[PATCH] can: add Renesas R-Car CAN driver

* [PATCH] can: add Renesas R-Car CAN driver
@ 2013-09-27 22:11 ` Sergei Shtylyov
  0 siblings, 0 replies; 30+ messages in thread
From: Sergei Shtylyov @ 2013-09-27 22:11 UTC (permalink / raw)
  To: netdev, wg, mkl, linux-can; +Cc: linux-sh

Add support for the CAN controller found in Renesas R-Car SoCs. 

Signed-off-by: Sergei Shtylyov <sergei.shtylyov@cogentembedded.com>

---
The patch is against the 'linux-can-next.git' repo.

 drivers/net/can/Kconfig               |    9 
 drivers/net/can/Makefile              |    1 
 drivers/net/can/rcar_can.c            |  898 ++++++++++++++++++++++++++++++++++
 include/linux/can/platform/rcar_can.h |   15 
 4 files changed, 923 insertions(+)

Index: linux-can-next/drivers/net/can/Kconfig
=================================--- linux-can-next.orig/drivers/net/can/Kconfig
+++ linux-can-next/drivers/net/can/Kconfig
@@ -125,6 +125,15 @@ config CAN_GRCAN
 	  endian syntheses of the cores would need some modifications on
 	  the hardware level to work.
 
+config CAN_RCAR
+	tristate "Renesas R-Car CAN controller"
+	---help---
+	  Say Y here if you want to use CAN controller found on Renesas R-Car
+	  SoCs.
+
+	  To compile this driver as a module, choose M here: the module will
+	  be called rcar_can.
+
 source "drivers/net/can/mscan/Kconfig"
 
 source "drivers/net/can/sja1000/Kconfig"
Index: linux-can-next/drivers/net/can/Makefile
=================================--- linux-can-next.orig/drivers/net/can/Makefile
+++ linux-can-next/drivers/net/can/Makefile
@@ -25,5 +25,6 @@ obj-$(CONFIG_CAN_JANZ_ICAN3)	+= janz-ica
 obj-$(CONFIG_CAN_FLEXCAN)	+= flexcan.o
 obj-$(CONFIG_PCH_CAN)		+= pch_can.o
 obj-$(CONFIG_CAN_GRCAN)		+= grcan.o
+obj-$(CONFIG_CAN_RCAR)		+= rcar_can.o
 
 ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG
Index: linux-can-next/drivers/net/can/rcar_can.c
=================================--- /dev/null
+++ linux-can-next/drivers/net/can/rcar_can.c
@@ -0,0 +1,898 @@
+/*
+ * Renesas R-Car CAN device driver
+ *
+ * Copyright (C) 2013 Cogent Embedded, Inc. <source@cogentembedded.com>
+ * Copyright (C) 2013 Renesas Solutions Corp.
+ *
+ * This program is free software; you can redistribute  it and/or modify it
+ * under  the terms of  the GNU General  Public License as published by the
+ * Free Software Foundation;  either version 2 of the  License, or (at your
+ * option) any later version.
+ */
+
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/types.h>
+#include <linux/interrupt.h>
+#include <linux/errno.h>
+#include <linux/netdevice.h>
+#include <linux/platform_device.h>
+#include <linux/can/led.h>
+#include <linux/can/dev.h>
+#include <linux/clk.h>
+#include <linux/can/platform/rcar_can.h>
+
+#define DRV_NAME	"rcar_can"
+
+#define RCAR_CAN_MIER1	0x42C	/* CANi Mailbox Interrupt Enable Register 1 */
+#define RCAR_CAN_MKR(n)	((n) < 2 ? 0x430 + 4 * (n) : 0x400 + 4 * ((n) - 2))
+				/* CANi Mask Register */
+#define RCAR_CAN_MKIVLR0 0x438	/* CANi Mask Invalid Register 0 */
+#define RCAR_CAN_MIER0	 0x43C	/* CANi Mailbox Interrupt Enable Register 0 */
+
+#define RCAR_CAN_MCTL(n) (0x800 + (n)) /* CANi Message Control Register */
+#define RCAR_CAN_CTLR	0x840	/* CANi Control Register */
+#define RCAR_CAN_STR	0x842	/* CANi Status Register */
+#define RCAR_CAN_BCR	0x844	/* CANi Bit Configuration Register */
+#define RCAR_CAN_CLKR	0x847	/* CANi Clock Select Register */
+#define RCAR_CAN_EIER	0x84C	/* CANi Error Interrupt Enable Register */
+#define RCAR_CAN_EIFR	0x84D	/* CANi Err Interrupt Factor Judge Register */
+#define RCAR_CAN_RECR	0x84E	/* CANi Receive Error Count Register */
+#define RCAR_CAN_TECR	0x84F	/* CANi Transmit Error Count Register */
+#define RCAR_CAN_ECSR	0x850	/* CANi Error Code Store Register */
+#define RCAR_CAN_MSSR	0x852	/* CANi Mailbox Search Status Register */
+#define RCAR_CAN_MSMR	0x853	/* CANi Mailbox Search Mode Register */
+#define RCAR_CAN_TCR	0x858	/* CANi Test Control Register */
+#define RCAR_CAN_IER	0x860	/* CANi Interrupt Enable Register */
+#define RCAR_CAN_ISR	0x861	/* CANi Interrupt Status Register */
+
+/* Offsets of RCAR_CAN Mailbox Registers */
+#define MBX_HDR_OFFSET	0x0
+#define MBX_DLC_OFFSET	0x5
+#define MBX_DATA_OFFSET	0x6
+
+#define RCAR_CAN_MBX_SIZE 0x10
+
+/* Control Register bits */
+#define CTLR_SLPM	BIT(10)
+#define CTLR_HALT	BIT(9)
+#define CTLR_RESET	BIT(8)
+#define CTLR_FORCE_RESET (3 << 8)
+#define CTLR_TPM	BIT(4)	/* Transmission Priority Mode Select Bit */
+#define CTLR_IDFM_MIXED	BIT(2)	/* Mixed ID mode */
+
+/* Message Control Register bits */
+#define MCTL_TRMREQ	BIT(7)
+#define MCTL_RECREQ	BIT(6)
+#define MCTL_ONESHOT	BIT(4)
+#define MCTL_SENTDATA	BIT(0)
+#define MCTL_NEWDATA	BIT(0)
+
+#define N_RX_MKREGS	2	/* Number of mask registers */
+				/* for Rx mailboxes 0-31 */
+
+/* Bit Configuration Register settings */
+#define BCR_TSEG1(x)	(((x) & 0x0f) << 28)
+#define BCR_BPR(x)	(((x) & 0x3ff) << 16)
+#define BCR_SJW(x)	(((x) & 0x3) << 12)
+#define BCR_TSEG2(x)	(((x) & 0x07) << 8)
+
+/* Mailbox and Mask Registers bits */
+#define RCAR_CAN_IDE	BIT(31)
+#define RCAR_CAN_RTR	BIT(30)
+#define RCAR_CAN_SID_SHIFT 18
+
+/* Interrupt Enable Register bits */
+#define IER_ERSIE	BIT(5)	/* Error (ERS) Interrupt Enable Bit */
+#define IER_RXM0IE	BIT(2)	/* Mailbox 0 Successful Reception (RXM0) */
+				/* Interrupt Enable Bit */
+#define IER_RXM1IE	BIT(1)	/* Mailbox 1 Successful Reception (RXM0) */
+				/* Interrupt Enable Bit */
+#define IER_TXMIE	BIT(0)	/* Mailbox 32 to 63 Successful Tx */
+				/* Interrupt Enable Bit */
+
+/* Interrupt Status Register bits */
+#define ISR_ERSF	BIT(5)	/* Error (ERS) Interrupt Status Bit */
+#define ISR_RXM0F	BIT(2)	/* Mailbox 0 Successful Reception (RXM0) */
+				/* Interrupt Status Bit */
+#define ISR_RXM1F	BIT(1)	/* Mailbox 1 to 63 Successful Reception */
+				/* (RXM1) Interrupt Status Bit */
+#define ISR_TXMF	BIT(0)	/* Mailbox 32 to 63 Successful Transmission */
+				/* (TXM) Interrupt Status Bit */
+
+/* Error Interrupt Enable Register bits */
+#define EIER_BLIE	BIT(7)	/* Bus Lock Interrupt Enable */
+#define EIER_OLIE	BIT(6)	/* Overload Frame Transmit Interrupt Enable */
+#define EIER_ORIE	BIT(5)	/* Receive Overrun Interrupt Enable */
+#define EIER_BORIE	BIT(4)	/* Bus-Off Recovery Interrupt Enable */
+
+#define EIER_BOEIE	BIT(3)	/* Bus-Off Entry Interrupt Enable */
+#define EIER_EPIE	BIT(2)	/* Error Passive Interrupt Enable */
+#define EIER_EWIE	BIT(1)	/* Error Warning Interrupt Enable */
+#define EIER_BEIE	BIT(0)	/* Bus Error Interrupt Enable */
+
+/* Error Interrupt Factor Judge Register bits */
+#define EIFR_BLIF	BIT(7)	/* Bus Lock Detect Flag */
+#define EIFR_OLIF	BIT(6)	/* Overload Frame Transmission Detect Flag */
+#define EIFR_ORIF	BIT(5)	/* Receive Overrun Detect Flag */
+#define EIFR_BORIF	BIT(4)	/* Bus-Off Recovery Detect Flag */
+#define EIFR_BOEIF	BIT(3)	/* Bus-Off Entry Detect Flag */
+#define EIFR_EPIF	BIT(2)	/* Error Passive Detect Flag */
+#define EIFR_EWIF	BIT(1)	/* Error Warning Detect Flag */
+#define EIFR_BEIF	BIT(0)	/* Bus Error Detect Flag */
+
+/* Error Code Store Register bits */
+#define ECSR_EDPM	BIT(7)	/* Error Display Mode Select Bit */
+#define ECSR_ADEF	BIT(6)	/* ACK Delimiter Error Flag */
+#define ECSR_BE0F	BIT(5)	/* Bit Error (dominant) Flag */
+#define ECSR_BE1F	BIT(4)	/* Bit Error (recessive) Flag */
+#define ECSR_CEF	BIT(3)	/* CRC Error Flag */
+#define ECSR_AEF	BIT(2)	/* ACK Error Flag */
+#define ECSR_FEF	BIT(1)	/* Form Error Flag */
+#define ECSR_SEF	BIT(0)	/* Stuff Error Flag */
+
+/* Mailbox Search Status Register bits */
+#define MSSR_SEST	BIT(7)	/* Search Result Status Bit */
+#define MSSR_MBNST	0x3f	/* Search Result Mailbox Number Status mask */
+
+/* Mailbox Search Mode Register values */
+#define MSMR_TXMB	1	/* Transmit mailbox search mode */
+#define MSMR_RXMB	0	/* Receive mailbox search mode */
+
+/* Mailbox configuration:
+ * mailbox 0 - not used
+ * mailbox 1-31 - Rx
+ * mailbox 32-63 - Tx
+ * no FIFO mailboxes
+ */
+#define N_MBX		64
+#define FIRST_TX_MB	32
+#define RX_MBX_MASK	0xFFFFFFFE
+
+#define RCAR_CAN_NAPI_WEIGHT (FIRST_TX_MB - 1)
+
+struct rcar_can_priv {
+	struct can_priv can;	/* Must be the first member! */
+	struct net_device *ndev;
+	struct napi_struct napi;
+	void __iomem *reg_base;
+	struct clk *clk;
+	spinlock_t mier_lock;
+	u8 clock_select;
+};
+
+static const struct can_bittiming_const rcar_can_bittiming_const = {
+	.name = DRV_NAME,
+	.tseg1_min = 4,
+	.tseg1_max = 16,
+	.tseg2_min = 2,
+	.tseg2_max = 8,
+	.sjw_max = 4,
+	.brp_min = 1,
+	.brp_max = 1024,
+	.brp_inc = 1,
+};
+
+static inline u32 rcar_can_readl(struct rcar_can_priv *priv, int reg)
+{
+	return readl(priv->reg_base + reg);
+}
+
+static inline u16 rcar_can_readw(struct rcar_can_priv *priv, int reg)
+{
+	return readw(priv->reg_base + reg);
+}
+
+static inline u8 rcar_can_readb(struct rcar_can_priv *priv, int reg)
+{
+	return readb(priv->reg_base + reg);
+}
+
+static inline void rcar_can_writel(struct rcar_can_priv *priv, int reg, u32 val)
+{
+	writel(val, priv->reg_base + reg);
+}
+
+static inline void rcar_can_writew(struct rcar_can_priv *priv, int reg, u16 val)
+{
+	writew(val, priv->reg_base + reg);
+}
+
+static inline void rcar_can_writeb(struct rcar_can_priv *priv, int reg, u8 val)
+{
+	writeb(val, priv->reg_base + reg);
+}
+
+static inline u32 rcar_can_mbx_readl(struct rcar_can_priv *priv,
+				     u32 mbxno, u8 offset)
+{
+	return rcar_can_readl(priv, RCAR_CAN_MBX_SIZE * mbxno + offset);
+}
+
+static inline u8 rcar_can_mbx_readb(struct rcar_can_priv *priv,
+				    u32 mbxno, u8 offset)
+{
+	return rcar_can_readb(priv, RCAR_CAN_MBX_SIZE * mbxno + offset);
+}
+
+static inline void rcar_can_mbx_writel(struct rcar_can_priv *priv, u32 mbxno,
+				       u8 offset, u32 val)
+{
+	rcar_can_writel(priv, RCAR_CAN_MBX_SIZE * mbxno + offset, val);
+}
+
+static inline void rcar_can_mbx_writeb(struct rcar_can_priv *priv, u32 mbxno,
+				       u8 offset, u8 val)
+{
+	rcar_can_writeb(priv, RCAR_CAN_MBX_SIZE * mbxno + offset, val);
+}
+
+static void rcar_can_error(struct net_device *ndev)
+{
+	struct rcar_can_priv *priv = netdev_priv(ndev);
+	struct net_device_stats *stats = &ndev->stats;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+	u8 eifr;
+
+	/* Propagate the error condition to the CAN stack */
+	skb = alloc_can_err_skb(ndev, &cf);
+	if (!skb) {
+		if (printk_ratelimit())
+			netdev_err(priv->ndev,
+				   "%s: alloc_can_err_skb() failed\n",
+				   __func__);
+		return;
+	}
+
+	eifr = rcar_can_readb(priv, RCAR_CAN_EIFR);
+	if (eifr & EIFR_EWIF) {
+		netdev_dbg(priv->ndev, "Error warning interrupt\n");
+		priv->can.state = CAN_STATE_ERROR_WARNING;
+		priv->can.can_stats.error_warning++;
+		cf->can_id |= CAN_ERR_CRTL;
+		if (rcar_can_readb(priv, RCAR_CAN_TECR) > 96)
+			cf->data[1] |= CAN_ERR_CRTL_TX_WARNING;
+		if (rcar_can_readb(priv, RCAR_CAN_RECR) > 96)
+			cf->data[1] |= CAN_ERR_CRTL_RX_WARNING;
+		/* Clear interrupt condition */
+		rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_EWIF);
+	}
+	if (eifr & EIFR_EPIF) {
+		netdev_dbg(priv->ndev, "Error passive interrupt\n");
+		priv->can.state = CAN_STATE_ERROR_PASSIVE;
+		priv->can.can_stats.error_passive++;
+		cf->can_id |= CAN_ERR_CRTL;
+		if (rcar_can_readb(priv, RCAR_CAN_TECR) > 127)
+			cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
+		if (rcar_can_readb(priv, RCAR_CAN_RECR) > 127)
+			cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
+		/* Clear interrupt condition */
+		rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_EPIF);
+	}
+	if (eifr & EIFR_BOEIF) {
+		netdev_dbg(priv->ndev, "Bus-off entry interrupt\n");
+		priv->can.state = CAN_STATE_BUS_OFF;
+		cf->can_id |= CAN_ERR_BUSOFF;
+		/* Clear interrupt condition */
+		rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_BOEIF);
+		/* Disable all interrupts in bus-off to avoid int hog */
+		rcar_can_writeb(priv, RCAR_CAN_EIER, 0);
+		rcar_can_writeb(priv, RCAR_CAN_IER, 0);
+		can_bus_off(ndev);
+	}
+	if (eifr & EIFR_BEIF) {
+		int rx_errors = 0, tx_errors = 0, bus_errors = 0;
+		u8 ecsr;
+
+		netdev_dbg(priv->ndev, "Bus error interrupt:\n");
+		cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_PROT;
+		cf->data[2] = CAN_ERR_PROT_UNSPEC;
+
+		ecsr = rcar_can_readb(priv, RCAR_CAN_ECSR);
+		if (ecsr & ECSR_ADEF) {
+			netdev_dbg(priv->ndev, "ACK Delimiter Error\n");
+			cf->data[3] |= CAN_ERR_PROT_LOC_ACK_DEL;
+			bus_errors++;
+			tx_errors++;
+			rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_ADEF);
+		}
+		if (ecsr & ECSR_BE0F) {
+			netdev_dbg(priv->ndev, "Bit Error (dominant)\n");
+			cf->data[2] |= CAN_ERR_PROT_BIT0;
+			bus_errors++;
+			tx_errors++;
+			rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_BE0F);
+		}
+		if (ecsr & ECSR_BE1F) {
+			netdev_dbg(priv->ndev, "Bit Error (recessive)\n");
+			cf->data[2] |= CAN_ERR_PROT_BIT1;
+			bus_errors++;
+			tx_errors++;
+			rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_BE1F);
+		}
+		if (ecsr & ECSR_CEF) {
+			netdev_dbg(priv->ndev, "CRC Error\n");
+			cf->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
+			bus_errors++;
+			rx_errors++;
+			rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_CEF);
+		}
+		if (ecsr & ECSR_AEF) {
+			netdev_dbg(priv->ndev, "ACK Error\n");
+			cf->data[3] |= CAN_ERR_PROT_LOC_ACK;
+			bus_errors++;
+			tx_errors++;
+			rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_AEF);
+		}
+		if (ecsr & ECSR_FEF) {
+			netdev_dbg(priv->ndev, "Form Error\n");
+			cf->data[2] |= CAN_ERR_PROT_FORM;
+			bus_errors++;
+			rx_errors++;
+			rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_FEF);
+		}
+		if (ecsr & ECSR_SEF) {
+			netdev_dbg(priv->ndev, "Stuff Error\n");
+			cf->data[2] |= CAN_ERR_PROT_STUFF;
+			bus_errors++;
+			rx_errors++;
+			rcar_can_writeb(priv, RCAR_CAN_ECSR, (u8)~ECSR_SEF);
+		}
+
+		priv->can.can_stats.bus_error += bus_errors;
+		ndev->stats.rx_errors += rx_errors;
+		ndev->stats.tx_errors += tx_errors;
+		rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_BEIF);
+	}
+	if (eifr & EIFR_ORIF) {
+		netdev_dbg(priv->ndev, "Receive overrun error interrupt\n");
+		cf->can_id |= CAN_ERR_CRTL;
+		cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
+		ndev->stats.rx_over_errors++;
+		ndev->stats.rx_errors++;
+		rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_ORIF);
+	}
+	if (eifr & EIFR_OLIF) {
+		netdev_dbg(priv->ndev,
+			   "Overload Frame Transmission error interrupt\n");
+		cf->can_id |= CAN_ERR_PROT;
+		cf->data[2] |= CAN_ERR_PROT_OVERLOAD;
+		ndev->stats.rx_over_errors++;
+		ndev->stats.rx_errors++;
+		rcar_can_writeb(priv, RCAR_CAN_EIFR, (u8)~EIFR_OLIF);
+	}
+
+	netif_rx(skb);
+	stats->rx_packets++;
+	stats->rx_bytes += cf->can_dlc;
+}
+
+static irqreturn_t rcar_can_interrupt(int irq, void *dev_id)
+{
+	struct net_device *ndev = (struct net_device *)dev_id;
+	struct rcar_can_priv *priv = netdev_priv(ndev);
+	struct net_device_stats *stats = &ndev->stats;
+	u8 isr;
+
+	isr = rcar_can_readb(priv, RCAR_CAN_ISR);
+	if (isr & ISR_ERSF)
+		rcar_can_error(ndev);
+
+	if (isr & ISR_TXMF) {
+		u32 ie_mask = 0;
+
+		/* Set Transmit Mailbox Search Mode */
+		rcar_can_writeb(priv, RCAR_CAN_MSMR, MSMR_TXMB);
+		while (1) {
+			u8 mctl, mbx;
+
+			mbx = rcar_can_readb(priv, RCAR_CAN_MSSR);
+			if (mbx & MSSR_SEST)
+				break;
+			mbx &= MSSR_MBNST;
+			mctl = rcar_can_readb(priv, RCAR_CAN_MCTL(mbx));
+			/* Bits SENTDATA and TRMREQ cannot be
+			 * set to 0 simultaneously
+			 */
+			mctl &= ~MCTL_TRMREQ;
+			rcar_can_writeb(priv, RCAR_CAN_MCTL(mbx), mctl);
+			mctl &= ~MCTL_SENTDATA;
+			/* Clear interrupt */
+			rcar_can_writeb(priv, RCAR_CAN_MCTL(mbx), mctl);
+			ie_mask |= BIT(mbx - FIRST_TX_MB);
+			stats->tx_bytes += can_get_echo_skb(ndev,
+							    mbx - FIRST_TX_MB);
+			stats->tx_packets++;
+			can_led_event(ndev, CAN_LED_EVENT_TX);
+		}
+		/* Set receive mailbox search mode */
+		rcar_can_writeb(priv, RCAR_CAN_MSMR, MSMR_RXMB);
+		/* Disable mailbox interrupt, mark mailbox as free */
+		if (ie_mask) {
+			u32 mier1;
+
+			spin_lock(&priv->mier_lock);
+			mier1 = rcar_can_readl(priv, RCAR_CAN_MIER1);
+			rcar_can_writel(priv, RCAR_CAN_MIER1, mier1 & ~ie_mask);
+			spin_unlock(&priv->mier_lock);
+			if (unlikely(netif_queue_stopped(ndev)))
+				netif_wake_queue(ndev);
+		}
+	}
+	if (isr & ISR_RXM1F) {
+		if (napi_schedule_prep(&priv->napi)) {
+			/* Disable Rx interrupts */
+			rcar_can_writeb(priv, RCAR_CAN_IER,
+					rcar_can_readb(priv, RCAR_CAN_IER) &
+						       ~IER_RXM1IE);
+			__napi_schedule(&priv->napi);
+		}
+	}
+	return IRQ_HANDLED;
+}
+
+static int rcar_can_set_bittiming(struct net_device *dev)
+{
+	struct rcar_can_priv *priv = netdev_priv(dev);
+	struct can_bittiming *bt = &priv->can.bittiming;
+	u32 bcr;
+	u16 ctlr;
+	u8 clkr;
+
+	ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+	if (ctlr & CTLR_SLPM) {
+		/* Write to BCR in CAN reset mode or CAN halt mode */
+		return -EBUSY;
+	}
+	/* Don't overwrite CLKR with 32-bit BCR access */
+	/* CLKR has 8-bit access */
+	clkr = rcar_can_readb(priv, RCAR_CAN_CLKR);
+	bcr = BCR_TSEG1(bt->phase_seg1 + bt->prop_seg - 1) |
+	      BCR_BPR(bt->brp - 1) | BCR_SJW(bt->sjw - 1) |
+	      BCR_TSEG2(bt->phase_seg2 - 1);
+	rcar_can_writel(priv, RCAR_CAN_BCR, bcr);
+	rcar_can_writeb(priv, RCAR_CAN_CLKR, clkr);
+	return 0;
+}
+
+static void rcar_can_start(struct net_device *ndev)
+{
+	struct rcar_can_priv *priv = netdev_priv(ndev);
+	u16 ctlr, n;
+
+	/* Set controller to known mode:
+	 * - normal mailbox mode (no FIFO);
+	 * - accept all messages (no filter).
+	 * CAN is in sleep mode after MCU hardware or software reset.
+	 */
+	ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+	ctlr &= ~CTLR_SLPM;
+	rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+	/* Go to reset mode */
+	ctlr |= CTLR_FORCE_RESET;
+	rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+	ctlr |= CTLR_IDFM_MIXED;	/* Select mixed ID mode */
+	ctlr &= ~CTLR_TPM;		/* Set ID priority transmit mode */
+	rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+
+	rcar_can_writeb(priv, RCAR_CAN_CLKR, priv->clock_select);
+
+	/* Accept all SID and EID */
+	for (n = 0; n < N_RX_MKREGS; n++)
+		rcar_can_writel(priv, RCAR_CAN_MKR(n), 0);
+	rcar_can_writel(priv, RCAR_CAN_MKIVLR0, 0);
+
+	rcar_can_set_bittiming(ndev);
+
+	/* Initial value of MIER1 undefined.  Mark all Tx mailboxes as free. */
+	rcar_can_writel(priv, RCAR_CAN_MIER1, 0);
+
+	rcar_can_writeb(priv, RCAR_CAN_IER, IER_TXMIE | IER_ERSIE | IER_RXM1IE);
+
+	/* Accumulate error codes */
+	rcar_can_writeb(priv, RCAR_CAN_ECSR, ECSR_EDPM);
+	/* Enable error interrupts */
+	rcar_can_writeb(priv, RCAR_CAN_EIER,
+			EIER_EWIE | EIER_EPIE | EIER_BOEIE | EIER_BEIE |
+			EIER_ORIE | EIER_OLIE);
+	/* Enable interrupts for RX mailboxes */
+	rcar_can_writel(priv, RCAR_CAN_MIER0, RX_MBX_MASK);
+	priv->can.state = CAN_STATE_ERROR_ACTIVE;
+
+	/* Write to the CiMCTLj register in CAN
+	 * operation mode or CAN halt mode.
+	 * Configure mailboxes 0-31 as Rx mailboxes.
+	 * Configure mailboxes 32-63 as Tx mailboxes.
+	 */
+	/* Go to halt mode */
+	ctlr |= CTLR_HALT;
+	ctlr &= ~CTLR_RESET;
+	rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+	for (n = 0; n < FIRST_TX_MB; n++) {
+		/* According to documentation we should clear MCTL
+		 * register before configuring mailbox.
+		 */
+		rcar_can_writeb(priv, RCAR_CAN_MCTL(n), 0);
+		rcar_can_writeb(priv, RCAR_CAN_MCTL(n), MCTL_RECREQ);
+		rcar_can_writeb(priv, RCAR_CAN_MCTL(FIRST_TX_MB + n), 0);
+	}
+	/* Go to operation mode */
+	rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr & ~CTLR_FORCE_RESET);
+}
+
+static int rcar_can_open(struct net_device *ndev)
+{
+	struct rcar_can_priv *priv = netdev_priv(ndev);
+	int err;
+
+	err = open_candev(ndev);
+	if (err) {
+		netdev_err(ndev, "open_candev() failed %d\n", err);
+		goto out;
+	}
+	napi_enable(&priv->napi);
+	err = request_irq(ndev->irq, rcar_can_interrupt, 0, ndev->name, ndev);
+	if (err) {
+		netdev_err(ndev, "error requesting interrupt %x\n", ndev->irq);
+		goto out_close;
+	}
+	can_led_event(ndev, CAN_LED_EVENT_OPEN);
+	rcar_can_start(ndev);
+	netif_start_queue(ndev);
+	return 0;
+out_close:
+	napi_disable(&priv->napi);
+	close_candev(ndev);
+out:
+	return err;
+}
+
+static void rcar_can_stop(struct net_device *ndev)
+{
+	struct rcar_can_priv *priv = netdev_priv(ndev);
+	u16 ctlr;
+
+	/* Go to (force) reset mode */
+	ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+	rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr | CTLR_FORCE_RESET);
+	rcar_can_writel(priv, RCAR_CAN_MIER0, 0);
+	rcar_can_writel(priv, RCAR_CAN_MIER1, 0);
+	rcar_can_writeb(priv, RCAR_CAN_IER, 0);
+	rcar_can_writeb(priv, RCAR_CAN_EIER, 0);
+	priv->can.state = CAN_STATE_STOPPED;
+}
+
+static int rcar_can_close(struct net_device *ndev)
+{
+	struct rcar_can_priv *priv = netdev_priv(ndev);
+
+	netif_stop_queue(ndev);
+	rcar_can_stop(ndev);
+	free_irq(ndev->irq, ndev);
+	napi_disable(&priv->napi);
+	close_candev(ndev);
+	can_led_event(ndev, CAN_LED_EVENT_STOP);
+	return 0;
+}
+
+static netdev_tx_t rcar_can_start_xmit(struct sk_buff *skb,
+				       struct net_device *ndev)
+{
+	struct rcar_can_priv *priv = netdev_priv(ndev);
+	struct can_frame *cf = (struct can_frame *)skb->data;
+	u32 data, mier1, mbxno, i;
+	unsigned long flags;
+	u8 mctl;
+
+	if (can_dropped_invalid_skb(ndev, skb))
+		return NETDEV_TX_OK;
+
+	spin_lock_irqsave(&priv->mier_lock, flags);
+	mier1 = rcar_can_readl(priv, RCAR_CAN_MIER1);
+	if (unlikely(mier1 = ~0U)) {
+		spin_unlock_irqrestore(&priv->mier_lock, flags);
+		netif_stop_queue(ndev);
+		return NETDEV_TX_BUSY;
+	}
+	rcar_can_writel(priv, RCAR_CAN_MIER1, mier1 | (mier1 + 1));
+	spin_unlock_irqrestore(&priv->mier_lock, flags);
+	mbxno = ffz(mier1) + FIRST_TX_MB;
+
+	if (cf->can_id & CAN_EFF_FLAG) {
+		/* Extended frame format */
+		data = (cf->can_id & CAN_EFF_MASK) | RCAR_CAN_IDE;
+	} else {
+		/* Standard frame format */
+		data = (cf->can_id & CAN_SFF_MASK) << RCAR_CAN_SID_SHIFT;
+	}
+	if (cf->can_id & CAN_RTR_FLAG) {
+		/* Remote transmission request */
+		data |= RCAR_CAN_RTR;
+	}
+	rcar_can_mbx_writel(priv, mbxno, MBX_HDR_OFFSET, data);
+
+	rcar_can_mbx_writeb(priv, mbxno, MBX_DLC_OFFSET, cf->can_dlc);
+
+	for (i = 0; i < cf->can_dlc; i++)
+		rcar_can_mbx_writeb(priv, mbxno,
+				    MBX_DATA_OFFSET + i, cf->data[i]);
+
+	can_put_echo_skb(skb, ndev, mbxno - FIRST_TX_MB);
+
+	rcar_can_writeb(priv, RCAR_CAN_IER,
+			rcar_can_readb(priv, RCAR_CAN_IER) | IER_TXMIE);
+
+	mctl = rcar_can_readb(priv, RCAR_CAN_MCTL(mbxno));
+	if (priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT)
+		mctl |= MCTL_ONESHOT;
+	else
+		mctl &= ~MCTL_ONESHOT;
+	/* Start TX */
+	mctl |= MCTL_TRMREQ;
+	rcar_can_writeb(priv, RCAR_CAN_MCTL(mbxno), mctl);
+	return NETDEV_TX_OK;
+}
+
+static const struct net_device_ops rcar_can_netdev_ops = {
+	.ndo_open = rcar_can_open,
+	.ndo_stop = rcar_can_close,
+	.ndo_start_xmit = rcar_can_start_xmit,
+};
+
+static void rcar_can_rx_pkt(struct rcar_can_priv *priv, int mbx)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+	u32 data;
+	u8 dlc;
+
+	skb = alloc_can_skb(priv->ndev, &cf);
+	if (!skb) {
+		stats->rx_dropped++;
+		if (printk_ratelimit())
+			netdev_err(priv->ndev,
+				   "%s: alloc_can_skb() failed\n", __func__);
+		return;
+	}
+
+	data = rcar_can_mbx_readl(priv, mbx, MBX_HDR_OFFSET);
+	if (data & RCAR_CAN_IDE)
+		cf->can_id = (data & CAN_EFF_MASK) | CAN_EFF_FLAG;
+	else
+		cf->can_id = (data >> RCAR_CAN_SID_SHIFT) & CAN_SFF_MASK;
+	if (data & RCAR_CAN_RTR)
+		cf->can_id |= CAN_RTR_FLAG;
+
+	dlc = rcar_can_mbx_readb(priv, mbx, MBX_DLC_OFFSET);
+	cf->can_dlc = get_can_dlc(dlc);
+	for (dlc = 0; dlc < cf->can_dlc; dlc++)
+		cf->data[dlc] = rcar_can_mbx_readb(priv, mbx,
+						   MBX_DATA_OFFSET + dlc);
+
+	can_led_event(priv->ndev, CAN_LED_EVENT_RX);
+
+	netif_receive_skb(skb);
+	stats->rx_bytes += cf->can_dlc;
+	stats->rx_packets++;
+}
+
+static int rcar_can_rx_poll(struct napi_struct *napi, int quota)
+{
+	struct rcar_can_priv *priv = container_of(napi,
+						  struct rcar_can_priv, napi);
+	u32 num_pkts = 0;
+
+	/* Find mailbox */
+	while (1) {
+		u8 mctl, mbx;
+
+		mbx = rcar_can_readb(priv, RCAR_CAN_MSSR);
+		if (mbx & MSSR_SEST || num_pkts >= quota)
+			break;
+		mbx &= MSSR_MBNST;
+		mctl = rcar_can_readb(priv, RCAR_CAN_MCTL(mbx));
+		/* Clear interrupt */
+		rcar_can_writeb(priv, RCAR_CAN_MCTL(mbx),
+				mctl & ~MCTL_NEWDATA);
+		rcar_can_rx_pkt(priv, mbx);
+		++num_pkts;
+	}
+	/* All packets processed */
+	if (num_pkts < quota) {
+		u8 ier;
+
+		napi_complete(napi);
+		ier = rcar_can_readb(priv, RCAR_CAN_IER);
+		rcar_can_writeb(priv, RCAR_CAN_IER, ier | IER_RXM1IE);
+	}
+	return num_pkts;
+}
+
+static int rcar_can_do_set_mode(struct net_device *ndev, enum can_mode mode)
+{
+	switch (mode) {
+	case CAN_MODE_START:
+		rcar_can_start(ndev);
+		netif_wake_queue(ndev);
+		return 0;
+	default:
+		return -EOPNOTSUPP;
+	}
+}
+
+static int rcar_can_get_berr_counter(const struct net_device *dev,
+				     struct can_berr_counter *bec)
+{
+	struct rcar_can_priv *priv = netdev_priv(dev);
+
+	bec->txerr = rcar_can_readb(priv, RCAR_CAN_TECR);
+	bec->rxerr = rcar_can_readb(priv, RCAR_CAN_RECR);
+	return 0;
+}
+
+static int rcar_can_probe(struct platform_device *pdev)
+{
+	struct rcar_can_platform_data *pdata;
+	struct rcar_can_priv *priv;
+	struct net_device *ndev;
+	struct resource *mem;
+	void __iomem *addr;
+	int err = -ENODEV;
+	int irq;
+
+	pdata = pdev->dev.platform_data;
+	if (!pdata) {
+		dev_err(&pdev->dev, "No platform data provided!\n");
+		goto fail;
+	}
+
+	irq = platform_get_irq(pdev, 0);
+	if (!irq) {
+		dev_err(&pdev->dev, "No IRQ resource\n");
+		goto fail;
+	}
+
+	mem = platform_get_resource(pdev, IORESOURCE_MEM, 0);
+	addr = devm_ioremap_resource(&pdev->dev, mem);
+	if (IS_ERR(addr)) {
+		err = PTR_ERR(addr);
+		goto fail;
+	}
+
+	ndev = alloc_candev(sizeof(struct rcar_can_priv), N_MBX - FIRST_TX_MB);
+	if (!ndev) {
+		dev_err(&pdev->dev, "alloc_candev failed\n");
+		err = -ENOMEM;
+		goto fail;
+	}
+
+	priv = netdev_priv(ndev);
+
+	priv->clk = devm_clk_get(&pdev->dev, NULL);
+	if (IS_ERR(priv->clk)) {
+		err = PTR_ERR(priv->clk);
+		dev_err(&pdev->dev, "cannot get clock: %d\n", err);
+		goto fail_clk;
+	}
+	clk_enable(priv->clk);
+
+	ndev->netdev_ops = &rcar_can_netdev_ops;
+	ndev->irq = irq;
+	ndev->flags |= IFF_ECHO;
+	priv->ndev = ndev;
+	priv->reg_base = addr;
+	priv->clock_select = pdata->clock_select;
+	priv->can.clock.freq = clk_get_rate(priv->clk);
+	priv->can.bittiming_const = &rcar_can_bittiming_const;
+	priv->can.do_set_bittiming = rcar_can_set_bittiming;
+	priv->can.do_set_mode = rcar_can_do_set_mode;
+	priv->can.do_get_berr_counter = rcar_can_get_berr_counter;
+	priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
+				       CAN_CTRLMODE_ONE_SHOT;
+	platform_set_drvdata(pdev, ndev);
+	SET_NETDEV_DEV(ndev, &pdev->dev);
+	spin_lock_init(&priv->mier_lock);
+
+	netif_napi_add(ndev, &priv->napi, rcar_can_rx_poll,
+		       RCAR_CAN_NAPI_WEIGHT);
+	err = register_candev(ndev);
+	if (err) {
+		dev_err(&pdev->dev, "register_candev() failed\n");
+		goto fail_candev;
+	}
+
+	devm_can_led_init(ndev);
+
+	dev_info(&pdev->dev, "device registered (reg_base=%p, irq=%u)\n",
+		 priv->reg_base, ndev->irq);
+
+	return 0;
+fail_candev:
+	netif_napi_del(&priv->napi);
+fail_clk:
+	free_candev(ndev);
+fail:
+	return err;
+}
+
+static int rcar_can_remove(struct platform_device *pdev)
+{
+	struct net_device *ndev = platform_get_drvdata(pdev);
+	struct rcar_can_priv *priv = netdev_priv(ndev);
+	u16 ctlr;
+
+	unregister_candev(ndev);
+	netif_napi_del(&priv->napi);
+	/* Go to sleep mode */
+	ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+	rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr | CTLR_SLPM);
+	clk_disable(priv->clk);
+	free_candev(ndev);
+	return 0;
+}
+
+#ifdef CONFIG_PM_SLEEP
+static int rcar_can_suspend(struct device *dev)
+{
+	struct net_device *ndev = dev_get_drvdata(dev);
+	struct rcar_can_priv *priv = netdev_priv(ndev);
+	u16 ctlr;
+
+	if (netif_running(ndev)) {
+		netif_stop_queue(ndev);
+		netif_device_detach(ndev);
+	}
+	ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+	ctlr |= CTLR_HALT;
+	rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+	ctlr |= CTLR_SLPM;
+	rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+	priv->can.state = CAN_STATE_SLEEPING;
+
+	clk_disable(priv->clk);
+	return 0;
+}
+
+static int rcar_can_resume(struct device *dev)
+{
+	struct net_device *ndev = dev_get_drvdata(dev);
+	struct rcar_can_priv *priv = netdev_priv(ndev);
+	u16 ctlr;
+
+	clk_enable(priv->clk);
+
+	ctlr = rcar_can_readw(priv, RCAR_CAN_CTLR);
+	ctlr &= ~CTLR_SLPM;
+	rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+	ctlr &= ~CTLR_FORCE_RESET;
+	rcar_can_writew(priv, RCAR_CAN_CTLR, ctlr);
+	priv->can.state = CAN_STATE_ERROR_ACTIVE;
+
+	if (netif_running(ndev)) {
+		netif_device_attach(ndev);
+		netif_start_queue(ndev);
+	}
+	return 0;
+}
+#endif
+
+static SIMPLE_DEV_PM_OPS(rcar_can_pm_ops, rcar_can_suspend, rcar_can_resume);
+
+static struct platform_driver rcar_can_driver = {
+	.driver = {
+		.name = DRV_NAME,
+		.owner = THIS_MODULE,
+		.pm = &rcar_can_pm_ops,
+	},
+	.probe = rcar_can_probe,
+	.remove = rcar_can_remove,
+};
+
+module_platform_driver(rcar_can_driver);
+
+MODULE_AUTHOR("Cogent Embedded, Inc.");
+MODULE_LICENSE("GPL");
+MODULE_DESCRIPTION("CAN driver for Renesas R-Car SoC");
+MODULE_ALIAS("platform:" DRV_NAME);
Index: linux-can-next/include/linux/can/platform/rcar_can.h
=================================--- /dev/null
+++ linux-can-next/include/linux/can/platform/rcar_can.h
@@ -0,0 +1,15 @@
+#ifndef _CAN_PLATFORM_RCAR_CAN_H_
+#define _CAN_PLATFORM_RCAR_CAN_H_
+
+#include <linux/types.h>
+
+/* Clock Select Register settings */
+#define CLKR_CLKEXT	3	/* Externally input clock */
+#define CLKR_CLKP2	1	/* Peripheral clock (clkp2) */
+#define CLKR_CLKP1	0	/* Peripheral clock (clkp1) */
+
+struct rcar_can_platform_data {
+	u8 clock_select;	/* Clock source select */
+};
+
+#endif	/* !_CAN_PLATFORM_RCAR_CAN_H_ */

^ permalink raw reply	[flat|nested] 30+ messages in thread