1// SPDX-License-Identifier: GPL-2.0-only
2/*
3 * at91_can.c - CAN network driver for AT91 SoC CAN controller
4 *
5 * (C) 2007 by Hans J. Koch <hjk@hansjkoch.de>
6 * (C) 2008, 2009, 2010, 2011, 2023 by Marc Kleine-Budde <kernel@pengutronix.de>
7 */
8
9#include <linux/bitfield.h>
10#include <linux/clk.h>
11#include <linux/errno.h>
12#include <linux/ethtool.h>
13#include <linux/if_arp.h>
14#include <linux/interrupt.h>
15#include <linux/kernel.h>
16#include <linux/module.h>
17#include <linux/netdevice.h>
18#include <linux/of.h>
19#include <linux/phy/phy.h>
20#include <linux/platform_device.h>
21#include <linux/rtnetlink.h>
22#include <linux/skbuff.h>
23#include <linux/spinlock.h>
24#include <linux/string.h>
25#include <linux/types.h>
26
27#include <linux/can/dev.h>
28#include <linux/can/error.h>
29#include <linux/can/rx-offload.h>
30
31#define AT91_MB_MASK(i) ((1 << (i)) - 1)
32
33/* Common registers */
34enum at91_reg {
35 AT91_MR = 0x000,
36 AT91_IER = 0x004,
37 AT91_IDR = 0x008,
38 AT91_IMR = 0x00C,
39 AT91_SR = 0x010,
40 AT91_BR = 0x014,
41 AT91_TIM = 0x018,
42 AT91_TIMESTP = 0x01C,
43 AT91_ECR = 0x020,
44 AT91_TCR = 0x024,
45 AT91_ACR = 0x028,
46};
47
48/* Mailbox registers (0 <= i <= 15) */
49#define AT91_MMR(i) ((enum at91_reg)(0x200 + ((i) * 0x20)))
50#define AT91_MAM(i) ((enum at91_reg)(0x204 + ((i) * 0x20)))
51#define AT91_MID(i) ((enum at91_reg)(0x208 + ((i) * 0x20)))
52#define AT91_MFID(i) ((enum at91_reg)(0x20C + ((i) * 0x20)))
53#define AT91_MSR(i) ((enum at91_reg)(0x210 + ((i) * 0x20)))
54#define AT91_MDL(i) ((enum at91_reg)(0x214 + ((i) * 0x20)))
55#define AT91_MDH(i) ((enum at91_reg)(0x218 + ((i) * 0x20)))
56#define AT91_MCR(i) ((enum at91_reg)(0x21C + ((i) * 0x20)))
57
58/* Register bits */
59#define AT91_MR_CANEN BIT(0)
60#define AT91_MR_LPM BIT(1)
61#define AT91_MR_ABM BIT(2)
62#define AT91_MR_OVL BIT(3)
63#define AT91_MR_TEOF BIT(4)
64#define AT91_MR_TTM BIT(5)
65#define AT91_MR_TIMFRZ BIT(6)
66#define AT91_MR_DRPT BIT(7)
67
68#define AT91_SR_RBSY BIT(29)
69#define AT91_SR_TBSY BIT(30)
70#define AT91_SR_OVLSY BIT(31)
71
72#define AT91_BR_PHASE2_MASK GENMASK(2, 0)
73#define AT91_BR_PHASE1_MASK GENMASK(6, 4)
74#define AT91_BR_PROPAG_MASK GENMASK(10, 8)
75#define AT91_BR_SJW_MASK GENMASK(13, 12)
76#define AT91_BR_BRP_MASK GENMASK(22, 16)
77#define AT91_BR_SMP BIT(24)
78
79#define AT91_TIM_TIMER_MASK GENMASK(15, 0)
80
81#define AT91_ECR_REC_MASK GENMASK(8, 0)
82#define AT91_ECR_TEC_MASK GENMASK(23, 16)
83
84#define AT91_TCR_TIMRST BIT(31)
85
86#define AT91_MMR_MTIMEMARK_MASK GENMASK(15, 0)
87#define AT91_MMR_PRIOR_MASK GENMASK(19, 16)
88#define AT91_MMR_MOT_MASK GENMASK(26, 24)
89
90#define AT91_MID_MIDVB_MASK GENMASK(17, 0)
91#define AT91_MID_MIDVA_MASK GENMASK(28, 18)
92#define AT91_MID_MIDE BIT(29)
93
94#define AT91_MSR_MTIMESTAMP_MASK GENMASK(15, 0)
95#define AT91_MSR_MDLC_MASK GENMASK(19, 16)
96#define AT91_MSR_MRTR BIT(20)
97#define AT91_MSR_MABT BIT(22)
98#define AT91_MSR_MRDY BIT(23)
99#define AT91_MSR_MMI BIT(24)
100
101#define AT91_MCR_MDLC_MASK GENMASK(19, 16)
102#define AT91_MCR_MRTR BIT(20)
103#define AT91_MCR_MACR BIT(22)
104#define AT91_MCR_MTCR BIT(23)
105
106/* Mailbox Modes */
107enum at91_mb_mode {
108 AT91_MB_MODE_DISABLED = 0,
109 AT91_MB_MODE_RX = 1,
110 AT91_MB_MODE_RX_OVRWR = 2,
111 AT91_MB_MODE_TX = 3,
112 AT91_MB_MODE_CONSUMER = 4,
113 AT91_MB_MODE_PRODUCER = 5,
114};
115
116/* Interrupt mask bits */
117#define AT91_IRQ_ERRA BIT(16)
118#define AT91_IRQ_WARN BIT(17)
119#define AT91_IRQ_ERRP BIT(18)
120#define AT91_IRQ_BOFF BIT(19)
121#define AT91_IRQ_SLEEP BIT(20)
122#define AT91_IRQ_WAKEUP BIT(21)
123#define AT91_IRQ_TOVF BIT(22)
124#define AT91_IRQ_TSTP BIT(23)
125#define AT91_IRQ_CERR BIT(24)
126#define AT91_IRQ_SERR BIT(25)
127#define AT91_IRQ_AERR BIT(26)
128#define AT91_IRQ_FERR BIT(27)
129#define AT91_IRQ_BERR BIT(28)
130
131#define AT91_IRQ_ERR_ALL (0x1fff0000)
132#define AT91_IRQ_ERR_FRAME (AT91_IRQ_CERR | AT91_IRQ_SERR | \
133 AT91_IRQ_AERR | AT91_IRQ_FERR | AT91_IRQ_BERR)
134#define AT91_IRQ_ERR_LINE (AT91_IRQ_ERRA | AT91_IRQ_WARN | \
135 AT91_IRQ_ERRP | AT91_IRQ_BOFF)
136
137#define AT91_IRQ_ALL (0x1fffffff)
138
139enum at91_devtype {
140 AT91_DEVTYPE_SAM9263,
141 AT91_DEVTYPE_SAM9X5,
142};
143
144struct at91_devtype_data {
145 unsigned int rx_first;
146 unsigned int rx_last;
147 unsigned int tx_shift;
148 enum at91_devtype type;
149};
150
151struct at91_priv {
152 struct can_priv can; /* must be the first member! */
153 struct can_rx_offload offload;
154 struct phy *transceiver;
155
156 void __iomem *reg_base;
157
158 unsigned int tx_head;
159 unsigned int tx_tail;
160 struct at91_devtype_data devtype_data;
161
162 struct clk *clk;
163 struct at91_can_data *pdata;
164
165 canid_t mb0_id;
166};
167
168static inline struct at91_priv *rx_offload_to_priv(struct can_rx_offload *offload)
169{
170 return container_of(offload, struct at91_priv, offload);
171}
172
173static const struct at91_devtype_data at91_at91sam9263_data = {
174 .rx_first = 1,
175 .rx_last = 11,
176 .tx_shift = 2,
177 .type = AT91_DEVTYPE_SAM9263,
178};
179
180static const struct at91_devtype_data at91_at91sam9x5_data = {
181 .rx_first = 0,
182 .rx_last = 5,
183 .tx_shift = 1,
184 .type = AT91_DEVTYPE_SAM9X5,
185};
186
187static const struct can_bittiming_const at91_bittiming_const = {
188 .name = KBUILD_MODNAME,
189 .tseg1_min = 4,
190 .tseg1_max = 16,
191 .tseg2_min = 2,
192 .tseg2_max = 8,
193 .sjw_max = 4,
194 .brp_min = 2,
195 .brp_max = 128,
196 .brp_inc = 1,
197};
198
199#define AT91_IS(_model) \
200static inline int __maybe_unused at91_is_sam##_model(const struct at91_priv *priv) \
201{ \
202 return priv->devtype_data.type == AT91_DEVTYPE_SAM##_model; \
203}
204
205AT91_IS(9263);
206AT91_IS(9X5);
207
208static inline unsigned int get_mb_rx_first(const struct at91_priv *priv)
209{
210 return priv->devtype_data.rx_first;
211}
212
213static inline unsigned int get_mb_rx_last(const struct at91_priv *priv)
214{
215 return priv->devtype_data.rx_last;
216}
217
218static inline unsigned int get_mb_tx_shift(const struct at91_priv *priv)
219{
220 return priv->devtype_data.tx_shift;
221}
222
223static inline unsigned int get_mb_tx_num(const struct at91_priv *priv)
224{
225 return 1 << get_mb_tx_shift(priv);
226}
227
228static inline unsigned int get_mb_tx_first(const struct at91_priv *priv)
229{
230 return get_mb_rx_last(priv) + 1;
231}
232
233static inline unsigned int get_mb_tx_last(const struct at91_priv *priv)
234{
235 return get_mb_tx_first(priv) + get_mb_tx_num(priv) - 1;
236}
237
238static inline unsigned int get_head_prio_shift(const struct at91_priv *priv)
239{
240 return get_mb_tx_shift(priv);
241}
242
243static inline unsigned int get_head_prio_mask(const struct at91_priv *priv)
244{
245 return 0xf << get_mb_tx_shift(priv);
246}
247
248static inline unsigned int get_head_mb_mask(const struct at91_priv *priv)
249{
250 return AT91_MB_MASK(get_mb_tx_shift(priv));
251}
252
253static inline unsigned int get_head_mask(const struct at91_priv *priv)
254{
255 return get_head_mb_mask(priv) | get_head_prio_mask(priv);
256}
257
258static inline unsigned int get_irq_mb_rx(const struct at91_priv *priv)
259{
260 return AT91_MB_MASK(get_mb_rx_last(priv) + 1) &
261 ~AT91_MB_MASK(get_mb_rx_first(priv));
262}
263
264static inline unsigned int get_irq_mb_tx(const struct at91_priv *priv)
265{
266 return AT91_MB_MASK(get_mb_tx_last(priv) + 1) &
267 ~AT91_MB_MASK(get_mb_tx_first(priv));
268}
269
270static inline unsigned int get_tx_head_mb(const struct at91_priv *priv)
271{
272 return (priv->tx_head & get_head_mb_mask(priv)) + get_mb_tx_first(priv);
273}
274
275static inline unsigned int get_tx_head_prio(const struct at91_priv *priv)
276{
277 return (priv->tx_head >> get_head_prio_shift(priv)) & 0xf;
278}
279
280static inline unsigned int get_tx_tail_mb(const struct at91_priv *priv)
281{
282 return (priv->tx_tail & get_head_mb_mask(priv)) + get_mb_tx_first(priv);
283}
284
285static inline u32 at91_read(const struct at91_priv *priv, enum at91_reg reg)
286{
287 return readl_relaxed(priv->reg_base + reg);
288}
289
290static inline void at91_write(const struct at91_priv *priv, enum at91_reg reg,
291 u32 value)
292{
293 writel_relaxed(value, priv->reg_base + reg);
294}
295
296static inline void set_mb_mode_prio(const struct at91_priv *priv,
297 unsigned int mb, enum at91_mb_mode mode,
298 u8 prio)
299{
300 const u32 reg_mmr = FIELD_PREP(AT91_MMR_MOT_MASK, mode) |
301 FIELD_PREP(AT91_MMR_PRIOR_MASK, prio);
302
303 at91_write(priv, AT91_MMR(mb), value: reg_mmr);
304}
305
306static inline void set_mb_mode(const struct at91_priv *priv, unsigned int mb,
307 enum at91_mb_mode mode)
308{
309 set_mb_mode_prio(priv, mb, mode, prio: 0);
310}
311
312static inline u32 at91_can_id_to_reg_mid(canid_t can_id)
313{
314 u32 reg_mid;
315
316 if (can_id & CAN_EFF_FLAG)
317 reg_mid = FIELD_PREP(AT91_MID_MIDVA_MASK | AT91_MID_MIDVB_MASK, can_id) |
318 AT91_MID_MIDE;
319 else
320 reg_mid = FIELD_PREP(AT91_MID_MIDVA_MASK, can_id);
321
322 return reg_mid;
323}
324
325static void at91_setup_mailboxes(struct net_device *dev)
326{
327 struct at91_priv *priv = netdev_priv(dev);
328 unsigned int i;
329 u32 reg_mid;
330
331 /* Due to a chip bug (errata 50.2.6.3 & 50.3.5.3) the first
332 * mailbox is disabled. The next mailboxes are used as a
333 * reception FIFO. The last of the RX mailboxes is configured with
334 * overwrite option. The overwrite flag indicates a FIFO
335 * overflow.
336 */
337 reg_mid = at91_can_id_to_reg_mid(can_id: priv->mb0_id);
338 for (i = 0; i < get_mb_rx_first(priv); i++) {
339 set_mb_mode(priv, mb: i, mode: AT91_MB_MODE_DISABLED);
340 at91_write(priv, AT91_MID(i), value: reg_mid);
341 at91_write(priv, AT91_MCR(i), value: 0x0); /* clear dlc */
342 }
343
344 for (i = get_mb_rx_first(priv); i < get_mb_rx_last(priv); i++)
345 set_mb_mode(priv, mb: i, mode: AT91_MB_MODE_RX);
346 set_mb_mode(priv, mb: get_mb_rx_last(priv), mode: AT91_MB_MODE_RX_OVRWR);
347
348 /* reset acceptance mask and id register */
349 for (i = get_mb_rx_first(priv); i <= get_mb_rx_last(priv); i++) {
350 at91_write(priv, AT91_MAM(i), value: 0x0);
351 at91_write(priv, AT91_MID(i), AT91_MID_MIDE);
352 }
353
354 /* The last mailboxes are used for transmitting. */
355 for (i = get_mb_tx_first(priv); i <= get_mb_tx_last(priv); i++)
356 set_mb_mode_prio(priv, mb: i, mode: AT91_MB_MODE_TX, prio: 0);
357
358 /* Reset tx helper pointers */
359 priv->tx_head = priv->tx_tail = 0;
360}
361
362static int at91_set_bittiming(struct net_device *dev)
363{
364 const struct at91_priv *priv = netdev_priv(dev);
365 const struct can_bittiming *bt = &priv->can.bittiming;
366 u32 reg_br = 0;
367
368 if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
369 reg_br |= AT91_BR_SMP;
370
371 reg_br |= FIELD_PREP(AT91_BR_BRP_MASK, bt->brp - 1) |
372 FIELD_PREP(AT91_BR_SJW_MASK, bt->sjw - 1) |
373 FIELD_PREP(AT91_BR_PROPAG_MASK, bt->prop_seg - 1) |
374 FIELD_PREP(AT91_BR_PHASE1_MASK, bt->phase_seg1 - 1) |
375 FIELD_PREP(AT91_BR_PHASE2_MASK, bt->phase_seg2 - 1);
376
377 netdev_dbg(dev, "writing AT91_BR: 0x%08x\n", reg_br);
378
379 at91_write(priv, reg: AT91_BR, value: reg_br);
380
381 return 0;
382}
383
384static int at91_get_berr_counter(const struct net_device *dev,
385 struct can_berr_counter *bec)
386{
387 const struct at91_priv *priv = netdev_priv(dev);
388 u32 reg_ecr = at91_read(priv, reg: AT91_ECR);
389
390 bec->rxerr = FIELD_GET(AT91_ECR_REC_MASK, reg_ecr);
391 bec->txerr = FIELD_GET(AT91_ECR_TEC_MASK, reg_ecr);
392
393 return 0;
394}
395
396static void at91_chip_start(struct net_device *dev)
397{
398 struct at91_priv *priv = netdev_priv(dev);
399 u32 reg_mr, reg_ier;
400
401 /* disable interrupts */
402 at91_write(priv, reg: AT91_IDR, AT91_IRQ_ALL);
403
404 /* disable chip */
405 reg_mr = at91_read(priv, reg: AT91_MR);
406 at91_write(priv, reg: AT91_MR, value: reg_mr & ~AT91_MR_CANEN);
407
408 at91_set_bittiming(dev);
409 at91_setup_mailboxes(dev);
410
411 /* enable chip */
412 if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
413 reg_mr = AT91_MR_CANEN | AT91_MR_ABM;
414 else
415 reg_mr = AT91_MR_CANEN;
416 at91_write(priv, reg: AT91_MR, value: reg_mr);
417
418 priv->can.state = CAN_STATE_ERROR_ACTIVE;
419
420 /* Dummy read to clear latched line error interrupts on
421 * sam9x5 and newer SoCs.
422 */
423 at91_read(priv, reg: AT91_SR);
424
425 /* Enable interrupts */
426 reg_ier = get_irq_mb_rx(priv) | AT91_IRQ_ERR_LINE | AT91_IRQ_ERR_FRAME;
427 at91_write(priv, reg: AT91_IER, value: reg_ier);
428}
429
430static void at91_chip_stop(struct net_device *dev, enum can_state state)
431{
432 struct at91_priv *priv = netdev_priv(dev);
433 u32 reg_mr;
434
435 /* Abort any pending TX requests. However this doesn't seem to
436 * work in case of bus-off on sama5d3.
437 */
438 at91_write(priv, reg: AT91_ACR, value: get_irq_mb_tx(priv));
439
440 /* disable interrupts */
441 at91_write(priv, reg: AT91_IDR, AT91_IRQ_ALL);
442
443 reg_mr = at91_read(priv, reg: AT91_MR);
444 at91_write(priv, reg: AT91_MR, value: reg_mr & ~AT91_MR_CANEN);
445
446 priv->can.state = state;
447}
448
449/* theory of operation:
450 *
451 * According to the datasheet priority 0 is the highest priority, 15
452 * is the lowest. If two mailboxes have the same priority level the
453 * message of the mailbox with the lowest number is sent first.
454 *
455 * We use the first TX mailbox (AT91_MB_TX_FIRST) with prio 0, then
456 * the next mailbox with prio 0, and so on, until all mailboxes are
457 * used. Then we start from the beginning with mailbox
458 * AT91_MB_TX_FIRST, but with prio 1, mailbox AT91_MB_TX_FIRST + 1
459 * prio 1. When we reach the last mailbox with prio 15, we have to
460 * stop sending, waiting for all messages to be delivered, then start
461 * again with mailbox AT91_MB_TX_FIRST prio 0.
462 *
463 * We use the priv->tx_head as counter for the next transmission
464 * mailbox, but without the offset AT91_MB_TX_FIRST. The lower bits
465 * encode the mailbox number, the upper 4 bits the mailbox priority:
466 *
467 * priv->tx_head = (prio << get_next_prio_shift(priv)) |
468 * (mb - get_mb_tx_first(priv));
469 *
470 */
471static netdev_tx_t at91_start_xmit(struct sk_buff *skb, struct net_device *dev)
472{
473 struct at91_priv *priv = netdev_priv(dev);
474 struct can_frame *cf = (struct can_frame *)skb->data;
475 unsigned int mb, prio;
476 u32 reg_mid, reg_mcr;
477
478 if (can_dev_dropped_skb(dev, skb))
479 return NETDEV_TX_OK;
480
481 mb = get_tx_head_mb(priv);
482 prio = get_tx_head_prio(priv);
483
484 if (unlikely(!(at91_read(priv, AT91_MSR(mb)) & AT91_MSR_MRDY))) {
485 netif_stop_queue(dev);
486
487 netdev_err(dev, format: "BUG! TX buffer full when queue awake!\n");
488 return NETDEV_TX_BUSY;
489 }
490 reg_mid = at91_can_id_to_reg_mid(can_id: cf->can_id);
491
492 reg_mcr = FIELD_PREP(AT91_MCR_MDLC_MASK, cf->len) |
493 AT91_MCR_MTCR;
494
495 if (cf->can_id & CAN_RTR_FLAG)
496 reg_mcr |= AT91_MCR_MRTR;
497
498 /* disable MB while writing ID (see datasheet) */
499 set_mb_mode(priv, mb, mode: AT91_MB_MODE_DISABLED);
500 at91_write(priv, AT91_MID(mb), value: reg_mid);
501 set_mb_mode_prio(priv, mb, mode: AT91_MB_MODE_TX, prio);
502
503 at91_write(priv, AT91_MDL(mb), value: *(u32 *)(cf->data + 0));
504 at91_write(priv, AT91_MDH(mb), value: *(u32 *)(cf->data + 4));
505
506 /* This triggers transmission */
507 at91_write(priv, AT91_MCR(mb), value: reg_mcr);
508
509 /* _NOTE_: subtract AT91_MB_TX_FIRST offset from mb! */
510 can_put_echo_skb(skb, dev, idx: mb - get_mb_tx_first(priv), frame_len: 0);
511
512 /* we have to stop the queue and deliver all messages in case
513 * of a prio+mb counter wrap around. This is the case if
514 * tx_head buffer prio and mailbox equals 0.
515 *
516 * also stop the queue if next buffer is still in use
517 * (== not ready)
518 */
519 priv->tx_head++;
520 if (!(at91_read(priv, AT91_MSR(get_tx_head_mb(priv))) &
521 AT91_MSR_MRDY) ||
522 (priv->tx_head & get_head_mask(priv)) == 0)
523 netif_stop_queue(dev);
524
525 /* Enable interrupt for this mailbox */
526 at91_write(priv, reg: AT91_IER, value: 1 << mb);
527
528 return NETDEV_TX_OK;
529}
530
531static inline u32 at91_get_timestamp(const struct at91_priv *priv)
532{
533 return at91_read(priv, reg: AT91_TIM);
534}
535
536static inline struct sk_buff *
537at91_alloc_can_err_skb(struct net_device *dev,
538 struct can_frame **cf, u32 *timestamp)
539{
540 const struct at91_priv *priv = netdev_priv(dev);
541
542 *timestamp = at91_get_timestamp(priv);
543
544 return alloc_can_err_skb(dev, cf);
545}
546
547/**
548 * at91_rx_overflow_err - send error frame due to rx overflow
549 * @dev: net device
550 */
551static void at91_rx_overflow_err(struct net_device *dev)
552{
553 struct net_device_stats *stats = &dev->stats;
554 struct sk_buff *skb;
555 struct at91_priv *priv = netdev_priv(dev);
556 struct can_frame *cf;
557 u32 timestamp;
558 int err;
559
560 netdev_dbg(dev, "RX buffer overflow\n");
561 stats->rx_over_errors++;
562 stats->rx_errors++;
563
564 skb = at91_alloc_can_err_skb(dev, cf: &cf, timestamp: &timestamp);
565 if (unlikely(!skb))
566 return;
567
568 cf->can_id |= CAN_ERR_CRTL;
569 cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
570
571 err = can_rx_offload_queue_timestamp(offload: &priv->offload, skb, timestamp);
572 if (err)
573 stats->rx_fifo_errors++;
574}
575
576/**
577 * at91_mailbox_read - read CAN msg from mailbox
578 * @offload: rx-offload
579 * @mb: mailbox number to read from
580 * @timestamp: pointer to 32 bit timestamp
581 * @drop: true indicated mailbox to mark as read and drop frame
582 *
583 * Reads a CAN message from the given mailbox if not empty.
584 */
585static struct sk_buff *at91_mailbox_read(struct can_rx_offload *offload,
586 unsigned int mb, u32 *timestamp,
587 bool drop)
588{
589 const struct at91_priv *priv = rx_offload_to_priv(offload);
590 struct can_frame *cf;
591 struct sk_buff *skb;
592 u32 reg_msr, reg_mid;
593
594 reg_msr = at91_read(priv, AT91_MSR(mb));
595 if (!(reg_msr & AT91_MSR_MRDY))
596 return NULL;
597
598 if (unlikely(drop)) {
599 skb = ERR_PTR(error: -ENOBUFS);
600 goto mark_as_read;
601 }
602
603 skb = alloc_can_skb(dev: offload->dev, cf: &cf);
604 if (unlikely(!skb)) {
605 skb = ERR_PTR(error: -ENOMEM);
606 goto mark_as_read;
607 }
608
609 reg_mid = at91_read(priv, AT91_MID(mb));
610 if (reg_mid & AT91_MID_MIDE)
611 cf->can_id = FIELD_GET(AT91_MID_MIDVA_MASK | AT91_MID_MIDVB_MASK, reg_mid) |
612 CAN_EFF_FLAG;
613 else
614 cf->can_id = FIELD_GET(AT91_MID_MIDVA_MASK, reg_mid);
615
616 /* extend timestamp to full 32 bit */
617 *timestamp = FIELD_GET(AT91_MSR_MTIMESTAMP_MASK, reg_msr) << 16;
618
619 cf->len = can_cc_dlc2len(FIELD_GET(AT91_MSR_MDLC_MASK, reg_msr));
620
621 if (reg_msr & AT91_MSR_MRTR) {
622 cf->can_id |= CAN_RTR_FLAG;
623 } else {
624 *(u32 *)(cf->data + 0) = at91_read(priv, AT91_MDL(mb));
625 *(u32 *)(cf->data + 4) = at91_read(priv, AT91_MDH(mb));
626 }
627
628 /* allow RX of extended frames */
629 at91_write(priv, AT91_MID(mb), AT91_MID_MIDE);
630
631 if (unlikely(mb == get_mb_rx_last(priv) && reg_msr & AT91_MSR_MMI))
632 at91_rx_overflow_err(dev: offload->dev);
633
634 mark_as_read:
635 at91_write(priv, AT91_MCR(mb), AT91_MCR_MTCR);
636
637 return skb;
638}
639
640/* theory of operation:
641 *
642 * priv->tx_tail holds the number of the oldest can_frame put for
643 * transmission into the hardware, but not yet ACKed by the CAN tx
644 * complete IRQ.
645 *
646 * We iterate from priv->tx_tail to priv->tx_head and check if the
647 * packet has been transmitted, echo it back to the CAN framework. If
648 * we discover a not yet transmitted package, stop looking for more.
649 *
650 */
651static void at91_irq_tx(struct net_device *dev, u32 reg_sr)
652{
653 struct at91_priv *priv = netdev_priv(dev);
654 u32 reg_msr;
655 unsigned int mb;
656
657 for (/* nix */; (priv->tx_head - priv->tx_tail) > 0; priv->tx_tail++) {
658 mb = get_tx_tail_mb(priv);
659
660 /* no event in mailbox? */
661 if (!(reg_sr & (1 << mb)))
662 break;
663
664 /* Disable irq for this TX mailbox */
665 at91_write(priv, reg: AT91_IDR, value: 1 << mb);
666
667 /* only echo if mailbox signals us a transfer
668 * complete (MSR_MRDY). Otherwise it's a tansfer
669 * abort. "can_bus_off()" takes care about the skbs
670 * parked in the echo queue.
671 */
672 reg_msr = at91_read(priv, AT91_MSR(mb));
673 if (unlikely(!(reg_msr & AT91_MSR_MRDY &&
674 ~reg_msr & AT91_MSR_MABT)))
675 continue;
676
677 /* _NOTE_: subtract AT91_MB_TX_FIRST offset from mb! */
678 dev->stats.tx_bytes +=
679 can_get_echo_skb(dev, idx: mb - get_mb_tx_first(priv), NULL);
680 dev->stats.tx_packets++;
681 }
682
683 /* restart queue if we don't have a wrap around but restart if
684 * we get a TX int for the last can frame directly before a
685 * wrap around.
686 */
687 if ((priv->tx_head & get_head_mask(priv)) != 0 ||
688 (priv->tx_tail & get_head_mask(priv)) == 0)
689 netif_wake_queue(dev);
690}
691
692static void at91_irq_err_line(struct net_device *dev, const u32 reg_sr)
693{
694 struct net_device_stats *stats = &dev->stats;
695 enum can_state new_state, rx_state, tx_state;
696 struct at91_priv *priv = netdev_priv(dev);
697 struct can_berr_counter bec;
698 struct sk_buff *skb;
699 struct can_frame *cf;
700 u32 timestamp;
701 int err;
702
703 at91_get_berr_counter(dev, bec: &bec);
704 can_state_get_by_berr_counter(dev, bec: &bec, tx_state: &tx_state, rx_state: &rx_state);
705
706 /* The chip automatically recovers from bus-off after 128
707 * occurrences of 11 consecutive recessive bits.
708 *
709 * After an auto-recovered bus-off, the error counters no
710 * longer reflect this fact. On the sam9263 the state bits in
711 * the SR register show the current state (based on the
712 * current error counters), while on sam9x5 and newer SoCs
713 * these bits are latched.
714 *
715 * Take any latched bus-off information from the SR register
716 * into account when calculating the CAN new state, to start
717 * the standard CAN bus off handling.
718 */
719 if (reg_sr & AT91_IRQ_BOFF)
720 rx_state = CAN_STATE_BUS_OFF;
721
722 new_state = max(tx_state, rx_state);
723
724 /* state hasn't changed */
725 if (likely(new_state == priv->can.state))
726 return;
727
728 /* The skb allocation might fail, but can_change_state()
729 * handles cf == NULL.
730 */
731 skb = at91_alloc_can_err_skb(dev, cf: &cf, timestamp: &timestamp);
732 can_change_state(dev, cf, tx_state, rx_state);
733
734 if (new_state == CAN_STATE_BUS_OFF) {
735 at91_chip_stop(dev, state: CAN_STATE_BUS_OFF);
736 can_bus_off(dev);
737 }
738
739 if (unlikely(!skb))
740 return;
741
742 if (new_state != CAN_STATE_BUS_OFF) {
743 cf->can_id |= CAN_ERR_CNT;
744 cf->data[6] = bec.txerr;
745 cf->data[7] = bec.rxerr;
746 }
747
748 err = can_rx_offload_queue_timestamp(offload: &priv->offload, skb, timestamp);
749 if (err)
750 stats->rx_fifo_errors++;
751}
752
753static void at91_irq_err_frame(struct net_device *dev, const u32 reg_sr)
754{
755 struct net_device_stats *stats = &dev->stats;
756 struct at91_priv *priv = netdev_priv(dev);
757 struct can_frame *cf;
758 struct sk_buff *skb;
759 u32 timestamp;
760 int err;
761
762 priv->can.can_stats.bus_error++;
763
764 skb = at91_alloc_can_err_skb(dev, cf: &cf, timestamp: &timestamp);
765 if (cf)
766 cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
767
768 if (reg_sr & AT91_IRQ_CERR) {
769 netdev_dbg(dev, "CRC error\n");
770
771 stats->rx_errors++;
772 if (cf)
773 cf->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
774 }
775
776 if (reg_sr & AT91_IRQ_SERR) {
777 netdev_dbg(dev, "Stuff error\n");
778
779 stats->rx_errors++;
780 if (cf)
781 cf->data[2] |= CAN_ERR_PROT_STUFF;
782 }
783
784 if (reg_sr & AT91_IRQ_AERR) {
785 netdev_dbg(dev, "NACK error\n");
786
787 stats->tx_errors++;
788 if (cf) {
789 cf->can_id |= CAN_ERR_ACK;
790 cf->data[2] |= CAN_ERR_PROT_TX;
791 }
792 }
793
794 if (reg_sr & AT91_IRQ_FERR) {
795 netdev_dbg(dev, "Format error\n");
796
797 stats->rx_errors++;
798 if (cf)
799 cf->data[2] |= CAN_ERR_PROT_FORM;
800 }
801
802 if (reg_sr & AT91_IRQ_BERR) {
803 netdev_dbg(dev, "Bit error\n");
804
805 stats->tx_errors++;
806 if (cf)
807 cf->data[2] |= CAN_ERR_PROT_TX | CAN_ERR_PROT_BIT;
808 }
809
810 if (!cf)
811 return;
812
813 err = can_rx_offload_queue_timestamp(offload: &priv->offload, skb, timestamp);
814 if (err)
815 stats->rx_fifo_errors++;
816}
817
818static u32 at91_get_reg_sr_rx(const struct at91_priv *priv, u32 *reg_sr_p)
819{
820 const u32 reg_sr = at91_read(priv, reg: AT91_SR);
821
822 *reg_sr_p |= reg_sr;
823
824 return reg_sr & get_irq_mb_rx(priv);
825}
826
827static irqreturn_t at91_irq(int irq, void *dev_id)
828{
829 struct net_device *dev = dev_id;
830 struct at91_priv *priv = netdev_priv(dev);
831 irqreturn_t handled = IRQ_NONE;
832 u32 reg_sr = 0, reg_sr_rx;
833 int ret;
834
835 /* Receive interrupt
836 * Some bits of AT91_SR are cleared on read, keep them in reg_sr.
837 */
838 while ((reg_sr_rx = at91_get_reg_sr_rx(priv, reg_sr_p: &reg_sr))) {
839 ret = can_rx_offload_irq_offload_timestamp(offload: &priv->offload,
840 reg: reg_sr_rx);
841 handled = IRQ_HANDLED;
842
843 if (!ret)
844 break;
845 }
846
847 /* Transmission complete interrupt */
848 if (reg_sr & get_irq_mb_tx(priv)) {
849 at91_irq_tx(dev, reg_sr);
850 handled = IRQ_HANDLED;
851 }
852
853 /* Line Error interrupt */
854 if (reg_sr & AT91_IRQ_ERR_LINE ||
855 priv->can.state > CAN_STATE_ERROR_ACTIVE) {
856 at91_irq_err_line(dev, reg_sr);
857 handled = IRQ_HANDLED;
858 }
859
860 /* Frame Error Interrupt */
861 if (reg_sr & AT91_IRQ_ERR_FRAME) {
862 at91_irq_err_frame(dev, reg_sr);
863 handled = IRQ_HANDLED;
864 }
865
866 if (handled)
867 can_rx_offload_irq_finish(offload: &priv->offload);
868
869 return handled;
870}
871
872static int at91_open(struct net_device *dev)
873{
874 struct at91_priv *priv = netdev_priv(dev);
875 int err;
876
877 err = phy_power_on(phy: priv->transceiver);
878 if (err)
879 return err;
880
881 /* check or determine and set bittime */
882 err = open_candev(dev);
883 if (err)
884 goto out_phy_power_off;
885
886 err = clk_prepare_enable(clk: priv->clk);
887 if (err)
888 goto out_close_candev;
889
890 /* register interrupt handler */
891 err = request_irq(irq: dev->irq, handler: at91_irq, IRQF_SHARED,
892 name: dev->name, dev);
893 if (err)
894 goto out_clock_disable_unprepare;
895
896 /* start chip and queuing */
897 at91_chip_start(dev);
898 can_rx_offload_enable(offload: &priv->offload);
899 netif_start_queue(dev);
900
901 return 0;
902
903 out_clock_disable_unprepare:
904 clk_disable_unprepare(clk: priv->clk);
905 out_close_candev:
906 close_candev(dev);
907 out_phy_power_off:
908 phy_power_off(phy: priv->transceiver);
909
910 return err;
911}
912
913/* stop CAN bus activity
914 */
915static int at91_close(struct net_device *dev)
916{
917 struct at91_priv *priv = netdev_priv(dev);
918
919 netif_stop_queue(dev);
920 can_rx_offload_disable(offload: &priv->offload);
921 at91_chip_stop(dev, state: CAN_STATE_STOPPED);
922
923 free_irq(dev->irq, dev);
924 clk_disable_unprepare(clk: priv->clk);
925 phy_power_off(phy: priv->transceiver);
926
927 close_candev(dev);
928
929 return 0;
930}
931
932static int at91_set_mode(struct net_device *dev, enum can_mode mode)
933{
934 switch (mode) {
935 case CAN_MODE_START:
936 at91_chip_start(dev);
937 netif_wake_queue(dev);
938 break;
939
940 default:
941 return -EOPNOTSUPP;
942 }
943
944 return 0;
945}
946
947static const struct net_device_ops at91_netdev_ops = {
948 .ndo_open = at91_open,
949 .ndo_stop = at91_close,
950 .ndo_start_xmit = at91_start_xmit,
951 .ndo_change_mtu = can_change_mtu,
952};
953
954static const struct ethtool_ops at91_ethtool_ops = {
955 .get_ts_info = ethtool_op_get_ts_info,
956};
957
958static ssize_t mb0_id_show(struct device *dev,
959 struct device_attribute *attr, char *buf)
960{
961 struct at91_priv *priv = netdev_priv(to_net_dev(dev));
962
963 if (priv->mb0_id & CAN_EFF_FLAG)
964 return sysfs_emit(buf, fmt: "0x%08x\n", priv->mb0_id);
965 else
966 return sysfs_emit(buf, fmt: "0x%03x\n", priv->mb0_id);
967}
968
969static ssize_t mb0_id_store(struct device *dev,
970 struct device_attribute *attr,
971 const char *buf, size_t count)
972{
973 struct net_device *ndev = to_net_dev(dev);
974 struct at91_priv *priv = netdev_priv(dev: ndev);
975 unsigned long can_id;
976 ssize_t ret;
977 int err;
978
979 rtnl_lock();
980
981 if (ndev->flags & IFF_UP) {
982 ret = -EBUSY;
983 goto out;
984 }
985
986 err = kstrtoul(s: buf, base: 0, res: &can_id);
987 if (err) {
988 ret = err;
989 goto out;
990 }
991
992 if (can_id & CAN_EFF_FLAG)
993 can_id &= CAN_EFF_MASK | CAN_EFF_FLAG;
994 else
995 can_id &= CAN_SFF_MASK;
996
997 priv->mb0_id = can_id;
998 ret = count;
999
1000 out:
1001 rtnl_unlock();
1002 return ret;
1003}
1004
1005static DEVICE_ATTR_RW(mb0_id);
1006
1007static struct attribute *at91_sysfs_attrs[] = {
1008 &dev_attr_mb0_id.attr,
1009 NULL,
1010};
1011
1012static const struct attribute_group at91_sysfs_attr_group = {
1013 .attrs = at91_sysfs_attrs,
1014};
1015
1016#if defined(CONFIG_OF)
1017static const struct of_device_id at91_can_dt_ids[] = {
1018 {
1019 .compatible = "atmel,at91sam9x5-can",
1020 .data = &at91_at91sam9x5_data,
1021 }, {
1022 .compatible = "atmel,at91sam9263-can",
1023 .data = &at91_at91sam9263_data,
1024 }, {
1025 /* sentinel */
1026 }
1027};
1028MODULE_DEVICE_TABLE(of, at91_can_dt_ids);
1029#endif
1030
1031static const struct at91_devtype_data *at91_can_get_driver_data(struct platform_device *pdev)
1032{
1033 if (pdev->dev.of_node) {
1034 const struct of_device_id *match;
1035
1036 match = of_match_node(matches: at91_can_dt_ids, node: pdev->dev.of_node);
1037 if (!match) {
1038 dev_err(&pdev->dev, "no matching node found in dtb\n");
1039 return NULL;
1040 }
1041 return (const struct at91_devtype_data *)match->data;
1042 }
1043 return (const struct at91_devtype_data *)
1044 platform_get_device_id(pdev)->driver_data;
1045}
1046
1047static int at91_can_probe(struct platform_device *pdev)
1048{
1049 const struct at91_devtype_data *devtype_data;
1050 struct phy *transceiver;
1051 struct net_device *dev;
1052 struct at91_priv *priv;
1053 struct resource *res;
1054 struct clk *clk;
1055 void __iomem *addr;
1056 int err, irq;
1057
1058 devtype_data = at91_can_get_driver_data(pdev);
1059 if (!devtype_data) {
1060 dev_err(&pdev->dev, "no driver data\n");
1061 err = -ENODEV;
1062 goto exit;
1063 }
1064
1065 clk = clk_get(dev: &pdev->dev, id: "can_clk");
1066 if (IS_ERR(ptr: clk)) {
1067 dev_err(&pdev->dev, "no clock defined\n");
1068 err = -ENODEV;
1069 goto exit;
1070 }
1071
1072 res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
1073 irq = platform_get_irq(pdev, 0);
1074 if (!res || irq <= 0) {
1075 err = -ENODEV;
1076 goto exit_put;
1077 }
1078
1079 if (!request_mem_region(res->start,
1080 resource_size(res),
1081 pdev->name)) {
1082 err = -EBUSY;
1083 goto exit_put;
1084 }
1085
1086 addr = ioremap(offset: res->start, size: resource_size(res));
1087 if (!addr) {
1088 err = -ENOMEM;
1089 goto exit_release;
1090 }
1091
1092 dev = alloc_candev(sizeof(struct at91_priv),
1093 1 << devtype_data->tx_shift);
1094 if (!dev) {
1095 err = -ENOMEM;
1096 goto exit_iounmap;
1097 }
1098
1099 transceiver = devm_phy_optional_get(dev: &pdev->dev, NULL);
1100 if (IS_ERR(ptr: transceiver)) {
1101 err = PTR_ERR(ptr: transceiver);
1102 dev_err_probe(dev: &pdev->dev, err, fmt: "failed to get phy\n");
1103 goto exit_iounmap;
1104 }
1105
1106 dev->netdev_ops = &at91_netdev_ops;
1107 dev->ethtool_ops = &at91_ethtool_ops;
1108 dev->irq = irq;
1109 dev->flags |= IFF_ECHO;
1110
1111 priv = netdev_priv(dev);
1112 priv->can.clock.freq = clk_get_rate(clk);
1113 priv->can.bittiming_const = &at91_bittiming_const;
1114 priv->can.do_set_mode = at91_set_mode;
1115 priv->can.do_get_berr_counter = at91_get_berr_counter;
1116 priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
1117 CAN_CTRLMODE_LISTENONLY;
1118 priv->reg_base = addr;
1119 priv->devtype_data = *devtype_data;
1120 priv->clk = clk;
1121 priv->pdata = dev_get_platdata(dev: &pdev->dev);
1122 priv->mb0_id = 0x7ff;
1123 priv->offload.mailbox_read = at91_mailbox_read;
1124 priv->offload.mb_first = devtype_data->rx_first;
1125 priv->offload.mb_last = devtype_data->rx_last;
1126
1127 can_rx_offload_add_timestamp(dev, offload: &priv->offload);
1128
1129 if (transceiver)
1130 priv->can.bitrate_max = transceiver->attrs.max_link_rate;
1131
1132 if (at91_is_sam9263(priv))
1133 dev->sysfs_groups[0] = &at91_sysfs_attr_group;
1134
1135 platform_set_drvdata(pdev, data: dev);
1136 SET_NETDEV_DEV(dev, &pdev->dev);
1137
1138 err = register_candev(dev);
1139 if (err) {
1140 dev_err(&pdev->dev, "registering netdev failed\n");
1141 goto exit_free;
1142 }
1143
1144 dev_info(&pdev->dev, "device registered (reg_base=%p, irq=%d)\n",
1145 priv->reg_base, dev->irq);
1146
1147 return 0;
1148
1149 exit_free:
1150 free_candev(dev);
1151 exit_iounmap:
1152 iounmap(addr);
1153 exit_release:
1154 release_mem_region(res->start, resource_size(res));
1155 exit_put:
1156 clk_put(clk);
1157 exit:
1158 return err;
1159}
1160
1161static void at91_can_remove(struct platform_device *pdev)
1162{
1163 struct net_device *dev = platform_get_drvdata(pdev);
1164 struct at91_priv *priv = netdev_priv(dev);
1165 struct resource *res;
1166
1167 unregister_netdev(dev);
1168
1169 iounmap(addr: priv->reg_base);
1170
1171 res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
1172 release_mem_region(res->start, resource_size(res));
1173
1174 clk_put(clk: priv->clk);
1175
1176 free_candev(dev);
1177}
1178
1179static const struct platform_device_id at91_can_id_table[] = {
1180 {
1181 .name = "at91sam9x5_can",
1182 .driver_data = (kernel_ulong_t)&at91_at91sam9x5_data,
1183 }, {
1184 .name = "at91_can",
1185 .driver_data = (kernel_ulong_t)&at91_at91sam9263_data,
1186 }, {
1187 /* sentinel */
1188 }
1189};
1190MODULE_DEVICE_TABLE(platform, at91_can_id_table);
1191
1192static struct platform_driver at91_can_driver = {
1193 .probe = at91_can_probe,
1194 .remove = at91_can_remove,
1195 .driver = {
1196 .name = KBUILD_MODNAME,
1197 .of_match_table = of_match_ptr(at91_can_dt_ids),
1198 },
1199 .id_table = at91_can_id_table,
1200};
1201
1202module_platform_driver(at91_can_driver);
1203
1204MODULE_AUTHOR("Marc Kleine-Budde <mkl@pengutronix.de>");
1205MODULE_LICENSE("GPL v2");
1206MODULE_DESCRIPTION(KBUILD_MODNAME " CAN netdevice driver");
1207

source code of linux/drivers/net/can/at91_can.c