On AM62x there is one MCAN in MAIN domain and two in MCU domain. The MCANs in MCU domain were not enabled since there is no hardware interrupt routed to A53 GIC interrupt controller. Therefore A53 Linux cannot be interrupted by MCU MCANs. This solution instantiates a hrtimer with 1 ms polling interval for a MCAN when there is no hardware interrupt. This hrtimer generates a recurring software interrupt which allows to call the isr. The isr will check if there is pending transaction by reading a register and proceed normally if there is. On AM62x this series enables two MCU MCAN which will use the hrtimer implementation. MCANs with hardware interrupt routed to A53 Linux will continue to use the hardware interrupt as expected. Timer polling method was tested on both classic CAN and CAN-FD at 125 KBPS, 250 KBPS, 1 MBPS and 2.5 MBPS with 4 MBPS bitrate switching. Letency and CPU load benchmarks were tested on 3x MCAN on AM62x. 1 MBPS timer polling interval is the better timer polling interval since it has comparable latency to hardware interrupt with the worse case being 1ms + CAN frame propagation time and CPU load is not substantial. Latency can be improved further with less than 1 ms polling intervals, howerver it is at the cost of CPU usage since CPU load increases at 0.5 ms and lower polling periods than 1ms. Note that in terms of power, enabling MCU MCANs with timer-polling implementation might have negative impact since we will have to wake up every 1 ms whether there are CAN packets pending in the RX FIFO or not. This might prevent the CPU from entering into deeper idle states for extended periods of time. This patch series depends on 'Enable CAN PHY transceiver driver': https://lore.kernel.org/lkml/775ec9ce-7668-429c-a977-6c8995968d6e@xxxxxxxxxxxxxxxx/T/ Judith Mendez (5): arm64: dts: ti: Add AM62x MCAN MAIN domain transceiver overlay arm64: defconfig: Enable MCAN driver dt-binding: can: m_can: Remove required interrupt attributes arm64: dts: ti: Enable multiple MCAN for AM62x in MCU MCAN overlay can: m_can: Add hrtimer to generate software interrupt .../bindings/net/can/bosch,m_can.yaml | 2 - arch/arm64/boot/dts/ti/Makefile | 2 + .../boot/dts/ti/k3-am625-sk-mcan-main.dtso | 35 +++++++++ .../boot/dts/ti/k3-am625-sk-mcan-mcu.dtso | 75 +++++++++++++++++++ arch/arm64/configs/defconfig | 2 + drivers/net/can/m_can/m_can.c | 24 +++++- drivers/net/can/m_can/m_can.h | 3 + drivers/net/can/m_can/m_can_platform.c | 9 ++- 8 files changed, 146 insertions(+), 6 deletions(-) create mode 100644 arch/arm64/boot/dts/ti/k3-am625-sk-mcan-main.dtso create mode 100644 arch/arm64/boot/dts/ti/k3-am625-sk-mcan-mcu.dtso -- 2.17.1
