@@ -58,6 +58,10 @@ enum xcan_reg {
XCAN_AFR_OFFSET = 0x60, /* Acceptance Filter */
/* only on CAN FD cores */
+ XCAN_F_BRPR_OFFSET = 0x088, /* Data Phase Baud Rate
+ * Prescalar
+ */
+ XCAN_F_BTR_OFFSET = 0x08C, /* Data Phase Bit Timing */
XCAN_TRR_OFFSET = 0x0090, /* TX Buffer Ready Request */
XCAN_AFR_EXT_OFFSET = 0x00E0, /* Acceptance Filter */
XCAN_FSR_OFFSET = 0x00E8, /* RX FIFO Status */
@@ -70,6 +74,8 @@ enum xcan_reg {
#define XCAN_FRAME_DLC_OFFSET(frame_base) ((frame_base) + 0x04)
#define XCAN_FRAME_DW1_OFFSET(frame_base) ((frame_base) + 0x08)
#define XCAN_FRAME_DW2_OFFSET(frame_base) ((frame_base) + 0x0C)
+#define XCANFD_FRAME_DW_OFFSET(frame_base, n) (((frame_base) + 0x08) + \
+ ((n) * XCAN_CANFD_FRAME_SIZE))
#define XCAN_CANFD_FRAME_SIZE 0x48
#define XCAN_TXMSG_FRAME_OFFSET(n) (XCAN_TXMSG_BASE_OFFSET + \
@@ -128,6 +134,8 @@ enum xcan_reg {
#define XCAN_FSR_FL_MASK 0x00003F00 /* RX Fill Level */
#define XCAN_FSR_IRI_MASK 0x00000080 /* RX Increment Read Index */
#define XCAN_FSR_RI_MASK 0x0000001F /* RX Read Index */
+#define XCAN_DLCR_EDL_MASK 0x08000000 /* EDL Mask in DLC */
+#define XCAN_DLCR_BRS_MASK 0x04000000 /* BRS Mask in DLC */
/* CAN register bit shift - XCAN_<REG>_<BIT>_SHIFT */
#define XCAN_BTR_SJW_SHIFT 7 /* Synchronous jump width */
@@ -141,6 +149,7 @@ enum xcan_reg {
/* CAN frame length constants */
#define XCAN_FRAME_MAX_DATA_LEN 8
+#define XCANFD_DW_BYTES 4
#define XCAN_TIMEOUT (1 * HZ)
/* TX-FIFO-empty interrupt available */
@@ -221,6 +230,7 @@ static const struct can_bittiming_const xcan_bittiming_const = {
.brp_inc = 1,
};
+/* AXI CANFD Arbitration Bittiming constants as per AXI CANFD 1.0 spec */
static const struct can_bittiming_const xcan_bittiming_const_canfd = {
.name = DRIVER_NAME,
.tseg1_min = 1,
@@ -233,6 +243,20 @@ static const struct can_bittiming_const xcan_bittiming_const_canfd = {
.brp_inc = 1,
};
+/* AXI CANFD Data Bittiming constants as per AXI CANFD 1.0 specs */
+static struct can_bittiming_const xcan_data_bittiming_const_canfd = {
+ .name = DRIVER_NAME,
+ .tseg1_min = 1,
+ .tseg1_max = 16,
+ .tseg2_min = 1,
+ .tseg2_max = 8,
+ .sjw_max = 8,
+ .brp_min = 1,
+ .brp_max = 256,
+ .brp_inc = 1,
+};
+
+/* AXI CANFD 2.0 Arbitration Bittiming constants as per AXI CANFD 2.0 spec */
static const struct can_bittiming_const xcan_bittiming_const_canfd2 = {
.name = DRIVER_NAME,
.tseg1_min = 1,
@@ -245,6 +269,19 @@ static const struct can_bittiming_const xcan_bittiming_const_canfd2 = {
.brp_inc = 1,
};
+/* AXI CANFD 2.0 Data Bittiming constants as per AXI CANFD 2.0 spec */
+static struct can_bittiming_const xcan_data_bittiming_const_canfd2 = {
+ .name = DRIVER_NAME,
+ .tseg1_min = 1,
+ .tseg1_max = 32,
+ .tseg2_min = 1,
+ .tseg2_max = 16,
+ .sjw_max = 16,
+ .brp_min = 1,
+ .brp_max = 256,
+ .brp_inc = 1,
+};
+
/**
* xcan_write_reg_le - Write a value to the device register little endian
* @priv: Driver private data structure
@@ -359,6 +396,7 @@ static int xcan_set_bittiming(struct net_device *ndev)
{
struct xcan_priv *priv = netdev_priv(ndev);
struct can_bittiming *bt = &priv->can.bittiming;
+ struct can_bittiming *dbt = &priv->can.data_bittiming;
u32 btr0, btr1;
u32 is_config_mode;
@@ -388,6 +426,24 @@ static int xcan_set_bittiming(struct net_device *ndev)
priv->write_reg(priv, XCAN_BRPR_OFFSET, btr0);
priv->write_reg(priv, XCAN_BTR_OFFSET, btr1);
+ if (priv->devtype.cantype == XAXI_CANFD ||
+ priv->devtype.cantype == XAXI_CANFD_2_0) {
+ /* Setting Baud Rate prescalar value in F_BRPR Register */
+ btr0 = dbt->brp - 1;
+
+ /* Setting Time Segment 1 in BTR Register */
+ btr1 = dbt->prop_seg + bt->phase_seg1 - 1;
+
+ /* Setting Time Segment 2 in BTR Register */
+ btr1 |= (dbt->phase_seg2 - 1) << priv->devtype.btr_ts2_shift;
+
+ /* Setting Synchronous jump width in BTR Register */
+ btr1 |= (dbt->sjw - 1) << priv->devtype.btr_sjw_shift;
+
+ priv->write_reg(priv, XCAN_F_BRPR_OFFSET, btr0);
+ priv->write_reg(priv, XCAN_F_BTR_OFFSET, btr1);
+ }
+
netdev_dbg(ndev, "BRPR=0x%08x, BTR=0x%08x\n",
priv->read_reg(priv, XCAN_BRPR_OFFSET),
priv->read_reg(priv, XCAN_BTR_OFFSET));
@@ -506,7 +562,8 @@ static void xcan_write_frame(struct xcan_priv *priv, struct sk_buff *skb,
int frame_offset)
{
u32 id, dlc, data[2] = {0, 0};
- struct can_frame *cf = (struct can_frame *)skb->data;
+ struct canfd_frame *cf = (struct canfd_frame *)skb->data;
+ u32 ramoff, dwindex = 0, i;
/* Watch carefully on the bit sequence */
if (cf->can_id & CAN_EFF_FLAG) {
@@ -535,26 +592,44 @@ static void xcan_write_frame(struct xcan_priv *priv, struct sk_buff *skb,
id |= XCAN_IDR_SRR_MASK;
}
- dlc = cf->can_dlc << XCAN_DLCR_DLC_SHIFT;
-
- if (cf->can_dlc > 0)
- data[0] = be32_to_cpup((__be32 *)(cf->data + 0));
- if (cf->can_dlc > 4)
- data[1] = be32_to_cpup((__be32 *)(cf->data + 4));
+ dlc = can_len2dlc(cf->len) << XCAN_DLCR_DLC_SHIFT;
+ if (can_is_canfd_skb(skb)) {
+ if (cf->flags & CANFD_BRS)
+ dlc |= XCAN_DLCR_BRS_MASK;
+ dlc |= XCAN_DLCR_EDL_MASK;
+ }
priv->write_reg(priv, XCAN_FRAME_ID_OFFSET(frame_offset), id);
/* If the CAN frame is RTR frame this write triggers transmission
* (not on CAN FD)
*/
priv->write_reg(priv, XCAN_FRAME_DLC_OFFSET(frame_offset), dlc);
- if (!(cf->can_id & CAN_RTR_FLAG)) {
- priv->write_reg(priv, XCAN_FRAME_DW1_OFFSET(frame_offset),
- data[0]);
- /* If the CAN frame is Standard/Extended frame this
- * write triggers transmission (not on CAN FD)
- */
- priv->write_reg(priv, XCAN_FRAME_DW2_OFFSET(frame_offset),
- data[1]);
+ if (priv->devtype.cantype == XAXI_CANFD ||
+ priv->devtype.cantype == XAXI_CANFD_2_0) {
+ for (i = 0; i < cf->len; i += 4) {
+ ramoff = XCANFD_FRAME_DW_OFFSET(frame_offset, dwindex) +
+ (dwindex * XCANFD_DW_BYTES);
+ priv->write_reg(priv, ramoff,
+ be32_to_cpup((__be32 *)(cf->data + i)));
+ dwindex++;
+ }
+ } else {
+ if (cf->len > 0)
+ data[0] = be32_to_cpup((__be32 *)(cf->data + 0));
+ if (cf->len > 4)
+ data[1] = be32_to_cpup((__be32 *)(cf->data + 4));
+
+ if (!(cf->can_id & CAN_RTR_FLAG)) {
+ priv->write_reg(priv,
+ XCAN_FRAME_DW1_OFFSET(frame_offset),
+ data[0]);
+ /* If the CAN frame is Standard/Extended frame this
+ * write triggers transmission (not on CAN FD)
+ */
+ priv->write_reg(priv,
+ XCAN_FRAME_DW2_OFFSET(frame_offset),
+ data[1]);
+ }
}
}
@@ -728,6 +803,113 @@ static int xcan_rx(struct net_device *ndev, int frame_base)
}
/**
+ * xcanfd_rx - Is called from CAN isr to complete the received
+ * frame processing
+ * @ndev: Pointer to net_device structure
+ * @frame_base: Register offset to the frame to be read
+ *
+ * This function is invoked from the CAN isr(poll) to process the Rx frames. It
+ * does minimal processing and invokes "netif_receive_skb" to complete further
+ * processing.
+ * Return: 1 on success and 0 on failure.
+ */
+static int xcanfd_rx(struct net_device *ndev, int frame_base)
+{
+ struct xcan_priv *priv = netdev_priv(ndev);
+ struct net_device_stats *stats = &ndev->stats;
+ struct canfd_frame *cf;
+ struct sk_buff *skb;
+ u32 id_xcan, dlc, data[2] = {0, 0}, dwindex = 0, i, fsr, readindex;
+
+ fsr = priv->read_reg(priv, XCAN_FSR_OFFSET);
+ if (fsr & XCAN_FSR_FL_MASK) {
+ readindex = fsr & XCAN_FSR_RI_MASK;
+ id_xcan = priv->read_reg(priv,
+ XCAN_FRAME_ID_OFFSET(frame_base));
+ dlc = priv->read_reg(priv, XCAN_FRAME_DLC_OFFSET(frame_base));
+ if (dlc & XCAN_DLCR_EDL_MASK)
+ skb = alloc_canfd_skb(ndev, &cf);
+ else
+ skb = alloc_can_skb(ndev, (struct can_frame **)&cf);
+
+ if (unlikely(!skb)) {
+ stats->rx_dropped++;
+ return 0;
+ }
+
+ /* Change Xilinx CANFD data length format to socketCAN data
+ * format
+ */
+ if (dlc & XCAN_DLCR_EDL_MASK)
+ cf->len = can_dlc2len((dlc & XCAN_DLCR_DLC_MASK) >>
+ XCAN_DLCR_DLC_SHIFT);
+ else
+ cf->len = get_can_dlc((dlc & XCAN_DLCR_DLC_MASK) >>
+ XCAN_DLCR_DLC_SHIFT);
+
+ /* Change Xilinx CAN ID format to socketCAN ID format */
+ if (id_xcan & XCAN_IDR_IDE_MASK) {
+ /* The received frame is an Extended format frame */
+ cf->can_id = (id_xcan & XCAN_IDR_ID1_MASK) >> 3;
+ cf->can_id |= (id_xcan & XCAN_IDR_ID2_MASK) >>
+ XCAN_IDR_ID2_SHIFT;
+ cf->can_id |= CAN_EFF_FLAG;
+ if (id_xcan & XCAN_IDR_RTR_MASK)
+ cf->can_id |= CAN_RTR_FLAG;
+ } else {
+ /* The received frame is a standard format frame */
+ cf->can_id = (id_xcan & XCAN_IDR_ID1_MASK) >>
+ XCAN_IDR_ID1_SHIFT;
+ if (!(dlc & XCAN_DLCR_EDL_MASK) && (id_xcan &
+ XCAN_IDR_SRR_MASK))
+ cf->can_id |= CAN_RTR_FLAG;
+ }
+
+ /* Check the frame received is FD or not*/
+ if (dlc & XCAN_DLCR_EDL_MASK) {
+ for (i = 0; i < cf->len; i += 4) {
+ if (priv->devtype.flags & XCAN_FLAG_CANFD_2)
+ data[0] = priv->read_reg(priv,
+ (XCAN_RXMSG_2_FRAME_OFFSET(readindex) +
+ (dwindex * XCANFD_DW_BYTES)));
+ else
+ data[0] = priv->read_reg(priv,
+ (XCAN_RXMSG_FRAME_OFFSET(readindex) +
+ (dwindex * XCANFD_DW_BYTES)));
+ *(__be32 *)(cf->data + i) =
+ cpu_to_be32(data[0]);
+ dwindex++;
+ }
+ } else {
+ for (i = 0; i < cf->len; i += 4) {
+ if (priv->devtype.flags & XCAN_FLAG_CANFD_2)
+ data[0] = priv->read_reg(priv,
+ XCAN_RXMSG_2_FRAME_OFFSET(readindex) + i);
+ else
+ data[0] = priv->read_reg(priv,
+ XCAN_RXMSG_FRAME_OFFSET(readindex) + i);
+ *(__be32 *)(cf->data + i) =
+ cpu_to_be32(data[0]);
+ }
+ }
+ /* Update FSR Register so that next packet will save to
+ * buffer
+ */
+ fsr = priv->read_reg(priv, XCAN_FSR_OFFSET);
+ fsr |= XCAN_FSR_IRI_MASK;
+ priv->write_reg(priv, XCAN_FSR_OFFSET, fsr);
+ fsr = priv->read_reg(priv, XCAN_FSR_OFFSET);
+ stats->rx_bytes += cf->len;
+ stats->rx_packets++;
+ netif_receive_skb(skb);
+
+ return 1;
+ }
+ /* If FSR Register is not updated with fill level */
+ return 0;
+}
+
+/**
* xcan_current_error_state - Get current error state from HW
* @ndev: Pointer to net_device structure
*
@@ -1037,7 +1219,10 @@ static int xcan_rx_poll(struct napi_struct *napi, int quota)
while ((frame_offset = xcan_rx_fifo_get_next_frame(priv)) >= 0 &&
(work_done < quota)) {
- work_done += xcan_rx(ndev, frame_offset);
+ if (xcan_rx_int_mask(priv) & XCAN_IXR_RXOK_MASK)
+ work_done += xcanfd_rx(ndev, frame_offset);
+ else
+ work_done += xcan_rx(ndev, frame_offset);
if (priv->devtype.flags & XCAN_FLAG_RX_FIFO_MULTI)
/* increment read index */
@@ -1579,6 +1764,19 @@ static int xcan_probe(struct platform_device *pdev)
priv->can.do_get_berr_counter = xcan_get_berr_counter;
priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK |
CAN_CTRLMODE_BERR_REPORTING;
+
+ if (devtype->cantype == XAXI_CANFD)
+ priv->can.data_bittiming_const =
+ &xcan_data_bittiming_const_canfd;
+
+ if (devtype->cantype == XAXI_CANFD_2_0)
+ priv->can.data_bittiming_const =
+ &xcan_data_bittiming_const_canfd2;
+
+ if (devtype->cantype == XAXI_CANFD ||
+ devtype->cantype == XAXI_CANFD_2_0)
+ priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
+
priv->reg_base = addr;
priv->tx_max = tx_max;
priv->devtype = *devtype;