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Subject[PATCH RESEND 3/5] can: flexcan: add CANFD BRS support and improve bittiming setting
Date
From: Dong Aisheng <aisheng.dong@nxp.com>

This patch intends to add CANFD BitRate Switch(BRS) support. Bit timing
must be set in CBT register other than CTRL1 register when CANFD
supports BRS, it will extend the range of all CAN bit timing variables
(PRESDIV, PROPSEG, PSEG1, PSEG2 and RJW), which will improve the bit
timing accuracy.

Signed-off-by: Joakim Zhang <qiangqing.zhang@nxp.com>
Signed-off-by: Dong Aisheng <aisheng.dong@nxp.com>
---
drivers/net/can/flexcan.c | 107 ++++++++++++++++++++++++++++++--------
1 file changed, 86 insertions(+), 21 deletions(-)

diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c
index eee0c23bb805..688bb09b8123 100644
--- a/drivers/net/can/flexcan.c
+++ b/drivers/net/can/flexcan.c
@@ -138,6 +138,14 @@
FLEXCAN_ESR_BOFF_INT | FLEXCAN_ESR_ERR_INT | \
FLEXCAN_ESR_WAK_INT)

+/* FLEXCAN Bit Timing register (CBT) bits */
+#define FLEXCAN_CBT_BTF BIT(31)
+#define FLEXCAN_CBT_EPRESDIV(x) (((x) & 0x3ff) << 21)
+#define FLEXCAN_CBT_ERJW(x) (((x) & 0x1f) << 16)
+#define FLEXCAN_CBT_EPROPSEG(x) (((x) & 0x3f) << 10)
+#define FLEXCAN_CBT_EPSEG1(x) (((x) & 0x1f) << 5)
+#define FLEXCAN_CBT_EPSEG2(x) ((x) & 0x1f)
+
/* FLEXCAN FD control register (FDCTRL) bits */
#define FLEXCAN_FDCTRL_FDRATE BIT(31)
#define FLEXCAN_FDCTRL_MBDSR3(x) (((x) & 0x3) << 25)
@@ -245,7 +253,8 @@ struct flexcan_regs {
u32 crcr; /* 0x44 */
u32 rxfgmask; /* 0x48 */
u32 rxfir; /* 0x4c */
- u32 _reserved3[12]; /* 0x50 */
+ u32 cbt; /* 0x50 */
+ u32 _reserved3[11]; /* 0x54 */
u8 mb[2][512]; /* 0x80 */
/* FIFO-mode:
* MB
@@ -360,6 +369,18 @@ static const struct can_bittiming_const flexcan_bittiming_const = {
.brp_inc = 1,
};

+static const struct can_bittiming_const flexcan_fd_bittiming_const = {
+ .name = DRV_NAME,
+ .tseg1_min = 2,
+ .tseg1_max = 64,
+ .tseg2_min = 1,
+ .tseg2_max = 32,
+ .sjw_max = 32,
+ .brp_min = 1,
+ .brp_max = 1024,
+ .brp_inc = 1,
+};
+
static const struct can_bittiming_const flexcan_fd_data_bittiming_const = {
.name = DRV_NAME,
.tseg1_min = 1,
@@ -665,9 +686,13 @@ static netdev_tx_t flexcan_start_xmit(struct sk_buff *skb, struct net_device *de
if (cf->can_id & CAN_RTR_FLAG)
ctrl |= FLEXCAN_MB_CNT_RTR;

- if (can_is_canfd_skb(skb))
+ if (can_is_canfd_skb(skb)) {
ctrl |= FLEXCAN_MB_CNT_EDL;

+ if (cf->flags & CANFD_BRS)
+ ctrl |= FLEXCAN_MB_CNT_BRS;
+ }
+
for (i = 0; i < cf->len; i += sizeof(u32)) {
data = be32_to_cpup((__be32 *)&cf->data[i]);
priv->write(data, &priv->tx_mb->data[i / sizeof(u32)]);
@@ -876,6 +901,9 @@ static unsigned int flexcan_mailbox_read(struct can_rx_offload *offload,

if (reg_ctrl & FLEXCAN_MB_CNT_EDL) {
cf->len = can_dlc2len((reg_ctrl >> 16) & 0x0F);
+
+ if (reg_ctrl & FLEXCAN_MB_CNT_BRS)
+ cf->flags |= CANFD_BRS;
} else {
cf->len = get_can_dlc((reg_ctrl >> 16) & 0x0F);

@@ -1038,21 +1066,7 @@ static void flexcan_set_bittiming(struct net_device *dev)
u32 reg;

reg = priv->read(&regs->ctrl);
- reg &= ~(FLEXCAN_CTRL_PRESDIV(0xff) |
- FLEXCAN_CTRL_RJW(0x3) |
- FLEXCAN_CTRL_PSEG1(0x7) |
- FLEXCAN_CTRL_PSEG2(0x7) |
- FLEXCAN_CTRL_PROPSEG(0x7) |
- FLEXCAN_CTRL_LPB |
- FLEXCAN_CTRL_SMP |
- FLEXCAN_CTRL_LOM);
-
- reg |= FLEXCAN_CTRL_PRESDIV(bt->brp - 1) |
- FLEXCAN_CTRL_PSEG1(bt->phase_seg1 - 1) |
- FLEXCAN_CTRL_PSEG2(bt->phase_seg2 - 1) |
- FLEXCAN_CTRL_RJW(bt->sjw - 1) |
- FLEXCAN_CTRL_PROPSEG(bt->prop_seg - 1);
-
+ reg &= ~(FLEXCAN_CTRL_LPB | FLEXCAN_CTRL_SMP | FLEXCAN_CTRL_LOM);
if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK)
reg |= FLEXCAN_CTRL_LPB;
if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
@@ -1064,17 +1078,60 @@ static void flexcan_set_bittiming(struct net_device *dev)
priv->write(reg, &regs->ctrl);

if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
+ reg = FLEXCAN_CBT_EPRESDIV(bt->brp - 1) |
+ FLEXCAN_CBT_EPSEG1(bt->phase_seg1 - 1) |
+ FLEXCAN_CBT_EPSEG2(bt->phase_seg2 - 1) |
+ FLEXCAN_CBT_ERJW(bt->sjw - 1) |
+ FLEXCAN_CBT_EPROPSEG(bt->prop_seg - 1) |
+ FLEXCAN_CBT_BTF;
+ priv->write(reg, &regs->cbt);
+
+ netdev_dbg(dev, "bt: prediv %d seg1 %d seg2 %d rjw %d propseg %d\n",
+ bt->brp - 1, bt->phase_seg1 - 1, bt->phase_seg2 - 1,
+ bt->sjw - 1, bt->prop_seg - 1);
+
reg = FLEXCAN_FDCBT_FPRESDIV(dbt->brp - 1) |
FLEXCAN_FDCBT_FPSEG1(dbt->phase_seg1 - 1) |
FLEXCAN_FDCBT_FPSEG2(dbt->phase_seg2 - 1) |
FLEXCAN_FDCBT_FRJW(dbt->sjw - 1) |
FLEXCAN_FDCBT_FPROPSEG(dbt->prop_seg);
priv->write(reg, &regs->fdcbt);
- }

- /* print chip status */
- netdev_dbg(dev, "%s: mcr=0x%08x ctrl=0x%08x\n", __func__,
- priv->read(&regs->mcr), priv->read(&regs->ctrl));
+ if (bt->brp != dbt->brp)
+ netdev_warn(dev, "PRESDIV not the same, may risk transfer errors\n");
+
+ netdev_dbg(dev, "fdbt: prediv %d seg1 %d seg2 %d rjw %d propseg %d\n",
+ dbt->brp - 1, dbt->phase_seg1 - 1, dbt->phase_seg2 - 1,
+ dbt->sjw - 1, dbt->prop_seg);
+
+ netdev_dbg(dev, "%s: mcr=0x%08x ctrl=0x%08x cbt=0x%08x fdcbt=0x%08x\n",
+ __func__, priv->read(&regs->mcr),
+ priv->read(&regs->ctrl),
+ priv->read(&regs->cbt),
+ priv->read(&regs->fdcbt));
+ } else {
+ reg = priv->read(&regs->ctrl);
+ reg &= ~(FLEXCAN_CTRL_PRESDIV(0xff) |
+ FLEXCAN_CTRL_RJW(0x3) |
+ FLEXCAN_CTRL_PSEG1(0x7) |
+ FLEXCAN_CTRL_PSEG2(0x7) |
+ FLEXCAN_CTRL_PROPSEG(0x7));
+
+ reg |= FLEXCAN_CTRL_PRESDIV(bt->brp - 1) |
+ FLEXCAN_CTRL_PSEG1(bt->phase_seg1 - 1) |
+ FLEXCAN_CTRL_PSEG2(bt->phase_seg2 - 1) |
+ FLEXCAN_CTRL_RJW(bt->sjw - 1) |
+ FLEXCAN_CTRL_PROPSEG(bt->prop_seg - 1);
+ priv->write(reg, &regs->ctrl);
+
+ netdev_dbg(dev, "bt: prediv %d seg1 %d seg2 %d rjw %d propseg %d\n",
+ bt->brp - 1, bt->phase_seg1 - 1, bt->phase_seg2 - 1,
+ bt->sjw - 1, bt->prop_seg - 1);
+
+ /* print chip status */
+ netdev_dbg(dev, "%s: mcr=0x%08x ctrl=0x%08x\n", __func__,
+ priv->read(&regs->mcr), priv->read(&regs->ctrl));
+ }
}

/* flexcan_chip_start
@@ -1199,6 +1256,13 @@ static int flexcan_chip_start(struct net_device *dev)
priv->write(reg_mcr | FLEXCAN_MCR_FDEN, &regs->mcr);
}

+ if ((priv->can.ctrlmode_supported & CAN_CTRLMODE_FD) &&
+ !(priv->can.ctrlmode & CAN_CTRLMODE_FD)) {
+ netdev_err(dev, "fd mode must be enabled\n");
+ err = -EOPNOTSUPP;
+ goto out_chip_disable;
+ }
+
if ((priv->devtype_data->quirks & FLEXCAN_QUIRK_ENABLE_EACEN_RRS)) {
reg_ctrl2 = priv->read(&regs->ctrl2);
reg_ctrl2 |= FLEXCAN_CTRL2_EACEN | FLEXCAN_CTRL2_RRS;
@@ -1683,6 +1747,7 @@ static int flexcan_probe(struct platform_device *pdev)
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_USE_OFF_TIMESTAMP) {
priv->offload.is_canfd = true;
priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
+ priv->can.bittiming_const = &flexcan_fd_bittiming_const;
priv->can.data_bittiming_const = &flexcan_fd_data_bittiming_const;
} else {
dev_err(&pdev->dev, "canfd mode can't work on fifo mode\n");
--
2.17.1
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