On 4/19/19 7:14 AM, kernel@xxxxxxxxxxxxxxxx wrote:
> From: Martin Sperl <kernel@xxxxxxxxxxxxxxxx>
>
> Add un-optimized Can2.0 and CanFD support.
>
> CAN-Transmission and Optimizations and are separate patches
>
> On a Rasperry pi 3 it is already able to process Can2.0 Frames
> with DLC=0 on a CAN bus with 1MHz. without losing any packets
> on the SPI side. Packets still get lost inside the network stack.
>
> Signed-off-by: Martin Sperl <kernel@xxxxxxxxxxxxxxxx>
[..]
> diff --git a/drivers/net/can/spi/mcp25xxfd/mcp25xxfd_can.c b/drivers/net/can/spi/mcp25xxfd/mcp25xxfd_can.c
> index f98b02ff057b..eabd7ca50645 100644
> --- a/drivers/net/can/spi/mcp25xxfd/mcp25xxfd_can.c
> +++ b/drivers/net/can/spi/mcp25xxfd/mcp25xxfd_can.c
> @@ -38,23 +38,162 @@
> * for timestamping of RX frames as well as for TEF entries.
> */
>
> -/* Implementation notes:
> - *
> - * Right now we only use the CAN controller block to put us into deep sleep
> - * this means that the oscillator clock is turned off.
> - * So this is the only thing that we implement here right now
> - */
> -
> +#include <linux/can/core.h>
> +#include <linux/can/dev.h>
> #include <linux/device.h>
> +#include <linux/interrupt.h>
> #include <linux/kernel.h>
> +#include <linux/module.h>
> +#include <linux/of.h>
> +#include <linux/regulator/consumer.h>
> #include <linux/spi/spi.h>
>
> +#include "mcp25xxfd_base.h"
> +#include "mcp25xxfd_can_debugfs.h"
> +#include "mcp25xxfd_can_fifo.h"
> +#include "mcp25xxfd_can_int.h"
> +#include "mcp25xxfd_can_priv.h"
> #include "mcp25xxfd_clock.h"
> #include "mcp25xxfd_cmd.h"
> +#include "mcp25xxfd_int.h"
> #include "mcp25xxfd_priv.h"
> #include "mcp25xxfd_regs.h"
>
> -static int mcp25xxfd_can_get_mode(struct mcp25xxfd_priv *priv, u32 *reg)
> +#include <uapi/linux/can/netlink.h>
> +
> +/* module parameters */
> +unsigned int bw_sharing_log2bits;
> +module_param(bw_sharing_log2bits, uint, 0664);
> +MODULE_PARM_DESC(bw_sharing_log2bits,
> + "Delay between 2 transmissions in number of arbitration bit times\n");
> +bool enable_edge_filter;
> +module_param(enable_edge_filter, bool, 0664);
> +MODULE_PARM_DESC(enable_edge_filter,
> + "Enable ISO11898-1:2015 edge_filtering");
> +unsigned int tdc_mode = 2;
> +module_param(tdc_mode, uint, 0664);
> +MODULE_PARM_DESC(tdc_mode,
> + "Transmitter Delay Mode - 0 = disabled, 1 = fixed, 2 = auto\n");
> +unsigned int tdc_value;
> +module_param(tdc_value, uint, 0664);
> +MODULE_PARM_DESC(tdc_value,
> + "Transmission Delay Value - range: [0:63] SCLK");
> +int tdc_offset = 64; /* outside of range to use computed values */
> +module_param(tdc_offset, int, 0664);
> +MODULE_PARM_DESC(tdc_offset,
> + "Transmission Delay offset - range: [-64:63] SCLK");
> +
> +/* everything related to bit timing */
> +static
> +const struct can_bittiming_const mcp25xxfd_can_nominal_bittiming_const = {
> + .name = DEVICE_NAME,
> + .tseg1_min = 2,
> + .tseg1_max = BIT(MCP25XXFD_CAN_NBTCFG_TSEG1_BITS),
> + .tseg2_min = 1,
> + .tseg2_max = BIT(MCP25XXFD_CAN_NBTCFG_TSEG2_BITS),
> + .sjw_max = BIT(MCP25XXFD_CAN_NBTCFG_SJW_BITS),
> + .brp_min = 1,
> + .brp_max = BIT(MCP25XXFD_CAN_NBTCFG_BRP_BITS),
> + .brp_inc = 1,
> +};
> +
> +static
> +const struct can_bittiming_const mcp25xxfd_can_data_bittiming_const = {
> + .name = DEVICE_NAME,
> + .tseg1_min = 1,
> + .tseg1_max = BIT(MCP25XXFD_CAN_DBTCFG_TSEG1_BITS),
> + .tseg2_min = 1,
> + .tseg2_max = BIT(MCP25XXFD_CAN_DBTCFG_TSEG2_BITS),
> + .sjw_max = BIT(MCP25XXFD_CAN_DBTCFG_SJW_BITS),
> + .brp_min = 1,
> + .brp_max = BIT(MCP25XXFD_CAN_DBTCFG_BRP_BITS),
> + .brp_inc = 1,
> +};
> +
> +static int mcp25xxfd_can_do_set_nominal_bittiming(struct net_device *net)
> +{
> + struct mcp25xxfd_can_priv *cpriv = netdev_priv(net);
> + struct can_bittiming *bt = &cpriv->can.bittiming;
> +
> + int sjw = bt->sjw;
> + int pseg2 = bt->phase_seg2;
> + int pseg1 = bt->phase_seg1;
> + int propseg = bt->prop_seg;
> + int brp = bt->brp;
> +
> + int tseg1 = propseg + pseg1;
> + int tseg2 = pseg2;
> +
> + /* calculate nominal bit timing */
> + cpriv->regs.nbtcfg = ((sjw - 1) << MCP25XXFD_CAN_NBTCFG_SJW_SHIFT) |
> + ((tseg2 - 1) << MCP25XXFD_CAN_NBTCFG_TSEG2_SHIFT) |
> + ((tseg1 - 1) << MCP25XXFD_CAN_NBTCFG_TSEG1_SHIFT) |
> + ((brp - 1) << MCP25XXFD_CAN_NBTCFG_BRP_SHIFT);
> +
> + return mcp25xxfd_cmd_write(cpriv->priv->spi, MCP25XXFD_CAN_NBTCFG,
> + cpriv->regs.nbtcfg);
> +}
> +
> +static int mcp25xxfd_can_do_set_data_bittiming(struct net_device *net)
> +{
> + struct mcp25xxfd_can_priv *cpriv = netdev_priv(net);
> + struct mcp25xxfd_priv *priv = cpriv->priv;
> + struct can_bittiming *bt = &cpriv->can.data_bittiming;
> + struct spi_device *spi = priv->spi;
> +
> + int sjw = bt->sjw;
> + int pseg2 = bt->phase_seg2;
> + int pseg1 = bt->phase_seg1;
> + int propseg = bt->prop_seg;
> + int brp = bt->brp;
> +
> + int tseg1 = propseg + pseg1;
> + int tseg2 = pseg2;
> +
> + int tdco;
> + int ret;
> +
> + /* set up Transmitter delay compensation */
> + cpriv->regs.tdc = 0;
> + /* configure TDC mode */
> + if (tdc_mode < 4)
> + cpriv->regs.tdc = tdc_mode << MCP25XXFD_CAN_TDC_TDCMOD_SHIFT;
> + else
> + cpriv->regs.tdc = MCP25XXFD_CAN_TDC_TDCMOD_AUTO <<
> + MCP25XXFD_CAN_TDC_TDCMOD_SHIFT;
> +
> + /* configure TDC offsets */
> + if ((tdc_offset >= -64) && tdc_offset < 64)
> + tdco = tdc_offset;
> + else
> + tdco = clamp_t(int, bt->brp * tseg1, -64, 63);
> + cpriv->regs.tdc |= (tdco << MCP25XXFD_CAN_TDC_TDCO_SHIFT) &
> + MCP25XXFD_CAN_TDC_TDCO_MASK;
> +
> + /* configure TDC value */
> + if (tdc_value < 64)
> + cpriv->regs.tdc |= tdc_value << MCP25XXFD_CAN_TDC_TDCV_SHIFT;
> +
> + /* enable edge filtering */
> + if (enable_edge_filter)
> + cpriv->regs.tdc |= MCP25XXFD_CAN_TDC_EDGFLTEN;
> +
> + /* set TDC */
> + ret = mcp25xxfd_cmd_write(spi, MCP25XXFD_CAN_TDC, cpriv->regs.tdc);
> + if (ret)
> + return ret;
> +
> + /* calculate data bit timing */
> + cpriv->regs.dbtcfg = ((sjw - 1) << MCP25XXFD_CAN_DBTCFG_SJW_SHIFT) |
> + ((tseg2 - 1) << MCP25XXFD_CAN_DBTCFG_TSEG2_SHIFT) |
> + ((tseg1 - 1) << MCP25XXFD_CAN_DBTCFG_TSEG1_SHIFT) |
> + ((brp - 1) << MCP25XXFD_CAN_DBTCFG_BRP_SHIFT);
> +
> + return mcp25xxfd_cmd_write(spi, MCP25XXFD_CAN_DBTCFG,
> + cpriv->regs.dbtcfg);
> +}
> +
> +int mcp25xxfd_can_get_mode(struct mcp25xxfd_priv *priv, u32 *reg)
> {
> int ret;
>
> @@ -66,11 +205,11 @@ static int mcp25xxfd_can_get_mode(struct mcp25xxfd_priv *priv, u32 *reg)
> MCP25XXFD_CAN_CON_OPMOD_SHIFT;
> }
>
> -static int mcp25xxfd_can_switch_mode(struct mcp25xxfd_priv *priv,
> - u32 *reg, int mode)
> +int mcp25xxfd_can_switch_mode_no_wait(struct mcp25xxfd_priv *priv,
> + u32 *reg, int mode)
> {
> u32 dummy;
> - int ret, i;
> + int ret;
>
> /* get the current mode/register - if reg is NULL
> * when the can controller is not setup yet
> @@ -78,9 +217,11 @@ static int mcp25xxfd_can_switch_mode(struct mcp25xxfd_priv *priv,
> * (this only happens during initialization phase)
> */
> if (reg) {
> - ret = mcp25xxfd_can_get_mode(priv, reg);
> - if (ret < 0)
> - return ret;
> + if (!reg) {
> + ret = mcp25xxfd_can_get_mode(priv, reg);
> + if (ret < 0)
> + return ret;
> + }
After this patch the function reads:
> static int mcp25xxfd_can_switch_mode_no_wait(struct mcp25xxfd_priv *priv,
> u32 *reg, int mode)
> {
> u32 dummy;
> int ret;
>
> /* get the current mode/register - if reg is NULL
> * when the can controller is not setup yet
> * typically by calling mcp25xxfd_can_sleep_mode
> * (this only happens during initialization phase)
> */
> if (reg) {
> if (!reg) {
This looks wrong.
> ret = mcp25xxfd_can_get_mode(priv, reg);
> if (ret < 0)
> return ret;
> }
> } else {
> /* alternatively use dummy */
> dummy = 0;
> reg = &dummy;
> }
>
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 |
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