Hi, this patch series is based on: https://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next.git/log/?h=flexcan I took the liberty and ported and made some style changes to the ISO CAN-FD patch from Joakim. With these two patches applied for the branch above: Tested-by: Michael Walle <michael@walle.cc> Michael Walle (2): can: flexcan: use ctrlmode to enable CAN-FD can: flexcan: add support for ISO CAN-FD drivers/net/can/flexcan.c | 19 ++++++++++++++++--- 1 file changed, 16 insertions(+), 3 deletions(-) -- 2.20.1
The driver will enable CAN-FD mode according to the ctrlmode_supported, which will always be true, if the controller supports it. This is wrong. Use the correct ctrlmode instead. Signed-off-by: Michael Walle <michael@walle.cc> --- drivers/net/can/flexcan.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c index 12043250e398..183e094f8d66 100644 --- a/drivers/net/can/flexcan.c +++ b/drivers/net/can/flexcan.c @@ -1345,7 +1345,7 @@ static int flexcan_chip_start(struct net_device *dev) reg_mcr |= FLEXCAN_MCR_SRX_DIS; /* MCR - CAN-FD */ - if (priv->can.ctrlmode_supported & CAN_CTRLMODE_FD) + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) reg_mcr |= FLEXCAN_MCR_FDEN; else reg_mcr &= ~FLEXCAN_MCR_FDEN; -- 2.20.1
Up until now, the controller used non-ISO CAN-FD mode, although it supports it. Add support for ISO mode, too. By default the hardware is in non-ISO mode and an enable bit has to be explicitly set. Signed-off-by: Michael Walle <michael@walle.cc> --- drivers/net/can/flexcan.c | 19 ++++++++++++++++--- 1 file changed, 16 insertions(+), 3 deletions(-) diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c index 183e094f8d66..a92d3cdf4195 100644 --- a/drivers/net/can/flexcan.c +++ b/drivers/net/can/flexcan.c @@ -94,6 +94,7 @@ #define FLEXCAN_CTRL2_MRP BIT(18) #define FLEXCAN_CTRL2_RRS BIT(17) #define FLEXCAN_CTRL2_EACEN BIT(16) +#define FLEXCAN_CTRL2_ISOCANFDEN BIT(12) /* FLEXCAN memory error control register (MECR) bits */ #define FLEXCAN_MECR_ECRWRDIS BIT(31) @@ -1344,14 +1345,25 @@ static int flexcan_chip_start(struct net_device *dev) else reg_mcr |= FLEXCAN_MCR_SRX_DIS; - /* MCR - CAN-FD */ - if (priv->can.ctrlmode & CAN_CTRLMODE_FD) + /* MCR, CTRL2 + * + * CAN-FD mode + * ISO CAN-FD mode + */ + reg_ctrl2 = priv->read(®s->ctrl2); + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { reg_mcr |= FLEXCAN_MCR_FDEN; - else + reg_ctrl2 |= FLEXCAN_CTRL2_ISOCANFDEN; + } else { reg_mcr &= ~FLEXCAN_MCR_FDEN; + } + + if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) + reg_ctrl2 &= ~FLEXCAN_CTRL2_ISOCANFDEN; netdev_dbg(dev, "%s: writing mcr=0x%08x", __func__, reg_mcr); priv->write(reg_mcr, ®s->mcr); + priv->write(reg_ctrl2, ®s->ctrl2); /* CTRL * @@ -1952,6 +1964,7 @@ static int flexcan_probe(struct platform_device *pdev) if (priv->devtype_data->quirks & FLEXCAN_QUIRK_SUPPORT_FD) { priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD; + priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO; priv->can.bittiming_const = &flexcan_fd_bittiming_const; priv->can.data_bittiming_const = &flexcan_fd_data_bittiming_const; -- 2.20.1
> -----Original Message----- > From: Michael Walle <michael@walle.cc> > Sent: 2020年6月30日 2:18 > To: linux-can@vger.kernel.org; netdev@vger.kernel.org; > linux-kernel@vger.kernel.org > Cc: Wolfgang Grandegger <wg@grandegger.com>; Marc Kleine-Budde > <mkl@pengutronix.de>; David S . Miller <davem@davemloft.net>; Jakub > Kicinski <kuba@kernel.org>; Joakim Zhang <qiangqing.zhang@nxp.com>; > dl-linux-imx <linux-imx@nxp.com>; Michael Walle <michael@walle.cc> > Subject: [PATCH 2/2] can: flexcan: add support for ISO CAN-FD > > Up until now, the controller used non-ISO CAN-FD mode, although it supports it. > Add support for ISO mode, too. By default the hardware is in non-ISO mode and > an enable bit has to be explicitly set. > > Signed-off-by: Michael Walle <michael@walle.cc> > --- > drivers/net/can/flexcan.c | 19 ++++++++++++++++--- > 1 file changed, 16 insertions(+), 3 deletions(-) > > diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c index > 183e094f8d66..a92d3cdf4195 100644 > --- a/drivers/net/can/flexcan.c > +++ b/drivers/net/can/flexcan.c > @@ -94,6 +94,7 @@ > #define FLEXCAN_CTRL2_MRP BIT(18) > #define FLEXCAN_CTRL2_RRS BIT(17) > #define FLEXCAN_CTRL2_EACEN BIT(16) > +#define FLEXCAN_CTRL2_ISOCANFDEN BIT(12) > > /* FLEXCAN memory error control register (MECR) bits */ > #define FLEXCAN_MECR_ECRWRDIS BIT(31) > @@ -1344,14 +1345,25 @@ static int flexcan_chip_start(struct net_device > *dev) > else > reg_mcr |= FLEXCAN_MCR_SRX_DIS; > > - /* MCR - CAN-FD */ > - if (priv->can.ctrlmode & CAN_CTRLMODE_FD) > + /* MCR, CTRL2 > + * > + * CAN-FD mode > + * ISO CAN-FD mode > + */ > + reg_ctrl2 = priv->read(®s->ctrl2); > + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { > reg_mcr |= FLEXCAN_MCR_FDEN; > - else > + reg_ctrl2 |= FLEXCAN_CTRL2_ISOCANFDEN; > + } else { > reg_mcr &= ~FLEXCAN_MCR_FDEN; > + } > + > + if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) > + reg_ctrl2 &= ~FLEXCAN_CTRL2_ISOCANFDEN; Hi Michael, ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on Above cmd can configure ISO CAN-FD. However, if users want to configure NON-ISO CAN-FD, should use below cmd, what I did before. ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on fd-non-iso on Marc may not satisfy with it, to be honest, this looks not good, had better configure like below to enable NON-ISO CAN-FD. ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd-non-iso on I haven't got any good ideas yet. Best Regards, Joakim Zhang > netdev_dbg(dev, "%s: writing mcr=0x%08x", __func__, reg_mcr); > priv->write(reg_mcr, ®s->mcr); > + priv->write(reg_ctrl2, ®s->ctrl2); > > /* CTRL > * > @@ -1952,6 +1964,7 @@ static int flexcan_probe(struct platform_device > *pdev) > > if (priv->devtype_data->quirks & FLEXCAN_QUIRK_SUPPORT_FD) { > priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD; > + priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO; > priv->can.bittiming_const = &flexcan_fd_bittiming_const; > priv->can.data_bittiming_const = > &flexcan_fd_data_bittiming_const; > -- > 2.20.1
[+ Oliver] Hi Joakim, Am 2020-06-30 04:42, schrieb Joakim Zhang: >> -----Original Message----- >> From: Michael Walle <michael@walle.cc> >> Sent: 2020年6月30日 2:18 >> To: linux-can@vger.kernel.org; netdev@vger.kernel.org; >> linux-kernel@vger.kernel.org >> Cc: Wolfgang Grandegger <wg@grandegger.com>; Marc Kleine-Budde >> <mkl@pengutronix.de>; David S . Miller <davem@davemloft.net>; Jakub >> Kicinski <kuba@kernel.org>; Joakim Zhang <qiangqing.zhang@nxp.com>; >> dl-linux-imx <linux-imx@nxp.com>; Michael Walle <michael@walle.cc> >> Subject: [PATCH 2/2] can: flexcan: add support for ISO CAN-FD >> >> Up until now, the controller used non-ISO CAN-FD mode, although it >> supports it. >> Add support for ISO mode, too. By default the hardware is in non-ISO >> mode and >> an enable bit has to be explicitly set. >> >> Signed-off-by: Michael Walle <michael@walle.cc> >> --- >> drivers/net/can/flexcan.c | 19 ++++++++++++++++--- >> 1 file changed, 16 insertions(+), 3 deletions(-) >> >> diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c >> index >> 183e094f8d66..a92d3cdf4195 100644 >> --- a/drivers/net/can/flexcan.c >> +++ b/drivers/net/can/flexcan.c >> @@ -94,6 +94,7 @@ >> #define FLEXCAN_CTRL2_MRP BIT(18) >> #define FLEXCAN_CTRL2_RRS BIT(17) >> #define FLEXCAN_CTRL2_EACEN BIT(16) >> +#define FLEXCAN_CTRL2_ISOCANFDEN BIT(12) >> >> /* FLEXCAN memory error control register (MECR) bits */ >> #define FLEXCAN_MECR_ECRWRDIS BIT(31) >> @@ -1344,14 +1345,25 @@ static int flexcan_chip_start(struct >> net_device >> *dev) >> else >> reg_mcr |= FLEXCAN_MCR_SRX_DIS; >> >> - /* MCR - CAN-FD */ >> - if (priv->can.ctrlmode & CAN_CTRLMODE_FD) >> + /* MCR, CTRL2 >> + * >> + * CAN-FD mode >> + * ISO CAN-FD mode >> + */ >> + reg_ctrl2 = priv->read(®s->ctrl2); >> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { >> reg_mcr |= FLEXCAN_MCR_FDEN; >> - else >> + reg_ctrl2 |= FLEXCAN_CTRL2_ISOCANFDEN; >> + } else { >> reg_mcr &= ~FLEXCAN_MCR_FDEN; >> + } >> + >> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) >> + reg_ctrl2 &= ~FLEXCAN_CTRL2_ISOCANFDEN; > > [..] > ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on > ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on \ > fd-non-iso on vs. > ip link set can0 up type can bitrate 1000000 dbitrate 5000000 > fd-non-iso on I haven't found anything if CAN_CTRLMODE_FD_NON_ISO depends on CAN_CTRLMODE_FD. I.e. wether CAN_CTRLMODE_FD_NON_ISO can only be set if CAN_CTRLMODE_FD is also set. Only the following piece of code, which might be a hint that you have to set CAN_CTRLMODE_FD if you wan't to use CAN_CTRLMODE_FD_NON_ISO: drivers/net/can/dev.c: /* do not check for static fd-non-iso if 'fd' is disabled */ if (!(maskedflags & CAN_CTRLMODE_FD)) ctrlstatic &= ~CAN_CTRLMODE_FD_NON_ISO; If CAN_CTRLMODE_FD_NON_ISO can be set without CAN_CTRLMODE_FD, what should be the mode if both are set at the same time? Marc? Oliver? -michael
On 30.06.20 07:53, Michael Walle wrote:
> [+ Oliver]
>
> Hi Joakim,
>
> Am 2020-06-30 04:42, schrieb Joakim Zhang:
>>> -----Original Message-----
>>> From: Michael Walle <michael@walle.cc>
>>> Sent: 2020年6月30日 2:18
>>> To: linux-can@vger.kernel.org; netdev@vger.kernel.org;
>>> linux-kernel@vger.kernel.org
>>> Cc: Wolfgang Grandegger <wg@grandegger.com>; Marc Kleine-Budde
>>> <mkl@pengutronix.de>; David S . Miller <davem@davemloft.net>; Jakub
>>> Kicinski <kuba@kernel.org>; Joakim Zhang <qiangqing.zhang@nxp.com>;
>>> dl-linux-imx <linux-imx@nxp.com>; Michael Walle <michael@walle.cc>
>>> Subject: [PATCH 2/2] can: flexcan: add support for ISO CAN-FD
>>>
>>> Up until now, the controller used non-ISO CAN-FD mode, although it
>>> supports it.
>>> Add support for ISO mode, too. By default the hardware is in non-ISO
>>> mode and
>>> an enable bit has to be explicitly set.
>>>
>>> Signed-off-by: Michael Walle <michael@walle.cc>
>>> ---
>>> drivers/net/can/flexcan.c | 19 ++++++++++++++++---
>>> 1 file changed, 16 insertions(+), 3 deletions(-)
>>>
>>> diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c index
>>> 183e094f8d66..a92d3cdf4195 100644
>>> --- a/drivers/net/can/flexcan.c
>>> +++ b/drivers/net/can/flexcan.c
>>> @@ -94,6 +94,7 @@
>>> #define FLEXCAN_CTRL2_MRP BIT(18)
>>> #define FLEXCAN_CTRL2_RRS BIT(17)
>>> #define FLEXCAN_CTRL2_EACEN BIT(16)
>>> +#define FLEXCAN_CTRL2_ISOCANFDEN BIT(12)
>>>
>>> /* FLEXCAN memory error control register (MECR) bits */
>>> #define FLEXCAN_MECR_ECRWRDIS BIT(31)
>>> @@ -1344,14 +1345,25 @@ static int flexcan_chip_start(struct net_device
>>> *dev)
>>> else
>>> reg_mcr |= FLEXCAN_MCR_SRX_DIS;
>>>
>>> - /* MCR - CAN-FD */
>>> - if (priv->can.ctrlmode & CAN_CTRLMODE_FD)
>>> + /* MCR, CTRL2
>>> + *
>>> + * CAN-FD mode
>>> + * ISO CAN-FD mode
>>> + */
>>> + reg_ctrl2 = priv->read(®s->ctrl2);
>>> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
>>> reg_mcr |= FLEXCAN_MCR_FDEN;
>>> - else
>>> + reg_ctrl2 |= FLEXCAN_CTRL2_ISOCANFDEN;
>>> + } else {
>>> reg_mcr &= ~FLEXCAN_MCR_FDEN;
>>> + }
>>> +
>>> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)
>>> + reg_ctrl2 &= ~FLEXCAN_CTRL2_ISOCANFDEN;
>>
>>
>
> [..]
>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on
>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on \
>> fd-non-iso on
>
> vs.
>
>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000
>> fd-non-iso on
>
> I haven't found anything if CAN_CTRLMODE_FD_NON_ISO depends on
> CAN_CTRLMODE_FD. I.e. wether CAN_CTRLMODE_FD_NON_ISO can only be set if
> CAN_CTRLMODE_FD is also set.
>
> Only the following piece of code, which might be a hint that you
> have to set CAN_CTRLMODE_FD if you wan't to use CAN_CTRLMODE_FD_NON_ISO:
>
> drivers/net/can/dev.c:
> /* do not check for static fd-non-iso if 'fd' is disabled */
> if (!(maskedflags & CAN_CTRLMODE_FD))
> ctrlstatic &= ~CAN_CTRLMODE_FD_NON_ISO;
>
> If CAN_CTRLMODE_FD_NON_ISO can be set without CAN_CTRLMODE_FD, what
> should be the mode if both are set at the same time?
CAN_CTRLMODE_FD_NON_ISO is only relevant when CAN_CTRLMODE_FD is set.
So in the example from above
ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd-non-iso on
either the setting of 'dbitrate 5000000' and 'fd-non-iso on' is pointless.
When switching to FD-mode with 'fd on' the FD relevant settings need to
be applied.
FD ISO is the default.
Did this help or did I get anything wrong?
Best,
Oliver
Am 2020-06-30 18:15, schrieb Oliver Hartkopp: > On 30.06.20 07:53, Michael Walle wrote: >> [+ Oliver] >> >> Hi Joakim, >> >> Am 2020-06-30 04:42, schrieb Joakim Zhang: >>>> -----Original Message----- >>>> From: Michael Walle <michael@walle.cc> >>>> Sent: 2020年6月30日 2:18 >>>> To: linux-can@vger.kernel.org; netdev@vger.kernel.org; >>>> linux-kernel@vger.kernel.org >>>> Cc: Wolfgang Grandegger <wg@grandegger.com>; Marc Kleine-Budde >>>> <mkl@pengutronix.de>; David S . Miller <davem@davemloft.net>; Jakub >>>> Kicinski <kuba@kernel.org>; Joakim Zhang <qiangqing.zhang@nxp.com>; >>>> dl-linux-imx <linux-imx@nxp.com>; Michael Walle <michael@walle.cc> >>>> Subject: [PATCH 2/2] can: flexcan: add support for ISO CAN-FD >>>> >>>> Up until now, the controller used non-ISO CAN-FD mode, although it >>>> supports it. >>>> Add support for ISO mode, too. By default the hardware is in non-ISO >>>> mode and >>>> an enable bit has to be explicitly set. >>>> >>>> Signed-off-by: Michael Walle <michael@walle.cc> >>>> --- >>>> drivers/net/can/flexcan.c | 19 ++++++++++++++++--- >>>> 1 file changed, 16 insertions(+), 3 deletions(-) >>>> >>>> diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c >>>> index >>>> 183e094f8d66..a92d3cdf4195 100644 >>>> --- a/drivers/net/can/flexcan.c >>>> +++ b/drivers/net/can/flexcan.c >>>> @@ -94,6 +94,7 @@ >>>> #define FLEXCAN_CTRL2_MRP BIT(18) >>>> #define FLEXCAN_CTRL2_RRS BIT(17) >>>> #define FLEXCAN_CTRL2_EACEN BIT(16) >>>> +#define FLEXCAN_CTRL2_ISOCANFDEN BIT(12) >>>> >>>> /* FLEXCAN memory error control register (MECR) bits */ >>>> #define FLEXCAN_MECR_ECRWRDIS BIT(31) >>>> @@ -1344,14 +1345,25 @@ static int flexcan_chip_start(struct >>>> net_device >>>> *dev) >>>> else >>>> reg_mcr |= FLEXCAN_MCR_SRX_DIS; >>>> >>>> - /* MCR - CAN-FD */ >>>> - if (priv->can.ctrlmode & CAN_CTRLMODE_FD) >>>> + /* MCR, CTRL2 >>>> + * >>>> + * CAN-FD mode >>>> + * ISO CAN-FD mode >>>> + */ >>>> + reg_ctrl2 = priv->read(®s->ctrl2); >>>> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { >>>> reg_mcr |= FLEXCAN_MCR_FDEN; >>>> - else >>>> + reg_ctrl2 |= FLEXCAN_CTRL2_ISOCANFDEN; >>>> + } else { >>>> reg_mcr &= ~FLEXCAN_MCR_FDEN; >>>> + } >>>> + >>>> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) >>>> + reg_ctrl2 &= ~FLEXCAN_CTRL2_ISOCANFDEN; [1] >> [..] >>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on >>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on \ >>> fd-non-iso on >> >> vs. >> >>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000 >>> fd-non-iso on >> >> I haven't found anything if CAN_CTRLMODE_FD_NON_ISO depends on >> CAN_CTRLMODE_FD. I.e. wether CAN_CTRLMODE_FD_NON_ISO can only be set >> if >> CAN_CTRLMODE_FD is also set. >> >> Only the following piece of code, which might be a hint that you >> have to set CAN_CTRLMODE_FD if you wan't to use >> CAN_CTRLMODE_FD_NON_ISO: >> >> drivers/net/can/dev.c: >> /* do not check for static fd-non-iso if 'fd' is disabled */ >> if (!(maskedflags & CAN_CTRLMODE_FD)) >> ctrlstatic &= ~CAN_CTRLMODE_FD_NON_ISO; >> >> If CAN_CTRLMODE_FD_NON_ISO can be set without CAN_CTRLMODE_FD, what >> should be the mode if both are set at the same time? > > CAN_CTRLMODE_FD_NON_ISO is only relevant when CAN_CTRLMODE_FD is set. > > So in the example from above > > ip link set can0 up type can bitrate 1000000 dbitrate 5000000 > fd-non-iso on > > either the setting of 'dbitrate 5000000' and 'fd-non-iso on' is > pointless. > > When switching to FD-mode with 'fd on' the FD relevant settings need > to be applied. > > FD ISO is the default. > > Did this help or did I get anything wrong? Thanks for the explanation. Yes this helped a great deal and this patch should be correct; it sets ISO mode if CAN_CTRLMODE_FD is set and masks it again if CAN_CTRLMODE_FD_NON_ISO is set. See [1]. -michael