at91_can.c revision 44d856665789288859b7aa47ca25933c1c6ab57d
1/* 2 * at91_can.c - CAN network driver for AT91 SoC CAN controller 3 * 4 * (C) 2007 by Hans J. Koch <hjk@hansjkoch.de> 5 * (C) 2008, 2009, 2010, 2011 by Marc Kleine-Budde <kernel@pengutronix.de> 6 * 7 * This software may be distributed under the terms of the GNU General 8 * Public License ("GPL") version 2 as distributed in the 'COPYING' 9 * file from the main directory of the linux kernel source. 10 * 11 * Send feedback to <socketcan-users@lists.berlios.de> 12 * 13 * 14 * Your platform definition file should specify something like: 15 * 16 * static struct at91_can_data ek_can_data = { 17 * transceiver_switch = sam9263ek_transceiver_switch, 18 * }; 19 * 20 * at91_add_device_can(&ek_can_data); 21 * 22 */ 23 24#include <linux/clk.h> 25#include <linux/errno.h> 26#include <linux/if_arp.h> 27#include <linux/init.h> 28#include <linux/interrupt.h> 29#include <linux/kernel.h> 30#include <linux/module.h> 31#include <linux/netdevice.h> 32#include <linux/platform_device.h> 33#include <linux/rtnetlink.h> 34#include <linux/skbuff.h> 35#include <linux/spinlock.h> 36#include <linux/string.h> 37#include <linux/types.h> 38 39#include <linux/can/dev.h> 40#include <linux/can/error.h> 41 42#include <mach/board.h> 43 44#define AT91_NAPI_WEIGHT 11 45 46/* 47 * RX/TX Mailbox split 48 * don't dare to touch 49 */ 50#define AT91_MB_RX_NUM 11 51#define AT91_MB_TX_SHIFT 2 52 53#define AT91_MB_RX_FIRST 1 54#define AT91_MB_RX_LAST (AT91_MB_RX_FIRST + AT91_MB_RX_NUM - 1) 55 56#define AT91_MB_RX_MASK(i) ((1 << (i)) - 1) 57#define AT91_MB_RX_SPLIT 8 58#define AT91_MB_RX_LOW_LAST (AT91_MB_RX_SPLIT - 1) 59#define AT91_MB_RX_LOW_MASK (AT91_MB_RX_MASK(AT91_MB_RX_SPLIT) & \ 60 ~AT91_MB_RX_MASK(AT91_MB_RX_FIRST)) 61 62#define AT91_MB_TX_NUM (1 << AT91_MB_TX_SHIFT) 63#define AT91_MB_TX_FIRST (AT91_MB_RX_LAST + 1) 64#define AT91_MB_TX_LAST (AT91_MB_TX_FIRST + AT91_MB_TX_NUM - 1) 65 66#define AT91_NEXT_PRIO_SHIFT (AT91_MB_TX_SHIFT) 67#define AT91_NEXT_PRIO_MASK (0xf << AT91_MB_TX_SHIFT) 68#define AT91_NEXT_MB_MASK (AT91_MB_TX_NUM - 1) 69#define AT91_NEXT_MASK ((AT91_MB_TX_NUM - 1) | AT91_NEXT_PRIO_MASK) 70 71/* Common registers */ 72enum at91_reg { 73 AT91_MR = 0x000, 74 AT91_IER = 0x004, 75 AT91_IDR = 0x008, 76 AT91_IMR = 0x00C, 77 AT91_SR = 0x010, 78 AT91_BR = 0x014, 79 AT91_TIM = 0x018, 80 AT91_TIMESTP = 0x01C, 81 AT91_ECR = 0x020, 82 AT91_TCR = 0x024, 83 AT91_ACR = 0x028, 84}; 85 86/* Mailbox registers (0 <= i <= 15) */ 87#define AT91_MMR(i) (enum at91_reg)(0x200 + ((i) * 0x20)) 88#define AT91_MAM(i) (enum at91_reg)(0x204 + ((i) * 0x20)) 89#define AT91_MID(i) (enum at91_reg)(0x208 + ((i) * 0x20)) 90#define AT91_MFID(i) (enum at91_reg)(0x20C + ((i) * 0x20)) 91#define AT91_MSR(i) (enum at91_reg)(0x210 + ((i) * 0x20)) 92#define AT91_MDL(i) (enum at91_reg)(0x214 + ((i) * 0x20)) 93#define AT91_MDH(i) (enum at91_reg)(0x218 + ((i) * 0x20)) 94#define AT91_MCR(i) (enum at91_reg)(0x21C + ((i) * 0x20)) 95 96/* Register bits */ 97#define AT91_MR_CANEN BIT(0) 98#define AT91_MR_LPM BIT(1) 99#define AT91_MR_ABM BIT(2) 100#define AT91_MR_OVL BIT(3) 101#define AT91_MR_TEOF BIT(4) 102#define AT91_MR_TTM BIT(5) 103#define AT91_MR_TIMFRZ BIT(6) 104#define AT91_MR_DRPT BIT(7) 105 106#define AT91_SR_RBSY BIT(29) 107 108#define AT91_MMR_PRIO_SHIFT (16) 109 110#define AT91_MID_MIDE BIT(29) 111 112#define AT91_MSR_MRTR BIT(20) 113#define AT91_MSR_MABT BIT(22) 114#define AT91_MSR_MRDY BIT(23) 115#define AT91_MSR_MMI BIT(24) 116 117#define AT91_MCR_MRTR BIT(20) 118#define AT91_MCR_MTCR BIT(23) 119 120/* Mailbox Modes */ 121enum at91_mb_mode { 122 AT91_MB_MODE_DISABLED = 0, 123 AT91_MB_MODE_RX = 1, 124 AT91_MB_MODE_RX_OVRWR = 2, 125 AT91_MB_MODE_TX = 3, 126 AT91_MB_MODE_CONSUMER = 4, 127 AT91_MB_MODE_PRODUCER = 5, 128}; 129 130/* Interrupt mask bits */ 131#define AT91_IRQ_MB_RX ((1 << (AT91_MB_RX_LAST + 1)) \ 132 - (1 << AT91_MB_RX_FIRST)) 133#define AT91_IRQ_MB_TX ((1 << (AT91_MB_TX_LAST + 1)) \ 134 - (1 << AT91_MB_TX_FIRST)) 135#define AT91_IRQ_MB_ALL (AT91_IRQ_MB_RX | AT91_IRQ_MB_TX) 136 137#define AT91_IRQ_ERRA (1 << 16) 138#define AT91_IRQ_WARN (1 << 17) 139#define AT91_IRQ_ERRP (1 << 18) 140#define AT91_IRQ_BOFF (1 << 19) 141#define AT91_IRQ_SLEEP (1 << 20) 142#define AT91_IRQ_WAKEUP (1 << 21) 143#define AT91_IRQ_TOVF (1 << 22) 144#define AT91_IRQ_TSTP (1 << 23) 145#define AT91_IRQ_CERR (1 << 24) 146#define AT91_IRQ_SERR (1 << 25) 147#define AT91_IRQ_AERR (1 << 26) 148#define AT91_IRQ_FERR (1 << 27) 149#define AT91_IRQ_BERR (1 << 28) 150 151#define AT91_IRQ_ERR_ALL (0x1fff0000) 152#define AT91_IRQ_ERR_FRAME (AT91_IRQ_CERR | AT91_IRQ_SERR | \ 153 AT91_IRQ_AERR | AT91_IRQ_FERR | AT91_IRQ_BERR) 154#define AT91_IRQ_ERR_LINE (AT91_IRQ_ERRA | AT91_IRQ_WARN | \ 155 AT91_IRQ_ERRP | AT91_IRQ_BOFF) 156 157#define AT91_IRQ_ALL (0x1fffffff) 158 159struct at91_priv { 160 struct can_priv can; /* must be the first member! */ 161 struct net_device *dev; 162 struct napi_struct napi; 163 164 void __iomem *reg_base; 165 166 u32 reg_sr; 167 unsigned int tx_next; 168 unsigned int tx_echo; 169 unsigned int rx_next; 170 171 struct clk *clk; 172 struct at91_can_data *pdata; 173 174 canid_t mb0_id; 175}; 176 177static struct can_bittiming_const at91_bittiming_const = { 178 .name = KBUILD_MODNAME, 179 .tseg1_min = 4, 180 .tseg1_max = 16, 181 .tseg2_min = 2, 182 .tseg2_max = 8, 183 .sjw_max = 4, 184 .brp_min = 2, 185 .brp_max = 128, 186 .brp_inc = 1, 187}; 188 189static inline int get_tx_next_mb(const struct at91_priv *priv) 190{ 191 return (priv->tx_next & AT91_NEXT_MB_MASK) + AT91_MB_TX_FIRST; 192} 193 194static inline int get_tx_next_prio(const struct at91_priv *priv) 195{ 196 return (priv->tx_next >> AT91_NEXT_PRIO_SHIFT) & 0xf; 197} 198 199static inline int get_tx_echo_mb(const struct at91_priv *priv) 200{ 201 return (priv->tx_echo & AT91_NEXT_MB_MASK) + AT91_MB_TX_FIRST; 202} 203 204static inline u32 at91_read(const struct at91_priv *priv, enum at91_reg reg) 205{ 206 return __raw_readl(priv->reg_base + reg); 207} 208 209static inline void at91_write(const struct at91_priv *priv, enum at91_reg reg, 210 u32 value) 211{ 212 __raw_writel(value, priv->reg_base + reg); 213} 214 215static inline void set_mb_mode_prio(const struct at91_priv *priv, 216 unsigned int mb, enum at91_mb_mode mode, int prio) 217{ 218 at91_write(priv, AT91_MMR(mb), (mode << 24) | (prio << 16)); 219} 220 221static inline void set_mb_mode(const struct at91_priv *priv, unsigned int mb, 222 enum at91_mb_mode mode) 223{ 224 set_mb_mode_prio(priv, mb, mode, 0); 225} 226 227static inline u32 at91_can_id_to_reg_mid(canid_t can_id) 228{ 229 u32 reg_mid; 230 231 if (can_id & CAN_EFF_FLAG) 232 reg_mid = (can_id & CAN_EFF_MASK) | AT91_MID_MIDE; 233 else 234 reg_mid = (can_id & CAN_SFF_MASK) << 18; 235 236 return reg_mid; 237} 238 239/* 240 * Swtich transceiver on or off 241 */ 242static void at91_transceiver_switch(const struct at91_priv *priv, int on) 243{ 244 if (priv->pdata && priv->pdata->transceiver_switch) 245 priv->pdata->transceiver_switch(on); 246} 247 248static void at91_setup_mailboxes(struct net_device *dev) 249{ 250 struct at91_priv *priv = netdev_priv(dev); 251 unsigned int i; 252 u32 reg_mid; 253 254 /* 255 * Due to a chip bug (errata 50.2.6.3 & 50.3.5.3) the first 256 * mailbox is disabled. The next 11 mailboxes are used as a 257 * reception FIFO. The last mailbox is configured with 258 * overwrite option. The overwrite flag indicates a FIFO 259 * overflow. 260 */ 261 reg_mid = at91_can_id_to_reg_mid(priv->mb0_id); 262 for (i = 0; i < AT91_MB_RX_FIRST; i++) { 263 set_mb_mode(priv, i, AT91_MB_MODE_DISABLED); 264 at91_write(priv, AT91_MID(i), reg_mid); 265 at91_write(priv, AT91_MCR(i), 0x0); /* clear dlc */ 266 } 267 268 for (i = AT91_MB_RX_FIRST; i < AT91_MB_RX_LAST; i++) 269 set_mb_mode(priv, i, AT91_MB_MODE_RX); 270 set_mb_mode(priv, AT91_MB_RX_LAST, AT91_MB_MODE_RX_OVRWR); 271 272 /* reset acceptance mask and id register */ 273 for (i = AT91_MB_RX_FIRST; i <= AT91_MB_RX_LAST; i++) { 274 at91_write(priv, AT91_MAM(i), 0x0); 275 at91_write(priv, AT91_MID(i), AT91_MID_MIDE); 276 } 277 278 /* The last 4 mailboxes are used for transmitting. */ 279 for (i = AT91_MB_TX_FIRST; i <= AT91_MB_TX_LAST; i++) 280 set_mb_mode_prio(priv, i, AT91_MB_MODE_TX, 0); 281 282 /* Reset tx and rx helper pointers */ 283 priv->tx_next = priv->tx_echo = 0; 284 priv->rx_next = AT91_MB_RX_FIRST; 285} 286 287static int at91_set_bittiming(struct net_device *dev) 288{ 289 const struct at91_priv *priv = netdev_priv(dev); 290 const struct can_bittiming *bt = &priv->can.bittiming; 291 u32 reg_br; 292 293 reg_br = ((priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES) ? 1 << 24 : 0) | 294 ((bt->brp - 1) << 16) | ((bt->sjw - 1) << 12) | 295 ((bt->prop_seg - 1) << 8) | ((bt->phase_seg1 - 1) << 4) | 296 ((bt->phase_seg2 - 1) << 0); 297 298 netdev_info(dev, "writing AT91_BR: 0x%08x\n", reg_br); 299 300 at91_write(priv, AT91_BR, reg_br); 301 302 return 0; 303} 304 305static int at91_get_berr_counter(const struct net_device *dev, 306 struct can_berr_counter *bec) 307{ 308 const struct at91_priv *priv = netdev_priv(dev); 309 u32 reg_ecr = at91_read(priv, AT91_ECR); 310 311 bec->rxerr = reg_ecr & 0xff; 312 bec->txerr = reg_ecr >> 16; 313 314 return 0; 315} 316 317static void at91_chip_start(struct net_device *dev) 318{ 319 struct at91_priv *priv = netdev_priv(dev); 320 u32 reg_mr, reg_ier; 321 322 /* disable interrupts */ 323 at91_write(priv, AT91_IDR, AT91_IRQ_ALL); 324 325 /* disable chip */ 326 reg_mr = at91_read(priv, AT91_MR); 327 at91_write(priv, AT91_MR, reg_mr & ~AT91_MR_CANEN); 328 329 at91_set_bittiming(dev); 330 at91_setup_mailboxes(dev); 331 at91_transceiver_switch(priv, 1); 332 333 /* enable chip */ 334 at91_write(priv, AT91_MR, AT91_MR_CANEN); 335 336 priv->can.state = CAN_STATE_ERROR_ACTIVE; 337 338 /* Enable interrupts */ 339 reg_ier = AT91_IRQ_MB_RX | AT91_IRQ_ERRP | AT91_IRQ_ERR_FRAME; 340 at91_write(priv, AT91_IDR, AT91_IRQ_ALL); 341 at91_write(priv, AT91_IER, reg_ier); 342} 343 344static void at91_chip_stop(struct net_device *dev, enum can_state state) 345{ 346 struct at91_priv *priv = netdev_priv(dev); 347 u32 reg_mr; 348 349 /* disable interrupts */ 350 at91_write(priv, AT91_IDR, AT91_IRQ_ALL); 351 352 reg_mr = at91_read(priv, AT91_MR); 353 at91_write(priv, AT91_MR, reg_mr & ~AT91_MR_CANEN); 354 355 at91_transceiver_switch(priv, 0); 356 priv->can.state = state; 357} 358 359/* 360 * theory of operation: 361 * 362 * According to the datasheet priority 0 is the highest priority, 15 363 * is the lowest. If two mailboxes have the same priority level the 364 * message of the mailbox with the lowest number is sent first. 365 * 366 * We use the first TX mailbox (AT91_MB_TX_FIRST) with prio 0, then 367 * the next mailbox with prio 0, and so on, until all mailboxes are 368 * used. Then we start from the beginning with mailbox 369 * AT91_MB_TX_FIRST, but with prio 1, mailbox AT91_MB_TX_FIRST + 1 370 * prio 1. When we reach the last mailbox with prio 15, we have to 371 * stop sending, waiting for all messages to be delivered, then start 372 * again with mailbox AT91_MB_TX_FIRST prio 0. 373 * 374 * We use the priv->tx_next as counter for the next transmission 375 * mailbox, but without the offset AT91_MB_TX_FIRST. The lower bits 376 * encode the mailbox number, the upper 4 bits the mailbox priority: 377 * 378 * priv->tx_next = (prio << AT91_NEXT_PRIO_SHIFT) || 379 * (mb - AT91_MB_TX_FIRST); 380 * 381 */ 382static netdev_tx_t at91_start_xmit(struct sk_buff *skb, struct net_device *dev) 383{ 384 struct at91_priv *priv = netdev_priv(dev); 385 struct net_device_stats *stats = &dev->stats; 386 struct can_frame *cf = (struct can_frame *)skb->data; 387 unsigned int mb, prio; 388 u32 reg_mid, reg_mcr; 389 390 if (can_dropped_invalid_skb(dev, skb)) 391 return NETDEV_TX_OK; 392 393 mb = get_tx_next_mb(priv); 394 prio = get_tx_next_prio(priv); 395 396 if (unlikely(!(at91_read(priv, AT91_MSR(mb)) & AT91_MSR_MRDY))) { 397 netif_stop_queue(dev); 398 399 netdev_err(dev, "BUG! TX buffer full when queue awake!\n"); 400 return NETDEV_TX_BUSY; 401 } 402 reg_mid = at91_can_id_to_reg_mid(cf->can_id); 403 reg_mcr = ((cf->can_id & CAN_RTR_FLAG) ? AT91_MCR_MRTR : 0) | 404 (cf->can_dlc << 16) | AT91_MCR_MTCR; 405 406 /* disable MB while writing ID (see datasheet) */ 407 set_mb_mode(priv, mb, AT91_MB_MODE_DISABLED); 408 at91_write(priv, AT91_MID(mb), reg_mid); 409 set_mb_mode_prio(priv, mb, AT91_MB_MODE_TX, prio); 410 411 at91_write(priv, AT91_MDL(mb), *(u32 *)(cf->data + 0)); 412 at91_write(priv, AT91_MDH(mb), *(u32 *)(cf->data + 4)); 413 414 /* This triggers transmission */ 415 at91_write(priv, AT91_MCR(mb), reg_mcr); 416 417 stats->tx_bytes += cf->can_dlc; 418 419 /* _NOTE_: subtract AT91_MB_TX_FIRST offset from mb! */ 420 can_put_echo_skb(skb, dev, mb - AT91_MB_TX_FIRST); 421 422 /* 423 * we have to stop the queue and deliver all messages in case 424 * of a prio+mb counter wrap around. This is the case if 425 * tx_next buffer prio and mailbox equals 0. 426 * 427 * also stop the queue if next buffer is still in use 428 * (== not ready) 429 */ 430 priv->tx_next++; 431 if (!(at91_read(priv, AT91_MSR(get_tx_next_mb(priv))) & 432 AT91_MSR_MRDY) || 433 (priv->tx_next & AT91_NEXT_MASK) == 0) 434 netif_stop_queue(dev); 435 436 /* Enable interrupt for this mailbox */ 437 at91_write(priv, AT91_IER, 1 << mb); 438 439 return NETDEV_TX_OK; 440} 441 442/** 443 * at91_activate_rx_low - activate lower rx mailboxes 444 * @priv: a91 context 445 * 446 * Reenables the lower mailboxes for reception of new CAN messages 447 */ 448static inline void at91_activate_rx_low(const struct at91_priv *priv) 449{ 450 u32 mask = AT91_MB_RX_LOW_MASK; 451 at91_write(priv, AT91_TCR, mask); 452} 453 454/** 455 * at91_activate_rx_mb - reactive single rx mailbox 456 * @priv: a91 context 457 * @mb: mailbox to reactivate 458 * 459 * Reenables given mailbox for reception of new CAN messages 460 */ 461static inline void at91_activate_rx_mb(const struct at91_priv *priv, 462 unsigned int mb) 463{ 464 u32 mask = 1 << mb; 465 at91_write(priv, AT91_TCR, mask); 466} 467 468/** 469 * at91_rx_overflow_err - send error frame due to rx overflow 470 * @dev: net device 471 */ 472static void at91_rx_overflow_err(struct net_device *dev) 473{ 474 struct net_device_stats *stats = &dev->stats; 475 struct sk_buff *skb; 476 struct can_frame *cf; 477 478 netdev_dbg(dev, "RX buffer overflow\n"); 479 stats->rx_over_errors++; 480 stats->rx_errors++; 481 482 skb = alloc_can_err_skb(dev, &cf); 483 if (unlikely(!skb)) 484 return; 485 486 cf->can_id |= CAN_ERR_CRTL; 487 cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; 488 netif_receive_skb(skb); 489 490 stats->rx_packets++; 491 stats->rx_bytes += cf->can_dlc; 492} 493 494/** 495 * at91_read_mb - read CAN msg from mailbox (lowlevel impl) 496 * @dev: net device 497 * @mb: mailbox number to read from 498 * @cf: can frame where to store message 499 * 500 * Reads a CAN message from the given mailbox and stores data into 501 * given can frame. "mb" and "cf" must be valid. 502 */ 503static void at91_read_mb(struct net_device *dev, unsigned int mb, 504 struct can_frame *cf) 505{ 506 const struct at91_priv *priv = netdev_priv(dev); 507 u32 reg_msr, reg_mid; 508 509 reg_mid = at91_read(priv, AT91_MID(mb)); 510 if (reg_mid & AT91_MID_MIDE) 511 cf->can_id = ((reg_mid >> 0) & CAN_EFF_MASK) | CAN_EFF_FLAG; 512 else 513 cf->can_id = (reg_mid >> 18) & CAN_SFF_MASK; 514 515 reg_msr = at91_read(priv, AT91_MSR(mb)); 516 if (reg_msr & AT91_MSR_MRTR) 517 cf->can_id |= CAN_RTR_FLAG; 518 cf->can_dlc = get_can_dlc((reg_msr >> 16) & 0xf); 519 520 *(u32 *)(cf->data + 0) = at91_read(priv, AT91_MDL(mb)); 521 *(u32 *)(cf->data + 4) = at91_read(priv, AT91_MDH(mb)); 522 523 /* allow RX of extended frames */ 524 at91_write(priv, AT91_MID(mb), AT91_MID_MIDE); 525 526 if (unlikely(mb == AT91_MB_RX_LAST && reg_msr & AT91_MSR_MMI)) 527 at91_rx_overflow_err(dev); 528} 529 530/** 531 * at91_read_msg - read CAN message from mailbox 532 * @dev: net device 533 * @mb: mail box to read from 534 * 535 * Reads a CAN message from given mailbox, and put into linux network 536 * RX queue, does all housekeeping chores (stats, ...) 537 */ 538static void at91_read_msg(struct net_device *dev, unsigned int mb) 539{ 540 struct net_device_stats *stats = &dev->stats; 541 struct can_frame *cf; 542 struct sk_buff *skb; 543 544 skb = alloc_can_skb(dev, &cf); 545 if (unlikely(!skb)) { 546 stats->rx_dropped++; 547 return; 548 } 549 550 at91_read_mb(dev, mb, cf); 551 netif_receive_skb(skb); 552 553 stats->rx_packets++; 554 stats->rx_bytes += cf->can_dlc; 555} 556 557/** 558 * at91_poll_rx - read multiple CAN messages from mailboxes 559 * @dev: net device 560 * @quota: max number of pkgs we're allowed to receive 561 * 562 * Theory of Operation: 563 * 564 * 11 of the 16 mailboxes on the chip are reserved for RX. we split 565 * them into 2 groups. The lower group holds 7 and upper 4 mailboxes. 566 * 567 * Like it or not, but the chip always saves a received CAN message 568 * into the first free mailbox it finds (starting with the 569 * lowest). This makes it very difficult to read the messages in the 570 * right order from the chip. This is how we work around that problem: 571 * 572 * The first message goes into mb nr. 1 and issues an interrupt. All 573 * rx ints are disabled in the interrupt handler and a napi poll is 574 * scheduled. We read the mailbox, but do _not_ reenable the mb (to 575 * receive another message). 576 * 577 * lower mbxs upper 578 * ____^______ __^__ 579 * / \ / \ 580 * +-+-+-+-+-+-+-+-++-+-+-+-+ 581 * | |x|x|x|x|x|x|x|| | | | | 582 * +-+-+-+-+-+-+-+-++-+-+-+-+ 583 * 0 0 0 0 0 0 0 0 0 0 1 1 \ mail 584 * 0 1 2 3 4 5 6 7 8 9 0 1 / box 585 * ^ 586 * | 587 * \ 588 * unused, due to chip bug 589 * 590 * The variable priv->rx_next points to the next mailbox to read a 591 * message from. As long we're in the lower mailboxes we just read the 592 * mailbox but not reenable it. 593 * 594 * With completion of the last of the lower mailboxes, we reenable the 595 * whole first group, but continue to look for filled mailboxes in the 596 * upper mailboxes. Imagine the second group like overflow mailboxes, 597 * which takes CAN messages if the lower goup is full. While in the 598 * upper group we reenable the mailbox right after reading it. Giving 599 * the chip more room to store messages. 600 * 601 * After finishing we look again in the lower group if we've still 602 * quota. 603 * 604 */ 605static int at91_poll_rx(struct net_device *dev, int quota) 606{ 607 struct at91_priv *priv = netdev_priv(dev); 608 u32 reg_sr = at91_read(priv, AT91_SR); 609 const unsigned long *addr = (unsigned long *)®_sr; 610 unsigned int mb; 611 int received = 0; 612 613 if (priv->rx_next > AT91_MB_RX_LOW_LAST && 614 reg_sr & AT91_MB_RX_LOW_MASK) 615 netdev_info(dev, 616 "order of incoming frames cannot be guaranteed\n"); 617 618 again: 619 for (mb = find_next_bit(addr, AT91_MB_RX_LAST + 1, priv->rx_next); 620 mb < AT91_MB_RX_LAST + 1 && quota > 0; 621 reg_sr = at91_read(priv, AT91_SR), 622 mb = find_next_bit(addr, AT91_MB_RX_LAST + 1, ++priv->rx_next)) { 623 at91_read_msg(dev, mb); 624 625 /* reactivate mailboxes */ 626 if (mb == AT91_MB_RX_LOW_LAST) 627 /* all lower mailboxed, if just finished it */ 628 at91_activate_rx_low(priv); 629 else if (mb > AT91_MB_RX_LOW_LAST) 630 /* only the mailbox we read */ 631 at91_activate_rx_mb(priv, mb); 632 633 received++; 634 quota--; 635 } 636 637 /* upper group completed, look again in lower */ 638 if (priv->rx_next > AT91_MB_RX_LOW_LAST && 639 quota > 0 && mb > AT91_MB_RX_LAST) { 640 priv->rx_next = AT91_MB_RX_FIRST; 641 goto again; 642 } 643 644 return received; 645} 646 647static void at91_poll_err_frame(struct net_device *dev, 648 struct can_frame *cf, u32 reg_sr) 649{ 650 struct at91_priv *priv = netdev_priv(dev); 651 652 /* CRC error */ 653 if (reg_sr & AT91_IRQ_CERR) { 654 netdev_dbg(dev, "CERR irq\n"); 655 dev->stats.rx_errors++; 656 priv->can.can_stats.bus_error++; 657 cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; 658 } 659 660 /* Stuffing Error */ 661 if (reg_sr & AT91_IRQ_SERR) { 662 netdev_dbg(dev, "SERR irq\n"); 663 dev->stats.rx_errors++; 664 priv->can.can_stats.bus_error++; 665 cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; 666 cf->data[2] |= CAN_ERR_PROT_STUFF; 667 } 668 669 /* Acknowledgement Error */ 670 if (reg_sr & AT91_IRQ_AERR) { 671 netdev_dbg(dev, "AERR irq\n"); 672 dev->stats.tx_errors++; 673 cf->can_id |= CAN_ERR_ACK; 674 } 675 676 /* Form error */ 677 if (reg_sr & AT91_IRQ_FERR) { 678 netdev_dbg(dev, "FERR irq\n"); 679 dev->stats.rx_errors++; 680 priv->can.can_stats.bus_error++; 681 cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; 682 cf->data[2] |= CAN_ERR_PROT_FORM; 683 } 684 685 /* Bit Error */ 686 if (reg_sr & AT91_IRQ_BERR) { 687 netdev_dbg(dev, "BERR irq\n"); 688 dev->stats.tx_errors++; 689 priv->can.can_stats.bus_error++; 690 cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; 691 cf->data[2] |= CAN_ERR_PROT_BIT; 692 } 693} 694 695static int at91_poll_err(struct net_device *dev, int quota, u32 reg_sr) 696{ 697 struct sk_buff *skb; 698 struct can_frame *cf; 699 700 if (quota == 0) 701 return 0; 702 703 skb = alloc_can_err_skb(dev, &cf); 704 if (unlikely(!skb)) 705 return 0; 706 707 at91_poll_err_frame(dev, cf, reg_sr); 708 netif_receive_skb(skb); 709 710 dev->stats.rx_packets++; 711 dev->stats.rx_bytes += cf->can_dlc; 712 713 return 1; 714} 715 716static int at91_poll(struct napi_struct *napi, int quota) 717{ 718 struct net_device *dev = napi->dev; 719 const struct at91_priv *priv = netdev_priv(dev); 720 u32 reg_sr = at91_read(priv, AT91_SR); 721 int work_done = 0; 722 723 if (reg_sr & AT91_IRQ_MB_RX) 724 work_done += at91_poll_rx(dev, quota - work_done); 725 726 /* 727 * The error bits are clear on read, 728 * so use saved value from irq handler. 729 */ 730 reg_sr |= priv->reg_sr; 731 if (reg_sr & AT91_IRQ_ERR_FRAME) 732 work_done += at91_poll_err(dev, quota - work_done, reg_sr); 733 734 if (work_done < quota) { 735 /* enable IRQs for frame errors and all mailboxes >= rx_next */ 736 u32 reg_ier = AT91_IRQ_ERR_FRAME; 737 reg_ier |= AT91_IRQ_MB_RX & ~AT91_MB_RX_MASK(priv->rx_next); 738 739 napi_complete(napi); 740 at91_write(priv, AT91_IER, reg_ier); 741 } 742 743 return work_done; 744} 745 746/* 747 * theory of operation: 748 * 749 * priv->tx_echo holds the number of the oldest can_frame put for 750 * transmission into the hardware, but not yet ACKed by the CAN tx 751 * complete IRQ. 752 * 753 * We iterate from priv->tx_echo to priv->tx_next and check if the 754 * packet has been transmitted, echo it back to the CAN framework. If 755 * we discover a not yet transmitted package, stop looking for more. 756 * 757 */ 758static void at91_irq_tx(struct net_device *dev, u32 reg_sr) 759{ 760 struct at91_priv *priv = netdev_priv(dev); 761 u32 reg_msr; 762 unsigned int mb; 763 764 /* masking of reg_sr not needed, already done by at91_irq */ 765 766 for (/* nix */; (priv->tx_next - priv->tx_echo) > 0; priv->tx_echo++) { 767 mb = get_tx_echo_mb(priv); 768 769 /* no event in mailbox? */ 770 if (!(reg_sr & (1 << mb))) 771 break; 772 773 /* Disable irq for this TX mailbox */ 774 at91_write(priv, AT91_IDR, 1 << mb); 775 776 /* 777 * only echo if mailbox signals us a transfer 778 * complete (MSR_MRDY). Otherwise it's a tansfer 779 * abort. "can_bus_off()" takes care about the skbs 780 * parked in the echo queue. 781 */ 782 reg_msr = at91_read(priv, AT91_MSR(mb)); 783 if (likely(reg_msr & AT91_MSR_MRDY && 784 ~reg_msr & AT91_MSR_MABT)) { 785 /* _NOTE_: subtract AT91_MB_TX_FIRST offset from mb! */ 786 can_get_echo_skb(dev, mb - AT91_MB_TX_FIRST); 787 dev->stats.tx_packets++; 788 } 789 } 790 791 /* 792 * restart queue if we don't have a wrap around but restart if 793 * we get a TX int for the last can frame directly before a 794 * wrap around. 795 */ 796 if ((priv->tx_next & AT91_NEXT_MASK) != 0 || 797 (priv->tx_echo & AT91_NEXT_MASK) == 0) 798 netif_wake_queue(dev); 799} 800 801static void at91_irq_err_state(struct net_device *dev, 802 struct can_frame *cf, enum can_state new_state) 803{ 804 struct at91_priv *priv = netdev_priv(dev); 805 u32 reg_idr = 0, reg_ier = 0; 806 struct can_berr_counter bec; 807 808 at91_get_berr_counter(dev, &bec); 809 810 switch (priv->can.state) { 811 case CAN_STATE_ERROR_ACTIVE: 812 /* 813 * from: ERROR_ACTIVE 814 * to : ERROR_WARNING, ERROR_PASSIVE, BUS_OFF 815 * => : there was a warning int 816 */ 817 if (new_state >= CAN_STATE_ERROR_WARNING && 818 new_state <= CAN_STATE_BUS_OFF) { 819 netdev_dbg(dev, "Error Warning IRQ\n"); 820 priv->can.can_stats.error_warning++; 821 822 cf->can_id |= CAN_ERR_CRTL; 823 cf->data[1] = (bec.txerr > bec.rxerr) ? 824 CAN_ERR_CRTL_TX_WARNING : 825 CAN_ERR_CRTL_RX_WARNING; 826 } 827 case CAN_STATE_ERROR_WARNING: /* fallthrough */ 828 /* 829 * from: ERROR_ACTIVE, ERROR_WARNING 830 * to : ERROR_PASSIVE, BUS_OFF 831 * => : error passive int 832 */ 833 if (new_state >= CAN_STATE_ERROR_PASSIVE && 834 new_state <= CAN_STATE_BUS_OFF) { 835 netdev_dbg(dev, "Error Passive IRQ\n"); 836 priv->can.can_stats.error_passive++; 837 838 cf->can_id |= CAN_ERR_CRTL; 839 cf->data[1] = (bec.txerr > bec.rxerr) ? 840 CAN_ERR_CRTL_TX_PASSIVE : 841 CAN_ERR_CRTL_RX_PASSIVE; 842 } 843 break; 844 case CAN_STATE_BUS_OFF: 845 /* 846 * from: BUS_OFF 847 * to : ERROR_ACTIVE, ERROR_WARNING, ERROR_PASSIVE 848 */ 849 if (new_state <= CAN_STATE_ERROR_PASSIVE) { 850 cf->can_id |= CAN_ERR_RESTARTED; 851 852 netdev_dbg(dev, "restarted\n"); 853 priv->can.can_stats.restarts++; 854 855 netif_carrier_on(dev); 856 netif_wake_queue(dev); 857 } 858 break; 859 default: 860 break; 861 } 862 863 864 /* process state changes depending on the new state */ 865 switch (new_state) { 866 case CAN_STATE_ERROR_ACTIVE: 867 /* 868 * actually we want to enable AT91_IRQ_WARN here, but 869 * it screws up the system under certain 870 * circumstances. so just enable AT91_IRQ_ERRP, thus 871 * the "fallthrough" 872 */ 873 netdev_dbg(dev, "Error Active\n"); 874 cf->can_id |= CAN_ERR_PROT; 875 cf->data[2] = CAN_ERR_PROT_ACTIVE; 876 case CAN_STATE_ERROR_WARNING: /* fallthrough */ 877 reg_idr = AT91_IRQ_ERRA | AT91_IRQ_WARN | AT91_IRQ_BOFF; 878 reg_ier = AT91_IRQ_ERRP; 879 break; 880 case CAN_STATE_ERROR_PASSIVE: 881 reg_idr = AT91_IRQ_ERRA | AT91_IRQ_WARN | AT91_IRQ_ERRP; 882 reg_ier = AT91_IRQ_BOFF; 883 break; 884 case CAN_STATE_BUS_OFF: 885 reg_idr = AT91_IRQ_ERRA | AT91_IRQ_ERRP | 886 AT91_IRQ_WARN | AT91_IRQ_BOFF; 887 reg_ier = 0; 888 889 cf->can_id |= CAN_ERR_BUSOFF; 890 891 netdev_dbg(dev, "bus-off\n"); 892 netif_carrier_off(dev); 893 priv->can.can_stats.bus_off++; 894 895 /* turn off chip, if restart is disabled */ 896 if (!priv->can.restart_ms) { 897 at91_chip_stop(dev, CAN_STATE_BUS_OFF); 898 return; 899 } 900 break; 901 default: 902 break; 903 } 904 905 at91_write(priv, AT91_IDR, reg_idr); 906 at91_write(priv, AT91_IER, reg_ier); 907} 908 909static void at91_irq_err(struct net_device *dev) 910{ 911 struct at91_priv *priv = netdev_priv(dev); 912 struct sk_buff *skb; 913 struct can_frame *cf; 914 enum can_state new_state; 915 u32 reg_sr; 916 917 reg_sr = at91_read(priv, AT91_SR); 918 919 /* we need to look at the unmasked reg_sr */ 920 if (unlikely(reg_sr & AT91_IRQ_BOFF)) 921 new_state = CAN_STATE_BUS_OFF; 922 else if (unlikely(reg_sr & AT91_IRQ_ERRP)) 923 new_state = CAN_STATE_ERROR_PASSIVE; 924 else if (unlikely(reg_sr & AT91_IRQ_WARN)) 925 new_state = CAN_STATE_ERROR_WARNING; 926 else if (likely(reg_sr & AT91_IRQ_ERRA)) 927 new_state = CAN_STATE_ERROR_ACTIVE; 928 else { 929 netdev_err(dev, "BUG! hardware in undefined state\n"); 930 return; 931 } 932 933 /* state hasn't changed */ 934 if (likely(new_state == priv->can.state)) 935 return; 936 937 skb = alloc_can_err_skb(dev, &cf); 938 if (unlikely(!skb)) 939 return; 940 941 at91_irq_err_state(dev, cf, new_state); 942 netif_rx(skb); 943 944 dev->stats.rx_packets++; 945 dev->stats.rx_bytes += cf->can_dlc; 946 947 priv->can.state = new_state; 948} 949 950/* 951 * interrupt handler 952 */ 953static irqreturn_t at91_irq(int irq, void *dev_id) 954{ 955 struct net_device *dev = dev_id; 956 struct at91_priv *priv = netdev_priv(dev); 957 irqreturn_t handled = IRQ_NONE; 958 u32 reg_sr, reg_imr; 959 960 reg_sr = at91_read(priv, AT91_SR); 961 reg_imr = at91_read(priv, AT91_IMR); 962 963 /* Ignore masked interrupts */ 964 reg_sr &= reg_imr; 965 if (!reg_sr) 966 goto exit; 967 968 handled = IRQ_HANDLED; 969 970 /* Receive or error interrupt? -> napi */ 971 if (reg_sr & (AT91_IRQ_MB_RX | AT91_IRQ_ERR_FRAME)) { 972 /* 973 * The error bits are clear on read, 974 * save for later use. 975 */ 976 priv->reg_sr = reg_sr; 977 at91_write(priv, AT91_IDR, 978 AT91_IRQ_MB_RX | AT91_IRQ_ERR_FRAME); 979 napi_schedule(&priv->napi); 980 } 981 982 /* Transmission complete interrupt */ 983 if (reg_sr & AT91_IRQ_MB_TX) 984 at91_irq_tx(dev, reg_sr); 985 986 at91_irq_err(dev); 987 988 exit: 989 return handled; 990} 991 992static int at91_open(struct net_device *dev) 993{ 994 struct at91_priv *priv = netdev_priv(dev); 995 int err; 996 997 clk_enable(priv->clk); 998 999 /* check or determine and set bittime */ 1000 err = open_candev(dev); 1001 if (err) 1002 goto out; 1003 1004 /* register interrupt handler */ 1005 if (request_irq(dev->irq, at91_irq, IRQF_SHARED, 1006 dev->name, dev)) { 1007 err = -EAGAIN; 1008 goto out_close; 1009 } 1010 1011 /* start chip and queuing */ 1012 at91_chip_start(dev); 1013 napi_enable(&priv->napi); 1014 netif_start_queue(dev); 1015 1016 return 0; 1017 1018 out_close: 1019 close_candev(dev); 1020 out: 1021 clk_disable(priv->clk); 1022 1023 return err; 1024} 1025 1026/* 1027 * stop CAN bus activity 1028 */ 1029static int at91_close(struct net_device *dev) 1030{ 1031 struct at91_priv *priv = netdev_priv(dev); 1032 1033 netif_stop_queue(dev); 1034 napi_disable(&priv->napi); 1035 at91_chip_stop(dev, CAN_STATE_STOPPED); 1036 1037 free_irq(dev->irq, dev); 1038 clk_disable(priv->clk); 1039 1040 close_candev(dev); 1041 1042 return 0; 1043} 1044 1045static int at91_set_mode(struct net_device *dev, enum can_mode mode) 1046{ 1047 switch (mode) { 1048 case CAN_MODE_START: 1049 at91_chip_start(dev); 1050 netif_wake_queue(dev); 1051 break; 1052 1053 default: 1054 return -EOPNOTSUPP; 1055 } 1056 1057 return 0; 1058} 1059 1060static const struct net_device_ops at91_netdev_ops = { 1061 .ndo_open = at91_open, 1062 .ndo_stop = at91_close, 1063 .ndo_start_xmit = at91_start_xmit, 1064}; 1065 1066static ssize_t at91_sysfs_show_mb0_id(struct device *dev, 1067 struct device_attribute *attr, char *buf) 1068{ 1069 struct at91_priv *priv = netdev_priv(to_net_dev(dev)); 1070 1071 if (priv->mb0_id & CAN_EFF_FLAG) 1072 return snprintf(buf, PAGE_SIZE, "0x%08x\n", priv->mb0_id); 1073 else 1074 return snprintf(buf, PAGE_SIZE, "0x%03x\n", priv->mb0_id); 1075} 1076 1077static ssize_t at91_sysfs_set_mb0_id(struct device *dev, 1078 struct device_attribute *attr, const char *buf, size_t count) 1079{ 1080 struct net_device *ndev = to_net_dev(dev); 1081 struct at91_priv *priv = netdev_priv(ndev); 1082 unsigned long can_id; 1083 ssize_t ret; 1084 int err; 1085 1086 rtnl_lock(); 1087 1088 if (ndev->flags & IFF_UP) { 1089 ret = -EBUSY; 1090 goto out; 1091 } 1092 1093 err = strict_strtoul(buf, 0, &can_id); 1094 if (err) { 1095 ret = err; 1096 goto out; 1097 } 1098 1099 if (can_id & CAN_EFF_FLAG) 1100 can_id &= CAN_EFF_MASK | CAN_EFF_FLAG; 1101 else 1102 can_id &= CAN_SFF_MASK; 1103 1104 priv->mb0_id = can_id; 1105 ret = count; 1106 1107 out: 1108 rtnl_unlock(); 1109 return ret; 1110} 1111 1112static DEVICE_ATTR(mb0_id, S_IWUSR | S_IRUGO, 1113 at91_sysfs_show_mb0_id, at91_sysfs_set_mb0_id); 1114 1115static struct attribute *at91_sysfs_attrs[] = { 1116 &dev_attr_mb0_id.attr, 1117 NULL, 1118}; 1119 1120static struct attribute_group at91_sysfs_attr_group = { 1121 .attrs = at91_sysfs_attrs, 1122}; 1123 1124static int __devinit at91_can_probe(struct platform_device *pdev) 1125{ 1126 struct net_device *dev; 1127 struct at91_priv *priv; 1128 struct resource *res; 1129 struct clk *clk; 1130 void __iomem *addr; 1131 int err, irq; 1132 1133 clk = clk_get(&pdev->dev, "can_clk"); 1134 if (IS_ERR(clk)) { 1135 dev_err(&pdev->dev, "no clock defined\n"); 1136 err = -ENODEV; 1137 goto exit; 1138 } 1139 1140 res = platform_get_resource(pdev, IORESOURCE_MEM, 0); 1141 irq = platform_get_irq(pdev, 0); 1142 if (!res || irq <= 0) { 1143 err = -ENODEV; 1144 goto exit_put; 1145 } 1146 1147 if (!request_mem_region(res->start, 1148 resource_size(res), 1149 pdev->name)) { 1150 err = -EBUSY; 1151 goto exit_put; 1152 } 1153 1154 addr = ioremap_nocache(res->start, resource_size(res)); 1155 if (!addr) { 1156 err = -ENOMEM; 1157 goto exit_release; 1158 } 1159 1160 dev = alloc_candev(sizeof(struct at91_priv), AT91_MB_TX_NUM); 1161 if (!dev) { 1162 err = -ENOMEM; 1163 goto exit_iounmap; 1164 } 1165 1166 dev->netdev_ops = &at91_netdev_ops; 1167 dev->irq = irq; 1168 dev->flags |= IFF_ECHO; 1169 dev->sysfs_groups[0] = &at91_sysfs_attr_group; 1170 1171 priv = netdev_priv(dev); 1172 priv->can.clock.freq = clk_get_rate(clk); 1173 priv->can.bittiming_const = &at91_bittiming_const; 1174 priv->can.do_set_mode = at91_set_mode; 1175 priv->can.do_get_berr_counter = at91_get_berr_counter; 1176 priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES; 1177 priv->reg_base = addr; 1178 priv->dev = dev; 1179 priv->clk = clk; 1180 priv->pdata = pdev->dev.platform_data; 1181 priv->mb0_id = 0x7ff; 1182 1183 netif_napi_add(dev, &priv->napi, at91_poll, AT91_NAPI_WEIGHT); 1184 1185 dev_set_drvdata(&pdev->dev, dev); 1186 SET_NETDEV_DEV(dev, &pdev->dev); 1187 1188 err = register_candev(dev); 1189 if (err) { 1190 dev_err(&pdev->dev, "registering netdev failed\n"); 1191 goto exit_free; 1192 } 1193 1194 dev_info(&pdev->dev, "device registered (reg_base=%p, irq=%d)\n", 1195 priv->reg_base, dev->irq); 1196 1197 return 0; 1198 1199 exit_free: 1200 free_candev(dev); 1201 exit_iounmap: 1202 iounmap(addr); 1203 exit_release: 1204 release_mem_region(res->start, resource_size(res)); 1205 exit_put: 1206 clk_put(clk); 1207 exit: 1208 return err; 1209} 1210 1211static int __devexit at91_can_remove(struct platform_device *pdev) 1212{ 1213 struct net_device *dev = platform_get_drvdata(pdev); 1214 struct at91_priv *priv = netdev_priv(dev); 1215 struct resource *res; 1216 1217 unregister_netdev(dev); 1218 1219 platform_set_drvdata(pdev, NULL); 1220 1221 iounmap(priv->reg_base); 1222 1223 res = platform_get_resource(pdev, IORESOURCE_MEM, 0); 1224 release_mem_region(res->start, resource_size(res)); 1225 1226 clk_put(priv->clk); 1227 1228 free_candev(dev); 1229 1230 return 0; 1231} 1232 1233static struct platform_driver at91_can_driver = { 1234 .probe = at91_can_probe, 1235 .remove = __devexit_p(at91_can_remove), 1236 .driver = { 1237 .name = KBUILD_MODNAME, 1238 .owner = THIS_MODULE, 1239 }, 1240}; 1241 1242static int __init at91_can_module_init(void) 1243{ 1244 return platform_driver_register(&at91_can_driver); 1245} 1246 1247static void __exit at91_can_module_exit(void) 1248{ 1249 platform_driver_unregister(&at91_can_driver); 1250} 1251 1252module_init(at91_can_module_init); 1253module_exit(at91_can_module_exit); 1254 1255MODULE_AUTHOR("Marc Kleine-Budde <mkl@pengutronix.de>"); 1256MODULE_LICENSE("GPL v2"); 1257MODULE_DESCRIPTION(KBUILD_MODNAME " CAN netdevice driver"); 1258