]>
Commit | Line | Data |
---|---|---|
1 | // SPDX-License-Identifier: GPL-2.0-only | |
2 | /* | |
3 | * Copyright (C) 2007, 2011 Wolfgang Grandegger <wg@grandegger.com> | |
4 | * Copyright (C) 2012 Stephane Grosjean <s.grosjean@peak-system.com> | |
5 | * | |
6 | * Copyright (C) 2016 PEAK System-Technik GmbH | |
7 | */ | |
8 | ||
9 | #include <linux/can.h> | |
10 | #include <linux/can/dev.h> | |
11 | ||
12 | #include "peak_canfd_user.h" | |
13 | ||
14 | /* internal IP core cache size (used as default echo skbs max number) */ | |
15 | #define PCANFD_ECHO_SKB_MAX 24 | |
16 | ||
17 | /* bittiming ranges of the PEAK-System PC CAN-FD interfaces */ | |
18 | static const struct can_bittiming_const peak_canfd_nominal_const = { | |
19 | .name = "peak_canfd", | |
20 | .tseg1_min = 1, | |
21 | .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS), | |
22 | .tseg2_min = 1, | |
23 | .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS), | |
24 | .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS), | |
25 | .brp_min = 1, | |
26 | .brp_max = (1 << PUCAN_TSLOW_BRP_BITS), | |
27 | .brp_inc = 1, | |
28 | }; | |
29 | ||
30 | static const struct can_bittiming_const peak_canfd_data_const = { | |
31 | .name = "peak_canfd", | |
32 | .tseg1_min = 1, | |
33 | .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS), | |
34 | .tseg2_min = 1, | |
35 | .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS), | |
36 | .sjw_max = (1 << PUCAN_TFAST_SJW_BITS), | |
37 | .brp_min = 1, | |
38 | .brp_max = (1 << PUCAN_TFAST_BRP_BITS), | |
39 | .brp_inc = 1, | |
40 | }; | |
41 | ||
42 | static struct peak_canfd_priv *pucan_init_cmd(struct peak_canfd_priv *priv) | |
43 | { | |
44 | priv->cmd_len = 0; | |
45 | return priv; | |
46 | } | |
47 | ||
48 | static void *pucan_add_cmd(struct peak_canfd_priv *priv, int cmd_op) | |
49 | { | |
50 | struct pucan_command *cmd; | |
51 | ||
52 | if (priv->cmd_len + sizeof(*cmd) > priv->cmd_maxlen) | |
53 | return NULL; | |
54 | ||
55 | cmd = priv->cmd_buffer + priv->cmd_len; | |
56 | ||
57 | /* reset all unused bit to default */ | |
58 | memset(cmd, 0, sizeof(*cmd)); | |
59 | ||
60 | cmd->opcode_channel = pucan_cmd_opcode_channel(priv->index, cmd_op); | |
61 | priv->cmd_len += sizeof(*cmd); | |
62 | ||
63 | return cmd; | |
64 | } | |
65 | ||
66 | static int pucan_write_cmd(struct peak_canfd_priv *priv) | |
67 | { | |
68 | int err; | |
69 | ||
70 | if (priv->pre_cmd) { | |
71 | err = priv->pre_cmd(priv); | |
72 | if (err) | |
73 | return err; | |
74 | } | |
75 | ||
76 | err = priv->write_cmd(priv); | |
77 | if (err) | |
78 | return err; | |
79 | ||
80 | if (priv->post_cmd) | |
81 | err = priv->post_cmd(priv); | |
82 | ||
83 | return err; | |
84 | } | |
85 | ||
86 | /* uCAN commands interface functions */ | |
87 | static int pucan_set_reset_mode(struct peak_canfd_priv *priv) | |
88 | { | |
89 | pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RESET_MODE); | |
90 | return pucan_write_cmd(priv); | |
91 | } | |
92 | ||
93 | static int pucan_set_normal_mode(struct peak_canfd_priv *priv) | |
94 | { | |
95 | int err; | |
96 | ||
97 | pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_NORMAL_MODE); | |
98 | err = pucan_write_cmd(priv); | |
99 | if (!err) | |
100 | priv->can.state = CAN_STATE_ERROR_ACTIVE; | |
101 | ||
102 | return err; | |
103 | } | |
104 | ||
105 | static int pucan_set_listen_only_mode(struct peak_canfd_priv *priv) | |
106 | { | |
107 | int err; | |
108 | ||
109 | pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_LISTEN_ONLY_MODE); | |
110 | err = pucan_write_cmd(priv); | |
111 | if (!err) | |
112 | priv->can.state = CAN_STATE_ERROR_ACTIVE; | |
113 | ||
114 | return err; | |
115 | } | |
116 | ||
117 | static int pucan_set_timing_slow(struct peak_canfd_priv *priv, | |
118 | const struct can_bittiming *pbt) | |
119 | { | |
120 | struct pucan_timing_slow *cmd; | |
121 | ||
122 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_SLOW); | |
123 | ||
124 | cmd->sjw_t = PUCAN_TSLOW_SJW_T(pbt->sjw - 1, | |
125 | priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES); | |
126 | cmd->tseg1 = PUCAN_TSLOW_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1); | |
127 | cmd->tseg2 = PUCAN_TSLOW_TSEG2(pbt->phase_seg2 - 1); | |
128 | cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(pbt->brp - 1)); | |
129 | ||
130 | cmd->ewl = 96; /* default */ | |
131 | ||
132 | netdev_dbg(priv->ndev, | |
133 | "nominal: brp=%u tseg1=%u tseg2=%u sjw=%u\n", | |
134 | le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw_t); | |
135 | ||
136 | return pucan_write_cmd(priv); | |
137 | } | |
138 | ||
139 | static int pucan_set_timing_fast(struct peak_canfd_priv *priv, | |
140 | const struct can_bittiming *pbt) | |
141 | { | |
142 | struct pucan_timing_fast *cmd; | |
143 | ||
144 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_FAST); | |
145 | ||
146 | cmd->sjw = PUCAN_TFAST_SJW(pbt->sjw - 1); | |
147 | cmd->tseg1 = PUCAN_TFAST_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1); | |
148 | cmd->tseg2 = PUCAN_TFAST_TSEG2(pbt->phase_seg2 - 1); | |
149 | cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(pbt->brp - 1)); | |
150 | ||
151 | netdev_dbg(priv->ndev, | |
152 | "data: brp=%u tseg1=%u tseg2=%u sjw=%u\n", | |
153 | le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw); | |
154 | ||
155 | return pucan_write_cmd(priv); | |
156 | } | |
157 | ||
158 | static int pucan_set_std_filter(struct peak_canfd_priv *priv, u8 row, u32 mask) | |
159 | { | |
160 | struct pucan_std_filter *cmd; | |
161 | ||
162 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_STD_FILTER); | |
163 | ||
164 | /* all the 11-bits CAN ID values are represented by one bit in a | |
165 | * 64 rows array of 32 bits: the upper 6 bits of the CAN ID select the | |
166 | * row while the lowest 5 bits select the bit in that row. | |
167 | * | |
168 | * bit filter | |
169 | * 1 passed | |
170 | * 0 discarded | |
171 | */ | |
172 | ||
173 | /* select the row */ | |
174 | cmd->idx = row; | |
175 | ||
176 | /* set/unset bits in the row */ | |
177 | cmd->mask = cpu_to_le32(mask); | |
178 | ||
179 | return pucan_write_cmd(priv); | |
180 | } | |
181 | ||
182 | static int pucan_tx_abort(struct peak_canfd_priv *priv, u16 flags) | |
183 | { | |
184 | struct pucan_tx_abort *cmd; | |
185 | ||
186 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TX_ABORT); | |
187 | ||
188 | cmd->flags = cpu_to_le16(flags); | |
189 | ||
190 | return pucan_write_cmd(priv); | |
191 | } | |
192 | ||
193 | static int pucan_clr_err_counters(struct peak_canfd_priv *priv) | |
194 | { | |
195 | struct pucan_wr_err_cnt *cmd; | |
196 | ||
197 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_WR_ERR_CNT); | |
198 | ||
199 | cmd->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE | PUCAN_WRERRCNT_RE); | |
200 | cmd->tx_counter = 0; | |
201 | cmd->rx_counter = 0; | |
202 | ||
203 | return pucan_write_cmd(priv); | |
204 | } | |
205 | ||
206 | static int pucan_set_options(struct peak_canfd_priv *priv, u16 opt_mask) | |
207 | { | |
208 | struct pucan_options *cmd; | |
209 | ||
210 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_EN_OPTION); | |
211 | ||
212 | cmd->options = cpu_to_le16(opt_mask); | |
213 | ||
214 | return pucan_write_cmd(priv); | |
215 | } | |
216 | ||
217 | static int pucan_clr_options(struct peak_canfd_priv *priv, u16 opt_mask) | |
218 | { | |
219 | struct pucan_options *cmd; | |
220 | ||
221 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_CLR_DIS_OPTION); | |
222 | ||
223 | cmd->options = cpu_to_le16(opt_mask); | |
224 | ||
225 | return pucan_write_cmd(priv); | |
226 | } | |
227 | ||
228 | static int pucan_setup_rx_barrier(struct peak_canfd_priv *priv) | |
229 | { | |
230 | pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RX_BARRIER); | |
231 | ||
232 | return pucan_write_cmd(priv); | |
233 | } | |
234 | ||
235 | static int pucan_netif_rx(struct sk_buff *skb, __le32 ts_low, __le32 ts_high) | |
236 | { | |
237 | struct skb_shared_hwtstamps *hwts = skb_hwtstamps(skb); | |
238 | u64 ts_us; | |
239 | ||
240 | ts_us = (u64)le32_to_cpu(ts_high) << 32; | |
241 | ts_us |= le32_to_cpu(ts_low); | |
242 | ||
243 | /* IP core timestamps are µs. */ | |
244 | hwts->hwtstamp = ns_to_ktime(ts_us * NSEC_PER_USEC); | |
245 | ||
246 | return netif_rx(skb); | |
247 | } | |
248 | ||
249 | /* handle the reception of one CAN frame */ | |
250 | static int pucan_handle_can_rx(struct peak_canfd_priv *priv, | |
251 | struct pucan_rx_msg *msg) | |
252 | { | |
253 | struct net_device_stats *stats = &priv->ndev->stats; | |
254 | struct canfd_frame *cf; | |
255 | struct sk_buff *skb; | |
256 | const u16 rx_msg_flags = le16_to_cpu(msg->flags); | |
257 | u8 cf_len; | |
258 | ||
259 | if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) | |
260 | cf_len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(msg))); | |
261 | else | |
262 | cf_len = get_can_dlc(pucan_msg_get_dlc(msg)); | |
263 | ||
264 | /* if this frame is an echo, */ | |
265 | if (rx_msg_flags & PUCAN_MSG_LOOPED_BACK) { | |
266 | unsigned long flags; | |
267 | ||
268 | spin_lock_irqsave(&priv->echo_lock, flags); | |
269 | can_get_echo_skb(priv->ndev, msg->client); | |
270 | ||
271 | /* count bytes of the echo instead of skb */ | |
272 | stats->tx_bytes += cf_len; | |
273 | stats->tx_packets++; | |
274 | ||
275 | /* restart tx queue (a slot is free) */ | |
276 | netif_wake_queue(priv->ndev); | |
277 | ||
278 | spin_unlock_irqrestore(&priv->echo_lock, flags); | |
279 | ||
280 | /* if this frame is only an echo, stop here. Otherwise, | |
281 | * continue to push this application self-received frame into | |
282 | * its own rx queue. | |
283 | */ | |
284 | if (!(rx_msg_flags & PUCAN_MSG_SELF_RECEIVE)) | |
285 | return 0; | |
286 | } | |
287 | ||
288 | /* otherwise, it should be pushed into rx fifo */ | |
289 | if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) { | |
290 | /* CANFD frame case */ | |
291 | skb = alloc_canfd_skb(priv->ndev, &cf); | |
292 | if (!skb) | |
293 | return -ENOMEM; | |
294 | ||
295 | if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH) | |
296 | cf->flags |= CANFD_BRS; | |
297 | ||
298 | if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND) | |
299 | cf->flags |= CANFD_ESI; | |
300 | } else { | |
301 | /* CAN 2.0 frame case */ | |
302 | skb = alloc_can_skb(priv->ndev, (struct can_frame **)&cf); | |
303 | if (!skb) | |
304 | return -ENOMEM; | |
305 | } | |
306 | ||
307 | cf->can_id = le32_to_cpu(msg->can_id); | |
308 | cf->len = cf_len; | |
309 | ||
310 | if (rx_msg_flags & PUCAN_MSG_EXT_ID) | |
311 | cf->can_id |= CAN_EFF_FLAG; | |
312 | ||
313 | if (rx_msg_flags & PUCAN_MSG_RTR) | |
314 | cf->can_id |= CAN_RTR_FLAG; | |
315 | else | |
316 | memcpy(cf->data, msg->d, cf->len); | |
317 | ||
318 | stats->rx_bytes += cf->len; | |
319 | stats->rx_packets++; | |
320 | ||
321 | pucan_netif_rx(skb, msg->ts_low, msg->ts_high); | |
322 | ||
323 | return 0; | |
324 | } | |
325 | ||
326 | /* handle rx/tx error counters notification */ | |
327 | static int pucan_handle_error(struct peak_canfd_priv *priv, | |
328 | struct pucan_error_msg *msg) | |
329 | { | |
330 | priv->bec.txerr = msg->tx_err_cnt; | |
331 | priv->bec.rxerr = msg->rx_err_cnt; | |
332 | ||
333 | return 0; | |
334 | } | |
335 | ||
336 | /* handle status notification */ | |
337 | static int pucan_handle_status(struct peak_canfd_priv *priv, | |
338 | struct pucan_status_msg *msg) | |
339 | { | |
340 | struct net_device *ndev = priv->ndev; | |
341 | struct net_device_stats *stats = &ndev->stats; | |
342 | struct can_frame *cf; | |
343 | struct sk_buff *skb; | |
344 | ||
345 | /* this STATUS is the CNF of the RX_BARRIER: Tx path can be setup */ | |
346 | if (pucan_status_is_rx_barrier(msg)) { | |
347 | ||
348 | if (priv->enable_tx_path) { | |
349 | int err = priv->enable_tx_path(priv); | |
350 | ||
351 | if (err) | |
352 | return err; | |
353 | } | |
354 | ||
355 | /* wake network queue up (echo_skb array is empty) */ | |
356 | netif_wake_queue(ndev); | |
357 | ||
358 | return 0; | |
359 | } | |
360 | ||
361 | skb = alloc_can_err_skb(ndev, &cf); | |
362 | ||
363 | /* test state error bits according to their priority */ | |
364 | if (pucan_status_is_busoff(msg)) { | |
365 | netdev_dbg(ndev, "Bus-off entry status\n"); | |
366 | priv->can.state = CAN_STATE_BUS_OFF; | |
367 | priv->can.can_stats.bus_off++; | |
368 | can_bus_off(ndev); | |
369 | if (skb) | |
370 | cf->can_id |= CAN_ERR_BUSOFF; | |
371 | ||
372 | } else if (pucan_status_is_passive(msg)) { | |
373 | netdev_dbg(ndev, "Error passive status\n"); | |
374 | priv->can.state = CAN_STATE_ERROR_PASSIVE; | |
375 | priv->can.can_stats.error_passive++; | |
376 | if (skb) { | |
377 | cf->can_id |= CAN_ERR_CRTL; | |
378 | cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ? | |
379 | CAN_ERR_CRTL_TX_PASSIVE : | |
380 | CAN_ERR_CRTL_RX_PASSIVE; | |
381 | cf->data[6] = priv->bec.txerr; | |
382 | cf->data[7] = priv->bec.rxerr; | |
383 | } | |
384 | ||
385 | } else if (pucan_status_is_warning(msg)) { | |
386 | netdev_dbg(ndev, "Error warning status\n"); | |
387 | priv->can.state = CAN_STATE_ERROR_WARNING; | |
388 | priv->can.can_stats.error_warning++; | |
389 | if (skb) { | |
390 | cf->can_id |= CAN_ERR_CRTL; | |
391 | cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ? | |
392 | CAN_ERR_CRTL_TX_WARNING : | |
393 | CAN_ERR_CRTL_RX_WARNING; | |
394 | cf->data[6] = priv->bec.txerr; | |
395 | cf->data[7] = priv->bec.rxerr; | |
396 | } | |
397 | ||
398 | } else if (priv->can.state != CAN_STATE_ERROR_ACTIVE) { | |
399 | /* back to ERROR_ACTIVE */ | |
400 | netdev_dbg(ndev, "Error active status\n"); | |
401 | can_change_state(ndev, cf, CAN_STATE_ERROR_ACTIVE, | |
402 | CAN_STATE_ERROR_ACTIVE); | |
403 | } else { | |
404 | dev_kfree_skb(skb); | |
405 | return 0; | |
406 | } | |
407 | ||
408 | if (!skb) { | |
409 | stats->rx_dropped++; | |
410 | return -ENOMEM; | |
411 | } | |
412 | ||
413 | stats->rx_packets++; | |
414 | stats->rx_bytes += cf->can_dlc; | |
415 | pucan_netif_rx(skb, msg->ts_low, msg->ts_high); | |
416 | ||
417 | return 0; | |
418 | } | |
419 | ||
420 | /* handle uCAN Rx overflow notification */ | |
421 | static int pucan_handle_cache_critical(struct peak_canfd_priv *priv) | |
422 | { | |
423 | struct net_device_stats *stats = &priv->ndev->stats; | |
424 | struct can_frame *cf; | |
425 | struct sk_buff *skb; | |
426 | ||
427 | stats->rx_over_errors++; | |
428 | stats->rx_errors++; | |
429 | ||
430 | skb = alloc_can_err_skb(priv->ndev, &cf); | |
431 | if (!skb) { | |
432 | stats->rx_dropped++; | |
433 | return -ENOMEM; | |
434 | } | |
435 | ||
436 | cf->can_id |= CAN_ERR_CRTL; | |
437 | cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; | |
438 | ||
439 | cf->data[6] = priv->bec.txerr; | |
440 | cf->data[7] = priv->bec.rxerr; | |
441 | ||
442 | stats->rx_bytes += cf->can_dlc; | |
443 | stats->rx_packets++; | |
444 | netif_rx(skb); | |
445 | ||
446 | return 0; | |
447 | } | |
448 | ||
449 | /* handle a single uCAN message */ | |
450 | int peak_canfd_handle_msg(struct peak_canfd_priv *priv, | |
451 | struct pucan_rx_msg *msg) | |
452 | { | |
453 | u16 msg_type = le16_to_cpu(msg->type); | |
454 | int msg_size = le16_to_cpu(msg->size); | |
455 | int err; | |
456 | ||
457 | if (!msg_size || !msg_type) { | |
458 | /* null packet found: end of list */ | |
459 | goto exit; | |
460 | } | |
461 | ||
462 | switch (msg_type) { | |
463 | case PUCAN_MSG_CAN_RX: | |
464 | err = pucan_handle_can_rx(priv, (struct pucan_rx_msg *)msg); | |
465 | break; | |
466 | case PUCAN_MSG_ERROR: | |
467 | err = pucan_handle_error(priv, (struct pucan_error_msg *)msg); | |
468 | break; | |
469 | case PUCAN_MSG_STATUS: | |
470 | err = pucan_handle_status(priv, (struct pucan_status_msg *)msg); | |
471 | break; | |
472 | case PUCAN_MSG_CACHE_CRITICAL: | |
473 | err = pucan_handle_cache_critical(priv); | |
474 | break; | |
475 | default: | |
476 | err = 0; | |
477 | } | |
478 | ||
479 | if (err < 0) | |
480 | return err; | |
481 | ||
482 | exit: | |
483 | return msg_size; | |
484 | } | |
485 | ||
486 | /* handle a list of rx_count messages from rx_msg memory address */ | |
487 | int peak_canfd_handle_msgs_list(struct peak_canfd_priv *priv, | |
488 | struct pucan_rx_msg *msg_list, int msg_count) | |
489 | { | |
490 | void *msg_ptr = msg_list; | |
491 | int i, msg_size = 0; | |
492 | ||
493 | for (i = 0; i < msg_count; i++) { | |
494 | msg_size = peak_canfd_handle_msg(priv, msg_ptr); | |
495 | ||
496 | /* a null packet can be found at the end of a list */ | |
497 | if (msg_size <= 0) | |
498 | break; | |
499 | ||
500 | msg_ptr += ALIGN(msg_size, 4); | |
501 | } | |
502 | ||
503 | if (msg_size < 0) | |
504 | return msg_size; | |
505 | ||
506 | return i; | |
507 | } | |
508 | ||
509 | static int peak_canfd_start(struct peak_canfd_priv *priv) | |
510 | { | |
511 | int err; | |
512 | ||
513 | err = pucan_clr_err_counters(priv); | |
514 | if (err) | |
515 | goto err_exit; | |
516 | ||
517 | priv->echo_idx = 0; | |
518 | ||
519 | priv->bec.txerr = 0; | |
520 | priv->bec.rxerr = 0; | |
521 | ||
522 | if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) | |
523 | err = pucan_set_listen_only_mode(priv); | |
524 | else | |
525 | err = pucan_set_normal_mode(priv); | |
526 | ||
527 | err_exit: | |
528 | return err; | |
529 | } | |
530 | ||
531 | static void peak_canfd_stop(struct peak_canfd_priv *priv) | |
532 | { | |
533 | int err; | |
534 | ||
535 | /* go back to RESET mode */ | |
536 | err = pucan_set_reset_mode(priv); | |
537 | if (err) { | |
538 | netdev_err(priv->ndev, "channel %u reset failed\n", | |
539 | priv->index); | |
540 | } else { | |
541 | /* abort last Tx (MUST be done in RESET mode only!) */ | |
542 | pucan_tx_abort(priv, PUCAN_TX_ABORT_FLUSH); | |
543 | } | |
544 | } | |
545 | ||
546 | static int peak_canfd_set_mode(struct net_device *ndev, enum can_mode mode) | |
547 | { | |
548 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
549 | ||
550 | switch (mode) { | |
551 | case CAN_MODE_START: | |
552 | peak_canfd_start(priv); | |
553 | netif_wake_queue(ndev); | |
554 | break; | |
555 | default: | |
556 | return -EOPNOTSUPP; | |
557 | } | |
558 | ||
559 | return 0; | |
560 | } | |
561 | ||
562 | static int peak_canfd_get_berr_counter(const struct net_device *ndev, | |
563 | struct can_berr_counter *bec) | |
564 | { | |
565 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
566 | ||
567 | *bec = priv->bec; | |
568 | return 0; | |
569 | } | |
570 | ||
571 | static int peak_canfd_open(struct net_device *ndev) | |
572 | { | |
573 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
574 | int i, err = 0; | |
575 | ||
576 | err = open_candev(ndev); | |
577 | if (err) { | |
578 | netdev_err(ndev, "open_candev() failed, error %d\n", err); | |
579 | goto err_exit; | |
580 | } | |
581 | ||
582 | err = pucan_set_reset_mode(priv); | |
583 | if (err) | |
584 | goto err_close; | |
585 | ||
586 | if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { | |
587 | if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) | |
588 | err = pucan_clr_options(priv, PUCAN_OPTION_CANDFDISO); | |
589 | else | |
590 | err = pucan_set_options(priv, PUCAN_OPTION_CANDFDISO); | |
591 | ||
592 | if (err) | |
593 | goto err_close; | |
594 | } | |
595 | ||
596 | /* set option: get rx/tx error counters */ | |
597 | err = pucan_set_options(priv, PUCAN_OPTION_ERROR); | |
598 | if (err) | |
599 | goto err_close; | |
600 | ||
601 | /* accept all standard CAN ID */ | |
602 | for (i = 0; i <= PUCAN_FLTSTD_ROW_IDX_MAX; i++) | |
603 | pucan_set_std_filter(priv, i, 0xffffffff); | |
604 | ||
605 | err = peak_canfd_start(priv); | |
606 | if (err) | |
607 | goto err_close; | |
608 | ||
609 | /* receiving the RB status says when Tx path is ready */ | |
610 | err = pucan_setup_rx_barrier(priv); | |
611 | if (!err) | |
612 | goto err_exit; | |
613 | ||
614 | err_close: | |
615 | close_candev(ndev); | |
616 | err_exit: | |
617 | return err; | |
618 | } | |
619 | ||
620 | static int peak_canfd_set_bittiming(struct net_device *ndev) | |
621 | { | |
622 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
623 | ||
624 | return pucan_set_timing_slow(priv, &priv->can.bittiming); | |
625 | } | |
626 | ||
627 | static int peak_canfd_set_data_bittiming(struct net_device *ndev) | |
628 | { | |
629 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
630 | ||
631 | return pucan_set_timing_fast(priv, &priv->can.data_bittiming); | |
632 | } | |
633 | ||
634 | static int peak_canfd_close(struct net_device *ndev) | |
635 | { | |
636 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
637 | ||
638 | netif_stop_queue(ndev); | |
639 | peak_canfd_stop(priv); | |
640 | close_candev(ndev); | |
641 | ||
642 | return 0; | |
643 | } | |
644 | ||
645 | static netdev_tx_t peak_canfd_start_xmit(struct sk_buff *skb, | |
646 | struct net_device *ndev) | |
647 | { | |
648 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
649 | struct net_device_stats *stats = &ndev->stats; | |
650 | struct canfd_frame *cf = (struct canfd_frame *)skb->data; | |
651 | struct pucan_tx_msg *msg; | |
652 | u16 msg_size, msg_flags; | |
653 | unsigned long flags; | |
654 | bool should_stop_tx_queue; | |
655 | int room_left; | |
656 | u8 can_dlc; | |
657 | ||
658 | if (can_dropped_invalid_skb(ndev, skb)) | |
659 | return NETDEV_TX_OK; | |
660 | ||
661 | msg_size = ALIGN(sizeof(*msg) + cf->len, 4); | |
662 | msg = priv->alloc_tx_msg(priv, msg_size, &room_left); | |
663 | ||
664 | /* should never happen except under bus-off condition and (auto-)restart | |
665 | * mechanism | |
666 | */ | |
667 | if (!msg) { | |
668 | stats->tx_dropped++; | |
669 | netif_stop_queue(ndev); | |
670 | return NETDEV_TX_BUSY; | |
671 | } | |
672 | ||
673 | msg->size = cpu_to_le16(msg_size); | |
674 | msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX); | |
675 | msg_flags = 0; | |
676 | ||
677 | if (cf->can_id & CAN_EFF_FLAG) { | |
678 | msg_flags |= PUCAN_MSG_EXT_ID; | |
679 | msg->can_id = cpu_to_le32(cf->can_id & CAN_EFF_MASK); | |
680 | } else { | |
681 | msg->can_id = cpu_to_le32(cf->can_id & CAN_SFF_MASK); | |
682 | } | |
683 | ||
684 | if (can_is_canfd_skb(skb)) { | |
685 | /* CAN FD frame format */ | |
686 | can_dlc = can_len2dlc(cf->len); | |
687 | ||
688 | msg_flags |= PUCAN_MSG_EXT_DATA_LEN; | |
689 | ||
690 | if (cf->flags & CANFD_BRS) | |
691 | msg_flags |= PUCAN_MSG_BITRATE_SWITCH; | |
692 | ||
693 | if (cf->flags & CANFD_ESI) | |
694 | msg_flags |= PUCAN_MSG_ERROR_STATE_IND; | |
695 | } else { | |
696 | /* CAN 2.0 frame format */ | |
697 | can_dlc = cf->len; | |
698 | ||
699 | if (cf->can_id & CAN_RTR_FLAG) | |
700 | msg_flags |= PUCAN_MSG_RTR; | |
701 | } | |
702 | ||
703 | /* always ask loopback for echo management */ | |
704 | msg_flags |= PUCAN_MSG_LOOPED_BACK; | |
705 | ||
706 | /* set driver specific bit to differentiate with application loopback */ | |
707 | if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK) | |
708 | msg_flags |= PUCAN_MSG_SELF_RECEIVE; | |
709 | ||
710 | msg->flags = cpu_to_le16(msg_flags); | |
711 | msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(priv->index, can_dlc); | |
712 | memcpy(msg->d, cf->data, cf->len); | |
713 | ||
714 | /* struct msg client field is used as an index in the echo skbs ring */ | |
715 | msg->client = priv->echo_idx; | |
716 | ||
717 | spin_lock_irqsave(&priv->echo_lock, flags); | |
718 | ||
719 | /* prepare and save echo skb in internal slot */ | |
720 | can_put_echo_skb(skb, ndev, priv->echo_idx); | |
721 | ||
722 | /* move echo index to the next slot */ | |
723 | priv->echo_idx = (priv->echo_idx + 1) % priv->can.echo_skb_max; | |
724 | ||
725 | /* if next slot is not free, stop network queue (no slot free in echo | |
726 | * skb ring means that the controller did not write these frames on | |
727 | * the bus: no need to continue). | |
728 | */ | |
729 | should_stop_tx_queue = !!(priv->can.echo_skb[priv->echo_idx]); | |
730 | ||
731 | /* stop network tx queue if not enough room to save one more msg too */ | |
732 | if (priv->can.ctrlmode & CAN_CTRLMODE_FD) | |
733 | should_stop_tx_queue |= (room_left < | |
734 | (sizeof(*msg) + CANFD_MAX_DLEN)); | |
735 | else | |
736 | should_stop_tx_queue |= (room_left < | |
737 | (sizeof(*msg) + CAN_MAX_DLEN)); | |
738 | ||
739 | if (should_stop_tx_queue) | |
740 | netif_stop_queue(ndev); | |
741 | ||
742 | spin_unlock_irqrestore(&priv->echo_lock, flags); | |
743 | ||
744 | /* write the skb on the interface */ | |
745 | priv->write_tx_msg(priv, msg); | |
746 | ||
747 | return NETDEV_TX_OK; | |
748 | } | |
749 | ||
750 | static const struct net_device_ops peak_canfd_netdev_ops = { | |
751 | .ndo_open = peak_canfd_open, | |
752 | .ndo_stop = peak_canfd_close, | |
753 | .ndo_start_xmit = peak_canfd_start_xmit, | |
754 | .ndo_change_mtu = can_change_mtu, | |
755 | }; | |
756 | ||
757 | struct net_device *alloc_peak_canfd_dev(int sizeof_priv, int index, | |
758 | int echo_skb_max) | |
759 | { | |
760 | struct net_device *ndev; | |
761 | struct peak_canfd_priv *priv; | |
762 | ||
763 | /* we DO support local echo */ | |
764 | if (echo_skb_max < 0) | |
765 | echo_skb_max = PCANFD_ECHO_SKB_MAX; | |
766 | ||
767 | /* allocate the candev object */ | |
768 | ndev = alloc_candev(sizeof_priv, echo_skb_max); | |
769 | if (!ndev) | |
770 | return NULL; | |
771 | ||
772 | priv = netdev_priv(ndev); | |
773 | ||
774 | /* complete now socket-can initialization side */ | |
775 | priv->can.state = CAN_STATE_STOPPED; | |
776 | priv->can.bittiming_const = &peak_canfd_nominal_const; | |
777 | priv->can.data_bittiming_const = &peak_canfd_data_const; | |
778 | ||
779 | priv->can.do_set_mode = peak_canfd_set_mode; | |
780 | priv->can.do_get_berr_counter = peak_canfd_get_berr_counter; | |
781 | priv->can.do_set_bittiming = peak_canfd_set_bittiming; | |
782 | priv->can.do_set_data_bittiming = peak_canfd_set_data_bittiming; | |
783 | priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | | |
784 | CAN_CTRLMODE_LISTENONLY | | |
785 | CAN_CTRLMODE_3_SAMPLES | | |
786 | CAN_CTRLMODE_FD | | |
787 | CAN_CTRLMODE_FD_NON_ISO | | |
788 | CAN_CTRLMODE_BERR_REPORTING; | |
789 | ||
790 | priv->ndev = ndev; | |
791 | priv->index = index; | |
792 | priv->cmd_len = 0; | |
793 | spin_lock_init(&priv->echo_lock); | |
794 | ||
795 | ndev->flags |= IFF_ECHO; | |
796 | ndev->netdev_ops = &peak_canfd_netdev_ops; | |
797 | ndev->dev_id = index; | |
798 | ||
799 | return ndev; | |
800 | } |