/* * at91_can.c - CAN network driver for AT91 SoC CAN controller * * (C) 2007 by Hans J. Koch <hjk@hansjkoch.de> * (C) 2008, 2009, 2010, 2011 by Marc Kleine-Budde <kernel@pengutronix.de> * * This software may be distributed under the terms of the GNU General * Public License ("GPL") version 2 as distributed in the 'COPYING' * file from the main directory of the linux kernel source. * * * Your platform definition file should specify something like: * * static struct at91_can_data ek_can_data = { * transceiver_switch = sam9263ek_transceiver_switch, * }; * * at91_add_device_can(&ek_can_data); * */ #include <linux/clk.h> #include <linux/errno.h> #include <linux/if_arp.h> #include <linux/init.h> #include <linux/interrupt.h> #include <linux/kernel.h> #include <linux/module.h> #include <linux/netdevice.h> #include <linux/platform_device.h> #include <linux/rtnetlink.h> #include <linux/skbuff.h> #include <linux/spinlock.h> #include <linux/string.h> #include <linux/types.h> #include <linux/can/dev.h> #include <linux/can/error.h> #include <mach/board.h> #define AT91_MB_MASK(i) ((1 << (i)) - 1) /* Common registers */ enum at91_reg { AT91_MR = 0x000, AT91_IER = 0x004, AT91_IDR = 0x008, AT91_IMR = 0x00C, AT91_SR = 0x010, AT91_BR = 0x014, AT91_TIM = 0x018, AT91_TIMESTP = 0x01C, AT91_ECR = 0x020, AT91_TCR = 0x024, AT91_ACR = 0x028, }; /* Mailbox registers (0 <= i <= 15) */ #define AT91_MMR(i) (enum at91_reg)(0x200 + ((i) * 0x20)) #define AT91_MAM(i) (enum at91_reg)(0x204 + ((i) * 0x20)) #define AT91_MID(i) (enum at91_reg)(0x208 + ((i) * 0x20)) #define AT91_MFID(i) (enum at91_reg)(0x20C + ((i) * 0x20)) #define AT91_MSR(i) (enum at91_reg)(0x210 + ((i) * 0x20)) #define AT91_MDL(i) (enum at91_reg)(0x214 + ((i) * 0x20)) #define AT91_MDH(i) (enum at91_reg)(0x218 + ((i) * 0x20)) #define AT91_MCR(i) (enum at91_reg)(0x21C + ((i) * 0x20)) /* Register bits */ #define AT91_MR_CANEN BIT(0) #define AT91_MR_LPM BIT(1) #define AT91_MR_ABM BIT(2) #define AT91_MR_OVL BIT(3) #define AT91_MR_TEOF BIT(4) #define AT91_MR_TTM BIT(5) #define AT91_MR_TIMFRZ BIT(6) #define AT91_MR_DRPT BIT(7) #define AT91_SR_RBSY BIT(29) #define AT91_MMR_PRIO_SHIFT (16) #define AT91_MID_MIDE BIT(29) #define AT91_MSR_MRTR BIT(20) #define AT91_MSR_MABT BIT(22) #define AT91_MSR_MRDY BIT(23) #define AT91_MSR_MMI BIT(24) #define AT91_MCR_MRTR BIT(20) #define AT91_MCR_MTCR BIT(23) /* Mailbox Modes */ enum at91_mb_mode { AT91_MB_MODE_DISABLED = 0, AT91_MB_MODE_RX = 1, AT91_MB_MODE_RX_OVRWR = 2, AT91_MB_MODE_TX = 3, AT91_MB_MODE_CONSUMER = 4, AT91_MB_MODE_PRODUCER = 5, }; /* Interrupt mask bits */ #define AT91_IRQ_ERRA (1 << 16) #define AT91_IRQ_WARN (1 << 17) #define AT91_IRQ_ERRP (1 << 18) #define AT91_IRQ_BOFF (1 << 19) #define AT91_IRQ_SLEEP (1 << 20) #define AT91_IRQ_WAKEUP (1 << 21) #define AT91_IRQ_TOVF (1 << 22) #define AT91_IRQ_TSTP (1 << 23) #define AT91_IRQ_CERR (1 << 24) #define AT91_IRQ_SERR (1 << 25) #define AT91_IRQ_AERR (1 << 26) #define AT91_IRQ_FERR (1 << 27) #define AT91_IRQ_BERR (1 << 28) #define AT91_IRQ_ERR_ALL (0x1fff0000) #define AT91_IRQ_ERR_FRAME (AT91_IRQ_CERR | AT91_IRQ_SERR | \ AT91_IRQ_AERR | AT91_IRQ_FERR | AT91_IRQ_BERR) #define AT91_IRQ_ERR_LINE (AT91_IRQ_ERRA | AT91_IRQ_WARN | \ AT91_IRQ_ERRP | AT91_IRQ_BOFF) #define AT91_IRQ_ALL (0x1fffffff) enum at91_devtype { AT91_DEVTYPE_SAM9263, AT91_DEVTYPE_SAM9X5, }; struct at91_devtype_data { unsigned int rx_first; unsigned int rx_split; unsigned int rx_last; unsigned int tx_shift; enum at91_devtype type; }; struct at91_priv { struct can_priv can; /* must be the first member! */ struct net_device *dev; struct napi_struct napi; void __iomem *reg_base; u32 reg_sr; unsigned int tx_next; unsigned int tx_echo; unsigned int rx_next; struct at91_devtype_data devtype_data; struct clk *clk; struct at91_can_data *pdata; canid_t mb0_id; }; static const struct at91_devtype_data at91_devtype_data[] __devinitconst = { [AT91_DEVTYPE_SAM9263] = { .rx_first = 1, .rx_split = 8, .rx_last = 11, .tx_shift = 2, }, [AT91_DEVTYPE_SAM9X5] = { .rx_first = 0, .rx_split = 4, .rx_last = 5, .tx_shift = 1, }, }; static struct can_bittiming_const at91_bittiming_const = { .name = KBUILD_MODNAME, .tseg1_min = 4, .tseg1_max = 16, .tseg2_min = 2, .tseg2_max = 8, .sjw_max = 4, .brp_min = 2, .brp_max = 128, .brp_inc = 1, }; #define AT91_IS(_model) \ static inline int at91_is_sam##_model(const struct at91_priv *priv) \ { \ return priv->devtype_data.type == AT91_DEVTYPE_SAM##_model; \ } AT91_IS(9263); AT91_IS(9X5); static inline unsigned int get_mb_rx_first(const struct at91_priv *priv) { return priv->devtype_data.rx_first; } static inline unsigned int get_mb_rx_last(const struct at91_priv *priv) { return priv->devtype_data.rx_last; } static inline unsigned int get_mb_rx_split(const struct at91_priv *priv) { return priv->devtype_data.rx_split; } static inline unsigned int get_mb_rx_num(const struct at91_priv *priv) { return get_mb_rx_last(priv) - get_mb_rx_first(priv) + 1; } static inline unsigned int get_mb_rx_low_last(const struct at91_priv *priv) { return get_mb_rx_split(priv) - 1; } static inline unsigned int get_mb_rx_low_mask(const struct at91_priv *priv) { return AT91_MB_MASK(get_mb_rx_split(priv)) & ~AT91_MB_MASK(get_mb_rx_first(priv)); } static inline unsigned int get_mb_tx_shift(const struct at91_priv *priv) { return priv->devtype_data.tx_shift; } static inline unsigned int get_mb_tx_num(const struct at91_priv *priv) { return 1 << get_mb_tx_shift(priv); } static inline unsigned int get_mb_tx_first(const struct at91_priv *priv) { return get_mb_rx_last(priv) + 1; } static inline unsigned int get_mb_tx_last(const struct at91_priv *priv) { return get_mb_tx_first(priv) + get_mb_tx_num(priv) - 1; } static inline unsigned int get_next_prio_shift(const struct at91_priv *priv) { return get_mb_tx_shift(priv); } static inline unsigned int get_next_prio_mask(const struct at91_priv *priv) { return 0xf << get_mb_tx_shift(priv); } static inline unsigned int get_next_mb_mask(const struct at91_priv *priv) { return AT91_MB_MASK(get_mb_tx_shift(priv)); } static inline unsigned int get_next_mask(const struct at91_priv *priv) { return get_next_mb_mask(priv) | get_next_prio_mask(priv); } static inline unsigned int get_irq_mb_rx(const struct at91_priv *priv) { return AT91_MB_MASK(get_mb_rx_last(priv) + 1) & ~AT91_MB_MASK(get_mb_rx_first(priv)); } static inline unsigned int get_irq_mb_tx(const struct at91_priv *priv) { return AT91_MB_MASK(get_mb_tx_last(priv) + 1) & ~AT91_MB_MASK(get_mb_tx_first(priv)); } static inline unsigned int get_tx_next_mb(const struct at91_priv *priv) { return (priv->tx_next & get_next_mb_mask(priv)) + get_mb_tx_first(priv); } static inline unsigned int get_tx_next_prio(const struct at91_priv *priv) { return (priv->tx_next >> get_next_prio_shift(priv)) & 0xf; } static inline unsigned int get_tx_echo_mb(const struct at91_priv *priv) { return (priv->tx_echo & get_next_mb_mask(priv)) + get_mb_tx_first(priv); } static inline u32 at91_read(const struct at91_priv *priv, enum at91_reg reg) { return __raw_readl(priv->reg_base + reg); } static inline void at91_write(const struct at91_priv *priv, enum at91_reg reg, u32 value) { __raw_writel(value, priv->reg_base + reg); } static inline void set_mb_mode_prio(const struct at91_priv *priv, unsigned int mb, enum at91_mb_mode mode, int prio) { at91_write(priv, AT91_MMR(mb), (mode << 24) | (prio << 16)); } static inline void set_mb_mode(const struct at91_priv *priv, unsigned int mb, enum at91_mb_mode mode) { set_mb_mode_prio(priv, mb, mode, 0); } static inline u32 at91_can_id_to_reg_mid(canid_t can_id) { u32 reg_mid; if (can_id & CAN_EFF_FLAG) reg_mid = (can_id & CAN_EFF_MASK) | AT91_MID_MIDE; else reg_mid = (can_id & CAN_SFF_MASK) << 18; return reg_mid; } /* * Swtich transceiver on or off */ static void at91_transceiver_switch(const struct at91_priv *priv, int on) { if (priv->pdata && priv->pdata->transceiver_switch) priv->pdata->transceiver_switch(on); } static void at91_setup_mailboxes(struct net_device *dev) { struct at91_priv *priv = netdev_priv(dev); unsigned int i; u32 reg_mid; /* * Due to a chip bug (errata 50.2.6.3 & 50.3.5.3) the first * mailbox is disabled. The next 11 mailboxes are used as a * reception FIFO. The last mailbox is configured with * overwrite option. The overwrite flag indicates a FIFO * overflow. */ reg_mid = at91_can_id_to_reg_mid(priv->mb0_id); for (i = 0; i < get_mb_rx_first(priv); i++) { set_mb_mode(priv, i, AT91_MB_MODE_DISABLED); at91_write(priv, AT91_MID(i), reg_mid); at91_write(priv, AT91_MCR(i), 0x0); /* clear dlc */ } for (i = get_mb_rx_first(priv); i < get_mb_rx_last(priv); i++) set_mb_mode(priv, i, AT91_MB_MODE_RX); set_mb_mode(priv, get_mb_rx_last(priv), AT91_MB_MODE_RX_OVRWR); /* reset acceptance mask and id register */ for (i = get_mb_rx_first(priv); i <= get_mb_rx_last(priv); i++) { at91_write(priv, AT91_MAM(i), 0x0); at91_write(priv, AT91_MID(i), AT91_MID_MIDE); } /* The last 4 mailboxes are used for transmitting. */ for (i = get_mb_tx_first(priv); i <= get_mb_tx_last(priv); i++) set_mb_mode_prio(priv, i, AT91_MB_MODE_TX, 0); /* Reset tx and rx helper pointers */ priv->tx_next = priv->tx_echo = 0; priv->rx_next = get_mb_rx_first(priv); } static int at91_set_bittiming(struct net_device *dev) { const struct at91_priv *priv = netdev_priv(dev); const struct can_bittiming *bt = &priv->can.bittiming; u32 reg_br; reg_br = ((priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES) ? 1 << 24 : 0) | ((bt->brp - 1) << 16) | ((bt->sjw - 1) << 12) | ((bt->prop_seg - 1) << 8) | ((bt->phase_seg1 - 1) << 4) | ((bt->phase_seg2 - 1) << 0); netdev_info(dev, "writing AT91_BR: 0x%08x\n", reg_br); at91_write(priv, AT91_BR, reg_br); return 0; } static int at91_get_berr_counter(const struct net_device *dev, struct can_berr_counter *bec) { const struct at91_priv *priv = netdev_priv(dev); u32 reg_ecr = at91_read(priv, AT91_ECR); bec->rxerr = reg_ecr & 0xff; bec->txerr = reg_ecr >> 16; return 0; } static void at91_chip_start(struct net_device *dev) { struct at91_priv *priv = netdev_priv(dev); u32 reg_mr, reg_ier; /* disable interrupts */ at91_write(priv, AT91_IDR, AT91_IRQ_ALL); /* disable chip */ reg_mr = at91_read(priv, AT91_MR); at91_write(priv, AT91_MR, reg_mr & ~AT91_MR_CANEN); at91_set_bittiming(dev); at91_setup_mailboxes(dev); at91_transceiver_switch(priv, 1); /* enable chip */ at91_write(priv, AT91_MR, AT91_MR_CANEN); priv->can.state = CAN_STATE_ERROR_ACTIVE; /* Enable interrupts */ reg_ier = get_irq_mb_rx(priv) | AT91_IRQ_ERRP | AT91_IRQ_ERR_FRAME; at91_write(priv, AT91_IDR, AT91_IRQ_ALL); at91_write(priv, AT91_IER, reg_ier); } static void at91_chip_stop(struct net_device *dev, enum can_state state) { struct at91_priv *priv = netdev_priv(dev); u32 reg_mr; /* disable interrupts */ at91_write(priv, AT91_IDR, AT91_IRQ_ALL); reg_mr = at91_read(priv, AT91_MR); at91_write(priv, AT91_MR, reg_mr & ~AT91_MR_CANEN); at91_transceiver_switch(priv, 0); priv->can.state = state; } /* * theory of operation: * * According to the datasheet priority 0 is the highest priority, 15 * is the lowest. If two mailboxes have the same priority level the * message of the mailbox with the lowest number is sent first. * * We use the first TX mailbox (AT91_MB_TX_FIRST) with prio 0, then * the next mailbox with prio 0, and so on, until all mailboxes are * used. Then we start from the beginning with mailbox * AT91_MB_TX_FIRST, but with prio 1, mailbox AT91_MB_TX_FIRST + 1 * prio 1. When we reach the last mailbox with prio 15, we have to * stop sending, waiting for all messages to be delivered, then start * again with mailbox AT91_MB_TX_FIRST prio 0. * * We use the priv->tx_next as counter for the next transmission * mailbox, but without the offset AT91_MB_TX_FIRST. The lower bits * encode the mailbox number, the upper 4 bits the mailbox priority: * * priv->tx_next = (prio << get_next_prio_shift(priv)) | * (mb - get_mb_tx_first(priv)); * */ static netdev_tx_t at91_start_xmit(struct sk_buff *skb, struct net_device *dev) { struct at91_priv *priv = netdev_priv(dev); struct net_device_stats *stats = &dev->stats; struct can_frame *cf = (struct can_frame *)skb->data; unsigned int mb, prio; u32 reg_mid, reg_mcr; if (can_dropped_invalid_skb(dev, skb)) return NETDEV_TX_OK; mb = get_tx_next_mb(priv); prio = get_tx_next_prio(priv); if (unlikely(!(at91_read(priv, AT91_MSR(mb)) & AT91_MSR_MRDY))) { netif_stop_queue(dev); netdev_err(dev, "BUG! TX buffer full when queue awake!\n"); return NETDEV_TX_BUSY; } reg_mid = at91_can_id_to_reg_mid(cf->can_id); reg_mcr = ((cf->can_id & CAN_RTR_FLAG) ? AT91_MCR_MRTR : 0) | (cf->can_dlc << 16) | AT91_MCR_MTCR; /* disable MB while writing ID (see datasheet) */ set_mb_mode(priv, mb, AT91_MB_MODE_DISABLED); at91_write(priv, AT91_MID(mb), reg_mid); set_mb_mode_prio(priv, mb, AT91_MB_MODE_TX, prio); at91_write(priv, AT91_MDL(mb), *(u32 *)(cf->data + 0)); at91_write(priv, AT91_MDH(mb), *(u32 *)(cf->data + 4)); /* This triggers transmission */ at91_write(priv, AT91_MCR(mb), reg_mcr); stats->tx_bytes += cf->can_dlc; /* _NOTE_: subtract AT91_MB_TX_FIRST offset from mb! */ can_put_echo_skb(skb, dev, mb - get_mb_tx_first(priv)); /* * we have to stop the queue and deliver all messages in case * of a prio+mb counter wrap around. This is the case if * tx_next buffer prio and mailbox equals 0. * * also stop the queue if next buffer is still in use * (== not ready) */ priv->tx_next++; if (!(at91_read(priv, AT91_MSR(get_tx_next_mb(priv))) & AT91_MSR_MRDY) || (priv->tx_next & get_next_mask(priv)) == 0) netif_stop_queue(dev); /* Enable interrupt for this mailbox */ at91_write(priv, AT91_IER, 1 << mb); return NETDEV_TX_OK; } /** * at91_activate_rx_low - activate lower rx mailboxes * @priv: a91 context * * Reenables the lower mailboxes for reception of new CAN messages */ static inline void at91_activate_rx_low(const struct at91_priv *priv) { u32 mask = get_mb_rx_low_mask(priv); at91_write(priv, AT91_TCR, mask); } /** * at91_activate_rx_mb - reactive single rx mailbox * @priv: a91 context * @mb: mailbox to reactivate * * Reenables given mailbox for reception of new CAN messages */ static inline void at91_activate_rx_mb(const struct at91_priv *priv, unsigned int mb) { u32 mask = 1 << mb; at91_write(priv, AT91_TCR, mask); } /** * at91_rx_overflow_err - send error frame due to rx overflow * @dev: net device */ static void at91_rx_overflow_err(struct net_device *dev) { struct net_device_stats *stats = &dev->stats; struct sk_buff *skb; struct can_frame *cf; netdev_dbg(dev, "RX buffer overflow\n"); stats->rx_over_errors++; stats->rx_errors++; skb = alloc_can_err_skb(dev, &cf); if (unlikely(!skb)) return; cf->can_id |= CAN_ERR_CRTL; cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; netif_receive_skb(skb); stats->rx_packets++; stats->rx_bytes += cf->can_dlc; } /** * at91_read_mb - read CAN msg from mailbox (lowlevel impl) * @dev: net device * @mb: mailbox number to read from * @cf: can frame where to store message * * Reads a CAN message from the given mailbox and stores data into * given can frame. "mb" and "cf" must be valid. */ static void at91_read_mb(struct net_device *dev, unsigned int mb, struct can_frame *cf) { const struct at91_priv *priv = netdev_priv(dev); u32 reg_msr, reg_mid; reg_mid = at91_read(priv, AT91_MID(mb)); if (reg_mid & AT91_MID_MIDE) cf->can_id = ((reg_mid >> 0) & CAN_EFF_MASK) | CAN_EFF_FLAG; else cf->can_id = (reg_mid >> 18) & CAN_SFF_MASK; reg_msr = at91_read(priv, AT91_MSR(mb)); cf->can_dlc = get_can_dlc((reg_msr >> 16) & 0xf); if (reg_msr & AT91_MSR_MRTR) cf->can_id |= CAN_RTR_FLAG; else { *(u32 *)(cf->data + 0) = at91_read(priv, AT91_MDL(mb)); *(u32 *)(cf->data + 4) = at91_read(priv, AT91_MDH(mb)); } /* allow RX of extended frames */ at91_write(priv, AT91_MID(mb), AT91_MID_MIDE); if (unlikely(mb == get_mb_rx_last(priv) && reg_msr & AT91_MSR_MMI)) at91_rx_overflow_err(dev); } /** * at91_read_msg - read CAN message from mailbox * @dev: net device * @mb: mail box to read from * * Reads a CAN message from given mailbox, and put into linux network * RX queue, does all housekeeping chores (stats, ...) */ static void at91_read_msg(struct net_device *dev, unsigned int mb) { struct net_device_stats *stats = &dev->stats; struct can_frame *cf; struct sk_buff *skb; skb = alloc_can_skb(dev, &cf); if (unlikely(!skb)) { stats->rx_dropped++; return; } at91_read_mb(dev, mb, cf); netif_receive_skb(skb); stats->rx_packets++; stats->rx_bytes += cf->can_dlc; } /** * at91_poll_rx - read multiple CAN messages from mailboxes * @dev: net device * @quota: max number of pkgs we're allowed to receive * * Theory of Operation: * * About 3/4 of the mailboxes (get_mb_rx_first()...get_mb_rx_last()) * on the chip are reserved for RX. We split them into 2 groups. The * lower group ranges from get_mb_rx_first() to get_mb_rx_low_last(). * * Like it or not, but the chip always saves a received CAN message * into the first free mailbox it finds (starting with the * lowest). This makes it very difficult to read the messages in the * right order from the chip. This is how we work around that problem: * * The first message goes into mb nr. 1 and issues an interrupt. All * rx ints are disabled in the interrupt handler and a napi poll is * scheduled. We read the mailbox, but do _not_ reenable the mb (to * receive another message). * * lower mbxs upper * ____^______ __^__ * / \ / \ * +-+-+-+-+-+-+-+-++-+-+-+-+ * | |x|x|x|x|x|x|x|| | | | | * +-+-+-+-+-+-+-+-++-+-+-+-+ * 0 0 0 0 0 0 0 0 0 0 1 1 \ mail * 0 1 2 3 4 5 6 7 8 9 0 1 / box * ^ * | * \ * unused, due to chip bug * * The variable priv->rx_next points to the next mailbox to read a * message from. As long we're in the lower mailboxes we just read the * mailbox but not reenable it. * * With completion of the last of the lower mailboxes, we reenable the * whole first group, but continue to look for filled mailboxes in the * upper mailboxes. Imagine the second group like overflow mailboxes, * which takes CAN messages if the lower goup is full. While in the * upper group we reenable the mailbox right after reading it. Giving * the chip more room to store messages. * * After finishing we look again in the lower group if we've still * quota. * */ static int at91_poll_rx(struct net_device *dev, int quota) { struct at91_priv *priv = netdev_priv(dev); u32 reg_sr = at91_read(priv, AT91_SR); const unsigned long *addr = (unsigned long *)®_sr; unsigned int mb; int received = 0; if (priv->rx_next > get_mb_rx_low_last(priv) && reg_sr & get_mb_rx_low_mask(priv)) netdev_info(dev, "order of incoming frames cannot be guaranteed\n"); again: for (mb = find_next_bit(addr, get_mb_tx_first(priv), priv->rx_next); mb < get_mb_tx_first(priv) && quota > 0; reg_sr = at91_read(priv, AT91_SR), mb = find_next_bit(addr, get_mb_tx_first(priv), ++priv->rx_next)) { at91_read_msg(dev, mb); /* reactivate mailboxes */ if (mb == get_mb_rx_low_last(priv)) /* all lower mailboxed, if just finished it */ at91_activate_rx_low(priv); else if (mb > get_mb_rx_low_last(priv)) /* only the mailbox we read */ at91_activate_rx_mb(priv, mb); received++; quota--; } /* upper group completed, look again in lower */ if (priv->rx_next > get_mb_rx_low_last(priv) && quota > 0 && mb > get_mb_rx_last(priv)) { priv->rx_next = get_mb_rx_first(priv); goto again; } return received; } static void at91_poll_err_frame(struct net_device *dev, struct can_frame *cf, u32 reg_sr) { struct at91_priv *priv = netdev_priv(dev); /* CRC error */ if (reg_sr & AT91_IRQ_CERR) { netdev_dbg(dev, "CERR irq\n"); dev->stats.rx_errors++; priv->can.can_stats.bus_error++; cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; } /* Stuffing Error */ if (reg_sr & AT91_IRQ_SERR) { netdev_dbg(dev, "SERR irq\n"); dev->stats.rx_errors++; priv->can.can_stats.bus_error++; cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; cf->data[2] |= CAN_ERR_PROT_STUFF; } /* Acknowledgement Error */ if (reg_sr & AT91_IRQ_AERR) { netdev_dbg(dev, "AERR irq\n"); dev->stats.tx_errors++; cf->can_id |= CAN_ERR_ACK; } /* Form error */ if (reg_sr & AT91_IRQ_FERR) { netdev_dbg(dev, "FERR irq\n"); dev->stats.rx_errors++; priv->can.can_stats.bus_error++; cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; cf->data[2] |= CAN_ERR_PROT_FORM; } /* Bit Error */ if (reg_sr & AT91_IRQ_BERR) { netdev_dbg(dev, "BERR irq\n"); dev->stats.tx_errors++; priv->can.can_stats.bus_error++; cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; cf->data[2] |= CAN_ERR_PROT_BIT; } } static int at91_poll_err(struct net_device *dev, int quota, u32 reg_sr) { struct sk_buff *skb; struct can_frame *cf; if (quota == 0) return 0; skb = alloc_can_err_skb(dev, &cf); if (unlikely(!skb)) return 0; at91_poll_err_frame(dev, cf, reg_sr); netif_receive_skb(skb); dev->stats.rx_packets++; dev->stats.rx_bytes += cf->can_dlc; return 1; } static int at91_poll(struct napi_struct *napi, int quota) { struct net_device *dev = napi->dev; const struct at91_priv *priv = netdev_priv(dev); u32 reg_sr = at91_read(priv, AT91_SR); int work_done = 0; if (reg_sr & get_irq_mb_rx(priv)) work_done += at91_poll_rx(dev, quota - work_done); /* * The error bits are clear on read, * so use saved value from irq handler. */ reg_sr |= priv->reg_sr; if (reg_sr & AT91_IRQ_ERR_FRAME) work_done += at91_poll_err(dev, quota - work_done, reg_sr); if (work_done < quota) { /* enable IRQs for frame errors and all mailboxes >= rx_next */ u32 reg_ier = AT91_IRQ_ERR_FRAME; reg_ier |= get_irq_mb_rx(priv) & ~AT91_MB_MASK(priv->rx_next); napi_complete(napi); at91_write(priv, AT91_IER, reg_ier); } return work_done; } /* * theory of operation: * * priv->tx_echo holds the number of the oldest can_frame put for * transmission into the hardware, but not yet ACKed by the CAN tx * complete IRQ. * * We iterate from priv->tx_echo to priv->tx_next and check if the * packet has been transmitted, echo it back to the CAN framework. If * we discover a not yet transmitted package, stop looking for more. * */ static void at91_irq_tx(struct net_device *dev, u32 reg_sr) { struct at91_priv *priv = netdev_priv(dev); u32 reg_msr; unsigned int mb; /* masking of reg_sr not needed, already done by at91_irq */ for (/* nix */; (priv->tx_next - priv->tx_echo) > 0; priv->tx_echo++) { mb = get_tx_echo_mb(priv); /* no event in mailbox? */ if (!(reg_sr & (1 << mb))) break; /* Disable irq for this TX mailbox */ at91_write(priv, AT91_IDR, 1 << mb); /* * only echo if mailbox signals us a transfer * complete (MSR_MRDY). Otherwise it's a tansfer * abort. "can_bus_off()" takes care about the skbs * parked in the echo queue. */ reg_msr = at91_read(priv, AT91_MSR(mb)); if (likely(reg_msr & AT91_MSR_MRDY && ~reg_msr & AT91_MSR_MABT)) { /* _NOTE_: subtract AT91_MB_TX_FIRST offset from mb! */ can_get_echo_skb(dev, mb - get_mb_tx_first(priv)); dev->stats.tx_packets++; } } /* * restart queue if we don't have a wrap around but restart if * we get a TX int for the last can frame directly before a * wrap around. */ if ((priv->tx_next & get_next_mask(priv)) != 0 || (priv->tx_echo & get_next_mask(priv)) == 0) netif_wake_queue(dev); } static void at91_irq_err_state(struct net_device *dev, struct can_frame *cf, enum can_state new_state) { struct at91_priv *priv = netdev_priv(dev); u32 reg_idr = 0, reg_ier = 0; struct can_berr_counter bec; at91_get_berr_counter(dev, &bec); switch (priv->can.state) { case CAN_STATE_ERROR_ACTIVE: /* * from: ERROR_ACTIVE * to : ERROR_WARNING, ERROR_PASSIVE, BUS_OFF * => : there was a warning int */ if (new_state >= CAN_STATE_ERROR_WARNING && new_state <= CAN_STATE_BUS_OFF) { netdev_dbg(dev, "Error Warning IRQ\n"); priv->can.can_stats.error_warning++; cf->can_id |= CAN_ERR_CRTL; cf->data[1] = (bec.txerr > bec.rxerr) ? CAN_ERR_CRTL_TX_WARNING : CAN_ERR_CRTL_RX_WARNING; } case CAN_STATE_ERROR_WARNING: /* fallthrough */ /* * from: ERROR_ACTIVE, ERROR_WARNING * to : ERROR_PASSIVE, BUS_OFF * => : error passive int */ if (new_state >= CAN_STATE_ERROR_PASSIVE && new_state <= CAN_STATE_BUS_OFF) { netdev_dbg(dev, "Error Passive IRQ\n"); priv->can.can_stats.error_passive++; cf->can_id |= CAN_ERR_CRTL; cf->data[1] = (bec.txerr > bec.rxerr) ? CAN_ERR_CRTL_TX_PASSIVE : CAN_ERR_CRTL_RX_PASSIVE; } break; case CAN_STATE_BUS_OFF: /* * from: BUS_OFF * to : ERROR_ACTIVE, ERROR_WARNING, ERROR_PASSIVE */ if (new_state <= CAN_STATE_ERROR_PASSIVE) { cf->can_id |= CAN_ERR_RESTARTED; netdev_dbg(dev, "restarted\n"); priv->can.can_stats.restarts++; netif_carrier_on(dev); netif_wake_queue(dev); } break; default: break; } /* process state changes depending on the new state */ switch (new_state) { case CAN_STATE_ERROR_ACTIVE: /* * actually we want to enable AT91_IRQ_WARN here, but * it screws up the system under certain * circumstances. so just enable AT91_IRQ_ERRP, thus * the "fallthrough" */ netdev_dbg(dev, "Error Active\n"); cf->can_id |= CAN_ERR_PROT; cf->data[2] = CAN_ERR_PROT_ACTIVE; case CAN_STATE_ERROR_WARNING: /* fallthrough */ reg_idr = AT91_IRQ_ERRA | AT91_IRQ_WARN | AT91_IRQ_BOFF; reg_ier = AT91_IRQ_ERRP; break; case CAN_STATE_ERROR_PASSIVE: reg_idr = AT91_IRQ_ERRA | AT91_IRQ_WARN | AT91_IRQ_ERRP; reg_ier = AT91_IRQ_BOFF; break; case CAN_STATE_BUS_OFF: reg_idr = AT91_IRQ_ERRA | AT91_IRQ_ERRP | AT91_IRQ_WARN | AT91_IRQ_BOFF; reg_ier = 0; cf->can_id |= CAN_ERR_BUSOFF; netdev_dbg(dev, "bus-off\n"); netif_carrier_off(dev); priv->can.can_stats.bus_off++; /* turn off chip, if restart is disabled */ if (!priv->can.restart_ms) { at91_chip_stop(dev, CAN_STATE_BUS_OFF); return; } break; default: break; } at91_write(priv, AT91_IDR, reg_idr); at91_write(priv, AT91_IER, reg_ier); } static int at91_get_state_by_bec(const struct net_device *dev, enum can_state *state) { struct can_berr_counter bec; int err; err = at91_get_berr_counter(dev, &bec); if (err) return err; if (bec.txerr < 96 && bec.rxerr < 96) *state = CAN_STATE_ERROR_ACTIVE; else if (bec.txerr < 128 && bec.rxerr < 128) *state = CAN_STATE_ERROR_WARNING; else if (bec.txerr < 256 && bec.rxerr < 256) *state = CAN_STATE_ERROR_PASSIVE; else *state = CAN_STATE_BUS_OFF; return 0; } static void at91_irq_err(struct net_device *dev) { struct at91_priv *priv = netdev_priv(dev); struct sk_buff *skb; struct can_frame *cf; enum can_state new_state; u32 reg_sr; int err; if (at91_is_sam9263(priv)) { reg_sr = at91_read(priv, AT91_SR); /* we need to look at the unmasked reg_sr */ if (unlikely(reg_sr & AT91_IRQ_BOFF)) new_state = CAN_STATE_BUS_OFF; else if (unlikely(reg_sr & AT91_IRQ_ERRP)) new_state = CAN_STATE_ERROR_PASSIVE; else if (unlikely(reg_sr & AT91_IRQ_WARN)) new_state = CAN_STATE_ERROR_WARNING; else if (likely(reg_sr & AT91_IRQ_ERRA)) new_state = CAN_STATE_ERROR_ACTIVE; else { netdev_err(dev, "BUG! hardware in undefined state\n"); return; } } else { err = at91_get_state_by_bec(dev, &new_state); if (err) return; } /* state hasn't changed */ if (likely(new_state == priv->can.state)) return; skb = alloc_can_err_skb(dev, &cf); if (unlikely(!skb)) return; at91_irq_err_state(dev, cf, new_state); netif_rx(skb); dev->stats.rx_packets++; dev->stats.rx_bytes += cf->can_dlc; priv->can.state = new_state; } /* * interrupt handler */ static irqreturn_t at91_irq(int irq, void *dev_id) { struct net_device *dev = dev_id; struct at91_priv *priv = netdev_priv(dev); irqreturn_t handled = IRQ_NONE; u32 reg_sr, reg_imr; reg_sr = at91_read(priv, AT91_SR); reg_imr = at91_read(priv, AT91_IMR); /* Ignore masked interrupts */ reg_sr &= reg_imr; if (!reg_sr) goto exit; handled = IRQ_HANDLED; /* Receive or error interrupt? -> napi */ if (reg_sr & (get_irq_mb_rx(priv) | AT91_IRQ_ERR_FRAME)) { /* * The error bits are clear on read, * save for later use. */ priv->reg_sr = reg_sr; at91_write(priv, AT91_IDR, get_irq_mb_rx(priv) | AT91_IRQ_ERR_FRAME); napi_schedule(&priv->napi); } /* Transmission complete interrupt */ if (reg_sr & get_irq_mb_tx(priv)) at91_irq_tx(dev, reg_sr); at91_irq_err(dev); exit: return handled; } static int at91_open(struct net_device *dev) { struct at91_priv *priv = netdev_priv(dev); int err; clk_enable(priv->clk); /* check or determine and set bittime */ err = open_candev(dev); if (err) goto out; /* register interrupt handler */ if (request_irq(dev->irq, at91_irq, IRQF_SHARED, dev->name, dev)) { err = -EAGAIN; goto out_close; } /* start chip and queuing */ at91_chip_start(dev); napi_enable(&priv->napi); netif_start_queue(dev); return 0; out_close: close_candev(dev); out: clk_disable(priv->clk); return err; } /* * stop CAN bus activity */ static int at91_close(struct net_device *dev) { struct at91_priv *priv = netdev_priv(dev); netif_stop_queue(dev); napi_disable(&priv->napi); at91_chip_stop(dev, CAN_STATE_STOPPED); free_irq(dev->irq, dev); clk_disable(priv->clk); close_candev(dev); return 0; } static int at91_set_mode(struct net_device *dev, enum can_mode mode) { switch (mode) { case CAN_MODE_START: at91_chip_start(dev); netif_wake_queue(dev); break; default: return -EOPNOTSUPP; } return 0; } static const struct net_device_ops at91_netdev_ops = { .ndo_open = at91_open, .ndo_stop = at91_close, .ndo_start_xmit = at91_start_xmit, }; static ssize_t at91_sysfs_show_mb0_id(struct device *dev, struct device_attribute *attr, char *buf) { struct at91_priv *priv = netdev_priv(to_net_dev(dev)); if (priv->mb0_id & CAN_EFF_FLAG) return snprintf(buf, PAGE_SIZE, "0x%08x\n", priv->mb0_id); else return snprintf(buf, PAGE_SIZE, "0x%03x\n", priv->mb0_id); } static ssize_t at91_sysfs_set_mb0_id(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { struct net_device *ndev = to_net_dev(dev); struct at91_priv *priv = netdev_priv(ndev); unsigned long can_id; ssize_t ret; int err; rtnl_lock(); if (ndev->flags & IFF_UP) { ret = -EBUSY; goto out; } err = strict_strtoul(buf, 0, &can_id); if (err) { ret = err; goto out; } if (can_id & CAN_EFF_FLAG) can_id &= CAN_EFF_MASK | CAN_EFF_FLAG; else can_id &= CAN_SFF_MASK; priv->mb0_id = can_id; ret = count; out: rtnl_unlock(); return ret; } static DEVICE_ATTR(mb0_id, S_IWUSR | S_IRUGO, at91_sysfs_show_mb0_id, at91_sysfs_set_mb0_id); static struct attribute *at91_sysfs_attrs[] = { &dev_attr_mb0_id.attr, NULL, }; static struct attribute_group at91_sysfs_attr_group = { .attrs = at91_sysfs_attrs, }; static int __devinit at91_can_probe(struct platform_device *pdev) { const struct at91_devtype_data *devtype_data; enum at91_devtype devtype; struct net_device *dev; struct at91_priv *priv; struct resource *res; struct clk *clk; void __iomem *addr; int err, irq; devtype = pdev->id_entry->driver_data; devtype_data = &at91_devtype_data[devtype]; clk = clk_get(&pdev->dev, "can_clk"); if (IS_ERR(clk)) { dev_err(&pdev->dev, "no clock defined\n"); err = -ENODEV; goto exit; } res = platform_get_resource(pdev, IORESOURCE_MEM, 0); irq = platform_get_irq(pdev, 0); if (!res || irq <= 0) { err = -ENODEV; goto exit_put; } if (!request_mem_region(res->start, resource_size(res), pdev->name)) { err = -EBUSY; goto exit_put; } addr = ioremap_nocache(res->start, resource_size(res)); if (!addr) { err = -ENOMEM; goto exit_release; } dev = alloc_candev(sizeof(struct at91_priv), 1 << devtype_data->tx_shift); if (!dev) { err = -ENOMEM; goto exit_iounmap; } dev->netdev_ops = &at91_netdev_ops; dev->irq = irq; dev->flags |= IFF_ECHO; priv = netdev_priv(dev); priv->can.clock.freq = clk_get_rate(clk); priv->can.bittiming_const = &at91_bittiming_const; priv->can.do_set_mode = at91_set_mode; priv->can.do_get_berr_counter = at91_get_berr_counter; priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES; priv->dev = dev; priv->reg_base = addr; priv->devtype_data = *devtype_data; priv->devtype_data.type = devtype; priv->clk = clk; priv->pdata = pdev->dev.platform_data; priv->mb0_id = 0x7ff; netif_napi_add(dev, &priv->napi, at91_poll, get_mb_rx_num(priv)); if (at91_is_sam9263(priv)) dev->sysfs_groups[0] = &at91_sysfs_attr_group; dev_set_drvdata(&pdev->dev, dev); SET_NETDEV_DEV(dev, &pdev->dev); err = register_candev(dev); if (err) { dev_err(&pdev->dev, "registering netdev failed\n"); goto exit_free; } dev_info(&pdev->dev, "device registered (reg_base=%p, irq=%d)\n", priv->reg_base, dev->irq); return 0; exit_free: free_candev(dev); exit_iounmap: iounmap(addr); exit_release: release_mem_region(res->start, resource_size(res)); exit_put: clk_put(clk); exit: return err; } static int __devexit at91_can_remove(struct platform_device *pdev) { struct net_device *dev = platform_get_drvdata(pdev); struct at91_priv *priv = netdev_priv(dev); struct resource *res; unregister_netdev(dev); platform_set_drvdata(pdev, NULL); iounmap(priv->reg_base); res = platform_get_resource(pdev, IORESOURCE_MEM, 0); release_mem_region(res->start, resource_size(res)); clk_put(priv->clk); free_candev(dev); return 0; } static const struct platform_device_id at91_can_id_table[] = { { .name = "at91_can", .driver_data = AT91_DEVTYPE_SAM9263, }, { .name = "at91sam9x5_can", .driver_data = AT91_DEVTYPE_SAM9X5, }, { /* sentinel */ } }; static struct platform_driver at91_can_driver = { .probe = at91_can_probe, .remove = __devexit_p(at91_can_remove), .driver = { .name = KBUILD_MODNAME, .owner = THIS_MODULE, }, .id_table = at91_can_id_table, }; module_platform_driver(at91_can_driver); MODULE_AUTHOR("Marc Kleine-Budde <mkl@pengutronix.de>"); MODULE_LICENSE("GPL v2"); MODULE_DESCRIPTION(KBUILD_MODNAME " CAN netdevice driver");