[PATCH 0/3] can: xilinx_can: CAN FD core support

[PATCH 0/3] can: xilinx_can: CAN FD core support

[Anssi Hannula]

Hi all,

This patchset adds support for the Xilinx CAN FD core to the
xilinx_can driver.

This is on top of my previous patches:
- 2018-01-26 "[PATCH 0/5 resend] can: various fixes to xilinx_can driver"
- 2018-01-29 "[PATCH] can: xilinx_can: use can_change_state()"
- 2018-05-18 "[PATCH 0/4] can: fixes to xilinx_can".

All the changes are also here, rebased on top of linux-can master
(trivial rebase as there have been no other changes to the driver
recently):
https://github.com/anssih/linux/commits/e7a8b6dcf4b6ee2b69c8f2f8f1fd43f97d008b95

Let me know if you want me to post them again.

Anssi Hannula (3):
      dt-bindings: can: xilinx_can: add Xilinx CAN FD bindings
      can: xilinx_can: refactor code in preparation for CAN FD support
      can: xilinx_can: add support for Xilinx CAN FD core

 Documentation/devicetree/bindings/net/can/xilinx_can.txt |   36 -
 drivers/net/can/xilinx_can.c                             |  480 +++++++++++----
 2 files changed, 399 insertions(+), 117 deletions(-)

-- 
Anssi Hannula / Bitwise Oy

[PATCH 1/3] dt-bindings: can: xilinx_can: add Xilinx CAN FD bindings

[Anssi Hannula]

Add compatible string and new attributes to support the Xilinx CAN FD
core.

Unlike the previously documented Xilinx CAN cores, the CAN FD core has
TX mailboxes instead of TX FIFO, and optionally RX mailboxes instead of
RX FIFO (selected at core generation time, not switchable at runtime).
Add "tx-mailbox-count" and "rx-mailbox-count" to specify the mailbox
counts instead of reusing "tx-fifo-depth" and "rx-fifo-depth". "rx-mode"
attribute is added to allow mailbox mode.

The RX FIFO depth is constant 32, but allow it to be specified via
"rx-fifo-depth" to match DT usage with Zynq CAN (which has constant RX
FIFO of depth of 64).

Signed-off-by: Anssi Hannula <anssi.hannula@bitwise.fi>
Cc: Michal Simek <michal.simek@xilinx.com>

---

Xilinx has an out-of-tree driver that uses the same compatible string
"xlnx,canfd-1.0" but reads the TX mailbox count from "tx-fifo-depth"
and always assumes RX FIFO mode.

I'm not 100% sure if we want to introduce "tx-mailbox-count" and
"rx-mailbox-count" or just do the same and use the "fifo" depth
properties for non-fifo as well.


 .../devicetree/bindings/net/can/xilinx_can.txt     | 36 +++++++++++++++++-----
 1 file changed, 28 insertions(+), 8 deletions(-)

diff --git a/Documentation/devicetree/bindings/net/can/xilinx_can.txt b/Documentation/devicetree/bindings/net/can/xilinx_can.txt
index fe38847..ab14e56 100644
--- a/Documentation/devicetree/bindings/net/can/xilinx_can.txt
+++ b/Documentation/devicetree/bindings/net/can/xilinx_can.txt
@@ -2,20 +2,28 @@ Xilinx Axi CAN/Zynq CANPS controller Device Tree Bindings
 ---------------------------------------------------------
 
 Required properties:
-- compatible		: Should be "xlnx,zynq-can-1.0" for Zynq CAN
-			  controllers and "xlnx,axi-can-1.00.a" for Axi CAN
-			  controllers.
-- reg			: Physical base address and size of the Axi CAN/Zynq
-			  CANPS registers map.
+- compatible		: Should be:
+			  - "xlnx,zynq-can-1.0" for Zynq CAN controllers
+			  - "xlnx,axi-can-1.00.a" for Axi CAN controllers
+			  - "xlnx,canfd-1.0" for CAN FD controllers
+- reg			: Physical base address and size of the controller
+			  registers map.
 - interrupts		: Property with a value describing the interrupt
 			  number.
 - interrupt-parent	: Must be core interrupt controller
 - clock-names		: List of input clock names - "can_clk", "pclk"
-			  (For CANPS), "can_clk" , "s_axi_aclk"(For AXI CAN)
+			  (For CANPS), "can_clk", "s_axi_aclk" (For AXI CAN
+		          and CAN FD)
 			  (See clock bindings for details).
 - clocks		: Clock phandles (see clock bindings for details).
-- tx-fifo-depth		: Can Tx fifo depth.
-- rx-fifo-depth		: Can Rx fifo depth.
+- rx-mode		: Rx mode of a CAN FD controller core: "sequential"
+			  (fifo) or "mailbox" (default: "sequential").
+- tx-fifo-depth		: Can Tx fifo depth (Zynq, Axi CAN).
+- rx-fifo-depth		: Can Rx fifo depth (Zynq, Axi CAN, CAN FD in
+                          sequential Rx mode).
+- tx-mailbox-count	: Can Tx mailbox buffer count (CAN FD).
+- rx-mailbox-count	: Can Rx mailbox buffer count (CAN FD in mailbox Rx
+			  mode).
 
 
 Example:
@@ -42,3 +50,15 @@ For Axi CAN Dts file:
 			tx-fifo-depth = <0x40>;
 			rx-fifo-depth = <0x40>;
 		};
+For CAN FD Dts file:
+	canfd_0: canfd@40000000 {
+			compatible = "xlnx,canfd-1.0";
+			clocks = <&clkc 0>, <&clkc 1>;
+			clock-names = "can_clk", "s_axi_aclk";
+			reg = <0x40000000 0x2000>;
+			interrupt-parent = <&intc>;
+			interrupts = <0 59 1>;
+			rx-mode = "sequential";
+			tx-mailbox-count = <0x20>;
+			rx-fifo-depth = <0x20>;
+		};
-- 
2.8.3

Re: [PATCH 1/3] dt-bindings: can: xilinx_can: add Xilinx CAN FD bindings

[Rob Herring]

On Wed, Jun 27, 2018 at 05:34:12PM +0300, Anssi Hannula wrote:
> Add compatible string and new attributes to support the Xilinx CAN FD
> core.
> 
> Unlike the previously documented Xilinx CAN cores, the CAN FD core has
> TX mailboxes instead of TX FIFO, and optionally RX mailboxes instead of
> RX FIFO (selected at core generation time, not switchable at runtime).
> Add "tx-mailbox-count" and "rx-mailbox-count" to specify the mailbox
> counts instead of reusing "tx-fifo-depth" and "rx-fifo-depth". "rx-mode"
> attribute is added to allow mailbox mode.
> 
> The RX FIFO depth is constant 32, but allow it to be specified via
> "rx-fifo-depth" to match DT usage with Zynq CAN (which has constant RX
> FIFO of depth of 64).
> 
> Signed-off-by: Anssi Hannula <anssi.hannula@bitwise.fi>
> Cc: Michal Simek <michal.simek@xilinx.com>
> 
> ---
> 
> Xilinx has an out-of-tree driver that uses the same compatible string
> "xlnx,canfd-1.0" but reads the TX mailbox count from "tx-fifo-depth"
> and always assumes RX FIFO mode.
> 
> I'm not 100% sure if we want to introduce "tx-mailbox-count" and
> "rx-mailbox-count" or just do the same and use the "fifo" depth
> properties for non-fifo as well.

Don't you need a way to distinguish between rx fifo and mailbox?

> 
> 
>  .../devicetree/bindings/net/can/xilinx_can.txt     | 36 +++++++++++++++++-----
>  1 file changed, 28 insertions(+), 8 deletions(-)
> 
> diff --git a/Documentation/devicetree/bindings/net/can/xilinx_can.txt b/Documentation/devicetree/bindings/net/can/xilinx_can.txt
> index fe38847..ab14e56 100644
> --- a/Documentation/devicetree/bindings/net/can/xilinx_can.txt
> +++ b/Documentation/devicetree/bindings/net/can/xilinx_can.txt
> @@ -2,20 +2,28 @@ Xilinx Axi CAN/Zynq CANPS controller Device Tree Bindings
>  ---------------------------------------------------------
>  
>  Required properties:
> -- compatible		: Should be "xlnx,zynq-can-1.0" for Zynq CAN
> -			  controllers and "xlnx,axi-can-1.00.a" for Axi CAN
> -			  controllers.
> -- reg			: Physical base address and size of the Axi CAN/Zynq
> -			  CANPS registers map.
> +- compatible		: Should be:
> +			  - "xlnx,zynq-can-1.0" for Zynq CAN controllers
> +			  - "xlnx,axi-can-1.00.a" for Axi CAN controllers
> +			  - "xlnx,canfd-1.0" for CAN FD controllers
> +- reg			: Physical base address and size of the controller
> +			  registers map.
>  - interrupts		: Property with a value describing the interrupt
>  			  number.
>  - interrupt-parent	: Must be core interrupt controller
>  - clock-names		: List of input clock names - "can_clk", "pclk"
> -			  (For CANPS), "can_clk" , "s_axi_aclk"(For AXI CAN)
> +			  (For CANPS), "can_clk", "s_axi_aclk" (For AXI CAN

"(For CANPS)" should go on the previous line to be more readable.

> +		          and CAN FD)
>  			  (See clock bindings for details).
>  - clocks		: Clock phandles (see clock bindings for details).
> -- tx-fifo-depth		: Can Tx fifo depth.
> -- rx-fifo-depth		: Can Rx fifo depth.
> +- rx-mode		: Rx mode of a CAN FD controller core: "sequential"
> +			  (fifo) or "mailbox" (default: "sequential").

You can determine this with the presence of the below properties.

> +- tx-fifo-depth		: Can Tx fifo depth (Zynq, Axi CAN).
> +- rx-fifo-depth		: Can Rx fifo depth (Zynq, Axi CAN, CAN FD in
> +                          sequential Rx mode).
> +- tx-mailbox-count	: Can Tx mailbox buffer count (CAN FD).
> +- rx-mailbox-count	: Can Rx mailbox buffer count (CAN FD in mailbox Rx
> +			  mode).
>  
>  
>  Example:
> @@ -42,3 +50,15 @@ For Axi CAN Dts file:
>  			tx-fifo-depth = <0x40>;
>  			rx-fifo-depth = <0x40>;
>  		};
> +For CAN FD Dts file:
> +	canfd_0: canfd@40000000 {
> +			compatible = "xlnx,canfd-1.0";
> +			clocks = <&clkc 0>, <&clkc 1>;
> +			clock-names = "can_clk", "s_axi_aclk";
> +			reg = <0x40000000 0x2000>;
> +			interrupt-parent = <&intc>;
> +			interrupts = <0 59 1>;
> +			rx-mode = "sequential";
> +			tx-mailbox-count = <0x20>;
> +			rx-fifo-depth = <0x20>;
> +		};
> -- 
> 2.8.3
> 

Re: [PATCH 1/3] dt-bindings: can: xilinx_can: add Xilinx CAN FD bindings

[Anssi Hannula]

On 4.7.2018 1:51, Rob Herring wrote:
> On Wed, Jun 27, 2018 at 05:34:12PM +0300, Anssi Hannula wrote:
>> Add compatible string and new attributes to support the Xilinx CAN FD
>> core.
>>
>> Unlike the previously documented Xilinx CAN cores, the CAN FD core has
>> TX mailboxes instead of TX FIFO, and optionally RX mailboxes instead of
>> RX FIFO (selected at core generation time, not switchable at runtime).
>> Add "tx-mailbox-count" and "rx-mailbox-count" to specify the mailbox
>> counts instead of reusing "tx-fifo-depth" and "rx-fifo-depth". "rx-mode"
>> attribute is added to allow mailbox mode.
>>
>> The RX FIFO depth is constant 32, but allow it to be specified via
>> "rx-fifo-depth" to match DT usage with Zynq CAN (which has constant RX
>> FIFO of depth of 64).
>>
>> Signed-off-by: Anssi Hannula <anssi.hannula@bitwise.fi>
>> Cc: Michal Simek <michal.simek@xilinx.com>
>>
>> ---
>>
>> Xilinx has an out-of-tree driver that uses the same compatible string
>> "xlnx,canfd-1.0" but reads the TX mailbox count from "tx-fifo-depth"
>> and always assumes RX FIFO mode.
>>
>> I'm not 100% sure if we want to introduce "tx-mailbox-count" and
>> "rx-mailbox-count" or just do the same and use the "fifo" depth
>> properties for non-fifo as well.
> Don't you need a way to distinguish between rx fifo and mailbox?

Yes, so if we went that way either "rx-mode" would have to be kept or
fifo mode assumed.

>
>>
>>  .../devicetree/bindings/net/can/xilinx_can.txt     | 36 +++++++++++++++++-----
>>  1 file changed, 28 insertions(+), 8 deletions(-)
>>
>> diff --git a/Documentation/devicetree/bindings/net/can/xilinx_can.txt b/Documentation/devicetree/bindings/net/can/xilinx_can.txt
>> index fe38847..ab14e56 100644
>> --- a/Documentation/devicetree/bindings/net/can/xilinx_can.txt
>> +++ b/Documentation/devicetree/bindings/net/can/xilinx_can.txt
>> @@ -2,20 +2,28 @@ Xilinx Axi CAN/Zynq CANPS controller Device Tree Bindings
>>  ---------------------------------------------------------
>>  
>>  Required properties:
>> -- compatible		: Should be "xlnx,zynq-can-1.0" for Zynq CAN
>> -			  controllers and "xlnx,axi-can-1.00.a" for Axi CAN
>> -			  controllers.
>> -- reg			: Physical base address and size of the Axi CAN/Zynq
>> -			  CANPS registers map.
>> +- compatible		: Should be:
>> +			  - "xlnx,zynq-can-1.0" for Zynq CAN controllers
>> +			  - "xlnx,axi-can-1.00.a" for Axi CAN controllers
>> +			  - "xlnx,canfd-1.0" for CAN FD controllers
>> +- reg			: Physical base address and size of the controller
>> +			  registers map.
>>  - interrupts		: Property with a value describing the interrupt
>>  			  number.
>>  - interrupt-parent	: Must be core interrupt controller
>>  - clock-names		: List of input clock names - "can_clk", "pclk"
>> -			  (For CANPS), "can_clk" , "s_axi_aclk"(For AXI CAN)
>> +			  (For CANPS), "can_clk", "s_axi_aclk" (For AXI CAN
> "(For CANPS)" should go on the previous line to be more readable.

OK.

>> +		          and CAN FD)
>>  			  (See clock bindings for details).
>>  - clocks		: Clock phandles (see clock bindings for details).
>> -- tx-fifo-depth		: Can Tx fifo depth.
>> -- rx-fifo-depth		: Can Rx fifo depth.
>> +- rx-mode		: Rx mode of a CAN FD controller core: "sequential"
>> +			  (fifo) or "mailbox" (default: "sequential").
> You can determine this with the presence of the below properties.

Good point, will change.

Thanks.

>> +- tx-fifo-depth		: Can Tx fifo depth (Zynq, Axi CAN).
>> +- rx-fifo-depth		: Can Rx fifo depth (Zynq, Axi CAN, CAN FD in
>> +                          sequential Rx mode).
>> +- tx-mailbox-count	: Can Tx mailbox buffer count (CAN FD).
>> +- rx-mailbox-count	: Can Rx mailbox buffer count (CAN FD in mailbox Rx
>> +			  mode).
>>  
>>  
>>  Example:
>> @@ -42,3 +50,15 @@ For Axi CAN Dts file:
>>  			tx-fifo-depth = <0x40>;
>>  			rx-fifo-depth = <0x40>;
>>  		};
>> +For CAN FD Dts file:
>> +	canfd_0: canfd@40000000 {
>> +			compatible = "xlnx,canfd-1.0";
>> +			clocks = <&clkc 0>, <&clkc 1>;
>> +			clock-names = "can_clk", "s_axi_aclk";
>> +			reg = <0x40000000 0x2000>;
>> +			interrupt-parent = <&intc>;
>> +			interrupts = <0 59 1>;
>> +			rx-mode = "sequential";
>> +			tx-mailbox-count = <0x20>;
>> +			rx-fifo-depth = <0x20>;
>> +		};
>> -- 
>> 2.8.3
>>

-- 
Anssi Hannula / Bitwise Oy
+358 503803997

[PATCH 2/3] can: xilinx_can: refactor code in preparation for CAN FD support

[Anssi Hannula]

Xilinx CAN FD cores are different enough from the previous Zynq and AXI
CAN cores that some refactoring of the driver is needed.

This commit contains most of the required refactoring to existing code
and should not alter behavior on existing supported HW.

The changes are:

- Reading and writing to frame registers is parametrized to allow
  reading/writing a different frame in the future.

- Slightly misleading (as it did not specify *all* the interrupts
  supported by the HW) XCAN_INTR_ALL is replaced with specifying the
  interrupts inline in interrupt enabling code.

- xcan_devtype_data.caps is renamed to xcan_devtype_data.flags to allow
  for flags that define alternative functionality (e.g. mailboxes vs.
  FIFO) instead of purely additive capabilities.

- can_bittiming_const is added to xcan_devtype_data as CAN FD cores will
  have wider setting ranges.

- bus_clk clock name is now determined through xcan_devtype_data instead
  of comparing compatible string in probe().

- xcan_devtype_data is added to xcan_priv to allow flag checks after
  probe().

- XCAN_CAP_WATERMARK is now XCAN_FLAG_TXFEMP. CAN FD cores have
  watermark support but no TXFEMP interrupt, which is what we are
  actually interested in.

- xcan_start_xmit() is split to in two parts to prepare for TX mailboxes
  instead of FIFO in CAN FD cores.

Signed-off-by: Anssi Hannula <anssi.hannula@bitwise.fi>
Cc: Michal Simek <michal.simek@xilinx.com>
---
 drivers/net/can/xilinx_can.c | 204 ++++++++++++++++++++++++-------------------
 1 file changed, 116 insertions(+), 88 deletions(-)

diff --git a/drivers/net/can/xilinx_can.c b/drivers/net/can/xilinx_can.c
index ce9cf9b..615223b 100644
--- a/drivers/net/can/xilinx_can.c
+++ b/drivers/net/can/xilinx_can.c
@@ -51,16 +51,15 @@ enum xcan_reg {
 	XCAN_ISR_OFFSET		= 0x1C, /* Interrupt status */
 	XCAN_IER_OFFSET		= 0x20, /* Interrupt enable */
 	XCAN_ICR_OFFSET		= 0x24, /* Interrupt clear */
-	XCAN_TXFIFO_ID_OFFSET	= 0x30,/* TX FIFO ID */
-	XCAN_TXFIFO_DLC_OFFSET	= 0x34, /* TX FIFO DLC */
-	XCAN_TXFIFO_DW1_OFFSET	= 0x38, /* TX FIFO Data Word 1 */
-	XCAN_TXFIFO_DW2_OFFSET	= 0x3C, /* TX FIFO Data Word 2 */
-	XCAN_RXFIFO_ID_OFFSET	= 0x50, /* RX FIFO ID */
-	XCAN_RXFIFO_DLC_OFFSET	= 0x54, /* RX FIFO DLC */
-	XCAN_RXFIFO_DW1_OFFSET	= 0x58, /* RX FIFO Data Word 1 */
-	XCAN_RXFIFO_DW2_OFFSET	= 0x5C, /* RX FIFO Data Word 2 */
+	XCAN_TXFIFO_OFFSET	= 0x30, /* TX FIFO base */
+	XCAN_RXFIFO_OFFSET	= 0x50, /* RX FIFO base */
 };
 
+#define XCAN_FRAME_ID_OFFSET(frame_base)	((frame_base) + 0x00)
+#define XCAN_FRAME_DLC_OFFSET(frame_base)	((frame_base) + 0x04)
+#define XCAN_FRAME_DW1_OFFSET(frame_base)	((frame_base) + 0x08)
+#define XCAN_FRAME_DW2_OFFSET(frame_base)	((frame_base) + 0x0C)
+
 /* CAN register bit masks - XCAN_<REG>_<BIT>_MASK */
 #define XCAN_SRR_CEN_MASK		0x00000002 /* CAN enable */
 #define XCAN_SRR_RESET_MASK		0x00000001 /* Soft Reset the CAN core */
@@ -101,11 +100,6 @@ enum xcan_reg {
 #define XCAN_IDR_RTR_MASK		0x00000001 /* Remote TX request */
 #define XCAN_DLCR_DLC_MASK		0xF0000000 /* Data length code */
 
-#define XCAN_INTR_ALL		(XCAN_IXR_TXOK_MASK | XCAN_IXR_BSOFF_MASK |\
-				 XCAN_IXR_WKUP_MASK | XCAN_IXR_SLP_MASK | \
-				 XCAN_IXR_RXNEMP_MASK | XCAN_IXR_ERROR_MASK | \
-				 XCAN_IXR_RXOFLW_MASK | XCAN_IXR_ARBLST_MASK)
-
 /* CAN register bit shift - XCAN_<REG>_<BIT>_SHIFT */
 #define XCAN_BTR_SJW_SHIFT		7  /* Synchronous jump width */
 #define XCAN_BTR_TS2_SHIFT		4  /* Time segment 2 */
@@ -118,6 +112,15 @@ enum xcan_reg {
 #define XCAN_FRAME_MAX_DATA_LEN		8
 #define XCAN_TIMEOUT			(1 * HZ)
 
+/* TX-FIFO-empty interrupt available */
+#define XCAN_FLAG_TXFEMP	0x0001
+
+struct xcan_devtype_data {
+	unsigned int flags;
+	const struct can_bittiming_const *bittiming_const;
+	const char *bus_clk_name;
+};
+
 /**
  * struct xcan_priv - This definition define CAN driver instance
  * @can:			CAN private data structure.
@@ -133,6 +136,7 @@ enum xcan_reg {
  * @irq_flags:			For request_irq()
  * @bus_clk:			Pointer to struct clk
  * @can_clk:			Pointer to struct clk
+ * @devtype:			Device type specific constants
  */
 struct xcan_priv {
 	struct can_priv can;
@@ -149,6 +153,7 @@ struct xcan_priv {
 	unsigned long irq_flags;
 	struct clk *bus_clk;
 	struct clk *can_clk;
+	struct xcan_devtype_data devtype;
 };
 
 /* CAN Bittiming constants as per Xilinx CAN specs */
@@ -164,11 +169,6 @@ static const struct can_bittiming_const xcan_bittiming_const = {
 	.brp_inc = 1,
 };
 
-#define XCAN_CAP_WATERMARK	0x0001
-struct xcan_devtype_data {
-	unsigned int caps;
-};
-
 /**
  * xcan_write_reg_le - Write a value to the device register little endian
  * @priv:	Driver private data structure
@@ -329,7 +329,11 @@ static int xcan_chip_start(struct net_device *ndev)
 		return err;
 
 	/* Enable interrupts */
-	priv->write_reg(priv, XCAN_IER_OFFSET, XCAN_INTR_ALL);
+	priv->write_reg(priv, XCAN_IER_OFFSET,
+			XCAN_IXR_TXOK_MASK | XCAN_IXR_BSOFF_MASK |
+			XCAN_IXR_WKUP_MASK | XCAN_IXR_SLP_MASK |
+			XCAN_IXR_RXNEMP_MASK | XCAN_IXR_ERROR_MASK |
+			XCAN_IXR_RXOFLW_MASK | XCAN_IXR_ARBLST_MASK);
 
 	/* Check whether it is loopback mode or normal mode  */
 	if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK) {
@@ -390,33 +394,15 @@ static int xcan_do_set_mode(struct net_device *ndev, enum can_mode mode)
 }
 
 /**
- * xcan_start_xmit - Starts the transmission
- * @skb:	sk_buff pointer that contains data to be Txed
- * @ndev:	Pointer to net_device structure
- *
- * This function is invoked from upper layers to initiate transmission. This
- * function uses the next available free txbuff and populates their fields to
- * start the transmission.
- *
- * Return: 0 on success and failure value on error
+ * xcan_write_frame - Write a frame to HW
+ * @skb:		sk_buff pointer that contains data to be Txed
+ * @frame_offset:	Register offset to write the frame to
  */
-static int xcan_start_xmit(struct sk_buff *skb, struct net_device *ndev)
+static void xcan_write_frame(struct xcan_priv *priv, struct sk_buff *skb,
+			     int frame_offset)
 {
-	struct xcan_priv *priv = netdev_priv(ndev);
-	struct can_frame *cf = (struct can_frame *)skb->data;
 	u32 id, dlc, data[2] = {0, 0};
-	unsigned long flags;
-
-	if (can_dropped_invalid_skb(ndev, skb))
-		return NETDEV_TX_OK;
-
-	/* Check if the TX buffer is full */
-	if (unlikely(priv->read_reg(priv, XCAN_SR_OFFSET) &
-			XCAN_SR_TXFLL_MASK)) {
-		netif_stop_queue(ndev);
-		netdev_err(ndev, "BUG!, TX FIFO full when queue awake!\n");
-		return NETDEV_TX_BUSY;
-	}
+	struct can_frame *cf = (struct can_frame *)skb->data;
 
 	/* Watch carefully on the bit sequence */
 	if (cf->can_id & CAN_EFF_FLAG) {
@@ -452,23 +438,40 @@ static int xcan_start_xmit(struct sk_buff *skb, struct net_device *ndev)
 	if (cf->can_dlc > 4)
 		data[1] = be32_to_cpup((__be32 *)(cf->data + 4));
 
+	priv->write_reg(priv, XCAN_FRAME_ID_OFFSET(frame_offset), id);
+	/* If the CAN frame is RTR frame this write triggers transmission */
+	priv->write_reg(priv, XCAN_FRAME_DLC_OFFSET(frame_offset), dlc);
+	if (!(cf->can_id & CAN_RTR_FLAG)) {
+		priv->write_reg(priv, XCAN_FRAME_DW1_OFFSET(frame_offset), data[0]);
+		/* If the CAN frame is Standard/Extended frame this
+		 * write triggers transmission
+		 */
+		priv->write_reg(priv, XCAN_FRAME_DW2_OFFSET(frame_offset), data[1]);
+	}
+}
+
+/**
+ * xcan_start_xmit_fifo - Starts the transmission (FIFO mode)
+ *
+ * Return: 0 on success, -ENOSPC if FIFO is full.
+ */
+static int xcan_start_xmit_fifo(struct sk_buff *skb, struct net_device *ndev)
+{
+	struct xcan_priv *priv = netdev_priv(ndev);
+	unsigned long flags;
+
+	/* Check if the TX buffer is full */
+	if (unlikely(priv->read_reg(priv, XCAN_SR_OFFSET) &
+			XCAN_SR_TXFLL_MASK))
+		return -ENOSPC;
+
 	can_put_echo_skb(skb, ndev, priv->tx_head % priv->tx_max);
 
 	spin_lock_irqsave(&priv->tx_lock, flags);
 
 	priv->tx_head++;
 
-	/* Write the Frame to Xilinx CAN TX FIFO */
-	priv->write_reg(priv, XCAN_TXFIFO_ID_OFFSET, id);
-	/* If the CAN frame is RTR frame this write triggers tranmission */
-	priv->write_reg(priv, XCAN_TXFIFO_DLC_OFFSET, dlc);
-	if (!(cf->can_id & CAN_RTR_FLAG)) {
-		priv->write_reg(priv, XCAN_TXFIFO_DW1_OFFSET, data[0]);
-		/* If the CAN frame is Standard/Extended frame this
-		 * write triggers tranmission
-		 */
-		priv->write_reg(priv, XCAN_TXFIFO_DW2_OFFSET, data[1]);
-	}
+	xcan_write_frame(priv, skb, XCAN_TXFIFO_OFFSET);
 
 	/* Clear TX-FIFO-empty interrupt for xcan_tx_interrupt() */
 	if (priv->tx_max > 1)
@@ -480,6 +483,35 @@ static int xcan_start_xmit(struct sk_buff *skb, struct net_device *ndev)
 
 	spin_unlock_irqrestore(&priv->tx_lock, flags);
 
+	return 0;
+}
+
+/**
+ * xcan_start_xmit - Starts the transmission
+ * @skb:	sk_buff pointer that contains data to be Txed
+ * @ndev:	Pointer to net_device structure
+ *
+ * This function is invoked from upper layers to initiate transmission. This
+ * function uses the next available free txbuff and populates their fields to
+ * start the transmission.
+ *
+ * Return: 0 on success and failure value on error
+ */
+static int xcan_start_xmit(struct sk_buff *skb, struct net_device *ndev)
+{
+	int ret;
+
+	if (can_dropped_invalid_skb(ndev, skb))
+		return NETDEV_TX_OK;
+
+	ret = xcan_start_xmit_fifo(skb, ndev);
+
+	if (ret < 0) {
+		netdev_err(ndev, "BUG!, TX full when queue awake!\n");
+		netif_stop_queue(ndev);
+		return NETDEV_TX_BUSY;
+	}
+
 	return NETDEV_TX_OK;
 }
 
@@ -487,13 +519,14 @@ static int xcan_start_xmit(struct sk_buff *skb, struct net_device *ndev)
  * xcan_rx -  Is called from CAN isr to complete the received
  *		frame  processing
  * @ndev:	Pointer to net_device structure
+ * @frame_base:	Register offset to the frame to be read
  *
  * This function is invoked from the CAN isr(poll) to process the Rx frames. It
  * does minimal processing and invokes "netif_receive_skb" to complete further
  * processing.
  * Return: 1 on success and 0 on failure.
  */
-static int xcan_rx(struct net_device *ndev)
+static int xcan_rx(struct net_device *ndev, int frame_base)
 {
 	struct xcan_priv *priv = netdev_priv(ndev);
 	struct net_device_stats *stats = &ndev->stats;
@@ -508,9 +541,9 @@ static int xcan_rx(struct net_device *ndev)
 	}
 
 	/* Read a frame from Xilinx zynq CANPS */
-	id_xcan = priv->read_reg(priv, XCAN_RXFIFO_ID_OFFSET);
-	dlc = priv->read_reg(priv, XCAN_RXFIFO_DLC_OFFSET) >>
-				XCAN_DLCR_DLC_SHIFT;
+	id_xcan = priv->read_reg(priv, XCAN_FRAME_ID_OFFSET(frame_base));
+	dlc = priv->read_reg(priv, XCAN_FRAME_DLC_OFFSET(frame_base)) >>
+				   XCAN_DLCR_DLC_SHIFT;
 
 	/* Change Xilinx CAN data length format to socketCAN data format */
 	cf->can_dlc = get_can_dlc(dlc);
@@ -533,8 +566,8 @@ static int xcan_rx(struct net_device *ndev)
 	}
 
 	/* DW1/DW2 must always be read to remove message from RXFIFO */
-	data[0] = priv->read_reg(priv, XCAN_RXFIFO_DW1_OFFSET);
-	data[1] = priv->read_reg(priv, XCAN_RXFIFO_DW2_OFFSET);
+	data[0] = priv->read_reg(priv, XCAN_FRAME_DW1_OFFSET(frame_base));
+	data[1] = priv->read_reg(priv, XCAN_FRAME_DW2_OFFSET(frame_base));
 
 	if (!(cf->can_id & CAN_RTR_FLAG)) {
 		/* Change Xilinx CAN data format to socketCAN data format */
@@ -806,7 +839,7 @@ static int xcan_rx_poll(struct napi_struct *napi, int quota)
 
 	isr = priv->read_reg(priv, XCAN_ISR_OFFSET);
 	while ((isr & XCAN_IXR_RXNEMP_MASK) && (work_done < quota)) {
-		work_done += xcan_rx(ndev);
+		work_done += xcan_rx(ndev, XCAN_RXFIFO_OFFSET);
 		priv->write_reg(priv, XCAN_ICR_OFFSET, XCAN_IXR_RXNEMP_MASK);
 		isr = priv->read_reg(priv, XCAN_ISR_OFFSET);
 	}
@@ -1193,13 +1226,21 @@ static const struct dev_pm_ops xcan_dev_pm_ops = {
 };
 
 static const struct xcan_devtype_data xcan_zynq_data = {
-	.caps = XCAN_CAP_WATERMARK,
+	.flags = XCAN_FLAG_TXFEMP,
+	.bittiming_const = &xcan_bittiming_const,
+	.bus_clk_name = "pclk",
+};
+
+static const struct xcan_devtype_data xcan_axi_data = {
+	.flags = 0,
+	.bittiming_const = &xcan_bittiming_const,
+	.bus_clk_name = "s_axi_aclk",
 };
 
 /* Match table for OF platform binding */
 static const struct of_device_id xcan_of_match[] = {
 	{ .compatible = "xlnx,zynq-can-1.0", .data = &xcan_zynq_data },
-	{ .compatible = "xlnx,axi-can-1.00.a", },
+	{ .compatible = "xlnx,axi-can-1.00.a", .data = &xcan_axi_data },
 	{ /* end of list */ },
 };
 MODULE_DEVICE_TABLE(of, xcan_of_match);
@@ -1219,7 +1260,7 @@ static int xcan_probe(struct platform_device *pdev)
 	struct net_device *ndev;
 	struct xcan_priv *priv;
 	const struct of_device_id *of_id;
-	int caps = 0;
+	const struct xcan_devtype_data *devtype = &xcan_axi_data;
 	void __iomem *addr;
 	int ret, rx_max, tx_max, tx_fifo_depth;
 
@@ -1241,12 +1282,8 @@ static int xcan_probe(struct platform_device *pdev)
 		goto err;
 
 	of_id = of_match_device(xcan_of_match, &pdev->dev);
-	if (of_id) {
-		const struct xcan_devtype_data *devtype_data = of_id->data;
-
-		if (devtype_data)
-			caps = devtype_data->caps;
-	}
+	if (of_id && of_id->data)
+		devtype = of_id->data;
 
 	/* There is no way to directly figure out how many frames have been
 	 * sent when the TXOK interrupt is processed. If watermark programming
@@ -1259,7 +1296,7 @@ static int xcan_probe(struct platform_device *pdev)
 	 * sent), which is not a sensible state - possibly TXFWMEMP is not
 	 * completely synchronized with the rest of the bits?
 	 */
-	if (caps & XCAN_CAP_WATERMARK)
+	if (devtype->flags & XCAN_FLAG_TXFEMP)
 		tx_max = min(tx_fifo_depth, 2);
 	else
 		tx_max = 1;
@@ -1271,13 +1308,14 @@ static int xcan_probe(struct platform_device *pdev)
 
 	priv = netdev_priv(ndev);
 	priv->dev = &pdev->dev;
-	priv->can.bittiming_const = &xcan_bittiming_const;
+	priv->can.bittiming_const = devtype->bittiming_const;
 	priv->can.do_set_mode = xcan_do_set_mode;
 	priv->can.do_get_berr_counter = xcan_get_berr_counter;
 	priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK |
 					CAN_CTRLMODE_BERR_REPORTING;
 	priv->reg_base = addr;
 	priv->tx_max = tx_max;
+	priv->devtype = *devtype;
 	spin_lock_init(&priv->tx_lock);
 
 	/* Get IRQ for the device */
@@ -1295,22 +1333,12 @@ static int xcan_probe(struct platform_device *pdev)
 		ret = PTR_ERR(priv->can_clk);
 		goto err_free;
 	}
-	/* Check for type of CAN device */
-	if (of_device_is_compatible(pdev->dev.of_node,
-				    "xlnx,zynq-can-1.0")) {
-		priv->bus_clk = devm_clk_get(&pdev->dev, "pclk");
-		if (IS_ERR(priv->bus_clk)) {
-			dev_err(&pdev->dev, "bus clock not found\n");
-			ret = PTR_ERR(priv->bus_clk);
-			goto err_free;
-		}
-	} else {
-		priv->bus_clk = devm_clk_get(&pdev->dev, "s_axi_aclk");
-		if (IS_ERR(priv->bus_clk)) {
-			dev_err(&pdev->dev, "bus clock not found\n");
-			ret = PTR_ERR(priv->bus_clk);
-			goto err_free;
-		}
+
+	priv->bus_clk = devm_clk_get(&pdev->dev, devtype->bus_clk_name);
+	if (IS_ERR(priv->bus_clk)) {
+		dev_err(&pdev->dev, "bus clock not found\n");
+		ret = PTR_ERR(priv->bus_clk);
+		goto err_free;
 	}
 
 	priv->write_reg = xcan_write_reg_le;
-- 
2.8.3

[PATCH 3/3] can: xilinx_can: add support for Xilinx CAN FD core

[Anssi Hannula]

Add support for Xilinx CAN FD core.

The major difference from the previously supported cores is that there
are TX mailboxes instead of a TX FIFO and the RX FIFO access method is
different.

We only transmit one frame at a time to prevent the HW from reordering
frames (it uses CAN ID priority order).

Support for CAN FD protocol is not added yet.

Signed-off-by: Anssi Hannula <anssi.hannula@bitwise.fi>
Cc: Michal Simek <michal.simek@xilinx.com>
---
 drivers/net/can/xilinx_can.c | 314 +++++++++++++++++++++++++++++++++++++------
 1 file changed, 274 insertions(+), 40 deletions(-)

diff --git a/drivers/net/can/xilinx_can.c b/drivers/net/can/xilinx_can.c
index 615223b..e07a2f8 100644
--- a/drivers/net/can/xilinx_can.c
+++ b/drivers/net/can/xilinx_can.c
@@ -2,7 +2,7 @@
  *
  * Copyright (C) 2012 - 2014 Xilinx, Inc.
  * Copyright (C) 2009 PetaLogix. All rights reserved.
- * Copyright (C) 2017 Sandvik Mining and Construction Oy
+ * Copyright (C) 2017 - 2018 Sandvik Mining and Construction Oy
  *
  * Description:
  * This driver is developed for Axi CAN IP and for Zynq CANPS Controller.
@@ -51,8 +51,18 @@ enum xcan_reg {
 	XCAN_ISR_OFFSET		= 0x1C, /* Interrupt status */
 	XCAN_IER_OFFSET		= 0x20, /* Interrupt enable */
 	XCAN_ICR_OFFSET		= 0x24, /* Interrupt clear */
+
+	/* not on CAN FD cores */
 	XCAN_TXFIFO_OFFSET	= 0x30, /* TX FIFO base */
 	XCAN_RXFIFO_OFFSET	= 0x50, /* RX FIFO base */
+	XCAN_AFR_OFFSET		= 0x60, /* Acceptance Filter */
+
+	/* only on CAN FD cores */
+	XCAN_TRR_OFFSET		= 0x0090, /* TX Buffer Ready Request */
+	XCAN_AFR_EXT_OFFSET	= 0x00E0, /* Acceptance Filter */
+	XCAN_FSR_OFFSET		= 0x00E8, /* RX FIFO Status */
+	XCAN_TXMSG_BASE_OFFSET	= 0x0100, /* TX Message Space */
+	XCAN_RXMSG_BASE_OFFSET	= 0x1100, /* RX Message Space */
 };
 
 #define XCAN_FRAME_ID_OFFSET(frame_base)	((frame_base) + 0x00)
@@ -60,6 +70,13 @@ enum xcan_reg {
 #define XCAN_FRAME_DW1_OFFSET(frame_base)	((frame_base) + 0x08)
 #define XCAN_FRAME_DW2_OFFSET(frame_base)	((frame_base) + 0x0C)
 
+#define XCAN_CANFD_FRAME_SIZE		0x48
+#define XCAN_TXMSG_FRAME_OFFSET(n)	(XCAN_TXMSG_BASE_OFFSET + XCAN_CANFD_FRAME_SIZE * (n))
+#define XCAN_RXMSG_FRAME_OFFSET(n)	(XCAN_RXMSG_BASE_OFFSET + XCAN_CANFD_FRAME_SIZE * (n))
+
+/* the single TX mailbox used by this driver on CAN FD HW */
+#define XCAN_TX_MAILBOX_IDX		0
+
 /* CAN register bit masks - XCAN_<REG>_<BIT>_MASK */
 #define XCAN_SRR_CEN_MASK		0x00000002 /* CAN enable */
 #define XCAN_SRR_RESET_MASK		0x00000001 /* Soft Reset the CAN core */
@@ -69,6 +86,9 @@ enum xcan_reg {
 #define XCAN_BTR_SJW_MASK		0x00000180 /* Synchronous jump width */
 #define XCAN_BTR_TS2_MASK		0x00000070 /* Time segment 2 */
 #define XCAN_BTR_TS1_MASK		0x0000000F /* Time segment 1 */
+#define XCAN_BTR_SJW_MASK_CANFD		0x000F0000 /* Synchronous jump width */
+#define XCAN_BTR_TS2_MASK_CANFD		0x00000F00 /* Time segment 2 */
+#define XCAN_BTR_TS1_MASK_CANFD		0x0000003F /* Time segment 1 */
 #define XCAN_ECR_REC_MASK		0x0000FF00 /* Receive error counter */
 #define XCAN_ECR_TEC_MASK		0x000000FF /* Transmit error counter */
 #define XCAN_ESR_ACKER_MASK		0x00000010 /* ACK error */
@@ -82,6 +102,7 @@ enum xcan_reg {
 #define XCAN_SR_NORMAL_MASK		0x00000008 /* Normal mode */
 #define XCAN_SR_LBACK_MASK		0x00000002 /* Loop back mode */
 #define XCAN_SR_CONFIG_MASK		0x00000001 /* Configuration mode */
+#define XCAN_IXR_RXMNF_MASK		0x00020000 /* RX match not finished */
 #define XCAN_IXR_TXFEMP_MASK		0x00004000 /* TX FIFO Empty */
 #define XCAN_IXR_WKUP_MASK		0x00000800 /* Wake up interrupt */
 #define XCAN_IXR_SLP_MASK		0x00000400 /* Sleep interrupt */
@@ -99,10 +120,15 @@ enum xcan_reg {
 #define XCAN_IDR_ID2_MASK		0x0007FFFE /* Extended message ident */
 #define XCAN_IDR_RTR_MASK		0x00000001 /* Remote TX request */
 #define XCAN_DLCR_DLC_MASK		0xF0000000 /* Data length code */
+#define XCAN_FSR_FL_MASK		0x00003F00 /* RX Fill Level */
+#define XCAN_FSR_IRI_MASK		0x00000080 /* RX Increment Read Index */
+#define XCAN_FSR_RI_MASK		0x0000001F /* RX Read Index */
 
 /* CAN register bit shift - XCAN_<REG>_<BIT>_SHIFT */
 #define XCAN_BTR_SJW_SHIFT		7  /* Synchronous jump width */
 #define XCAN_BTR_TS2_SHIFT		4  /* Time segment 2 */
+#define XCAN_BTR_SJW_SHIFT_CANFD	16 /* Synchronous jump width */
+#define XCAN_BTR_TS2_SHIFT_CANFD	8  /* Time segment 2 */
 #define XCAN_IDR_ID1_SHIFT		21 /* Standard Messg Identifier */
 #define XCAN_IDR_ID2_SHIFT		1  /* Extended Message Identifier */
 #define XCAN_DLCR_DLC_SHIFT		28 /* Data length code */
@@ -112,13 +138,31 @@ enum xcan_reg {
 #define XCAN_FRAME_MAX_DATA_LEN		8
 #define XCAN_TIMEOUT			(1 * HZ)
 
+enum xcan_rx_mode {
+	RX_MODE_SEQUENTIAL,
+	RX_MODE_MAILBOX,
+	RX_MODE_UNKNOWN,
+};
+
 /* TX-FIFO-empty interrupt available */
 #define XCAN_FLAG_TXFEMP	0x0001
+/* RX Match Not Finished interrupt available */
+#define XCAN_FLAG_RXMNF		0x0002
+/* Extended acceptance filters with control at 0xE0 */
+#define XCAN_FLAG_EXT_FILTERS	0x0004
+/* TX mailboxes instead of TX FIFO */
+#define XCAN_FLAG_TX_MAILBOXES	0x0008
+/* RX FIFO with each buffer in separate registers at 0x1100
+ * instead of the regular FIFO at 0x50
+ */
+#define XCAN_FLAG_RX_FIFO_MULTI	0x0010
 
 struct xcan_devtype_data {
 	unsigned int flags;
 	const struct can_bittiming_const *bittiming_const;
 	const char *bus_clk_name;
+	unsigned int btr_ts2_shift;
+	unsigned int btr_sjw_shift;
 };
 
 /**
@@ -169,6 +213,18 @@ static const struct can_bittiming_const xcan_bittiming_const = {
 	.brp_inc = 1,
 };
 
+static const struct can_bittiming_const xcan_bittiming_const_canfd = {
+	.name = DRIVER_NAME,
+	.tseg1_min = 1,
+	.tseg1_max = 64,
+	.tseg2_min = 1,
+	.tseg2_max = 16,
+	.sjw_max = 16,
+	.brp_min = 1,
+	.brp_max = 256,
+	.brp_inc = 1,
+};
+
 /**
  * xcan_write_reg_le - Write a value to the device register little endian
  * @priv:	Driver private data structure
@@ -224,6 +280,23 @@ static u32 xcan_read_reg_be(const struct xcan_priv *priv, enum xcan_reg reg)
 }
 
 /**
+ * xcan_rx_int_mask - Get the mask for the receive interrupt
+ * @priv:	Driver private data structure
+ *
+ * Return: The receive interrupt mask used by the driver on this HW
+ */
+static u32 xcan_rx_int_mask(const struct xcan_priv *priv)
+{
+	/* RXNEMP is better suited for our use case as it cannot be cleared
+	 * while the FIFO is non-empty, but CAN FD HW does not have it
+	 */
+	if (priv->devtype.flags & XCAN_FLAG_RX_FIFO_MULTI)
+		return XCAN_IXR_RXOK_MASK;
+	else
+		return XCAN_IXR_RXNEMP_MASK;
+}
+
+/**
  * set_reset_mode - Resets the CAN device mode
  * @ndev:	Pointer to net_device structure
  *
@@ -287,10 +360,10 @@ static int xcan_set_bittiming(struct net_device *ndev)
 	btr1 = (bt->prop_seg + bt->phase_seg1 - 1);
 
 	/* Setting Time Segment 2 in BTR Register */
-	btr1 |= (bt->phase_seg2 - 1) << XCAN_BTR_TS2_SHIFT;
+	btr1 |= (bt->phase_seg2 - 1) << priv->devtype.btr_ts2_shift;
 
 	/* Setting Synchronous jump width in BTR Register */
-	btr1 |= (bt->sjw - 1) << XCAN_BTR_SJW_SHIFT;
+	btr1 |= (bt->sjw - 1) << priv->devtype.btr_sjw_shift;
 
 	priv->write_reg(priv, XCAN_BRPR_OFFSET, btr0);
 	priv->write_reg(priv, XCAN_BTR_OFFSET, btr1);
@@ -318,6 +391,7 @@ static int xcan_chip_start(struct net_device *ndev)
 	u32 reg_msr, reg_sr_mask;
 	int err;
 	unsigned long timeout;
+	u32 ier;
 
 	/* Check if it is in reset mode */
 	err = set_reset_mode(ndev);
@@ -329,11 +403,15 @@ static int xcan_chip_start(struct net_device *ndev)
 		return err;
 
 	/* Enable interrupts */
-	priv->write_reg(priv, XCAN_IER_OFFSET,
-			XCAN_IXR_TXOK_MASK | XCAN_IXR_BSOFF_MASK |
-			XCAN_IXR_WKUP_MASK | XCAN_IXR_SLP_MASK |
-			XCAN_IXR_RXNEMP_MASK | XCAN_IXR_ERROR_MASK |
-			XCAN_IXR_RXOFLW_MASK | XCAN_IXR_ARBLST_MASK);
+	ier = XCAN_IXR_TXOK_MASK | XCAN_IXR_BSOFF_MASK |
+		XCAN_IXR_WKUP_MASK | XCAN_IXR_SLP_MASK |
+		XCAN_IXR_ERROR_MASK | XCAN_IXR_RXOFLW_MASK |
+		XCAN_IXR_ARBLST_MASK | xcan_rx_int_mask(priv);
+
+	if (priv->devtype.flags & XCAN_FLAG_RXMNF)
+		ier |= XCAN_IXR_RXMNF_MASK;
+
+	priv->write_reg(priv, XCAN_IER_OFFSET, ier);
 
 	/* Check whether it is loopback mode or normal mode  */
 	if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK) {
@@ -344,6 +422,12 @@ static int xcan_chip_start(struct net_device *ndev)
 		reg_sr_mask = XCAN_SR_NORMAL_MASK;
 	}
 
+	/* enable the first extended filter, if any, as cores with extended
+	 * filtering default to non-receipt if all filters are disabled
+	 */
+	if (priv->devtype.flags & XCAN_FLAG_EXT_FILTERS)
+		priv->write_reg(priv, XCAN_AFR_EXT_OFFSET, 0x00000001);
+
 	priv->write_reg(priv, XCAN_MSR_OFFSET, reg_msr);
 	priv->write_reg(priv, XCAN_SRR_OFFSET, XCAN_SRR_CEN_MASK);
 
@@ -439,12 +523,14 @@ static void xcan_write_frame(struct xcan_priv *priv, struct sk_buff *skb,
 		data[1] = be32_to_cpup((__be32 *)(cf->data + 4));
 
 	priv->write_reg(priv, XCAN_FRAME_ID_OFFSET(frame_offset), id);
-	/* If the CAN frame is RTR frame this write triggers transmission */
+	/* If the CAN frame is RTR frame this write triggers transmission
+	 * (not on CAN FD)
+	 */
 	priv->write_reg(priv, XCAN_FRAME_DLC_OFFSET(frame_offset), dlc);
 	if (!(cf->can_id & CAN_RTR_FLAG)) {
 		priv->write_reg(priv, XCAN_FRAME_DW1_OFFSET(frame_offset), data[0]);
 		/* If the CAN frame is Standard/Extended frame this
-		 * write triggers transmission
+		 * write triggers transmission (not on CAN FD)
 		 */
 		priv->write_reg(priv, XCAN_FRAME_DW2_OFFSET(frame_offset), data[1]);
 	}
@@ -487,24 +573,57 @@ static int xcan_start_xmit_fifo(struct sk_buff *skb, struct net_device *ndev)
 }
 
 /**
+ * xcan_start_xmit_mailbox - Starts the transmission (mailbox mode)
+ *
+ * Return: 0 on success, -ENOSPC if there is no space
+ */
+static int xcan_start_xmit_mailbox(struct sk_buff *skb, struct net_device *ndev)
+{
+	struct xcan_priv *priv = netdev_priv(ndev);
+	unsigned long flags;
+
+	if (unlikely(priv->read_reg(priv, XCAN_TRR_OFFSET) & BIT(XCAN_TX_MAILBOX_IDX)))
+		return -ENOSPC;
+
+	can_put_echo_skb(skb, ndev, 0);
+
+	spin_lock_irqsave(&priv->tx_lock, flags);
+
+	priv->tx_head++;
+
+	xcan_write_frame(priv, skb, XCAN_TXMSG_FRAME_OFFSET(XCAN_TX_MAILBOX_IDX));
+
+	/* Mark buffer as ready for transmit */
+	priv->write_reg(priv, XCAN_TRR_OFFSET, BIT(XCAN_TX_MAILBOX_IDX));
+
+	netif_stop_queue(ndev);
+
+	spin_unlock_irqrestore(&priv->tx_lock, flags);
+
+	return 0;
+}
+
+/**
  * xcan_start_xmit - Starts the transmission
  * @skb:	sk_buff pointer that contains data to be Txed
  * @ndev:	Pointer to net_device structure
  *
- * This function is invoked from upper layers to initiate transmission. This
- * function uses the next available free txbuff and populates their fields to
- * start the transmission.
+ * This function is invoked from upper layers to initiate transmission.
  *
  * Return: 0 on success and failure value on error
  */
 static int xcan_start_xmit(struct sk_buff *skb, struct net_device *ndev)
 {
+	struct xcan_priv *priv = netdev_priv(ndev);
 	int ret;
 
 	if (can_dropped_invalid_skb(ndev, skb))
 		return NETDEV_TX_OK;
 
-	ret = xcan_start_xmit_fifo(skb, ndev);
+	if (priv->devtype.flags & XCAN_FLAG_TX_MAILBOXES)
+		ret = xcan_start_xmit_mailbox(skb, ndev);
+	else
+		ret = xcan_start_xmit_fifo(skb, ndev);
 
 	if (ret < 0) {
 		netdev_err(ndev, "BUG!, TX full when queue awake!\n");
@@ -737,6 +856,17 @@ static void xcan_err_interrupt(struct net_device *ndev, u32 isr)
 		}
 	}
 
+	/* Check for RX Match Not Finished interrupt */
+	if (isr & XCAN_IXR_RXMNF_MASK) {
+		stats->rx_dropped++;
+		stats->rx_errors++;
+		netdev_err(ndev, "RX match not finished, frame discarded\n");
+		if (skb) {
+			cf->can_id |= CAN_ERR_CRTL;
+			cf->data[1] |= CAN_ERR_CRTL_UNSPEC;
+		}
+	}
+
 	/* Check for error interrupt */
 	if (isr & XCAN_IXR_ERROR_MASK) {
 		if (skb)
@@ -821,6 +951,43 @@ static void xcan_state_interrupt(struct net_device *ndev, u32 isr)
 }
 
 /**
+ * xcan_rx_fifo_get_next_frame - Get register offset of next RX frame
+ *
+ * Return: Register offset of the next frame in RX FIFO.
+ */
+static int xcan_rx_fifo_get_next_frame(struct xcan_priv *priv)
+{
+	int offset;
+
+	if (priv->devtype.flags & XCAN_FLAG_RX_FIFO_MULTI) {
+		u32 fsr;
+
+		/* clear RXOK before the is-empty check so that any newly received
+		 * frame will reassert it without a race
+		 */
+		priv->write_reg(priv, XCAN_ICR_OFFSET, XCAN_IXR_RXOK_MASK);
+
+		fsr = priv->read_reg(priv, XCAN_FSR_OFFSET);
+
+		/* check if RX FIFO is empty */
+		if (!(fsr & XCAN_FSR_FL_MASK))
+			return -ENOENT;
+
+		offset = XCAN_RXMSG_FRAME_OFFSET(fsr & XCAN_FSR_RI_MASK);
+
+	} else {
+		/* check if RX FIFO is empty */
+		if (!(priv->read_reg(priv, XCAN_ISR_OFFSET) & XCAN_IXR_RXNEMP_MASK))
+			return -ENOENT;
+
+		/* frames are read from a static offset */
+		offset = XCAN_RXFIFO_OFFSET;
+	}
+
+	return offset;
+}
+
+/**
  * xcan_rx_poll - Poll routine for rx packets (NAPI)
  * @napi:	napi structure pointer
  * @quota:	Max number of rx packets to be processed.
@@ -834,14 +1001,20 @@ static int xcan_rx_poll(struct napi_struct *napi, int quota)
 {
 	struct net_device *ndev = napi->dev;
 	struct xcan_priv *priv = netdev_priv(ndev);
-	u32 isr, ier;
+	u32 ier;
 	int work_done = 0;
-
-	isr = priv->read_reg(priv, XCAN_ISR_OFFSET);
-	while ((isr & XCAN_IXR_RXNEMP_MASK) && (work_done < quota)) {
-		work_done += xcan_rx(ndev, XCAN_RXFIFO_OFFSET);
-		priv->write_reg(priv, XCAN_ICR_OFFSET, XCAN_IXR_RXNEMP_MASK);
-		isr = priv->read_reg(priv, XCAN_ISR_OFFSET);
+	int frame_offset;
+
+	while ((frame_offset = xcan_rx_fifo_get_next_frame(priv)) >= 0
+	       && (work_done < quota)) {
+		work_done += xcan_rx(ndev, frame_offset);
+
+		if (priv->devtype.flags & XCAN_FLAG_RX_FIFO_MULTI)
+			/* increment read index */
+			priv->write_reg(priv, XCAN_FSR_OFFSET, XCAN_FSR_IRI_MASK);
+		else
+			/* clear rx-not-empty (will actually clear only if empty) */
+			priv->write_reg(priv, XCAN_ICR_OFFSET, XCAN_IXR_RXNEMP_MASK);
 	}
 
 	if (work_done) {
@@ -852,7 +1025,7 @@ static int xcan_rx_poll(struct napi_struct *napi, int quota)
 	if (work_done < quota) {
 		napi_complete_done(napi, work_done);
 		ier = priv->read_reg(priv, XCAN_IER_OFFSET);
-		ier |= XCAN_IXR_RXNEMP_MASK;
+		ier |= xcan_rx_int_mask(priv);
 		priv->write_reg(priv, XCAN_IER_OFFSET, ier);
 	}
 	return work_done;
@@ -951,6 +1124,7 @@ static irqreturn_t xcan_interrupt(int irq, void *dev_id)
 	struct xcan_priv *priv = netdev_priv(ndev);
 	u32 isr, ier;
 	u32 isr_errors;
+	u32 rx_int_mask = xcan_rx_int_mask(priv);
 
 	/* Get the interrupt status from Xilinx CAN */
 	isr = priv->read_reg(priv, XCAN_ISR_OFFSET);
@@ -970,16 +1144,17 @@ static irqreturn_t xcan_interrupt(int irq, void *dev_id)
 
 	/* Check for the type of error interrupt and Processing it */
 	isr_errors = isr & (XCAN_IXR_ERROR_MASK | XCAN_IXR_RXOFLW_MASK |
-			    XCAN_IXR_BSOFF_MASK | XCAN_IXR_ARBLST_MASK);
+			    XCAN_IXR_BSOFF_MASK | XCAN_IXR_ARBLST_MASK |
+			    XCAN_IXR_RXMNF_MASK);
 	if (isr_errors) {
 		priv->write_reg(priv, XCAN_ICR_OFFSET, isr_errors);
 		xcan_err_interrupt(ndev, isr);
 	}
 
 	/* Check for the type of receive interrupt and Processing it */
-	if (isr & XCAN_IXR_RXNEMP_MASK) {
+	if (isr & rx_int_mask) {
 		ier = priv->read_reg(priv, XCAN_IER_OFFSET);
-		ier &= ~XCAN_IXR_RXNEMP_MASK;
+		ier &= ~rx_int_mask;
 		priv->write_reg(priv, XCAN_IER_OFFSET, ier);
 		napi_schedule(&priv->napi);
 	}
@@ -1226,14 +1401,27 @@ static const struct dev_pm_ops xcan_dev_pm_ops = {
 };
 
 static const struct xcan_devtype_data xcan_zynq_data = {
-	.flags = XCAN_FLAG_TXFEMP,
 	.bittiming_const = &xcan_bittiming_const,
+	.btr_ts2_shift = XCAN_BTR_TS2_SHIFT,
+	.btr_sjw_shift = XCAN_BTR_SJW_SHIFT,
 	.bus_clk_name = "pclk",
 };
 
 static const struct xcan_devtype_data xcan_axi_data = {
-	.flags = 0,
 	.bittiming_const = &xcan_bittiming_const,
+	.btr_ts2_shift = XCAN_BTR_TS2_SHIFT,
+	.btr_sjw_shift = XCAN_BTR_SJW_SHIFT,
+	.bus_clk_name = "s_axi_aclk",
+};
+
+static const struct xcan_devtype_data xcan_canfd_data = {
+	.flags = XCAN_FLAG_EXT_FILTERS |
+		 XCAN_FLAG_RXMNF |
+		 XCAN_FLAG_TX_MAILBOXES |
+		 XCAN_FLAG_RX_FIFO_MULTI,
+	.bittiming_const = &xcan_bittiming_const,
+	.btr_ts2_shift = XCAN_BTR_TS2_SHIFT_CANFD,
+	.btr_sjw_shift = XCAN_BTR_SJW_SHIFT_CANFD,
 	.bus_clk_name = "s_axi_aclk",
 };
 
@@ -1241,10 +1429,27 @@ static const struct xcan_devtype_data xcan_axi_data = {
 static const struct of_device_id xcan_of_match[] = {
 	{ .compatible = "xlnx,zynq-can-1.0", .data = &xcan_zynq_data },
 	{ .compatible = "xlnx,axi-can-1.00.a", .data = &xcan_axi_data },
+	{ .compatible = "xlnx,canfd-1.0", .data = &xcan_canfd_data },
 	{ /* end of list */ },
 };
 MODULE_DEVICE_TABLE(of, xcan_of_match);
 
+static enum xcan_rx_mode xcan_read_rx_mode(struct platform_device *pdev)
+{
+	const char *rx_mode_str;
+
+	if (of_property_read_string(pdev->dev.of_node, "rx-mode",
+				    &rx_mode_str) < 0)
+		return RX_MODE_SEQUENTIAL;
+	if (strcmp(rx_mode_str, "sequential") == 0)
+		return RX_MODE_SEQUENTIAL;
+	if (strcmp(rx_mode_str, "mailbox") == 0)
+		return RX_MODE_MAILBOX;
+
+	dev_err(&pdev->dev, "unknown RX mode \"%s\"\n", rx_mode_str);
+	return RX_MODE_UNKNOWN;
+}
+
 /**
  * xcan_probe - Platform registration call
  * @pdev:	Handle to the platform device structure
@@ -1262,7 +1467,11 @@ static int xcan_probe(struct platform_device *pdev)
 	const struct of_device_id *of_id;
 	const struct xcan_devtype_data *devtype = &xcan_axi_data;
 	void __iomem *addr;
-	int ret, rx_max, tx_max, tx_fifo_depth;
+	int ret;
+	int rx_max, tx_max;
+	int hw_tx_max, hw_rx_max;
+	enum xcan_rx_mode rx_mode;
+	const char *hw_tx_max_property;
 
 	/* Get the virtual base address for the device */
 	res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
@@ -1272,21 +1481,38 @@ static int xcan_probe(struct platform_device *pdev)
 		goto err;
 	}
 
-	ret = of_property_read_u32(pdev->dev.of_node, "tx-fifo-depth",
-				   &tx_fifo_depth);
-	if (ret < 0)
+	rx_mode = xcan_read_rx_mode(pdev);
+	if (rx_mode == RX_MODE_UNKNOWN) {
+		ret = -EINVAL;
 		goto err;
-
-	ret = of_property_read_u32(pdev->dev.of_node, "rx-fifo-depth", &rx_max);
-	if (ret < 0)
+	} else if (rx_mode == RX_MODE_MAILBOX) {
+		dev_err(&pdev->dev, "mailbox RX mode is not supported\n");
+		ret = -ENOSYS;
 		goto err;
+	}
 
 	of_id = of_match_device(xcan_of_match, &pdev->dev);
 	if (of_id && of_id->data)
 		devtype = of_id->data;
 
-	/* There is no way to directly figure out how many frames have been
-	 * sent when the TXOK interrupt is processed. If watermark programming
+	hw_tx_max_property = devtype->flags & XCAN_FLAG_TX_MAILBOXES ?
+			     "tx-mailbox-count" : "tx-fifo-depth";
+
+	ret = of_property_read_u32(pdev->dev.of_node, hw_tx_max_property,
+				   &hw_tx_max);
+	if (ret < 0) {
+		dev_err(&pdev->dev, "missing %s property\n", hw_tx_max_property);
+		goto err;
+	}
+
+	ret = of_property_read_u32(pdev->dev.of_node, "rx-fifo-depth", &hw_rx_max);
+	if (ret < 0)
+		goto err;
+
+	/* With TX FIFO:
+	 *
+	 * There is no way to directly figure out how many frames have been
+	 * sent when the TXOK interrupt is processed. If TXFEMP
 	 * is supported, we can have 2 frames in the FIFO and use TXFEMP
 	 * to determine if 1 or 2 frames have been sent.
 	 * Theoretically we should be able to use TXFWMEMP to determine up
@@ -1295,12 +1521,20 @@ static int xcan_probe(struct platform_device *pdev)
 	 * than 2 frames in FIFO) is set anyway with no TXOK (a frame was
 	 * sent), which is not a sensible state - possibly TXFWMEMP is not
 	 * completely synchronized with the rest of the bits?
+	 *
+	 * With TX mailboxes:
+	 *
+	 * HW sends frames in CAN ID priority order. To preserve FIFO ordering
+	 * we submit frames one at a time.
 	 */
-	if (devtype->flags & XCAN_FLAG_TXFEMP)
-		tx_max = min(tx_fifo_depth, 2);
+	if (!(devtype->flags & XCAN_FLAG_TX_MAILBOXES) &&
+	    (devtype->flags & XCAN_FLAG_TXFEMP))
+		tx_max = min(hw_tx_max, 2);
 	else
 		tx_max = 1;
 
+	rx_max = hw_rx_max;
+
 	/* Create a CAN device instance */
 	ndev = alloc_candev(sizeof(struct xcan_priv), tx_max);
 	if (!ndev)
@@ -1371,9 +1605,9 @@ static int xcan_probe(struct platform_device *pdev)
 
 	pm_runtime_put(&pdev->dev);
 
-	netdev_dbg(ndev, "reg_base=0x%p irq=%d clock=%d, tx fifo depth: actual %d, using %d\n",
+	netdev_dbg(ndev, "reg_base=0x%p irq=%d clock=%d, tx buffers: actual %d, using %d\n",
 			priv->reg_base, ndev->irq, priv->can.clock.freq,
-			tx_fifo_depth, priv->tx_max);
+			hw_tx_max, priv->tx_max);
 
 	return 0;
 
-- 
2.8.3