2_9[7]); + /* In FIFO mailbox mode, write "0" to bits 24 to 31 */ + writel(0, &priv->regs->mkivlr1); + /* Accept all frames */ + writel(0, &priv->regs->fidcr[0]); + writel(RCAR_CAN_FIDCR_IDE | RCAR_CAN_FIDCR_RTR, &priv->regs->fidcr[1]); + /* Enable and configure FIFO mailbox interrupts */ + writel(RCAR_CAN_MIER1_RXFIE | RCAR_CAN_MIER1_TXFIE, &priv->regs->mier1); + + priv->ier = RCAR_CAN_IER_ERSIE | RCAR_CAN_IER_RXFIE | + RCAR_CAN_IER_TXFIE; + writeb(priv->ier, &priv->regs->ier); + + /* Accumulate error codes */ + writeb(RCAR_CAN_ECSR_EDPM, &priv->regs->ecsr); + /* Enable error interrupts */ + writeb(RCAR_CAN_EIER_EWIE | RCAR_CAN_EIER_EPIE | RCAR_CAN_EIER_BOEIE | + (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING ? + RCAR_CAN_EIER_BEIE : 0) | RCAR_CAN_EIER_ORIE | + RCAR_CAN_EIER_OLIE, &priv->regs->eier); + priv->can.state = CAN_STATE_ERROR_ACTIVE; + + /* Go to operation mode */ + writew(ctlr & ~RCAR_CAN_CTLR_CANM, &priv->regs->ctlr); + for (i = 0; i < MAX_STR_READS; i++) { + if (!(readw(&priv->regs->str) & RCAR_CAN_STR_RSTST)) + break; + } + /* Enable Rx and Tx FIFO */ + writeb(RCAR_CAN_RFCR_RFE, &priv->regs->rfcr); + writeb(RCAR_CAN_TFCR_TFE, &priv->regs->tfcr); +} + +static int rcar_can_open(struct net_device *ndev) +{ + struct rcar_can_priv *priv = netdev_priv(ndev); + int err; + + err = clk_prepare_enable(priv->clk); + if (err) { + netdev_err(ndev, + "failed to enable peripheral clock, error %d\n", + err); + goto out; + } + err = clk_prepare_enable(priv->can_clk); + if (err) { + netdev_err(ndev, "failed to enable CAN clock, error %d\n", + err); + goto out_clock; + } + err = open_candev(ndev); + if (err) { + netdev_err(ndev, "open_candev() failed, error %d\n", err); + goto out_can_clock; + } + napi_enable(&priv->napi); + err = request_irq(ndev->irq, rcar_can_interrupt, 0, ndev->name, ndev); + if (err) { + netdev_err(ndev, "request_irq(%d) failed, error %d\n", + ndev->irq, err); + 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); +out_can_clock: + clk_disable_unprepare(priv->can_clk); +out_clock: + 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; + int i; + + /* Go to (force) reset mode */ + ctlr = readw(&priv->regs->ctlr); + ctlr |= RCAR_CAN_CTLR_CANM_FORCE_RESET; + writew(ctlr, &priv->regs->ctlr); + for (i = 0; i < MAX_STR_READS; i++) { + if (readw(&priv->regs->str) & RCAR_CAN_STR_RSTST) + break; + } + writel(0, &priv->regs->mier0); + writel(0, &priv->regs->mier1); + writeb(0, &priv->regs->ier); + writeb(0, &priv->regs->eier); + /* Go to sleep mode */ + ctlr |= RCAR_CAN_CTLR_SLPM; + writew(ctlr, &priv->regs->ctlr); + priv->can.state = CAN_STATE_STOPPED; +} + +static int rcar_can_close(struct net_device *ndev) +{ + struct rcar_can_priv *priv = netdev_priv(ndev); + + netif_stop_queue(ndev); + rcar_can_stop(ndev); + free_irq(ndev->irq, ndev); + napi_disable(&priv->napi); + clk_disable_unprepare(priv->can_clk); + clk_disable_unprepare(priv->clk); + close_candev(ndev); + can_led_event(ndev, CAN_LED_EVENT_STOP); + return 0; +} + +static netdev_tx_t rcar_can_start_xmit(struct sk_buff *skb, + struct net_device *ndev) +{ + struct rcar_can_priv *priv = netdev_priv(ndev); + struct can_frame *cf = (struct can_frame *)skb->data; + u32 data, i; + + if (can_dropped_invalid_skb(ndev, skb)) + return NETDEV_TX_OK; + + 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; + } else { + for (i = 0; i < cf->can_dlc; i++) + writeb(cf->data[i], + &priv->regs->mb[RCAR_CAN_TX_FIFO_MBX].data[i]); + } + + writel(data, &priv->regs->mb[RCAR_CAN_TX_FIFO_MBX].id); + + writeb(cf->can_dlc, &priv->regs->mb[RCAR_CAN_TX_FIFO_MBX].dlc); + + priv->tx_dlc[priv->tx_head % RCAR_CAN_FIFO_DEPTH] = cf->can_dlc; + can_put_echo_skb(skb, ndev, priv->tx_head % RCAR_CAN_FIFO_DEPTH); + priv->tx_head++; + /* Start Tx: write 0xff to the TFPCR register to increment + * the CPU-side pointer for the transmit FIFO to the next + * mailbox location + */ + writeb(0xff, &priv->regs->tfpcr); + /* Stop the queue if we've filled all FIFO entries */ + if (priv->tx_head - priv->tx_tail >= RCAR_CAN_FIFO_DEPTH) + netif_stop_queue(ndev); + + 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, + .ndo_change_mtu = can_change_mtu, +}; + +static void rcar_can_rx_pkt(struct rcar_can_priv *priv) +{ + struct net_device_stats *stats = &priv->ndev->stats; + struct can_frame *cf; + struct sk_buff *skb; + u32 data; + u8 dlc; + + skb = alloc_can_skb(priv->ndev, &cf); + if (!skb) { + stats->rx_dropped++; + return; + } + + data = readl(&priv->regs->mb[RCAR_CAN_RX_FIFO_MBX].id); + if (data & RCAR_CAN_IDE) + cf->can_id = (data & CAN_EFF_MASK) | CAN_EFF_FLAG; + else + cf->can_id = (data >> RCAR_CAN_SID_SHIFT) & CAN_SFF_MASK; + + dlc = readb(&priv->regs->mb[RCAR_CAN_RX_FIFO_MBX].dlc); + cf->can_dlc = get_can_dlc(dlc); + if (data & RCAR_CAN_RTR) { + cf->can_id |= CAN_RTR_FLAG; + } else { + for (dlc = 0; dlc < cf->can_dlc; dlc++) + cf->data[dlc] = + readb(&priv->regs->mb[RCAR_CAN_RX_FIFO_MBX].data[dlc]); + } + + can_led_event(priv->ndev, CAN_LED_EVENT_RX); + + stats->rx_bytes += cf->can_dlc; + stats->rx_packets++; + netif_receive_skb(skb); +} + +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; + + for (num_pkts = 0; num_pkts < quota; num_pkts++) { + u8 rfcr, isr; + + isr = readb(&priv->regs->isr); + /* Clear interrupt bit */ + if (isr & RCAR_CAN_ISR_RXFF) + writeb(isr & ~RCAR_CAN_ISR_RXFF, &priv->regs->isr); + rfcr = readb(&priv->regs->rfcr); + if (rfcr & RCAR_CAN_RFCR_RFEST) + break; + rcar_can_rx_pkt(priv); + /* Write 0xff to the RFPCR register to increment + * the CPU-side pointer for the receive FIFO + * to the next mailbox location + */ + writeb(0xff, &priv->regs->rfpcr); + } + /* All packets processed */ + if (num_pkts < quota) { + napi_complete_done(napi, num_pkts); + priv->ier |= RCAR_CAN_IER_RXFIE; + writeb(priv->ier, &priv->regs->ier); + } + return num_pkts; +} + +static int rcar_can_do_set_mode(struct net_device *ndev, enum can_mode mode) +{ + switch (mode) { + case CAN_MODE_START: + rcar_can_start(ndev); + netif_wake_queue(ndev); + return 0; + default: + return -EOPNOTSUPP; + } +} + +static int rcar_can_get_berr_counter(const struct net_device *dev, + struct can_berr_counter *bec) +{ + struct rcar_can_priv *priv = netdev_priv(dev); + int err; + + err = clk_prepare_enable(priv->clk); + if (err) + return err; + bec->txerr = readb(&priv->regs->tecr); + bec->rxerr = readb(&priv->regs->recr); + clk_disable_unprepare(priv->clk); + return 0; +} + +static const char * const clock_names[] = { + [CLKR_CLKP1] = "clkp1", + [CLKR_CLKP2] = "clkp2", + [CLKR_CLKEXT] = "can_clk", +}; + +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; + u32 clock_select = CLKR_CLKP1; + int err = -ENODEV; + int irq; + + if (pdev->dev.of_node) { + of_property_read_u32(pdev->dev.of_node, + "renesas,can-clock-select", &clock_select); + } else { + pdata = dev_get_platdata(&pdev->dev); + if (!pdata) { + dev_err(&pdev->dev, "No platform data provided!\n"); + goto fail; + } + clock_select = pdata->clock_select; + } + + irq = platform_get_irq(pdev, 0); + if (irq < 0) { + dev_err(&pdev->dev, "No IRQ resource\n"); + err = irq; + goto fail; + } + + mem = platform_get_resource(pdev, IORESOURCE_MEM, 0); + addr = devm_ioremap_resource(&pdev->dev, mem); + if (IS_ERR(addr)) { + err = PTR_ERR(addr); + goto fail; + } + + ndev = alloc_candev(sizeof(struct rcar_can_priv), RCAR_CAN_FIFO_DEPTH); + 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, "clkp1"); + if (IS_ERR(priv->clk)) { + err = PTR_ERR(priv->clk); + dev_err(&pdev->dev, "cannot get peripheral clock, error %d\n", + err); + goto fail_clk; + } + + if (!(BIT(clock_select) & RCAR_SUPPORTED_CLOCKS)) { + err = -EINVAL; + dev_err(&pdev->dev, "invalid CAN clock selected\n"); + goto fail_clk; + } + priv->can_clk = devm_clk_get(&pdev->dev, clock_names[clock_select]); + if (IS_ERR(priv->can_clk)) { + err = PTR_ERR(priv->can_clk); + dev_err(&pdev->dev, "cannot get CAN clock, error %d\n", err); + goto fail_clk; + } + + ndev->netdev_ops = &rcar_can_netdev_ops; + ndev->irq = irq; + ndev->flags |= IFF_ECHO; + priv->ndev = ndev; + priv->regs = addr; + priv->clock_select = clock_select; + priv->can.clock.freq = clk_get_rate(priv->can_clk); + priv->can.bittiming_const = &rcar_can_bittiming_const; + priv->can.do_set_mode = rcar_can_do_set_mode; + priv->can.do_get_berr_counter = rcar_can_get_berr_counter; + priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING; + platform_set_drvdata(pdev, ndev); + SET_NETDEV_DEV(ndev, &pdev->dev); + + 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, error %d\n", + err); + goto fail_candev; + } + + devm_can_led_init(ndev); + + dev_info(&pdev->dev, "device registered (IRQ%d)\n", 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; +} + +static int __maybe_unused 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)) + return 0; + + netif_stop_queue(ndev); + netif_device_detach(ndev); + + ctlr = readw(&priv->regs->ctlr); + ctlr |= RCAR_CAN_CTLR_CANM_HALT; + writew(ctlr, &priv->regs->ctlr); + ctlr |= RCAR_CAN_CTLR_SLPM; + writew(ctlr, &priv->regs->ctlr); + priv->can.state = CAN_STATE_SLEEPING; + + clk_disable(priv->clk); + return 0; +} + +static int __maybe_unused rcar_can_resume(struct device *dev) +{ + struct net_device *ndev = dev_get_drvdata(dev); + struct rcar_can_priv *priv = netdev_priv(ndev); + u16 ctlr; + int err; + + if (!netif_running(ndev)) + return 0; + + err = clk_enable(priv->clk); + if (err) { + netdev_err(ndev, "clk_enable() failed, error %d\n", err); + return err; + } + + ctlr = readw(&priv->regs->ctlr); + ctlr &= ~RCAR_CAN_CTLR_SLPM; + writew(ctlr, &priv->regs->ctlr); + ctlr &= ~RCAR_CAN_CTLR_CANM; + writew(ctlr, &priv->regs->ctlr); + priv->can.state = CAN_STATE_ERROR_ACTIVE; + + netif_device_attach(ndev); + netif_start_queue(ndev); + + return 0; +} + +static SIMPLE_DEV_PM_OPS(rcar_can_pm_ops, rcar_can_suspend, rcar_can_resume); + +static const struct of_device_id rcar_can_of_table[] __maybe_unused = { + { .compatible = "renesas,can-r8a7778" }, + { .compatible = "renesas,can-r8a7779" }, + { .compatible = "renesas,can-r8a7790" }, + { .compatible = "renesas,can-r8a7791" }, + { .compatible = "renesas,rcar-gen1-can" }, + { .compatible = "renesas,rcar-gen2-can" }, + { .compatible = "renesas,rcar-gen3-can" }, + { } +}; +MODULE_DEVICE_TABLE(of, rcar_can_of_table); + +static struct platform_driver rcar_can_driver = { + .driver = { + .name = RCAR_CAN_DRV_NAME, + .of_match_table = of_match_ptr(rcar_can_of_table), + .pm = &rcar_can_pm_ops, + }, + .probe = rcar_can_probe, + .remove = rcar_can_remove, +}; + +module_platform_driver(rcar_can_driver); + +MODULE_AUTHOR("Cogent Embedded, Inc."); +MODULE_LICENSE("GPL"); +MODULE_DESCRIPTION("CAN driver for Renesas R-Car SoC"); +MODULE_ALIAS("platform:" RCAR_CAN_DRV_NAME); diff --git a/drivers/net/can/rcar/rcar_canfd.c b/drivers/net/can/rcar/rcar_canfd.c new file mode 100644 index 000000000..a1634834b --- /dev/null +++ b/drivers/net/can/rcar/rcar_canfd.c @@ -0,0 +1,1859 @@ +/* Renesas R-Car CAN FD device driver + * + * Copyright (C) 2015 Renesas Electronics Corp. + * + * This program is free software; you can redistribute it and/or modify it + * under the terms of the GNU General Public License as published by the + * Free Software Foundation; either version 2 of the License, or (at your + * option) any later version. + */ + +/* The R-Car CAN FD controller can operate in either one of the below two modes + * - CAN FD only mode + * - Classical CAN (CAN 2.0) only mode + * + * This driver puts the controller in CAN FD only mode by default. In this + * mode, the controller acts as a CAN FD node that can also interoperate with + * CAN 2.0 nodes. + * + * To switch the controller to Classical CAN (CAN 2.0) only mode, add + * "renesas,no-can-fd" optional property to the device tree node. A h/w reset is + * also required to switch modes. + * + * Note: The h/w manual register naming convention is clumsy and not acceptable + * to use as it is in the driver. However, those names are added as comments + * wherever it is modified to a readable name. + */ + +#include <linux/module.h> +#include <linux/moduleparam.h> +#include <linux/kernel.h> +#include <linux/types.h> +#include <linux/interrupt.h> +#include <linux/errno.h> +#include <linux/netdevice.h> +#include <linux/platform_device.h> +#include <linux/can/led.h> +#include <linux/can/dev.h> +#include <linux/clk.h> +#include <linux/of.h> +#include <linux/of_device.h> +#include <linux/bitmap.h> +#include <linux/bitops.h> +#include <linux/iopoll.h> + +#define RCANFD_DRV_NAME "rcar_canfd" + +/* Global register bits */ + +/* RSCFDnCFDGRMCFG */ +#define RCANFD_GRMCFG_RCMC BIT(0) + +/* RSCFDnCFDGCFG / RSCFDnGCFG */ +#define RCANFD_GCFG_EEFE BIT(6) +#define RCANFD_GCFG_CMPOC BIT(5) /* CAN FD only */ +#define RCANFD_GCFG_DCS BIT(4) +#define RCANFD_GCFG_DCE BIT(1) +#define RCANFD_GCFG_TPRI BIT(0) + +/* RSCFDnCFDGCTR / RSCFDnGCTR */ +#define RCANFD_GCTR_TSRST BIT(16) +#define RCANFD_GCTR_CFMPOFIE BIT(11) /* CAN FD only */ +#define RCANFD_GCTR_THLEIE BIT(10) +#define RCANFD_GCTR_MEIE BIT(9) +#define RCANFD_GCTR_DEIE BIT(8) +#define RCANFD_GCTR_GSLPR BIT(2) +#define RCANFD_GCTR_GMDC_MASK (0x3) +#define RCANFD_GCTR_GMDC_GOPM (0x0) +#define RCANFD_GCTR_GMDC_GRESET (0x1) +#define RCANFD_GCTR_GMDC_GTEST (0x2) + +/* RSCFDnCFDGSTS / RSCFDnGSTS */ +#define RCANFD_GSTS_GRAMINIT BIT(3) +#define RCANFD_GSTS_GSLPSTS BIT(2) +#define RCANFD_GSTS_GHLTSTS BIT(1) +#define RCANFD_GSTS_GRSTSTS BIT(0) +/* Non-operational status */ +#define RCANFD_GSTS_GNOPM (BIT(0) | BIT(1) | BIT(2) | BIT(3)) + +/* RSCFDnCFDGERFL / RSCFDnGERFL */ +#define RCANFD_GERFL_EEF1 BIT(17) +#define RCANFD_GERFL_EEF0 BIT(16) +#define RCANFD_GERFL_CMPOF BIT(3) /* CAN FD only */ +#define RCANFD_GERFL_THLES BIT(2) +#define RCANFD_GERFL_MES BIT(1) +#define RCANFD_GERFL_DEF BIT(0) + +#define RCANFD_GERFL_ERR(gpriv, x) ((x) & (RCANFD_GERFL_EEF1 |\ + RCANFD_GERFL_EEF0 | RCANFD_GERFL_MES |\ + (gpriv->fdmode ?\ + RCANFD_GERFL_CMPOF : 0))) + +/* AFL Rx rules registers */ + +/* RSCFDnCFDGAFLCFG0 / RSCFDnGAFLCFG0 */ +#define RCANFD_GAFLCFG_SETRNC(n, x) (((x) & 0xff) << (24 - n * 8)) +#define RCANFD_GAFLCFG_GETRNC(n, x) (((x) >> (24 - n * 8)) & 0xff) + +/* RSCFDnCFDGAFLECTR / RSCFDnGAFLECTR */ +#define RCANFD_GAFLECTR_AFLDAE BIT(8) +#define RCANFD_GAFLECTR_AFLPN(x) ((x) & 0x1f) + +/* RSCFDnCFDGAFLIDj / RSCFDnGAFLIDj */ +#define RCANFD_GAFLID_GAFLLB BIT(29) + +/* RSCFDnCFDGAFLP1_j / RSCFDnGAFLP1_j */ +#define RCANFD_GAFLP1_GAFLFDP(x) (1 << (x)) + +/* Channel register bits */ + +/* RSCFDnCmCFG - Classical CAN only */ +#define RCANFD_CFG_SJW(x) (((x) & 0x3) << 24) +#define RCANFD_CFG_TSEG2(x) (((x) & 0x7) << 20) +#define RCANFD_CFG_TSEG1(x) (((x) & 0xf) << 16) +#define RCANFD_CFG_BRP(x) (((x) & 0x3ff) << 0) + +/* RSCFDnCFDCmNCFG - CAN FD only */ +#define RCANFD_NCFG_NTSEG2(x) (((x) & 0x1f) << 24) +#define RCANFD_NCFG_NTSEG1(x) (((x) & 0x7f) << 16) +#define RCANFD_NCFG_NSJW(x) (((x) & 0x1f) << 11) +#define RCANFD_NCFG_NBRP(x) (((x) & 0x3ff) << 0) + +/* RSCFDnCFDCmCTR / RSCFDnCmCTR */ +#define RCANFD_CCTR_CTME BIT(24) +#define RCANFD_CCTR_ERRD BIT(23) +#define RCANFD_CCTR_BOM_MASK (0x3 << 21) +#define RCANFD_CCTR_BOM_ISO (0x0 << 21) +#define RCANFD_CCTR_BOM_BENTRY (0x1 << 21) +#define RCANFD_CCTR_BOM_BEND (0x2 << 21) +#define RCANFD_CCTR_TDCVFIE BIT(19) +#define RCANFD_CCTR_SOCOIE BIT(18) +#define RCANFD_CCTR_EOCOIE BIT(17) +#define RCANFD_CCTR_TAIE BIT(16) +#define RCANFD_CCTR_ALIE BIT(15) +#define RCANFD_CCTR_BLIE BIT(14) +#define RCANFD_CCTR_OLIE BIT(13) +#define RCANFD_CCTR_BORIE BIT(12) +#define RCANFD_CCTR_BOEIE BIT(11) +#define RCANFD_CCTR_EPIE BIT(10) +#define RCANFD_CCTR_EWIE BIT(9) +#define RCANFD_CCTR_BEIE BIT(8) +#define RCANFD_CCTR_CSLPR BIT(2) +#define RCANFD_CCTR_CHMDC_MASK (0x3) +#define RCANFD_CCTR_CHDMC_COPM (0x0) +#define RCANFD_CCTR_CHDMC_CRESET (0x1) +#define RCANFD_CCTR_CHDMC_CHLT (0x2) + +/* RSCFDnCFDCmSTS / RSCFDnCmSTS */ +#define RCANFD_CSTS_COMSTS BIT(7) +#define RCANFD_CSTS_RECSTS BIT(6) +#define RCANFD_CSTS_TRMSTS BIT(5) +#define RCANFD_CSTS_BOSTS BIT(4) +#define RCANFD_CSTS_EPSTS BIT(3) +#define RCANFD_CSTS_SLPSTS BIT(2) +#define RCANFD_CSTS_HLTSTS BIT(1) +#define RCANFD_CSTS_CRSTSTS BIT(0) + +#define RCANFD_CSTS_TECCNT(x) (((x) >> 24) & 0xff) +#define RCANFD_CSTS_RECCNT(x) (((x) >> 16) & 0xff) + +/* RSCFDnCFDCmERFL / RSCFDnCmERFL */ +#define RCANFD_CERFL_ADERR BIT(14) +#define RCANFD_CERFL_B0ERR BIT(13) +#define RCANFD_CERFL_B1ERR BIT(12) +#define RCANFD_CERFL_CERR BIT(11) +#define RCANFD_CERFL_AERR BIT(10) +#define RCANFD_CERFL_FERR BIT(9) +#define RCANFD_CERFL_SERR BIT(8) +#define RCANFD_CERFL_ALF BIT(7) +#define RCANFD_CERFL_BLF BIT(6) +#define RCANFD_CERFL_OVLF BIT(5) +#define RCANFD_CERFL_BORF BIT(4) +#define RCANFD_CERFL_BOEF BIT(3) +#define RCANFD_CERFL_EPF BIT(2) +#define RCANFD_CERFL_EWF BIT(1) +#define RCANFD_CERFL_BEF BIT(0) + +#define RCANFD_CERFL_ERR(x) ((x) & (0x7fff)) /* above bits 14:0 */ + +/* RSCFDnCFDCmDCFG */ +#define RCANFD_DCFG_DSJW(x) (((x) & 0x7) << 24) +#define RCANFD_DCFG_DTSEG2(x) (((x) & 0x7) << 20) +#define RCANFD_DCFG_DTSEG1(x) (((x) & 0xf) << 16) +#define RCANFD_DCFG_DBRP(x) (((x) & 0xff) << 0) + +/* RSCFDnCFDCmFDCFG */ +#define RCANFD_FDCFG_TDCE BIT(9) +#define RCANFD_FDCFG_TDCOC BIT(8) +#define RCANFD_FDCFG_TDCO(x) (((x) & 0x7f) >> 16) + +/* RSCFDnCFDRFCCx */ +#define RCANFD_RFCC_RFIM BIT(12) +#define RCANFD_RFCC_RFDC(x) (((x) & 0x7) << 8) +#define RCANFD_RFCC_RFPLS(x) (((x) & 0x7) << 4) +#define RCANFD_RFCC_RFIE BIT(1) +#define RCANFD_RFCC_RFE BIT(0) + +/* RSCFDnCFDRFSTSx */ +#define RCANFD_RFSTS_RFIF BIT(3) +#define RCANFD_RFSTS_RFMLT BIT(2) +#define RCANFD_RFSTS_RFFLL BIT(1) +#define RCANFD_RFSTS_RFEMP BIT(0) + +/* RSCFDnCFDRFIDx */ +#define RCANFD_RFID_RFIDE BIT(31) +#define RCANFD_RFID_RFRTR BIT(30) + +/* RSCFDnCFDRFPTRx */ +#define RCANFD_RFPTR_RFDLC(x) (((x) >> 28) & 0xf) +#define RCANFD_RFPTR_RFPTR(x) (((x) >> 16) & 0xfff) +#define RCANFD_RFPTR_RFTS(x) (((x) >> 0) & 0xffff) + +/* RSCFDnCFDRFFDSTSx */ +#define RCANFD_RFFDSTS_RFFDF BIT(2) +#define RCANFD_RFFDSTS_RFBRS BIT(1) +#define RCANFD_RFFDSTS_RFESI BIT(0) + +/* Common FIFO bits */ + +/* RSCFDnCFDCFCCk */ +#define RCANFD_CFCC_CFTML(x) (((x) & 0xf) << 20) +#define RCANFD_CFCC_CFM(x) (((x) & 0x3) << 16) +#define RCANFD_CFCC_CFIM BIT(12) +#define RCANFD_CFCC_CFDC(x) (((x) & 0x7) << 8) +#define RCANFD_CFCC_CFPLS(x) (((x) & 0x7) << 4) +#define RCANFD_CFCC_CFTXIE BIT(2) +#define RCANFD_CFCC_CFE BIT(0) + +/* RSCFDnCFDCFSTSk */ +#define RCANFD_CFSTS_CFMC(x) (((x) >> 8) & 0xff) +#define RCANFD_CFSTS_CFTXIF BIT(4) +#define RCANFD_CFSTS_CFMLT BIT(2) +#define RCANFD_CFSTS_CFFLL BIT(1) +#define RCANFD_CFSTS_CFEMP BIT(0) + +/* RSCFDnCFDCFIDk */ +#define RCANFD_CFID_CFIDE BIT(31) +#define RCANFD_CFID_CFRTR BIT(30) +#define RCANFD_CFID_CFID_MASK(x) ((x) & 0x1fffffff) + +/* RSCFDnCFDCFPTRk */ +#define RCANFD_CFPTR_CFDLC(x) (((x) & 0xf) << 28) +#define RCANFD_CFPTR_CFPTR(x) (((x) & 0xfff) << 16) +#define RCANFD_CFPTR_CFTS(x) (((x) & 0xff) << 0) + +/* RSCFDnCFDCFFDCSTSk */ +#define RCANFD_CFFDCSTS_CFFDF BIT(2) +#define RCANFD_CFFDCSTS_CFBRS BIT(1) +#define RCANFD_CFFDCSTS_CFESI BIT(0) + +/* This controller supports either Classical CAN only mode or CAN FD only mode. + * These modes are supported in two separate set of register maps & names. + * However, some of the register offsets are common for both modes. Those + * offsets are listed below as Common registers. + * + * The CAN FD only mode specific registers & Classical CAN only mode specific + * registers are listed separately. Their register names starts with + * RCANFD_F_xxx & RCANFD_C_xxx respectively. + */ + +/* Common registers */ + +/* RSCFDnCFDCmNCFG / RSCFDnCmCFG */ +#define RCANFD_CCFG(m) (0x0000 + (0x10 * (m))) +/* RSCFDnCFDCmCTR / RSCFDnCmCTR */ +#define RCANFD_CCTR(m) (0x0004 + (0x10 * (m))) +/* RSCFDnCFDCmSTS / RSCFDnCmSTS */ +#define RCANFD_CSTS(m) (0x0008 + (0x10 * (m))) +/* RSCFDnCFDCmERFL / RSCFDnCmERFL */ +#define RCANFD_CERFL(m) (0x000C + (0x10 * (m))) + +/* RSCFDnCFDGCFG / RSCFDnGCFG */ +#define RCANFD_GCFG (0x0084) +/* RSCFDnCFDGCTR / RSCFDnGCTR */ +#define RCANFD_GCTR (0x0088) +/* RSCFDnCFDGCTS / RSCFDnGCTS */ +#define RCANFD_GSTS (0x008c) +/* RSCFDnCFDGERFL / RSCFDnGERFL */ +#define RCANFD_GERFL (0x0090) +/* RSCFDnCFDGTSC / RSCFDnGTSC */ +#define RCANFD_GTSC (0x0094) +/* RSCFDnCFDGAFLECTR / RSCFDnGAFLECTR */ +#define RCANFD_GAFLECTR (0x0098) +/* RSCFDnCFDGAFLCFG0 / RSCFDnGAFLCFG0 */ +#define RCANFD_GAFLCFG0 (0x009c) +/* RSCFDnCFDGAFLCFG1 / RSCFDnGAFLCFG1 */ +#define RCANFD_GAFLCFG1 (0x00a0) +/* RSCFDnCFDRMNB / RSCFDnRMNB */ +#define RCANFD_RMNB (0x00a4) +/* RSCFDnCFDRMND / RSCFDnRMND */ +#define RCANFD_RMND(y) (0x00a8 + (0x04 * (y))) + +/* RSCFDnCFDRFCCx / RSCFDnRFCCx */ +#define RCANFD_RFCC(x) (0x00b8 + (0x04 * (x))) +/* RSCFDnCFDRFSTSx / RSCFDnRFSTSx */ +#define RCANFD_RFSTS(x) (0x00d8 + (0x04 * (x))) +/* RSCFDnCFDRFPCTRx / RSCFDnRFPCTRx */ +#define RCANFD_RFPCTR(x) (0x00f8 + (0x04 * (x))) + +/* Common FIFO Control registers */ + +/* RSCFDnCFDCFCCx / RSCFDnCFCCx */ +#define RCANFD_CFCC(ch, idx) (0x0118 + (0x0c * (ch)) + \ + (0x04 * (idx))) +/* RSCFDnCFDCFSTSx / RSCFDnCFSTSx */ +#define RCANFD_CFSTS(ch, idx) (0x0178 + (0x0c * (ch)) + \ + (0x04 * (idx))) +/* RSCFDnCFDCFPCTRx / RSCFDnCFPCTRx */ +#define RCANFD_CFPCTR(ch, idx) (0x01d8 + (0x0c * (ch)) + \ + (0x04 * (idx))) + +/* RSCFDnCFDFESTS / RSCFDnFESTS */ +#define RCANFD_FESTS (0x0238) +/* RSCFDnCFDFFSTS / RSCFDnFFSTS */ +#define RCANFD_FFSTS (0x023c) +/* RSCFDnCFDFMSTS / RSCFDnFMSTS */ +#define RCANFD_FMSTS (0x0240) +/* RSCFDnCFDRFISTS / RSCFDnRFISTS */ +#define RCANFD_RFISTS (0x0244) +/* RSCFDnCFDCFRISTS / RSCFDnCFRISTS */ +#define RCANFD_CFRISTS (0x0248) +/* RSCFDnCFDCFTISTS / RSCFDnCFTISTS */ +#define RCANFD_CFTISTS (0x024c) + +/* RSCFDnCFDTMCp / RSCFDnTMCp */ +#define RCANFD_TMC(p) (0x0250 + (0x01 * (p))) +/* RSCFDnCFDTMSTSp / RSCFDnTMSTSp */ +#define RCANFD_TMSTS(p) (0x02d0 + (0x01 * (p))) + +/* RSCFDnCFDTMTRSTSp / RSCFDnTMTRSTSp */ +#define RCANFD_TMTRSTS(y) (0x0350 + (0x04 * (y))) +/* RSCFDnCFDTMTARSTSp / RSCFDnTMTARSTSp */ +#define RCANFD_TMTARSTS(y) (0x0360 + (0x04 * (y))) +/* RSCFDnCFDTMTCSTSp / RSCFDnTMTCSTSp */ +#define RCANFD_TMTCSTS(y) (0x0370 + (0x04 * (y))) +/* RSCFDnCFDTMTASTSp / RSCFDnTMTASTSp */ +#define RCANFD_TMTASTS(y) (0x0380 + (0x04 * (y))) +/* RSCFDnCFDTMIECy / RSCFDnTMIECy */ +#define RCANFD_TMIEC(y) (0x0390 + (0x04 * (y))) + +/* RSCFDnCFDTXQCCm / RSCFDnTXQCCm */ +#define RCANFD_TXQCC(m) (0x03a0 + (0x04 * (m))) +/* RSCFDnCFDTXQSTSm / RSCFDnTXQSTSm */ +#define RCANFD_TXQSTS(m) (0x03c0 + (0x04 * (m))) +/* RSCFDnCFDTXQPCTRm / RSCFDnTXQPCTRm */ +#define RCANFD_TXQPCTR(m) (0x03e0 + (0x04 * (m))) + +/* RSCFDnCFDTHLCCm / RSCFDnTHLCCm */ +#define RCANFD_THLCC(m) (0x0400 + (0x04 * (m))) +/* RSCFDnCFDTHLSTSm / RSCFDnTHLSTSm */ +#define RCANFD_THLSTS(m) (0x0420 + (0x04 * (m))) +/* RSCFDnCFDTHLPCTRm / RSCFDnTHLPCTRm */ +#define RCANFD_THLPCTR(m) (0x0440 + (0x04 * (m))) + +/* RSCFDnCFDGTINTSTS0 / RSCFDnGTINTSTS0 */ +#define RCANFD_GTINTSTS0 (0x0460) +/* RSCFDnCFDGTINTSTS1 / RSCFDnGTINTSTS1 */ +#define RCANFD_GTINTSTS1 (0x0464) +/* RSCFDnCFDGTSTCFG / RSCFDnGTSTCFG */ +#define RCANFD_GTSTCFG (0x0468) +/* RSCFDnCFDGTSTCTR / RSCFDnGTSTCTR */ +#define RCANFD_GTSTCTR (0x046c) +/* RSCFDnCFDGLOCKK / RSCFDnGLOCKK */ +#define RCANFD_GLOCKK (0x047c) +/* RSCFDnCFDGRMCFG */ +#define RCANFD_GRMCFG (0x04fc) + +/* RSCFDnCFDGAFLIDj / RSCFDnGAFLIDj */ +#define RCANFD_GAFLID(offset, j) ((offset) + (0x10 * (j))) +/* RSCFDnCFDGAFLMj / RSCFDnGAFLMj */ +#define RCANFD_GAFLM(offset, j) ((offset) + 0x04 + (0x10 * (j))) +/* RSCFDnCFDGAFLP0j / RSCFDnGAFLP0j */ +#define RCANFD_GAFLP0(offset, j) ((offset) + 0x08 + (0x10 * (j))) +/* RSCFDnCFDGAFLP1j / RSCFDnGAFLP1j */ +#define RCANFD_GAFLP1(offset, j) ((offset) + 0x0c + (0x10 * (j))) + +/* Classical CAN only mode register map */ + +/* RSCFDnGAFLXXXj offset */ +#define RCANFD_C_GAFL_OFFSET (0x0500) + +/* RSCFDnRMXXXq -> RCANFD_C_RMXXX(q) */ +#define RCANFD_C_RMID(q) (0x0600 + (0x10 * (q))) +#define RCANFD_C_RMPTR(q) (0x0604 + (0x10 * (q))) +#define RCANFD_C_RMDF0(q) (0x0608 + (0x10 * (q))) +#define RCANFD_C_RMDF1(q) (0x060c + (0x10 * (q))) + +/* RSCFDnRFXXx -> RCANFD_C_RFXX(x) */ +#define RCANFD_C_RFOFFSET (0x0e00) +#define RCANFD_C_RFID(x) (RCANFD_C_RFOFFSET + (0x10 * (x))) +#define RCANFD_C_RFPTR(x) (RCANFD_C_RFOFFSET + 0x04 + \ + (0x10 * (x))) +#define RCANFD_C_RFDF(x, df) (RCANFD_C_RFOFFSET + 0x08 + \ + (0x10 * (x)) + (0x04 * (df))) + +/* RSCFDnCFXXk -> RCANFD_C_CFXX(ch, k) */ +#define RCANFD_C_CFOFFSET (0x0e80) +#define RCANFD_C_CFID(ch, idx) (RCANFD_C_CFOFFSET + (0x30 * (ch)) + \ + (0x10 * (idx))) +#define RCANFD_C_CFPTR(ch, idx) (RCANFD_C_CFOFFSET + 0x04 + \ + (0x30 * (ch)) + (0x10 * (idx))) +#define RCANFD_C_CFDF(ch, idx, df) (RCANFD_C_CFOFFSET + 0x08 + \ + (0x30 * (ch)) + (0x10 * (idx)) + \ + (0x04 * (df))) + +/* RSCFDnTMXXp -> RCANFD_C_TMXX(p) */ +#define RCANFD_C_TMID(p) (0x1000 + (0x10 * (p))) +#define RCANFD_C_TMPTR(p) (0x1004 + (0x10 * (p))) +#define RCANFD_C_TMDF0(p) (0x1008 + (0x10 * (p))) +#define RCANFD_C_TMDF1(p) (0x100c + (0x10 * (p))) + +/* RSCFDnTHLACCm */ +#define RCANFD_C_THLACC(m) (0x1800 + (0x04 * (m))) +/* RSCFDnRPGACCr */ +#define RCANFD_C_RPGACC(r) (0x1900 + (0x04 * (r))) + +/* CAN FD mode specific register map */ + +/* RSCFDnCFDCmXXX -> RCANFD_F_XXX(m) */ +#define RCANFD_F_DCFG(m) (0x0500 + (0x20 * (m))) +#define RCANFD_F_CFDCFG(m) (0x0504 + (0x20 * (m))) +#define RCANFD_F_CFDCTR(m) (0x0508 + (0x20 * (m))) +#define RCANFD_F_CFDSTS(m) (0x050c + (0x20 * (m))) +#define RCANFD_F_CFDCRC(m) (0x0510 + (0x20 * (m))) + +/* RSCFDnCFDGAFLXXXj offset */ +#define RCANFD_F_GAFL_OFFSET (0x1000) + +/* RSCFDnCFDRMXXXq -> RCANFD_F_RMXXX(q) */ +#define RCANFD_F_RMID(q) (0x2000 + (0x20 * (q))) +#define RCANFD_F_RMPTR(q) (0x2004 + (0x20 * (q))) +#define RCANFD_F_RMFDSTS(q) (0x2008 + (0x20 * (q))) +#define RCANFD_F_RMDF(q, b) (0x200c + (0x04 * (b)) + (0x20 * (q))) + +/* RSCFDnCFDRFXXx -> RCANFD_F_RFXX(x) */ +#define RCANFD_F_RFOFFSET (0x3000) +#define RCANFD_F_RFID(x) (RCANFD_F_RFOFFSET + (0x80 * (x))) +#define RCANFD_F_RFPTR(x) (RCANFD_F_RFOFFSET + 0x04 + \ + (0x80 * (x))) +#define RCANFD_F_RFFDSTS(x) (RCANFD_F_RFOFFSET + 0x08 + \ + (0x80 * (x))) +#define RCANFD_F_RFDF(x, df) (RCANFD_F_RFOFFSET + 0x0c + \ + (0x80 * (x)) + (0x04 * (df))) + +/* RSCFDnCFDCFXXk -> RCANFD_F_CFXX(ch, k) */ +#define RCANFD_F_CFOFFSET (0x3400) +#define RCANFD_F_CFID(ch, idx) (RCANFD_F_CFOFFSET + (0x180 * (ch)) + \ + (0x80 * (idx))) +#define RCANFD_F_CFPTR(ch, idx) (RCANFD_F_CFOFFSET + 0x04 + \ + (0x180 * (ch)) + (0x80 * (idx))) +#define RCANFD_F_CFFDCSTS(ch, idx) (RCANFD_F_CFOFFSET + 0x08 + \ + (0x180 * (ch)) + (0x80 * (idx))) +#define RCANFD_F_CFDF(ch, idx, df) (RCANFD_F_CFOFFSET + 0x0c + \ + (0x180 * (ch)) + (0x80 * (idx)) + \ + (0x04 * (df))) + +/* RSCFDnCFDTMXXp -> RCANFD_F_TMXX(p) */ +#define RCANFD_F_TMID(p) (0x4000 + (0x20 * (p))) +#define RCANFD_F_TMPTR(p) (0x4004 + (0x20 * (p))) +#define RCANFD_F_TMFDCTR(p) (0x4008 + (0x20 * (p))) +#define RCANFD_F_TMDF(p, b) (0x400c + (0x20 * (p)) + (0x04 * (b))) + +/* RSCFDnCFDTHLACCm */ +#define RCANFD_F_THLACC(m) (0x6000 + (0x04 * (m))) +/* RSCFDnCFDRPGACCr */ +#define RCANFD_F_RPGACC(r) (0x6400 + (0x04 * (r))) + +/* Constants */ +#define RCANFD_FIFO_DEPTH 8 /* Tx FIFO depth */ +#define RCANFD_NAPI_WEIGHT 8 /* Rx poll quota */ + +#define RCANFD_NUM_CHANNELS 2 /* Two channels max */ +#define RCANFD_CHANNELS_MASK BIT((RCANFD_NUM_CHANNELS) - 1) + +#define RCANFD_GAFL_PAGENUM(entry) ((entry) / 16) +#define RCANFD_CHANNEL_NUMRULES 1 /* only one rule per channel */ + +/* Rx FIFO is a global resource of the controller. There are 8 such FIFOs + * available. Each channel gets a dedicated Rx FIFO (i.e.) the channel + * number is added to RFFIFO index. + */ +#define RCANFD_RFFIFO_IDX 0 + +/* Tx/Rx or Common FIFO is a per channel resource. Each channel has 3 Common + * FIFOs dedicated to them. Use the first (index 0) FIFO out of the 3 for Tx. + */ +#define RCANFD_CFFIFO_IDX 0 + +/* fCAN clock select register settings */ +enum rcar_canfd_fcanclk { + RCANFD_CANFDCLK = 0, /* CANFD clock */ + RCANFD_EXTCLK, /* Externally input clock */ +}; + +struct rcar_canfd_global; + +/* Channel priv data */ +struct rcar_canfd_channel { + struct can_priv can; /* Must be the first member */ + struct net_device *ndev; + struct rcar_canfd_global *gpriv; /* Controller reference */ + void __iomem *base; /* Register base address */ + struct napi_struct napi; + u8 tx_len[RCANFD_FIFO_DEPTH]; /* For net stats */ + u32 tx_head; /* Incremented on xmit */ + u32 tx_tail; /* Incremented on xmit done */ + u32 channel; /* Channel number */ + spinlock_t tx_lock; /* To protect tx path */ +}; + +/* Global priv data */ +struct rcar_canfd_global { + struct rcar_canfd_channel *ch[RCANFD_NUM_CHANNELS]; + void __iomem *base; /* Register base address */ + struct platform_device *pdev; /* Respective platform device */ + struct clk *clkp; /* Peripheral clock */ + struct clk *can_clk; /* fCAN clock */ + enum rcar_canfd_fcanclk fcan; /* CANFD or Ext clock */ + unsigned long channels_mask; /* Enabled channels mask */ + bool fdmode; /* CAN FD or Classical CAN only mode */ +}; + +/* CAN FD mode nominal rate constants */ +static const struct can_bittiming_const rcar_canfd_nom_bittiming_const = { + .name = RCANFD_DRV_NAME, + .tseg1_min = 2, + .tseg1_max = 128, + .tseg2_min = 2, + .tseg2_max = 32, + .sjw_max = 32, + .brp_min = 1, + .brp_max = 1024, + .brp_inc = 1, +}; + +/* CAN FD mode data rate constants */ +static const struct can_bittiming_const rcar_canfd_data_bittiming_const = { + .name = RCANFD_DRV_NAME, + .tseg1_min = 2, + .tseg1_max = 16, + .tseg2_min = 2, + .tseg2_max = 8, + .sjw_max = 8, + .brp_min = 1, + .brp_max = 256, + .brp_inc = 1, +}; + +/* Classical CAN mode bitrate constants */ +static const struct can_bittiming_const rcar_canfd_bittiming_const = { + .name = RCANFD_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, +}; + +/* Helper functions */ +static inline void rcar_canfd_update(u32 mask, u32 val, u32 __iomem *reg) +{ + u32 data = readl(reg); + + data &= ~mask; + data |= (val & mask); + writel(data, reg); +} + +static inline u32 rcar_canfd_read(void __iomem *base, u32 offset) +{ + return readl(base + (offset)); +} + +static inline void rcar_canfd_write(void __iomem *base, u32 offset, u32 val) +{ + writel(val, base + (offset)); +} + +static void rcar_canfd_set_bit(void __iomem *base, u32 reg, u32 val) +{ + rcar_canfd_update(val, val, base + (reg)); +} + +static void rcar_canfd_clear_bit(void __iomem *base, u32 reg, u32 val) +{ + rcar_canfd_update(val, 0, base + (reg)); +} + +static void rcar_canfd_update_bit(void __iomem *base, u32 reg, + u32 mask, u32 val) +{ + rcar_canfd_update(mask, val, base + (reg)); +} + +static void rcar_canfd_get_data(struct rcar_canfd_channel *priv, + struct canfd_frame *cf, u32 off) +{ + u32 i, lwords; + + lwords = DIV_ROUND_UP(cf->len, sizeof(u32)); + for (i = 0; i < lwords; i++) + *((u32 *)cf->data + i) = + rcar_canfd_read(priv->base, off + (i * sizeof(u32))); +} + +static void rcar_canfd_put_data(struct rcar_canfd_channel *priv, + struct canfd_frame *cf, u32 off) +{ + u32 i, lwords; + + lwords = DIV_ROUND_UP(cf->len, sizeof(u32)); + for (i = 0; i < lwords; i++) + rcar_canfd_write(priv->base, off + (i * sizeof(u32)), + *((u32 *)cf->data + i)); +} + +static void rcar_canfd_tx_failure_cleanup(struct net_device *ndev) +{ + u32 i; + + for (i = 0; i < RCANFD_FIFO_DEPTH; i++) + can_free_echo_skb(ndev, i); +} + +static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv) +{ + u32 sts, ch; + int err; + + /* Check RAMINIT flag as CAN RAM initialization takes place + * after the MCU reset + */ + err = readl_poll_timeout((gpriv->base + RCANFD_GSTS), sts, + !(sts & RCANFD_GSTS_GRAMINIT), 2, 500000); + if (err) { + dev_dbg(&gpriv->pdev->dev, "global raminit failed\n"); + return err; + } + + /* Transition to Global Reset mode */ + rcar_canfd_clear_bit(gpriv->base, RCANFD_GCTR, RCANFD_GCTR_GSLPR); + rcar_canfd_update_bit(gpriv->base, RCANFD_GCTR, + RCANFD_GCTR_GMDC_MASK, RCANFD_GCTR_GMDC_GRESET); + + /* Ensure Global reset mode */ + err = readl_poll_timeout((gpriv->base + RCANFD_GSTS), sts, + (sts & RCANFD_GSTS_GRSTSTS), 2, 500000); + if (err) { + dev_dbg(&gpriv->pdev->dev, "global reset failed\n"); + return err; + } + + /* Reset Global error flags */ + rcar_canfd_write(gpriv->base, RCANFD_GERFL, 0x0); + + /* Set the controller into appropriate mode */ + if (gpriv->fdmode) + rcar_canfd_set_bit(gpriv->base, RCANFD_GRMCFG, + RCANFD_GRMCFG_RCMC); + else + rcar_canfd_clear_bit(gpriv->base, RCANFD_GRMCFG, + RCANFD_GRMCFG_RCMC); + + /* Transition all Channels to reset mode */ + for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) { + rcar_canfd_clear_bit(gpriv->base, + RCANFD_CCTR(ch), RCANFD_CCTR_CSLPR); + + rcar_canfd_update_bit(gpriv->base, RCANFD_CCTR(ch), + RCANFD_CCTR_CHMDC_MASK, + RCANFD_CCTR_CHDMC_CRESET); + + /* Ensure Channel reset mode */ + err = readl_poll_timeout((gpriv->base + RCANFD_CSTS(ch)), sts, + (sts & RCANFD_CSTS_CRSTSTS), + 2, 500000); + if (err) { + dev_dbg(&gpriv->pdev->dev, + "channel %u reset failed\n", ch); + return err; + } + } + return 0; +} + +static void rcar_canfd_configure_controller(struct rcar_canfd_global *gpriv) +{ + u32 cfg, ch; + + /* Global configuration settings */ + + /* ECC Error flag Enable */ + cfg = RCANFD_GCFG_EEFE; + + if (gpriv->fdmode) + /* Truncate payload to configured message size RFPLS */ + cfg |= RCANFD_GCFG_CMPOC; + + /* Set External Clock if selected */ + if (gpriv->fcan != RCANFD_CANFDCLK) + cfg |= RCANFD_GCFG_DCS; + + rcar_canfd_set_bit(gpriv->base, RCANFD_GCFG, cfg); + + /* Channel configuration settings */ + for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) { + rcar_canfd_set_bit(gpriv->base, RCANFD_CCTR(ch), + RCANFD_CCTR_ERRD); + rcar_canfd_update_bit(gpriv->base, RCANFD_CCTR(ch), + RCANFD_CCTR_BOM_MASK, + RCANFD_CCTR_BOM_BENTRY); + } +} + +static void rcar_canfd_configure_afl_rules(struct rcar_canfd_global *gpriv, + u32 ch) +{ + u32 cfg; + int offset, start, page, num_rules = RCANFD_CHANNEL_NUMRULES; + u32 ridx = ch + RCANFD_RFFIFO_IDX; + + if (ch == 0) { + start = 0; /* Channel 0 always starts from 0th rule */ + } else { + /* Get number of Channel 0 rules and adjust */ + cfg = rcar_canfd_read(gpriv->base, RCANFD_GAFLCFG0); + start = RCANFD_GAFLCFG_GETRNC(0, cfg); + } + + /* Enable write access to entry */ + page = RCANFD_GAFL_PAGENUM(start); + rcar_canfd_set_bit(gpriv->base, RCANFD_GAFLECTR, + (RCANFD_GAFLECTR_AFLPN(page) | + RCANFD_GAFLECTR_AFLDAE)); + + /* Write number of rules for channel */ + rcar_canfd_set_bit(gpriv->base, RCANFD_GAFLCFG0, + RCANFD_GAFLCFG_SETRNC(ch, num_rules)); + if (gpriv->fdmode) + offset = RCANFD_F_GAFL_OFFSET; + else + offset = RCANFD_C_GAFL_OFFSET; + + /* Accept all IDs */ + rcar_canfd_write(gpriv->base, RCANFD_GAFLID(offset, start), 0); + /* IDE or RTR is not considered for matching */ + rcar_canfd_write(gpriv->base, RCANFD_GAFLM(offset, start), 0); + /* Any data length accepted */ + rcar_canfd_write(gpriv->base, RCANFD_GAFLP0(offset, start), 0); + /* Place the msg in corresponding Rx FIFO entry */ + rcar_canfd_write(gpriv->base, RCANFD_GAFLP1(offset, start), + RCANFD_GAFLP1_GAFLFDP(ridx)); + + /* Disable write access to page */ + rcar_canfd_clear_bit(gpriv->base, + RCANFD_GAFLECTR, RCANFD_GAFLECTR_AFLDAE); +} + +static void rcar_canfd_configure_rx(struct rcar_canfd_global *gpriv, u32 ch) +{ + /* Rx FIFO is used for reception */ + u32 cfg; + u16 rfdc, rfpls; + + /* Select Rx FIFO based on channel */ + u32 ridx = ch + RCANFD_RFFIFO_IDX; + + rfdc = 2; /* b010 - 8 messages Rx FIFO depth */ + if (gpriv->fdmode) + rfpls = 7; /* b111 - Max 64 bytes payload */ + else + rfpls = 0; /* b000 - Max 8 bytes payload */ + + cfg = (RCANFD_RFCC_RFIM | RCANFD_RFCC_RFDC(rfdc) | + RCANFD_RFCC_RFPLS(rfpls) | RCANFD_RFCC_RFIE); + rcar_canfd_write(gpriv->base, RCANFD_RFCC(ridx), cfg); +} + +static void rcar_canfd_configure_tx(struct rcar_canfd_global *gpriv, u32 ch) +{ + /* Tx/Rx(Common) FIFO configured in Tx mode is + * used for transmission + * + * Each channel has 3 Common FIFO dedicated to them. + * Use the 1st (index 0) out of 3 + */ + u32 cfg; + u16 cftml, cfm, cfdc, cfpls; + + cftml = 0; /* 0th buffer */ + cfm = 1; /* b01 - Transmit mode */ + cfdc = 2; /* b010 - 8 messages Tx FIFO depth */ + if (gpriv->fdmode) + cfpls = 7; /* b111 - Max 64 bytes payload */ + else + cfpls = 0; /* b000 - Max 8 bytes payload */ + + cfg = (RCANFD_CFCC_CFTML(cftml) | RCANFD_CFCC_CFM(cfm) | + RCANFD_CFCC_CFIM | RCANFD_CFCC_CFDC(cfdc) | + RCANFD_CFCC_CFPLS(cfpls) | RCANFD_CFCC_CFTXIE); + rcar_canfd_write(gpriv->base, RCANFD_CFCC(ch, RCANFD_CFFIFO_IDX), cfg); + + if (gpriv->fdmode) + /* Clear FD mode specific control/status register */ + rcar_canfd_write(gpriv->base, + RCANFD_F_CFFDCSTS(ch, RCANFD_CFFIFO_IDX), 0); +} + +static void rcar_canfd_enable_global_interrupts(struct rcar_canfd_global *gpriv) +{ + u32 ctr; + + /* Clear any stray error interrupt flags */ + rcar_canfd_write(gpriv->base, RCANFD_GERFL, 0); + + /* Global interrupts setup */ + ctr = RCANFD_GCTR_MEIE; + if (gpriv->fdmode) + ctr |= RCANFD_GCTR_CFMPOFIE; + + rcar_canfd_set_bit(gpriv->base, RCANFD_GCTR, ctr); +} + +static void rcar_canfd_disable_global_interrupts(struct rcar_canfd_global + *gpriv) +{ + /* Disable all interrupts */ + rcar_canfd_write(gpriv->base, RCANFD_GCTR, 0); + + /* Clear any stray error interrupt flags */ + rcar_canfd_write(gpriv->base, RCANFD_GERFL, 0); +} + +static void rcar_canfd_enable_channel_interrupts(struct rcar_canfd_channel + *priv) +{ + u32 ctr, ch = priv->channel; + + /* Clear any stray error flags */ + rcar_canfd_write(priv->base, RCANFD_CERFL(ch), 0); + + /* Channel interrupts setup */ + ctr = (RCANFD_CCTR_TAIE | + RCANFD_CCTR_ALIE | RCANFD_CCTR_BLIE | + RCANFD_CCTR_OLIE | RCANFD_CCTR_BORIE | + RCANFD_CCTR_BOEIE | RCANFD_CCTR_EPIE | + RCANFD_CCTR_EWIE | RCANFD_CCTR_BEIE); + rcar_canfd_set_bit(priv->base, RCANFD_CCTR(ch), ctr); +} + +static void rcar_canfd_disable_channel_interrupts(struct rcar_canfd_channel + *priv) +{ + u32 ctr, ch = priv->channel; + + ctr = (RCANFD_CCTR_TAIE | + RCANFD_CCTR_ALIE | RCANFD_CCTR_BLIE | + RCANFD_CCTR_OLIE | RCANFD_CCTR_BORIE | + RCANFD_CCTR_BOEIE | RCANFD_CCTR_EPIE | + RCANFD_CCTR_EWIE | RCANFD_CCTR_BEIE); + rcar_canfd_clear_bit(priv->base, RCANFD_CCTR(ch), ctr); + + /* Clear any stray error flags */ + rcar_canfd_write(priv->base, RCANFD_CERFL(ch), 0); +} + +static void rcar_canfd_global_error(struct net_device *ndev) +{ + struct rcar_canfd_channel *priv = netdev_priv(ndev); + struct rcar_canfd_global *gpriv = priv->gpriv; + struct net_device_stats *stats = &ndev->stats; + u32 ch = priv->channel; + u32 gerfl, sts; + u32 ridx = ch + RCANFD_RFFIFO_IDX; + + gerfl = rcar_canfd_read(priv->base, RCANFD_GERFL); + if ((gerfl & RCANFD_GERFL_EEF0) && (ch == 0)) { + netdev_dbg(ndev, "Ch0: ECC Error flag\n"); + stats->tx_dropped++; + } + if ((gerfl & RCANFD_GERFL_EEF1) && (ch == 1)) { + netdev_dbg(ndev, "Ch1: ECC Error flag\n"); + stats->tx_dropped++; + } + if (gerfl & RCANFD_GERFL_MES) { + sts = rcar_canfd_read(priv->base, + RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX)); + if (sts & RCANFD_CFSTS_CFMLT) { + netdev_dbg(ndev, "Tx Message Lost flag\n"); + stats->tx_dropped++; + rcar_canfd_write(priv->base, + RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX), + sts & ~RCANFD_CFSTS_CFMLT); + } + + sts = rcar_canfd_read(priv->base, RCANFD_RFSTS(ridx)); + if (sts & RCANFD_RFSTS_RFMLT) { + netdev_dbg(ndev, "Rx Message Lost flag\n"); + stats->rx_dropped++; + rcar_canfd_write(priv->base, RCANFD_RFSTS(ridx), + sts & ~RCANFD_RFSTS_RFMLT); + } + } + if (gpriv->fdmode && gerfl & RCANFD_GERFL_CMPOF) { + /* Message Lost flag will be set for respective channel + * when this condition happens with counters and flags + * already updated. + */ + netdev_dbg(ndev, "global payload overflow interrupt\n"); + } + + /* Clear all global error interrupts. Only affected channels bits + * get cleared + */ + rcar_canfd_write(priv->base, RCANFD_GERFL, 0); +} + +static void rcar_canfd_error(struct net_device *ndev, u32 cerfl, + u16 txerr, u16 rxerr) +{ + struct rcar_canfd_channel *priv = netdev_priv(ndev); + struct net_device_stats *stats = &ndev->stats; + struct can_frame *cf; + struct sk_buff *skb; + u32 ch = priv->channel; + + netdev_dbg(ndev, "ch erfl %x txerr %u rxerr %u\n", cerfl, txerr, rxerr); + + /* Propagate the error condition to the CAN stack */ + skb = alloc_can_err_skb(ndev, &cf); + if (!skb) { + stats->rx_dropped++; + return; + } + + /* Channel error interrupts */ + if (cerfl & RCANFD_CERFL_BEF) { + netdev_dbg(ndev, "Bus error\n"); + cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_PROT; + cf->data[2] = CAN_ERR_PROT_UNSPEC; + priv->can.can_stats.bus_error++; + } + if (cerfl & RCANFD_CERFL_ADERR) { + netdev_dbg(ndev, "ACK Delimiter Error\n"); + stats->tx_errors++; + cf->data[3] |= CAN_ERR_PROT_LOC_ACK_DEL; + } + if (cerfl & RCANFD_CERFL_B0ERR) { + netdev_dbg(ndev, "Bit Error (dominant)\n"); + stats->tx_errors++; + cf->data[2] |= CAN_ERR_PROT_BIT0; + } + if (cerfl & RCANFD_CERFL_B1ERR) { + netdev_dbg(ndev, "Bit Error (recessive)\n"); + stats->tx_errors++; + cf->data[2] |= CAN_ERR_PROT_BIT1; + } + if (cerfl & RCANFD_CERFL_CERR) { + netdev_dbg(ndev, "CRC Error\n"); + stats->rx_errors++; + cf->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ; + } + if (cerfl & RCANFD_CERFL_AERR) { + netdev_dbg(ndev, "ACK Error\n"); + stats->tx_errors++; + cf->can_id |= CAN_ERR_ACK; + cf->data[3] |= CAN_ERR_PROT_LOC_ACK; + } + if (cerfl & RCANFD_CERFL_FERR) { + netdev_dbg(ndev, "Form Error\n"); + stats->rx_errors++; + cf->data[2] |= CAN_ERR_PROT_FORM; + } + if (cerfl & RCANFD_CERFL_SERR) { + netdev_dbg(ndev, "Stuff Error\n"); + stats->rx_errors++; + cf->data[2] |= CAN_ERR_PROT_STUFF; + } + if (cerfl & RCANFD_CERFL_ALF) { + netdev_dbg(ndev, "Arbitration lost Error\n"); + priv->can.can_stats.arbitration_lost++; + cf->can_id |= CAN_ERR_LOSTARB; + cf->data[0] |= CAN_ERR_LOSTARB_UNSPEC; + } + if (cerfl & RCANFD_CERFL_BLF) { + netdev_dbg(ndev, "Bus Lock Error\n"); + stats->rx_errors++; + cf->can_id |= CAN_ERR_BUSERROR; + } + if (cerfl & RCANFD_CERFL_EWF) { + netdev_dbg(ndev, "Error warning interrupt\n"); + priv->can.state = CAN_STATE_ERROR_WARNING; + priv->can.can_stats.error_warning++; + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] = txerr > rxerr ? CAN_ERR_CRTL_TX_WARNING : + CAN_ERR_CRTL_RX_WARNING; + cf->data[6] = txerr; + cf->data[7] = rxerr; + } + if (cerfl & RCANFD_CERFL_EPF) { + netdev_dbg(ndev, "Error passive interrupt\n"); + priv->can.state = CAN_STATE_ERROR_PASSIVE; + priv->can.can_stats.error_passive++; + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] = txerr > rxerr ? CAN_ERR_CRTL_TX_PASSIVE : + CAN_ERR_CRTL_RX_PASSIVE; + cf->data[6] = txerr; + cf->data[7] = rxerr; + } + if (cerfl & RCANFD_CERFL_BOEF) { + netdev_dbg(ndev, "Bus-off entry interrupt\n"); + rcar_canfd_tx_failure_cleanup(ndev); + priv->can.state = CAN_STATE_BUS_OFF; + priv->can.can_stats.bus_off++; + can_bus_off(ndev); + cf->can_id |= CAN_ERR_BUSOFF; + } + if (cerfl & RCANFD_CERFL_OVLF) { + netdev_dbg(ndev, + "Overload Frame Transmission error interrupt\n"); + stats->tx_errors++; + cf->can_id |= CAN_ERR_PROT; + cf->data[2] |= CAN_ERR_PROT_OVERLOAD; + } + + /* Clear channel error interrupts that are handled */ + rcar_canfd_write(priv->base, RCANFD_CERFL(ch), + RCANFD_CERFL_ERR(~cerfl)); + stats->rx_packets++; + stats->rx_bytes += cf->can_dlc; + netif_rx(skb); +} + +static void rcar_canfd_tx_done(struct net_device *ndev) +{ + struct rcar_canfd_channel *priv = netdev_priv(ndev); + struct net_device_stats *stats = &ndev->stats; + u32 sts; + unsigned long flags; + u32 ch = priv->channel; + + do { + u8 unsent, sent; + + sent = priv->tx_tail % RCANFD_FIFO_DEPTH; + stats->tx_packets++; + stats->tx_bytes += priv->tx_len[sent]; + priv->tx_len[sent] = 0; + can_get_echo_skb(ndev, sent); + + spin_lock_irqsave(&priv->tx_lock, flags); + priv->tx_tail++; + sts = rcar_canfd_read(priv->base, + RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX)); + unsent = RCANFD_CFSTS_CFMC(sts); + + /* Wake producer only when there is room */ + if (unsent != RCANFD_FIFO_DEPTH) + netif_wake_queue(ndev); + + if (priv->tx_head - priv->tx_tail <= unsent) { + spin_unlock_irqrestore(&priv->tx_lock, flags); + break; + } + spin_unlock_irqrestore(&priv->tx_lock, flags); + + } while (1); + + /* Clear interrupt */ + rcar_canfd_write(priv->base, RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX), + sts & ~RCANFD_CFSTS_CFTXIF); + can_led_event(ndev, CAN_LED_EVENT_TX); +} + +static irqreturn_t rcar_canfd_global_interrupt(int irq, void *dev_id) +{ + struct rcar_canfd_global *gpriv = dev_id; + struct net_device *ndev; + struct rcar_canfd_channel *priv; + u32 sts, gerfl; + u32 ch, ridx; + + /* Global error interrupts still indicate a condition specific + * to a channel. RxFIFO interrupt is a global interrupt. + */ + for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) { + priv = gpriv->ch[ch]; + ndev = priv->ndev; + ridx = ch + RCANFD_RFFIFO_IDX; + + /* Global error interrupts */ + gerfl = rcar_canfd_read(priv->base, RCANFD_GERFL); + if (unlikely(RCANFD_GERFL_ERR(gpriv, gerfl))) + rcar_canfd_global_error(ndev); + + /* Handle Rx interrupts */ + sts = rcar_canfd_read(priv->base, RCANFD_RFSTS(ridx)); + if (likely(sts & RCANFD_RFSTS_RFIF)) { + if (napi_schedule_prep(&priv->napi)) { + /* Disable Rx FIFO interrupts */ + rcar_canfd_clear_bit(priv->base, + RCANFD_RFCC(ridx), + RCANFD_RFCC_RFIE); + __napi_schedule(&priv->napi); + } + } + } + return IRQ_HANDLED; +} + +static void rcar_canfd_state_change(struct net_device *ndev, + u16 txerr, u16 rxerr) +{ + struct rcar_canfd_channel *priv = netdev_priv(ndev); + struct net_device_stats *stats = &ndev->stats; + enum can_state rx_state, tx_state, state = priv->can.state; + struct can_frame *cf; + struct sk_buff *skb; + + /* Handle transition from error to normal states */ + if (txerr < 96 && rxerr < 96) + state = CAN_STATE_ERROR_ACTIVE; + else if (txerr < 128 && rxerr < 128) + state = CAN_STATE_ERROR_WARNING; + + if (state != priv->can.state) { + netdev_dbg(ndev, "state: new %d, old %d: txerr %u, rxerr %u\n", + state, priv->can.state, txerr, rxerr); + skb = alloc_can_err_skb(ndev, &cf); + if (!skb) { + stats->rx_dropped++; + return; + } + tx_state = txerr >= rxerr ? state : 0; + rx_state = txerr <= rxerr ? state : 0; + + can_change_state(ndev, cf, tx_state, rx_state); + stats->rx_packets++; + stats->rx_bytes += cf->can_dlc; + netif_rx(skb); + } +} + +static irqreturn_t rcar_canfd_channel_interrupt(int irq, void *dev_id) +{ + struct rcar_canfd_global *gpriv = dev_id; + struct net_device *ndev; + struct rcar_canfd_channel *priv; + u32 sts, ch, cerfl; + u16 txerr, rxerr; + + /* Common FIFO is a per channel resource */ + for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) { + priv = gpriv->ch[ch]; + ndev = priv->ndev; + + /* Channel error interrupts */ + cerfl = rcar_canfd_read(priv->base, RCANFD_CERFL(ch)); + sts = rcar_canfd_read(priv->base, RCANFD_CSTS(ch)); + txerr = RCANFD_CSTS_TECCNT(sts); + rxerr = RCANFD_CSTS_RECCNT(sts); + if (unlikely(RCANFD_CERFL_ERR(cerfl))) + rcar_canfd_error(ndev, cerfl, txerr, rxerr); + + /* Handle state change to lower states */ + if (unlikely((priv->can.state != CAN_STATE_ERROR_ACTIVE) && + (priv->can.state != CAN_STATE_BUS_OFF))) + rcar_canfd_state_change(ndev, txerr, rxerr); + + /* Handle Tx interrupts */ + sts = rcar_canfd_read(priv->base, + RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX)); + if (likely(sts & RCANFD_CFSTS_CFTXIF)) + rcar_canfd_tx_done(ndev); + } + return IRQ_HANDLED; +} + +static void rcar_canfd_set_bittiming(struct net_device *dev) +{ + struct rcar_canfd_channel *priv = netdev_priv(dev); + const struct can_bittiming *bt = &priv->can.bittiming; + const struct can_bittiming *dbt = &priv->can.data_bittiming; + u16 brp, sjw, tseg1, tseg2; + u32 cfg; + u32 ch = priv->channel; + + /* Nominal bit timing settings */ + brp = bt->brp - 1; + sjw = bt->sjw - 1; + tseg1 = bt->prop_seg + bt->phase_seg1 - 1; + tseg2 = bt->phase_seg2 - 1; + + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { + /* CAN FD only mode */ + cfg = (RCANFD_NCFG_NTSEG1(tseg1) | RCANFD_NCFG_NBRP(brp) | + RCANFD_NCFG_NSJW(sjw) | RCANFD_NCFG_NTSEG2(tseg2)); + + rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg); + netdev_dbg(priv->ndev, "nrate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n", + brp, sjw, tseg1, tseg2); + + /* Data bit timing settings */ + brp = dbt->brp - 1; + sjw = dbt->sjw - 1; + tseg1 = dbt->prop_seg + dbt->phase_seg1 - 1; + tseg2 = dbt->phase_seg2 - 1; + + cfg = (RCANFD_DCFG_DTSEG1(tseg1) | RCANFD_DCFG_DBRP(brp) | + RCANFD_DCFG_DSJW(sjw) | RCANFD_DCFG_DTSEG2(tseg2)); + + rcar_canfd_write(priv->base, RCANFD_F_DCFG(ch), cfg); + netdev_dbg(priv->ndev, "drate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n", + brp, sjw, tseg1, tseg2); + } else { + /* Classical CAN only mode */ + cfg = (RCANFD_CFG_TSEG1(tseg1) | RCANFD_CFG_BRP(brp) | + RCANFD_CFG_SJW(sjw) | RCANFD_CFG_TSEG2(tseg2)); + + rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg); + netdev_dbg(priv->ndev, + "rate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n", + brp, sjw, tseg1, tseg2); + } +} + +static int rcar_canfd_start(struct net_device *ndev) +{ + struct rcar_canfd_channel *priv = netdev_priv(ndev); + int err = -EOPNOTSUPP; + u32 sts, ch = priv->channel; + u32 ridx = ch + RCANFD_RFFIFO_IDX; + + rcar_canfd_set_bittiming(ndev); + + rcar_canfd_enable_channel_interrupts(priv); + + /* Set channel to Operational mode */ + rcar_canfd_update_bit(priv->base, RCANFD_CCTR(ch), + RCANFD_CCTR_CHMDC_MASK, RCANFD_CCTR_CHDMC_COPM); + + /* Verify channel mode change */ + err = readl_poll_timeout((priv->base + RCANFD_CSTS(ch)), sts, + (sts & RCANFD_CSTS_COMSTS), 2, 500000); + if (err) { + netdev_err(ndev, "channel %u communication state failed\n", ch); + goto fail_mode_change; + } + + /* Enable Common & Rx FIFO */ + rcar_canfd_set_bit(priv->base, RCANFD_CFCC(ch, RCANFD_CFFIFO_IDX), + RCANFD_CFCC_CFE); + rcar_canfd_set_bit(priv->base, RCANFD_RFCC(ridx), RCANFD_RFCC_RFE); + + priv->can.state = CAN_STATE_ERROR_ACTIVE; + return 0; + +fail_mode_change: + rcar_canfd_disable_channel_interrupts(priv); + return err; +} + +static int rcar_canfd_open(struct net_device *ndev) +{ + struct rcar_canfd_channel *priv = netdev_priv(ndev); + struct rcar_canfd_global *gpriv = priv->gpriv; + int err; + + /* Peripheral clock is already enabled in probe */ + err = clk_prepare_enable(gpriv->can_clk); + if (err) { + netdev_err(ndev, "failed to enable CAN clock, error %d\n", err); + goto out_clock; + } + + err = open_candev(ndev); + if (err) { + netdev_err(ndev, "open_candev() failed, error %d\n", err); + goto out_can_clock; + } + + napi_enable(&priv->napi); + err = rcar_canfd_start(ndev); + if (err) + goto out_close; + netif_start_queue(ndev); + can_led_event(ndev, CAN_LED_EVENT_OPEN); + return 0; +out_close: + napi_disable(&priv->napi); + close_candev(ndev); +out_can_clock: + clk_disable_unprepare(gpriv->can_clk); +out_clock: + return err; +} + +static void rcar_canfd_stop(struct net_device *ndev) +{ + struct rcar_canfd_channel *priv = netdev_priv(ndev); + int err; + u32 sts, ch = priv->channel; + u32 ridx = ch + RCANFD_RFFIFO_IDX; + + /* Transition to channel reset mode */ + rcar_canfd_update_bit(priv->base, RCANFD_CCTR(ch), + RCANFD_CCTR_CHMDC_MASK, RCANFD_CCTR_CHDMC_CRESET); + + /* Check Channel reset mode */ + err = readl_poll_timeout((priv->base + RCANFD_CSTS(ch)), sts, + (sts & RCANFD_CSTS_CRSTSTS), 2, 500000); + if (err) + netdev_err(ndev, "channel %u reset failed\n", ch); + + rcar_canfd_disable_channel_interrupts(priv); + + /* Disable Common & Rx FIFO */ + rcar_canfd_clear_bit(priv->base, RCANFD_CFCC(ch, RCANFD_CFFIFO_IDX), + RCANFD_CFCC_CFE); + rcar_canfd_clear_bit(priv->base, RCANFD_RFCC(ridx), RCANFD_RFCC_RFE); + + /* Set the state as STOPPED */ + priv->can.state = CAN_STATE_STOPPED; +} + +static int rcar_canfd_close(struct net_device *ndev) +{ + struct rcar_canfd_channel *priv = netdev_priv(ndev); + struct rcar_canfd_global *gpriv = priv->gpriv; + + netif_stop_queue(ndev); + rcar_canfd_stop(ndev); + napi_disable(&priv->napi); + clk_disable_unprepare(gpriv->can_clk); + close_candev(ndev); + can_led_event(ndev, CAN_LED_EVENT_STOP); + return 0; +} + +static netdev_tx_t rcar_canfd_start_xmit(struct sk_buff *skb, + struct net_device *ndev) +{ + struct rcar_canfd_channel *priv = netdev_priv(ndev); + struct canfd_frame *cf = (struct canfd_frame *)skb->data; + u32 sts = 0, id, dlc; + unsigned long flags; + u32 ch = priv->channel; + + if (can_dropped_invalid_skb(ndev, skb)) + return NETDEV_TX_OK; + + if (cf->can_id & CAN_EFF_FLAG) { + id = cf->can_id & CAN_EFF_MASK; + id |= RCANFD_CFID_CFIDE; + } else { + id = cf->can_id & CAN_SFF_MASK; + } + + if (cf->can_id & CAN_RTR_FLAG) + id |= RCANFD_CFID_CFRTR; + + dlc = RCANFD_CFPTR_CFDLC(can_len2dlc(cf->len)); + + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { + rcar_canfd_write(priv->base, + RCANFD_F_CFID(ch, RCANFD_CFFIFO_IDX), id); + rcar_canfd_write(priv->base, + RCANFD_F_CFPTR(ch, RCANFD_CFFIFO_IDX), dlc); + + if (can_is_canfd_skb(skb)) { + /* CAN FD frame format */ + sts |= RCANFD_CFFDCSTS_CFFDF; + if (cf->flags & CANFD_BRS) + sts |= RCANFD_CFFDCSTS_CFBRS; + + if (priv->can.state == CAN_STATE_ERROR_PASSIVE) + sts |= RCANFD_CFFDCSTS_CFESI; + } + + rcar_canfd_write(priv->base, + RCANFD_F_CFFDCSTS(ch, RCANFD_CFFIFO_IDX), sts); + + rcar_canfd_put_data(priv, cf, + RCANFD_F_CFDF(ch, RCANFD_CFFIFO_IDX, 0)); + } else { + rcar_canfd_write(priv->base, + RCANFD_C_CFID(ch, RCANFD_CFFIFO_IDX), id); + rcar_canfd_write(priv->base, + RCANFD_C_CFPTR(ch, RCANFD_CFFIFO_IDX), dlc); + rcar_canfd_put_data(priv, cf, + RCANFD_C_CFDF(ch, RCANFD_CFFIFO_IDX, 0)); + } + + priv->tx_len[priv->tx_head % RCANFD_FIFO_DEPTH] = cf->len; + can_put_echo_skb(skb, ndev, priv->tx_head % RCANFD_FIFO_DEPTH); + + spin_lock_irqsave(&priv->tx_lock, flags); + priv->tx_head++; + + /* Stop the queue if we've filled all FIFO entries */ + if (priv->tx_head - priv->tx_tail >= RCANFD_FIFO_DEPTH) + netif_stop_queue(ndev); + + /* Start Tx: Write 0xff to CFPC to increment the CPU-side + * pointer for the Common FIFO + */ + rcar_canfd_write(priv->base, + RCANFD_CFPCTR(ch, RCANFD_CFFIFO_IDX), 0xff); + + spin_unlock_irqrestore(&priv->tx_lock, flags); + return NETDEV_TX_OK; +} + +static void rcar_canfd_rx_pkt(struct rcar_canfd_channel *priv) +{ + struct net_device_stats *stats = &priv->ndev->stats; + struct canfd_frame *cf; + struct sk_buff *skb; + u32 sts = 0, id, dlc; + u32 ch = priv->channel; + u32 ridx = ch + RCANFD_RFFIFO_IDX; + + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { + id = rcar_canfd_read(priv->base, RCANFD_F_RFID(ridx)); + dlc = rcar_canfd_read(priv->base, RCANFD_F_RFPTR(ridx)); + + sts = rcar_canfd_read(priv->base, RCANFD_F_RFFDSTS(ridx)); + if (sts & RCANFD_RFFDSTS_RFFDF) + skb = alloc_canfd_skb(priv->ndev, &cf); + else + skb = alloc_can_skb(priv->ndev, + (struct can_frame **)&cf); + } else { + id = rcar_canfd_read(priv->base, RCANFD_C_RFID(ridx)); + dlc = rcar_canfd_read(priv->base, RCANFD_C_RFPTR(ridx)); + skb = alloc_can_skb(priv->ndev, (struct can_frame **)&cf); + } + + if (!skb) { + stats->rx_dropped++; + return; + } + + if (id & RCANFD_RFID_RFIDE) + cf->can_id = (id & CAN_EFF_MASK) | CAN_EFF_FLAG; + else + cf->can_id = id & CAN_SFF_MASK; + + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { + if (sts & RCANFD_RFFDSTS_RFFDF) + cf->len = can_dlc2len(RCANFD_RFPTR_RFDLC(dlc)); + else + cf->len = get_can_dlc(RCANFD_RFPTR_RFDLC(dlc)); + + if (sts & RCANFD_RFFDSTS_RFESI) { + cf->flags |= CANFD_ESI; + netdev_dbg(priv->ndev, "ESI Error\n"); + } + + if (!(sts & RCANFD_RFFDSTS_RFFDF) && (id & RCANFD_RFID_RFRTR)) { + cf->can_id |= CAN_RTR_FLAG; + } else { + if (sts & RCANFD_RFFDSTS_RFBRS) + cf->flags |= CANFD_BRS; + + rcar_canfd_get_data(priv, cf, RCANFD_F_RFDF(ridx, 0)); + } + } else { + cf->len = get_can_dlc(RCANFD_RFPTR_RFDLC(dlc)); + if (id & RCANFD_RFID_RFRTR) + cf->can_id |= CAN_RTR_FLAG; + else + rcar_canfd_get_data(priv, cf, RCANFD_C_RFDF(ridx, 0)); + } + + /* Write 0xff to RFPC to increment the CPU-side + * pointer of the Rx FIFO + */ + rcar_canfd_write(priv->base, RCANFD_RFPCTR(ridx), 0xff); + + can_led_event(priv->ndev, CAN_LED_EVENT_RX); + + stats->rx_bytes += cf->len; + stats->rx_packets++; + netif_receive_skb(skb); +} + +static int rcar_canfd_rx_poll(struct napi_struct *napi, int quota) +{ + struct rcar_canfd_channel *priv = + container_of(napi, struct rcar_canfd_channel, napi); + int num_pkts; + u32 sts; + u32 ch = priv->channel; + u32 ridx = ch + RCANFD_RFFIFO_IDX; + + for (num_pkts = 0; num_pkts < quota; num_pkts++) { + sts = rcar_canfd_read(priv->base, RCANFD_RFSTS(ridx)); + /* Check FIFO empty condition */ + if (sts & RCANFD_RFSTS_RFEMP) + break; + + rcar_canfd_rx_pkt(priv); + + /* Clear interrupt bit */ + if (sts & RCANFD_RFSTS_RFIF) + rcar_canfd_write(priv->base, RCANFD_RFSTS(ridx), + sts & ~RCANFD_RFSTS_RFIF); + } + + /* All packets processed */ + if (num_pkts < quota) { + if (napi_complete_done(napi, num_pkts)) { + /* Enable Rx FIFO interrupts */ + rcar_canfd_set_bit(priv->base, RCANFD_RFCC(ridx), + RCANFD_RFCC_RFIE); + } + } + return num_pkts; +} + +static int rcar_canfd_do_set_mode(struct net_device *ndev, enum can_mode mode) +{ + int err; + + switch (mode) { + case CAN_MODE_START: + err = rcar_canfd_start(ndev); + if (err) + return err; + netif_wake_queue(ndev); + return 0; + default: + return -EOPNOTSUPP; + } +} + +static int rcar_canfd_get_berr_counter(const struct net_device *dev, + struct can_berr_counter *bec) +{ + struct rcar_canfd_channel *priv = netdev_priv(dev); + u32 val, ch = priv->channel; + + /* Peripheral clock is already enabled in probe */ + val = rcar_canfd_read(priv->base, RCANFD_CSTS(ch)); + bec->txerr = RCANFD_CSTS_TECCNT(val); + bec->rxerr = RCANFD_CSTS_RECCNT(val); + return 0; +} + +static const struct net_device_ops rcar_canfd_netdev_ops = { + .ndo_open = rcar_canfd_open, + .ndo_stop = rcar_canfd_close, + .ndo_start_xmit = rcar_canfd_start_xmit, + .ndo_change_mtu = can_change_mtu, +}; + +static int rcar_canfd_channel_probe(struct rcar_canfd_global *gpriv, u32 ch, + u32 fcan_freq) +{ + struct platform_device *pdev = gpriv->pdev; + struct rcar_canfd_channel *priv; + struct net_device *ndev; + int err = -ENODEV; + + ndev = alloc_candev(sizeof(*priv), RCANFD_FIFO_DEPTH); + if (!ndev) { + dev_err(&pdev->dev, "alloc_candev() failed\n"); + err = -ENOMEM; + goto fail; + } + priv = netdev_priv(ndev); + + ndev->netdev_ops = &rcar_canfd_netdev_ops; + ndev->flags |= IFF_ECHO; + priv->ndev = ndev; + priv->base = gpriv->base; + priv->channel = ch; + priv->can.clock.freq = fcan_freq; + dev_info(&pdev->dev, "can_clk rate is %u\n", priv->can.clock.freq); + + if (gpriv->fdmode) { + priv->can.bittiming_const = &rcar_canfd_nom_bittiming_const; + priv->can.data_bittiming_const = + &rcar_canfd_data_bittiming_const; + + /* Controller starts in CAN FD only mode */ + can_set_static_ctrlmode(ndev, CAN_CTRLMODE_FD); + priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING; + } else { + /* Controller starts in Classical CAN only mode */ + priv->can.bittiming_const = &rcar_canfd_bittiming_const; + priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING; + } + + priv->can.do_set_mode = rcar_canfd_do_set_mode; + priv->can.do_get_berr_counter = rcar_canfd_get_berr_counter; + priv->gpriv = gpriv; + SET_NETDEV_DEV(ndev, &pdev->dev); + + netif_napi_add(ndev, &priv->napi, rcar_canfd_rx_poll, + RCANFD_NAPI_WEIGHT); + spin_lock_init(&priv->tx_lock); + devm_can_led_init(ndev); + gpriv->ch[priv->channel] = priv; + err = register_candev(ndev); + if (err) { + dev_err(&pdev->dev, + "register_candev() failed, error %d\n", err); + goto fail_candev; + } + dev_info(&pdev->dev, "device registered (channel %u)\n", priv->channel); + return 0; + +fail_candev: + netif_napi_del(&priv->napi); + free_candev(ndev); +fail: + return err; +} + +static void rcar_canfd_channel_remove(struct rcar_canfd_global *gpriv, u32 ch) +{ + struct rcar_canfd_channel *priv = gpriv->ch[ch]; + + if (priv) { + unregister_candev(priv->ndev); + netif_napi_del(&priv->napi); + free_candev(priv->ndev); + } +} + +static int rcar_canfd_probe(struct platform_device *pdev) +{ + struct resource *mem; + void __iomem *addr; + u32 sts, ch, fcan_freq; + struct rcar_canfd_global *gpriv; + struct device_node *of_child; + unsigned long channels_mask = 0; + int err, ch_irq, g_irq; + bool fdmode = true; /* CAN FD only mode - default */ + + if (of_property_read_bool(pdev->dev.of_node, "renesas,no-can-fd")) + fdmode = false; /* Classical CAN only mode */ + + of_child = of_get_child_by_name(pdev->dev.of_node, "channel0"); + if (of_child && of_device_is_available(of_child)) + channels_mask |= BIT(0); /* Channel 0 */ + + of_child = of_get_child_by_name(pdev->dev.of_node, "channel1"); + if (of_child && of_device_is_available(of_child)) + channels_mask |= BIT(1); /* Channel 1 */ + + ch_irq = platform_get_irq(pdev, 0); + if (ch_irq < 0) { + dev_err(&pdev->dev, "no Channel IRQ resource\n"); + err = ch_irq; + goto fail_dev; + } + + g_irq = platform_get_irq(pdev, 1); + if (g_irq < 0) { + dev_err(&pdev->dev, "no Global IRQ resource\n"); + err = g_irq; + goto fail_dev; + } + + /* Global controller context */ + gpriv = devm_kzalloc(&pdev->dev, sizeof(*gpriv), GFP_KERNEL); + if (!gpriv) { + err = -ENOMEM; + goto fail_dev; + } + gpriv->pdev = pdev; + gpriv->channels_mask = channels_mask; + gpriv->fdmode = fdmode; + + /* Peripheral clock */ + gpriv->clkp = devm_clk_get(&pdev->dev, "fck"); + if (IS_ERR(gpriv->clkp)) { + err = PTR_ERR(gpriv->clkp); + dev_err(&pdev->dev, "cannot get peripheral clock, error %d\n", + err); + goto fail_dev; + } + + /* fCAN clock: Pick External clock. If not available fallback to + * CANFD clock + */ + gpriv->can_clk = devm_clk_get(&pdev->dev, "can_clk"); + if (IS_ERR(gpriv->can_clk) || (clk_get_rate(gpriv->can_clk) == 0)) { + gpriv->can_clk = devm_clk_get(&pdev->dev, "canfd"); + if (IS_ERR(gpriv->can_clk)) { + err = PTR_ERR(gpriv->can_clk); + dev_err(&pdev->dev, + "cannot get canfd clock, error %d\n", err); + goto fail_dev; + } + gpriv->fcan = RCANFD_CANFDCLK; + + } else { + gpriv->fcan = RCANFD_EXTCLK; + } + fcan_freq = clk_get_rate(gpriv->can_clk); + + if (gpriv->fcan == RCANFD_CANFDCLK) + /* CANFD clock is further divided by (1/2) within the IP */ + fcan_freq /= 2; + + mem = platform_get_resource(pdev, IORESOURCE_MEM, 0); + addr = devm_ioremap_resource(&pdev->dev, mem); + if (IS_ERR(addr)) { + err = PTR_ERR(addr); + goto fail_dev; + } + gpriv->base = addr; + + /* Request IRQ that's common for both channels */ + err = devm_request_irq(&pdev->dev, ch_irq, + rcar_canfd_channel_interrupt, 0, + "canfd.chn", gpriv); + if (err) { + dev_err(&pdev->dev, "devm_request_irq(%d) failed, error %d\n", + ch_irq, err); + goto fail_dev; + } + err = devm_request_irq(&pdev->dev, g_irq, + rcar_canfd_global_interrupt, 0, + "canfd.gbl", gpriv); + if (err) { + dev_err(&pdev->dev, "devm_request_irq(%d) failed, error %d\n", + g_irq, err); + goto fail_dev; + } + + /* Enable peripheral clock for register access */ + err = clk_prepare_enable(gpriv->clkp); + if (err) { + dev_err(&pdev->dev, + "failed to enable peripheral clock, error %d\n", err); + goto fail_dev; + } + + err = rcar_canfd_reset_controller(gpriv); + if (err) { + dev_err(&pdev->dev, "reset controller failed\n"); + goto fail_clk; + } + + /* Controller in Global reset & Channel reset mode */ + rcar_canfd_configure_controller(gpriv); + + /* Configure per channel attributes */ + for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) { + /* Configure Channel's Rx fifo */ + rcar_canfd_configure_rx(gpriv, ch); + + /* Configure Channel's Tx (Common) fifo */ + rcar_canfd_configure_tx(gpriv, ch); + + /* Configure receive rules */ + rcar_canfd_configure_afl_rules(gpriv, ch); + } + + /* Configure common interrupts */ + rcar_canfd_enable_global_interrupts(gpriv); + + /* Start Global operation mode */ + rcar_canfd_update_bit(gpriv->base, RCANFD_GCTR, RCANFD_GCTR_GMDC_MASK, + RCANFD_GCTR_GMDC_GOPM); + + /* Verify mode change */ + err = readl_poll_timeout((gpriv->base + RCANFD_GSTS), sts, + !(sts & RCANFD_GSTS_GNOPM), 2, 500000); + if (err) { + dev_err(&pdev->dev, "global operational mode failed\n"); + goto fail_mode; + } + + for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) { + err = rcar_canfd_channel_probe(gpriv, ch, fcan_freq); + if (err) + goto fail_channel; + } + + platform_set_drvdata(pdev, gpriv); + dev_info(&pdev->dev, "global operational state (clk %d, fdmode %d)\n", + gpriv->fcan, gpriv->fdmode); + return 0; + +fail_channel: + for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) + rcar_canfd_channel_remove(gpriv, ch); +fail_mode: + rcar_canfd_disable_global_interrupts(gpriv); +fail_clk: + clk_disable_unprepare(gpriv->clkp); +fail_dev: + return err; +} + +static int rcar_canfd_remove(struct platform_device *pdev) +{ + struct rcar_canfd_global *gpriv = platform_get_drvdata(pdev); + u32 ch; + + rcar_canfd_reset_controller(gpriv); + rcar_canfd_disable_global_interrupts(gpriv); + + for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) { + rcar_canfd_disable_channel_interrupts(gpriv->ch[ch]); + rcar_canfd_channel_remove(gpriv, ch); + } + + /* Enter global sleep mode */ + rcar_canfd_set_bit(gpriv->base, RCANFD_GCTR, RCANFD_GCTR_GSLPR); + clk_disable_unprepare(gpriv->clkp); + return 0; +} + +static int __maybe_unused rcar_canfd_suspend(struct device *dev) +{ + return 0; +} + +static int __maybe_unused rcar_canfd_resume(struct device *dev) +{ + return 0; +} + +static SIMPLE_DEV_PM_OPS(rcar_canfd_pm_ops, rcar_canfd_suspend, + rcar_canfd_resume); + +static const struct of_device_id rcar_canfd_of_table[] = { + { .compatible = "renesas,rcar-gen3-canfd" }, + { } +}; + +MODULE_DEVICE_TABLE(of, rcar_canfd_of_table); + +static struct platform_driver rcar_canfd_driver = { + .driver = { + .name = RCANFD_DRV_NAME, + .of_match_table = of_match_ptr(rcar_canfd_of_table), + .pm = &rcar_canfd_pm_ops, + }, + .probe = rcar_canfd_probe, + .remove = rcar_canfd_remove, +}; + +module_platform_driver(rcar_canfd_driver); + +MODULE_AUTHOR("Ramesh Shanmugasundaram <ramesh.shanmugasundaram@bp.renesas.com>"); +MODULE_LICENSE("GPL"); +MODULE_DESCRIPTION("CAN FD driver for Renesas R-Car SoC"); +MODULE_ALIAS("platform:" RCANFD_DRV_NAME); |