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8ac8321e SG |
1 | /* |
2 | * Copyright (C) 2007, 2011 Wolfgang Grandegger <wg@grandegger.com> | |
3 | * Copyright (C) 2012 Stephane Grosjean <s.grosjean@peak-system.com> | |
4 | * | |
5 | * Copyright (C) 2016 PEAK System-Technik GmbH | |
6 | * | |
7 | * This program is free software; you can redistribute it and/or modify | |
8 | * it under the terms of the version 2 of the GNU General Public License | |
9 | * as published by the Free Software Foundation | |
10 | * | |
11 | * This program is distributed in the hope that it will be useful, | |
12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of | |
13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
14 | * GNU General Public License for more details. | |
15 | */ | |
16 | ||
17 | #include <linux/can.h> | |
18 | #include <linux/can/dev.h> | |
19 | ||
20 | #include "peak_canfd_user.h" | |
21 | ||
22 | /* internal IP core cache size (used as default echo skbs max number) */ | |
23 | #define PCANFD_ECHO_SKB_MAX 24 | |
24 | ||
25 | /* bittiming ranges of the PEAK-System PC CAN-FD interfaces */ | |
26 | static const struct can_bittiming_const peak_canfd_nominal_const = { | |
27 | .name = "peak_canfd", | |
28 | .tseg1_min = 1, | |
29 | .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS), | |
30 | .tseg2_min = 1, | |
31 | .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS), | |
32 | .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS), | |
33 | .brp_min = 1, | |
34 | .brp_max = (1 << PUCAN_TSLOW_BRP_BITS), | |
35 | .brp_inc = 1, | |
36 | }; | |
37 | ||
38 | static const struct can_bittiming_const peak_canfd_data_const = { | |
39 | .name = "peak_canfd", | |
40 | .tseg1_min = 1, | |
41 | .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS), | |
42 | .tseg2_min = 1, | |
43 | .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS), | |
44 | .sjw_max = (1 << PUCAN_TFAST_SJW_BITS), | |
45 | .brp_min = 1, | |
46 | .brp_max = (1 << PUCAN_TFAST_BRP_BITS), | |
47 | .brp_inc = 1, | |
48 | }; | |
49 | ||
50 | static struct peak_canfd_priv *pucan_init_cmd(struct peak_canfd_priv *priv) | |
51 | { | |
52 | priv->cmd_len = 0; | |
53 | return priv; | |
54 | } | |
55 | ||
56 | static void *pucan_add_cmd(struct peak_canfd_priv *priv, int cmd_op) | |
57 | { | |
58 | struct pucan_command *cmd; | |
59 | ||
60 | if (priv->cmd_len + sizeof(*cmd) > priv->cmd_maxlen) | |
61 | return NULL; | |
62 | ||
63 | cmd = priv->cmd_buffer + priv->cmd_len; | |
64 | ||
65 | /* reset all unused bit to default */ | |
66 | memset(cmd, 0, sizeof(*cmd)); | |
67 | ||
68 | cmd->opcode_channel = pucan_cmd_opcode_channel(priv->index, cmd_op); | |
69 | priv->cmd_len += sizeof(*cmd); | |
70 | ||
71 | return cmd; | |
72 | } | |
73 | ||
74 | static int pucan_write_cmd(struct peak_canfd_priv *priv) | |
75 | { | |
76 | int err; | |
77 | ||
78 | if (priv->pre_cmd) { | |
79 | err = priv->pre_cmd(priv); | |
80 | if (err) | |
81 | return err; | |
82 | } | |
83 | ||
84 | err = priv->write_cmd(priv); | |
85 | if (err) | |
86 | return err; | |
87 | ||
88 | if (priv->post_cmd) | |
89 | err = priv->post_cmd(priv); | |
90 | ||
91 | return err; | |
92 | } | |
93 | ||
94 | /* uCAN commands interface functions */ | |
95 | static int pucan_set_reset_mode(struct peak_canfd_priv *priv) | |
96 | { | |
97 | pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RESET_MODE); | |
98 | return pucan_write_cmd(priv); | |
99 | } | |
100 | ||
101 | static int pucan_set_normal_mode(struct peak_canfd_priv *priv) | |
102 | { | |
103 | int err; | |
104 | ||
105 | pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_NORMAL_MODE); | |
106 | err = pucan_write_cmd(priv); | |
107 | if (!err) | |
108 | priv->can.state = CAN_STATE_ERROR_ACTIVE; | |
109 | ||
110 | return err; | |
111 | } | |
112 | ||
113 | static int pucan_set_listen_only_mode(struct peak_canfd_priv *priv) | |
114 | { | |
115 | int err; | |
116 | ||
117 | pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_LISTEN_ONLY_MODE); | |
118 | err = pucan_write_cmd(priv); | |
119 | if (!err) | |
120 | priv->can.state = CAN_STATE_ERROR_ACTIVE; | |
121 | ||
122 | return err; | |
123 | } | |
124 | ||
125 | static int pucan_set_timing_slow(struct peak_canfd_priv *priv, | |
126 | const struct can_bittiming *pbt) | |
127 | { | |
128 | struct pucan_timing_slow *cmd; | |
129 | ||
130 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_SLOW); | |
131 | ||
132 | cmd->sjw_t = PUCAN_TSLOW_SJW_T(pbt->sjw - 1, | |
133 | priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES); | |
134 | cmd->tseg1 = PUCAN_TSLOW_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1); | |
135 | cmd->tseg2 = PUCAN_TSLOW_TSEG2(pbt->phase_seg2 - 1); | |
136 | cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(pbt->brp - 1)); | |
137 | ||
138 | cmd->ewl = 96; /* default */ | |
139 | ||
140 | netdev_dbg(priv->ndev, | |
141 | "nominal: brp=%u tseg1=%u tseg2=%u sjw=%u\n", | |
142 | le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw_t); | |
143 | ||
144 | return pucan_write_cmd(priv); | |
145 | } | |
146 | ||
147 | static int pucan_set_timing_fast(struct peak_canfd_priv *priv, | |
148 | const struct can_bittiming *pbt) | |
149 | { | |
150 | struct pucan_timing_fast *cmd; | |
151 | ||
152 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_FAST); | |
153 | ||
154 | cmd->sjw = PUCAN_TFAST_SJW(pbt->sjw - 1); | |
155 | cmd->tseg1 = PUCAN_TFAST_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1); | |
156 | cmd->tseg2 = PUCAN_TFAST_TSEG2(pbt->phase_seg2 - 1); | |
157 | cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(pbt->brp - 1)); | |
158 | ||
159 | netdev_dbg(priv->ndev, | |
160 | "data: brp=%u tseg1=%u tseg2=%u sjw=%u\n", | |
161 | le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw); | |
162 | ||
163 | return pucan_write_cmd(priv); | |
164 | } | |
165 | ||
166 | static int pucan_set_std_filter(struct peak_canfd_priv *priv, u8 row, u32 mask) | |
167 | { | |
168 | struct pucan_std_filter *cmd; | |
169 | ||
170 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_STD_FILTER); | |
171 | ||
172 | /* all the 11-bits CAN ID values are represented by one bit in a | |
173 | * 64 rows array of 32 bits: the upper 6 bits of the CAN ID select the | |
174 | * row while the lowest 5 bits select the bit in that row. | |
175 | * | |
176 | * bit filter | |
177 | * 1 passed | |
178 | * 0 discarded | |
179 | */ | |
180 | ||
181 | /* select the row */ | |
182 | cmd->idx = row; | |
183 | ||
184 | /* set/unset bits in the row */ | |
185 | cmd->mask = cpu_to_le32(mask); | |
186 | ||
187 | return pucan_write_cmd(priv); | |
188 | } | |
189 | ||
190 | static int pucan_tx_abort(struct peak_canfd_priv *priv, u16 flags) | |
191 | { | |
192 | struct pucan_tx_abort *cmd; | |
193 | ||
194 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TX_ABORT); | |
195 | ||
196 | cmd->flags = cpu_to_le16(flags); | |
197 | ||
198 | return pucan_write_cmd(priv); | |
199 | } | |
200 | ||
201 | static int pucan_clr_err_counters(struct peak_canfd_priv *priv) | |
202 | { | |
203 | struct pucan_wr_err_cnt *cmd; | |
204 | ||
205 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_WR_ERR_CNT); | |
206 | ||
207 | cmd->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE | PUCAN_WRERRCNT_RE); | |
208 | cmd->tx_counter = 0; | |
209 | cmd->rx_counter = 0; | |
210 | ||
211 | return pucan_write_cmd(priv); | |
212 | } | |
213 | ||
214 | static int pucan_set_options(struct peak_canfd_priv *priv, u16 opt_mask) | |
215 | { | |
216 | struct pucan_options *cmd; | |
217 | ||
218 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_EN_OPTION); | |
219 | ||
220 | cmd->options = cpu_to_le16(opt_mask); | |
221 | ||
222 | return pucan_write_cmd(priv); | |
223 | } | |
224 | ||
225 | static int pucan_clr_options(struct peak_canfd_priv *priv, u16 opt_mask) | |
226 | { | |
227 | struct pucan_options *cmd; | |
228 | ||
229 | cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_CLR_DIS_OPTION); | |
230 | ||
231 | cmd->options = cpu_to_le16(opt_mask); | |
232 | ||
233 | return pucan_write_cmd(priv); | |
234 | } | |
235 | ||
236 | static int pucan_setup_rx_barrier(struct peak_canfd_priv *priv) | |
237 | { | |
238 | pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RX_BARRIER); | |
239 | ||
240 | return pucan_write_cmd(priv); | |
241 | } | |
242 | ||
243 | /* handle the reception of one CAN frame */ | |
244 | static int pucan_handle_can_rx(struct peak_canfd_priv *priv, | |
245 | struct pucan_rx_msg *msg) | |
246 | { | |
247 | struct net_device_stats *stats = &priv->ndev->stats; | |
248 | struct canfd_frame *cf; | |
249 | struct sk_buff *skb; | |
250 | const u16 rx_msg_flags = le16_to_cpu(msg->flags); | |
251 | u8 cf_len; | |
252 | ||
253 | if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) | |
254 | cf_len = can_dlc2len(get_canfd_dlc(pucan_msg_get_dlc(msg))); | |
255 | else | |
256 | cf_len = get_can_dlc(pucan_msg_get_dlc(msg)); | |
257 | ||
258 | /* if this frame is an echo, */ | |
259 | if ((rx_msg_flags & PUCAN_MSG_LOOPED_BACK) && | |
260 | !(rx_msg_flags & PUCAN_MSG_SELF_RECEIVE)) { | |
8ac8321e SG |
261 | unsigned long flags; |
262 | ||
263 | spin_lock_irqsave(&priv->echo_lock, flags); | |
91785de6 | 264 | can_get_echo_skb(priv->ndev, msg->client); |
8ac8321e SG |
265 | spin_unlock_irqrestore(&priv->echo_lock, flags); |
266 | ||
267 | /* count bytes of the echo instead of skb */ | |
268 | stats->tx_bytes += cf_len; | |
269 | stats->tx_packets++; | |
270 | ||
91785de6 SG |
271 | /* restart tx queue (a slot is free) */ |
272 | netif_wake_queue(priv->ndev); | |
8ac8321e SG |
273 | |
274 | return 0; | |
275 | } | |
276 | ||
277 | /* otherwise, it should be pushed into rx fifo */ | |
278 | if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) { | |
279 | /* CANFD frame case */ | |
280 | skb = alloc_canfd_skb(priv->ndev, &cf); | |
281 | if (!skb) | |
282 | return -ENOMEM; | |
283 | ||
284 | if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH) | |
285 | cf->flags |= CANFD_BRS; | |
286 | ||
287 | if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND) | |
288 | cf->flags |= CANFD_ESI; | |
289 | } else { | |
290 | /* CAN 2.0 frame case */ | |
291 | skb = alloc_can_skb(priv->ndev, (struct can_frame **)&cf); | |
292 | if (!skb) | |
293 | return -ENOMEM; | |
294 | } | |
295 | ||
296 | cf->can_id = le32_to_cpu(msg->can_id); | |
297 | cf->len = cf_len; | |
298 | ||
299 | if (rx_msg_flags & PUCAN_MSG_EXT_ID) | |
300 | cf->can_id |= CAN_EFF_FLAG; | |
301 | ||
302 | if (rx_msg_flags & PUCAN_MSG_RTR) | |
303 | cf->can_id |= CAN_RTR_FLAG; | |
304 | else | |
305 | memcpy(cf->data, msg->d, cf->len); | |
306 | ||
307 | stats->rx_bytes += cf->len; | |
308 | stats->rx_packets++; | |
309 | ||
310 | netif_rx(skb); | |
311 | ||
312 | return 0; | |
313 | } | |
314 | ||
315 | /* handle rx/tx error counters notification */ | |
316 | static int pucan_handle_error(struct peak_canfd_priv *priv, | |
317 | struct pucan_error_msg *msg) | |
318 | { | |
319 | priv->bec.txerr = msg->tx_err_cnt; | |
320 | priv->bec.rxerr = msg->rx_err_cnt; | |
321 | ||
322 | return 0; | |
323 | } | |
324 | ||
325 | /* handle status notification */ | |
326 | static int pucan_handle_status(struct peak_canfd_priv *priv, | |
327 | struct pucan_status_msg *msg) | |
328 | { | |
329 | struct net_device *ndev = priv->ndev; | |
330 | struct net_device_stats *stats = &ndev->stats; | |
331 | struct can_frame *cf; | |
332 | struct sk_buff *skb; | |
333 | ||
334 | /* this STATUS is the CNF of the RX_BARRIER: Tx path can be setup */ | |
335 | if (pucan_status_is_rx_barrier(msg)) { | |
336 | unsigned long flags; | |
337 | ||
338 | if (priv->enable_tx_path) { | |
339 | int err = priv->enable_tx_path(priv); | |
340 | ||
341 | if (err) | |
342 | return err; | |
343 | } | |
344 | ||
345 | /* restart network queue only if echo skb array is free */ | |
346 | spin_lock_irqsave(&priv->echo_lock, flags); | |
347 | ||
348 | if (!priv->can.echo_skb[priv->echo_idx]) { | |
349 | spin_unlock_irqrestore(&priv->echo_lock, flags); | |
350 | ||
351 | netif_wake_queue(ndev); | |
352 | } else { | |
353 | spin_unlock_irqrestore(&priv->echo_lock, flags); | |
354 | } | |
355 | ||
356 | return 0; | |
357 | } | |
358 | ||
359 | skb = alloc_can_err_skb(ndev, &cf); | |
360 | ||
361 | /* test state error bits according to their priority */ | |
362 | if (pucan_status_is_busoff(msg)) { | |
363 | netdev_dbg(ndev, "Bus-off entry status\n"); | |
364 | priv->can.state = CAN_STATE_BUS_OFF; | |
365 | priv->can.can_stats.bus_off++; | |
366 | can_bus_off(ndev); | |
367 | if (skb) | |
368 | cf->can_id |= CAN_ERR_BUSOFF; | |
369 | ||
370 | } else if (pucan_status_is_passive(msg)) { | |
371 | netdev_dbg(ndev, "Error passive status\n"); | |
372 | priv->can.state = CAN_STATE_ERROR_PASSIVE; | |
373 | priv->can.can_stats.error_passive++; | |
374 | if (skb) { | |
375 | cf->can_id |= CAN_ERR_CRTL; | |
376 | cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ? | |
377 | CAN_ERR_CRTL_TX_PASSIVE : | |
378 | CAN_ERR_CRTL_RX_PASSIVE; | |
379 | cf->data[6] = priv->bec.txerr; | |
380 | cf->data[7] = priv->bec.rxerr; | |
381 | } | |
382 | ||
383 | } else if (pucan_status_is_warning(msg)) { | |
384 | netdev_dbg(ndev, "Error warning status\n"); | |
385 | priv->can.state = CAN_STATE_ERROR_WARNING; | |
386 | priv->can.can_stats.error_warning++; | |
387 | if (skb) { | |
388 | cf->can_id |= CAN_ERR_CRTL; | |
389 | cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ? | |
390 | CAN_ERR_CRTL_TX_WARNING : | |
391 | CAN_ERR_CRTL_RX_WARNING; | |
392 | cf->data[6] = priv->bec.txerr; | |
393 | cf->data[7] = priv->bec.rxerr; | |
394 | } | |
395 | ||
396 | } else if (priv->can.state != CAN_STATE_ERROR_ACTIVE) { | |
397 | /* back to ERROR_ACTIVE */ | |
398 | netdev_dbg(ndev, "Error active status\n"); | |
399 | can_change_state(ndev, cf, CAN_STATE_ERROR_ACTIVE, | |
400 | CAN_STATE_ERROR_ACTIVE); | |
401 | } else { | |
402 | dev_kfree_skb(skb); | |
403 | return 0; | |
404 | } | |
405 | ||
406 | if (!skb) { | |
407 | stats->rx_dropped++; | |
408 | return -ENOMEM; | |
409 | } | |
410 | ||
411 | stats->rx_packets++; | |
412 | stats->rx_bytes += cf->can_dlc; | |
413 | netif_rx(skb); | |
414 | ||
415 | return 0; | |
416 | } | |
417 | ||
418 | /* handle uCAN Rx overflow notification */ | |
419 | static int pucan_handle_cache_critical(struct peak_canfd_priv *priv) | |
420 | { | |
421 | struct net_device_stats *stats = &priv->ndev->stats; | |
422 | struct can_frame *cf; | |
423 | struct sk_buff *skb; | |
424 | ||
425 | stats->rx_over_errors++; | |
426 | stats->rx_errors++; | |
427 | ||
428 | skb = alloc_can_err_skb(priv->ndev, &cf); | |
429 | if (!skb) { | |
430 | stats->rx_dropped++; | |
431 | return -ENOMEM; | |
432 | } | |
433 | ||
434 | cf->can_id |= CAN_ERR_CRTL; | |
435 | cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; | |
436 | ||
437 | cf->data[6] = priv->bec.txerr; | |
438 | cf->data[7] = priv->bec.rxerr; | |
439 | ||
440 | stats->rx_bytes += cf->can_dlc; | |
441 | stats->rx_packets++; | |
442 | netif_rx(skb); | |
443 | ||
444 | return 0; | |
445 | } | |
446 | ||
447 | /* handle a single uCAN message */ | |
448 | int peak_canfd_handle_msg(struct peak_canfd_priv *priv, | |
449 | struct pucan_rx_msg *msg) | |
450 | { | |
451 | u16 msg_type = le16_to_cpu(msg->type); | |
452 | int msg_size = le16_to_cpu(msg->size); | |
453 | int err; | |
454 | ||
455 | if (!msg_size || !msg_type) { | |
456 | /* null packet found: end of list */ | |
457 | goto exit; | |
458 | } | |
459 | ||
460 | switch (msg_type) { | |
461 | case PUCAN_MSG_CAN_RX: | |
462 | err = pucan_handle_can_rx(priv, (struct pucan_rx_msg *)msg); | |
463 | break; | |
464 | case PUCAN_MSG_ERROR: | |
465 | err = pucan_handle_error(priv, (struct pucan_error_msg *)msg); | |
466 | break; | |
467 | case PUCAN_MSG_STATUS: | |
468 | err = pucan_handle_status(priv, (struct pucan_status_msg *)msg); | |
469 | break; | |
470 | case PUCAN_MSG_CACHE_CRITICAL: | |
471 | err = pucan_handle_cache_critical(priv); | |
472 | break; | |
473 | default: | |
474 | err = 0; | |
475 | } | |
476 | ||
477 | if (err < 0) | |
478 | return err; | |
479 | ||
480 | exit: | |
481 | return msg_size; | |
482 | } | |
483 | ||
484 | /* handle a list of rx_count messages from rx_msg memory address */ | |
485 | int peak_canfd_handle_msgs_list(struct peak_canfd_priv *priv, | |
486 | struct pucan_rx_msg *msg_list, int msg_count) | |
487 | { | |
488 | void *msg_ptr = msg_list; | |
f2a918b4 | 489 | int i, msg_size = 0; |
8ac8321e SG |
490 | |
491 | for (i = 0; i < msg_count; i++) { | |
492 | msg_size = peak_canfd_handle_msg(priv, msg_ptr); | |
493 | ||
494 | /* a null packet can be found at the end of a list */ | |
495 | if (msg_size <= 0) | |
496 | break; | |
497 | ||
498 | msg_ptr += msg_size; | |
499 | } | |
500 | ||
501 | if (msg_size < 0) | |
502 | return msg_size; | |
503 | ||
504 | return i; | |
505 | } | |
506 | ||
507 | static int peak_canfd_start(struct peak_canfd_priv *priv) | |
508 | { | |
509 | int err; | |
510 | ||
511 | err = pucan_clr_err_counters(priv); | |
512 | if (err) | |
513 | goto err_exit; | |
514 | ||
515 | priv->echo_idx = 0; | |
516 | ||
517 | priv->bec.txerr = 0; | |
518 | priv->bec.rxerr = 0; | |
519 | ||
520 | if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) | |
521 | err = pucan_set_listen_only_mode(priv); | |
522 | else | |
523 | err = pucan_set_normal_mode(priv); | |
524 | ||
525 | err_exit: | |
526 | return err; | |
527 | } | |
528 | ||
529 | static void peak_canfd_stop(struct peak_canfd_priv *priv) | |
530 | { | |
531 | int err; | |
532 | ||
533 | /* go back to RESET mode */ | |
534 | err = pucan_set_reset_mode(priv); | |
535 | if (err) { | |
536 | netdev_err(priv->ndev, "channel %u reset failed\n", | |
537 | priv->index); | |
538 | } else { | |
539 | /* abort last Tx (MUST be done in RESET mode only!) */ | |
540 | pucan_tx_abort(priv, PUCAN_TX_ABORT_FLUSH); | |
541 | } | |
542 | } | |
543 | ||
544 | static int peak_canfd_set_mode(struct net_device *ndev, enum can_mode mode) | |
545 | { | |
546 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
547 | ||
548 | switch (mode) { | |
549 | case CAN_MODE_START: | |
550 | peak_canfd_start(priv); | |
551 | netif_wake_queue(ndev); | |
552 | break; | |
553 | default: | |
554 | return -EOPNOTSUPP; | |
555 | } | |
556 | ||
557 | return 0; | |
558 | } | |
559 | ||
560 | static int peak_canfd_get_berr_counter(const struct net_device *ndev, | |
561 | struct can_berr_counter *bec) | |
562 | { | |
563 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
564 | ||
565 | *bec = priv->bec; | |
566 | return 0; | |
567 | } | |
568 | ||
569 | static int peak_canfd_open(struct net_device *ndev) | |
570 | { | |
571 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
572 | int i, err = 0; | |
573 | ||
574 | err = open_candev(ndev); | |
575 | if (err) { | |
576 | netdev_err(ndev, "open_candev() failed, error %d\n", err); | |
577 | goto err_exit; | |
578 | } | |
579 | ||
580 | err = pucan_set_reset_mode(priv); | |
581 | if (err) | |
582 | goto err_close; | |
583 | ||
584 | if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { | |
585 | if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) | |
586 | err = pucan_clr_options(priv, PUCAN_OPTION_CANDFDISO); | |
587 | else | |
588 | err = pucan_set_options(priv, PUCAN_OPTION_CANDFDISO); | |
589 | ||
590 | if (err) | |
591 | goto err_close; | |
592 | } | |
593 | ||
594 | /* set option: get rx/tx error counters */ | |
595 | err = pucan_set_options(priv, PUCAN_OPTION_ERROR); | |
596 | if (err) | |
597 | goto err_close; | |
598 | ||
599 | /* accept all standard CAN ID */ | |
600 | for (i = 0; i <= PUCAN_FLTSTD_ROW_IDX_MAX; i++) | |
601 | pucan_set_std_filter(priv, i, 0xffffffff); | |
602 | ||
603 | err = peak_canfd_start(priv); | |
604 | if (err) | |
605 | goto err_close; | |
606 | ||
607 | /* receiving the RB status says when Tx path is ready */ | |
608 | err = pucan_setup_rx_barrier(priv); | |
609 | if (!err) | |
610 | goto err_exit; | |
611 | ||
612 | err_close: | |
613 | close_candev(ndev); | |
614 | err_exit: | |
615 | return err; | |
616 | } | |
617 | ||
618 | static int peak_canfd_set_bittiming(struct net_device *ndev) | |
619 | { | |
620 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
621 | ||
622 | return pucan_set_timing_slow(priv, &priv->can.bittiming); | |
623 | } | |
624 | ||
625 | static int peak_canfd_set_data_bittiming(struct net_device *ndev) | |
626 | { | |
627 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
628 | ||
629 | return pucan_set_timing_fast(priv, &priv->can.data_bittiming); | |
630 | } | |
631 | ||
632 | static int peak_canfd_close(struct net_device *ndev) | |
633 | { | |
634 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
635 | ||
636 | netif_stop_queue(ndev); | |
637 | peak_canfd_stop(priv); | |
638 | close_candev(ndev); | |
639 | ||
640 | return 0; | |
641 | } | |
642 | ||
643 | static netdev_tx_t peak_canfd_start_xmit(struct sk_buff *skb, | |
644 | struct net_device *ndev) | |
645 | { | |
646 | struct peak_canfd_priv *priv = netdev_priv(ndev); | |
647 | struct net_device_stats *stats = &ndev->stats; | |
648 | struct canfd_frame *cf = (struct canfd_frame *)skb->data; | |
649 | struct pucan_tx_msg *msg; | |
650 | u16 msg_size, msg_flags; | |
651 | unsigned long flags; | |
652 | bool should_stop_tx_queue; | |
653 | int room_left; | |
654 | u8 can_dlc; | |
655 | ||
656 | if (can_dropped_invalid_skb(ndev, skb)) | |
657 | return NETDEV_TX_OK; | |
658 | ||
659 | msg_size = ALIGN(sizeof(*msg) + cf->len, 4); | |
660 | msg = priv->alloc_tx_msg(priv, msg_size, &room_left); | |
661 | ||
662 | /* should never happen except under bus-off condition and (auto-)restart | |
663 | * mechanism | |
664 | */ | |
665 | if (!msg) { | |
666 | stats->tx_dropped++; | |
667 | netif_stop_queue(ndev); | |
668 | return NETDEV_TX_BUSY; | |
669 | } | |
670 | ||
671 | msg->size = cpu_to_le16(msg_size); | |
672 | msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX); | |
673 | msg_flags = 0; | |
674 | ||
675 | if (cf->can_id & CAN_EFF_FLAG) { | |
676 | msg_flags |= PUCAN_MSG_EXT_ID; | |
677 | msg->can_id = cpu_to_le32(cf->can_id & CAN_EFF_MASK); | |
678 | } else { | |
679 | msg->can_id = cpu_to_le32(cf->can_id & CAN_SFF_MASK); | |
680 | } | |
681 | ||
682 | if (can_is_canfd_skb(skb)) { | |
683 | /* CAN FD frame format */ | |
684 | can_dlc = can_len2dlc(cf->len); | |
685 | ||
686 | msg_flags |= PUCAN_MSG_EXT_DATA_LEN; | |
687 | ||
688 | if (cf->flags & CANFD_BRS) | |
689 | msg_flags |= PUCAN_MSG_BITRATE_SWITCH; | |
690 | ||
691 | if (cf->flags & CANFD_ESI) | |
692 | msg_flags |= PUCAN_MSG_ERROR_STATE_IND; | |
693 | } else { | |
694 | /* CAN 2.0 frame format */ | |
695 | can_dlc = cf->len; | |
696 | ||
697 | if (cf->can_id & CAN_RTR_FLAG) | |
698 | msg_flags |= PUCAN_MSG_RTR; | |
699 | } | |
700 | ||
701 | /* always ask loopback for echo management */ | |
702 | msg_flags |= PUCAN_MSG_LOOPED_BACK; | |
703 | ||
704 | /* set driver specific bit to differentiate with application loopback */ | |
705 | if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK) | |
706 | msg_flags |= PUCAN_MSG_SELF_RECEIVE; | |
707 | ||
708 | msg->flags = cpu_to_le16(msg_flags); | |
709 | msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(priv->index, can_dlc); | |
710 | memcpy(msg->d, cf->data, cf->len); | |
711 | ||
712 | /* struct msg client field is used as an index in the echo skbs ring */ | |
713 | msg->client = priv->echo_idx; | |
714 | ||
715 | spin_lock_irqsave(&priv->echo_lock, flags); | |
716 | ||
717 | /* prepare and save echo skb in internal slot */ | |
718 | can_put_echo_skb(skb, ndev, priv->echo_idx); | |
719 | ||
720 | /* move echo index to the next slot */ | |
721 | priv->echo_idx = (priv->echo_idx + 1) % priv->can.echo_skb_max; | |
722 | ||
723 | /* if next slot is not free, stop network queue (no slot free in echo | |
724 | * skb ring means that the controller did not write these frames on | |
725 | * the bus: no need to continue). | |
726 | */ | |
727 | should_stop_tx_queue = !!(priv->can.echo_skb[priv->echo_idx]); | |
728 | ||
729 | spin_unlock_irqrestore(&priv->echo_lock, flags); | |
730 | ||
731 | /* write the skb on the interface */ | |
732 | priv->write_tx_msg(priv, msg); | |
733 | ||
734 | /* stop network tx queue if not enough room to save one more msg too */ | |
735 | if (priv->can.ctrlmode & CAN_CTRLMODE_FD) | |
736 | should_stop_tx_queue |= (room_left < | |
737 | (sizeof(*msg) + CANFD_MAX_DLEN)); | |
738 | else | |
739 | should_stop_tx_queue |= (room_left < | |
740 | (sizeof(*msg) + CAN_MAX_DLEN)); | |
741 | ||
742 | if (should_stop_tx_queue) | |
743 | netif_stop_queue(ndev); | |
744 | ||
745 | return NETDEV_TX_OK; | |
746 | } | |
747 | ||
748 | static const struct net_device_ops peak_canfd_netdev_ops = { | |
749 | .ndo_open = peak_canfd_open, | |
750 | .ndo_stop = peak_canfd_close, | |
751 | .ndo_start_xmit = peak_canfd_start_xmit, | |
752 | .ndo_change_mtu = can_change_mtu, | |
753 | }; | |
754 | ||
755 | struct net_device *alloc_peak_canfd_dev(int sizeof_priv, int index, | |
756 | int echo_skb_max) | |
757 | { | |
758 | struct net_device *ndev; | |
759 | struct peak_canfd_priv *priv; | |
760 | ||
761 | /* we DO support local echo */ | |
762 | if (echo_skb_max < 0) | |
763 | echo_skb_max = PCANFD_ECHO_SKB_MAX; | |
764 | ||
765 | /* allocate the candev object */ | |
766 | ndev = alloc_candev(sizeof_priv, echo_skb_max); | |
767 | if (!ndev) | |
768 | return NULL; | |
769 | ||
770 | priv = netdev_priv(ndev); | |
771 | ||
772 | /* complete now socket-can initialization side */ | |
773 | priv->can.state = CAN_STATE_STOPPED; | |
774 | priv->can.bittiming_const = &peak_canfd_nominal_const; | |
775 | priv->can.data_bittiming_const = &peak_canfd_data_const; | |
776 | ||
777 | priv->can.do_set_mode = peak_canfd_set_mode; | |
778 | priv->can.do_get_berr_counter = peak_canfd_get_berr_counter; | |
779 | priv->can.do_set_bittiming = peak_canfd_set_bittiming; | |
780 | priv->can.do_set_data_bittiming = peak_canfd_set_data_bittiming; | |
781 | priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | | |
782 | CAN_CTRLMODE_LISTENONLY | | |
783 | CAN_CTRLMODE_3_SAMPLES | | |
784 | CAN_CTRLMODE_FD | | |
785 | CAN_CTRLMODE_FD_NON_ISO | | |
786 | CAN_CTRLMODE_BERR_REPORTING; | |
787 | ||
788 | priv->ndev = ndev; | |
789 | priv->index = index; | |
790 | priv->cmd_len = 0; | |
791 | spin_lock_init(&priv->echo_lock); | |
792 | ||
793 | ndev->flags |= IFF_ECHO; | |
794 | ndev->netdev_ops = &peak_canfd_netdev_ops; | |
795 | ndev->dev_id = index; | |
796 | ||
797 | return ndev; | |
798 | } |