Added Transmitter delay compensation (TDC) feature support.
In the case of higher measured loop delay with higher baud rates, observed
bit stuff errors.
By enabling the TDC feature in a controller, will compensate for
the measure loop delay in the receive path.
TDC feature requires BRP values can be 1 or 2.
The current CAN framework does not limit the brp so while using TDC,
have to restrict BRP values.
Ex:
ip link set can0 type can tq 12 prop-seg 39 phase-seg1 20 phase-seg2 20
sjw 20 dtq 12 dprop-seg 5 dphase-seg1 6 dphase-seg2 4 dsjw 4 fd on
loopback on tdco 12 tdc-mode auto
Signed-off-by: Srinivas Neeli <srinivas.neeli@xxxxxxxxxx>
---
drivers/net/can/xilinx_can.c | 30 +++++++++++++++++++++++++-----
1 file changed, 25 insertions(+), 5 deletions(-)
diff --git a/drivers/net/can/xilinx_can.c b/drivers/net/can/xilinx_can.c
index e2b15d29d15e..7af518fbed02 100644
--- a/drivers/net/can/xilinx_can.c
+++ b/drivers/net/can/xilinx_can.c
@@ -1,7 +1,7 @@
// SPDX-License-Identifier: GPL-2.0-or-later
/* Xilinx CAN device driver
*
- * Copyright (C) 2012 - 2014 Xilinx, Inc.
+ * Copyright (C) 2012 - 2022 Xilinx, Inc.
* Copyright (C) 2009 PetaLogix. All rights reserved.
* Copyright (C) 2017 - 2018 Sandvik Mining and Construction Oy
*
@@ -133,6 +133,8 @@ enum xcan_reg {
#define XCAN_DLCR_BRS_MASK 0x04000000 /* BRS Mask in DLC */
/* CAN register bit shift - XCAN_<REG>_<BIT>_SHIFT */
+#define XCAN_BRPR_TDCO_SHIFT_CANFD 8 /* Transmitter Delay Compensation Offset */
+#define XCAN_BRPR_TDCE_SHIFT_CANFD 16 /* Transmitter Delay Compensation (TDC) Enable */
#define XCAN_BTR_SJW_SHIFT 7 /* Synchronous jump width */
#define XCAN_BTR_TS2_SHIFT 4 /* Time segment 2 */
#define XCAN_BTR_SJW_SHIFT_CANFD 16 /* Synchronous jump width */
@@ -259,7 +261,7 @@ static const struct can_bittiming_const xcan_bittiming_const_canfd2 = {
.tseg2_min = 1,
.tseg2_max = 128,
.sjw_max = 128,
- .brp_min = 2,
+ .brp_min = 1,
.brp_max = 256,
.brp_inc = 1,
};
@@ -272,11 +274,21 @@ static struct can_bittiming_const xcan_data_bittiming_const_canfd2 = {
.tseg2_min = 1,
.tseg2_max = 16,
.sjw_max = 16,
- .brp_min = 2,
+ .brp_min = 1,
.brp_max = 256,
.brp_inc = 1,
};
+/* Transmission Delay Compensation constants for CANFD2.0 and Versal */
+static const struct can_tdc_const xcan_tdc_const = {
+ .tdcv_min = 0,
+ .tdcv_max = 0, /* Manual mode not supported. */
+ .tdco_min = 0,
+ .tdco_max = 64,
+ .tdcf_min = 0, /* Filter window not supported */
+ .tdcf_max = 0,
+};
+
/**
* xcan_write_reg_le - Write a value to the device register little endian
* @priv: Driver private data structure
@@ -425,6 +437,11 @@ static int xcan_set_bittiming(struct net_device *ndev)
priv->devtype.cantype == XAXI_CANFD_2_0) {
/* Setting Baud Rate prescalar value in F_BRPR Register */
btr0 = dbt->brp - 1;
+ if (can_tdc_is_enabled(&priv->can)) {
+ btr0 = btr0 |
+ (priv->can.tdc.tdco) << XCAN_BRPR_TDCO_SHIFT_CANFD |
+ 1 << XCAN_BRPR_TDCE_SHIFT_CANFD;
+ }
/* Setting Time Segment 1 in BTR Register */
btr1 = dbt->prop_seg + dbt->phase_seg1 - 1;
@@ -1747,13 +1764,16 @@ static int xcan_probe(struct platform_device *pdev)
priv->can.data_bittiming_const =
&xcan_data_bittiming_const_canfd;
- if (devtype->cantype == XAXI_CANFD_2_0)
+ if (devtype->cantype == XAXI_CANFD_2_0) {
priv->can.data_bittiming_const =
&xcan_data_bittiming_const_canfd2;
+ priv->can.tdc_const = &xcan_tdc_const;
+ }
if (devtype->cantype == XAXI_CANFD ||
devtype->cantype == XAXI_CANFD_2_0)
- priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
+ priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD |
+ CAN_CTRLMODE_TDC_AUTO;
priv->reg_base = addr;
priv->tx_max = tx_max;
--
2.25.1
