The controller can operate in one of the two global modes - CAN FD only mode (default) - Classical CAN (CAN2.0) only mode This patch adds support for Classical CAN only mode. It can be enabled by defining the optional device tree property "renesas,no-can-fd" of this node. Note: R-Car Gen3 h/w manual v0.51E shows bit6 of RSCFDnCFDGCFG as reserved, which is incorrect. This bit is same as RSCFDnGCFG. Signed-off-by: Ramesh Shanmugasundaram <ramesh.shanmugasundaram@xxxxxxxxxxxxxx> --- .../devicetree/bindings/net/can/rcar_canfd.txt | 21 +- drivers/net/can/rcar/rcar_canfd.c | 355 ++++++++++++++------- 2 files changed, 255 insertions(+), 121 deletions(-) diff --git a/Documentation/devicetree/bindings/net/can/rcar_canfd.txt b/Documentation/devicetree/bindings/net/can/rcar_canfd.txt index d45182b..22a6f10 100644 --- a/Documentation/devicetree/bindings/net/can/rcar_canfd.txt +++ b/Documentation/devicetree/bindings/net/can/rcar_canfd.txt @@ -32,6 +32,12 @@ below properties. - assigned-clocks: phandle of canfd clock. - assigned-clock-rates: maximum frequency of this clock. +Optional property: +The controller can operate in either CAN FD only mode (default) or +Classical CAN only mode. The mode is global to both the channels. In order to +enable the later, define the following optional property. + - renesas,no-can-fd: puts the controller in Classical CAN only mode. + Example ------- @@ -63,12 +69,13 @@ SoC common .dtsi file: Board specific .dts file: -E.g. below enables Channel 1 alone in the board. +E.g. below enables Channel 1 alone in the board in Classical CAN only mode. &canfd { - pinctrl-0 = <&canfd1_pins>; - pinctrl-names = "default"; - status = "okay"; + pinctrl-0 = <&canfd1_pins>; + pinctrl-names = "default"; + renesas,no-can-fd; + status = "okay"; channel1 { status = "okay"; @@ -79,9 +86,9 @@ E.g. below enables Channel 0 alone in the board using External clock as fCAN clock. &canfd { - pinctrl-0 = <&canfd0_pins &can_clk_pins>; - pinctrl-names = "default"; - status = "okay"; + pinctrl-0 = <&canfd0_pins &can_clk_pins>; + pinctrl-names = "default"; + status = "okay"; channel0 { status = "okay"; diff --git a/drivers/net/can/rcar/rcar_canfd.c b/drivers/net/can/rcar/rcar_canfd.c index a39d922..6bcc474 100644 --- a/drivers/net/can/rcar/rcar_canfd.c +++ b/drivers/net/can/rcar/rcar_canfd.c @@ -16,8 +16,9 @@ * mode, the controller acts as a CAN FD node that can also interoperate with * CAN 2.0 nodes. * - * As of now, this driver does not support the Classical CAN (CAN 2.0) mode, - * which is handled by a different register map compared to CAN FD only mode. + * To switch the controller to Classical CAN (CAN 2.0) only mode, add + * "renesas,no-can-fd" optional property to the device tree node. A h/w reset is + * also required to switch modes. * * Note: The h/w manual register naming convention is clumsy and not acceptable * to use as it is in the driver. However, those names are added as comments @@ -48,15 +49,16 @@ /* RSCFDnCFDGRMCFG */ #define RCANFD_GRMCFG_RCMC BIT(0) -/* RSCFDnCFDGCFG */ -#define RCANFD_GCFG_CMPOC BIT(5) +/* RSCFDnCFDGCFG / RSCFDnGCFG */ +#define RCANFD_GCFG_EEFE BIT(6) +#define RCANFD_GCFG_CMPOC BIT(5) /* CAN FD only */ #define RCANFD_GCFG_DCS BIT(4) #define RCANFD_GCFG_DCE BIT(1) #define RCANFD_GCFG_TPRI BIT(0) -/* RSCFDnCFDGCTR */ +/* RSCFDnCFDGCTR / RSCFDnGCTR */ #define RCANFD_GCTR_TSRST BIT(16) -#define RCANFD_GCTR_CFMPOFIE BIT(11) +#define RCANFD_GCTR_CFMPOFIE BIT(11) /* CAN FD only */ #define RCANFD_GCTR_THLEIE BIT(10) #define RCANFD_GCTR_MEIE BIT(9) #define RCANFD_GCTR_DEIE BIT(8) @@ -66,7 +68,7 @@ #define RCANFD_GCTR_GMDC_GRESET (0x1) #define RCANFD_GCTR_GMDC_GTEST (0x2) -/* RSCFDnCFDGSTS */ +/* RSCFDnCFDGSTS / RSCFDnGSTS */ #define RCANFD_GSTS_GRAMINIT BIT(3) #define RCANFD_GSTS_GSLPSTS BIT(2) #define RCANFD_GSTS_GHLTSTS BIT(1) @@ -74,44 +76,50 @@ /* Non-operational status */ #define RCANFD_GSTS_GNOPM (BIT(0) | BIT(1) | BIT(2) | BIT(3)) -/* RSCFDnCFDGERFL */ +/* RSCFDnCFDGERFL / RSCFDnGERFL */ #define RCANFD_GERFL_EEF1 BIT(17) #define RCANFD_GERFL_EEF0 BIT(16) -#define RCANFD_GERFL_CMPOF BIT(3) +#define RCANFD_GERFL_CMPOF BIT(3) /* CAN FD only */ #define RCANFD_GERFL_THLES BIT(2) #define RCANFD_GERFL_MES BIT(1) #define RCANFD_GERFL_DEF BIT(0) -#define RCANFD_GERFL_ERR(x) ((x) & (RCANFD_GERFL_EEF1 |\ - RCANFD_GERFL_EEF0 |\ - RCANFD_GERFL_MES |\ - RCANFD_GERFL_CMPOF)) +#define RCANFD_GERFL_ERR(gpriv, x) ((x) & (RCANFD_GERFL_EEF1 |\ + RCANFD_GERFL_EEF0 | RCANFD_GERFL_MES |\ + (gpriv->fdmode ?\ + RCANFD_GERFL_CMPOF : 0))) /* AFL Rx rules registers */ -/* RSCFDnCFDGAFLCFG0 */ +/* RSCFDnCFDGAFLCFG0 / RSCFDnGAFLCFG0 */ #define RCANFD_GAFLCFG_SETRNC(n, x) (((x) & 0xff) << (24 - n * 8)) #define RCANFD_GAFLCFG_GETRNC(n, x) (((x) >> (24 - n * 8)) & 0xff) -/* RSCFDnCFDGAFLECTR */ +/* RSCFDnCFDGAFLECTR / RSCFDnGAFLECTR */ #define RCANFD_GAFLECTR_AFLDAE BIT(8) #define RCANFD_GAFLECTR_AFLPN(x) ((x) & 0x1f) -/* RSCFDnCFDGAFLIDj */ +/* RSCFDnCFDGAFLIDj / RSCFDnGAFLIDj */ #define RCANFD_GAFLID_GAFLLB BIT(29) -/* RSCFDnCFDGAFLP1_j */ +/* RSCFDnCFDGAFLP1_j / RSCFDnGAFLP1_j */ #define RCANFD_GAFLP1_GAFLFDP(x) (1 << (x)) /* Channel register bits */ -/* RSCFDnCFDCmNCFG */ +/* RSCFDnCmCFG - Classical CAN only */ +#define RCANFD_CFG_SJW(x) (((x) & 0x3) << 24) +#define RCANFD_CFG_TSEG2(x) (((x) & 0x7) << 20) +#define RCANFD_CFG_TSEG1(x) (((x) & 0xf) << 16) +#define RCANFD_CFG_BRP(x) (((x) & 0x3ff) << 0) + +/* RSCFDnCFDCmNCFG - CAN FD only */ #define RCANFD_NCFG_NTSEG2(x) (((x) & 0x1f) << 24) #define RCANFD_NCFG_NTSEG1(x) (((x) & 0x7f) << 16) #define RCANFD_NCFG_NSJW(x) (((x) & 0x1f) << 11) #define RCANFD_NCFG_NBRP(x) (((x) & 0x3ff) << 0) -/* RSCFDnCFDCmCTR */ +/* RSCFDnCFDCmCTR / RSCFDnCmCTR */ #define RCANFD_CCTR_CTME BIT(24) #define RCANFD_CCTR_ERRD BIT(23) #define RCANFD_CCTR_BOM_MASK (0x3 << 21) @@ -136,7 +144,7 @@ #define RCANFD_CCTR_CHDMC_CRESET (0x1) #define RCANFD_CCTR_CHDMC_CHLT (0x2) -/* RSCFDnCFDCmSTS */ +/* RSCFDnCFDCmSTS / RSCFDnCmSTS */ #define RCANFD_CSTS_COMSTS BIT(7) #define RCANFD_CSTS_RECSTS BIT(6) #define RCANFD_CSTS_TRMSTS BIT(5) @@ -149,7 +157,7 @@ #define RCANFD_CSTS_TECCNT(x) (((x) >> 24) & 0xff) #define RCANFD_CSTS_RECCNT(x) (((x) >> 16) & 0xff) -/* RSCFDnCFDCmERFL */ +/* RSCFDnCFDCmERFL / RSCFDnCmERFL */ #define RCANFD_CERFL_ADERR BIT(14) #define RCANFD_CERFL_B0ERR BIT(13) #define RCANFD_CERFL_B1ERR BIT(12) @@ -239,14 +247,14 @@ #define RCANFD_CFFDCSTS_CFBRS BIT(1) #define RCANFD_CFFDCSTS_CFESI BIT(0) -/* This controller supports classical CAN only mode or CAN FD only mode. These - * modes are supported in two separate set of register maps & names. However, - * some of the register offsets are common for both modes. Those offsets are - * listed below as Common registers. +/* This controller supports either Classical CAN only mode or CAN FD only mode. + * These modes are supported in two separate set of register maps & names. + * However, some of the register offsets are common for both modes. Those + * offsets are listed below as Common registers. * - * The CAN FD only specific registers are listed separately and their names - * starts with RCANFD_F_xxx names. When classical CAN only specific registers - * are added, those specific registers can be prefixed as RCANFD_C_xxx. + * The CAN FD only mode specific registers & Classical CAN only mode specific + * registers are listed separately. Their register names starts with + * RCANFD_F_xxx & RCANFD_C_xxx respectively. */ /* Common registers */ @@ -353,7 +361,7 @@ #define RCANFD_GTSTCTR (0x046c) /* RSCFDnCFDGLOCKK / RSCFDnGLOCKK */ #define RCANFD_GLOCKK (0x047c) -/* RSCFDnCFDGRMCFG / RSCFDnGRMCFG */ +/* RSCFDnCFDGRMCFG */ #define RCANFD_GRMCFG (0x04fc) /* RSCFDnCFDGAFLIDj / RSCFDnGAFLIDj */ @@ -365,6 +373,46 @@ /* RSCFDnCFDGAFLP1j / RSCFDnGAFLP1j */ #define RCANFD_GAFLP1(offset, j) ((offset) + 0x0c + (0x10 * (j))) +/* Classical CAN only mode register map */ + +/* RSCFDnGAFLXXXj offset */ +#define RCANFD_C_GAFL_OFFSET (0x0500) + +/* RSCFDnRMXXXq -> RCANFD_C_RMXXX(q) */ +#define RCANFD_C_RMID(q) (0x0600 + (0x10 * (q))) +#define RCANFD_C_RMPTR(q) (0x0604 + (0x10 * (q))) +#define RCANFD_C_RMDF0(q) (0x0608 + (0x10 * (q))) +#define RCANFD_C_RMDF1(q) (0x060c + (0x10 * (q))) + +/* RSCFDnRFXXx -> RCANFD_C_RFXX(x) */ +#define RCANFD_C_RFOFFSET (0x0e00) +#define RCANFD_C_RFID(x) (RCANFD_C_RFOFFSET + (0x10 * (x))) +#define RCANFD_C_RFPTR(x) (RCANFD_C_RFOFFSET + 0x04 + \ + (0x10 * (x))) +#define RCANFD_C_RFDF(x, df) (RCANFD_C_RFOFFSET + 0x08 + \ + (0x10 * (x)) + (0x04 * (df))) + +/* RSCFDnCFXXk -> RCANFD_C_CFXX(ch, k) */ +#define RCANFD_C_CFOFFSET (0x0e80) +#define RCANFD_C_CFID(ch, idx) (RCANFD_C_CFOFFSET + (0x30 * (ch)) + \ + (0x10 * (idx))) +#define RCANFD_C_CFPTR(ch, idx) (RCANFD_C_CFOFFSET + 0x04 + \ + (0x30 * (ch)) + (0x10 * (idx))) +#define RCANFD_C_CFDF(ch, idx, df) (RCANFD_C_CFOFFSET + 0x08 + \ + (0x30 * (ch)) + (0x10 * (idx)) + \ + (0x04 * (df))) + +/* RSCFDnTMXXp -> RCANFD_C_TMXX(p) */ +#define RCANFD_C_TMID(p) (0x1000 + (0x10 * (p))) +#define RCANFD_C_TMPTR(p) (0x1004 + (0x10 * (p))) +#define RCANFD_C_TMDF0(p) (0x1008 + (0x10 * (p))) +#define RCANFD_C_TMDF1(p) (0x100c + (0x10 * (p))) + +/* RSCFDnTHLACCm */ +#define RCANFD_C_THLACC(m) (0x1800 + (0x04 * (m))) +/* RSCFDnRPGACCr */ +#define RCANFD_C_RPGACC(r) (0x1900 + (0x04 * (r))) + /* CAN FD mode specific regsiter map */ /* RSCFDnCFDCmXXX -> RCANFD_F_XXX(m) */ @@ -468,6 +516,7 @@ struct rcar_canfd_global { struct clk *can_clk; /* fCAN clock */ enum rcar_canfd_fcanclk fcan; /* CANFD or Ext clock */ unsigned long channels_mask; /* Enabled channels mask */ + bool fdmode; /* CAN FD or Classical CAN only mode */ }; /* CAN FD mode nominal rate constants */ @@ -496,6 +545,19 @@ static const struct can_bittiming_const rcar_canfd_data_bittiming_const = { .brp_inc = 1, }; +/* Classical CAN mode bitrate constants */ +static const struct can_bittiming_const rcar_canfd_bittiming_const = { + .name = RCANFD_DRV_NAME, + .tseg1_min = 4, + .tseg1_max = 16, + .tseg2_min = 2, + .tseg2_max = 8, + .sjw_max = 4, + .brp_min = 1, + .brp_max = 1024, + .brp_inc = 1, +}; + /* Helper functions */ static inline void rcar_canfd_update(u32 mask, u32 val, u32 __iomem *reg) { @@ -593,8 +655,13 @@ static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv) /* Reset Global error flags */ rcar_canfd_write(gpriv->base, RCANFD_GERFL, 0x0); - /* Set the controller into FD mode */ - rcar_canfd_set_bit(gpriv->base, RCANFD_GRMCFG, RCANFD_GRMCFG_RCMC); + /* Set the controller into appropriate mode */ + if (gpriv->fdmode) + rcar_canfd_set_bit(gpriv->base, RCANFD_GRMCFG, + RCANFD_GRMCFG_RCMC); + else + rcar_canfd_clear_bit(gpriv->base, RCANFD_GRMCFG, + RCANFD_GRMCFG_RCMC); /* Transition all Channels to reset mode */ for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) { @@ -624,8 +691,12 @@ static void rcar_canfd_configure_controller(struct rcar_canfd_global *gpriv) /* Global configuration settings */ - /* Truncate payload to configured message size RFPLS */ - cfg = RCANFD_GCFG_CMPOC; + /* ECC Error flag Enable */ + cfg = RCANFD_GCFG_EEFE; + + if (gpriv->fdmode) + /* Truncate payload to configured message size RFPLS */ + cfg |= RCANFD_GCFG_CMPOC; /* Set External Clock if selected */ if (gpriv->fcan != RCANFD_CANFDCLK) @@ -647,7 +718,7 @@ static void rcar_canfd_configure_afl_rules(struct rcar_canfd_global *gpriv, u32 ch) { u32 cfg; - int start, page, num_rules = RCANFD_CHANNEL_NUMRULES; + int offset, start, page, num_rules = RCANFD_CHANNEL_NUMRULES; u32 ridx = ch + RCANFD_RFFIFO_IDX; if (ch == 0) { @@ -667,19 +738,19 @@ static void rcar_canfd_configure_afl_rules(struct rcar_canfd_global *gpriv, /* Write number of rules for channel */ rcar_canfd_set_bit(gpriv->base, RCANFD_GAFLCFG0, RCANFD_GAFLCFG_SETRNC(ch, num_rules)); + if (gpriv->fdmode) + offset = RCANFD_F_GAFL_OFFSET; + else + offset = RCANFD_C_GAFL_OFFSET; /* Accept all IDs */ - rcar_canfd_write(gpriv->base, - RCANFD_GAFLID(RCANFD_F_GAFL_OFFSET, start), 0); + rcar_canfd_write(gpriv->base, RCANFD_GAFLID(offset, start), 0); /* IDE or RTR is not considered for matching */ - rcar_canfd_write(gpriv->base, - RCANFD_GAFLM(RCANFD_F_GAFL_OFFSET, start), 0); + rcar_canfd_write(gpriv->base, RCANFD_GAFLM(offset, start), 0); /* Any data length accepted */ - rcar_canfd_write(gpriv->base, - RCANFD_GAFLP0(RCANFD_F_GAFL_OFFSET, start), 0); + rcar_canfd_write(gpriv->base, RCANFD_GAFLP0(offset, start), 0); /* Place the msg in corresponding Rx FIFO entry */ - rcar_canfd_write(gpriv->base, - RCANFD_GAFLP1(RCANFD_F_GAFL_OFFSET, start), + rcar_canfd_write(gpriv->base, RCANFD_GAFLP1(offset, start), RCANFD_GAFLP1_GAFLFDP(ridx)); /* Disable write access to page */ @@ -697,7 +768,10 @@ static void rcar_canfd_configure_rx(struct rcar_canfd_global *gpriv, u32 ch) u32 ridx = ch + RCANFD_RFFIFO_IDX; rfdc = 2; /* b010 - 8 messages Rx FIFO depth */ - rfpls = 7; /* b111 - Max 64 bytes payload */ + if (gpriv->fdmode) + rfpls = 7; /* b111 - Max 64 bytes payload */ + else + rfpls = 0; /* b000 - Max 8 bytes payload */ cfg = (RCANFD_RFCC_RFIM | RCANFD_RFCC_RFDC(rfdc) | RCANFD_RFCC_RFPLS(rfpls) | RCANFD_RFCC_RFIE); @@ -718,16 +792,20 @@ static void rcar_canfd_configure_tx(struct rcar_canfd_global *gpriv, u32 ch) cftml = 0; /* 0th buffer */ cfm = 1; /* b01 - Transmit mode */ cfdc = 2; /* b010 - 8 messages Tx FIFO depth */ - cfpls = 7; /* b111 - Max 64 bytes payload */ + if (gpriv->fdmode) + cfpls = 7; /* b111 - Max 64 bytes payload */ + else + cfpls = 0; /* b000 - Max 8 bytes payload */ cfg = (RCANFD_CFCC_CFTML(cftml) | RCANFD_CFCC_CFM(cfm) | RCANFD_CFCC_CFIM | RCANFD_CFCC_CFDC(cfdc) | RCANFD_CFCC_CFPLS(cfpls) | RCANFD_CFCC_CFTXIE); rcar_canfd_write(gpriv->base, RCANFD_CFCC(ch, RCANFD_CFFIFO_IDX), cfg); - /* Clear FD mode specific control/status register */ - rcar_canfd_write(gpriv->base, - RCANFD_F_CFFDCSTS(ch, RCANFD_CFFIFO_IDX), 0); + if (gpriv->fdmode) + /* Clear FD mode specific control/status register */ + rcar_canfd_write(gpriv->base, + RCANFD_F_CFFDCSTS(ch, RCANFD_CFFIFO_IDX), 0); } static void rcar_canfd_enable_global_interrupts(struct rcar_canfd_global *gpriv) @@ -739,7 +817,8 @@ static void rcar_canfd_enable_global_interrupts(struct rcar_canfd_global *gpriv) /* Global interrupts setup */ ctr = RCANFD_GCTR_MEIE; - ctr |= RCANFD_GCTR_CFMPOFIE; + if (gpriv->fdmode) + ctr |= RCANFD_GCTR_CFMPOFIE; rcar_canfd_set_bit(gpriv->base, RCANFD_GCTR, ctr); } @@ -790,6 +869,7 @@ static void rcar_canfd_disable_channel_interrupts(struct rcar_canfd_channel static void rcar_canfd_global_error(struct net_device *ndev) { struct rcar_canfd_channel *priv = netdev_priv(ndev); + struct rcar_canfd_global *gpriv = priv->gpriv; struct net_device_stats *stats = &ndev->stats; u32 ch = priv->channel; u32 gerfl, sts; @@ -823,7 +903,7 @@ static void rcar_canfd_global_error(struct net_device *ndev) sts & ~RCANFD_RFSTS_RFMLT); } } - if (gerfl & RCANFD_GERFL_CMPOF) { + if (gpriv->fdmode && gerfl & RCANFD_GERFL_CMPOF) { /* Message Lost flag will be set for respective channel * when this condition happens with counters and flags * already updated. @@ -1018,7 +1098,7 @@ static irqreturn_t rcar_canfd_global_interrupt(int irq, void *dev_id) /* Global error interrupts */ gerfl = rcar_canfd_read(priv->base, RCANFD_GERFL); - if (RCANFD_GERFL_ERR(gerfl)) + if (RCANFD_GERFL_ERR(gpriv, gerfl)) rcar_canfd_global_error(ndev); /* Handle Rx interrupts */ @@ -1077,25 +1157,37 @@ static void rcar_canfd_set_bittiming(struct net_device *dev) tseg1 = bt->prop_seg + bt->phase_seg1 - 1; tseg2 = bt->phase_seg2 - 1; - cfg = (RCANFD_NCFG_NTSEG1(tseg1) | RCANFD_NCFG_NBRP(brp) | - RCANFD_NCFG_NSJW(sjw) | RCANFD_NCFG_NTSEG2(tseg2)); + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { + /* CAN FD only mode */ + cfg = (RCANFD_NCFG_NTSEG1(tseg1) | RCANFD_NCFG_NBRP(brp) | + RCANFD_NCFG_NSJW(sjw) | RCANFD_NCFG_NTSEG2(tseg2)); - rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg); - netdev_dbg(priv->ndev, "nrate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n", - brp, sjw, tseg1, tseg2); + rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg); + netdev_dbg(priv->ndev, "nrate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n", + brp, sjw, tseg1, tseg2); - /* Data bit timing settings */ - brp = dbt->brp - 1; - sjw = dbt->sjw - 1; - tseg1 = dbt->prop_seg + dbt->phase_seg1 - 1; - tseg2 = dbt->phase_seg2 - 1; + /* Data bit timing settings */ + brp = dbt->brp - 1; + sjw = dbt->sjw - 1; + tseg1 = dbt->prop_seg + dbt->phase_seg1 - 1; + tseg2 = dbt->phase_seg2 - 1; - cfg = (RCANFD_DCFG_DTSEG1(tseg1) | RCANFD_DCFG_DBRP(brp) | - RCANFD_DCFG_DSJW(sjw) | RCANFD_DCFG_DTSEG2(tseg2)); + cfg = (RCANFD_DCFG_DTSEG1(tseg1) | RCANFD_DCFG_DBRP(brp) | + RCANFD_DCFG_DSJW(sjw) | RCANFD_DCFG_DTSEG2(tseg2)); - rcar_canfd_write(priv->base, RCANFD_F_DCFG(ch), cfg); - netdev_dbg(priv->ndev, "drate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n", - brp, sjw, tseg1, tseg2); + rcar_canfd_write(priv->base, RCANFD_F_DCFG(ch), cfg); + netdev_dbg(priv->ndev, "drate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n", + brp, sjw, tseg1, tseg2); + } else { + /* Classical CAN only mode */ + cfg = (RCANFD_CFG_TSEG1(tseg1) | RCANFD_CFG_BRP(brp) | + RCANFD_CFG_SJW(sjw) | RCANFD_CFG_TSEG2(tseg2)); + + rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg); + netdev_dbg(priv->ndev, + "rate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n", + brp, sjw, tseg1, tseg2); + } } static int rcar_canfd_start(struct net_device *ndev) @@ -1233,27 +1325,37 @@ static netdev_tx_t rcar_canfd_start_xmit(struct sk_buff *skb, if (cf->can_id & CAN_RTR_FLAG) id |= RCANFD_CFID_CFRTR; - rcar_canfd_write(priv->base, - RCANFD_F_CFID(ch, RCANFD_CFFIFO_IDX), id); dlc = RCANFD_CFPTR_CFDLC(can_len2dlc(cf->len)); - rcar_canfd_write(priv->base, - RCANFD_F_CFPTR(ch, RCANFD_CFFIFO_IDX), dlc); - if (can_is_canfd_skb(skb)) { - /* CAN FD frame format */ - sts |= RCANFD_CFFDCSTS_CFFDF; - if (cf->flags & CANFD_BRS) - sts |= RCANFD_CFFDCSTS_CFBRS; + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { + rcar_canfd_write(priv->base, + RCANFD_F_CFID(ch, RCANFD_CFFIFO_IDX), id); + rcar_canfd_write(priv->base, + RCANFD_F_CFPTR(ch, RCANFD_CFFIFO_IDX), dlc); - if (priv->can.state == CAN_STATE_ERROR_PASSIVE) - sts |= RCANFD_CFFDCSTS_CFESI; - } + if (can_is_canfd_skb(skb)) { + /* CAN FD frame format */ + sts |= RCANFD_CFFDCSTS_CFFDF; + if (cf->flags & CANFD_BRS) + sts |= RCANFD_CFFDCSTS_CFBRS; - rcar_canfd_write(priv->base, RCANFD_F_CFFDCSTS(ch, RCANFD_CFFIFO_IDX), - sts); + if (priv->can.state == CAN_STATE_ERROR_PASSIVE) + sts |= RCANFD_CFFDCSTS_CFESI; + } + + rcar_canfd_write(priv->base, + RCANFD_F_CFFDCSTS(ch, RCANFD_CFFIFO_IDX), sts); - rcar_canfd_put_data(priv, cf, - RCANFD_F_CFDF(ch, RCANFD_CFFIFO_IDX, 0)); + rcar_canfd_put_data(priv, cf, + RCANFD_F_CFDF(ch, RCANFD_CFFIFO_IDX, 0)); + } else { + rcar_canfd_write(priv->base, + RCANFD_C_CFID(ch, RCANFD_CFFIFO_IDX), id); + rcar_canfd_write(priv->base, + RCANFD_C_CFPTR(ch, RCANFD_CFFIFO_IDX), dlc); + rcar_canfd_put_data(priv, cf, + RCANFD_C_CFDF(ch, RCANFD_CFFIFO_IDX, 0)); + } priv->tx_len[priv->tx_head % RCANFD_FIFO_DEPTH] = cf->len; can_put_echo_skb(skb, ndev, priv->tx_head % RCANFD_FIFO_DEPTH); @@ -1280,47 +1382,61 @@ static void rcar_canfd_rx_pkt(struct rcar_canfd_channel *priv) struct net_device_stats *stats = &priv->ndev->stats; struct canfd_frame *cf; struct sk_buff *skb; - u32 sts = 0, id, ptr; + u32 sts = 0, id, dlc; u32 ch = priv->channel; u32 ridx = ch + RCANFD_RFFIFO_IDX; - id = rcar_canfd_read(priv->base, RCANFD_F_RFID(ridx)); - ptr = rcar_canfd_read(priv->base, RCANFD_F_RFPTR(ridx)); + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { + id = rcar_canfd_read(priv->base, RCANFD_F_RFID(ridx)); + dlc = rcar_canfd_read(priv->base, RCANFD_F_RFPTR(ridx)); - sts = rcar_canfd_read(priv->base, RCANFD_F_RFFDSTS(ridx)); - if (sts & RCANFD_RFFDSTS_RFFDF) - skb = alloc_canfd_skb(priv->ndev, &cf); - else - skb = alloc_can_skb(priv->ndev, - (struct can_frame **)&cf); + sts = rcar_canfd_read(priv->base, RCANFD_F_RFFDSTS(ridx)); + if (sts & RCANFD_RFFDSTS_RFFDF) + skb = alloc_canfd_skb(priv->ndev, &cf); + else + skb = alloc_can_skb(priv->ndev, + (struct can_frame **)&cf); + } else { + id = rcar_canfd_read(priv->base, RCANFD_C_RFID(ridx)); + dlc = rcar_canfd_read(priv->base, RCANFD_C_RFPTR(ridx)); + skb = alloc_can_skb(priv->ndev, (struct can_frame **)&cf); + } if (!skb) { stats->rx_dropped++; return; } - if (sts & RCANFD_RFFDSTS_RFFDF) - cf->len = can_dlc2len(RCANFD_RFPTR_RFDLC(ptr)); - else - cf->len = get_can_dlc(RCANFD_RFPTR_RFDLC(ptr)); - - if (sts & RCANFD_RFFDSTS_RFESI) { - cf->flags |= CANFD_ESI; - netdev_dbg(priv->ndev, "ESI Error\n"); - } - if (id & RCANFD_RFID_RFIDE) cf->can_id = (id & CAN_EFF_MASK) | CAN_EFF_FLAG; else cf->can_id = id & CAN_SFF_MASK; - if (!(sts & RCANFD_RFFDSTS_RFFDF) && (id & RCANFD_RFID_RFRTR)) { - cf->can_id |= CAN_RTR_FLAG; - } else { - if (sts & RCANFD_RFFDSTS_RFBRS) - cf->flags |= CANFD_BRS; + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { + if (sts & RCANFD_RFFDSTS_RFFDF) + cf->len = can_dlc2len(RCANFD_RFPTR_RFDLC(dlc)); + else + cf->len = get_can_dlc(RCANFD_RFPTR_RFDLC(dlc)); + + if (sts & RCANFD_RFFDSTS_RFESI) { + cf->flags |= CANFD_ESI; + netdev_dbg(priv->ndev, "ESI Error\n"); + } + + if (!(sts & RCANFD_RFFDSTS_RFFDF) && (id & RCANFD_RFID_RFRTR)) { + cf->can_id |= CAN_RTR_FLAG; + } else { + if (sts & RCANFD_RFFDSTS_RFBRS) + cf->flags |= CANFD_BRS; - rcar_canfd_get_data(priv, cf, RCANFD_F_RFDF(ridx, 0)); + rcar_canfd_get_data(priv, cf, RCANFD_F_RFDF(ridx, 0)); + } + } else { + cf->len = get_can_dlc(RCANFD_RFPTR_RFDLC(dlc)); + if (id & RCANFD_RFID_RFRTR) + cf->can_id |= CAN_RTR_FLAG; + else + rcar_canfd_get_data(priv, cf, RCANFD_C_RFDF(ridx, 0)); } /* Write 0xff to RFPC to increment the CPU-side @@ -1428,13 +1544,19 @@ static int rcar_canfd_channel_probe(struct rcar_canfd_global *gpriv, u32 ch, priv->can.clock.freq = fcan_freq; dev_info(&pdev->dev, "can_clk rate is %u\n", priv->can.clock.freq); - priv->can.bittiming_const = &rcar_canfd_nom_bittiming_const; - priv->can.data_bittiming_const = - &rcar_canfd_data_bittiming_const; + if (gpriv->fdmode) { + priv->can.bittiming_const = &rcar_canfd_nom_bittiming_const; + priv->can.data_bittiming_const = + &rcar_canfd_data_bittiming_const; - /* Controller starts in CAN FD only mode */ - can_set_static_ctrlmode(ndev, CAN_CTRLMODE_FD); - priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING; + /* Controller starts in CAN FD only mode */ + can_set_static_ctrlmode(ndev, CAN_CTRLMODE_FD); + priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING; + } else { + /* Controller starts in Classical CAN only mode */ + priv->can.bittiming_const = &rcar_canfd_bittiming_const; + priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING; + } priv->can.do_set_mode = rcar_canfd_do_set_mode; priv->can.do_get_berr_counter = rcar_canfd_get_berr_counter; @@ -1482,6 +1604,10 @@ static int rcar_canfd_probe(struct platform_device *pdev) struct device_node *of_child; unsigned long channels_mask = 0; int err, ch_irq, g_irq; + bool fdmode = true; /* CAN FD only mode - default */ + + if (of_property_read_bool(pdev->dev.of_node, "renesas,no-can-fd")) + fdmode = false; /* Classical CAN only mode */ of_child = of_get_child_by_name(pdev->dev.of_node, "channel0"); if (of_child && of_device_is_available(of_child)) @@ -1513,6 +1639,7 @@ static int rcar_canfd_probe(struct platform_device *pdev) } gpriv->pdev = pdev; gpriv->channels_mask = channels_mask; + gpriv->fdmode = fdmode; /* Peripheral clock */ gpriv->clkp = devm_clk_get(&pdev->dev, "fck"); @@ -1623,8 +1750,8 @@ static int rcar_canfd_probe(struct platform_device *pdev) } platform_set_drvdata(pdev, gpriv); - dev_info(&pdev->dev, "global operational state (clk %d)\n", - gpriv->fcan); + dev_info(&pdev->dev, "global operational state (clk %d, fdmode %d)\n", + gpriv->fcan, gpriv->fdmode); return 0; fail_channel: -- 1.9.1 -- To unsubscribe from this list: send the line "unsubscribe devicetree" in the body of a message to majordomo@xxxxxxxxxxxxxxx More majordomo info at http://vger.kernel.org/majordomo-info.html