1 // SPDX-License-Identifier: GPL-2.0-only 2 /* Copyright (C) 2007, 2011 Wolfgang Grandegger <wg@grandegger.com> 3 * Copyright (C) 2012 Stephane Grosjean <s.grosjean@peak-system.com> 4 * 5 * Copyright (C) 2016 PEAK System-Technik GmbH 6 */ 7 8 #include <linux/can.h> 9 #include <linux/can/dev.h> 10 11 #include "peak_canfd_user.h" 12 13 /* internal IP core cache size (used as default echo skbs max number) */ 14 #define PCANFD_ECHO_SKB_MAX 24 15 16 /* bittiming ranges of the PEAK-System PC CAN-FD interfaces */ 17 static const struct can_bittiming_const peak_canfd_nominal_const = { 18 .name = "peak_canfd", 19 .tseg1_min = 1, 20 .tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS), 21 .tseg2_min = 1, 22 .tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS), 23 .sjw_max = (1 << PUCAN_TSLOW_SJW_BITS), 24 .brp_min = 1, 25 .brp_max = (1 << PUCAN_TSLOW_BRP_BITS), 26 .brp_inc = 1, 27 }; 28 29 static const struct can_bittiming_const peak_canfd_data_const = { 30 .name = "peak_canfd", 31 .tseg1_min = 1, 32 .tseg1_max = (1 << PUCAN_TFAST_TSGEG1_BITS), 33 .tseg2_min = 1, 34 .tseg2_max = (1 << PUCAN_TFAST_TSGEG2_BITS), 35 .sjw_max = (1 << PUCAN_TFAST_SJW_BITS), 36 .brp_min = 1, 37 .brp_max = (1 << PUCAN_TFAST_BRP_BITS), 38 .brp_inc = 1, 39 }; 40 41 static struct peak_canfd_priv *pucan_init_cmd(struct peak_canfd_priv *priv) 42 { 43 priv->cmd_len = 0; 44 return priv; 45 } 46 47 static void *pucan_add_cmd(struct peak_canfd_priv *priv, int cmd_op) 48 { 49 struct pucan_command *cmd; 50 51 if (priv->cmd_len + sizeof(*cmd) > priv->cmd_maxlen) 52 return NULL; 53 54 cmd = priv->cmd_buffer + priv->cmd_len; 55 56 /* reset all unused bit to default */ 57 memset(cmd, 0, sizeof(*cmd)); 58 59 cmd->opcode_channel = pucan_cmd_opcode_channel(priv->index, cmd_op); 60 priv->cmd_len += sizeof(*cmd); 61 62 return cmd; 63 } 64 65 static int pucan_write_cmd(struct peak_canfd_priv *priv) 66 { 67 int err; 68 69 if (priv->pre_cmd) { 70 err = priv->pre_cmd(priv); 71 if (err) 72 return err; 73 } 74 75 err = priv->write_cmd(priv); 76 if (err) 77 return err; 78 79 if (priv->post_cmd) 80 err = priv->post_cmd(priv); 81 82 return err; 83 } 84 85 /* uCAN commands interface functions */ 86 static int pucan_set_reset_mode(struct peak_canfd_priv *priv) 87 { 88 pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RESET_MODE); 89 return pucan_write_cmd(priv); 90 } 91 92 static int pucan_set_normal_mode(struct peak_canfd_priv *priv) 93 { 94 int err; 95 96 pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_NORMAL_MODE); 97 err = pucan_write_cmd(priv); 98 if (!err) 99 priv->can.state = CAN_STATE_ERROR_ACTIVE; 100 101 return err; 102 } 103 104 static int pucan_set_listen_only_mode(struct peak_canfd_priv *priv) 105 { 106 int err; 107 108 pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_LISTEN_ONLY_MODE); 109 err = pucan_write_cmd(priv); 110 if (!err) 111 priv->can.state = CAN_STATE_ERROR_ACTIVE; 112 113 return err; 114 } 115 116 static int pucan_set_timing_slow(struct peak_canfd_priv *priv, 117 const struct can_bittiming *pbt) 118 { 119 struct pucan_timing_slow *cmd; 120 121 cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_SLOW); 122 123 cmd->sjw_t = PUCAN_TSLOW_SJW_T(pbt->sjw - 1, 124 priv->can.ctrlmode & 125 CAN_CTRLMODE_3_SAMPLES); 126 cmd->tseg1 = PUCAN_TSLOW_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1); 127 cmd->tseg2 = PUCAN_TSLOW_TSEG2(pbt->phase_seg2 - 1); 128 cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(pbt->brp - 1)); 129 130 cmd->ewl = 96; /* default */ 131 132 netdev_dbg(priv->ndev, 133 "nominal: brp=%u tseg1=%u tseg2=%u sjw=%u\n", 134 le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw_t); 135 136 return pucan_write_cmd(priv); 137 } 138 139 static int pucan_set_timing_fast(struct peak_canfd_priv *priv, 140 const struct can_bittiming *pbt) 141 { 142 struct pucan_timing_fast *cmd; 143 144 cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_FAST); 145 146 cmd->sjw = PUCAN_TFAST_SJW(pbt->sjw - 1); 147 cmd->tseg1 = PUCAN_TFAST_TSEG1(pbt->prop_seg + pbt->phase_seg1 - 1); 148 cmd->tseg2 = PUCAN_TFAST_TSEG2(pbt->phase_seg2 - 1); 149 cmd->brp = cpu_to_le16(PUCAN_TFAST_BRP(pbt->brp - 1)); 150 151 netdev_dbg(priv->ndev, 152 "data: brp=%u tseg1=%u tseg2=%u sjw=%u\n", 153 le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw); 154 155 return pucan_write_cmd(priv); 156 } 157 158 static int pucan_set_std_filter(struct peak_canfd_priv *priv, u8 row, u32 mask) 159 { 160 struct pucan_std_filter *cmd; 161 162 cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_STD_FILTER); 163 164 /* all the 11-bits CAN ID values are represented by one bit in a 165 * 64 rows array of 32 bits: the upper 6 bits of the CAN ID select the 166 * row while the lowest 5 bits select the bit in that row. 167 * 168 * bit filter 169 * 1 passed 170 * 0 discarded 171 */ 172 173 /* select the row */ 174 cmd->idx = row; 175 176 /* set/unset bits in the row */ 177 cmd->mask = cpu_to_le32(mask); 178 179 return pucan_write_cmd(priv); 180 } 181 182 static int pucan_tx_abort(struct peak_canfd_priv *priv, u16 flags) 183 { 184 struct pucan_tx_abort *cmd; 185 186 cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TX_ABORT); 187 188 cmd->flags = cpu_to_le16(flags); 189 190 return pucan_write_cmd(priv); 191 } 192 193 static int pucan_clr_err_counters(struct peak_canfd_priv *priv) 194 { 195 struct pucan_wr_err_cnt *cmd; 196 197 cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_WR_ERR_CNT); 198 199 cmd->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE | PUCAN_WRERRCNT_RE); 200 cmd->tx_counter = 0; 201 cmd->rx_counter = 0; 202 203 return pucan_write_cmd(priv); 204 } 205 206 static int pucan_set_options(struct peak_canfd_priv *priv, u16 opt_mask) 207 { 208 struct pucan_options *cmd; 209 210 cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_EN_OPTION); 211 212 cmd->options = cpu_to_le16(opt_mask); 213 214 return pucan_write_cmd(priv); 215 } 216 217 static int pucan_clr_options(struct peak_canfd_priv *priv, u16 opt_mask) 218 { 219 struct pucan_options *cmd; 220 221 cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_CLR_DIS_OPTION); 222 223 cmd->options = cpu_to_le16(opt_mask); 224 225 return pucan_write_cmd(priv); 226 } 227 228 static int pucan_setup_rx_barrier(struct peak_canfd_priv *priv) 229 { 230 pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RX_BARRIER); 231 232 return pucan_write_cmd(priv); 233 } 234 235 static int pucan_netif_rx(struct sk_buff *skb, __le32 ts_low, __le32 ts_high) 236 { 237 struct skb_shared_hwtstamps *hwts = skb_hwtstamps(skb); 238 u64 ts_us; 239 240 ts_us = (u64)le32_to_cpu(ts_high) << 32; 241 ts_us |= le32_to_cpu(ts_low); 242 243 /* IP core timestamps are µs. */ 244 hwts->hwtstamp = ns_to_ktime(ts_us * NSEC_PER_USEC); 245 246 return netif_rx(skb); 247 } 248 249 /* handle the reception of one CAN frame */ 250 static int pucan_handle_can_rx(struct peak_canfd_priv *priv, 251 struct pucan_rx_msg *msg) 252 { 253 struct net_device_stats *stats = &priv->ndev->stats; 254 struct canfd_frame *cf; 255 struct sk_buff *skb; 256 const u16 rx_msg_flags = le16_to_cpu(msg->flags); 257 u8 cf_len; 258 259 if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) 260 cf_len = can_fd_dlc2len(pucan_msg_get_dlc(msg)); 261 else 262 cf_len = can_cc_dlc2len(pucan_msg_get_dlc(msg)); 263 264 /* if this frame is an echo, */ 265 if (rx_msg_flags & PUCAN_MSG_LOOPED_BACK) { 266 unsigned long flags; 267 268 spin_lock_irqsave(&priv->echo_lock, flags); 269 can_get_echo_skb(priv->ndev, msg->client); 270 271 /* count bytes of the echo instead of skb */ 272 stats->tx_bytes += cf_len; 273 stats->tx_packets++; 274 275 /* restart tx queue (a slot is free) */ 276 netif_wake_queue(priv->ndev); 277 278 spin_unlock_irqrestore(&priv->echo_lock, flags); 279 280 /* if this frame is only an echo, stop here. Otherwise, 281 * continue to push this application self-received frame into 282 * its own rx queue. 283 */ 284 if (!(rx_msg_flags & PUCAN_MSG_SELF_RECEIVE)) 285 return 0; 286 } 287 288 /* otherwise, it should be pushed into rx fifo */ 289 if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) { 290 /* CANFD frame case */ 291 skb = alloc_canfd_skb(priv->ndev, &cf); 292 if (!skb) 293 return -ENOMEM; 294 295 if (rx_msg_flags & PUCAN_MSG_BITRATE_SWITCH) 296 cf->flags |= CANFD_BRS; 297 298 if (rx_msg_flags & PUCAN_MSG_ERROR_STATE_IND) 299 cf->flags |= CANFD_ESI; 300 } else { 301 /* CAN 2.0 frame case */ 302 skb = alloc_can_skb(priv->ndev, (struct can_frame **)&cf); 303 if (!skb) 304 return -ENOMEM; 305 } 306 307 cf->can_id = le32_to_cpu(msg->can_id); 308 cf->len = cf_len; 309 310 if (rx_msg_flags & PUCAN_MSG_EXT_ID) 311 cf->can_id |= CAN_EFF_FLAG; 312 313 if (rx_msg_flags & PUCAN_MSG_RTR) 314 cf->can_id |= CAN_RTR_FLAG; 315 else 316 memcpy(cf->data, msg->d, cf->len); 317 318 stats->rx_bytes += cf->len; 319 stats->rx_packets++; 320 321 pucan_netif_rx(skb, msg->ts_low, msg->ts_high); 322 323 return 0; 324 } 325 326 /* handle rx/tx error counters notification */ 327 static int pucan_handle_error(struct peak_canfd_priv *priv, 328 struct pucan_error_msg *msg) 329 { 330 priv->bec.txerr = msg->tx_err_cnt; 331 priv->bec.rxerr = msg->rx_err_cnt; 332 333 return 0; 334 } 335 336 /* handle status notification */ 337 static int pucan_handle_status(struct peak_canfd_priv *priv, 338 struct pucan_status_msg *msg) 339 { 340 struct net_device *ndev = priv->ndev; 341 struct net_device_stats *stats = &ndev->stats; 342 struct can_frame *cf; 343 struct sk_buff *skb; 344 345 /* this STATUS is the CNF of the RX_BARRIER: Tx path can be setup */ 346 if (pucan_status_is_rx_barrier(msg)) { 347 if (priv->enable_tx_path) { 348 int err = priv->enable_tx_path(priv); 349 350 if (err) 351 return err; 352 } 353 354 /* start network queue (echo_skb array is empty) */ 355 netif_start_queue(ndev); 356 357 return 0; 358 } 359 360 skb = alloc_can_err_skb(ndev, &cf); 361 362 /* test state error bits according to their priority */ 363 if (pucan_status_is_busoff(msg)) { 364 netdev_dbg(ndev, "Bus-off entry status\n"); 365 priv->can.state = CAN_STATE_BUS_OFF; 366 priv->can.can_stats.bus_off++; 367 can_bus_off(ndev); 368 if (skb) 369 cf->can_id |= CAN_ERR_BUSOFF; 370 371 } else if (pucan_status_is_passive(msg)) { 372 netdev_dbg(ndev, "Error passive status\n"); 373 priv->can.state = CAN_STATE_ERROR_PASSIVE; 374 priv->can.can_stats.error_passive++; 375 if (skb) { 376 cf->can_id |= CAN_ERR_CRTL; 377 cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ? 378 CAN_ERR_CRTL_TX_PASSIVE : 379 CAN_ERR_CRTL_RX_PASSIVE; 380 cf->data[6] = priv->bec.txerr; 381 cf->data[7] = priv->bec.rxerr; 382 } 383 384 } else if (pucan_status_is_warning(msg)) { 385 netdev_dbg(ndev, "Error warning status\n"); 386 priv->can.state = CAN_STATE_ERROR_WARNING; 387 priv->can.can_stats.error_warning++; 388 if (skb) { 389 cf->can_id |= CAN_ERR_CRTL; 390 cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ? 391 CAN_ERR_CRTL_TX_WARNING : 392 CAN_ERR_CRTL_RX_WARNING; 393 cf->data[6] = priv->bec.txerr; 394 cf->data[7] = priv->bec.rxerr; 395 } 396 397 } else if (priv->can.state != CAN_STATE_ERROR_ACTIVE) { 398 /* back to ERROR_ACTIVE */ 399 netdev_dbg(ndev, "Error active status\n"); 400 can_change_state(ndev, cf, CAN_STATE_ERROR_ACTIVE, 401 CAN_STATE_ERROR_ACTIVE); 402 } else { 403 dev_kfree_skb(skb); 404 return 0; 405 } 406 407 if (!skb) { 408 stats->rx_dropped++; 409 return -ENOMEM; 410 } 411 412 stats->rx_packets++; 413 stats->rx_bytes += cf->len; 414 pucan_netif_rx(skb, msg->ts_low, msg->ts_high); 415 416 return 0; 417 } 418 419 /* handle uCAN Rx overflow notification */ 420 static int pucan_handle_cache_critical(struct peak_canfd_priv *priv) 421 { 422 struct net_device_stats *stats = &priv->ndev->stats; 423 struct can_frame *cf; 424 struct sk_buff *skb; 425 426 stats->rx_over_errors++; 427 stats->rx_errors++; 428 429 skb = alloc_can_err_skb(priv->ndev, &cf); 430 if (!skb) { 431 stats->rx_dropped++; 432 return -ENOMEM; 433 } 434 435 cf->can_id |= CAN_ERR_CRTL; 436 cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; 437 438 cf->data[6] = priv->bec.txerr; 439 cf->data[7] = priv->bec.rxerr; 440 441 stats->rx_bytes += cf->len; 442 stats->rx_packets++; 443 netif_rx(skb); 444 445 return 0; 446 } 447 448 /* handle a single uCAN message */ 449 int peak_canfd_handle_msg(struct peak_canfd_priv *priv, 450 struct pucan_rx_msg *msg) 451 { 452 u16 msg_type = le16_to_cpu(msg->type); 453 int msg_size = le16_to_cpu(msg->size); 454 int err; 455 456 if (!msg_size || !msg_type) { 457 /* null packet found: end of list */ 458 goto exit; 459 } 460 461 switch (msg_type) { 462 case PUCAN_MSG_CAN_RX: 463 err = pucan_handle_can_rx(priv, (struct pucan_rx_msg *)msg); 464 break; 465 case PUCAN_MSG_ERROR: 466 err = pucan_handle_error(priv, (struct pucan_error_msg *)msg); 467 break; 468 case PUCAN_MSG_STATUS: 469 err = pucan_handle_status(priv, (struct pucan_status_msg *)msg); 470 break; 471 case PUCAN_MSG_CACHE_CRITICAL: 472 err = pucan_handle_cache_critical(priv); 473 break; 474 default: 475 err = 0; 476 } 477 478 if (err < 0) 479 return err; 480 481 exit: 482 return msg_size; 483 } 484 485 /* handle a list of rx_count messages from rx_msg memory address */ 486 int peak_canfd_handle_msgs_list(struct peak_canfd_priv *priv, 487 struct pucan_rx_msg *msg_list, int msg_count) 488 { 489 void *msg_ptr = msg_list; 490 int i, msg_size = 0; 491 492 for (i = 0; i < msg_count; i++) { 493 msg_size = peak_canfd_handle_msg(priv, msg_ptr); 494 495 /* a null packet can be found at the end of a list */ 496 if (msg_size <= 0) 497 break; 498 499 msg_ptr += ALIGN(msg_size, 4); 500 } 501 502 if (msg_size < 0) 503 return msg_size; 504 505 return i; 506 } 507 508 static int peak_canfd_start(struct peak_canfd_priv *priv) 509 { 510 int err; 511 512 err = pucan_clr_err_counters(priv); 513 if (err) 514 goto err_exit; 515 516 priv->echo_idx = 0; 517 518 priv->bec.txerr = 0; 519 priv->bec.rxerr = 0; 520 521 if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) 522 err = pucan_set_listen_only_mode(priv); 523 else 524 err = pucan_set_normal_mode(priv); 525 526 err_exit: 527 return err; 528 } 529 530 static void peak_canfd_stop(struct peak_canfd_priv *priv) 531 { 532 int err; 533 534 /* go back to RESET mode */ 535 err = pucan_set_reset_mode(priv); 536 if (err) { 537 netdev_err(priv->ndev, "channel %u reset failed\n", 538 priv->index); 539 } else { 540 /* abort last Tx (MUST be done in RESET mode only!) */ 541 pucan_tx_abort(priv, PUCAN_TX_ABORT_FLUSH); 542 } 543 } 544 545 static int peak_canfd_set_mode(struct net_device *ndev, enum can_mode mode) 546 { 547 struct peak_canfd_priv *priv = netdev_priv(ndev); 548 549 switch (mode) { 550 case CAN_MODE_START: 551 peak_canfd_start(priv); 552 netif_wake_queue(ndev); 553 break; 554 default: 555 return -EOPNOTSUPP; 556 } 557 558 return 0; 559 } 560 561 static int peak_canfd_get_berr_counter(const struct net_device *ndev, 562 struct can_berr_counter *bec) 563 { 564 struct peak_canfd_priv *priv = netdev_priv(ndev); 565 566 *bec = priv->bec; 567 return 0; 568 } 569 570 static int peak_canfd_open(struct net_device *ndev) 571 { 572 struct peak_canfd_priv *priv = netdev_priv(ndev); 573 int i, err = 0; 574 575 err = open_candev(ndev); 576 if (err) { 577 netdev_err(ndev, "open_candev() failed, error %d\n", err); 578 goto err_exit; 579 } 580 581 err = pucan_set_reset_mode(priv); 582 if (err) 583 goto err_close; 584 585 if (priv->can.ctrlmode & CAN_CTRLMODE_FD) { 586 if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO) 587 err = pucan_clr_options(priv, PUCAN_OPTION_CANDFDISO); 588 else 589 err = pucan_set_options(priv, PUCAN_OPTION_CANDFDISO); 590 591 if (err) 592 goto err_close; 593 } 594 595 /* set option: get rx/tx error counters */ 596 err = pucan_set_options(priv, PUCAN_OPTION_ERROR); 597 if (err) 598 goto err_close; 599 600 /* accept all standard CAN ID */ 601 for (i = 0; i <= PUCAN_FLTSTD_ROW_IDX_MAX; i++) 602 pucan_set_std_filter(priv, i, 0xffffffff); 603 604 err = peak_canfd_start(priv); 605 if (err) 606 goto err_close; 607 608 /* receiving the RB status says when Tx path is ready */ 609 err = pucan_setup_rx_barrier(priv); 610 if (!err) 611 goto err_exit; 612 613 err_close: 614 close_candev(ndev); 615 err_exit: 616 return err; 617 } 618 619 static int peak_canfd_set_bittiming(struct net_device *ndev) 620 { 621 struct peak_canfd_priv *priv = netdev_priv(ndev); 622 623 return pucan_set_timing_slow(priv, &priv->can.bittiming); 624 } 625 626 static int peak_canfd_set_data_bittiming(struct net_device *ndev) 627 { 628 struct peak_canfd_priv *priv = netdev_priv(ndev); 629 630 return pucan_set_timing_fast(priv, &priv->can.data_bittiming); 631 } 632 633 static int peak_canfd_close(struct net_device *ndev) 634 { 635 struct peak_canfd_priv *priv = netdev_priv(ndev); 636 637 netif_stop_queue(ndev); 638 peak_canfd_stop(priv); 639 close_candev(ndev); 640 641 return 0; 642 } 643 644 static netdev_tx_t peak_canfd_start_xmit(struct sk_buff *skb, 645 struct net_device *ndev) 646 { 647 struct peak_canfd_priv *priv = netdev_priv(ndev); 648 struct net_device_stats *stats = &ndev->stats; 649 struct canfd_frame *cf = (struct canfd_frame *)skb->data; 650 struct pucan_tx_msg *msg; 651 u16 msg_size, msg_flags; 652 unsigned long flags; 653 bool should_stop_tx_queue; 654 int room_left; 655 u8 len; 656 657 if (can_dropped_invalid_skb(ndev, skb)) 658 return NETDEV_TX_OK; 659 660 msg_size = ALIGN(sizeof(*msg) + cf->len, 4); 661 msg = priv->alloc_tx_msg(priv, msg_size, &room_left); 662 663 /* should never happen except under bus-off condition and (auto-)restart 664 * mechanism 665 */ 666 if (!msg) { 667 stats->tx_dropped++; 668 netif_stop_queue(ndev); 669 return NETDEV_TX_BUSY; 670 } 671 672 msg->size = cpu_to_le16(msg_size); 673 msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX); 674 msg_flags = 0; 675 676 if (cf->can_id & CAN_EFF_FLAG) { 677 msg_flags |= PUCAN_MSG_EXT_ID; 678 msg->can_id = cpu_to_le32(cf->can_id & CAN_EFF_MASK); 679 } else { 680 msg->can_id = cpu_to_le32(cf->can_id & CAN_SFF_MASK); 681 } 682 683 if (can_is_canfd_skb(skb)) { 684 /* CAN FD frame format */ 685 len = can_fd_len2dlc(cf->len); 686 687 msg_flags |= PUCAN_MSG_EXT_DATA_LEN; 688 689 if (cf->flags & CANFD_BRS) 690 msg_flags |= PUCAN_MSG_BITRATE_SWITCH; 691 692 if (cf->flags & CANFD_ESI) 693 msg_flags |= PUCAN_MSG_ERROR_STATE_IND; 694 } else { 695 /* CAN 2.0 frame format */ 696 len = cf->len; 697 698 if (cf->can_id & CAN_RTR_FLAG) 699 msg_flags |= PUCAN_MSG_RTR; 700 } 701 702 /* always ask loopback for echo management */ 703 msg_flags |= PUCAN_MSG_LOOPED_BACK; 704 705 /* set driver specific bit to differentiate with application loopback */ 706 if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK) 707 msg_flags |= PUCAN_MSG_SELF_RECEIVE; 708 709 msg->flags = cpu_to_le16(msg_flags); 710 msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(priv->index, len); 711 memcpy(msg->d, cf->data, cf->len); 712 713 /* struct msg client field is used as an index in the echo skbs ring */ 714 msg->client = priv->echo_idx; 715 716 spin_lock_irqsave(&priv->echo_lock, flags); 717 718 /* prepare and save echo skb in internal slot */ 719 can_put_echo_skb(skb, ndev, priv->echo_idx); 720 721 /* move echo index to the next slot */ 722 priv->echo_idx = (priv->echo_idx + 1) % priv->can.echo_skb_max; 723 724 /* if next slot is not free, stop network queue (no slot free in echo 725 * skb ring means that the controller did not write these frames on 726 * the bus: no need to continue). 727 */ 728 should_stop_tx_queue = !!(priv->can.echo_skb[priv->echo_idx]); 729 730 /* stop network tx queue if not enough room to save one more msg too */ 731 if (priv->can.ctrlmode & CAN_CTRLMODE_FD) 732 should_stop_tx_queue |= (room_left < 733 (sizeof(*msg) + CANFD_MAX_DLEN)); 734 else 735 should_stop_tx_queue |= (room_left < 736 (sizeof(*msg) + CAN_MAX_DLEN)); 737 738 if (should_stop_tx_queue) 739 netif_stop_queue(ndev); 740 741 spin_unlock_irqrestore(&priv->echo_lock, flags); 742 743 /* write the skb on the interface */ 744 priv->write_tx_msg(priv, msg); 745 746 return NETDEV_TX_OK; 747 } 748 749 static const struct net_device_ops peak_canfd_netdev_ops = { 750 .ndo_open = peak_canfd_open, 751 .ndo_stop = peak_canfd_close, 752 .ndo_start_xmit = peak_canfd_start_xmit, 753 .ndo_change_mtu = can_change_mtu, 754 }; 755 756 struct net_device *alloc_peak_canfd_dev(int sizeof_priv, int index, 757 int echo_skb_max) 758 { 759 struct net_device *ndev; 760 struct peak_canfd_priv *priv; 761 762 /* we DO support local echo */ 763 if (echo_skb_max < 0) 764 echo_skb_max = PCANFD_ECHO_SKB_MAX; 765 766 /* allocate the candev object */ 767 ndev = alloc_candev(sizeof_priv, echo_skb_max); 768 if (!ndev) 769 return NULL; 770 771 priv = netdev_priv(ndev); 772 773 /* complete now socket-can initialization side */ 774 priv->can.state = CAN_STATE_STOPPED; 775 priv->can.bittiming_const = &peak_canfd_nominal_const; 776 priv->can.data_bittiming_const = &peak_canfd_data_const; 777 778 priv->can.do_set_mode = peak_canfd_set_mode; 779 priv->can.do_get_berr_counter = peak_canfd_get_berr_counter; 780 priv->can.do_set_bittiming = peak_canfd_set_bittiming; 781 priv->can.do_set_data_bittiming = peak_canfd_set_data_bittiming; 782 priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | 783 CAN_CTRLMODE_LISTENONLY | 784 CAN_CTRLMODE_3_SAMPLES | 785 CAN_CTRLMODE_FD | 786 CAN_CTRLMODE_FD_NON_ISO | 787 CAN_CTRLMODE_BERR_REPORTING; 788 789 priv->ndev = ndev; 790 priv->index = index; 791 priv->cmd_len = 0; 792 spin_lock_init(&priv->echo_lock); 793 794 ndev->flags |= IFF_ECHO; 795 ndev->netdev_ops = &peak_canfd_netdev_ops; 796 ndev->dev_id = index; 797 798 return ndev; 799 } 800