@@ -151,6 +151,8 @@ source "drivers/net/can/c_can/Kconfig"
source "drivers/net/can/cc770/Kconfig"
+source "drivers/net/can/ifi_canfd/Kconfig"
+
source "drivers/net/can/m_can/Kconfig"
source "drivers/net/can/mscan/Kconfig"
@@ -20,6 +20,7 @@ obj-$(CONFIG_CAN_CC770) += cc770/
obj-$(CONFIG_CAN_C_CAN) += c_can/
obj-$(CONFIG_CAN_FLEXCAN) += flexcan.o
obj-$(CONFIG_CAN_GRCAN) += grcan.o
+obj-$(CONFIG_CAN_IFI_CANFD) += ifi_canfd/
obj-$(CONFIG_CAN_JANZ_ICAN3) += janz-ican3.o
obj-$(CONFIG_CAN_MSCAN) += mscan/
obj-$(CONFIG_CAN_M_CAN) += m_can/
new file mode 100644
@@ -0,0 +1,8 @@
+config CAN_IFI_CANFD
+ depends on HAS_IOMEM
+ tristate "IFI CAN_FD IP"
+ ---help---
+ This driver adds support for the I/F/I CAN_FD soft IP block
+ connected to the "platform bus" (Linux abstraction for directly
+ to the processor attached devices). The CAN_FD is most often
+ synthesised into an FPGA or CPLD.
new file mode 100644
@@ -0,0 +1,5 @@
+#
+# Makefile for the IFI CANFD controller driver.
+#
+
+obj-$(CONFIG_CAN_IFI_CANFD) += ifi_canfd.o
new file mode 100644
@@ -0,0 +1,914 @@
+/*
+ * CAN bus driver for IFI CANFD controller
+ *
+ * Copyright (C) 2016 Marek Vasut <marex@denx.de>
+ *
+ * Details about this controller can be found at
+ * http://www.ifi-pld.de/IP/CANFD/canfd.html
+ *
+ * This file is licensed under the terms of the GNU General Public
+ * License version 2. This program is licensed "as is" without any
+ * warranty of any kind, whether express or implied.
+ */
+
+#include <linux/clk.h>
+#include <linux/delay.h>
+#include <linux/interrupt.h>
+#include <linux/io.h>
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/netdevice.h>
+#include <linux/of.h>
+#include <linux/of_device.h>
+#include <linux/platform_device.h>
+
+#include <linux/can/dev.h>
+
+#define IFI_CANFD_STCMD 0x0
+#define IFI_CANFD_STCMD_HARDRESET 0xDEADCAFD
+#define IFI_CANFD_STCMD_ENABLE BIT(0)
+#define IFI_CANFD_STCMD_ERROR_ACTIVE BIT(2)
+#define IFI_CANFD_STCMD_ERROR_PASSIVE BIT(3)
+#define IFI_CANFD_STCMD_BUSOFF BIT(4)
+#define IFI_CANFD_STCMD_BUSMONITOR BIT(16)
+#define IFI_CANFD_STCMD_LOOPBACK BIT(18)
+#define IFI_CANFD_STCMD_DISABLE_CANFD BIT(24)
+#define IFI_CANFD_STCMD_ENABLE_ISO BIT(25)
+#define IFI_CANFD_STCMD_NORMAL_MODE BIT(31)
+
+#define IFI_CANFD_RXSTCMD 0x4
+#define IFI_CANFD_RXSTCMD_REMOVE_MSG BIT(0)
+#define IFI_CANFD_RXSTCMD_RESET BIT(7)
+#define IFI_CANFD_RXSTCMD_EMPTY BIT(8)
+#define IFI_CANFD_RXSTCMD_OVERFLOW BIT(13)
+
+#define IFI_CANFD_TXSTCMD 0x8
+#define IFI_CANFD_TXSTCMD_ADD_MSG BIT(0)
+#define IFI_CANFD_TXSTCMD_HIGH_PRIO BIT(1)
+#define IFI_CANFD_TXSTCMD_RESET BIT(7)
+#define IFI_CANFD_TXSTCMD_EMPTY BIT(8)
+#define IFI_CANFD_TXSTCMD_FULL BIT(12)
+#define IFI_CANFD_TXSTCMD_OVERFLOW BIT(13)
+
+#define IFI_CANFD_INTERRUPT 0xc
+#define IFI_CANFD_INTERRUPT_ERROR_WARNING BIT(1)
+#define IFI_CANFD_INTERRUPT_TXFIFO_EMPTY BIT(16)
+#define IFI_CANFD_INTERRUPT_TXFIFO_REMOVE BIT(22)
+#define IFI_CANFD_INTERRUPT_RXFIFO_NEMPTY BIT(24)
+#define IFI_CANFD_INTERRUPT_RXFIFO_NEMPTY_PER BIT(25)
+#define IFI_CANFD_INTERRUPT_SET_IRQ BIT(31)
+
+#define IFI_CANFD_IRQMASK 0x10
+#define IFI_CANFD_IRQMASK_SET_ERR BIT(7)
+#define IFI_CANFD_IRQMASK_SET_TS BIT(15)
+#define IFI_CANFD_IRQMASK_TXFIFO_EMPTY BIT(16)
+#define IFI_CANFD_IRQMASK_SET_TX BIT(23)
+#define IFI_CANFD_IRQMASK_RXFIFO_NEMPTY BIT(24)
+#define IFI_CANFD_IRQMASK_SET_RX BIT(31)
+
+#define IFI_CANFD_TIME 0x14
+#define IFI_CANFD_FTIME 0x18
+#define IFI_CANFD_TIME_TIMEB_OFF 0
+#define IFI_CANFD_TIME_TIMEA_OFF 8
+#define IFI_CANFD_TIME_PRESCALE_OFF 16
+#define IFI_CANFD_TIME_SJW_OFF_ISO 25
+#define IFI_CANFD_TIME_SJW_OFF_BOSCH 28
+#define IFI_CANFD_TIME_SET_SJW_BOSCH BIT(6)
+#define IFI_CANFD_TIME_SET_TIMEB_BOSCH BIT(7)
+#define IFI_CANFD_TIME_SET_PRESC_BOSCH BIT(14)
+#define IFI_CANFD_TIME_SET_TIMEA_BOSCH BIT(15)
+
+#define IFI_CANFD_TDELAY 0x1c
+
+#define IFI_CANFD_ERROR 0x20
+#define IFI_CANFD_ERROR_TX_OFFSET 0
+#define IFI_CANFD_ERROR_TX_MASK 0xff
+#define IFI_CANFD_ERROR_RX_OFFSET 16
+#define IFI_CANFD_ERROR_RX_MASK 0xff
+
+#define IFI_CANFD_ERRCNT 0x24
+
+#define IFI_CANFD_SUSPEND 0x28
+
+#define IFI_CANFD_REPEAT 0x2c
+
+#define IFI_CANFD_TRAFFIC 0x30
+
+#define IFI_CANFD_TSCONTROL 0x34
+
+#define IFI_CANFD_TSC 0x38
+
+#define IFI_CANFD_TST 0x3c
+
+#define IFI_CANFD_RES1 0x40
+
+#define IFI_CANFD_RES2 0x44
+
+#define IFI_CANFD_PAR 0x48
+
+#define IFI_CANFD_CANCLOCK 0x4c
+
+#define IFI_CANFD_SYSCLOCK 0x50
+
+#define IFI_CANFD_VER 0x54
+
+#define IFI_CANFD_IP_ID 0x58
+#define IFI_CANFD_IP_ID_VALUE 0xD073CAFD
+
+#define IFI_CANFD_TEST 0x5c
+
+#define IFI_CANFD_RXFIFO_TS_63_32 0x60
+
+#define IFI_CANFD_RXFIFO_TS_31_0 0x64
+
+#define IFI_CANFD_RXFIFO_DLC 0x68
+#define IFI_CANFD_RXFIFO_DLC_DLC_OFFSET 0
+#define IFI_CANFD_RXFIFO_DLC_DLC_MASK 0xf
+#define IFI_CANFD_RXFIFO_DLC_RTR BIT(4)
+#define IFI_CANFD_RXFIFO_DLC_EDL BIT(5)
+#define IFI_CANFD_RXFIFO_DLC_BRS BIT(6)
+#define IFI_CANFD_RXFIFO_DLC_ESI BIT(7)
+#define IFI_CANFD_RXFIFO_DLC_OBJ_OFFSET 8
+#define IFI_CANFD_RXFIFO_DLC_OBJ_MASK 0x1ff
+#define IFI_CANFD_RXFIFO_DLC_FNR_OFFSET 24
+#define IFI_CANFD_RXFIFO_DLC_FNR_MASK 0xff
+
+#define IFI_CANFD_RXFIFO_ID 0x6c
+#define IFI_CANFD_RXFIFO_ID_ID_OFFSET 0
+#define IFI_CANFD_RXFIFO_ID_ID_STD_MASK 0x3ff
+#define IFI_CANFD_RXFIFO_ID_ID_XTD_MASK 0x1fffffff
+#define IFI_CANFD_RXFIFO_ID_IDE BIT(29)
+
+#define IFI_CANFD_RXFIFO_DATA 0x70 /* 0x70..0xac */
+
+#define IFI_CANFD_TXFIFO_SUSPEND_US 0xb0
+
+#define IFI_CANFD_TXFIFO_REPEATCOUNT 0xb4
+
+#define IFI_CANFD_TXFIFO_DLC 0xb8
+#define IFI_CANFD_TXFIFO_DLC_DLC_OFFSET 0
+#define IFI_CANFD_TXFIFO_DLC_DLC_MASK 0xf
+#define IFI_CANFD_TXFIFO_DLC_RTR BIT(4)
+#define IFI_CANFD_TXFIFO_DLC_EDL BIT(5)
+#define IFI_CANFD_TXFIFO_DLC_BRS BIT(6)
+#define IFI_CANFD_TXFIFO_DLC_FNR_OFFSET 24
+#define IFI_CANFD_TXFIFO_DLC_FNR_MASK 0xff
+
+#define IFI_CANFD_TXFIFO_ID 0xbc
+#define IFI_CANFD_TXFIFO_ID_ID_OFFSET 0
+#define IFI_CANFD_TXFIFO_ID_ID_STD_MASK 0x3ff
+#define IFI_CANFD_TXFIFO_ID_ID_XTD_MASK 0x1fffffff
+#define IFI_CANFD_TXFIFO_ID_IDE BIT(29)
+
+#define IFI_CANFD_TXFIFO_DATA 0xc0 /* 0xb0..0xfc */
+
+#define IFI_CANFD_FILTER_MASK(n) (0x800 + ((n) * 8) + 0)
+#define IFI_CANFD_FILTER_MASK_EXT BIT(29)
+#define IFI_CANFD_FILTER_MASK_EDL BIT(30)
+#define IFI_CANFD_FILTER_MASK_VALID BIT(31)
+
+#define IFI_CANFD_FILTER_IDENT(n) (0x800 + ((n) * 8) + 4)
+#define IFI_CANFD_FILTER_IDENT_IDE BIT(29)
+#define IFI_CANFD_FILTER_IDENT_CANFD BIT(30)
+#define IFI_CANFD_FILTER_IDENT_VALID BIT(31)
+
+/* IFI CANFD private data structure */
+struct ifi_canfd_priv {
+ struct can_priv can; /* must be the first member */
+ struct napi_struct napi;
+ struct net_device *ndev;
+ struct device *device;
+ void __iomem *base;
+};
+
+static void ifi_canfd_irq_enable(struct net_device *ndev, bool enable)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ u32 enirq = 0;
+
+ if (enable) {
+ enirq = IFI_CANFD_IRQMASK_TXFIFO_EMPTY |
+ IFI_CANFD_IRQMASK_RXFIFO_NEMPTY;
+ }
+
+ writel(IFI_CANFD_IRQMASK_SET_ERR |
+ IFI_CANFD_IRQMASK_SET_TS |
+ IFI_CANFD_IRQMASK_SET_TX |
+ IFI_CANFD_IRQMASK_SET_RX | enirq,
+ priv->base + IFI_CANFD_IRQMASK);
+}
+
+static void ifi_canfd_read_fifo(struct net_device *ndev)
+{
+ struct net_device_stats *stats = &ndev->stats;
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ struct canfd_frame *cf;
+ struct sk_buff *skb;
+ const u32 rx_irq_mask = IFI_CANFD_INTERRUPT_RXFIFO_NEMPTY |
+ IFI_CANFD_INTERRUPT_RXFIFO_NEMPTY_PER;
+ u32 rxdlc, rxid;
+ u32 dlc, id;
+ int i;
+
+ rxdlc = readl(priv->base + IFI_CANFD_RXFIFO_DLC);
+ if (rxdlc & IFI_CANFD_RXFIFO_DLC_EDL)
+ skb = alloc_canfd_skb(ndev, &cf);
+ else
+ skb = alloc_can_skb(ndev, (struct can_frame **)&cf);
+
+ if (!skb) {
+ stats->rx_dropped++;
+ return;
+ }
+
+ dlc = (rxdlc >> IFI_CANFD_RXFIFO_DLC_DLC_OFFSET) &
+ IFI_CANFD_RXFIFO_DLC_DLC_MASK;
+ if (rxdlc & IFI_CANFD_RXFIFO_DLC_EDL)
+ cf->len = can_dlc2len(dlc);
+ else
+ cf->len = get_can_dlc(dlc);
+
+ rxid = readl(priv->base + IFI_CANFD_RXFIFO_ID);
+ id = (rxid >> IFI_CANFD_RXFIFO_ID_ID_OFFSET);
+ if (id & IFI_CANFD_RXFIFO_ID_IDE)
+ id &= IFI_CANFD_RXFIFO_ID_ID_XTD_MASK;
+ else
+ id &= IFI_CANFD_RXFIFO_ID_ID_STD_MASK;
+ cf->can_id = id;
+
+ if (rxdlc & IFI_CANFD_RXFIFO_DLC_ESI) {
+ cf->flags |= CANFD_ESI;
+ netdev_dbg(ndev, "ESI Error\n");
+ }
+
+ if (!(rxdlc & IFI_CANFD_RXFIFO_DLC_EDL) &&
+ (rxdlc & IFI_CANFD_RXFIFO_DLC_RTR)) {
+ cf->can_id |= CAN_RTR_FLAG;
+ } else {
+ if (rxdlc & IFI_CANFD_RXFIFO_DLC_BRS)
+ cf->flags |= CANFD_BRS;
+
+ for (i = 0; i < cf->len; i += 4) {
+ *(u32 *)(cf->data + i) =
+ readl(priv->base + IFI_CANFD_RXFIFO_DATA + i);
+ }
+ }
+
+ /* Remove the packet from FIFO */
+ writel(IFI_CANFD_RXSTCMD_REMOVE_MSG, priv->base + IFI_CANFD_RXSTCMD);
+ writel(rx_irq_mask, priv->base + IFI_CANFD_INTERRUPT);
+
+ stats->rx_packets++;
+ stats->rx_bytes += cf->len;
+
+ netif_receive_skb(skb);
+}
+
+static int ifi_canfd_do_rx_poll(struct net_device *ndev, int quota)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ u32 pkts = 0;
+ u32 rxst;
+
+ rxst = readl(priv->base + IFI_CANFD_RXSTCMD);
+ if (rxst & IFI_CANFD_RXSTCMD_EMPTY) {
+ netdev_dbg(ndev, "No messages in RX FIFO\n");
+ return 0;
+ }
+
+ for (;;) {
+ if (rxst & IFI_CANFD_RXSTCMD_EMPTY)
+ break;
+ if (quota <= 0)
+ break;
+
+ ifi_canfd_read_fifo(ndev);
+ quota--;
+ pkts++;
+ rxst = readl(priv->base + IFI_CANFD_RXSTCMD);
+ }
+
+ if (pkts)
+ can_led_event(ndev, CAN_LED_EVENT_RX);
+
+ return pkts;
+}
+
+static int ifi_canfd_handle_lost_msg(struct net_device *ndev)
+{
+ struct net_device_stats *stats = &ndev->stats;
+ struct sk_buff *skb;
+ struct can_frame *frame;
+
+ netdev_err(ndev, "RX FIFO overflow, message(s) lost.\n");
+
+ stats->rx_errors++;
+ stats->rx_over_errors++;
+
+ skb = alloc_can_err_skb(ndev, &frame);
+ if (unlikely(!skb))
+ return 0;
+
+ frame->can_id |= CAN_ERR_CRTL;
+ frame->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
+
+ netif_receive_skb(skb);
+
+ return 1;
+}
+
+static int ifi_canfd_get_berr_counter(const struct net_device *ndev,
+ struct can_berr_counter *bec)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ u32 err;
+
+ err = readl(priv->base + IFI_CANFD_ERROR);
+ bec->rxerr = (err >> IFI_CANFD_ERROR_RX_OFFSET) &
+ IFI_CANFD_ERROR_RX_MASK;
+ bec->txerr = (err >> IFI_CANFD_ERROR_TX_OFFSET) &
+ IFI_CANFD_ERROR_TX_MASK;
+
+ return 0;
+}
+
+static int ifi_canfd_handle_state_change(struct net_device *ndev,
+ enum can_state new_state)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ struct net_device_stats *stats = &ndev->stats;
+ struct can_frame *cf;
+ struct sk_buff *skb;
+ struct can_berr_counter bec;
+
+ switch (new_state) {
+ case CAN_STATE_ERROR_ACTIVE:
+ /* error warning state */
+ priv->can.can_stats.error_warning++;
+ priv->can.state = CAN_STATE_ERROR_WARNING;
+ break;
+ case CAN_STATE_ERROR_PASSIVE:
+ /* error passive state */
+ priv->can.can_stats.error_passive++;
+ priv->can.state = CAN_STATE_ERROR_PASSIVE;
+ break;
+ case CAN_STATE_BUS_OFF:
+ /* bus-off state */
+ priv->can.state = CAN_STATE_BUS_OFF;
+ ifi_canfd_irq_enable(ndev, 0);
+ priv->can.can_stats.bus_off++;
+ can_bus_off(ndev);
+ break;
+ default:
+ break;
+ }
+
+ /* propagate the error condition to the CAN stack */
+ skb = alloc_can_err_skb(ndev, &cf);
+ if (unlikely(!skb))
+ return 0;
+
+ ifi_canfd_get_berr_counter(ndev, &bec);
+
+ switch (new_state) {
+ case CAN_STATE_ERROR_ACTIVE:
+ /* error warning state */
+ cf->can_id |= CAN_ERR_CRTL;
+ cf->data[1] = (bec.txerr > bec.rxerr) ?
+ CAN_ERR_CRTL_TX_WARNING :
+ CAN_ERR_CRTL_RX_WARNING;
+ cf->data[6] = bec.txerr;
+ cf->data[7] = bec.rxerr;
+ break;
+ case CAN_STATE_ERROR_PASSIVE:
+ /* error passive state */
+ cf->can_id |= CAN_ERR_CRTL;
+ cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
+ if (bec.txerr > 127)
+ cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
+ cf->data[6] = bec.txerr;
+ cf->data[7] = bec.rxerr;
+ break;
+ case CAN_STATE_BUS_OFF:
+ /* bus-off state */
+ cf->can_id |= CAN_ERR_BUSOFF;
+ break;
+ default:
+ break;
+ }
+
+ stats->rx_packets++;
+ stats->rx_bytes += cf->can_dlc;
+ netif_receive_skb(skb);
+
+ return 1;
+}
+
+static int ifi_canfd_handle_state_errors(struct net_device *ndev, u32 stcmd)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ int work_done = 0;
+ u32 isr;
+
+ /*
+ * The ErrWarn condition is a little special, since the bit is
+ * located in the INTERRUPT register instead of STCMD register.
+ */
+ isr = readl(priv->base + IFI_CANFD_INTERRUPT);
+ if ((isr & IFI_CANFD_INTERRUPT_ERROR_WARNING) &&
+ (priv->can.state != CAN_STATE_ERROR_WARNING)) {
+ /* Clear the interrupt */
+ writel(IFI_CANFD_INTERRUPT_ERROR_WARNING,
+ priv->base + IFI_CANFD_INTERRUPT);
+ netdev_dbg(ndev, "Error, entered warning state\n");
+ work_done += ifi_canfd_handle_state_change(ndev,
+ CAN_STATE_ERROR_WARNING);
+ }
+
+ if ((stcmd & IFI_CANFD_STCMD_ERROR_PASSIVE) &&
+ (priv->can.state != CAN_STATE_ERROR_PASSIVE)) {
+ netdev_dbg(ndev, "Error, entered passive state\n");
+ work_done += ifi_canfd_handle_state_change(ndev,
+ CAN_STATE_ERROR_PASSIVE);
+ }
+
+ if ((stcmd & IFI_CANFD_STCMD_BUSOFF) &&
+ (priv->can.state != CAN_STATE_BUS_OFF)) {
+ netdev_dbg(ndev, "Error, entered bus-off state\n");
+ work_done += ifi_canfd_handle_state_change(ndev,
+ CAN_STATE_BUS_OFF);
+ }
+
+ return work_done;
+}
+
+static int ifi_canfd_poll(struct napi_struct *napi, int quota)
+{
+ struct net_device *ndev = napi->dev;
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ const u32 stcmd_state_mask = IFI_CANFD_STCMD_ERROR_PASSIVE |
+ IFI_CANFD_STCMD_BUSOFF;
+ int work_done = 0;
+
+ u32 stcmd = readl(priv->base + IFI_CANFD_STCMD);
+ u32 rxstcmd = readl(priv->base + IFI_CANFD_STCMD);
+
+ /* Handle bus state changes */
+ if ((stcmd & stcmd_state_mask) ||
+ ((stcmd & IFI_CANFD_STCMD_ERROR_ACTIVE) == 0))
+ work_done += ifi_canfd_handle_state_errors(ndev, stcmd);
+
+ /* Handle lost messages on RX */
+ if (rxstcmd & IFI_CANFD_RXSTCMD_OVERFLOW)
+ work_done += ifi_canfd_handle_lost_msg(ndev);
+
+ /* Handle normal messages on RX */
+ if (!(rxstcmd & IFI_CANFD_RXSTCMD_EMPTY))
+ work_done += ifi_canfd_do_rx_poll(ndev, quota - work_done);
+
+ if (work_done < quota) {
+ napi_complete(napi);
+ ifi_canfd_irq_enable(ndev, 1);
+ }
+
+ return work_done;
+}
+
+static irqreturn_t ifi_canfd_isr(int irq, void *dev_id)
+{
+ struct net_device *ndev = (struct net_device *)dev_id;
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ struct net_device_stats *stats = &ndev->stats;
+ const u32 rx_irq_mask = IFI_CANFD_INTERRUPT_RXFIFO_NEMPTY |
+ IFI_CANFD_INTERRUPT_RXFIFO_NEMPTY_PER;
+ const u32 tx_irq_mask = IFI_CANFD_INTERRUPT_TXFIFO_EMPTY |
+ IFI_CANFD_INTERRUPT_TXFIFO_REMOVE;
+ const u32 clr_irq_mask = ~(IFI_CANFD_INTERRUPT_SET_IRQ |
+ IFI_CANFD_INTERRUPT_ERROR_WARNING);
+ u32 isr;
+
+ isr = readl(priv->base + IFI_CANFD_INTERRUPT);
+
+ /* No interrupt */
+ if (isr == 0)
+ return IRQ_NONE;
+
+ /* Clear all pending interrupts but ErrWarn */
+ writel(clr_irq_mask, priv->base + IFI_CANFD_INTERRUPT);
+
+ /* RX IRQ, start NAPI */
+ if (isr & rx_irq_mask) {
+ ifi_canfd_irq_enable(ndev, 0);
+ napi_schedule(&priv->napi);
+ }
+
+ /* TX IRQ */
+ if (isr & tx_irq_mask) {
+ stats->tx_bytes += can_get_echo_skb(ndev, 0);
+ stats->tx_packets++;
+ can_led_event(ndev, CAN_LED_EVENT_TX);
+ netif_wake_queue(ndev);
+ }
+
+ return IRQ_HANDLED;
+}
+
+static const struct can_bittiming_const ifi_canfd_bittiming_const = {
+ .name = KBUILD_MODNAME,
+ .tseg1_min = 2, /* Time segment 1 = prop_seg + phase_seg1 */
+ .tseg1_max = 64,
+ .tseg2_min = 1, /* Time segment 2 = phase_seg2 */
+ .tseg2_max = 16,
+ .sjw_max = 16,
+ .brp_min = 1,
+ .brp_max = 1024,
+ .brp_inc = 1,
+};
+
+static const struct can_bittiming_const ifi_canfd_data_bittiming_const = {
+ .name = KBUILD_MODNAME,
+ .tseg1_min = 2, /* Time segment 1 = prop_seg + phase_seg1 */
+ .tseg1_max = 16,
+ .tseg2_min = 1, /* Time segment 2 = phase_seg2 */
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 1,
+ .brp_max = 32,
+ .brp_inc = 1,
+};
+
+static void ifi_canfd_set_bittiming(struct net_device *ndev)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ const struct can_bittiming *bt = &priv->can.bittiming;
+ const struct can_bittiming *dbt = &priv->can.data_bittiming;
+ u16 brp, sjw, tseg1, tseg2;
+ u32 noniso_arg = 0;
+ u32 time_off;
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) {
+ noniso_arg = IFI_CANFD_TIME_SET_TIMEB_BOSCH |
+ IFI_CANFD_TIME_SET_TIMEA_BOSCH |
+ IFI_CANFD_TIME_SET_PRESC_BOSCH |
+ IFI_CANFD_TIME_SET_SJW_BOSCH;
+ time_off = IFI_CANFD_TIME_SJW_OFF_BOSCH;
+ } else {
+ time_off = IFI_CANFD_TIME_SJW_OFF_ISO;
+ }
+
+ /* Configure bit timing */
+ brp = bt->brp - 1;
+ sjw = bt->sjw - 1;
+ tseg1 = bt->prop_seg + bt->phase_seg1 - 1;
+ tseg2 = bt->phase_seg2 - 1;
+ writel((tseg2 << IFI_CANFD_TIME_TIMEB_OFF) |
+ (tseg1 << IFI_CANFD_TIME_TIMEA_OFF) |
+ (brp << IFI_CANFD_TIME_PRESCALE_OFF) |
+ (sjw << time_off),
+ priv->base + IFI_CANFD_TIME);
+
+ /* Configure data bit timing */
+ brp = dbt->brp - 1;
+ sjw = dbt->sjw - 1;
+ tseg1 = dbt->prop_seg + dbt->phase_seg1 - 1;
+ tseg2 = dbt->phase_seg2 - 1;
+ writel((tseg2 << IFI_CANFD_TIME_TIMEB_OFF) |
+ (tseg1 << IFI_CANFD_TIME_TIMEA_OFF) |
+ (brp << IFI_CANFD_TIME_PRESCALE_OFF) |
+ (sjw << time_off) |
+ noniso_arg,
+ priv->base + IFI_CANFD_FTIME);
+}
+
+static void ifi_canfd_set_filter(struct net_device *ndev, const u32 id,
+ const u32 mask, const u32 ident)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+
+ writel(mask, priv->base + IFI_CANFD_FILTER_MASK(id));
+ writel(ident, priv->base + IFI_CANFD_FILTER_IDENT(id));
+}
+
+static void ifi_canfd_set_filters(struct net_device *ndev)
+{
+ /* Receive all CAN frames (standard ID) */
+ ifi_canfd_set_filter(ndev, 0,
+ IFI_CANFD_FILTER_MASK_VALID |
+ IFI_CANFD_FILTER_MASK_EXT,
+ IFI_CANFD_FILTER_IDENT_VALID);
+
+ /* Receive all CAN frames (extended ID) */
+ ifi_canfd_set_filter(ndev, 1,
+ IFI_CANFD_FILTER_MASK_VALID |
+ IFI_CANFD_FILTER_MASK_EXT,
+ IFI_CANFD_FILTER_IDENT_VALID |
+ IFI_CANFD_FILTER_IDENT_IDE);
+
+ /* Receive all CANFD frames */
+ ifi_canfd_set_filter(ndev, 2,
+ IFI_CANFD_FILTER_MASK_VALID |
+ IFI_CANFD_FILTER_MASK_EDL |
+ IFI_CANFD_FILTER_MASK_EXT,
+ IFI_CANFD_FILTER_IDENT_VALID |
+ IFI_CANFD_FILTER_IDENT_CANFD |
+ IFI_CANFD_FILTER_IDENT_IDE);
+}
+
+static void ifi_canfd_start(struct net_device *ndev)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ u32 stcmd;
+
+ /* Reset the IP */
+ writel(IFI_CANFD_STCMD_HARDRESET, priv->base + IFI_CANFD_STCMD);
+ writel(0, priv->base + IFI_CANFD_STCMD);
+
+ ifi_canfd_set_bittiming(ndev);
+ ifi_canfd_set_filters(ndev);
+
+ /* Reset FIFOs */
+ writel(IFI_CANFD_RXSTCMD_RESET, priv->base + IFI_CANFD_RXSTCMD);
+ writel(0, priv->base + IFI_CANFD_RXSTCMD);
+ writel(IFI_CANFD_TXSTCMD_RESET, priv->base + IFI_CANFD_TXSTCMD);
+ writel(0, priv->base + IFI_CANFD_TXSTCMD);
+
+ /* Repeat transmission until successful */
+ writel(0, priv->base + IFI_CANFD_REPEAT);
+ writel(0, priv->base + IFI_CANFD_SUSPEND);
+
+ /* Clear all pending interrupts */
+ writel(~IFI_CANFD_INTERRUPT_SET_IRQ, priv->base + IFI_CANFD_INTERRUPT);
+
+ stcmd = IFI_CANFD_STCMD_ENABLE | IFI_CANFD_STCMD_NORMAL_MODE;
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
+ stcmd |= IFI_CANFD_STCMD_BUSMONITOR;
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK)
+ stcmd |= IFI_CANFD_STCMD_LOOPBACK;
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_FD)
+ stcmd |= IFI_CANFD_STCMD_ENABLE_ISO;
+
+ if (!(priv->can.ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO)))
+ stcmd |= IFI_CANFD_STCMD_DISABLE_CANFD;
+
+ priv->can.state = CAN_STATE_ERROR_ACTIVE;
+
+ ifi_canfd_irq_enable(ndev, 1);
+
+ /* Enable controller */
+ writel(stcmd, priv->base + IFI_CANFD_STCMD);
+}
+
+static void ifi_canfd_stop(struct net_device *ndev)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+
+ /* Reset the IP */
+ writel(IFI_CANFD_STCMD_HARDRESET, priv->base + IFI_CANFD_STCMD);
+
+ /* Disable all interrupts */
+ ifi_canfd_irq_enable(ndev, 0);
+
+ /* Clear all pending interrupts */
+ writel(~IFI_CANFD_INTERRUPT_SET_IRQ, priv->base + IFI_CANFD_INTERRUPT);
+
+ /* Set the state as STOPPED */
+ priv->can.state = CAN_STATE_STOPPED;
+}
+
+static int ifi_canfd_set_mode(struct net_device *ndev, enum can_mode mode)
+{
+ switch (mode) {
+ case CAN_MODE_START:
+ ifi_canfd_start(ndev);
+ netif_wake_queue(ndev);
+ break;
+ default:
+ return -EOPNOTSUPP;
+ }
+
+ return 0;
+}
+
+static int ifi_canfd_open(struct net_device *ndev)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ int err;
+
+ err = open_candev(ndev);
+ if (err) {
+ netdev_err(ndev, "Failed to open CAN device\n");
+ return err;
+ }
+
+ ifi_canfd_start(ndev);
+
+ can_led_event(ndev, CAN_LED_EVENT_OPEN);
+ napi_enable(&priv->napi);
+ netif_start_queue(ndev);
+
+ return 0;
+}
+
+static int ifi_canfd_close(struct net_device *ndev)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+
+ netif_stop_queue(ndev);
+ napi_disable(&priv->napi);
+
+ ifi_canfd_stop(ndev);
+
+ close_candev(ndev);
+
+ can_led_event(ndev, CAN_LED_EVENT_STOP);
+
+ return 0;
+}
+
+static netdev_tx_t ifi_canfd_start_xmit(struct sk_buff *skb,
+ struct net_device *ndev)
+{
+ struct ifi_canfd_priv *priv = netdev_priv(ndev);
+ struct canfd_frame *cf = (struct canfd_frame *)skb->data;
+ u32 txst, txid;
+ u32 txdlc = 0;
+ int i;
+
+ if (can_dropped_invalid_skb(ndev, skb))
+ return NETDEV_TX_OK;
+
+ /* Check if the TX buffer is full */
+ txst = readl(priv->base + IFI_CANFD_TXSTCMD);
+ if (txst & IFI_CANFD_TXSTCMD_FULL) {
+ netif_stop_queue(ndev);
+ netdev_err(ndev, "BUG! TX FIFO full when queue awake!\n");
+ return NETDEV_TX_BUSY;
+ }
+
+ netif_stop_queue(ndev);
+
+ if (cf->can_id & CAN_EFF_FLAG) {
+ txid = cf->can_id & CAN_EFF_MASK;
+ txid |= IFI_CANFD_TXFIFO_ID_IDE;
+ } else {
+ txid = cf->can_id & CAN_SFF_MASK;
+ }
+
+ if (priv->can.ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO)) {
+ if (can_is_canfd_skb(skb)) {
+ txdlc |= IFI_CANFD_TXFIFO_DLC_EDL;
+ if (cf->flags & CANFD_BRS)
+ txdlc |= IFI_CANFD_TXFIFO_DLC_BRS;
+ }
+ }
+
+ if (cf->can_id & CAN_RTR_FLAG)
+ txdlc |= IFI_CANFD_TXFIFO_DLC_RTR;
+
+ /* message ram configuration */
+ writel(txid, priv->base + IFI_CANFD_TXFIFO_ID);
+ writel(txdlc, priv->base + IFI_CANFD_TXFIFO_DLC);
+
+ for (i = 0; i < cf->len; i += 4) {
+ writel(*(u32 *)(cf->data + i),
+ priv->base + IFI_CANFD_TXFIFO_DATA + i);
+ }
+
+ writel(0, priv->base + IFI_CANFD_TXFIFO_REPEATCOUNT);
+ writel(0, priv->base + IFI_CANFD_TXFIFO_SUSPEND_US);
+
+ can_put_echo_skb(skb, ndev, 0);
+
+ /* Start the transmission */
+ writel(IFI_CANFD_TXSTCMD_ADD_MSG, priv->base + IFI_CANFD_TXSTCMD);
+
+ return NETDEV_TX_OK;
+}
+
+static const struct net_device_ops ifi_canfd_netdev_ops = {
+ .ndo_open = ifi_canfd_open,
+ .ndo_stop = ifi_canfd_close,
+ .ndo_start_xmit = ifi_canfd_start_xmit,
+ .ndo_change_mtu = can_change_mtu,
+};
+
+static int ifi_canfd_plat_probe(struct platform_device *pdev)
+{
+ struct device *dev = &pdev->dev;
+ struct net_device *ndev;
+ struct ifi_canfd_priv *priv;
+ struct resource *res;
+ void __iomem *addr;
+ int irq, ret;
+ u32 id;
+
+ res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
+ addr = devm_ioremap_resource(dev, res);
+ irq = platform_get_irq(pdev, 0);
+ if (IS_ERR(addr) || irq < 0)
+ return -EINVAL;
+
+ id = readl(addr + IFI_CANFD_IP_ID);
+ if (id != IFI_CANFD_IP_ID_VALUE) {
+ dev_err(dev, "This block is not IFI CANFD, id=%08x\n", id);
+ return -EINVAL;
+ }
+
+ ndev = alloc_candev(sizeof(*priv), 1);
+ if (!ndev)
+ return -ENOMEM;
+
+ ndev->irq = irq;
+ ndev->flags |= IFF_ECHO; /* we support local echo */
+ ndev->netdev_ops = &ifi_canfd_netdev_ops;
+
+ priv = netdev_priv(ndev);
+ priv->ndev = ndev;
+ priv->base = addr;
+ priv->device = dev;
+
+ netif_napi_add(ndev, &priv->napi, ifi_canfd_poll, 64);
+
+ priv->can.state = CAN_STATE_STOPPED;
+
+ priv->can.clock.freq = readl(addr + IFI_CANFD_SYSCLOCK);
+
+ priv->can.bittiming_const = &ifi_canfd_bittiming_const;
+ priv->can.data_bittiming_const = &ifi_canfd_data_bittiming_const;
+ priv->can.do_set_mode = ifi_canfd_set_mode;
+ priv->can.do_get_berr_counter = ifi_canfd_get_berr_counter;
+
+ /* IFI CANFD can do both Bosch FD and ISO FD */
+ priv->can.ctrlmode = CAN_CTRLMODE_FD;
+
+ /* IFI CANFD can do both Bosch FD and ISO FD */
+ priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK |
+ CAN_CTRLMODE_LISTENONLY |
+ CAN_CTRLMODE_FD |
+ CAN_CTRLMODE_FD_NON_ISO;
+
+ platform_set_drvdata(pdev, ndev);
+ SET_NETDEV_DEV(ndev, dev);
+
+ /* register interrupt handler */
+ ret = request_irq(ndev->irq, ifi_canfd_isr, IRQF_SHARED,
+ ndev->name, ndev);
+ if (ret < 0) {
+ netdev_err(ndev, "Failed to request interrupt\n");
+ goto err_irq;
+ }
+
+ ret = register_candev(ndev);
+ if (ret) {
+ dev_err(dev, "Failed to register (ret=%d)\n", ret);
+ goto err_reg;
+ }
+
+ devm_can_led_init(ndev);
+
+ dev_info(dev, "Driver registered: regs=%p, irq=%d, clock=%d\n",
+ priv->base, ndev->irq, priv->can.clock.freq);
+
+ return 0;
+
+err_reg:
+ free_irq(ndev->irq, ndev);
+err_irq:
+ free_candev(ndev);
+ return ret;
+}
+
+static int ifi_canfd_plat_remove(struct platform_device *pdev)
+{
+ struct net_device *ndev = platform_get_drvdata(pdev);
+
+ unregister_candev(ndev);
+ platform_set_drvdata(pdev, NULL);
+ free_candev(ndev);
+
+ return 0;
+}
+
+static const struct of_device_id ifi_canfd_of_table[] = {
+ { .compatible = "ifi,canfd-1.0", .data = NULL },
+ { /* sentinel */ },
+};
+MODULE_DEVICE_TABLE(of, ifi_canfd_of_table);
+
+static struct platform_driver ifi_canfd_plat_driver = {
+ .driver = {
+ .name = KBUILD_MODNAME,
+ .of_match_table = ifi_canfd_of_table,
+ },
+ .probe = ifi_canfd_plat_probe,
+ .remove = ifi_canfd_plat_remove,
+};
+
+module_platform_driver(ifi_canfd_plat_driver);
+
+MODULE_AUTHOR("Marek Vasut <marex@denx.de>");
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("CAN bus driver for IFI CANFD controller");
The patch adds support for IFI CAN/FD controller [1]. This driver currently supports sending and receiving both standard CAN and new CAN/FD frames. Both ISO and BOSCH variant of CAN/FD is supported. [1] http://www.ifi-pld.de/IP/CANFD/canfd.html Signed-off-by: Marek Vasut <marex@denx.de> Cc: Marc Kleine-Budde <mkl@pengutronix.de> Cc: Mark Rutland <mark.rutland@arm.com> Cc: Oliver Hartkopp <socketcan@hartkopp.net> Cc: Wolfgang Grandegger <wg@grandegger.com> NOTE: The driver is surprisingly similar to m_can, but the register layout of the IFI core is completely different, so it's clear that those are two different IP cores. --- drivers/net/can/Kconfig | 2 + drivers/net/can/Makefile | 1 + drivers/net/can/ifi_canfd/Kconfig | 8 + drivers/net/can/ifi_canfd/Makefile | 5 + drivers/net/can/ifi_canfd/ifi_canfd.c | 914 ++++++++++++++++++++++++++++++++++ 5 files changed, 930 insertions(+) create mode 100644 drivers/net/can/ifi_canfd/Kconfig create mode 100644 drivers/net/can/ifi_canfd/Makefile create mode 100644 drivers/net/can/ifi_canfd/ifi_canfd.c