* [PATCH v2 0/3] Adding support for CAN busses via SPI interface
@ 2014-03-25 14:30 Stefano Babic
2014-03-25 14:30 ` [PATCH v2 1/3] Add documentation for SPI to CAN driver Stefano Babic
` (2 more replies)
0 siblings, 3 replies; 17+ messages in thread
From: Stefano Babic @ 2014-03-25 14:30 UTC (permalink / raw)
To: linux-can
Cc: socketcan, Marc Kleine-Budde, Wolfgang Grandegger, Stefano Babic
Hi all,
this patches wants to add support for CAN busses managed by
separate microcontrollers, connected to the main processor via
the SPI interface.
The use case for this driver is when the main controller has not enough
interfaces as required and/or, due to power consumption, it is better
to use additional low-cost microcontrollers to handle the CAN busses.
These microcontrollers can be on for all time, and they turn on the
main controller when they start to receive CAN packets.
In my specific project, I had an i.MX 35 as main controller, connected via
SPI to a HCS-12 (16 bit Freescale low-power controller), that is able
to manage up to 5 CAN busses. The 16-bit controller manages the CAN busses
and sends the received packets to the i.MX35 on the SPI bus. A protocol
was designed for the exchanged frames on the SPI bus (described in first patch)
to allow the multiplexing and demultiplexing of multiple channels.
The slave-part of the protocol (firmware running on the microcontroller)
is outside this scope. The microcontroller has no OS running on it.
I would like to have this driver as a way to "remotize" CAN busses on the SPI -
I think there are more other projects that did or are doing the same.
Patch 3/3 in V1: "Introduce can_get_echo_skb_ni() when TX is not in interrupt",
not required anymore (it was not used also in V1). Dropped.
Changes in v2:
- added patch to move SPI drivers into a separate directory
- drop all references to i.MX35 and HCS12
Stefano Babic (3):
Add documentation for SPI to CAN driver
CAN: moved SPI drivers into a separate directory
CAN: CAN driver to support multiple CAN bus on SPI interface
Documentation/networking/spi_can.txt | 707 ++++++++++++++++
drivers/net/can/Kconfig | 8 +-
drivers/net/can/Makefile | 2 +-
drivers/net/can/spi/Kconfig | 20 +
drivers/net/can/spi/Makefile | 9 +
drivers/net/can/{ => spi}/mcp251x.c | 0
drivers/net/can/spi/spi_can.c | 1534 ++++++++++++++++++++++++++++++++++
include/linux/can/platform/spican.h | 36 +
8 files changed, 2309 insertions(+), 7 deletions(-)
create mode 100644 Documentation/networking/spi_can.txt
create mode 100644 drivers/net/can/spi/Kconfig
create mode 100644 drivers/net/can/spi/Makefile
rename drivers/net/can/{ => spi}/mcp251x.c (100%)
create mode 100644 drivers/net/can/spi/spi_can.c
create mode 100644 include/linux/can/platform/spican.h
--
1.7.9.5
^ permalink raw reply [flat|nested] 17+ messages in thread* [PATCH v2 1/3] Add documentation for SPI to CAN driver 2014-03-25 14:30 [PATCH v2 0/3] Adding support for CAN busses via SPI interface Stefano Babic @ 2014-03-25 14:30 ` Stefano Babic 2014-03-25 18:14 ` Oliver Hartkopp 2014-03-25 14:30 ` [PATCH v2 2/3] CAN: moved SPI drivers into a separate directory Stefano Babic 2014-03-25 14:30 ` [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface Stefano Babic 2 siblings, 1 reply; 17+ messages in thread From: Stefano Babic @ 2014-03-25 14:30 UTC (permalink / raw) To: linux-can Cc: socketcan, Marc Kleine-Budde, Wolfgang Grandegger, Stefano Babic Signed-off-by: Stefano Babic <sbabic@denx.de> --- Changes in v2: None Documentation/networking/spi_can.txt | 707 ++++++++++++++++++++++++++++++++++ 1 file changed, 707 insertions(+) create mode 100644 Documentation/networking/spi_can.txt diff --git a/Documentation/networking/spi_can.txt b/Documentation/networking/spi_can.txt new file mode 100644 index 0000000..efd165a --- /dev/null +++ b/Documentation/networking/spi_can.txt @@ -0,0 +1,707 @@ +The spi_can driver is intended to provide a general protocol +to support CAN interface that are not directly connected or +part of the main controller, but they are available on a +separate controller, such as a low cost/low power microcontroller +(for example, very simple 16 bit controllers providing multiple CAN + busses). + +This document is intended to describe the internal protocol +on the SPI interface between the linux system (main controller) +and the remote CAN controller(s). + +1. Overview +---------------------- + +The CAN controller processors supports up to N Can Busses. The Main Controller driver +should be able to manage all CAN busses. It is then +responsibility of the SW Main Application to decide which controllers +(which CAN channels) should be opened and used. + +There is the requirement to configure the CAN controller, sending some parameters +or commands not strictly related to the CAN interfaces. For example, it is +required that the application sends periodically a message to the CAN controller, +that has the responsibility to supervise the Main Controller. If the message is not +received in time, the CAN controller must perform a reset of the Main Controller controller +(Watchdog message). +Another known use case is to configure the wake-up mechanism, that is +under which circumstances the CAN controller must awake the Main Controller (ignition, +opened door,...). The protocol foresees an additional channel (CFG) used +to exchange data between the application layer and the CAN controller. + +The document sets the rules to exchange messages between the Main Controller and the +CAN controller and allows to extend the functionalities with new messages (see Chapter 5) +in the future. + +2. Interface to upper layer +------------------------------ + +The driver must provide a socket CAN interface. In this way, the +application is able to communicate with CAN via usual sockets. +A detailed description can be found in the kernel documentation +(Documentation/networking/can.txt). + +On the application level there will be network interfaces, and +they can be set up with Linux tools such as "ifconfig" and "ip". + +For the CAN controller configuration it is proposed to add a further network +device ("cfg") to have a consistent interface. In this way, the +driver must not expone itself in a different way to the application SW. +Configuration packets are simply forward to the CAN controller exactly as it is +done for the other channels. The application fills data for the cfg +interface and the Main Controller driver does not need to look inside. Configuration data +are treated by the CAN driver exactly as all other CAN packets. +Only the SW application and CAN controller-SW are aware of it. + +The driver must be able to mux/demux packets from the socket can interface. +Indeed, there is only one SPI interface to to communicate with the CAN controller, +and the driver instantiates automatically multiple network interfaces. +On the downstream direction, the driver must take packets from all interfaces +(hcan0,..hcan4), set up a frame header (message type, +channel number, etc.) and send it to CAN controller via the SPI interface. + + + hcan0 hcan1 hcan2 hcan3 hcan4 cfg + | | | | | | + | | | | | | + ,__|_____|____|_______|_______|____|_ + | | + | | + | SOCKET CAN (Kernel) | + | | + L________________,.__________________| + ,!!; + ,!!; + `!!. + ;!!. + ,'''''''''''''''''''''''''''''''''''`. + | +------------------------------. | + | | Channel Mux/Demux | | + | L______________________________| | + | | + | +------------------------------. | + | | Can to SPI controller | | + | L______________________________| | + |..................................../ + + +On the upstream direction, the driver must be able to demux the received +frames and forward them to the related network interface. + +The cfg is a special CAN interface used only to set up the +CAN controller behavior and does not map to a physical CAN channel, as the other +CAN interfaces do. The scope of such interface is to provide a way to +exchange messages with the CAN controller processor that are not strictly related +to the CAN bus. As example for such messages, a watchdog message must +be sent regularly by the Main Controller to the CAN controller, and it is sent as CAN +data to channel that matches the imxhcs12. The driver is not aware of +these messages, as they are seen as normal data messages for a CAN channel. +This guarantees that it is possible in future to extend the list of these +configuration messages without changing the driver. The partners that must know +their format are the application software in user space and the CAN controller Software. + +3. Interface to HW +--------------------------- + +The CAN controller is connected to the Main Controller via the SPI interface. + +3.1 SPI Hardware Connection + + - Main Controller is always the Master and the CAN controller in slave mode. + + - Maximal frequency: + The limit is set by the CAN controller, because it must serve an interrupt + request before the next two bytes are sent. + + The CAN controller has two operational modes: "User Mode" and + "Supervisor / Maintenance" Mode. The last one is used to update + the software on the CAN controller. + In Supervisor Mode, the CAN controller runs with little support for its + peripherals. The maximum SPI frequency is limited to 1 Mhz. + The driver must support two different operational frequencies, + and must be able to switch between them. + This is done using the CFG_MSG for the CFG channel, see details in chapter 6. + + - bit x words : it was tested with 32 bits. This means that the Main Controller + deactive the chip select automatically (without intervention by Software) + each 4 bytes. No interrupts are generated on the Main Controller because they are ruled + by the internal FIFO. + + - GPIO(s): + IRQ GPIO: set active by CAN controller when it has something to send + it raises an interrupt on Main Controller side. + +To transfer data, some frame header will be included. If a field contains more +as one byte, a big endian convention is used (MSB is transmitted first). + +The SPI interface is full duplex. This means, both Main Controller and CAN controller are transmitting +data at the same time. It is possible to transfer CAN messages to and from +the CAN controller in the same SPI transfer. + +4. SPI Protocol between Main Controller and CAN controller +------------------------------------------ + +The format of the frames exchanged between Main Controller and CAN controller is: + + + ,'''''''','''''''''''''''','''''''''''''''''''''''','''''''''''''| + |MSG ID | Length(16 bit)| DATA | CHECKSUM | + L________|________________|________________________|_____________| + +The checksum is thought to be used in the development phase to check +for implementation's error. It should be possible to disable it after +the development is finished. The SPI interface ensures that data are +transfered without modification between the two processors. + +The checksum is computed as 16 bit 2's complement of the sum (module 16) +of all bytes in the message, excluded the checksum itself. +On the receive side, it is enough to sum all bytes including the checksum +to verify if the message was received correctly (the sum must be zero). + +The MSG-ID (1 byte) identifies the type of exchange data. For basic exchange +of frames, the following messages are used: + + SEND_DATA_MSG + STATUS_MSG + SYNC_MSG + CFG_MSG + REQ_DATA_MSG + +The SEND_DATA_MSG is used when one of the two processors needs to send a CAN +message. + +The STATUS_MSG is used to inform the partner about the number of bytes ready +to be transfered. This is used by the Main Controller when it has several messages +to send, and it needs a longer frame as usual to sen all CAN messages back. + +The SYNC_MSG is used to start up the communication and in case an error is +detected. It is the first message that the Main Controller will send to the CAN controller. +Because the Main Controller will always send the MSG ID as first byte in the frame, +the SYNC_MSG is used to signalize the start of a frame to the CAN controller. +The SYNC_MSG is used also to initialize or reinitialize the time on the +CAN controller. It is not required to the CAN controller to have an absolute time synchronized +to the Main Controller. It is enough to have a relative time, and the Main Controller computes +the absolute time to add it as timestamp to the received packets. + +The CFG_MSG is sent to configure the CAN channel for bitrate and timing. +The driver on the Main Controller does not need to parse the parameters and it forwards them to +the corresponding CAN controller's CAN interface. + +The REQ_DATA is sent only by the Main Controller when the Main Controller signals +it has packets to be transfered, but the Main Controller has nothing to sent. It scope +is mainly to signalize to the Main Controller the Start of the Frame and to +pass in the LENGTH field the number of bytes of the frame itself. +After receiving the REQ_DATA message, the CAN controller knows how many bytes +is allowed to send without fragmenting frames on the Main Controller's side. + +4.1 Start of the comunication +----------------------------- + +The Main Controller does not poll continuosly the CAN controller. If it has nothing to send, +it waits to get an interrupt on the GPIO-line. + +If the CAN controller has packets to be sent, it sets the GPIO-IRQ, +and this raises an interrupt on Main Controller side. + +The CAN controller can sends enough messages as they can fit inside +the SPI transfer. The number of bytes (=SPI clock cycles) +to be transfered is set by the Main Controller inside the Status Message. + + | | + | GPIO(IRQ for Main Controller) | + |<------------------------------' + | | + | First SPI Transfer started | + | SPI:REQ_DATA | + |------------------------------>| + | SPI:Send Data | + |<------------------------------| + | SPI:Send Data | + |<------------------------------| + | SPI: Status | + |<------------------------------| + | | + | New SPI Transfer started | + | SPI:Send Data | + |------------------------------>| + | SPI:Send Data | + |<------------------------------| + | | + | | + | | + Example of SPI transfer. + +The CAN controller sets the GPIO-IRQ, and this raises an interrupt on the Main Controller. +The protocol uses several Message-IDs to identify what is really exchanged. + +From the Main Controller point of view, a SPI Transfer is initiated when the first +byte is written into the internal FIFO and it is finished when the all +bytes are transmitted. The protocol relies on the positional place of the +bytes, that means there is no need to wait for a start-frame byte. + +On the receive side, due to CAN controller limitations, the Main Controller must drop +the first 4 bytes received from the CAN controller, as they have no meaning. +It must be ensured by the CAN controller software that the first valid byte +is the fifth in the SPI transfer. + +The Main Controller has no knowledge at the beginning how many messages the CAN controller +will send and it starts with a 32-bytes transfer because this matches +the internal FIFO and raises only one interrupt. +If the CAN controller has communicated with the status message +the number of bytes it needs for the next SPI frame, the Main Controller will start +a SPI transfer for a number of bytes equal or greater +as the received value. +Sending imediately a new SPI transfer should minimize the delay to transfer +CAN messages into the socket CAN layer, and setting the transfer to +a multiple of 32 is a best-effort for the CPU load on the Main Controller side, +because it matches the internal FIFO size (tested on i.MX35). However, there is no restrictions +about the number of bytes to be transfered, and it is duty of the Main Controller driver +to find the most valuable length to be used. + +A SPI transfer is *NOT* delimited by changes of the chip select signal. Indeed, +the chip select is ruled internally by the bits x word setup, and it is made +suitable for both CAN controller and Main Controller. Bits x words must be a multiple of 2, +because the CAN controller gets an interrupt each 2 bytes. + + +5. SPI Communication scenarios +------------------------------- + +5.1 The CAN controller wants to send data, no data from Main Controller +----------------------------------------------------------------------- + +The CAN controller sets the GPIO to raise an interrupt on the Main Controller. The CAN controller +sets always the GPIO if it has something to sent, and it is duty of the Main Controller to disable +and enable the interrupt source depending on the status of the transmission. + +After getting the interrupt, the Main Controller (that has no knowledge about the amount of data +to be transfered from the CAN controller), will start a SPI transfer for a total of +32 bytes (default), sending a REQ_DATA message. + +This is the best-effort way for the Main Controller, as it will transfer so many bytes as the +internal FIFO can, and only one ISR is raised to terminate the transfer. +Taking into account that the header requires 3 bytes (MSG-ID + length) and the +checksum further two bytes, there are still 27 bytes available for the CAN messages. +This is always enough to send at least one CAN message. + +The CAN controller answers with the SEND_DATA_MSG. The Main Controller knows that there is +no message from the Main Controller, because the MSG-ID is not set to SEND_DATA, and acquires +the number of bytes to be transfered from the length field. +The CAN controller packs so many CAN messages inside the SEND_DATA_MSG (usually 1 or 2), +delimiting the packet with the checksum as described before. + + + Main Controller ,''''''''''''''''''''''''''''''''''''''''''''''''''| + (MOSI) '''| REQ_DATA | + |__________________________________________________| + + + + CAN Contr.,'''''''''''''''''''''',''''''''''''''''''''''''''''| + (MISO) |Do not care (4 bytes) | Send DATA MSG | + | | | + '`''''''''''''''''''''''`'''''''''''''''''''''''''''' + 32 bytes long transfer + ''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''' + +There are two options at this point: + +5.2 The CAN controller has sent all CAN messages. +----------------------------------------------------- + +In this case, the CAN controller deasserts the GPIO line to avoid further +interrupts for the Main Controller. + +5.3 The CAN controller has more data to be sent. +------------------------------------------------ + +It can send a STATUS_MSG message, if it fits into the current transfer. +There is no rule about when sending this message. The main constraint for +the CAN controller is that the packets must not be fragmented, that is, there is still +enough place inside the current frame to send the STATUS_MSG. +The CAN controller can decide also to send the Status Message before the SEND_DATA_MSG. +Anyway, because the length of a STATUS_MSG is fixed (5 bytes), it is sure that +the CAN controller is always able to send a SEND_DATA_MSG and a STATUS_MSG inside a +standard (=32 bytes) SPI transfer. + + + Main Controller ,''''''''''''''''''''''''''''''''''''''''''''''''''| + (MOSI) '''| REQ_DATA | + |__________________________________________________| + + +CAN Controller ,'''''''''''''''''''''''''''''',''''''''''''''| + | SEND DATA | STATUS | + | | | + `''''''''''''''''''''''''''''''`''''''''''''' + + +After receiving the STATUS_MSG, the Main Controller is aware of the number of bytes +the S12 wants to send. It starts without waiting for the GPIO-ISR +and sends (if it has no messages for the CAN controller) a new REQ_DATA +with the length of the SPI transfer, followed by dummies 0x00. +The length could be changed by the Main Controller, but it must not be smaller +as the value required by the Main Controller in the STATUS_MSG. + + Main Controller ,'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''| + (MOSI) '''| REQ_DATA | + |_____________________________________________________________________| + + + ,'''''''''''''''''''''''''''' ,'''''''''''''''''''''''''''''', + | SEND DATA | SEND DATA | + | | | + `''''''''''''''''''''''''''' `'''''''''''''''''''''''''''''' + +The CAN controller has now enough SPI clock cycles to send all data +to the Main Controller. After sending all data, it will fill also any +remaining bytes until the end of transfer with dummy bytes. + +In case there is no place for the STATUS_MSG and because it is not allowed +to fragment packets, the CAN controller must maintain assert the GPIO-IRQ line +and wait until the Main Controller will start a new transfer again. + +5.4 Both CAN controller and Main Controller has data to be sent +---------------------------------------------------------------- + +The CAN controller asserts the GPIO line to raise an interrupt. The interrupt +can be served or not, depending if the Main Controller has already recognized +that it must send data. The GPIO is used from the Main Controller as +level-interrupt, and the Main Controller is able to activate it when no transfer +is running, and to deactivate it when it already knows there are messages +to be exchanged. + +The scenario is quite the same as previously: + + + + ,'''''''''''''''''''''''''''''''''''''''''''''''''''''''''| +Main | SEND DATA | ........... + | | + `''''''''''''''''''''''''''''''`'''''''''''''''''''''''''' + + ,'''''''''''''''''''''''''''' , +CAN Controller | SEND DATA | + | | + `''''''''''''''''''''''''''' + +The Main Controller starts with the SEND_DATA_MSG. If it has a lot of CAN +messages to be sent, it sets accordingly the length field and it packs all CAN +messages inside the same single SEND_DATA_MSG. + +The CAN Controller, that has something to send, will answer with the +SEND_DATA_MSG, too. +Because it has already received the length of the incoming message, it is +aware about how many bytes are transfered and can act as in 5.3 if it has more +messages to send. + +5.5 The CAN controller gets new data during a transfer +------------------------------------------------------ + +In this case, there are the following options: + +- the new messages can be fit inside the actual transfer. +Then the CAN controller will append a new SEND_DATA_MSG to the end of the +data that it is currently sending on the SPI line. + + Main ,'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''| + (MOSI) '''| REQ_DATA | + |_______________________________________________________________________| + + + ,'''''''''''''''''''''''''''' ,'''''''''''''''''''''''''''''', +CAN Controller | SEND DATA | SEND DATA | + | | | + `''''''''''''''''''''''''''' `'''''''''''''''''''''''''''''' + ^--at this point, new can message(s) is(are) received + +- the new messages cannot be fit inside the actual SPI transfer +but there is place for a STATUS_MSG. + +The CAN controller will append a STATUS_MSG after the SEND_DATA as in 5.3. +After receiving STATUS_MSG, the Main Controller will start a new SPI transfer +for the requested amout of data. + + + Main ,'''''''''''''''''''''''''''''''''''''''''''''''''''| + (MOSI) '''| REQ_DATA | + |___________________________________________________| + + + +CAN Controller ,'''''''''''''''''''''''''''''',''''''''''''''| + | SEND DATA | STATUS | + | | | + `''''''''''''''''''''''''''''''`''''''''''''' + +- There is no place for the new message and/or the STATUS_MSG + +In this case, and because it is not allowed to fragment packets, the CAN +controller must maintain assert the GPIO-IRQ line and wait until the Main +Controller will start a new transfer again. + +5.6 Communication with upper layer +---------------------------------- + +After reception of data, the CAN-Main Controller driver should demux data and send them +to the correct CAN interface via the API provided by socket CAN. + +6. Time synchronization +---------------------------- + +As the CAN controller sends a timestamp to the Main Controller, it is required to +have the same time base. The CAN controller inserts timestamp with 1mSec +resolution, because it is programmed with 1mSec timer interrupt. +This resolution is enough for diagnostic protocols and higher resolution +timestamps are not reliable inside the CAN controller itself. + +To allow to the Main Controller to compute the absolute time, the Main Controller and +the CAN controller must compute elapsed time from the same base. + +The SYNC_MSG is used to reset the CAN controller's internal counter. +The Main Controller sends this message at the start up, and it can send it +when there is no traffic to maintain time synchronized. +The following actions are taken: + +1. The Main Controller sends a SYNC_MSG, and stores its absolute time. + The SYNC_MSG is sent as single message in a 32 byte transfer. + The remaining bytes are filled with zeros by the Main Controller. + This makes easy to recognize the SYNC_MSG if the snchronization is lost. +2. After receiving the SYNC_MSG, the CAN controller resets its internal + counter to zero. + As the SYNC_MSG is used to signalize the start of frame, the CAN controller + synchronize itself for the next transfer. + +When the CAN controller will send data, it will add the elapsed milliseconds +from the receiving of the SYNC_MSG as timestamps. As 4 bytes are used for +timestamp, the timestamp will roll over after 1193 days. + +7. CAN configuration +---------------------------------- + +It is foreseen that the CAN controller's CAN channels are configured in the +usual way under Linux via the "ip" command. In fact, the CAN interface cannot +be set to "up" if it was not configured before. + +With ip, the following parameters can be set: + +ip link set DEVICE type can + [ bitrate BITRATE [ sample-point SAMPLE-POINT] ] | + [ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1 + phase-seg2 PHASE-SEG2 [ sjw SJW ] ] + + [ loopback { on | off } ] + [ listen-only { on | off } ] + [ triple-sampling { on | off } ] + [ one-shot { on | off } ] + [ berr-reporting { on | off } ] + + [ restart-ms TIME-MS ] + [ restart ] + + Where: BITRATE := { 1..1000000 } + SAMPLE-POINT := { 0.000..0.999 } + TQ := { NUMBER } + PROP-SEG := { 1..8 } + PHASE-SEG1 := { 1..8 } + PHASE-SEG2 := { 1..8 } + SJW := { 1..4 } + RESTART-MS := { 0 | NUMBER } + +After using the ip command, the driver will receive from the socketCAN layer +the following structure, defined in include/linux/can/netlink.h: + +/* + * CAN bit-timing parameters + * + * For futher information, please read chapter "8 BIT TIMING + * REQUIREMENTS" of the "Bosch CAN Specification version 2.0" + * at http://www.semiconductors.bosch.de/pdf/can2spec.pdf. + */ +struct can_bittiming { + __u32 bitrate; /* Bit-rate in bits/second */ + __u32 sample_point; /* Sample point in one-tenth of a percent */ + __u32 tq; /* Time quanta (TQ) in nanoseconds */ + __u32 prop_seg; /* Propagation segment in TQs */ + __u32 phase_seg1; /* Phase buffer segment 1 in TQs */ + __u32 phase_seg2; /* Phase buffer segment 2 in TQs */ + __u32 sjw; /* Synchronisation jump width in TQs */ + __u32 brp; /* Bit-rate prescaler */ +}; + +The parameters are not interpreted by the driver, but they are encapsulated +as they are in a SPI frame with MSG-ID=CFG_MSG and sent to the corresponding CAN channel. +It is then duty of the CAN controller to set up the hardware on base of +the received parameters. According to the rules set in this document, +single parameters are sent in a big-endian order (MSB first). + +A special case is the setup for the CFG channel. This channel is not mapped to +a real CAN bus, but it is used to instantiate a communication +between the CAN controller software and the Application in User Space. +Data are not interpreted at all by the driver, and anybody can set its internal +protocol to add commands and features to the CAN controller software. +One example is the Watchdog triggering already mentioned. +The CAN_MSG is ignored by the CAN controller for the CFG channel, and its values +do not change the hardware setup. +Using this message it is possible to switch the CAN controller between two operational +modes: + - Supervisor / Maintenance mode: slow, max SPI frequency 1 Mhz + - User / Normal mode max SPI frequency set at startup + +The driver will start setting the SPI frequency to the lower value. +When the CFG channel is opened, the driver checks the bitrate of the +can_bittiming structure, and takes the following actions: + + - bitrate = 125000 sets SPI frequency to low value + - bitrate > 125000 sets SPI frequency to high value + +In user space it is then possible to switch the CAN controller between the two +operational modes simply issueing the "ip link" command and setting +the bitrate for the CFG channel. + +To set the CAN controller in supervisor mode: + ip link set cfg type can bitrate 125000 + +To set the CAN controller in user mode: + ip link set cfg type can bitrate 500000 + + +8. SPI Frame definition and Messages +---------------------------------------- + +A SPI Frame begins with a 4-bytes header: + +bytes: + 0 Message ID + 1-2 Message Length. + Length is computed including 2 bytes for checksum, + but without Message ID and Length itself. + 3 .. N-2 Depending on Message-ID + N-1 .. N Checksum + +Command codes: + 0x01 Status Request + 0x02 Send Data + 0x03 Sync message + 0x04 Configuration Message + .... t.b.d. + +8.1 Format of Send Data Message +------------------------------- + + _____,________________ + | | ,''''''''''''''''',''''''''''''| ,'''''''| + |ID=2 | LENGTH | CAN MESSAGE |CAN MESSAGE | |CHECKSUM + |_____L________________|_________________|____________| L_______| + _.-' `--._ + _,,-' ``-.._ + _.-' `--._ + _,--' ``-.._ + ,.-' `-.._ + ,'''''',''''''''''''','''''''''''''','''''',''''''| ,'''''''''| + | CH |TIMESTAMP | CAN ID |DLC |D[0] | |D[dlc-1] | + L______L_____________|______________L______|______| L_________| + + + Offset + 0 0x02 (SEND_DATA_MSG) + 1 - 2 Length of message + + +Each CAN message has the following format + + 0 Channel Number + Values: + 1-n CAN Channel + 0xFF CFG channel + 1 - 4 Timestamp + 5 - 8 can_id + 9 dlc (length of can message) + 10..N Variable number of data (max 8) + +Note: Channel 0 is reserved for configuration. + +The flag for Standard and Extended frame format (SFF and EFF +in socketCAN framework) is a flag in the can_id. + +8.2 Format of Status Message +---------------------------- + + _____,________________ + | | ,''''''''''''''''''|'''''''| + |ID=1 | LENGTH=4 | Length (2 bytes) |CHECKSUM + |_____L________________|__________________|_______| + + + Offset + 0 0x01 (STATUS_MSG) + 1-2 4 + 3-4 Desired mionimal length for next transfer + 5-6 Checksum + +8.3 Format of Sync Message +-------------------------- + + _____,________________ + | | ,'''''''''''''''''''|'''''''| + |ID=3 | LENGTH=6 | AA | 55 | 55 | AA |CHECKSUM + |_____L________________|____|____|____|____|_______| + + + Offset + 0 0x02 (SYNC_MSG) + 1-2 6 + 3 0xAA + 4 0x55 + 5 0x55 + 6 0xAA + 7-8 Checksum + +8.4 Format of Configuration Message +----------------------------------- + _____,________________ + | | ,'''''''''''''''''''''''''''''''''''''''''|'''''''''|.... + |ID=4 | LENGTH=35 | channel | Enabled | bitrate | sample | tq | |CHECKSUM + |_____L________________|_________|__________|__________|_________|_________.... + + + Offset + 0 0x04 (CFG_MSG) + 1-2 35 + 3 channel number + 0xFF = CFG + 0..n = CAN controller CAN channel + 4 Enabled/disabled + Bit 0 is defined. + 0 = disabled + 1 = enabled + bit 1..7 = reserved (do not care) + 5-8 bitrate + 9-12 sample point + 13-16 Time quanta (tq) + 17-20 Propagation segment + 21-24 Phase Buffer segment 1 + 25-28 Phase Buffer segment 2 + 29-32 Sync jump width + 33-36 Bit rate prescaler + 37-39 Checksum + +There is no answer from the CAN controller after receiving a CFG_MSG, and the CAN controller is not +allowed to send a data frame in answer to a CFG_MSG. After setting the channel, +the communication will go on as usual. + +8.5 Format of REQ_DATA Message +------------------------------ + + _____,________________ + | | ,''''''''''''''''''''''''''|'''''''| + |ID=5 | LENGTH=n | 00 | 00 | 00 | |CHECKSUM + |_____L________________|____|____|____|___________|_______| + + + Offset + 0 0x05 (REQ_DATA) + 1-2 Length of the message. + This value is not fiixed and tells the CAN controller + how many bytes it can send back + 3:(n-2) Filled with zero + (n-1):n Checksum -- 1.7.9.5 ^ permalink raw reply related [flat|nested] 17+ messages in thread
* Re: [PATCH v2 1/3] Add documentation for SPI to CAN driver 2014-03-25 14:30 ` [PATCH v2 1/3] Add documentation for SPI to CAN driver Stefano Babic @ 2014-03-25 18:14 ` Oliver Hartkopp 2014-03-26 8:07 ` Stefano Babic 0 siblings, 1 reply; 17+ messages in thread From: Oliver Hartkopp @ 2014-03-25 18:14 UTC (permalink / raw) To: Stefano Babic, linux-can; +Cc: Marc Kleine-Budde, Wolfgang Grandegger Please check the patch with checkpatch.pl ... There are thousands of lines > 80 chars :-) ^ permalink raw reply [flat|nested] 17+ messages in thread
* Re: [PATCH v2 1/3] Add documentation for SPI to CAN driver 2014-03-25 18:14 ` Oliver Hartkopp @ 2014-03-26 8:07 ` Stefano Babic 0 siblings, 0 replies; 17+ messages in thread From: Stefano Babic @ 2014-03-26 8:07 UTC (permalink / raw) To: Oliver Hartkopp, linux-can Cc: Stefano Babic, Marc Kleine-Budde, Wolfgang Grandegger Hi Oliver, On 25/03/2014 19:14, Oliver Hartkopp wrote: > Please check the patch with checkpatch.pl ... > > There are thousands of lines > 80 chars :-) > Well, checkpatch ran over the patches: scripts/checkpatch.pl 0001-Add-documentation-for-SPI-to-CAN-driver.patch total: 0 errors, 0 warnings, 707 lines checked 0001-Add-documentation-for-SPI-to-CAN-driver.patch has no obvious style problems and is ready for submission. Anyway, the patch contains tons of long lines. I will check tjem manually before submitting and fix them. Best regards, Stefano Babic -- ===================================================================== DENX Software Engineering GmbH, MD: Wolfgang Denk & Detlev Zundel HRB 165235 Munich, Office: Kirchenstr.5, D-82194 Groebenzell, Germany Phone: +49-8142-66989-53 Fax: +49-8142-66989-80 Email: sbabic@denx.de ===================================================================== ^ permalink raw reply [flat|nested] 17+ messages in thread
* [PATCH v2 2/3] CAN: moved SPI drivers into a separate directory 2014-03-25 14:30 [PATCH v2 0/3] Adding support for CAN busses via SPI interface Stefano Babic 2014-03-25 14:30 ` [PATCH v2 1/3] Add documentation for SPI to CAN driver Stefano Babic @ 2014-03-25 14:30 ` Stefano Babic 2014-03-25 18:56 ` Oliver Hartkopp 2014-04-01 21:08 ` Marc Kleine-Budde 2014-03-25 14:30 ` [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface Stefano Babic 2 siblings, 2 replies; 17+ messages in thread From: Stefano Babic @ 2014-03-25 14:30 UTC (permalink / raw) To: linux-can Cc: socketcan, Marc Kleine-Budde, Wolfgang Grandegger, Stefano Babic Create a directory for all CAN drivers using SPI and move mcp251x driver there. Signed-off-by: Stefano Babic <sbabic@denx.de> --- Changes in v2: - added patch to move SPI drivers into a separate directory drivers/net/can/Kconfig | 8 ++------ drivers/net/can/Makefile | 2 +- drivers/net/can/spi/Kconfig | 10 ++++++++++ drivers/net/can/spi/Makefile | 8 ++++++++ drivers/net/can/{ => spi}/mcp251x.c | 0 5 files changed, 21 insertions(+), 7 deletions(-) create mode 100644 drivers/net/can/spi/Kconfig create mode 100644 drivers/net/can/spi/Makefile rename drivers/net/can/{ => spi}/mcp251x.c (100%) diff --git a/drivers/net/can/Kconfig b/drivers/net/can/Kconfig index 9e7d95d..4aacaa9 100644 --- a/drivers/net/can/Kconfig +++ b/drivers/net/can/Kconfig @@ -77,12 +77,6 @@ config CAN_TI_HECC Driver for TI HECC (High End CAN Controller) module found on many TI devices. The device specifications are available from www.ti.com -config CAN_MCP251X - tristate "Microchip MCP251x SPI CAN controllers" - depends on SPI && HAS_DMA - ---help--- - Driver for the Microchip MCP251x SPI CAN controllers. - config CAN_BFIN depends on BF534 || BF536 || BF537 || BF538 || BF539 || BF54x tristate "Analog Devices Blackfin on-chip CAN" @@ -133,6 +127,8 @@ source "drivers/net/can/c_can/Kconfig" source "drivers/net/can/cc770/Kconfig" +source "drivers/net/can/spi/Kconfig" + source "drivers/net/can/usb/Kconfig" source "drivers/net/can/softing/Kconfig" diff --git a/drivers/net/can/Makefile b/drivers/net/can/Makefile index c744039..c420588 100644 --- a/drivers/net/can/Makefile +++ b/drivers/net/can/Makefile @@ -10,6 +10,7 @@ can-dev-y := dev.o can-dev-$(CONFIG_CAN_LEDS) += led.o +obj-y += spi/ obj-y += usb/ obj-y += softing/ @@ -19,7 +20,6 @@ obj-$(CONFIG_CAN_C_CAN) += c_can/ obj-$(CONFIG_CAN_CC770) += cc770/ obj-$(CONFIG_CAN_AT91) += at91_can.o obj-$(CONFIG_CAN_TI_HECC) += ti_hecc.o -obj-$(CONFIG_CAN_MCP251X) += mcp251x.o obj-$(CONFIG_CAN_BFIN) += bfin_can.o obj-$(CONFIG_CAN_JANZ_ICAN3) += janz-ican3.o obj-$(CONFIG_CAN_FLEXCAN) += flexcan.o diff --git a/drivers/net/can/spi/Kconfig b/drivers/net/can/spi/Kconfig new file mode 100644 index 0000000..148cae5 --- /dev/null +++ b/drivers/net/can/spi/Kconfig @@ -0,0 +1,10 @@ +menu "CAN SPI interfaces" + depends on SPI + +config CAN_MCP251X + tristate "Microchip MCP251x SPI CAN controllers" + depends on HAS_DMA + ---help--- + Driver for the Microchip MCP251x SPI CAN controllers. + +endmenu diff --git a/drivers/net/can/spi/Makefile b/drivers/net/can/spi/Makefile new file mode 100644 index 0000000..90bcacf --- /dev/null +++ b/drivers/net/can/spi/Makefile @@ -0,0 +1,8 @@ +# +# Makefile for the Linux Controller Area Network SPI drivers. +# + + +obj-$(CONFIG_CAN_MCP251X) += mcp251x.o + +ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG diff --git a/drivers/net/can/mcp251x.c b/drivers/net/can/spi/mcp251x.c similarity index 100% rename from drivers/net/can/mcp251x.c rename to drivers/net/can/spi/mcp251x.c -- 1.7.9.5 ^ permalink raw reply related [flat|nested] 17+ messages in thread
* Re: [PATCH v2 2/3] CAN: moved SPI drivers into a separate directory 2014-03-25 14:30 ` [PATCH v2 2/3] CAN: moved SPI drivers into a separate directory Stefano Babic @ 2014-03-25 18:56 ` Oliver Hartkopp 2014-04-01 21:08 ` Marc Kleine-Budde 1 sibling, 0 replies; 17+ messages in thread From: Oliver Hartkopp @ 2014-03-25 18:56 UTC (permalink / raw) To: Stefano Babic, linux-can; +Cc: Marc Kleine-Budde, Wolfgang Grandegger On 25.03.2014 15:30, Stefano Babic wrote: > Create a directory for all CAN drivers using SPI > and move mcp251x driver there. > > Signed-off-by: Stefano Babic <sbabic@denx.de> That's nice. Acked-by: Oliver Hartkopp <socketcan@hartkopp.net> > > --- > > Changes in v2: > - added patch to move SPI drivers into a separate directory > > drivers/net/can/Kconfig | 8 ++------ > drivers/net/can/Makefile | 2 +- > drivers/net/can/spi/Kconfig | 10 ++++++++++ > drivers/net/can/spi/Makefile | 8 ++++++++ > drivers/net/can/{ => spi}/mcp251x.c | 0 > 5 files changed, 21 insertions(+), 7 deletions(-) > create mode 100644 drivers/net/can/spi/Kconfig > create mode 100644 drivers/net/can/spi/Makefile > rename drivers/net/can/{ => spi}/mcp251x.c (100%) > > diff --git a/drivers/net/can/Kconfig b/drivers/net/can/Kconfig > index 9e7d95d..4aacaa9 100644 > --- a/drivers/net/can/Kconfig > +++ b/drivers/net/can/Kconfig > @@ -77,12 +77,6 @@ config CAN_TI_HECC > Driver for TI HECC (High End CAN Controller) module found on many > TI devices. The device specifications are available from www.ti.com > > -config CAN_MCP251X > - tristate "Microchip MCP251x SPI CAN controllers" > - depends on SPI && HAS_DMA > - ---help--- > - Driver for the Microchip MCP251x SPI CAN controllers. > - > config CAN_BFIN > depends on BF534 || BF536 || BF537 || BF538 || BF539 || BF54x > tristate "Analog Devices Blackfin on-chip CAN" > @@ -133,6 +127,8 @@ source "drivers/net/can/c_can/Kconfig" > > source "drivers/net/can/cc770/Kconfig" > > +source "drivers/net/can/spi/Kconfig" > + > source "drivers/net/can/usb/Kconfig" > > source "drivers/net/can/softing/Kconfig" > diff --git a/drivers/net/can/Makefile b/drivers/net/can/Makefile > index c744039..c420588 100644 > --- a/drivers/net/can/Makefile > +++ b/drivers/net/can/Makefile > @@ -10,6 +10,7 @@ can-dev-y := dev.o > > can-dev-$(CONFIG_CAN_LEDS) += led.o > > +obj-y += spi/ > obj-y += usb/ > obj-y += softing/ > > @@ -19,7 +20,6 @@ obj-$(CONFIG_CAN_C_CAN) += c_can/ > obj-$(CONFIG_CAN_CC770) += cc770/ > obj-$(CONFIG_CAN_AT91) += at91_can.o > obj-$(CONFIG_CAN_TI_HECC) += ti_hecc.o > -obj-$(CONFIG_CAN_MCP251X) += mcp251x.o > obj-$(CONFIG_CAN_BFIN) += bfin_can.o > obj-$(CONFIG_CAN_JANZ_ICAN3) += janz-ican3.o > obj-$(CONFIG_CAN_FLEXCAN) += flexcan.o > diff --git a/drivers/net/can/spi/Kconfig b/drivers/net/can/spi/Kconfig > new file mode 100644 > index 0000000..148cae5 > --- /dev/null > +++ b/drivers/net/can/spi/Kconfig > @@ -0,0 +1,10 @@ > +menu "CAN SPI interfaces" > + depends on SPI > + > +config CAN_MCP251X > + tristate "Microchip MCP251x SPI CAN controllers" > + depends on HAS_DMA > + ---help--- > + Driver for the Microchip MCP251x SPI CAN controllers. > + > +endmenu > diff --git a/drivers/net/can/spi/Makefile b/drivers/net/can/spi/Makefile > new file mode 100644 > index 0000000..90bcacf > --- /dev/null > +++ b/drivers/net/can/spi/Makefile > @@ -0,0 +1,8 @@ > +# > +# Makefile for the Linux Controller Area Network SPI drivers. > +# > + > + > +obj-$(CONFIG_CAN_MCP251X) += mcp251x.o > + > +ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG > diff --git a/drivers/net/can/mcp251x.c b/drivers/net/can/spi/mcp251x.c > similarity index 100% > rename from drivers/net/can/mcp251x.c > rename to drivers/net/can/spi/mcp251x.c > ^ permalink raw reply [flat|nested] 17+ messages in thread
* Re: [PATCH v2 2/3] CAN: moved SPI drivers into a separate directory 2014-03-25 14:30 ` [PATCH v2 2/3] CAN: moved SPI drivers into a separate directory Stefano Babic 2014-03-25 18:56 ` Oliver Hartkopp @ 2014-04-01 21:08 ` Marc Kleine-Budde 1 sibling, 0 replies; 17+ messages in thread From: Marc Kleine-Budde @ 2014-04-01 21:08 UTC (permalink / raw) To: Stefano Babic, linux-can; +Cc: socketcan, Wolfgang Grandegger [-- Attachment #1: Type: text/plain, Size: 503 bytes --] On 03/25/2014 03:30 PM, Stefano Babic wrote: > Create a directory for all CAN drivers using SPI > and move mcp251x driver there. > > Signed-off-by: Stefano Babic <sbabic@denx.de> Applied to can-next. Thanks, Marc -- Pengutronix e.K. | Marc Kleine-Budde | Industrial Linux Solutions | Phone: +49-231-2826-924 | Vertretung West/Dortmund | Fax: +49-5121-206917-5555 | Amtsgericht Hildesheim, HRA 2686 | http://www.pengutronix.de | [-- Attachment #2: OpenPGP digital signature --] [-- Type: application/pgp-signature, Size: 242 bytes --] ^ permalink raw reply [flat|nested] 17+ messages in thread
* [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface 2014-03-25 14:30 [PATCH v2 0/3] Adding support for CAN busses via SPI interface Stefano Babic 2014-03-25 14:30 ` [PATCH v2 1/3] Add documentation for SPI to CAN driver Stefano Babic 2014-03-25 14:30 ` [PATCH v2 2/3] CAN: moved SPI drivers into a separate directory Stefano Babic @ 2014-03-25 14:30 ` Stefano Babic 2014-03-25 18:54 ` Oliver Hartkopp 2014-04-06 15:20 ` Wolfgang Grandegger 2 siblings, 2 replies; 17+ messages in thread From: Stefano Babic @ 2014-03-25 14:30 UTC (permalink / raw) To: linux-can Cc: socketcan, Marc Kleine-Budde, Wolfgang Grandegger, Stefano Babic This driver implements a simple protocol to transfer CAN messages to and from an external microcontroller via SPI interface. Multiple busses can be tranfered on the same SPI channel. It was tested on a i.MX35 connected to a Freescale's HCS12 16-bit controller with 5 CAN busses. Signed-off-by: Stefano Babic <sbabic@denx.de> --- Changes in v2: - drop all references to i.MX35 and HCS12 drivers/net/can/spi/Kconfig | 10 + drivers/net/can/spi/Makefile | 1 + drivers/net/can/spi/spi_can.c | 1534 +++++++++++++++++++++++++++++++++++ include/linux/can/platform/spican.h | 36 + 4 files changed, 1581 insertions(+) create mode 100644 drivers/net/can/spi/spi_can.c create mode 100644 include/linux/can/platform/spican.h diff --git a/drivers/net/can/spi/Kconfig b/drivers/net/can/spi/Kconfig index 148cae5..299d71ca 100644 --- a/drivers/net/can/spi/Kconfig +++ b/drivers/net/can/spi/Kconfig @@ -7,4 +7,14 @@ config CAN_MCP251X ---help--- Driver for the Microchip MCP251x SPI CAN controllers. +config CAN_SPI + tristate "Support for CAN over SPI" + depends on CAN_DEV + ---help--- + Driver to transfer CAN messages to a microcontroller + connected via the SPI interface using a simple messaged based + protocol. + + Say Y here if you want to support for CAN to SPI. + endmenu diff --git a/drivers/net/can/spi/Makefile b/drivers/net/can/spi/Makefile index 90bcacf..0fd2126 100644 --- a/drivers/net/can/spi/Makefile +++ b/drivers/net/can/spi/Makefile @@ -4,5 +4,6 @@ obj-$(CONFIG_CAN_MCP251X) += mcp251x.o +obj-$(CONFIG_CAN_SPI) += spi_can.o ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG diff --git a/drivers/net/can/spi/spi_can.c b/drivers/net/can/spi/spi_can.c new file mode 100644 index 0000000..aee924a --- /dev/null +++ b/drivers/net/can/spi/spi_can.c @@ -0,0 +1,1534 @@ +/* + * (C) Copyright 2012-2014 + * Stefano Babic, DENX Software Engineering, sbabic@denx.de. + * + * See file CREDITS for list of people who contributed to this + * project. + * + * 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. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + */ + +#include <linux/netdevice.h> +#include <linux/can.h> +#include <linux/can/dev.h> +#include <linux/can/error.h> +#include <linux/interrupt.h> +#include <linux/io.h> +#include <linux/kernel.h> +#include <linux/list.h> +#include <linux/mutex.h> +#include <linux/wait.h> +#include <linux/module.h> +#include <linux/platform_device.h> +#include <linux/kthread.h> +#include <linux/workqueue.h> +#include <linux/can/platform/spican.h> +#include <linux/spi/spi.h> +#include <linux/gpio.h> +#include <linux/net_tstamp.h> +#include <linux/of_device.h> +#include <linux/of_gpio.h> + +#define MAX_CAN_CHANNELS 16 +#define CFG_CHANNEL 0xFF +#define DRV_NAME "canoverspi" +#define DRV_VERSION "0.10" + +/* SPI constants */ +#define SPI_MAX_FRAME_LEN 1472 /* max total length of a SPI frame */ +#define BITS_X_WORD 32 /* 4 bytes */ +#define SPI_MIN_TRANSFER_LENGTH 32 /* Minimum SPI frame length */ +#define CAN_FRAME_MAX_DATA_LEN 8 /* max data lenght in a CAN message */ +#define MAX_ITERATIONS 100 /* Used to check if GPIO stucks */ +#define SPI_CAN_ECHO_SKB_MAX 4 +#define SLAVE_CLK_FREQ 100000000 +#define SLAVE_SUPERVISOR_FREQ ((u32)1000000) + +#define IS_GPIO_ACTIVE(p) (!!gpio_get_value(p->gpio) == p->gpio_active) +#define MS_TO_US(ms) (ms * 1000) + +/* more RX buffers are required for delayed processing */ +#define SPI_RX_NBUFS MAX_CAN_CHANNELS + +/* CAN channel status to drop not required frames */ +enum { + CAN_CHANNEL_DISABLED = 0, + CAN_CHANNEL_ENABLED = 1, +}; + +/* operational mode to set the SPI frequency */ +enum { + SLAVE_SUPERVISOR_MODE = 0, + SLAVE_USER_MODE = 1, +}; + +/* Message between Master and Slave + * + * see spi_can_spi.txt for details + * + * ,'''''''','''''''''''''''','''''''''''''''''''''''','''''''''''''| + * |MSG ID | Length(16 bit)| DATA | CHECKSUM | + * L________|________________|________________________|_____________| + */ +struct spi_can_frame_header { + u8 msgid; + u16 length; +} __packed; + +struct spi_can_frame { + struct spi_can_frame_header header; + u8 data[1]; +} __packed; + +/* Message IDs for SPI Frame */ +enum msg_type { + SPI_MSG_STATUS_REQ = 0x01, + SPI_MSG_SEND_DATA = 0x02, + SPI_MSG_SYNC = 0x03, + SPI_MSG_CFG = 0x04, + SPI_MSG_REQ_DATA = 0x05 +}; + +/* CAN data sent inside a + * SPI_MSG_SEND_DATA message + * + * _____,________________ + * | | ,''''''''''''''''',''''''''''''| ,'''''''| + * |ID=2 | LENGTH | CAN MESSAGE |CAN MESSAGE | |CHECKSUM + * |_____L________________|_________________|____________| L_______| + * _.-' `--._ + * _,,-' ``-.._ + * _.-' `--._ + * _,--' ``-.._ + * ,.-' `-.._ + * ,'''''',''''''''''''','''''''''''''','''''',''''''| ,'''''''''| + * | CH |TIMESTAMP | CAN ID |DLC |D[0] | |D[dlc-1] | + * L______L_____________|______________L______|______| L_________| + */ + +struct msg_channel_data { + u8 channel; + u32 timestamp; + u32 can_id; + u8 dlc; + u8 data[8]; +} __packed; + +/* CFG message */ +struct msg_cfg_data { + u8 channel; + u8 enabled; + struct can_bittiming bt; +} __packed; + +/* Status message */ +struct msg_status_data { + u16 length; +} __packed; + +/* The ndo_start_xmit entry point + * insert the CAN messages into a list that + * is then read by the working thread. + */ +struct msg_queue_tx { + struct list_head list; + u32 channel; + u32 enabled; + struct sk_buff *skb; + u32 echo_index; + enum msg_type type; +}; + +struct msg_queue_rx { + struct list_head list; + struct spi_can_frame *frame; + u32 len; + u32 bufindex; +}; + +struct spi_rx_data { + u8 __aligned(4) spi_rx_buf[SPI_MAX_FRAME_LEN]; + u32 msg_in_buf; + struct mutex bufmutex; +}; + +/* Private data for the SPI device. */ +struct spi_can_data { + struct spi_device *spi; + u32 gpio; + u32 gpio_active; + u32 num_channels; + u32 freq; + u32 slow_freq; + u32 max_freq; + u32 slave_op_mode; + struct net_device *can_dev[MAX_CAN_CHANNELS + 1]; + spinlock_t lock; + struct msg_queue_tx msgtx; + struct msg_queue_rx msgrx; + struct mutex lock_wqlist; + wait_queue_head_t wait; + struct workqueue_struct *wq; + struct work_struct work; + /* buffers must be 32-bit aligned ! */ + u8 __aligned(4) spi_tx_buf[SPI_MAX_FRAME_LEN]; + struct spi_rx_data rx_data[SPI_RX_NBUFS]; + /* Statistics and debug data */ + u32 spibytes; + u32 maxreqbytes; + u32 cantxmsg; + u32 canrxmsg; + u32 cfgmsg; + u32 messages_in_queue; + u32 average_length; + u32 current_length; + u32 short_frames; + u32 spi_sent_frames; + struct timeval refTime; +}; + +/* Default Values */ +static struct can_bittiming_const spi_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 = 64, + .brp_inc = 1, +}; + +/* Private data of the CAN devices */ +struct spi_can_priv { + struct can_priv can; + struct net_device *dev; + struct spi_can_data *spi_priv; + u32 channel; + u32 devstatus; + u32 echo_index[SPI_CAN_ECHO_SKB_MAX]; +}; + +/* Pointer to the worker task */ +static struct task_struct *spi_can_task; + +/* Provide a way to disable checksum */ +static unsigned int chksum_en; +module_param(chksum_en, uint, 0); +MODULE_PARM_DESC(chksum_en, + "Enable checksum test on received frames (default is disabled)"); +static unsigned int freq; +module_param(freq, uint, 0); +MODULE_PARM_DESC(freq, + "SPI clock frequency (default is set by platform device)"); +static unsigned int slow_freq; +module_param(slow_freq, uint, 0); +MODULE_PARM_DESC(slow_freq, + "SPI clock frequency to be used in supervisor mode (default 1 Mhz)"); +static unsigned int debug; +module_param(debug, uint, 0); +MODULE_PARM_DESC(freq, "enables dump of received bytes"); + +#define SHOW_SYS_ATTR(name, get) \ +static ssize_t show_##name(struct device *dev, \ + struct device_attribute *attr, \ + char *buf) \ +{ \ + struct spi_can_data *spi_data = dev_get_drvdata(dev); \ + return sprintf(buf, "%d\n", spi_data->get); \ +} \ +static DEVICE_ATTR(name, S_IRUGO, show_##name, NULL); + +SHOW_SYS_ATTR(spi_sent_bytes, spibytes); +SHOW_SYS_ATTR(max_req_bytes, maxreqbytes); +SHOW_SYS_ATTR(canmsg_sent, cantxmsg); +SHOW_SYS_ATTR(canmsg_received, canrxmsg); +SHOW_SYS_ATTR(cfgmsg_sent, cfgmsg); +SHOW_SYS_ATTR(messages_in_queue, messages_in_queue); +SHOW_SYS_ATTR(average_length, average_length); +SHOW_SYS_ATTR(current_length, current_length); +SHOW_SYS_ATTR(short_frames, short_frames); +SHOW_SYS_ATTR(spi_sent_frames, spi_sent_frames); + +static struct attribute *sysfs_attrs[] = { + &dev_attr_spi_sent_bytes.attr, + &dev_attr_max_req_bytes.attr, + &dev_attr_canmsg_sent.attr, + &dev_attr_canmsg_received.attr, + &dev_attr_cfgmsg_sent.attr, + &dev_attr_messages_in_queue.attr, + &dev_attr_average_length.attr, + &dev_attr_current_length.attr, + &dev_attr_short_frames.attr, + &dev_attr_spi_sent_frames.attr, + NULL +}; + +static struct attribute_group slave_attribute_group = { + .attrs = sysfs_attrs +}; + +static void dump_frame(u8 *buf, int len) +{ + int i; + + for (i = 0; i < min(len, SPI_MAX_FRAME_LEN); i++) { + if (!(i % 16)) + printk(KERN_ERR "\n0x%04X: ", i); + printk("0x%02x ", *buf++); + } + printk("\n"); +} + +static inline u16 compute_checksum(char *buf, u32 len) +{ + int i; + u16 chksum = 0; + + if (!chksum_en) + return 0; + for (i = 0; i < len; i++, buf++) + chksum += *buf; + + return (~chksum + 1) & 0xFFFF; +} + +static u32 verify_checksum(struct spi_device *spi, char *buf, u32 len) +{ + int i = 0; + u16 chksum = 0; + u16 received_checksum; + u32 nwords = 0; + u32 end = len - 2; + u32 val; + + if (!chksum_en) + return 0; + + if (!((u32)buf & 0x03)) { + nwords = (end / 4); + for (i = 0 ; i < nwords; i++, buf += 4) { + val = *(u32 *)buf; + chksum += (val & 0xFF) + ((val & 0xFF00) >> 8) + + ((val & 0xFF0000) >> 16) + (val >> 24); + } + } + + for (i = nwords * 4; i < len - 2; i++, buf++) + chksum += *buf; + + /* The last two bytes contain the checksum as 16 bit value */ + received_checksum = *buf++; + received_checksum = (received_checksum << 8) + *buf; + + if ((chksum + received_checksum) & 0xFFFF) { + dev_err(&spi->dev, + "Received wrong checksum: computed 0x%04x received 0x%04x\n", + chksum, received_checksum); + return -EPROTO; + } + + return 0; +} + +/* The protocol requires to send data in big-endian + * format. The processor can have a different endianess. + * Because the protocol uses 32 bits x word (bits sent + * in one chip select cycle), the function checks that the buffer + * length is a multiple of four. + */ +static int format_frame_output(char *buf, int len) +{ + u32 *p; + int cnt; + + if (len % (BITS_X_WORD / 8)) + return -1; + + len /= (BITS_X_WORD / 8); + p = (u32 *)buf; + + for (cnt = 0; cnt < len; cnt++, p++) + *p = cpu_to_be32(*p); + + return 0; +} + +static int format_frame_input(char *buf, int len) +{ + u32 *p; + int cnt; + + if (len % (BITS_X_WORD / 8)) + return -1; + + len /= (BITS_X_WORD / 8); + p = (u32 *)buf; + + for (cnt = 0; cnt < len; cnt++, p++) + *p = be32_to_cpu(*p); + + return 0; +} + +/* The processor manages 32-bit aligned buffer. + * At least 32 bytes are always sent. + * The function fills the buffer with trailing zero to fullfill + * these requirements + */ +static int fix_spi_len(char *buf, u32 len) +{ + int tmp; + + if (len < SPI_MIN_TRANSFER_LENGTH) { + memset(&buf[len], 0, SPI_MIN_TRANSFER_LENGTH - len); + len = SPI_MIN_TRANSFER_LENGTH; + } + + tmp = len % (BITS_X_WORD / 8); + if (tmp) { + tmp = (BITS_X_WORD / 8) - tmp; + memset(&buf[len], 0, tmp); + len += tmp; + } + + return len; +} + +static int check_rx_len(u32 len, u16 frame_len) +{ + if (frame_len > len || + frame_len < sizeof(struct spi_can_frame_header)) + return -1; + + return 0; +} + +static void spi_can_set_timestamps(struct sk_buff *skb, + struct msg_channel_data *msg) +{ + msg->timestamp = ktime_to_ns(skb->tstamp); +} + +static struct net_device *candev_from_channel(struct spi_can_data *spi_data, + u8 channel) +{ + /* Last device is the CFG device */ + if (channel == CFG_CHANNEL) + return spi_data->can_dev[spi_data->num_channels]; + else + return spi_data->can_dev[channel]; +} + +static int insert_cfg_msg(struct net_device *dev, int enabled) +{ + struct spi_can_priv *priv = netdev_priv(dev); + struct spi_can_data *spi_priv = priv->spi_priv; + struct msg_queue_tx *tx_pkt; + unsigned long flags; + + tx_pkt = kzalloc(sizeof(struct msg_queue_tx), GFP_KERNEL); + if (!tx_pkt) { + dev_err(&dev->dev, "out of memory"); + return -ENOMEM; + } + tx_pkt->channel = priv->channel; + tx_pkt->enabled = enabled; + tx_pkt->type = SPI_MSG_CFG; + + priv->devstatus = enabled; + + spin_lock_irqsave(&spi_priv->lock, flags); + list_add_tail(&(tx_pkt->list), &(spi_priv->msgtx.list)); + spi_priv->messages_in_queue++; + spin_unlock_irqrestore(&spi_priv->lock, flags); + + /* Wakeup thread */ + wake_up_interruptible(&spi_priv->wait); + + return 0; +} + +static int spi_can_open(struct net_device *dev) +{ + int ret; + + ret = open_candev(dev); + if (ret) + return ret; + + ret = insert_cfg_msg(dev, CAN_CHANNEL_ENABLED); + if (ret) + return ret; + + netif_start_queue(dev); + + return 0; +} + +static int spi_can_close(struct net_device *dev) +{ + netif_stop_queue(dev); + + insert_cfg_msg(dev, CAN_CHANNEL_DISABLED); + + close_candev(dev); + + return 0; +} + +static int spi_can_hwtstamp_ioctl(struct net_device *netdev, + struct ifreq *ifr, int cmd) +{ + struct hwtstamp_config config; + + if (copy_from_user(&config, ifr->ifr_data, sizeof(config))) + return -EFAULT; + + if (config.flags) + return -EINVAL; + + switch (config.tx_type) { + case HWTSTAMP_TX_OFF: + break; + case HWTSTAMP_TX_ON: + break; + default: + return -ERANGE; + } + + switch (config.rx_filter) { + case HWTSTAMP_FILTER_NONE: + break; + default: + config.rx_filter = HWTSTAMP_FILTER_ALL; + break; + } + + return copy_to_user(ifr->ifr_data, &config, sizeof(config)) ? + -EFAULT : 0; +} + +static int spi_can_ioctl(struct net_device *dev, struct ifreq *rq, int cmd) +{ + if (!netif_running(dev)) + return -EINVAL; + + if (cmd == SIOCSHWTSTAMP) + return spi_can_hwtstamp_ioctl(dev, rq, cmd); + + return -EINVAL; +} + +static int spi_can_set_mode(struct net_device *dev, enum can_mode mode) +{ + int err; + + switch (mode) { + case CAN_MODE_START: + err = 0; + if (err) + return err; + + netif_wake_queue(dev); + break; + + default: + return -EOPNOTSUPP; + } + + return 0; +} + +static int spi_can_start_xmit(struct sk_buff *skb, struct net_device *dev) +{ + struct spi_can_priv *priv = netdev_priv(dev); + struct spi_can_data *spi_priv = priv->spi_priv; + struct msg_queue_tx *tx_pkt; + unsigned long flags; + + if (can_dropped_invalid_skb(dev, skb)) + return NETDEV_TX_OK; + + tx_pkt = kzalloc(sizeof(struct msg_queue_tx), GFP_KERNEL); + tx_pkt->channel = priv->channel; + tx_pkt->skb = skb; + tx_pkt->type = SPI_MSG_SEND_DATA; + INIT_LIST_HEAD(&(tx_pkt->list)); + + /* Add the incoming message to the end of the list */ + spin_lock_irqsave(&spi_priv->lock, flags); + list_add_tail(&(tx_pkt->list), &(spi_priv->msgtx.list)); + spi_priv->messages_in_queue++; + spin_unlock_irqrestore(&spi_priv->lock, flags); + + /* Wakeup thread */ + wake_up_interruptible(&spi_priv->wait); + + return NETDEV_TX_OK; +} + +static const struct net_device_ops spi_can_netdev_ops = { + .ndo_open = spi_can_open, + .ndo_stop = spi_can_close, + .ndo_start_xmit = spi_can_start_xmit, + .ndo_do_ioctl = spi_can_ioctl, +}; + +/* GPIO Interrupt Handler. + * when the Slave has something to send, it raises + * an interrupt changing a GPIO. The handler does + * nothing else than waking up the worker. + */ +static irqreturn_t spi_can_irq(int irq, void *pdata) +{ + struct spi_can_data *spi_priv = (struct spi_can_data *)pdata; + int val; + + val = gpio_get_value(spi_priv->gpio); + + /* Wakeup thread */ + wake_up_interruptible(&spi_priv->wait); + + return IRQ_HANDLED; +} + +/* The parameters for SPI are fixed and cannot be changed due + * to hardware limitation in Slave. + * Only the frequency can be changed + */ +static void spi_can_initialize(struct spi_device *spi, u32 freq) +{ + /* Configure the SPI bus */ + spi->mode = SPI_MODE_1; + spi->bits_per_word = BITS_X_WORD; + spi_setup(spi); +} + +static int spi_can_transfer(struct spi_can_data *priv, + u32 bufindex, int len) +{ + struct spi_device *spi = priv->spi; + struct spi_message m; + struct spi_transfer t; + int ret = 0; + + memset(&t, 0, sizeof(struct spi_transfer)); + t.tx_buf = priv->spi_tx_buf; + t.rx_buf = priv->rx_data[bufindex].spi_rx_buf; + t.len = len; + t.cs_change = 0; + if (priv->freq) + t.speed_hz = priv->freq; + + spi_message_init(&m); + spi_message_add_tail(&t, &m); + + ret = spi_sync(spi, &m); + if (ret) + dev_err(&spi->dev, "spi transfer failed: ret = %d\n", ret); + return ret; +} + +/* Prepare a SYNC message to synchronize with the start of frame */ +static u32 spi_can_spi_sync_msg(struct spi_can_data *spi_data, char *buf) +{ + struct spi_can_frame_header *header; + int len; + + header = (struct spi_can_frame_header *)spi_data->spi_tx_buf; + + header->msgid = SPI_MSG_SYNC; + *buf++ = 0xAA; + *buf++ = 0x55; + *buf++ = 0x55; + *buf++ = 0xAA; + len = 4; + + do_gettimeofday(&spi_data->refTime); + + return len; +} + +static int spi_can_fill_skb_msg(struct net_device *dev, + struct msg_channel_data *pcan, struct timeval *timeref) +{ + struct spi_can_priv *priv = netdev_priv(dev); + struct net_device_stats *stats = &dev->stats; + struct can_frame *cf; + struct sk_buff *skb; + struct skb_shared_hwtstamps *shhwtstamps; + ktime_t tstamp; + u64 ns; + + if (priv->devstatus != CAN_CHANNEL_ENABLED) { + dev_err(&dev->dev, "frame received when CAN deactivated\n"); + return 1; + } + skb = alloc_can_skb(dev, &cf); + if (unlikely(!skb)) { + stats->rx_dropped++; + return 1; + } + + cf->can_id = pcan->can_id; + cf->can_dlc = pcan->dlc; + memcpy(cf->data, pcan->data, pcan->dlc); + + /* Set HW timestamps */ + shhwtstamps = skb_hwtstamps(skb); + memset(shhwtstamps, 0, sizeof(*shhwtstamps)); + ns = MS_TO_US(pcan->timestamp); + tstamp = ktime_add_us(timeval_to_ktime(*timeref), ns); + shhwtstamps->hwtstamp = tstamp; + skb->tstamp = tstamp; + + netif_receive_skb(skb); + stats->rx_packets++; + stats->rx_bytes += cf->can_dlc; + + return 0; +} + +/* parse_can_msg gets all CAN messages encapsulated + * in a SEND_DATA message, and sends them upstream + */ +static int parse_can_msg(struct spi_can_data *spi_data, + struct spi_can_frame *frame, + int len) +{ + struct msg_channel_data *pcan; + char *pbuf = frame->data; + struct spi_device *spi = spi_data->spi; + struct net_device *netdev; + u32 can_msg_length; + u32 ret = 0; + + while (len > 0) { + if (len < sizeof(struct msg_channel_data) - + CAN_FRAME_MAX_DATA_LEN) { + dev_err(&spi->dev, + "Received incompleted CAN message: length %d pbuf 0x%x\n", + len, *pbuf); + ret = -1; + break; + } + pcan = (struct msg_channel_data *)pbuf; + if ((pcan->channel > spi_data->num_channels) && + (pcan->channel != CFG_CHANNEL)) { + dev_err(&spi->dev, + "Frame with wrong channel %d, frame dropped", + pcan->channel); + ret = -1; + break; + } + + /* Check for a valid CAN message lenght */ + if (pcan->dlc > CAN_FRAME_MAX_DATA_LEN) { + dev_err(&spi->dev, + "CAN message with wrong length: id 0x%x dlc %d", + pcan->can_id, pcan->dlc); + ret = -1; + break; + } + + pcan->can_id = be32_to_cpu(pcan->can_id); + pcan->timestamp = be32_to_cpu(pcan->timestamp); + + /* Get the device corresponding to the channel */ + netdev = candev_from_channel(spi_data, pcan->channel); + + if (spi_can_fill_skb_msg(netdev, pcan, &spi_data->refTime)) + dev_err(&spi->dev, + "Error sending data to upper layer"); + can_msg_length = (sizeof(struct msg_channel_data) + pcan->dlc - + CAN_FRAME_MAX_DATA_LEN); + + len -= can_msg_length; + pbuf += can_msg_length; + spi_data->canrxmsg++; + } + + return ret; +} + + +static void spi_can_extract_msg(struct spi_can_data *spi_data, + struct msg_queue_rx *msg) +{ + /* Extract all CAN messages, do not check + * the last two bytes as they are reserved for checksum + */ + mutex_lock(&spi_data->rx_data[msg->bufindex].bufmutex); + if (parse_can_msg(spi_data, msg->frame, msg->len - 2) < 0) { + if (debug) + dump_frame(spi_data->rx_data[msg->bufindex].spi_rx_buf, + msg->len); + } + + /* I can now set the message as processed and decrease + * the number of messages in the SPI buffer. + * When all messages are processed, the TX thread + * can use the SPI buffer again + */ + spi_data->rx_data[msg->bufindex].msg_in_buf--; + mutex_unlock(&spi_data->rx_data[msg->bufindex].bufmutex); +} + +static void spi_can_rx_handler(struct work_struct *ws) +{ + struct spi_can_data *spi_data = container_of(ws, + struct spi_can_data, work); + struct msg_queue_rx *msg; + + while (1) { + + if (list_empty(&spi_data->msgrx.list)) + break; + + mutex_lock(&spi_data->lock_wqlist); + msg = list_first_entry(&spi_data->msgrx.list, + struct msg_queue_rx, list); + list_del(&msg->list); + mutex_unlock(&spi_data->lock_wqlist); + + spi_can_extract_msg(spi_data, msg); + kfree(msg); + } +} + +/* This is called in overload condition to process a siongle frame and + * free a SPI frame for transfer + * This is called by the thread + */ +static void spi_can_process_single_frame(struct spi_can_data *spi_data, + u32 index) +{ + struct list_head *pos; + struct msg_queue_rx *msg; + u32 found = 0, freed; + + mutex_lock(&spi_data->lock_wqlist); + list_for_each(pos, &spi_data->msgrx.list) { + msg = list_entry(pos, struct msg_queue_rx, list); + if (msg->bufindex == index) { + found = 1; + break; + } + } + + /* Drop the message from the list */ + if (found) + list_del(&msg->list); + mutex_unlock(&spi_data->lock_wqlist); + + if (!found) { + + /* I cannot parse the buffer because it is worked + * by another task, check when it is finished + */ + + do { + mutex_lock(&spi_data->rx_data[index].bufmutex); + freed = (spi_data->rx_data[index].msg_in_buf == 0); + mutex_unlock(&spi_data->rx_data[index].bufmutex); + } while (!freed); + + return; + } + + spi_can_extract_msg(spi_data, msg); + +} + +static u32 spi_can_receive(struct spi_can_data *spi_data, + int len, int bufindex, u16 *req_bytes) +{ + int i, start = 0; + char *pbuf, *pspibuf; + struct spi_can_frame *frame; + struct msg_status_data *status_msg; + struct msg_queue_rx *rxmsg; + u16 rx_len; + struct spi_device *spi = spi_data->spi; + u32 rx_frames = 0; + + pspibuf = spi_data->rx_data[bufindex].spi_rx_buf; + format_frame_input(pspibuf, len); + + /* Requested bytes for next SPI frame. + * The value is updated by a SEND_STATUS message. + */ + *req_bytes = 0; + + while ((len - start) > 1) { + /* first search for start of frame */ + for (i = start; i < len; i++) { + if (pspibuf[i] != 0) + break; + } + + /* No more frame to be examined */ + if (i == len) + return rx_frames; + + /* Set start in the buffer for next iteration */ + start = i; + + frame = (struct spi_can_frame *)&pspibuf[i]; + switch (frame->header.msgid) { + case SPI_MSG_STATUS_REQ: + status_msg = (struct msg_status_data *)frame->data; + rx_len = be16_to_cpu(status_msg->length); + *req_bytes = rx_len; + rx_frames++; + break; + + case SPI_MSG_SEND_DATA: + rx_len = be16_to_cpu(frame->header.length); + if (check_rx_len(len - start, rx_len)) { + dev_err(&spi->dev, + "Frame fragmented received, frame dropped\n"); + if (debug) + dump_frame(pspibuf, len); + return -EPROTO; + } + if (verify_checksum(spi, (char *)frame, + rx_len + sizeof(frame->header)) < 0) + return -EPROTO; + pbuf = frame->data; + + /* Put the recognized frame into the receive list + * to be processed by the workqueue + */ + rxmsg = kzalloc(sizeof(struct msg_queue_rx), + GFP_KERNEL); + if (!rxmsg) { + dev_err(&spi->dev, "out of memory"); + return -ENOMEM; + } + rxmsg->frame = frame; + rxmsg->len = rx_len; + rxmsg->bufindex = bufindex; + + /* Add the frame to be processed to the rx list */ + mutex_lock(&spi_data->lock_wqlist); + spi_data->rx_data[bufindex].msg_in_buf++; + if (spi_data->rx_data[bufindex].msg_in_buf > 1) + dev_err(&spi->dev, "More as one SEND_DATA\n"); + list_add_tail(&(rxmsg->list), &spi_data->msgrx.list); + mutex_unlock(&spi_data->lock_wqlist); + + rx_frames++; + break; + + default: + dev_err(&spi->dev, "wrong frame received with MSG-ID=0x%x\n", + frame->header.msgid); + if (debug) + dump_frame(pspibuf, len); + return -EPROTO; + } + + rx_len += sizeof(frame->header); + start += rx_len; + } + + return rx_frames; +} + +/* The function sends setup for the + * CAN channel. No answer is allowed from Slave, + * as this is a high-priority message. + */ +static u32 spi_can_cfg(struct spi_can_data *spi_data, + struct msg_queue_tx *msg, char *buf) +{ + struct net_device *dev; + struct spi_can_priv *priv; + struct msg_cfg_data can_cfg; + struct spi_device *spi = spi_data->spi; + int i; + u32 *pbe_bt, *pbt; + u8 channel; + + channel = msg->channel & 0xFF; + + can_cfg.channel = channel; + can_cfg.enabled = msg->enabled; + + dev = candev_from_channel(spi_data, channel); + priv = netdev_priv(dev); + + /* Configuration values are interpreted by the Slave + * firmware only. Values on the SPI line are in big + * endian order and must be converted before to be put + * on the line. + */ + for (i = 0, pbe_bt = (u32 *)&can_cfg.bt, + pbt = (u32 *)&priv->can.bittiming; + i < (sizeof(struct can_bittiming) / sizeof(*pbe_bt)); + i += sizeof(u32)) { + *pbe_bt++ = cpu_to_be32(*pbt++); + } + + memcpy(buf, &can_cfg, sizeof(can_cfg)); + + if (channel == CFG_CHANNEL) { + u32 changed = 0; + switch (spi_data->slave_op_mode) { + case SLAVE_SUPERVISOR_MODE: + if (priv->can.bittiming.bitrate > 125000) { + spi_data->freq = spi_data->max_freq; + spi_data->slave_op_mode = SLAVE_USER_MODE; + changed = 1; + } + break; + case SLAVE_USER_MODE: + if (priv->can.bittiming.bitrate <= 125000) { + spi_data->freq = spi_data->slow_freq; + spi_data->slave_op_mode = SLAVE_SUPERVISOR_MODE; + changed = 1; + } + break; + default: + dev_err(&spi_data->spi->dev, "Erroneous Slave OP Mode %d\n", + spi_data->slave_op_mode); + spi_data->slave_op_mode = SLAVE_SUPERVISOR_MODE; + } + if (changed) { + spi_can_initialize(spi, spi_data->freq); + dev_info(&spi->dev, + "Slave into %s mode, SPI frequency set to %d\n", + (spi_data->slave_op_mode == SLAVE_USER_MODE) ? + "User" : "Supervisor", + spi_data->freq); + } + } + + return sizeof(struct msg_cfg_data); +} + +static u32 spi_can_send_data(struct spi_can_data *spi_data, + struct msg_queue_tx *msg, char *buf) +{ + struct sk_buff *skb; + struct msg_channel_data can_spi_msg; + struct can_frame *frame; + u16 len = 0; + struct spi_can_priv *priv; + struct net_device *dev; + struct net_device_stats *stats; + + /* Encapsulate the CAN message inside the SPI frame */ + skb = msg->skb; + frame = (struct can_frame *)skb->data; + if (frame->can_dlc > CAN_FRAME_MAX_DATA_LEN) + frame->can_dlc = CAN_FRAME_MAX_DATA_LEN; + + can_spi_msg.channel = msg->channel & 0xFF; + + spi_can_set_timestamps(skb, &can_spi_msg); + + can_spi_msg.can_id = cpu_to_be32(frame->can_id); + can_spi_msg.dlc = frame->can_dlc; + memcpy(can_spi_msg.data, + frame->data, frame->can_dlc); + len = sizeof(struct msg_channel_data) + + frame->can_dlc - CAN_FRAME_MAX_DATA_LEN; + memcpy(buf, &can_spi_msg, len); + + dev = candev_from_channel(spi_data, can_spi_msg.channel); + priv = netdev_priv(dev); + + /* Update statistics for device */ + stats = &dev->stats; + stats->tx_bytes += frame->can_dlc; + stats->tx_packets++; + netif_wake_queue(dev); + + return len; +} + +static int spi_can_thread(void *data) +{ + struct spi_can_data *spi_data = (struct spi_can_data *)data; + u16 len = 0; + u16 alen = 0; + u16 req_bytes = 0; + u32 cnt = 0, resync_required = 1; + u32 bufindex = 0; + u32 rx_frames; + struct msg_queue_tx *msg, *tmp; + char *buf; + struct spi_can_frame_header *header; + u16 chksum; + unsigned long flags; + struct spi_device *spi = spi_data->spi; + + /* Only to zero the whole buffers */ + len = SPI_MAX_FRAME_LEN; + + while (1) { + if (kthread_should_stop()) + break; + + if (spi_data->rx_data[bufindex].msg_in_buf) + spi_can_process_single_frame(spi_data, bufindex); + + /* Clear buffers from last transfer */ + memset(spi_data->spi_tx_buf, 0, len); + + len = 0; + header = (struct spi_can_frame_header *)spi_data->spi_tx_buf; + buf = ((struct spi_can_frame *)spi_data->spi_tx_buf)->data; + + /* There is not yet any message */ + header->msgid = 0; + + /* getting CAN message from upper layer */ + spin_lock_irqsave(&spi_data->lock, flags); + list_for_each_entry_safe(msg, tmp, + &spi_data->msgtx.list, list) { + + /* we cannot mix messages of different type. + * If the new request is of different type, + * stop scanning the list + * and send the actual message first + */ + if (header->msgid && (header->msgid != msg->type)) + break; + + /* Extract packet and remove it from the list */ + spi_data->messages_in_queue--; + list_del(&msg->list); + + alen = 0; + + switch (msg->type) { + + case SPI_MSG_SEND_DATA: + /* There are data to be sent */ + header->msgid = SPI_MSG_SEND_DATA; + alen = spi_can_send_data(spi_data, msg, buf); + spi_data->cantxmsg++; + break; + + case SPI_MSG_CFG: + header->msgid = SPI_MSG_CFG; + alen = spi_can_cfg(spi_data, msg, buf); + spi_data->cfgmsg++; + break; + + default: + dev_err(&spi->dev, + "Message to Slave wrong: type %d", + msg->type); + } + + /* Update total length with length of CAN message */ + len += alen; + buf += alen; + + /* Free the memory for message, not used anymore */ + if (msg->skb) + kfree_skb(msg->skb); + kfree(msg); + + /* Check if there is enough place for other messages + * else messages will be transfered in the next + * iteration + */ + if ((len + sizeof(chksum) + + sizeof(*header) + + sizeof(u32)) >= SPI_MAX_FRAME_LEN) + break; + } + spin_unlock_irqrestore(&spi_data->lock, flags); + + /* Check if a resync is required. It is sent + * the first time the thread is started and when an error + * is recognized. Not required if data must be sent. + */ + if (!len) { + if (resync_required) { + len = spi_can_spi_sync_msg(spi_data, buf); + resync_required = 0; + } else { + header->msgid = SPI_MSG_REQ_DATA; + len = max(req_bytes, + (u16)((SPI_MIN_TRANSFER_LENGTH) - + sizeof(*header) - + sizeof(u16) /* checksum */)); + } + buf += len; + } else { + int delta = req_bytes - len; + if ((delta > 0) && + (header->msgid == SPI_MSG_SEND_DATA)) { + + /* buf points to the next CAN message */ + buf += delta; + len += delta; + } + } + + /* Take into account CHECKSUM + * MSGID and LENGTH are not computed in the lenght field + */ + len += sizeof(chksum); + header->length = cpu_to_be16(len); + len += sizeof(*header); + + /* Compute checksum */ + chksum = compute_checksum(spi_data->spi_tx_buf, + len - sizeof(chksum)); + chksum = cpu_to_be16(chksum); + memcpy(buf, &chksum, sizeof(chksum)); + + len = fix_spi_len(spi_data->spi_tx_buf, len); + + format_frame_output(spi_data->spi_tx_buf, len); + spi_data->spibytes += len; + + spi_data->average_length = + (spi_data->average_length + len) >> 1; + spi_data->current_length = len; + if (len == 32) + spi_data->short_frames++; + spi_data->spi_sent_frames++; + + spi_can_transfer(spi_data, bufindex, len); + rx_frames = spi_can_receive(spi_data, len, bufindex, + &req_bytes); + + /* Trigger the workqueue for RX processing */ + queue_work(spi_data->wq, &spi_data->work); + + if (rx_frames < 0) + resync_required = 1; + + if (req_bytes > spi_data->maxreqbytes) + spi_data->maxreqbytes = req_bytes; + + bufindex++; + if (bufindex == SPI_RX_NBUFS) + bufindex = 0; + + /* Check if the GPIO is still set, + * because the Slave wants to send more data + */ + if (IS_GPIO_ACTIVE(spi_data) && (rx_frames <= 0)) { + cnt++; + if (cnt > MAX_ITERATIONS) { + dev_err(&spi->dev, + "GPIO stuck ! Send SYNC message"); + resync_required = 1; + cnt = 0; + } + } else { + cnt = 0; + } + + wait_event_interruptible(spi_data->wait, + (!list_empty(&spi_data->msgtx.list) || + IS_GPIO_ACTIVE(spi_data) || + resync_required) || + (req_bytes > 0) || + kthread_should_stop()); + } + + return 0; +} + +#ifdef CONFIG_OF +static const struct spi_device_id spi_can_ids[] = { + { "spican", 0}, + { "canoverspi", 0}, + { }, +}; +MODULE_DEVICE_TABLE(spi, spi_can_ids); +#endif + +static int spi_can_probe(struct spi_device *spi) +{ + struct net_device *dev; + struct spi_can_platform_data *pdata = spi->dev.platform_data; + int ret = -ENODEV; + struct spi_can_data *spi_data; + struct spi_can_priv *priv; + int index, i; + u32 can_channels; + u32 active = GPIO_ACTIVE_LOW; + int data_gpio; + u32 flags; + + if (spi->dev.of_node) { + if (of_property_read_u32(spi->dev.of_node, + "channels", &can_channels)) + return -ENODEV; + if (!slow_freq) { + of_property_read_u32(spi->dev.of_node, + "slowfreq", &slow_freq); + } + if (!freq) { + of_property_read_u32(spi->dev.of_node, + "freq", &freq); + } + data_gpio = of_get_gpio_flags(spi->dev.of_node, + 0, &flags); + active = (flags & GPIO_ACTIVE_LOW) ? 0 : 1; + } else { + if (!pdata || (pdata->can_channels < 0) || + (pdata->can_channels > MAX_CAN_CHANNELS)) + return -ENODEV; + if (pdata->slow_freq) + slow_freq = pdata->slow_freq; + data_gpio = pdata->gpio; + active = pdata->active; + can_channels = pdata->can_channels; + } + + if (!gpio_is_valid(data_gpio)) { + dev_err(&spi->dev, + "Wrong data valid GPIO: %d\n", + data_gpio); + return -EINVAL; + } + + dev_info(&spi->dev, "Channels: %d, gpio %d active %s\n", + can_channels, + data_gpio, + active ? "high" : "low"); + /* It is possible to adjust frequency at loading time + * if the driver is compiled as module + */ + if (freq) { + if (freq > spi->max_speed_hz) { + dev_err(&spi->dev, + "Frequency too high: %d Hz > %d Hz. Falling back to %d\n", + freq, + spi->max_speed_hz, + spi->max_speed_hz); + freq = spi->max_speed_hz; + } + } + + /* Check if the supervisor frequency is passed as parameter + * Fallback to 1 Mhz + */ + if (!slow_freq) + slow_freq = SLAVE_SUPERVISOR_FREQ; + + if ((freq && (slow_freq > freq)) || + (slow_freq > SLAVE_SUPERVISOR_FREQ)) { + dev_err(&spi->dev, + "Supervisor frequency too high: %d Hz > %d Hz. Falling back to %d\n", + slow_freq, + min(freq, SLAVE_SUPERVISOR_FREQ), + min(freq, SLAVE_SUPERVISOR_FREQ)); + slow_freq = min(freq, SLAVE_SUPERVISOR_FREQ); + } + + ret = gpio_request(data_gpio, "spican-irq"); + if (ret) { + dev_err(&spi->dev, + "gpio %d cannot be acquired\n", + data_gpio); + return -ENODEV; + } + + /* The SPI structure is common to all CAN devices */ + spi_data = (struct spi_can_data *) + kzalloc(sizeof(struct spi_can_data), GFP_KERNEL | __GFP_ZERO); + if (!spi_data) + return -ENOMEM; + + INIT_LIST_HEAD(&spi_data->msgtx.list); + INIT_LIST_HEAD(&spi_data->msgrx.list); + + /* Get the GPIO used as interrupt. The Slave raises + * an interrupt when there are messages to be sent + */ + gpio_direction_input(data_gpio); + ret = request_irq(gpio_to_irq(data_gpio), spi_can_irq, + (active ? IRQF_TRIGGER_RISING : IRQF_TRIGGER_FALLING) , + "spican-rx", spi_data); + if (ret) { + gpio_free(data_gpio); + kfree(spi_data); + return -ENODEV; + } + + spi_data->num_channels = can_channels; + spi_data->gpio = data_gpio; + spi_data->gpio_active = active; + spi_data->spi = spi; + spi_data->messages_in_queue = 0; + spi_data->average_length = 0; + spi_data->current_length = 0; + spi_data->short_frames = 0; + spi_data->spi_sent_frames = 0; + spi_data->max_freq = freq; + spi_data->slow_freq = slow_freq; + spi_data->freq = slow_freq; + spi_data->slave_op_mode = SLAVE_SUPERVISOR_MODE; + spin_lock_init(&spi_data->lock); + mutex_init(&spi_data->lock_wqlist); + for (index = 0; index < SPI_RX_NBUFS; index++) + mutex_init(&spi_data->rx_data[index].bufmutex); + + /* Now alloc the CAN devices */ + for (index = 0; index < (spi_data->num_channels + 1); index++) { + dev = alloc_candev(sizeof(struct spi_can_priv), + SPI_CAN_ECHO_SKB_MAX); + if (!dev) { + ret = -ENOMEM; + goto failed_candev_alloc; + } + + /* Get the pointer to the driver data */ + priv = netdev_priv(dev); + + /* Last channel is used for configuration only */ + if (index == spi_data->num_channels) { + strncpy(dev->name, "cfg", IFNAMSIZ); + priv->channel = CFG_CHANNEL; + } else { + snprintf(dev->name, IFNAMSIZ, "hcan%d", index); + priv->channel = index; + } + + dev->netdev_ops = &spi_can_netdev_ops; + + priv->spi_priv = spi_data; + priv->dev = dev; + priv->devstatus = CAN_CHANNEL_DISABLED; + + spi_data->can_dev[index] = dev; + init_waitqueue_head(&spi_data->wait); + + /* Set CAN specific parameters */ + priv->can.clock.freq = SLAVE_CLK_FREQ; + priv->can.bittiming_const = &spi_can_bittiming_const; + priv->can.do_set_mode = spi_can_set_mode; + priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | + CAN_CTRLMODE_LISTENONLY | CAN_CTRLMODE_3_SAMPLES; + + for (i = 0; i < SPI_CAN_ECHO_SKB_MAX; i++) + priv->echo_index[i] = SPI_CAN_ECHO_SKB_MAX; + + ret = register_candev(dev); + if (ret) { + dev_err(&spi->dev, + "registering netdev %d failed with 0x%x\n", + index, ret); + goto failed_register; + } + + dev_info(&spi->dev, "CAN device %d registered\n", + index); + } + + dev_set_drvdata(&spi->dev, spi_data); + spi_can_initialize(spi, freq); + + /* Initialize work que for RX background processing */ + spi_data->wq = alloc_workqueue("spican_wq", + WQ_HIGHPRI | WQ_MEM_RECLAIM, 1); + INIT_WORK(&spi_data->work, spi_can_rx_handler); + + spi_can_task = kthread_run(spi_can_thread, spi_data, "kspican"); + if (!spi_can_task) { + ret = -EIO; + goto failed_register; + } + + dev_info(&spi->dev, "%s version %s initialized\n", + DRV_NAME, DRV_VERSION); + dev_info(&spi->dev, "SPI frequency %d, supervisor frequency %d : now set to %d\n", + spi_data->max_freq, spi_data->slow_freq, spi_data->freq); + + ret = sysfs_create_group(&spi->dev.kobj, + &slave_attribute_group); + + return 0; + +failed_register: + free_candev(spi_data->can_dev[index]); + +failed_candev_alloc: + for (i = 0; i < index; i++) { + unregister_candev(spi_data->can_dev[i]); + free_candev(spi_data->can_dev[index]); + } + + return ret; +} + +static int spi_can_remove(struct spi_device *spi) +{ + struct spi_can_data *priv = dev_get_drvdata(&spi->dev); + int index; + + if (spi_can_task) + kthread_stop(spi_can_task); + if (priv->wq) { + flush_workqueue(priv->wq); + destroy_workqueue(priv->wq); + } + + for (index = 0; index < (priv->num_channels + 1); index++) { + if (priv->can_dev[index]) { + unregister_candev(priv->can_dev[index]); + free_candev(priv->can_dev[index]); + } + } + + free_irq(gpio_to_irq(priv->gpio), priv); + gpio_free(priv->gpio); + sysfs_remove_group(&spi->dev.kobj, + &slave_attribute_group); + return 0; +} + +static struct spi_driver spi_can_driver = { + .probe = spi_can_probe, + .remove = spi_can_remove, +#if CONFIG_OF + .id_table = spi_can_ids, +#endif + .driver = { + .name = DRV_NAME, + .bus = &spi_bus_type, + .owner = THIS_MODULE, + }, +}; + +static int __init spi_can_init(void) +{ + return spi_register_driver(&spi_can_driver); +} + +static void __exit spi_can_exit(void) +{ + spi_unregister_driver(&spi_can_driver); +} + +module_init(spi_can_init); +module_exit(spi_can_exit); + +MODULE_AUTHOR("Stefano Babic <sbabic@denx.de"); +MODULE_DESCRIPTION("CAN over SPI driver"); +MODULE_LICENSE("GPL v2"); +MODULE_VERSION(DRV_VERSION); diff --git a/include/linux/can/platform/spican.h b/include/linux/can/platform/spican.h new file mode 100644 index 0000000..e8cccf7 --- /dev/null +++ b/include/linux/can/platform/spican.h @@ -0,0 +1,36 @@ +/* + * (C) Copyright 2010 + * Stefano Babic, DENX Software Engineering, sbabic@denx.de. + * + * See file CREDITS for list of people who contributed to this + * project. + * + * 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. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + */ + +#ifndef __CAN_PLATFORM_SPICAN_H__ +#define __CAN_PLATFORM_SPICAN_H__ + +#include <linux/spi/spi.h> + +/* + * struct hcs12_imx_platform_data - i.MX to HCS12 CAN controller platform data + */ + +struct spi_can_platform_data { + unsigned int can_channels; + unsigned int gpio; + unsigned int active; + unsigned int slow_freq; +}; + +#endif -- 1.7.9.5 ^ permalink raw reply related [flat|nested] 17+ messages in thread
* Re: [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface 2014-03-25 14:30 ` [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface Stefano Babic @ 2014-03-25 18:54 ` Oliver Hartkopp 2014-03-26 9:01 ` Stefano Babic 2014-04-06 15:20 ` Wolfgang Grandegger 1 sibling, 1 reply; 17+ messages in thread From: Oliver Hartkopp @ 2014-03-25 18:54 UTC (permalink / raw) To: Stefano Babic, linux-can; +Cc: Marc Kleine-Budde, Wolfgang Grandegger On 25.03.2014 15:30, Stefano Babic wrote: > This driver implements a simple protocol > to transfer CAN messages to and from an external > microcontroller via SPI interface. > Multiple busses can be tranfered on the same SPI channel. > > It was tested on a i.MX35 connected to a Freescale's > HCS12 16-bit controller with 5 CAN busses. > > Signed-off-by: Stefano Babic <sbabic@denx.de> > > --- > > Changes in v2: > - drop all references to i.MX35 and HCS12 See include/linux/can/platform/spican.h There are still some of them. > > drivers/net/can/spi/Kconfig | 10 + > drivers/net/can/spi/Makefile | 1 + > drivers/net/can/spi/spi_can.c | 1534 +++++++++++++++++++++++++++++++++++ > include/linux/can/platform/spican.h | 36 + > 4 files changed, 1581 insertions(+) > create mode 100644 drivers/net/can/spi/spi_can.c > create mode 100644 include/linux/can/platform/spican.h spi_can.h > > diff --git a/drivers/net/can/spi/Kconfig b/drivers/net/can/spi/Kconfig > index 148cae5..299d71ca 100644 > --- a/drivers/net/can/spi/Kconfig > +++ b/drivers/net/can/spi/Kconfig > @@ -7,4 +7,14 @@ config CAN_MCP251X > ---help--- > Driver for the Microchip MCP251x SPI CAN controllers. > > +config CAN_SPI > + tristate "Support for CAN over SPI" > + depends on CAN_DEV This all depends on CAN_DEV anyway. You can remove this dependency here. > + ---help--- > + Driver to transfer CAN messages to a microcontroller > + connected via the SPI interface using a simple messaged based > + protocol. > + > + Say Y here if you want to support for CAN to SPI. > + > endmenu > diff --git a/drivers/net/can/spi/Makefile b/drivers/net/can/spi/Makefile > index 90bcacf..0fd2126 100644 > --- a/drivers/net/can/spi/Makefile > +++ b/drivers/net/can/spi/Makefile > @@ -4,5 +4,6 @@ > > > obj-$(CONFIG_CAN_MCP251X) += mcp251x.o > +obj-$(CONFIG_CAN_SPI) += spi_can.o > > ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG > diff --git a/drivers/net/can/spi/spi_can.c b/drivers/net/can/spi/spi_can.c > new file mode 100644 > index 0000000..aee924a > --- /dev/null > +++ b/drivers/net/can/spi/spi_can.c > + > +#define MAX_CAN_CHANNELS 16 > +#define CFG_CHANNEL 0xFF > +#define DRV_NAME "canoverspi" spi_can ? > + > +/* Message IDs for SPI Frame */ > +enum msg_type { > + SPI_MSG_STATUS_REQ = 0x01, > + SPI_MSG_SEND_DATA = 0x02, > + SPI_MSG_SYNC = 0x03, > + SPI_MSG_CFG = 0x04, > + SPI_MSG_REQ_DATA = 0x05 > +}; > + */ > + > +struct msg_channel_data { > + u8 channel; > + u32 timestamp; > + u32 can_id; > + u8 dlc; > + u8 data[8]; > +} __packed; > + I assume CAN FD capable SPI/CAN capable controllers to emerge in the mid future. What's your concept for that? E.g. define SPI_MSG_SEND_FD_DATA then? > +/* CFG message */ > +struct msg_cfg_data { > + u8 channel; > + u8 enabled; > + struct can_bittiming bt; > +} __packed; Why don't you pass this configuration stuff like - enable/disable - set bitrate in a message which is sent via the dedicated interface (mux) channel? I don't see the need for an extra configuration channel.A (new designed) SPI_MSG_CFG message should be able to be processed by every interface channel. Other questions: 1. Why can't the SPI always run in the high speed? 2. The number of CAN interfaces is taken from the OF information. IMHO the SPI CAN micro controller should give the number of available interfaces when it is asked for (via new SPI_MSG_CFG message?). What's your concept regarding the SPI firmware update? E.g. what about a new message type SPI_MSG_FW_UPDATE which is supported by the micro controller but not by the CAN netdevice driver. E.g. is something like this possible: rmmod spi_can fw-upload-tool /dev/spi0 firmware.img ?? > + > +/* Default Values */ > +static struct can_bittiming_const spi_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 = 64, > + .brp_inc = 1, > +}; This also depends on the CAN controllers in the micro controller. Therefore the struct can_bittiming_const has to be retrieved from the micro controller at setup time (via new SPI_MSG_CFG message). > +/* Provide a way to disable checksum */ > +static unsigned int chksum_en; > +module_param(chksum_en, uint, 0); > +MODULE_PARM_DESC(chksum_en, > + "Enable checksum test on received frames (default is disabled)"); Why did you define and implement a checksum, switch it off by default and then provide an interface to enable it again? IMO remove this module parameter and switch it on. Or remove the checksum stuff entirely. > +static unsigned int freq; > +module_param(freq, uint, 0); > +MODULE_PARM_DESC(freq, > + "SPI clock frequency (default is set by platform device)"); Really needed? > +static unsigned int slow_freq; > +module_param(slow_freq, uint, 0); > +MODULE_PARM_DESC(slow_freq, > + "SPI clock frequency to be used in supervisor mode (default 1 Mhz)"); Why not always use the high SPI clock? > +static unsigned int debug; > +module_param(debug, uint, 0); > +MODULE_PARM_DESC(freq, "enables dump of received bytes"); ^^^^ Obviously never used :-)) If you really think about debugging this better add an extra define or use CAN_DEBUG_DEVICES. > +SHOW_SYS_ATTR(spi_sent_bytes, spibytes); > +SHOW_SYS_ATTR(max_req_bytes, maxreqbytes); > +SHOW_SYS_ATTR(canmsg_sent, cantxmsg); > +SHOW_SYS_ATTR(canmsg_received, canrxmsg); > +SHOW_SYS_ATTR(cfgmsg_sent, cfgmsg); > +SHOW_SYS_ATTR(messages_in_queue, messages_in_queue); > +SHOW_SYS_ATTR(average_length, average_length); > +SHOW_SYS_ATTR(current_length, current_length); > +SHOW_SYS_ATTR(short_frames, short_frames); > +SHOW_SYS_ATTR(spi_sent_frames, spi_sent_frames); This is definitely debug stuff. Are you use it's needed in production code? Or at least with CAN_DEBUG_DEVICES only?? Don't be disappointed by my remarks. I really like the idea - but IMO there's relly some space for improvements ;-) Best regards, Oliver > +++ b/include/linux/can/platform/spican.h spi_can.h > +#ifndef __CAN_PLATFORM_SPICAN_H__ __CAN_PLATFORM_SPI_CAN_H__ > +#define __CAN_PLATFORM_SPICAN_H__ > + > +#include <linux/spi/spi.h> > + > +/* > + * struct hcs12_imx_platform_data - i.MX to HCS12 CAN controller platform data ^^^^^^^^^^ ^^^^ ^^^^^ ^ permalink raw reply [flat|nested] 17+ messages in thread
* Re: [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface 2014-03-25 18:54 ` Oliver Hartkopp @ 2014-03-26 9:01 ` Stefano Babic 0 siblings, 0 replies; 17+ messages in thread From: Stefano Babic @ 2014-03-26 9:01 UTC (permalink / raw) To: Oliver Hartkopp, linux-can Cc: Stefano Babic, Marc Kleine-Budde, Wolfgang Grandegger Hi Oliver, On 25/03/2014 19:54, Oliver Hartkopp wrote: > > > On 25.03.2014 15:30, Stefano Babic wrote: >> This driver implements a simple protocol >> to transfer CAN messages to and from an external >> microcontroller via SPI interface. >> Multiple busses can be tranfered on the same SPI channel. >> >> It was tested on a i.MX35 connected to a Freescale's >> HCS12 16-bit controller with 5 CAN busses. >> >> Signed-off-by: Stefano Babic <sbabic@denx.de> >> >> --- >> >> Changes in v2: >> - drop all references to i.MX35 and HCS12 > > See include/linux/can/platform/spican.h > > There are still some of them. Thanks to find them. > >> >> drivers/net/can/spi/Kconfig | 10 + >> drivers/net/can/spi/Makefile | 1 + >> drivers/net/can/spi/spi_can.c | 1534 +++++++++++++++++++++++++++++++++++ >> include/linux/can/platform/spican.h | 36 + >> 4 files changed, 1581 insertions(+) >> create mode 100644 drivers/net/can/spi/spi_can.c >> create mode 100644 include/linux/can/platform/spican.h > > spi_can.h Ok > >> >> diff --git a/drivers/net/can/spi/Kconfig b/drivers/net/can/spi/Kconfig >> index 148cae5..299d71ca 100644 >> --- a/drivers/net/can/spi/Kconfig >> +++ b/drivers/net/can/spi/Kconfig >> @@ -7,4 +7,14 @@ config CAN_MCP251X >> ---help--- >> Driver for the Microchip MCP251x SPI CAN controllers. >> >> +config CAN_SPI >> + tristate "Support for CAN over SPI" >> + depends on CAN_DEV > > This all depends on CAN_DEV anyway. > You can remove this dependency here. Right, I will remove it. > >> + ---help--- >> + Driver to transfer CAN messages to a microcontroller >> + connected via the SPI interface using a simple messaged based >> + protocol. >> + >> + Say Y here if you want to support for CAN to SPI. >> + >> endmenu >> diff --git a/drivers/net/can/spi/Makefile b/drivers/net/can/spi/Makefile >> index 90bcacf..0fd2126 100644 >> --- a/drivers/net/can/spi/Makefile >> +++ b/drivers/net/can/spi/Makefile >> @@ -4,5 +4,6 @@ >> >> >> obj-$(CONFIG_CAN_MCP251X) += mcp251x.o >> +obj-$(CONFIG_CAN_SPI) += spi_can.o >> >> ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG >> diff --git a/drivers/net/can/spi/spi_can.c b/drivers/net/can/spi/spi_can.c >> new file mode 100644 >> index 0000000..aee924a >> --- /dev/null >> +++ b/drivers/net/can/spi/spi_can.c > > >> + >> +#define MAX_CAN_CHANNELS 16 >> +#define CFG_CHANNEL 0xFF >> +#define DRV_NAME "canoverspi" > > spi_can ? Well, sometimes I search for new names...I will change to be consistent ;-) > > >> + >> +/* Message IDs for SPI Frame */ >> +enum msg_type { >> + SPI_MSG_STATUS_REQ = 0x01, >> + SPI_MSG_SEND_DATA = 0x02, >> + SPI_MSG_SYNC = 0x03, >> + SPI_MSG_CFG = 0x04, >> + SPI_MSG_REQ_DATA = 0x05 >> +}; > > >> + */ >> + >> +struct msg_channel_data { >> + u8 channel; >> + u32 timestamp; >> + u32 can_id; >> + u8 dlc; >> + u8 data[8]; >> +} __packed; >> + > > I assume CAN FD capable SPI/CAN capable controllers to emerge in the mid > future. What's your concept for that? IMHO the driver should be backward compatible as CAN FD is. The CAN frame is now encapsulated inside a SPI_MSG_SEND_DATA. To support CAN FD, the driver should, exactly as most drivers should do, check for IDE-bit (Identifier extension). As dlc is only 4 bits, we we could use the rest to detect the format. However, I will not add some extensions now - I have no way to test it, and I think we can easy add CAN FD support later when the driver is merged. > E.g. define SPI_MSG_SEND_FD_DATA then? No, I do not thinks so. SPI_MSG_SEND_DATA is only thought as a way for the master to provide enough clock cycles (if it has nothing to send) to the slave, allowing the slave to send back the received packets. I can also imagine that there is a mix between channels, some of them are CAN FD and some of them no. If we use a different message as SPI_MSG_SEND_FD_DATA, the master should know before starting a communication which are the packets that the slave wants to send, and it cannot know. It is better to have a "neutral" message (an anonymous SPI_SEND_DATA), checking then in the received SPI frame which is the type of CAN data. Of course, the slave should do the same in the other direction. > >> +/* CFG message */ >> +struct msg_cfg_data { >> + u8 channel; >> + u8 enabled; >> + struct can_bittiming bt; >> +} __packed; > > Why don't you pass this configuration stuff like > > - enable/disable > - set bitrate > > in a message which is sent via the dedicated interface (mux) channel? > > I don't see the need for an extra configuration channel.A (new designed) > SPI_MSG_CFG message should be able to be processed by every interface channel. > I explain this just a bit later. > Other questions: > > 1. Why can't the SPI always run in the high speed? This can be a limitation on the HCS-12, but it could be a general limitation. The HCS-12 have a "boot" firmware, able to run only at lower speed, and able to get a new firmware image (there is no software to manage the can busses). After upgrading or if a valid image is found, the slave is able to run at full speed. It is not a limitation on the main controller side. > 2. The number of CAN interfaces is taken from the OF information. IMHO the SPI > CAN micro controller should give the number of available interfaces when it is > asked for (via new SPI_MSG_CFG message?). Not always. Agree that we can add a query to get the number of physical channels. However, the OF/platform data channels is thought to limit the number of provided network interface. The slave controller can have multiple bus, but only a few of them are physically active and it is required to expone only some CAN interfaces. > > What's your concept regarding the SPI firmware update? > E.g. what about a new message type SPI_MSG_FW_UPDATE which is supported by the > micro controller but not by the CAN netdevice driver. > > E.g. is something like this possible: > > rmmod spi_can > fw-upload-tool /dev/spi0 firmware.img No, there is another concept. The reason to have a separate configuration channel is to provide a general way to exchange packets between the Application Layer and the Slave, without intervention of the driver. A sort of out-of-band data. The driver should not know anything about the type of exchanged packets on this channel. The application layer starts to send packets on the CFG channel, that are interpreted as firmware update by the slave. These data can be very microcontroller or project specific and I cared that the driver does not check inside this channel. Not only: it is also possible to update the slave reducing the time of out of service, because the old software can (or could) also run. If we remove the module and start a new tool to upgrade the slave, the CAN busses are not available until the update is ready. Using the CFG channel, the out of service time is limited to the time for the slave to switch the software. There are many other usage for the CFG channel. Some examples: - the slave has also some GPIOs that the Application Layer can set up. The Application use the CFG channel to inform the slave how to handle. - the slave can implement some other proprietary interface and must communicate something with the application. This can be also very project specific The CFG channel is a way to let the application in user space on the main controller to communicate directly with the slave without intervention of the underlying (this driver) layers. The driver shows to the application a socket-CAN interface, even for the CFG channel, and this is consistent. It is then duty of the application on the main and slave controller to specify which messages and which functions they want to exchange. >> + >> +/* Default Values */ >> +static struct can_bittiming_const spi_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 = 64, >> + .brp_inc = 1, >> +}; > > This also depends on the CAN controllers in the micro controller. You are right. > Therefore the struct can_bittiming_const has to be retrieved from the micro > controller at setup time (via new SPI_MSG_CFG message). The structure is only there to have a default and it is not used at all. I am not sure, can I drop it completely and not set can.bittiming_const before registering the network interface ? The slave, as defined in protocol, receives the data for configuration (bitrate, ..) exactly as the driver has received from socket-CAN. The driver converts only the values as big endian, but it does not interprete them (function spi_can_cfg). The driver itself does not use this structure. > > >> +/* Provide a way to disable checksum */ >> +static unsigned int chksum_en; >> +module_param(chksum_en, uint, 0); >> +MODULE_PARM_DESC(chksum_en, >> + "Enable checksum test on received frames (default is disabled)"); > > Why did you define and implement a checksum, switch it off by default and then > provide an interface to enable it again? This was a hard debate during the development. If the checksum is quite useless on the main controller side, it was very helpful for the firmware developers on the slave to check for issues (missing interrupts, ...) on their side. Disabling the checksum is then a way if performance (on the slave side, of course..) are affected. > > IMO remove this module parameter and switch it on. Agree on switching on as default. However, I will let the module parametr for fine tuning if needed. > Or remove the checksum stuff entirely. > >> +static unsigned int freq; >> +module_param(freq, uint, 0); >> +MODULE_PARM_DESC(freq, >> + "SPI clock frequency (default is set by platform device)"); > > Really needed? > >> +static unsigned int slow_freq; >> +module_param(slow_freq, uint, 0); >> +MODULE_PARM_DESC(slow_freq, >> + "SPI clock frequency to be used in supervisor mode (default 1 Mhz)"); > > Why not always use the high SPI clock? I explained this before. > >> +static unsigned int debug; >> +module_param(debug, uint, 0); >> +MODULE_PARM_DESC(freq, "enables dump of received bytes"); > ^^^^ > Obviously never used :-)) > > If you really think about debugging this better add an extra define or use > CAN_DEBUG_DEVICES. > > >> +SHOW_SYS_ATTR(spi_sent_bytes, spibytes); >> +SHOW_SYS_ATTR(max_req_bytes, maxreqbytes); >> +SHOW_SYS_ATTR(canmsg_sent, cantxmsg); >> +SHOW_SYS_ATTR(canmsg_received, canrxmsg); >> +SHOW_SYS_ATTR(cfgmsg_sent, cfgmsg); >> +SHOW_SYS_ATTR(messages_in_queue, messages_in_queue); >> +SHOW_SYS_ATTR(average_length, average_length); >> +SHOW_SYS_ATTR(current_length, current_length); >> +SHOW_SYS_ATTR(short_frames, short_frames); >> +SHOW_SYS_ATTR(spi_sent_frames, spi_sent_frames); > > This is definitely debug stuff. Absolutely, right. > > Are you use it's needed in production code? I will tend to discharge them > Or at least with CAN_DEBUG_DEVICES only?? I will check both of them. I am not a fan of #ifdef, but I agree this is all debug stuff. > > Don't be disappointed by my remarks. Absolutely, I am not ! I am glad you are reviewing my code, many thanks ! > I really like the idea - but IMO there's relly some space for improvements ;-) > Of course..I will try my best to make the code suitable for merging. I will work now for V3. > Best regards, > Oliver > >> +++ b/include/linux/can/platform/spican.h > > spi_can.h > >> +#ifndef __CAN_PLATFORM_SPICAN_H__ > > __CAN_PLATFORM_SPI_CAN_H__ > >> +#define __CAN_PLATFORM_SPICAN_H__ >> + >> +#include <linux/spi/spi.h> >> + >> +/* >> + * struct hcs12_imx_platform_data - i.MX to HCS12 CAN controller platform data > ^^^^^^^^^^ ^^^^ ^^^^^ Right, I missed to fix the comment, too. Thanks ! Best regards, Stefano -- ===================================================================== DENX Software Engineering GmbH, MD: Wolfgang Denk & Detlev Zundel HRB 165235 Munich, Office: Kirchenstr.5, D-82194 Groebenzell, Germany Phone: +49-8142-66989-53 Fax: +49-8142-66989-80 Email: sbabic@denx.de ===================================================================== ^ permalink raw reply [flat|nested] 17+ messages in thread
* Re: [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface 2014-03-25 14:30 ` [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface Stefano Babic 2014-03-25 18:54 ` Oliver Hartkopp @ 2014-04-06 15:20 ` Wolfgang Grandegger 2014-04-06 19:01 ` Oliver Hartkopp 2014-04-07 8:29 ` Stefano Babic 1 sibling, 2 replies; 17+ messages in thread From: Wolfgang Grandegger @ 2014-04-06 15:20 UTC (permalink / raw) To: Stefano Babic, linux-can; +Cc: socketcan, Marc Kleine-Budde Hi Stefan, sorry for jumping in late... This driver is rather special in various respects. As I see it, it does not support: - loopback (echo_skbs) - error state handling - any error reporting (CAN error messages) - any error counting (net and CAN stats) - recovery from bus-off Any chance to improve on that? At least some kind of error reporting would be nice otherwise the app does not realize any problems. Or how does your app handle error cases. On 03/25/2014 03:30 PM, Stefano Babic wrote: > This driver implements a simple protocol > to transfer CAN messages to and from an external > microcontroller via SPI interface. > Multiple busses can be tranfered on the same SPI channel. > > It was tested on a i.MX35 connected to a Freescale's > HCS12 16-bit controller with 5 CAN busses. > Signed-off-by: Stefano Babic <sbabic@denx.de> > > --- > > Changes in v2: > - drop all references to i.MX35 and HCS12 > > drivers/net/can/spi/Kconfig | 10 + > drivers/net/can/spi/Makefile | 1 + > drivers/net/can/spi/spi_can.c | 1534 +++++++++++++++++++++++++++++++++++ > include/linux/can/platform/spican.h | 36 + > 4 files changed, 1581 insertions(+) > create mode 100644 drivers/net/can/spi/spi_can.c > create mode 100644 include/linux/can/platform/spican.h > > diff --git a/drivers/net/can/spi/Kconfig b/drivers/net/can/spi/Kconfig > index 148cae5..299d71ca 100644 > --- a/drivers/net/can/spi/Kconfig > +++ b/drivers/net/can/spi/Kconfig > @@ -7,4 +7,14 @@ config CAN_MCP251X > ---help--- > Driver for the Microchip MCP251x SPI CAN controllers. > > +config CAN_SPI > + tristate "Support for CAN over SPI" > + depends on CAN_DEV > + ---help--- > + Driver to transfer CAN messages to a microcontroller > + connected via the SPI interface using a simple messaged based > + protocol. > + > + Say Y here if you want to support for CAN to SPI. Would be nice to mention the doc here. > + > endmenu > diff --git a/drivers/net/can/spi/Makefile b/drivers/net/can/spi/Makefile > index 90bcacf..0fd2126 100644 > --- a/drivers/net/can/spi/Makefile > +++ b/drivers/net/can/spi/Makefile > @@ -4,5 +4,6 @@ > > > obj-$(CONFIG_CAN_MCP251X) += mcp251x.o > +obj-$(CONFIG_CAN_SPI) += spi_can.o > > ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG > diff --git a/drivers/net/can/spi/spi_can.c b/drivers/net/can/spi/spi_can.c > new file mode 100644 > index 0000000..aee924a > --- /dev/null > +++ b/drivers/net/can/spi/spi_can.c "spi_can" sounds like a generic CAN driver for the SPI bus but it uses a specific protocol. "canoverspi" would already be better, IMO. > @@ -0,0 +1,1534 @@ > +/* > + * (C) Copyright 2012-2014 > + * Stefano Babic, DENX Software Engineering, sbabic@denx.de. > + * > + * See file CREDITS for list of people who contributed to this > + * project. > + * > + * 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. > + * > + * This program is distributed in the hope that it will be useful, > + * but WITHOUT ANY WARRANTY; without even the implied warranty of > + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the > + * GNU General Public License for more details. > + * > + */ > + > +#include <linux/netdevice.h> > +#include <linux/can.h> > +#include <linux/can/dev.h> > +#include <linux/can/error.h> > +#include <linux/interrupt.h> > +#include <linux/io.h> > +#include <linux/kernel.h> > +#include <linux/list.h> > +#include <linux/mutex.h> > +#include <linux/wait.h> > +#include <linux/module.h> > +#include <linux/platform_device.h> > +#include <linux/kthread.h> > +#include <linux/workqueue.h> > +#include <linux/can/platform/spican.h> > +#include <linux/spi/spi.h> > +#include <linux/gpio.h> > +#include <linux/net_tstamp.h> > +#include <linux/of_device.h> > +#include <linux/of_gpio.h> > + > +#define MAX_CAN_CHANNELS 16 > +#define CFG_CHANNEL 0xFF > +#define DRV_NAME "canoverspi" Should match the file name. > +#define DRV_VERSION "0.10" > + > +/* SPI constants */ > +#define SPI_MAX_FRAME_LEN 1472 /* max total length of a SPI frame */ > +#define BITS_X_WORD 32 /* 4 bytes */ > +#define SPI_MIN_TRANSFER_LENGTH 32 /* Minimum SPI frame length */ > +#define CAN_FRAME_MAX_DATA_LEN 8 /* max data lenght in a CAN message */ > +#define MAX_ITERATIONS 100 /* Used to check if GPIO stucks */ > +#define SPI_CAN_ECHO_SKB_MAX 4 Never used. > +#define SLAVE_CLK_FREQ 100000000 > +#define SLAVE_SUPERVISOR_FREQ ((u32)1000000) > + > +#define IS_GPIO_ACTIVE(p) (!!gpio_get_value(p->gpio) == p->gpio_active) > +#define MS_TO_US(ms) (ms * 1000) #define MS_TO_US(ms) ((ms) * 1000) > + > +/* more RX buffers are required for delayed processing */ > +#define SPI_RX_NBUFS MAX_CAN_CHANNELS > + > +/* CAN channel status to drop not required frames */ > +enum { > + CAN_CHANNEL_DISABLED = 0, > + CAN_CHANNEL_ENABLED = 1, > +}; > + > +/* operational mode to set the SPI frequency */ > +enum { > + SLAVE_SUPERVISOR_MODE = 0, > + SLAVE_USER_MODE = 1, > +}; > + > +/* Message between Master and Slave > + * > + * see spi_can_spi.txt for details > + * > + * ,'''''''','''''''''''''''','''''''''''''''''''''''','''''''''''''| > + * |MSG ID | Length(16 bit)| DATA | CHECKSUM | > + * L________|________________|________________________|_____________| > + */ > +struct spi_can_frame_header { > + u8 msgid; > + u16 length; > +} __packed; > + > +struct spi_can_frame { > + struct spi_can_frame_header header; > + u8 data[1]; > +} __packed; > + > +/* Message IDs for SPI Frame */ > +enum msg_type { > + SPI_MSG_STATUS_REQ = 0x01, > + SPI_MSG_SEND_DATA = 0x02, > + SPI_MSG_SYNC = 0x03, > + SPI_MSG_CFG = 0x04, > + SPI_MSG_REQ_DATA = 0x05 > +}; > + > +/* CAN data sent inside a > + * SPI_MSG_SEND_DATA message > + * > + * _____,________________ > + * | | ,''''''''''''''''',''''''''''''| ,'''''''| > + * |ID=2 | LENGTH | CAN MESSAGE |CAN MESSAGE | |CHECKSUM > + * |_____L________________|_________________|____________| L_______| > + * _.-' `--._ > + * _,,-' ``-.._ > + * _.-' `--._ > + * _,--' ``-.._ > + * ,.-' `-.._ > + * ,'''''',''''''''''''','''''''''''''','''''',''''''| ,'''''''''| > + * | CH |TIMESTAMP | CAN ID |DLC |D[0] | |D[dlc-1] | > + * L______L_____________|______________L______|______| L_________| > + */ > + > +struct msg_channel_data { > + u8 channel; > + u32 timestamp; > + u32 can_id; > + u8 dlc; > + u8 data[8]; > +} __packed; > + > +/* CFG message */ > +struct msg_cfg_data { > + u8 channel; > + u8 enabled; > + struct can_bittiming bt; > +} __packed; > + > +/* Status message */ > +struct msg_status_data { > + u16 length; > +} __packed; > + > +/* The ndo_start_xmit entry point > + * insert the CAN messages into a list that > + * is then read by the working thread. > + */ > +struct msg_queue_tx { > + struct list_head list; > + u32 channel; > + u32 enabled; > + struct sk_buff *skb; > + u32 echo_index; > + enum msg_type type; > +}; > + > +struct msg_queue_rx { > + struct list_head list; > + struct spi_can_frame *frame; > + u32 len; > + u32 bufindex; > +}; > + > +struct spi_rx_data { > + u8 __aligned(4) spi_rx_buf[SPI_MAX_FRAME_LEN]; > + u32 msg_in_buf; > + struct mutex bufmutex; > +}; > + > +/* Private data for the SPI device. */ > +struct spi_can_data { > + struct spi_device *spi; > + u32 gpio; > + u32 gpio_active; > + u32 num_channels; > + u32 freq; > + u32 slow_freq; > + u32 max_freq; > + u32 slave_op_mode; > + struct net_device *can_dev[MAX_CAN_CHANNELS + 1]; > + spinlock_t lock; > + struct msg_queue_tx msgtx; > + struct msg_queue_rx msgrx; > + struct mutex lock_wqlist; > + wait_queue_head_t wait; > + struct workqueue_struct *wq; > + struct work_struct work; > + /* buffers must be 32-bit aligned ! */ > + u8 __aligned(4) spi_tx_buf[SPI_MAX_FRAME_LEN]; > + struct spi_rx_data rx_data[SPI_RX_NBUFS]; > + /* Statistics and debug data */ > + u32 spibytes; > + u32 maxreqbytes; > + u32 cantxmsg; > + u32 canrxmsg; > + u32 cfgmsg; > + u32 messages_in_queue; > + u32 average_length; > + u32 current_length; > + u32 short_frames; > + u32 spi_sent_frames; > + struct timeval refTime; s/refTime/ref_time/ ? > +}; > + > +/* Default Values */ > +static struct can_bittiming_const spi_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 = 64, > + .brp_inc = 1, > +}; Hm, this is specific to the hardware and should not be set globally. Do you need/use it at all. Typically CAN handled by firmware does use rather fixed bit timing parameters. Just the bit-rate can usually be specified. > +/* Private data of the CAN devices */ > +struct spi_can_priv { > + struct can_priv can; > + struct net_device *dev; > + struct spi_can_data *spi_priv; > + u32 channel; > + u32 devstatus; > + u32 echo_index[SPI_CAN_ECHO_SKB_MAX]; Seems not to be used. > +}; > + > +/* Pointer to the worker task */ > +static struct task_struct *spi_can_task; > + > +/* Provide a way to disable checksum */ > +static unsigned int chksum_en; > +module_param(chksum_en, uint, 0); > +MODULE_PARM_DESC(chksum_en, > + "Enable checksum test on received frames (default is disabled)"); > +static unsigned int freq; > +module_param(freq, uint, 0); > +MODULE_PARM_DESC(freq, > + "SPI clock frequency (default is set by platform device)"); > +static unsigned int slow_freq; > +module_param(slow_freq, uint, 0); > +MODULE_PARM_DESC(slow_freq, > + "SPI clock frequency to be used in supervisor mode (default 1 Mhz)"); > +static unsigned int debug; > +module_param(debug, uint, 0); Why not using DEBUG and dev_dbg()? > +MODULE_PARM_DESC(freq, "enables dump of received bytes"); It's usual to put module parameter defines to the beginning. > + > +#define SHOW_SYS_ATTR(name, get) \ > +static ssize_t show_##name(struct device *dev, \ > + struct device_attribute *attr, \ > + char *buf) \ > +{ \ > + struct spi_can_data *spi_data = dev_get_drvdata(dev); \ > + return sprintf(buf, "%d\n", spi_data->get); \ > +} \ > +static DEVICE_ATTR(name, S_IRUGO, show_##name, NULL); > + > +SHOW_SYS_ATTR(spi_sent_bytes, spibytes); > +SHOW_SYS_ATTR(max_req_bytes, maxreqbytes); > +SHOW_SYS_ATTR(canmsg_sent, cantxmsg); > +SHOW_SYS_ATTR(canmsg_received, canrxmsg); > +SHOW_SYS_ATTR(cfgmsg_sent, cfgmsg); > +SHOW_SYS_ATTR(messages_in_queue, messages_in_queue); > +SHOW_SYS_ATTR(average_length, average_length); > +SHOW_SYS_ATTR(current_length, current_length); > +SHOW_SYS_ATTR(short_frames, short_frames); > +SHOW_SYS_ATTR(spi_sent_frames, spi_sent_frames); > + > +static struct attribute *sysfs_attrs[] = { > + &dev_attr_spi_sent_bytes.attr, > + &dev_attr_max_req_bytes.attr, > + &dev_attr_canmsg_sent.attr, > + &dev_attr_canmsg_received.attr, > + &dev_attr_cfgmsg_sent.attr, > + &dev_attr_messages_in_queue.attr, > + &dev_attr_average_length.attr, > + &dev_attr_current_length.attr, > + &dev_attr_short_frames.attr, > + &dev_attr_spi_sent_frames.attr, > + NULL > +}; What is really useful for the real user? Debugging code just for development should be removed. Maybe you could map some of these counters to the CAN stats. > +static struct attribute_group slave_attribute_group = { > + .attrs = sysfs_attrs > +}; > + > +static void dump_frame(u8 *buf, int len) > +{ > + int i; > + > + for (i = 0; i < min(len, SPI_MAX_FRAME_LEN); i++) { > + if (!(i % 16)) > + printk(KERN_ERR "\n0x%04X: ", i); > + printk("0x%02x ", *buf++); > + } > + printk("\n"); > +} > + > +static inline u16 compute_checksum(char *buf, u32 len) > +{ > + int i; > + u16 chksum = 0; > + > + if (!chksum_en) > + return 0; > + for (i = 0; i < len; i++, buf++) > + chksum += *buf; I'm quite often confused how you use integer types. "i" is int but "len" is u32... > + > + return (~chksum + 1) & 0xFFFF; > +} > + > +static u32 verify_checksum(struct spi_device *spi, char *buf, u32 len) ... and "len" is sometimes "int" but other times "u32". Could you please use consistent types. I will just add "Check int type" when I'm unsure/confused. > +{ > + int i = 0; > + u16 chksum = 0; > + u16 received_checksum; > + u32 nwords = 0; > + u32 end = len - 2; > + u32 val; > + > + if (!chksum_en) > + return 0; > + > + if (!((u32)buf & 0x03)) { > + nwords = (end / 4); > + for (i = 0 ; i < nwords; i++, buf += 4) { > + val = *(u32 *)buf; > + chksum += (val & 0xFF) + ((val & 0xFF00) >> 8) + > + ((val & 0xFF0000) >> 16) + (val >> 24); > + } > + } > + > + for (i = nwords * 4; i < len - 2; i++, buf++) > + chksum += *buf; > + > + /* The last two bytes contain the checksum as 16 bit value */ > + received_checksum = *buf++; > + received_checksum = (received_checksum << 8) + *buf; > + > + if ((chksum + received_checksum) & 0xFFFF) { > + dev_err(&spi->dev, > + "Received wrong checksum: computed 0x%04x received 0x%04x\n", > + chksum, received_checksum); > + return -EPROTO; Check int type. > + } > + > + return 0; > +} > + > +/* The protocol requires to send data in big-endian > + * format. The processor can have a different endianess. > + * Because the protocol uses 32 bits x word (bits sent > + * in one chip select cycle), the function checks that the buffer > + * length is a multiple of four. > + */ > +static int format_frame_output(char *buf, int len) > +{ > + u32 *p; > + int cnt; > + > + if (len % (BITS_X_WORD / 8)) > + return -1; > + > + len /= (BITS_X_WORD / 8); > + p = (u32 *)buf; > + > + for (cnt = 0; cnt < len; cnt++, p++) > + *p = cpu_to_be32(*p); > + > + return 0; > +} > + > +static int format_frame_input(char *buf, int len) > +{ > + u32 *p; > + int cnt; > + > + if (len % (BITS_X_WORD / 8)) > + return -1; > + > + len /= (BITS_X_WORD / 8); > + p = (u32 *)buf; > + > + for (cnt = 0; cnt < len; cnt++, p++) > + *p = be32_to_cpu(*p); > + > + return 0; > +} In this function you use always type "int". > + > +/* The processor manages 32-bit aligned buffer. > + * At least 32 bytes are always sent. > + * The function fills the buffer with trailing zero to fullfill > + * these requirements > + */ > +static int fix_spi_len(char *buf, u32 len) > +{ > + int tmp; > + > + if (len < SPI_MIN_TRANSFER_LENGTH) { > + memset(&buf[len], 0, SPI_MIN_TRANSFER_LENGTH - len); > + len = SPI_MIN_TRANSFER_LENGTH; > + } > + > + tmp = len % (BITS_X_WORD / 8); > + if (tmp) { > + tmp = (BITS_X_WORD / 8) - tmp; > + memset(&buf[len], 0, tmp); > + len += tmp; > + } > + > + return len; > +} > + > +static int check_rx_len(u32 len, u16 frame_len) > +{ > + if (frame_len > len || > + frame_len < sizeof(struct spi_can_frame_header)) > + return -1; > + > + return 0; > +} > + > +static void spi_can_set_timestamps(struct sk_buff *skb, > + struct msg_channel_data *msg) > +{ > + msg->timestamp = ktime_to_ns(skb->tstamp); > +} > + > +static struct net_device *candev_from_channel(struct spi_can_data *spi_data, > + u8 channel) > +{ > + /* Last device is the CFG device */ > + if (channel == CFG_CHANNEL) > + return spi_data->can_dev[spi_data->num_channels]; > + else > + return spi_data->can_dev[channel]; > +} > + > +static int insert_cfg_msg(struct net_device *dev, int enabled) > +{ > + struct spi_can_priv *priv = netdev_priv(dev); > + struct spi_can_data *spi_priv = priv->spi_priv; > + struct msg_queue_tx *tx_pkt; > + unsigned long flags; > + > + tx_pkt = kzalloc(sizeof(struct msg_queue_tx), GFP_KERNEL); tx_pkt = kzalloc(*tx_pkt, GFP_KERNEL); > + if (!tx_pkt) { > + dev_err(&dev->dev, "out of memory"); > + return -ENOMEM; > + } > + tx_pkt->channel = priv->channel; > + tx_pkt->enabled = enabled; > + tx_pkt->type = SPI_MSG_CFG; > + > + priv->devstatus = enabled; > + > + spin_lock_irqsave(&spi_priv->lock, flags); > + list_add_tail(&(tx_pkt->list), &(spi_priv->msgtx.list)); > + spi_priv->messages_in_queue++; > + spin_unlock_irqrestore(&spi_priv->lock, flags); > + > + /* Wakeup thread */ > + wake_up_interruptible(&spi_priv->wait); > + > + return 0; > +} > + > +static int spi_can_open(struct net_device *dev) > +{ > + int ret; > + > + ret = open_candev(dev); > + if (ret) > + return ret; > + > + ret = insert_cfg_msg(dev, CAN_CHANNEL_ENABLED); > + if (ret) > + return ret; close_candev() is missing. > + > + netif_start_queue(dev); > + > + return 0; > +} > + > +static int spi_can_close(struct net_device *dev) > +{ > + netif_stop_queue(dev); > + > + insert_cfg_msg(dev, CAN_CHANNEL_DISABLED); > + > + close_candev(dev); > + > + return 0; > +} > + > +static int spi_can_hwtstamp_ioctl(struct net_device *netdev, > + struct ifreq *ifr, int cmd) > +{ > + struct hwtstamp_config config; > + > + if (copy_from_user(&config, ifr->ifr_data, sizeof(config))) > + return -EFAULT; > + > + if (config.flags) > + return -EINVAL; > + > + switch (config.tx_type) { > + case HWTSTAMP_TX_OFF: > + break; > + case HWTSTAMP_TX_ON: > + break; > + default: > + return -ERANGE; > + } > + > + switch (config.rx_filter) { > + case HWTSTAMP_FILTER_NONE: > + break; > + default: > + config.rx_filter = HWTSTAMP_FILTER_ALL; > + break; > + } > + > + return copy_to_user(ifr->ifr_data, &config, sizeof(config)) ? > + -EFAULT : 0; > +} > + > +static int spi_can_ioctl(struct net_device *dev, struct ifreq *rq, int cmd) > +{ > + if (!netif_running(dev)) > + return -EINVAL; > + > + if (cmd == SIOCSHWTSTAMP) > + return spi_can_hwtstamp_ioctl(dev, rq, cmd); > + > + return -EINVAL; > +} > + > +static int spi_can_set_mode(struct net_device *dev, enum can_mode mode) > +{ > + int err; > + > + switch (mode) { > + case CAN_MODE_START: > + err = 0; > + if (err) > + return err; > + > + netif_wake_queue(dev); > + break; > + > + default: > + return -EOPNOTSUPP; > + } > + > + return 0; > +} This function is never called because the state never changes to CAN_BUS_OFF. > +static int spi_can_start_xmit(struct sk_buff *skb, struct net_device *dev) > +{ > + struct spi_can_priv *priv = netdev_priv(dev); > + struct spi_can_data *spi_priv = priv->spi_priv; > + struct msg_queue_tx *tx_pkt; > + unsigned long flags; > + > + if (can_dropped_invalid_skb(dev, skb)) > + return NETDEV_TX_OK; > + > + tx_pkt = kzalloc(sizeof(struct msg_queue_tx), GFP_KERNEL); > + tx_pkt->channel = priv->channel; > + tx_pkt->skb = skb; > + tx_pkt->type = SPI_MSG_SEND_DATA; > + INIT_LIST_HEAD(&(tx_pkt->list)); > + > + /* Add the incoming message to the end of the list */ > + spin_lock_irqsave(&spi_priv->lock, flags); > + list_add_tail(&(tx_pkt->list), &(spi_priv->msgtx.list)); > + spi_priv->messages_in_queue++; You probabley may want to limit the number of TX messages to be queued. Otherwise the system may even run out of memory... if I understand the code correctly > + spin_unlock_irqrestore(&spi_priv->lock, flags); > + > + /* Wakeup thread */ > + wake_up_interruptible(&spi_priv->wait); > + > + return NETDEV_TX_OK; > +} > + > +static const struct net_device_ops spi_can_netdev_ops = { > + .ndo_open = spi_can_open, > + .ndo_stop = spi_can_close, > + .ndo_start_xmit = spi_can_start_xmit, > + .ndo_do_ioctl = spi_can_ioctl, > +}; > + > +/* GPIO Interrupt Handler. > + * when the Slave has something to send, it raises > + * an interrupt changing a GPIO. The handler does > + * nothing else than waking up the worker. > + */ > +static irqreturn_t spi_can_irq(int irq, void *pdata) > +{ > + struct spi_can_data *spi_priv = (struct spi_can_data *)pdata; > + int val; > + > + val = gpio_get_value(spi_priv->gpio); > + > + /* Wakeup thread */ > + wake_up_interruptible(&spi_priv->wait); > + > + return IRQ_HANDLED; > +} > + > +/* The parameters for SPI are fixed and cannot be changed due > + * to hardware limitation in Slave. > + * Only the frequency can be changed > + */ > +static void spi_can_initialize(struct spi_device *spi, u32 freq) > +{ > + /* Configure the SPI bus */ > + spi->mode = SPI_MODE_1; > + spi->bits_per_word = BITS_X_WORD; > + spi_setup(spi); "freq" is not used. > +} > + > +static int spi_can_transfer(struct spi_can_data *priv, > + u32 bufindex, int len) > +{ > + struct spi_device *spi = priv->spi; > + struct spi_message m; > + struct spi_transfer t; > + int ret = 0; > + > + memset(&t, 0, sizeof(struct spi_transfer)); memset(&t, 0, sizeof(t)); > + t.tx_buf = priv->spi_tx_buf; > + t.rx_buf = priv->rx_data[bufindex].spi_rx_buf; > + t.len = len; > + t.cs_change = 0; > + if (priv->freq) > + t.speed_hz = priv->freq; > + > + spi_message_init(&m); > + spi_message_add_tail(&t, &m); > + > + ret = spi_sync(spi, &m); > + if (ret) > + dev_err(&spi->dev, "spi transfer failed: ret = %d\n", ret); > + return ret; > +} > + > +/* Prepare a SYNC message to synchronize with the start of frame */ > +static u32 spi_can_spi_sync_msg(struct spi_can_data *spi_data, char *buf) > +{ > + struct spi_can_frame_header *header; > + int len; > + > + header = (struct spi_can_frame_header *)spi_data->spi_tx_buf; > + > + header->msgid = SPI_MSG_SYNC; > + *buf++ = 0xAA; > + *buf++ = 0x55; > + *buf++ = 0x55; > + *buf++ = 0xAA; > + len = 4; > + > + do_gettimeofday(&spi_data->refTime); > + > + return len; > +} > + > +static int spi_can_fill_skb_msg(struct net_device *dev, > + struct msg_channel_data *pcan, struct timeval *timeref) > +{ > + struct spi_can_priv *priv = netdev_priv(dev); > + struct net_device_stats *stats = &dev->stats; > + struct can_frame *cf; > + struct sk_buff *skb; > + struct skb_shared_hwtstamps *shhwtstamps; > + ktime_t tstamp; > + u64 ns; > + > + if (priv->devstatus != CAN_CHANNEL_ENABLED) { > + dev_err(&dev->dev, "frame received when CAN deactivated\n"); > + return 1; Normally you return a negative value as error. "-ENOMEM" would be even better. > + } > + skb = alloc_can_skb(dev, &cf); > + if (unlikely(!skb)) { > + stats->rx_dropped++; > + return 1; Ditto. > + } > + > + cf->can_id = pcan->can_id; > + cf->can_dlc = pcan->dlc; > + memcpy(cf->data, pcan->data, pcan->dlc); > + > + /* Set HW timestamps */ > + shhwtstamps = skb_hwtstamps(skb); > + memset(shhwtstamps, 0, sizeof(*shhwtstamps)); > + ns = MS_TO_US(pcan->timestamp); > + tstamp = ktime_add_us(timeval_to_ktime(*timeref), ns); > + shhwtstamps->hwtstamp = tstamp; > + skb->tstamp = tstamp; > + > + netif_receive_skb(skb); > + stats->rx_packets++; > + stats->rx_bytes += cf->can_dlc; Should go before netif_receive_skb(skb). It's actually a bug reported by tlx. > + > + return 0; > +} > + > +/* parse_can_msg gets all CAN messages encapsulated > + * in a SEND_DATA message, and sends them upstream > + */ > +static int parse_can_msg(struct spi_can_data *spi_data, > + struct spi_can_frame *frame, > + int len) > +{ > + struct msg_channel_data *pcan; > + char *pbuf = frame->data; > + struct spi_device *spi = spi_data->spi; > + struct net_device *netdev; > + u32 can_msg_length; > + u32 ret = 0; > + > + while (len > 0) { > + if (len < sizeof(struct msg_channel_data) - > + CAN_FRAME_MAX_DATA_LEN) { > + dev_err(&spi->dev, > + "Received incompleted CAN message: length %d pbuf 0x%x\n", > + len, *pbuf); > + ret = -1; Check int type. > + break; > + } > + pcan = (struct msg_channel_data *)pbuf; > + if ((pcan->channel > spi_data->num_channels) && > + (pcan->channel != CFG_CHANNEL)) { > + dev_err(&spi->dev, > + "Frame with wrong channel %d, frame dropped", > + pcan->channel); > + ret = -1; > + break; > + } > + > + /* Check for a valid CAN message lenght */ > + if (pcan->dlc > CAN_FRAME_MAX_DATA_LEN) { > + dev_err(&spi->dev, > + "CAN message with wrong length: id 0x%x dlc %d", > + pcan->can_id, pcan->dlc); > + ret = -1; > + break; > + } > + > + pcan->can_id = be32_to_cpu(pcan->can_id); > + pcan->timestamp = be32_to_cpu(pcan->timestamp); > + > + /* Get the device corresponding to the channel */ > + netdev = candev_from_channel(spi_data, pcan->channel); > + > + if (spi_can_fill_skb_msg(netdev, pcan, &spi_data->refTime)) > + dev_err(&spi->dev, > + "Error sending data to upper layer"); > + can_msg_length = (sizeof(struct msg_channel_data) + pcan->dlc - > + CAN_FRAME_MAX_DATA_LEN); > + > + len -= can_msg_length; > + pbuf += can_msg_length; > + spi_data->canrxmsg++; > + } > + > + return ret; Check int type. > +} > + > + > +static void spi_can_extract_msg(struct spi_can_data *spi_data, > + struct msg_queue_rx *msg) > +{ > + /* Extract all CAN messages, do not check > + * the last two bytes as they are reserved for checksum > + */ > + mutex_lock(&spi_data->rx_data[msg->bufindex].bufmutex); > + if (parse_can_msg(spi_data, msg->frame, msg->len - 2) < 0) { > + if (debug) > + dump_frame(spi_data->rx_data[msg->bufindex].spi_rx_buf, > + msg->len); > + } > + > + /* I can now set the message as processed and decrease > + * the number of messages in the SPI buffer. > + * When all messages are processed, the TX thread > + * can use the SPI buffer again > + */ > + spi_data->rx_data[msg->bufindex].msg_in_buf--; > + mutex_unlock(&spi_data->rx_data[msg->bufindex].bufmutex); > +} > + > +static void spi_can_rx_handler(struct work_struct *ws) > +{ > + struct spi_can_data *spi_data = container_of(ws, > + struct spi_can_data, work); > + struct msg_queue_rx *msg; > + > + while (1) { > + > + if (list_empty(&spi_data->msgrx.list)) > + break; > + > + mutex_lock(&spi_data->lock_wqlist); > + msg = list_first_entry(&spi_data->msgrx.list, > + struct msg_queue_rx, list); > + list_del(&msg->list); > + mutex_unlock(&spi_data->lock_wqlist); > + > + spi_can_extract_msg(spi_data, msg); > + kfree(msg); > + } > +} > + > +/* This is called in overload condition to process a siongle frame and > + * free a SPI frame for transfer > + * This is called by the thread > + */ > +static void spi_can_process_single_frame(struct spi_can_data *spi_data, > + u32 index) > +{ > + struct list_head *pos; > + struct msg_queue_rx *msg; > + u32 found = 0, freed; Why is "int" not just fine. > + > + mutex_lock(&spi_data->lock_wqlist); > + list_for_each(pos, &spi_data->msgrx.list) { > + msg = list_entry(pos, struct msg_queue_rx, list); > + if (msg->bufindex == index) { > + found = 1; > + break; > + } > + } > + > + /* Drop the message from the list */ > + if (found) > + list_del(&msg->list); > + mutex_unlock(&spi_data->lock_wqlist); > + > + if (!found) { > + > + /* I cannot parse the buffer because it is worked > + * by another task, check when it is finished > + */ > + > + do { > + mutex_lock(&spi_data->rx_data[index].bufmutex); > + freed = (spi_data->rx_data[index].msg_in_buf == 0); > + mutex_unlock(&spi_data->rx_data[index].bufmutex); > + } while (!freed); > + > + return; > + } > + > + spi_can_extract_msg(spi_data, msg); > + > +} > + > +static u32 spi_can_receive(struct spi_can_data *spi_data, > + int len, int bufindex, u16 *req_bytes) > +{ Check int type. Above "bufindex" is u32. > + int i, start = 0; > + char *pbuf, *pspibuf; > + struct spi_can_frame *frame; > + struct msg_status_data *status_msg; > + struct msg_queue_rx *rxmsg; > + u16 rx_len; > + struct spi_device *spi = spi_data->spi; > + u32 rx_frames = 0; > + > + pspibuf = spi_data->rx_data[bufindex].spi_rx_buf; > + format_frame_input(pspibuf, len); > + > + /* Requested bytes for next SPI frame. > + * The value is updated by a SEND_STATUS message. > + */ > + *req_bytes = 0; > + > + while ((len - start) > 1) { > + /* first search for start of frame */ > + for (i = start; i < len; i++) { > + if (pspibuf[i] != 0) > + break; > + } > + > + /* No more frame to be examined */ > + if (i == len) > + return rx_frames; > + > + /* Set start in the buffer for next iteration */ > + start = i; > + > + frame = (struct spi_can_frame *)&pspibuf[i]; > + switch (frame->header.msgid) { > + case SPI_MSG_STATUS_REQ: > + status_msg = (struct msg_status_data *)frame->data; > + rx_len = be16_to_cpu(status_msg->length); > + *req_bytes = rx_len; > + rx_frames++; > + break; > + > + case SPI_MSG_SEND_DATA: > + rx_len = be16_to_cpu(frame->header.length); > + if (check_rx_len(len - start, rx_len)) { > + dev_err(&spi->dev, > + "Frame fragmented received, frame dropped\n"); > + if (debug) > + dump_frame(pspibuf, len); > + return -EPROTO; Check int type. > + } > + if (verify_checksum(spi, (char *)frame, > + rx_len + sizeof(frame->header)) < 0) > + return -EPROTO; Ditto. > + pbuf = frame->data; > + > + /* Put the recognized frame into the receive list > + * to be processed by the workqueue > + */ > + rxmsg = kzalloc(sizeof(struct msg_queue_rx), rxmsg = kzalloc(sizeof(*rxmsg), > + GFP_KERNEL); > + if (!rxmsg) { > + dev_err(&spi->dev, "out of memory"); > + return -ENOMEM; > + } > + rxmsg->frame = frame; > + rxmsg->len = rx_len; > + rxmsg->bufindex = bufindex; > + > + /* Add the frame to be processed to the rx list */ > + mutex_lock(&spi_data->lock_wqlist); > + spi_data->rx_data[bufindex].msg_in_buf++; > + if (spi_data->rx_data[bufindex].msg_in_buf > 1) > + dev_err(&spi->dev, "More as one SEND_DATA\n"); > + list_add_tail(&(rxmsg->list), &spi_data->msgrx.list); > + mutex_unlock(&spi_data->lock_wqlist); > + > + rx_frames++; > + break; > + > + default: > + dev_err(&spi->dev, "wrong frame received with MSG-ID=0x%x\n", > + frame->header.msgid); > + if (debug) > + dump_frame(pspibuf, len); > + return -EPROTO; > + } > + > + rx_len += sizeof(frame->header); > + start += rx_len; > + } > + > + return rx_frames; > +} > + > +/* The function sends setup for the > + * CAN channel. No answer is allowed from Slave, > + * as this is a high-priority message. > + */ > +static u32 spi_can_cfg(struct spi_can_data *spi_data, > + struct msg_queue_tx *msg, char *buf) > +{ > + struct net_device *dev; > + struct spi_can_priv *priv; > + struct msg_cfg_data can_cfg; > + struct spi_device *spi = spi_data->spi; > + int i; > + u32 *pbe_bt, *pbt; > + u8 channel; > + > + channel = msg->channel & 0xFF; > + > + can_cfg.channel = channel; > + can_cfg.enabled = msg->enabled; > + > + dev = candev_from_channel(spi_data, channel); > + priv = netdev_priv(dev); > + > + /* Configuration values are interpreted by the Slave > + * firmware only. Values on the SPI line are in big > + * endian order and must be converted before to be put > + * on the line. > + */ > + for (i = 0, pbe_bt = (u32 *)&can_cfg.bt, > + pbt = (u32 *)&priv->can.bittiming; > + i < (sizeof(struct can_bittiming) / sizeof(*pbe_bt)); > + i += sizeof(u32)) { > + *pbe_bt++ = cpu_to_be32(*pbt++); > + } > + > + memcpy(buf, &can_cfg, sizeof(can_cfg)); > + > + if (channel == CFG_CHANNEL) { > + u32 changed = 0; > + switch (spi_data->slave_op_mode) { > + case SLAVE_SUPERVISOR_MODE: > + if (priv->can.bittiming.bitrate > 125000) { > + spi_data->freq = spi_data->max_freq; > + spi_data->slave_op_mode = SLAVE_USER_MODE; > + changed = 1; > + } > + break; > + case SLAVE_USER_MODE: > + if (priv->can.bittiming.bitrate <= 125000) { > + spi_data->freq = spi_data->slow_freq; > + spi_data->slave_op_mode = SLAVE_SUPERVISOR_MODE; > + changed = 1; > + } > + break; > + default: > + dev_err(&spi_data->spi->dev, "Erroneous Slave OP Mode %d\n", > + spi_data->slave_op_mode); > + spi_data->slave_op_mode = SLAVE_SUPERVISOR_MODE; > + } > + if (changed) { > + spi_can_initialize(spi, spi_data->freq); > + dev_info(&spi->dev, > + "Slave into %s mode, SPI frequency set to %d\n", > + (spi_data->slave_op_mode == SLAVE_USER_MODE) ? > + "User" : "Supervisor", > + spi_data->freq); > + } > + } > + > + return sizeof(struct msg_cfg_data); > +} > + > +static u32 spi_can_send_data(struct spi_can_data *spi_data, > + struct msg_queue_tx *msg, char *buf) > +{ > + struct sk_buff *skb; > + struct msg_channel_data can_spi_msg; > + struct can_frame *frame; > + u16 len = 0; > + struct spi_can_priv *priv; > + struct net_device *dev; > + struct net_device_stats *stats; > + > + /* Encapsulate the CAN message inside the SPI frame */ > + skb = msg->skb; > + frame = (struct can_frame *)skb->data; > + if (frame->can_dlc > CAN_FRAME_MAX_DATA_LEN) > + frame->can_dlc = CAN_FRAME_MAX_DATA_LEN; > + > + can_spi_msg.channel = msg->channel & 0xFF; > + > + spi_can_set_timestamps(skb, &can_spi_msg); > + > + can_spi_msg.can_id = cpu_to_be32(frame->can_id); > + can_spi_msg.dlc = frame->can_dlc; > + memcpy(can_spi_msg.data, > + frame->data, frame->can_dlc); > + len = sizeof(struct msg_channel_data) + s/len = /len = / > + frame->can_dlc - CAN_FRAME_MAX_DATA_LEN; > + memcpy(buf, &can_spi_msg, len); > + > + dev = candev_from_channel(spi_data, can_spi_msg.channel); > + priv = netdev_priv(dev); > + > + /* Update statistics for device */ > + stats = &dev->stats; > + stats->tx_bytes += frame->can_dlc; > + stats->tx_packets++; > + netif_wake_queue(dev); > + > + return len; > +} > + > +static int spi_can_thread(void *data) > +{ > + struct spi_can_data *spi_data = (struct spi_can_data *)data; > + u16 len = 0; > + u16 alen = 0; > + u16 req_bytes = 0; > + u32 cnt = 0, resync_required = 1; > + u32 bufindex = 0; > + u32 rx_frames; > + struct msg_queue_tx *msg, *tmp; > + char *buf; > + struct spi_can_frame_header *header; > + u16 chksum; > + unsigned long flags; > + struct spi_device *spi = spi_data->spi; > + > + /* Only to zero the whole buffers */ > + len = SPI_MAX_FRAME_LEN; > + > + while (1) { > + if (kthread_should_stop()) > + break; > + > + if (spi_data->rx_data[bufindex].msg_in_buf) > + spi_can_process_single_frame(spi_data, bufindex); > + > + /* Clear buffers from last transfer */ > + memset(spi_data->spi_tx_buf, 0, len); > + > + len = 0; > + header = (struct spi_can_frame_header *)spi_data->spi_tx_buf; > + buf = ((struct spi_can_frame *)spi_data->spi_tx_buf)->data; > + > + /* There is not yet any message */ > + header->msgid = 0; > + > + /* getting CAN message from upper layer */ > + spin_lock_irqsave(&spi_data->lock, flags); > + list_for_each_entry_safe(msg, tmp, > + &spi_data->msgtx.list, list) { > + > + /* we cannot mix messages of different type. > + * If the new request is of different type, > + * stop scanning the list > + * and send the actual message first > + */ > + if (header->msgid && (header->msgid != msg->type)) > + break; > + > + /* Extract packet and remove it from the list */ > + spi_data->messages_in_queue--; > + list_del(&msg->list); > + > + alen = 0; > + > + switch (msg->type) { > + > + case SPI_MSG_SEND_DATA: > + /* There are data to be sent */ > + header->msgid = SPI_MSG_SEND_DATA; > + alen = spi_can_send_data(spi_data, msg, buf); > + spi_data->cantxmsg++; > + break; > + > + case SPI_MSG_CFG: > + header->msgid = SPI_MSG_CFG; > + alen = spi_can_cfg(spi_data, msg, buf); > + spi_data->cfgmsg++; > + break; > + > + default: > + dev_err(&spi->dev, > + "Message to Slave wrong: type %d", > + msg->type); > + } > + > + /* Update total length with length of CAN message */ > + len += alen; > + buf += alen; > + > + /* Free the memory for message, not used anymore */ > + if (msg->skb) > + kfree_skb(msg->skb); > + kfree(msg); > + > + /* Check if there is enough place for other messages > + * else messages will be transfered in the next > + * iteration > + */ > + if ((len + sizeof(chksum) + > + sizeof(*header) + > + sizeof(u32)) >= SPI_MAX_FRAME_LEN) > + break; > + } > + spin_unlock_irqrestore(&spi_data->lock, flags); > + > + /* Check if a resync is required. It is sent > + * the first time the thread is started and when an error > + * is recognized. Not required if data must be sent. > + */ > + if (!len) { > + if (resync_required) { > + len = spi_can_spi_sync_msg(spi_data, buf); > + resync_required = 0; > + } else { > + header->msgid = SPI_MSG_REQ_DATA; > + len = max(req_bytes, > + (u16)((SPI_MIN_TRANSFER_LENGTH) - > + sizeof(*header) - > + sizeof(u16) /* checksum */)); > + } > + buf += len; > + } else { > + int delta = req_bytes - len; > + if ((delta > 0) && > + (header->msgid == SPI_MSG_SEND_DATA)) { > + > + /* buf points to the next CAN message */ > + buf += delta; > + len += delta; > + } > + } > + > + /* Take into account CHECKSUM > + * MSGID and LENGTH are not computed in the lenght field > + */ > + len += sizeof(chksum); > + header->length = cpu_to_be16(len); > + len += sizeof(*header); > + > + /* Compute checksum */ > + chksum = compute_checksum(spi_data->spi_tx_buf, > + len - sizeof(chksum)); > + chksum = cpu_to_be16(chksum); > + memcpy(buf, &chksum, sizeof(chksum)); > + > + len = fix_spi_len(spi_data->spi_tx_buf, len); > + > + format_frame_output(spi_data->spi_tx_buf, len); > + spi_data->spibytes += len; > + > + spi_data->average_length = > + (spi_data->average_length + len) >> 1; > + spi_data->current_length = len; > + if (len == 32) > + spi_data->short_frames++; > + spi_data->spi_sent_frames++; > + > + spi_can_transfer(spi_data, bufindex, len); > + rx_frames = spi_can_receive(spi_data, len, bufindex, > + &req_bytes); > + > + /* Trigger the workqueue for RX processing */ > + queue_work(spi_data->wq, &spi_data->work); > + > + if (rx_frames < 0) > + resync_required = 1; > + > + if (req_bytes > spi_data->maxreqbytes) > + spi_data->maxreqbytes = req_bytes; > + > + bufindex++; > + if (bufindex == SPI_RX_NBUFS) > + bufindex = 0; > + > + /* Check if the GPIO is still set, > + * because the Slave wants to send more data > + */ > + if (IS_GPIO_ACTIVE(spi_data) && (rx_frames <= 0)) { > + cnt++; > + if (cnt > MAX_ITERATIONS) { > + dev_err(&spi->dev, > + "GPIO stuck ! Send SYNC message"); > + resync_required = 1; > + cnt = 0; > + } > + } else { > + cnt = 0; > + } > + > + wait_event_interruptible(spi_data->wait, > + (!list_empty(&spi_data->msgtx.list) || > + IS_GPIO_ACTIVE(spi_data) || > + resync_required) || > + (req_bytes > 0) || > + kthread_should_stop()); > + } > + > + return 0; > +} > + > +#ifdef CONFIG_OF > +static const struct spi_device_id spi_can_ids[] = { > + { "spican", 0}, > + { "canoverspi", 0}, Why two names? > + { }, > +}; > +MODULE_DEVICE_TABLE(spi, spi_can_ids); > +#endif > + > +static int spi_can_probe(struct spi_device *spi) > +{ > + struct net_device *dev; > + struct spi_can_platform_data *pdata = spi->dev.platform_data; > + int ret = -ENODEV; > + struct spi_can_data *spi_data; > + struct spi_can_priv *priv; > + int index, i; > + u32 can_channels; > + u32 active = GPIO_ACTIVE_LOW; > + int data_gpio; > + u32 flags; > + > + if (spi->dev.of_node) { > + if (of_property_read_u32(spi->dev.of_node, > + "channels", &can_channels)) > + return -ENODEV; > + if (!slow_freq) { > + of_property_read_u32(spi->dev.of_node, > + "slowfreq", &slow_freq); > + } > + if (!freq) { > + of_property_read_u32(spi->dev.of_node, > + "freq", &freq); > + } > + data_gpio = of_get_gpio_flags(spi->dev.of_node, > + 0, &flags); > + active = (flags & GPIO_ACTIVE_LOW) ? 0 : 1; > + } else { > + if (!pdata || (pdata->can_channels < 0) || > + (pdata->can_channels > MAX_CAN_CHANNELS)) > + return -ENODEV; > + if (pdata->slow_freq) > + slow_freq = pdata->slow_freq; > + data_gpio = pdata->gpio; > + active = pdata->active; > + can_channels = pdata->can_channels; > + } > + > + if (!gpio_is_valid(data_gpio)) { > + dev_err(&spi->dev, > + "Wrong data valid GPIO: %d\n", > + data_gpio); > + return -EINVAL; > + } > + > + dev_info(&spi->dev, "Channels: %d, gpio %d active %s\n", > + can_channels, > + data_gpio, > + active ? "high" : "low"); > + /* It is possible to adjust frequency at loading time > + * if the driver is compiled as module > + */ > + if (freq) { > + if (freq > spi->max_speed_hz) { > + dev_err(&spi->dev, > + "Frequency too high: %d Hz > %d Hz. Falling back to %d\n", > + freq, > + spi->max_speed_hz, > + spi->max_speed_hz); > + freq = spi->max_speed_hz; > + } > + } > + > + /* Check if the supervisor frequency is passed as parameter > + * Fallback to 1 Mhz > + */ > + if (!slow_freq) > + slow_freq = SLAVE_SUPERVISOR_FREQ; > + > + if ((freq && (slow_freq > freq)) || > + (slow_freq > SLAVE_SUPERVISOR_FREQ)) { > + dev_err(&spi->dev, > + "Supervisor frequency too high: %d Hz > %d Hz. Falling back to %d\n", > + slow_freq, > + min(freq, SLAVE_SUPERVISOR_FREQ), > + min(freq, SLAVE_SUPERVISOR_FREQ)); > + slow_freq = min(freq, SLAVE_SUPERVISOR_FREQ); > + } > + > + ret = gpio_request(data_gpio, "spican-irq"); > + if (ret) { > + dev_err(&spi->dev, > + "gpio %d cannot be acquired\n", > + data_gpio); > + return -ENODEV; Please use goto for cleanup... > + } > + > + /* The SPI structure is common to all CAN devices */ > + spi_data = (struct spi_can_data *) > + kzalloc(sizeof(struct spi_can_data), GFP_KERNEL | __GFP_ZERO); > + if (!spi_data) > + return -ENOMEM; > + > + INIT_LIST_HEAD(&spi_data->msgtx.list); > + INIT_LIST_HEAD(&spi_data->msgrx.list); > + > + /* Get the GPIO used as interrupt. The Slave raises > + * an interrupt when there are messages to be sent > + */ > + gpio_direction_input(data_gpio); > + ret = request_irq(gpio_to_irq(data_gpio), spi_can_irq, > + (active ? IRQF_TRIGGER_RISING : IRQF_TRIGGER_FALLING) , > + "spican-rx", spi_data); > + if (ret) { > + gpio_free(data_gpio); > + kfree(spi_data); > + return -ENODEV; > + } > + > + spi_data->num_channels = can_channels; > + spi_data->gpio = data_gpio; > + spi_data->gpio_active = active; > + spi_data->spi = spi; > + spi_data->messages_in_queue = 0; > + spi_data->average_length = 0; > + spi_data->current_length = 0; > + spi_data->short_frames = 0; > + spi_data->spi_sent_frames = 0; You use kzalloc() above therefore the values above should already be zero. > + spi_data->max_freq = freq; > + spi_data->slow_freq = slow_freq; > + spi_data->freq = slow_freq; > + spi_data->slave_op_mode = SLAVE_SUPERVISOR_MODE; > + spin_lock_init(&spi_data->lock); > + mutex_init(&spi_data->lock_wqlist); > + for (index = 0; index < SPI_RX_NBUFS; index++) > + mutex_init(&spi_data->rx_data[index].bufmutex); > + > + /* Now alloc the CAN devices */ > + for (index = 0; index < (spi_data->num_channels + 1); index++) { > + dev = alloc_candev(sizeof(struct spi_can_priv), > + SPI_CAN_ECHO_SKB_MAX); > + if (!dev) { > + ret = -ENOMEM; > + goto failed_candev_alloc; > + } > + > + /* Get the pointer to the driver data */ > + priv = netdev_priv(dev); > + > + /* Last channel is used for configuration only */ > + if (index == spi_data->num_channels) { > + strncpy(dev->name, "cfg", IFNAMSIZ); > + priv->channel = CFG_CHANNEL; > + } else { > + snprintf(dev->name, IFNAMSIZ, "hcan%d", index); > + priv->channel = index; > + } > + > + dev->netdev_ops = &spi_can_netdev_ops; > + > + priv->spi_priv = spi_data; > + priv->dev = dev; > + priv->devstatus = CAN_CHANNEL_DISABLED; > + > + spi_data->can_dev[index] = dev; > + init_waitqueue_head(&spi_data->wait); > + > + /* Set CAN specific parameters */ > + priv->can.clock.freq = SLAVE_CLK_FREQ; > + priv->can.bittiming_const = &spi_can_bittiming_const; > + priv->can.do_set_mode = spi_can_set_mode; > + priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | > + CAN_CTRLMODE_LISTENONLY | CAN_CTRLMODE_3_SAMPLES; Not used anywhere in this file. > + for (i = 0; i < SPI_CAN_ECHO_SKB_MAX; i++) > + priv->echo_index[i] = SPI_CAN_ECHO_SKB_MAX; Not used. > + ret = register_candev(dev); > + if (ret) { > + dev_err(&spi->dev, > + "registering netdev %d failed with 0x%x\n", > + index, ret); > + goto failed_register; > + } > + > + dev_info(&spi->dev, "CAN device %d registered\n", > + index); > + } > + > + dev_set_drvdata(&spi->dev, spi_data); > + spi_can_initialize(spi, freq); > + > + /* Initialize work que for RX background processing */ > + spi_data->wq = alloc_workqueue("spican_wq", > + WQ_HIGHPRI | WQ_MEM_RECLAIM, 1); > + INIT_WORK(&spi_data->work, spi_can_rx_handler); > + > + spi_can_task = kthread_run(spi_can_thread, spi_data, "kspican"); > + if (!spi_can_task) { > + ret = -EIO; > + goto failed_register; > + } > + > + dev_info(&spi->dev, "%s version %s initialized\n", > + DRV_NAME, DRV_VERSION); > + dev_info(&spi->dev, "SPI frequency %d, supervisor frequency %d : now set to %d\n", > + spi_data->max_freq, spi_data->slow_freq, spi_data->freq); > + > + ret = sysfs_create_group(&spi->dev.kobj, > + &slave_attribute_group); > + > + return 0; > + > +failed_register: > + free_candev(spi_data->can_dev[index]); > + > +failed_candev_alloc: > + for (i = 0; i < index; i++) { > + unregister_candev(spi_data->can_dev[i]); > + free_candev(spi_data->can_dev[index]); > + } What about free_irq() and free_gpio(). > + return ret; > +} > + > +static int spi_can_remove(struct spi_device *spi) > +{ > + struct spi_can_data *priv = dev_get_drvdata(&spi->dev); > + int index; > + > + if (spi_can_task) > + kthread_stop(spi_can_task); > + if (priv->wq) { > + flush_workqueue(priv->wq); > + destroy_workqueue(priv->wq); > + } > + > + for (index = 0; index < (priv->num_channels + 1); index++) { > + if (priv->can_dev[index]) { > + unregister_candev(priv->can_dev[index]); > + free_candev(priv->can_dev[index]); > + } > + } > + > + free_irq(gpio_to_irq(priv->gpio), priv); > + gpio_free(priv->gpio); > + sysfs_remove_group(&spi->dev.kobj, > + &slave_attribute_group); > + return 0; > +} > + > +static struct spi_driver spi_can_driver = { > + .probe = spi_can_probe, > + .remove = spi_can_remove, > +#if CONFIG_OF > + .id_table = spi_can_ids, > +#endif > + .driver = { > + .name = DRV_NAME, > + .bus = &spi_bus_type, > + .owner = THIS_MODULE, > + }, > +}; > + > +static int __init spi_can_init(void) > +{ > + return spi_register_driver(&spi_can_driver); > +} > + > +static void __exit spi_can_exit(void) > +{ > + spi_unregister_driver(&spi_can_driver); > +} > + > +module_init(spi_can_init); > +module_exit(spi_can_exit); > + > +MODULE_AUTHOR("Stefano Babic <sbabic@denx.de"); > +MODULE_DESCRIPTION("CAN over SPI driver"); > +MODULE_LICENSE("GPL v2"); > +MODULE_VERSION(DRV_VERSION); > diff --git a/include/linux/can/platform/spican.h b/include/linux/can/platform/spican.h > new file mode 100644 > index 0000000..e8cccf7 > --- /dev/null > +++ b/include/linux/can/platform/spican.h > @@ -0,0 +1,36 @@ > +/* > + * (C) Copyright 2010 > + * Stefano Babic, DENX Software Engineering, sbabic@denx.de. > + * > + * See file CREDITS for list of people who contributed to this > + * project. > + * > + * 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. > + * > + * This program is distributed in the hope that it will be useful, > + * but WITHOUT ANY WARRANTY; without even the implied warranty of > + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the > + * GNU General Public License for more details. > + * > + */ > + > +#ifndef __CAN_PLATFORM_SPICAN_H__ > +#define __CAN_PLATFORM_SPICAN_H__ > + > +#include <linux/spi/spi.h> > + > +/* > + * struct hcs12_imx_platform_data - i.MX to HCS12 CAN controller platform data > + */ This is an unrelated comment. > +struct spi_can_platform_data { > + unsigned int can_channels; > + unsigned int gpio; > + unsigned int active; Check int types. In the code above these are u32 (in most cases). > + unsigned int slow_freq; > +}; > + > +#endif Wolfgang. ^ permalink raw reply [flat|nested] 17+ messages in thread
* Re: [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface 2014-04-06 15:20 ` Wolfgang Grandegger @ 2014-04-06 19:01 ` Oliver Hartkopp 2014-04-06 19:22 ` Wolfgang Grandegger 2014-04-07 8:29 ` Stefano Babic 1 sibling, 1 reply; 17+ messages in thread From: Oliver Hartkopp @ 2014-04-06 19:01 UTC (permalink / raw) To: Wolfgang Grandegger, Stefano Babic, linux-can; +Cc: Marc Kleine-Budde Hello Wolfgang, On 06.04.2014 17:20, Wolfgang Grandegger wrote: > Hi Stefan, > > sorry for jumping in late... indeed. There were some hints from me which already led to a v3 which would be better to review ;-) > This driver is rather special in various > respects. As I see it, it does not support: > > - loopback (echo_skbs) > - error state handling > - any error reporting (CAN error messages) > - any error counting (net and CAN stats) > - recovery from bus-off > > Any chance to improve on that? At least some kind of error reporting > would be nice otherwise the app does not realize any problems. Or how > does your app handle error cases. You are right on asking this. On the other had I suggested to name it "spi_can" in all places to make it a generic driver to attach micro controllers which have CAN and SPI in a common way. We already remove the 'specific' naming for the iMX35 and HCS12 to make it a generic driver and not a specifc driver for this setup. Please check the v3 - any also my comments about the bitrate setting configuration to be handled by SocketCAN. Your remarks from above just go into the same direction. Best regards, Oliver ^ permalink raw reply [flat|nested] 17+ messages in thread
* Re: [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface 2014-04-06 19:01 ` Oliver Hartkopp @ 2014-04-06 19:22 ` Wolfgang Grandegger 2014-04-06 19:42 ` Oliver Hartkopp 0 siblings, 1 reply; 17+ messages in thread From: Wolfgang Grandegger @ 2014-04-06 19:22 UTC (permalink / raw) To: Oliver Hartkopp, Stefano Babic, linux-can; +Cc: Marc Kleine-Budde On 04/06/2014 09:01 PM, Oliver Hartkopp wrote: > Hello Wolfgang, > > On 06.04.2014 17:20, Wolfgang Grandegger wrote: >> Hi Stefan, >> >> sorry for jumping in late... > > indeed. > > There were some hints from me which already led to a v3 which would be better > to review ;-) Oops, I picked the wrong one. >> This driver is rather special in various >> respects. As I see it, it does not support: >> >> - loopback (echo_skbs) >> - error state handling >> - any error reporting (CAN error messages) >> - any error counting (net and CAN stats) >> - recovery from bus-off >> >> Any chance to improve on that? At least some kind of error reporting >> would be nice otherwise the app does not realize any problems. Or how >> does your app handle error cases. > > You are right on asking this. > > On the other had I suggested to name it "spi_can" in all places to make it a > generic driver to attach micro controllers which have CAN and SPI in a common way. But it depends on the firmware running on the micro controller. I still think that "spi_can" will confuse people. Anyway, just a name. > We already remove the 'specific' naming for the iMX35 and HCS12 to make it a > generic driver and not a specifc driver for this setup. > > Please check the v3 - any also my comments about the bitrate setting > configuration to be handled by SocketCAN. > > Your remarks from above just go into the same direction. Yes, some issues seem to have vanished. Wolfgang. ^ permalink raw reply [flat|nested] 17+ messages in thread
* Re: [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface 2014-04-06 19:22 ` Wolfgang Grandegger @ 2014-04-06 19:42 ` Oliver Hartkopp 0 siblings, 0 replies; 17+ messages in thread From: Oliver Hartkopp @ 2014-04-06 19:42 UTC (permalink / raw) To: Wolfgang Grandegger, Stefano Babic, linux-can; +Cc: Marc Kleine-Budde, Max S. On 06.04.2014 21:22, Wolfgang Grandegger wrote: > On 04/06/2014 09:01 PM, Oliver Hartkopp wrote: >> On 06.04.2014 17:20, Wolfgang Grandegger wrote: >>> This driver is rather special in various >>> respects. As I see it, it does not support: >>> >>> - loopback (echo_skbs) >>> - error state handling >>> - any error reporting (CAN error messages) >>> - any error counting (net and CAN stats) >>> - recovery from bus-off >>> >>> Any chance to improve on that? At least some kind of error reporting >>> would be nice otherwise the app does not realize any problems. Or how >>> does your app handle error cases. >> >> You are right on asking this. >> >> On the other had I suggested to name it "spi_can" in all places to make it a >> generic driver to attach micro controllers which have CAN and SPI in a common way. > > But it depends on the firmware running on the micro controller. I still > think that "spi_can" will confuse people. Anyway, just a name. > Thinking about your remark: The difference to other SPI CAN drivers is, that it does not access the controller registers via (very short) SPI messages (like the mcp251x) but adds a message protocol for some kind of 'remove CAN controller'. With this message protocol some 'intelligence' can probably be moved down to the attached micro controller (e.g. the error state handling). But indeed the loopback (IFF_ECHO) handling should be implemented correctly. AFAIK only the gs_usb driver from Max Schneider http://marc.info/?l=linux-can&m=138791254416497&w=2 did this in a correct way. Search for "/* echo_id == hf->echo_id */" in the above patch. Best regards, Oliver ^ permalink raw reply [flat|nested] 17+ messages in thread
* Re: [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface 2014-04-06 15:20 ` Wolfgang Grandegger 2014-04-06 19:01 ` Oliver Hartkopp @ 2014-04-07 8:29 ` Stefano Babic 2014-04-07 9:34 ` Wolfgang Grandegger 1 sibling, 1 reply; 17+ messages in thread From: Stefano Babic @ 2014-04-07 8:29 UTC (permalink / raw) To: Wolfgang Grandegger, Stefano Babic, linux-can Cc: socketcan, Marc Kleine-Budde Hi Wolfgang, On 06/04/2014 17:20, Wolfgang Grandegger wrote: > Hi Stefan, > > sorry for jumping in late... No problem..but you picked up V2. Some of the issues you see are already solved in V3, some not, and some are new. I add here some comments when there are still unsolved issues. > This driver is rather special in various > respects. As I see it, it does not support: > > - loopback (echo_skbs) > - error state handling > - any error reporting (CAN error messages) > - any error counting (net and CAN stats) > - recovery from bus-off > > Any chance to improve on that? At least some kind of error reporting > would be nice otherwise the app does not realize any problems. Or how > does your app handle error cases. About IFF_ECHO: in my understanding, by enabling IFF_ECHO the driver should sent messages back to the upper layer as fast as these messages are put on the bus. As I see in most drivers, can_put_echo() is called directly into the ISR for most drivers. This driver implements a sort of "remote CAN". I do not know when messages are really put on the bus, because this is done by the microcontroller and not by the Main Controller. There is always a latency due to the fact that I can only enqueue messages on the SPI Bus using the SPI framework, letting the microcontroller doing the rest. Because I do not know when messages are really sent, I thought it makes little sense to implement echo_skbs. I did it during the development (you have found tracks of it), but I dropped later. IMHO this driver should not turn on IFF_ECHO. Agree that it should be nice to have some error reporting from the microcontroller. However, it seeems quite difficult for the firmware developers to get it. There is currently no error reporting to the main controller, and if I do something in this direction, it remains untested because I cannot get the related firmware. I will really prefer to let the driver in, even if this feature is not implemented, and add it later when there is a use case for it. >> +config CAN_SPI >> + tristate "Support for CAN over SPI" >> + depends on CAN_DEV >> + ---help--- >> + Driver to transfer CAN messages to a microcontroller >> + connected via the SPI interface using a simple messaged based >> + protocol. >> + >> + Say Y here if you want to support for CAN to SPI. > > Would be nice to mention the doc here. I'll do it. >> +#define SPI_CAN_ECHO_SKB_MAX 4 > > Never used. Right, it comes from earlier implementation with IFF_ECHO set. > >> +#define SLAVE_CLK_FREQ 100000000 >> +#define SLAVE_SUPERVISOR_FREQ ((u32)1000000) >> + >> +#define IS_GPIO_ACTIVE(p) (!!gpio_get_value(p->gpio) == p->gpio_active) >> +#define MS_TO_US(ms) (ms * 1000) > > #define MS_TO_US(ms) ((ms) * 1000) I'll fix it. >> + struct timeval refTime; > > s/refTime/ref_time/ ? ok > >> +}; >> + >> +/* Default Values */ >> +static struct can_bittiming_const spi_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 = 64, >> + .brp_inc = 1, >> +}; > > Hm, this is specific to the hardware and should not be set globally. Do > you need/use it at all. Typically CAN handled by firmware does use > rather fixed bit timing parameters. Just the bit-rate can usually be > specified. Changed in V3, but with the goal in V4 to query the microcontroller at the start for the timing. > >> +/* Private data of the CAN devices */ >> +struct spi_can_priv { >> + struct can_priv can; >> + struct net_device *dev; >> + struct spi_can_data *spi_priv; >> + u32 channel; >> + u32 devstatus; >> + u32 echo_index[SPI_CAN_ECHO_SKB_MAX]; > > Seems not to be used. See above. > >> +}; >> + >> +/* Pointer to the worker task */ >> +static struct task_struct *spi_can_task; >> + >> +/* Provide a way to disable checksum */ >> +static unsigned int chksum_en; >> +module_param(chksum_en, uint, 0); >> +MODULE_PARM_DESC(chksum_en, >> + "Enable checksum test on received frames (default is disabled)"); >> +static unsigned int freq; >> +module_param(freq, uint, 0); >> +MODULE_PARM_DESC(freq, >> + "SPI clock frequency (default is set by platform device)"); >> +static unsigned int slow_freq; >> +module_param(slow_freq, uint, 0); >> +MODULE_PARM_DESC(slow_freq, >> + "SPI clock frequency to be used in supervisor mode (default 1 Mhz)"); >> +static unsigned int debug; >> +module_param(debug, uint, 0); > > Why not using DEBUG and dev_dbg()? Fixed in V3 >> +}; > > What is really useful for the real user? Debugging code just for > development should be removed. Maybe you could map some of these > counters to the CAN stats. It is not useful for the real user ;-). Already dropped in V3. >> +static inline u16 compute_checksum(char *buf, u32 len) >> +{ >> + int i; >> + u16 chksum = 0; >> + >> + if (!chksum_en) >> + return 0; >> + for (i = 0; i < len; i++, buf++) >> + chksum += *buf; > > I'm quite often confused how you use integer types. "i" is int but "len" > is u32... This issue is still open. I see I mixed in whole driver "int" and "u32", thanks for pointing out. I will check it ! > >> + >> + return (~chksum + 1) & 0xFFFF; >> +} >> + >> +static u32 verify_checksum(struct spi_device *spi, char *buf, u32 len) > > ... and "len" is sometimes "int" but other times "u32". Could you please > use consistent types. I will just add "Check int type" when I'm > unsure/confused. Agree, it is inconsistent. I must fix it ! >> + if ((chksum + received_checksum) & 0xFFFF) { >> + dev_err(&spi->dev, >> + "Received wrong checksum: computed 0x%04x received 0x%04x\n", >> + chksum, received_checksum); >> + return -EPROTO; > > Check int type. ok >> + >> + tx_pkt = kzalloc(sizeof(struct msg_queue_tx), GFP_KERNEL); > > tx_pkt = kzalloc(*tx_pkt, GFP_KERNEL); ok, thanks, more elegant ! >> + if (!tx_pkt) { >> + dev_err(&dev->dev, "out of memory"); >> + return -ENOMEM; >> + } >> + tx_pkt->channel = priv->channel; >> + tx_pkt->enabled = enabled; >> + tx_pkt->type = SPI_MSG_CFG; >> + >> + priv->devstatus = enabled; >> + >> + spin_lock_irqsave(&spi_priv->lock, flags); >> + list_add_tail(&(tx_pkt->list), &(spi_priv->msgtx.list)); >> + spi_priv->messages_in_queue++; >> + spin_unlock_irqrestore(&spi_priv->lock, flags); >> + >> + /* Wakeup thread */ >> + wake_up_interruptible(&spi_priv->wait); >> + >> + return 0; >> +} >> + >> +static int spi_can_open(struct net_device *dev) >> +{ >> + int ret; >> + >> + ret = open_candev(dev); >> + if (ret) >> + return ret; >> + >> + ret = insert_cfg_msg(dev, CAN_CHANNEL_ENABLED); >> + if (ret) >> + return ret; > > close_candev() is missing. I see, thanks ! > >> + >> + netif_start_queue(dev); >> + >> + return 0; >> +} >> + >> +static int spi_can_close(struct net_device *dev) >> +{ >> + netif_stop_queue(dev); >> + >> + insert_cfg_msg(dev, CAN_CHANNEL_DISABLED); >> + >> + close_candev(dev); >> + >> + return 0; >> +} > >> + >> +static int spi_can_hwtstamp_ioctl(struct net_device *netdev, >> + struct ifreq *ifr, int cmd) >> +{ >> + struct hwtstamp_config config; >> + >> + if (copy_from_user(&config, ifr->ifr_data, sizeof(config))) >> + return -EFAULT; >> + >> + if (config.flags) >> + return -EINVAL; >> + >> + switch (config.tx_type) { >> + case HWTSTAMP_TX_OFF: >> + break; >> + case HWTSTAMP_TX_ON: >> + break; >> + default: >> + return -ERANGE; >> + } >> + >> + switch (config.rx_filter) { >> + case HWTSTAMP_FILTER_NONE: >> + break; >> + default: >> + config.rx_filter = HWTSTAMP_FILTER_ALL; >> + break; >> + } >> + >> + return copy_to_user(ifr->ifr_data, &config, sizeof(config)) ? >> + -EFAULT : 0; >> +} >> + >> +static int spi_can_ioctl(struct net_device *dev, struct ifreq *rq, int cmd) >> +{ >> + if (!netif_running(dev)) >> + return -EINVAL; >> + >> + if (cmd == SIOCSHWTSTAMP) >> + return spi_can_hwtstamp_ioctl(dev, rq, cmd); >> + >> + return -EINVAL; >> +} >> + >> +static int spi_can_set_mode(struct net_device *dev, enum can_mode mode) >> +{ >> + int err; >> + >> + switch (mode) { >> + case CAN_MODE_START: >> + err = 0; >> + if (err) >> + return err; >> + >> + netif_wake_queue(dev); >> + break; >> + >> + default: >> + return -EOPNOTSUPP; >> + } >> + >> + return 0; >> +} > > This function is never called because the state never changes to > CAN_BUS_OFF. That is right. It was my intention to manage such situation, but they must be done on the microcontroller. At the moment, it is dead code. I suggest to drop it, adding maybe later if there will be a use case for bus-off handled by the microcontroller. > >> +static int spi_can_start_xmit(struct sk_buff *skb, struct net_device *dev) >> +{ >> + struct spi_can_priv *priv = netdev_priv(dev); >> + struct spi_can_data *spi_priv = priv->spi_priv; >> + struct msg_queue_tx *tx_pkt; >> + unsigned long flags; >> + >> + if (can_dropped_invalid_skb(dev, skb)) >> + return NETDEV_TX_OK; >> + >> + tx_pkt = kzalloc(sizeof(struct msg_queue_tx), GFP_KERNEL); >> + tx_pkt->channel = priv->channel; >> + tx_pkt->skb = skb; >> + tx_pkt->type = SPI_MSG_SEND_DATA; >> + INIT_LIST_HEAD(&(tx_pkt->list)); >> + >> + /* Add the incoming message to the end of the list */ >> + spin_lock_irqsave(&spi_priv->lock, flags); >> + list_add_tail(&(tx_pkt->list), &(spi_priv->msgtx.list)); >> + spi_priv->messages_in_queue++; > > You probabley may want to limit the number of TX messages to be queued. > Otherwise the system may even run out of memory... if I understand the > code correctly You understand right. In my tests, I observed the evolution of messages_in_queue to be sure that it does not increase indefinetely under heavier bus load, without setting a limit. Agree we need a higher limit, I will do it. >> +static void spi_can_initialize(struct spi_device *spi, u32 freq) >> +{ >> + /* Configure the SPI bus */ >> + spi->mode = SPI_MODE_1; >> + spi->bits_per_word = BITS_X_WORD; >> + spi_setup(spi); > > "freq" is not used. ok >> +static int spi_can_transfer(struct spi_can_data *priv, >> + u32 bufindex, int len) >> +{ >> + struct spi_device *spi = priv->spi; >> + struct spi_message m; >> + struct spi_transfer t; >> + int ret = 0; >> + >> + memset(&t, 0, sizeof(struct spi_transfer)); > > memset(&t, 0, sizeof(t)); ok >> + >> + if (priv->devstatus != CAN_CHANNEL_ENABLED) { >> + dev_err(&dev->dev, "frame received when CAN deactivated\n"); >> + return 1; > > Normally you return a negative value as error. "-ENOMEM" would be even > better. Normally, I did it better ;-). This is wrong, I will fix it ! > >> + } >> + skb = alloc_can_skb(dev, &cf); >> + if (unlikely(!skb)) { >> + stats->rx_dropped++; >> + return 1; > > Ditto. > >> + } >> + >> + cf->can_id = pcan->can_id; >> + cf->can_dlc = pcan->dlc; >> + memcpy(cf->data, pcan->data, pcan->dlc); >> + >> + /* Set HW timestamps */ >> + shhwtstamps = skb_hwtstamps(skb); >> + memset(shhwtstamps, 0, sizeof(*shhwtstamps)); >> + ns = MS_TO_US(pcan->timestamp); >> + tstamp = ktime_add_us(timeval_to_ktime(*timeref), ns); >> + shhwtstamps->hwtstamp = tstamp; >> + skb->tstamp = tstamp; >> + >> + netif_receive_skb(skb); >> + stats->rx_packets++; >> + stats->rx_bytes += cf->can_dlc; > > Should go before netif_receive_skb(skb). It's actually a bug reported by > tlx. > I will fix it, of course >> +/* This is called in overload condition to process a siongle frame and >> + * free a SPI frame for transfer >> + * This is called by the thread >> + */ >> +static void spi_can_process_single_frame(struct spi_can_data *spi_data, >> + u32 index) >> +{ >> + struct list_head *pos; >> + struct msg_queue_rx *msg; >> + u32 found = 0, freed; > > Why is "int" not just fine. For what ? Both are used as boolean, unsigned is right. >> +static u32 spi_can_receive(struct spi_can_data *spi_data, >> + int len, int bufindex, u16 *req_bytes) >> +{ > > Check int type. Above "bufindex" is u32. Right >> + return -EPROTO; > > Check int type. > >> + } >> + if (verify_checksum(spi, (char *)frame, >> + rx_len + sizeof(frame->header)) < 0) >> + return -EPROTO; > > Ditto. Ok, I have definetely a very "naive" usage of "int" and "u32". I must fix all of them ! > >> + pbuf = frame->data; >> + >> + /* Put the recognized frame into the receive list >> + * to be processed by the workqueue >> + */ >> + rxmsg = kzalloc(sizeof(struct msg_queue_rx), > > rxmsg = kzalloc(sizeof(*rxmsg), ok >> +#ifdef CONFIG_OF >> +static const struct spi_device_id spi_can_ids[] = { >> + { "spican", 0}, >> + { "canoverspi", 0}, > > Why two names? Already fixed in V3. > >> + { }, >> +}; >> +MODULE_DEVICE_TABLE(spi, spi_can_ids); >> +#endif >> + >> +static int spi_can_probe(struct spi_device *spi) >> +{ >> + struct net_device *dev; >> + struct spi_can_platform_data *pdata = spi->dev.platform_data; >> + int ret = -ENODEV; >> + struct spi_can_data *spi_data; >> + struct spi_can_priv *priv; >> + int index, i; >> + u32 can_channels; >> + u32 active = GPIO_ACTIVE_LOW; >> + int data_gpio; >> + u32 flags; >> + >> + if (spi->dev.of_node) { >> + if (of_property_read_u32(spi->dev.of_node, >> + "channels", &can_channels)) >> + return -ENODEV; >> + if (!slow_freq) { >> + of_property_read_u32(spi->dev.of_node, >> + "slowfreq", &slow_freq); >> + } >> + if (!freq) { >> + of_property_read_u32(spi->dev.of_node, >> + "freq", &freq); >> + } >> + data_gpio = of_get_gpio_flags(spi->dev.of_node, >> + 0, &flags); >> + active = (flags & GPIO_ACTIVE_LOW) ? 0 : 1; >> + } else { >> + if (!pdata || (pdata->can_channels < 0) || >> + (pdata->can_channels > MAX_CAN_CHANNELS)) >> + return -ENODEV; >> + if (pdata->slow_freq) >> + slow_freq = pdata->slow_freq; >> + data_gpio = pdata->gpio; >> + active = pdata->active; >> + can_channels = pdata->can_channels; >> + } >> + >> + if (!gpio_is_valid(data_gpio)) { >> + dev_err(&spi->dev, >> + "Wrong data valid GPIO: %d\n", >> + data_gpio); >> + return -EINVAL; >> + } >> + >> + dev_info(&spi->dev, "Channels: %d, gpio %d active %s\n", >> + can_channels, >> + data_gpio, >> + active ? "high" : "low"); >> + /* It is possible to adjust frequency at loading time >> + * if the driver is compiled as module >> + */ >> + if (freq) { >> + if (freq > spi->max_speed_hz) { >> + dev_err(&spi->dev, >> + "Frequency too high: %d Hz > %d Hz. Falling back to %d\n", >> + freq, >> + spi->max_speed_hz, >> + spi->max_speed_hz); >> + freq = spi->max_speed_hz; >> + } >> + } >> + >> + /* Check if the supervisor frequency is passed as parameter >> + * Fallback to 1 Mhz >> + */ >> + if (!slow_freq) >> + slow_freq = SLAVE_SUPERVISOR_FREQ; >> + >> + if ((freq && (slow_freq > freq)) || >> + (slow_freq > SLAVE_SUPERVISOR_FREQ)) { >> + dev_err(&spi->dev, >> + "Supervisor frequency too high: %d Hz > %d Hz. Falling back to %d\n", >> + slow_freq, >> + min(freq, SLAVE_SUPERVISOR_FREQ), >> + min(freq, SLAVE_SUPERVISOR_FREQ)); >> + slow_freq = min(freq, SLAVE_SUPERVISOR_FREQ); >> + } >> + >> + ret = gpio_request(data_gpio, "spican-irq"); >> + if (ret) { >> + dev_err(&spi->dev, >> + "gpio %d cannot be acquired\n", >> + data_gpio); >> + return -ENODEV; > > Please use goto for cleanup... I can do it. Anyway, at this level in probe I have not yet reserved any resource, and returning with an error is not wrong. I have nothing to free in the cleanup at this point. >> + spi_data->num_channels = can_channels; >> + spi_data->gpio = data_gpio; >> + spi_data->gpio_active = active; >> + spi_data->spi = spi; >> + spi_data->messages_in_queue = 0; >> + spi_data->average_length = 0; >> + spi_data->current_length = 0; >> + spi_data->short_frames = 0; >> + spi_data->spi_sent_frames = 0; > > You use kzalloc() above therefore the values above should already be zero. This is already fixed. >> + /* Set CAN specific parameters */ >> + priv->can.clock.freq = SLAVE_CLK_FREQ; >> + priv->can.bittiming_const = &spi_can_bittiming_const; >> + priv->can.do_set_mode = spi_can_set_mode; >> + priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | >> + CAN_CTRLMODE_LISTENONLY | CAN_CTRLMODE_3_SAMPLES; > > Not used anywhere in this file. > >> + for (i = 0; i < SPI_CAN_ECHO_SKB_MAX; i++) >> + priv->echo_index[i] = SPI_CAN_ECHO_SKB_MAX; > > Not used. > >> + >> +failed_register: >> + free_candev(spi_data->can_dev[index]); >> + >> +failed_candev_alloc: >> + for (i = 0; i < index; i++) { >> + unregister_candev(spi_data->can_dev[i]); >> + free_candev(spi_data->can_dev[index]); >> + } > > What about free_irq() and free_gpio(). Thanks, missed, I'll fix it ! >> + * struct hcs12_imx_platform_data - i.MX to HCS12 CAN controller platform data >> + */ > > This is an unrelated comment. Right, already fixed in V3. > >> +struct spi_can_platform_data { >> + unsigned int can_channels; >> + unsigned int gpio; >> + unsigned int active; > > Check int types. In the code above these are u32 (in most cases). Mixing int and u32 is defitely my favourite mistake ! Thanks for reviewing, Stefano -- ===================================================================== DENX Software Engineering GmbH, MD: Wolfgang Denk & Detlev Zundel HRB 165235 Munich, Office: Kirchenstr.5, D-82194 Groebenzell, Germany Phone: +49-8142-66989-53 Fax: +49-8142-66989-80 Email: sbabic@denx.de ===================================================================== ^ permalink raw reply [flat|nested] 17+ messages in thread
* Re: [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface 2014-04-07 8:29 ` Stefano Babic @ 2014-04-07 9:34 ` Wolfgang Grandegger 2014-04-07 10:24 ` Stefano Babic 0 siblings, 1 reply; 17+ messages in thread From: Wolfgang Grandegger @ 2014-04-07 9:34 UTC (permalink / raw) To: Stefano Babic, linux-can; +Cc: socketcan, Marc Kleine-Budde On 04/07/2014 10:29 AM, Stefano Babic wrote: > Hi Wolfgang, > > On 06/04/2014 17:20, Wolfgang Grandegger wrote: >> Hi Stefan, >> >> sorry for jumping in late... > > No problem..but you picked up V2. Some of the issues you see are already > solved in V3, some not, and some are new. I add here some comments when > there are still unsolved issues. My bad. I picked an old version. >> This driver is rather special in various >> respects. As I see it, it does not support: >> >> - loopback (echo_skbs) >> - error state handling >> - any error reporting (CAN error messages) >> - any error counting (net and CAN stats) >> - recovery from bus-off >> >> Any chance to improve on that? At least some kind of error reporting >> would be nice otherwise the app does not realize any problems. Or how >> does your app handle error cases. > > About IFF_ECHO: in my understanding, by enabling IFF_ECHO the driver > should sent messages back to the upper layer as fast as these messages > are put on the bus. As I see in most drivers, can_put_echo() is called > directly into the ISR for most drivers. Yes, actually when TX is done. http://lxr.linux.no/#linux+v2.6.37/Documentation/networking/can.txt#L176 > This driver implements a sort of "remote CAN". I do not know when > messages are really put on the bus, because this is done by the > microcontroller and not by the Main Controller. There is always a > latency due to the fact that I can only enqueue messages on the SPI Bus > using the SPI framework, letting the microcontroller doing the rest. > Because I do not know when messages are really sent, I thought it makes > little sense to implement echo_skbs. I did it during the development > (you have found tracks of it), but I dropped later. IMHO this driver > should not turn on IFF_ECHO. To get that working the firmware must send some notification when TX is done... which will be delayed, of course. It's still regarded to be better than the loopback done by the protocol layer anyway. The GS_USB driver does it for example. But I understand your concerns. Also the TX done notification requires resources and bandwidth especially when the firmware must handle 5 CAN buses concurrently. It would reduce the TX rate for sure. BTW: does the work-queue handling limit the maximum TX rate? If yes, threaded interrupts might be the better solution. > Agree that it should be nice to have some error reporting from the > microcontroller. However, it seeems quite difficult for the firmware > developers to get it. There is currently no error reporting to the main > controller, and if I do something in this direction, it remains untested > because I cannot get the related firmware. I will really prefer to let > the driver in, even if this feature is not implemented, and add it later > when there is a use case for it. OK, thinking more about it, a simple state handling is more important than error reporting and it should be rather simple to implement in firmware. It also does not require a lot of resources. >>> +/* Default Values */ >>> +static struct can_bittiming_const spi_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 = 64, >>> + .brp_inc = 1, >>> +}; >> >> Hm, this is specific to the hardware and should not be set globally. Do >> you need/use it at all. Typically CAN handled by firmware does use >> rather fixed bit timing parameters. Just the bit-rate can usually be >> specified. > > Changed in V3, but with the goal in V4 to query the microcontroller at > the start for the timing. There is no need for that. Just the bit-rate should be reported properly. ... >>> +static int spi_can_start_xmit(struct sk_buff *skb, struct net_device *dev) >>> +{ >>> + struct spi_can_priv *priv = netdev_priv(dev); >>> + struct spi_can_data *spi_priv = priv->spi_priv; >>> + struct msg_queue_tx *tx_pkt; >>> + unsigned long flags; >>> + >>> + if (can_dropped_invalid_skb(dev, skb)) >>> + return NETDEV_TX_OK; >>> + >>> + tx_pkt = kzalloc(sizeof(struct msg_queue_tx), GFP_KERNEL); >>> + tx_pkt->channel = priv->channel; >>> + tx_pkt->skb = skb; >>> + tx_pkt->type = SPI_MSG_SEND_DATA; >>> + INIT_LIST_HEAD(&(tx_pkt->list)); >>> + >>> + /* Add the incoming message to the end of the list */ >>> + spin_lock_irqsave(&spi_priv->lock, flags); >>> + list_add_tail(&(tx_pkt->list), &(spi_priv->msgtx.list)); >>> + spi_priv->messages_in_queue++; >> >> You probabley may want to limit the number of TX messages to be queued. >> Otherwise the system may even run out of memory... if I understand the >> code correctly > > You understand right. In my tests, I observed the evolution of > messages_in_queue to be sure that it does not increase indefinetely > under heavier bus load, without setting a limit. Agree we need a higher > limit, I will do it. Should be rather simple to implement. >>> +static void spi_can_process_single_frame(struct spi_can_data *spi_data, >>> + u32 index) >>> +{ >>> + struct list_head *pos; >>> + struct msg_queue_rx *msg; >>> + u32 found = 0, freed; >> >> Why is "int" not just fine. > > For what ? Both are used as boolean, unsigned is right. Yes, but there is no need for "u32". "unsigned int" should just be fine. I use the u32 and friends only when the size is fixed, e.g. due to hardware requirements. In all other cases I use "[unsigned] int" or "long". But maybe that's also debatable. ... >>> +static int spi_can_probe(struct spi_device *spi) >>> +{ >>> + struct net_device *dev; >>> + struct spi_can_platform_data *pdata = spi->dev.platform_data; >>> + int ret = -ENODEV; >>> + struct spi_can_data *spi_data; >>> + struct spi_can_priv *priv; >>> + int index, i; >>> + u32 can_channels; >>> + u32 active = GPIO_ACTIVE_LOW; >>> + int data_gpio; >>> + u32 flags; >>> + >>> + if (spi->dev.of_node) { >>> + if (of_property_read_u32(spi->dev.of_node, >>> + "channels", &can_channels)) >>> + return -ENODEV; >>> + if (!slow_freq) { >>> + of_property_read_u32(spi->dev.of_node, >>> + "slowfreq", &slow_freq); >>> + } >>> + if (!freq) { >>> + of_property_read_u32(spi->dev.of_node, >>> + "freq", &freq); >>> + } >>> + data_gpio = of_get_gpio_flags(spi->dev.of_node, >>> + 0, &flags); >>> + active = (flags & GPIO_ACTIVE_LOW) ? 0 : 1; >>> + } else { >>> + if (!pdata || (pdata->can_channels < 0) || >>> + (pdata->can_channels > MAX_CAN_CHANNELS)) >>> + return -ENODEV; >>> + if (pdata->slow_freq) >>> + slow_freq = pdata->slow_freq; >>> + data_gpio = pdata->gpio; >>> + active = pdata->active; >>> + can_channels = pdata->can_channels; >>> + } >>> + >>> + if (!gpio_is_valid(data_gpio)) { >>> + dev_err(&spi->dev, >>> + "Wrong data valid GPIO: %d\n", >>> + data_gpio); >>> + return -EINVAL; >>> + } >>> + >>> + dev_info(&spi->dev, "Channels: %d, gpio %d active %s\n", >>> + can_channels, >>> + data_gpio, >>> + active ? "high" : "low"); >>> + /* It is possible to adjust frequency at loading time >>> + * if the driver is compiled as module >>> + */ >>> + if (freq) { >>> + if (freq > spi->max_speed_hz) { >>> + dev_err(&spi->dev, >>> + "Frequency too high: %d Hz > %d Hz. Falling back to %d\n", >>> + freq, >>> + spi->max_speed_hz, >>> + spi->max_speed_hz); >>> + freq = spi->max_speed_hz; >>> + } >>> + } >>> + >>> + /* Check if the supervisor frequency is passed as parameter >>> + * Fallback to 1 Mhz >>> + */ >>> + if (!slow_freq) >>> + slow_freq = SLAVE_SUPERVISOR_FREQ; >>> + >>> + if ((freq && (slow_freq > freq)) || >>> + (slow_freq > SLAVE_SUPERVISOR_FREQ)) { >>> + dev_err(&spi->dev, >>> + "Supervisor frequency too high: %d Hz > %d Hz. Falling back to %d\n", >>> + slow_freq, >>> + min(freq, SLAVE_SUPERVISOR_FREQ), >>> + min(freq, SLAVE_SUPERVISOR_FREQ)); >>> + slow_freq = min(freq, SLAVE_SUPERVISOR_FREQ); >>> + } >>> + >>> + ret = gpio_request(data_gpio, "spican-irq"); >>> + if (ret) { >>> + dev_err(&spi->dev, >>> + "gpio %d cannot be acquired\n", >>> + data_gpio); >>> + return -ENODEV; >> >> Please use goto for cleanup... > > I can do it. Anyway, at this level in probe I have not yet reserved any > resource, and returning with an error is not wrong. I have nothing to > free in the cleanup at this point. You are right. I thought free_irq() or free_gpio() is missing. Maybe that was some lines later. Wolfgang. ^ permalink raw reply [flat|nested] 17+ messages in thread
* Re: [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface 2014-04-07 9:34 ` Wolfgang Grandegger @ 2014-04-07 10:24 ` Stefano Babic 0 siblings, 0 replies; 17+ messages in thread From: Stefano Babic @ 2014-04-07 10:24 UTC (permalink / raw) To: Wolfgang Grandegger, Stefano Babic, linux-can Cc: socketcan, Marc Kleine-Budde Hi Wolfgang, On 07/04/2014 11:34, Wolfgang Grandegger wrote: >>> >>> Any chance to improve on that? At least some kind of error reporting >>> would be nice otherwise the app does not realize any problems. Or how >>> does your app handle error cases. >> >> About IFF_ECHO: in my understanding, by enabling IFF_ECHO the driver >> should sent messages back to the upper layer as fast as these messages >> are put on the bus. As I see in most drivers, can_put_echo() is called >> directly into the ISR for most drivers. > > Yes, actually when TX is done. > > http://lxr.linux.no/#linux+v2.6.37/Documentation/networking/can.txt#L176 Exactly, that means when the microcontroller has put the messages on the bus. >> This driver implements a sort of "remote CAN". I do not know when >> messages are really put on the bus, because this is done by the >> microcontroller and not by the Main Controller. There is always a >> latency due to the fact that I can only enqueue messages on the SPI Bus >> using the SPI framework, letting the microcontroller doing the rest. >> Because I do not know when messages are really sent, I thought it makes >> little sense to implement echo_skbs. I did it during the development >> (you have found tracks of it), but I dropped later. IMHO this driver >> should not turn on IFF_ECHO. > > To get that working the firmware must send some notification when TX is > done... which will be delayed, of course. It's still regarded to be > better than the loopback done by the protocol layer anyway. The GS_USB > driver does it for example. But I understand your concerns. Also the TX > done notification requires resources and bandwidth especially when the > firmware must handle 5 CAN buses concurrently. It would reduce the TX > rate for sure. This is the point. The protocol was striclty chosen to limit the overhead between the SOC and the microcontroller. Last but not least, there are constraints on the maximum SPI frequency that the microcontroller can support. In my project, even if the i.MX35 can work flawlessly with higher frequencies, the selected Freescale's microcontroller (HCS12) is not able to run at frequency higher as 4 Mhz without missing bytes. The current protocol takes care of many aspect about performance, and I think it is a sort of good trade-off between performance and reliability (long story, maybe OT, but needed to tell you because I thought in the past to some of ACKs, too). Additionally, the communication runs on a local bus (SPI), and there is nothing but hardware broken that can damage the data transfers between the two microprocessors (apart of Software bugs, of course). A full-blown protocol with acknowledgement is overkilling here: more important is to let that the firmware on the CAN controller remains simple enough to be implemented without OS, as usual in many cases. > BTW: does the work-queue handling limit the maximum TX rate? If yes, > threaded interrupts might be the better solution. It is not: I found that the kernel thread is a good solution. > >> Agree that it should be nice to have some error reporting from the >> microcontroller. However, it seeems quite difficult for the firmware >> developers to get it. There is currently no error reporting to the main >> controller, and if I do something in this direction, it remains untested >> because I cannot get the related firmware. I will really prefer to let >> the driver in, even if this feature is not implemented, and add it later >> when there is a use case for it. > > OK, thinking more about it, a simple state handling is more important > than error reporting and it should be rather simple to implement in > firmware. It also does not require a lot of resources. Can you tell me some more about it ? I have to propagate this to the fw developers. Do you mean to report bus-off condition ? > >>>> +/* Default Values */ >>>> +static struct can_bittiming_const spi_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 = 64, >>>> + .brp_inc = 1, >>>> +}; >>> >>> Hm, this is specific to the hardware and should not be set globally. Do >>> you need/use it at all. Typically CAN handled by firmware does use >>> rather fixed bit timing parameters. Just the bit-rate can usually be >>> specified. >> >> Changed in V3, but with the goal in V4 to query the microcontroller at >> the start for the timing. > > There is no need for that. Just the bit-rate should be reported properly. I admit that in my project only bitrate is significant, exactly as you said. I send already the whole structure, but it is currently ignored by the firmware with the exception of bitrate. Oliver means that passing the whole structure can significantly simplify the microcontroller's firmware, in case values must be computed and on microcontrollers where they are significant. >>> >>> You probabley may want to limit the number of TX messages to be queued. >>> Otherwise the system may even run out of memory... if I understand the >>> code correctly >> >> You understand right. In my tests, I observed the evolution of >> messages_in_queue to be sure that it does not increase indefinetely >> under heavier bus load, without setting a limit. Agree we need a higher >> limit, I will do it. > > Should be rather simple to implement. I will do it. > >>>> +static void spi_can_process_single_frame(struct spi_can_data *spi_data, >>>> + u32 index) >>>> +{ >>>> + struct list_head *pos; >>>> + struct msg_queue_rx *msg; >>>> + u32 found = 0, freed; >>> >>> Why is "int" not just fine. >> >> For what ? Both are used as boolean, unsigned is right. > > Yes, but there is no need for "u32". "unsigned int" should just be fine. Ah ok, got it ! > I use the u32 and friends only when the size is fixed, e.g. due to > hardware requirements. In all other cases I use "[unsigned] int" or > "long". But maybe that's also debatable. I have no arguments for implementing differently as you propose ;-) >>>> + ret = gpio_request(data_gpio, "spican-irq"); >>>> + if (ret) { >>>> + dev_err(&spi->dev, >>>> + "gpio %d cannot be acquired\n", >>>> + data_gpio); >>>> + return -ENODEV; >>> >>> Please use goto for cleanup... >> >> I can do it. Anyway, at this level in probe I have not yet reserved any >> resource, and returning with an error is not wrong. I have nothing to >> free in the cleanup at this point. > > You are right. I thought free_irq() or free_gpio() is missing. Maybe > that was some lines later. Regards, Stefano -- ===================================================================== DENX Software Engineering GmbH, MD: Wolfgang Denk & Detlev Zundel HRB 165235 Munich, Office: Kirchenstr.5, D-82194 Groebenzell, Germany Phone: +49-8142-66989-53 Fax: +49-8142-66989-80 Email: sbabic@denx.de ===================================================================== ^ permalink raw reply [flat|nested] 17+ messages in thread
end of thread, other threads:[~2014-04-07 10:24 UTC | newest] Thread overview: 17+ messages (download: mbox.gz / follow: Atom feed) -- links below jump to the message on this page -- 2014-03-25 14:30 [PATCH v2 0/3] Adding support for CAN busses via SPI interface Stefano Babic 2014-03-25 14:30 ` [PATCH v2 1/3] Add documentation for SPI to CAN driver Stefano Babic 2014-03-25 18:14 ` Oliver Hartkopp 2014-03-26 8:07 ` Stefano Babic 2014-03-25 14:30 ` [PATCH v2 2/3] CAN: moved SPI drivers into a separate directory Stefano Babic 2014-03-25 18:56 ` Oliver Hartkopp 2014-04-01 21:08 ` Marc Kleine-Budde 2014-03-25 14:30 ` [PATCH v2 3/3] CAN: CAN driver to support multiple CAN bus on SPI interface Stefano Babic 2014-03-25 18:54 ` Oliver Hartkopp 2014-03-26 9:01 ` Stefano Babic 2014-04-06 15:20 ` Wolfgang Grandegger 2014-04-06 19:01 ` Oliver Hartkopp 2014-04-06 19:22 ` Wolfgang Grandegger 2014-04-06 19:42 ` Oliver Hartkopp 2014-04-07 8:29 ` Stefano Babic 2014-04-07 9:34 ` Wolfgang Grandegger 2014-04-07 10:24 ` Stefano Babic
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