2 * at91_can.c - CAN network driver for AT91 SoC CAN controller
4 * (C) 2007 by Hans J. Koch <hjk@linutronix.de>
5 * (C) 2008, 2009, 2010 by Marc Kleine-Budde <kernel@pengutronix.de>
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.
11 * Send feedback to <socketcan-users@lists.berlios.de>
14 * Your platform definition file should specify something like:
16 * static struct at91_can_data ek_can_data = {
17 * transceiver_switch = sam9263ek_transceiver_switch,
20 * at91_add_device_can(&ek_can_data);
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/skbuff.h>
34 #include <linux/spinlock.h>
35 #include <linux/string.h>
36 #include <linux/types.h>
38 #include <linux/can/dev.h>
39 #include <linux/can/error.h>
41 #include <mach/board.h>
43 #define DRV_NAME "at91_can"
44 #define AT91_NAPI_WEIGHT 12
50 #define AT91_MB_RX_NUM 12
51 #define AT91_MB_TX_SHIFT 2
53 #define AT91_MB_RX_FIRST 0
54 #define AT91_MB_RX_LAST (AT91_MB_RX_FIRST + AT91_MB_RX_NUM - 1)
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))
61 #define AT91_MB_TX_NUM (1 << AT91_MB_TX_SHIFT)
62 #define AT91_MB_TX_FIRST (AT91_MB_RX_LAST + 1)
63 #define AT91_MB_TX_LAST (AT91_MB_TX_FIRST + AT91_MB_TX_NUM - 1)
65 #define AT91_NEXT_PRIO_SHIFT (AT91_MB_TX_SHIFT)
66 #define AT91_NEXT_PRIO_MASK (0xf << AT91_MB_TX_SHIFT)
67 #define AT91_NEXT_MB_MASK (AT91_MB_TX_NUM - 1)
68 #define AT91_NEXT_MASK ((AT91_MB_TX_NUM - 1) | AT91_NEXT_PRIO_MASK)
70 /* Common registers */
85 /* Mailbox registers (0 <= i <= 15) */
86 #define AT91_MMR(i) (enum at91_reg)(0x200 + ((i) * 0x20))
87 #define AT91_MAM(i) (enum at91_reg)(0x204 + ((i) * 0x20))
88 #define AT91_MID(i) (enum at91_reg)(0x208 + ((i) * 0x20))
89 #define AT91_MFID(i) (enum at91_reg)(0x20C + ((i) * 0x20))
90 #define AT91_MSR(i) (enum at91_reg)(0x210 + ((i) * 0x20))
91 #define AT91_MDL(i) (enum at91_reg)(0x214 + ((i) * 0x20))
92 #define AT91_MDH(i) (enum at91_reg)(0x218 + ((i) * 0x20))
93 #define AT91_MCR(i) (enum at91_reg)(0x21C + ((i) * 0x20))
96 #define AT91_MR_CANEN BIT(0)
97 #define AT91_MR_LPM BIT(1)
98 #define AT91_MR_ABM BIT(2)
99 #define AT91_MR_OVL BIT(3)
100 #define AT91_MR_TEOF BIT(4)
101 #define AT91_MR_TTM BIT(5)
102 #define AT91_MR_TIMFRZ BIT(6)
103 #define AT91_MR_DRPT BIT(7)
105 #define AT91_SR_RBSY BIT(29)
107 #define AT91_MMR_PRIO_SHIFT (16)
109 #define AT91_MID_MIDE BIT(29)
111 #define AT91_MSR_MRTR BIT(20)
112 #define AT91_MSR_MABT BIT(22)
113 #define AT91_MSR_MRDY BIT(23)
114 #define AT91_MSR_MMI BIT(24)
116 #define AT91_MCR_MRTR BIT(20)
117 #define AT91_MCR_MTCR BIT(23)
121 AT91_MB_MODE_DISABLED
= 0,
123 AT91_MB_MODE_RX_OVRWR
= 2,
125 AT91_MB_MODE_CONSUMER
= 4,
126 AT91_MB_MODE_PRODUCER
= 5,
129 /* Interrupt mask bits */
130 #define AT91_IRQ_MB_RX ((1 << (AT91_MB_RX_LAST + 1)) \
131 - (1 << AT91_MB_RX_FIRST))
132 #define AT91_IRQ_MB_TX ((1 << (AT91_MB_TX_LAST + 1)) \
133 - (1 << AT91_MB_TX_FIRST))
134 #define AT91_IRQ_MB_ALL (AT91_IRQ_MB_RX | AT91_IRQ_MB_TX)
136 #define AT91_IRQ_ERRA (1 << 16)
137 #define AT91_IRQ_WARN (1 << 17)
138 #define AT91_IRQ_ERRP (1 << 18)
139 #define AT91_IRQ_BOFF (1 << 19)
140 #define AT91_IRQ_SLEEP (1 << 20)
141 #define AT91_IRQ_WAKEUP (1 << 21)
142 #define AT91_IRQ_TOVF (1 << 22)
143 #define AT91_IRQ_TSTP (1 << 23)
144 #define AT91_IRQ_CERR (1 << 24)
145 #define AT91_IRQ_SERR (1 << 25)
146 #define AT91_IRQ_AERR (1 << 26)
147 #define AT91_IRQ_FERR (1 << 27)
148 #define AT91_IRQ_BERR (1 << 28)
150 #define AT91_IRQ_ERR_ALL (0x1fff0000)
151 #define AT91_IRQ_ERR_FRAME (AT91_IRQ_CERR | AT91_IRQ_SERR | \
152 AT91_IRQ_AERR | AT91_IRQ_FERR | AT91_IRQ_BERR)
153 #define AT91_IRQ_ERR_LINE (AT91_IRQ_ERRA | AT91_IRQ_WARN | \
154 AT91_IRQ_ERRP | AT91_IRQ_BOFF)
156 #define AT91_IRQ_ALL (0x1fffffff)
159 struct can_priv can
; /* must be the first member! */
160 struct net_device
*dev
;
161 struct napi_struct napi
;
163 void __iomem
*reg_base
;
166 unsigned int tx_next
;
167 unsigned int tx_echo
;
168 unsigned int rx_next
;
171 struct at91_can_data
*pdata
;
174 static struct can_bittiming_const at91_bittiming_const
= {
185 static inline int get_tx_next_mb(const struct at91_priv
*priv
)
187 return (priv
->tx_next
& AT91_NEXT_MB_MASK
) + AT91_MB_TX_FIRST
;
190 static inline int get_tx_next_prio(const struct at91_priv
*priv
)
192 return (priv
->tx_next
>> AT91_NEXT_PRIO_SHIFT
) & 0xf;
195 static inline int get_tx_echo_mb(const struct at91_priv
*priv
)
197 return (priv
->tx_echo
& AT91_NEXT_MB_MASK
) + AT91_MB_TX_FIRST
;
200 static inline u32
at91_read(const struct at91_priv
*priv
, enum at91_reg reg
)
202 return readl(priv
->reg_base
+ reg
);
205 static inline void at91_write(const struct at91_priv
*priv
, enum at91_reg reg
,
208 writel(value
, priv
->reg_base
+ reg
);
211 static inline void set_mb_mode_prio(const struct at91_priv
*priv
,
212 unsigned int mb
, enum at91_mb_mode mode
, int prio
)
214 at91_write(priv
, AT91_MMR(mb
), (mode
<< 24) | (prio
<< 16));
217 static inline void set_mb_mode(const struct at91_priv
*priv
, unsigned int mb
,
218 enum at91_mb_mode mode
)
220 set_mb_mode_prio(priv
, mb
, mode
, 0);
224 * Swtich transceiver on or off
226 static void at91_transceiver_switch(const struct at91_priv
*priv
, int on
)
228 if (priv
->pdata
&& priv
->pdata
->transceiver_switch
)
229 priv
->pdata
->transceiver_switch(on
);
232 static void at91_setup_mailboxes(struct net_device
*dev
)
234 struct at91_priv
*priv
= netdev_priv(dev
);
238 * The first 12 mailboxes are used as a reception FIFO. The
239 * last mailbox is configured with overwrite option. The
240 * overwrite flag indicates a FIFO overflow.
242 for (i
= AT91_MB_RX_FIRST
; i
< AT91_MB_RX_LAST
; i
++)
243 set_mb_mode(priv
, i
, AT91_MB_MODE_RX
);
244 set_mb_mode(priv
, AT91_MB_RX_LAST
, AT91_MB_MODE_RX_OVRWR
);
246 /* reset acceptance mask and id register */
247 for (i
= AT91_MB_RX_FIRST
; i
<= AT91_MB_RX_LAST
; i
++) {
248 at91_write(priv
, AT91_MAM(i
), 0x0 );
249 at91_write(priv
, AT91_MID(i
), AT91_MID_MIDE
);
252 /* The last 4 mailboxes are used for transmitting. */
253 for (i
= AT91_MB_TX_FIRST
; i
<= AT91_MB_TX_LAST
; i
++)
254 set_mb_mode_prio(priv
, i
, AT91_MB_MODE_TX
, 0);
256 /* Reset tx and rx helper pointers */
257 priv
->tx_next
= priv
->tx_echo
= priv
->rx_next
= 0;
260 static int at91_set_bittiming(struct net_device
*dev
)
262 const struct at91_priv
*priv
= netdev_priv(dev
);
263 const struct can_bittiming
*bt
= &priv
->can
.bittiming
;
266 reg_br
= ((priv
->can
.ctrlmode
& CAN_CTRLMODE_3_SAMPLES
) ? 1 << 24 : 0) |
267 ((bt
->brp
- 1) << 16) | ((bt
->sjw
- 1) << 12) |
268 ((bt
->prop_seg
- 1) << 8) | ((bt
->phase_seg1
- 1) << 4) |
269 ((bt
->phase_seg2
- 1) << 0);
271 dev_info(dev
->dev
.parent
, "writing AT91_BR: 0x%08x\n", reg_br
);
273 at91_write(priv
, AT91_BR
, reg_br
);
278 static int at91_get_berr_counter(const struct net_device
*dev
,
279 struct can_berr_counter
*bec
)
281 const struct at91_priv
*priv
= netdev_priv(dev
);
282 u32 reg_ecr
= at91_read(priv
, AT91_ECR
);
284 bec
->rxerr
= reg_ecr
& 0xff;
285 bec
->txerr
= reg_ecr
>> 16;
290 static void at91_chip_start(struct net_device
*dev
)
292 struct at91_priv
*priv
= netdev_priv(dev
);
295 /* disable interrupts */
296 at91_write(priv
, AT91_IDR
, AT91_IRQ_ALL
);
299 reg_mr
= at91_read(priv
, AT91_MR
);
300 at91_write(priv
, AT91_MR
, reg_mr
& ~AT91_MR_CANEN
);
302 at91_set_bittiming(dev
);
303 at91_setup_mailboxes(dev
);
304 at91_transceiver_switch(priv
, 1);
307 at91_write(priv
, AT91_MR
, AT91_MR_CANEN
);
309 priv
->can
.state
= CAN_STATE_ERROR_ACTIVE
;
311 /* Enable interrupts */
312 reg_ier
= AT91_IRQ_MB_RX
| AT91_IRQ_ERRP
| AT91_IRQ_ERR_FRAME
;
313 at91_write(priv
, AT91_IDR
, AT91_IRQ_ALL
);
314 at91_write(priv
, AT91_IER
, reg_ier
);
317 static void at91_chip_stop(struct net_device
*dev
, enum can_state state
)
319 struct at91_priv
*priv
= netdev_priv(dev
);
322 /* disable interrupts */
323 at91_write(priv
, AT91_IDR
, AT91_IRQ_ALL
);
325 reg_mr
= at91_read(priv
, AT91_MR
);
326 at91_write(priv
, AT91_MR
, reg_mr
& ~AT91_MR_CANEN
);
328 at91_transceiver_switch(priv
, 0);
329 priv
->can
.state
= state
;
333 * theory of operation:
335 * According to the datasheet priority 0 is the highest priority, 15
336 * is the lowest. If two mailboxes have the same priority level the
337 * message of the mailbox with the lowest number is sent first.
339 * We use the first TX mailbox (AT91_MB_TX_FIRST) with prio 0, then
340 * the next mailbox with prio 0, and so on, until all mailboxes are
341 * used. Then we start from the beginning with mailbox
342 * AT91_MB_TX_FIRST, but with prio 1, mailbox AT91_MB_TX_FIRST + 1
343 * prio 1. When we reach the last mailbox with prio 15, we have to
344 * stop sending, waiting for all messages to be delivered, then start
345 * again with mailbox AT91_MB_TX_FIRST prio 0.
347 * We use the priv->tx_next as counter for the next transmission
348 * mailbox, but without the offset AT91_MB_TX_FIRST. The lower bits
349 * encode the mailbox number, the upper 4 bits the mailbox priority:
351 * priv->tx_next = (prio << AT91_NEXT_PRIO_SHIFT) ||
352 * (mb - AT91_MB_TX_FIRST);
355 static netdev_tx_t
at91_start_xmit(struct sk_buff
*skb
, struct net_device
*dev
)
357 struct at91_priv
*priv
= netdev_priv(dev
);
358 struct net_device_stats
*stats
= &dev
->stats
;
359 struct can_frame
*cf
= (struct can_frame
*)skb
->data
;
360 unsigned int mb
, prio
;
361 u32 reg_mid
, reg_mcr
;
363 if (can_dropped_invalid_skb(dev
, skb
))
366 mb
= get_tx_next_mb(priv
);
367 prio
= get_tx_next_prio(priv
);
369 if (unlikely(!(at91_read(priv
, AT91_MSR(mb
)) & AT91_MSR_MRDY
))) {
370 netif_stop_queue(dev
);
372 dev_err(dev
->dev
.parent
,
373 "BUG! TX buffer full when queue awake!\n");
374 return NETDEV_TX_BUSY
;
377 if (cf
->can_id
& CAN_EFF_FLAG
)
378 reg_mid
= (cf
->can_id
& CAN_EFF_MASK
) | AT91_MID_MIDE
;
380 reg_mid
= (cf
->can_id
& CAN_SFF_MASK
) << 18;
382 reg_mcr
= ((cf
->can_id
& CAN_RTR_FLAG
) ? AT91_MCR_MRTR
: 0) |
383 (cf
->can_dlc
<< 16) | AT91_MCR_MTCR
;
385 /* disable MB while writing ID (see datasheet) */
386 set_mb_mode(priv
, mb
, AT91_MB_MODE_DISABLED
);
387 at91_write(priv
, AT91_MID(mb
), reg_mid
);
388 set_mb_mode_prio(priv
, mb
, AT91_MB_MODE_TX
, prio
);
390 at91_write(priv
, AT91_MDL(mb
), *(u32
*)(cf
->data
+ 0));
391 at91_write(priv
, AT91_MDH(mb
), *(u32
*)(cf
->data
+ 4));
393 /* This triggers transmission */
394 at91_write(priv
, AT91_MCR(mb
), reg_mcr
);
396 stats
->tx_bytes
+= cf
->can_dlc
;
398 /* _NOTE_: substract AT91_MB_TX_FIRST offset from mb! */
399 can_put_echo_skb(skb
, dev
, mb
- AT91_MB_TX_FIRST
);
402 * we have to stop the queue and deliver all messages in case
403 * of a prio+mb counter wrap around. This is the case if
404 * tx_next buffer prio and mailbox equals 0.
406 * also stop the queue if next buffer is still in use
410 if (!(at91_read(priv
, AT91_MSR(get_tx_next_mb(priv
))) &
412 (priv
->tx_next
& AT91_NEXT_MASK
) == 0)
413 netif_stop_queue(dev
);
415 /* Enable interrupt for this mailbox */
416 at91_write(priv
, AT91_IER
, 1 << mb
);
422 * at91_activate_rx_low - activate lower rx mailboxes
425 * Reenables the lower mailboxes for reception of new CAN messages
427 static inline void at91_activate_rx_low(const struct at91_priv
*priv
)
429 u32 mask
= AT91_MB_RX_LOW_MASK
;
430 at91_write(priv
, AT91_TCR
, mask
);
434 * at91_activate_rx_mb - reactive single rx mailbox
436 * @mb: mailbox to reactivate
438 * Reenables given mailbox for reception of new CAN messages
440 static inline void at91_activate_rx_mb(const struct at91_priv
*priv
,
444 at91_write(priv
, AT91_TCR
, mask
);
448 * at91_rx_overflow_err - send error frame due to rx overflow
451 static void at91_rx_overflow_err(struct net_device
*dev
)
453 struct net_device_stats
*stats
= &dev
->stats
;
455 struct can_frame
*cf
;
457 dev_dbg(dev
->dev
.parent
, "RX buffer overflow\n");
458 stats
->rx_over_errors
++;
461 skb
= alloc_can_err_skb(dev
, &cf
);
465 cf
->can_id
|= CAN_ERR_CRTL
;
466 cf
->data
[1] = CAN_ERR_CRTL_RX_OVERFLOW
;
467 netif_receive_skb(skb
);
470 stats
->rx_bytes
+= cf
->can_dlc
;
474 * at91_read_mb - read CAN msg from mailbox (lowlevel impl)
476 * @mb: mailbox number to read from
477 * @cf: can frame where to store message
479 * Reads a CAN message from the given mailbox and stores data into
480 * given can frame. "mb" and "cf" must be valid.
482 static void at91_read_mb(struct net_device
*dev
, unsigned int mb
,
483 struct can_frame
*cf
)
485 const struct at91_priv
*priv
= netdev_priv(dev
);
486 u32 reg_msr
, reg_mid
;
488 reg_mid
= at91_read(priv
, AT91_MID(mb
));
489 if (reg_mid
& AT91_MID_MIDE
)
490 cf
->can_id
= ((reg_mid
>> 0) & CAN_EFF_MASK
) | CAN_EFF_FLAG
;
492 cf
->can_id
= (reg_mid
>> 18) & CAN_SFF_MASK
;
494 reg_msr
= at91_read(priv
, AT91_MSR(mb
));
495 if (reg_msr
& AT91_MSR_MRTR
)
496 cf
->can_id
|= CAN_RTR_FLAG
;
497 cf
->can_dlc
= get_can_dlc((reg_msr
>> 16) & 0xf);
499 *(u32
*)(cf
->data
+ 0) = at91_read(priv
, AT91_MDL(mb
));
500 *(u32
*)(cf
->data
+ 4) = at91_read(priv
, AT91_MDH(mb
));
502 /* allow RX of extended frames */
503 at91_write(priv
, AT91_MID(mb
), AT91_MID_MIDE
);
505 if (unlikely(mb
== AT91_MB_RX_LAST
&& reg_msr
& AT91_MSR_MMI
))
506 at91_rx_overflow_err(dev
);
510 * at91_read_msg - read CAN message from mailbox
512 * @mb: mail box to read from
514 * Reads a CAN message from given mailbox, and put into linux network
515 * RX queue, does all housekeeping chores (stats, ...)
517 static void at91_read_msg(struct net_device
*dev
, unsigned int mb
)
519 struct net_device_stats
*stats
= &dev
->stats
;
520 struct can_frame
*cf
;
523 skb
= alloc_can_skb(dev
, &cf
);
524 if (unlikely(!skb
)) {
529 at91_read_mb(dev
, mb
, cf
);
530 netif_receive_skb(skb
);
533 stats
->rx_bytes
+= cf
->can_dlc
;
537 * at91_poll_rx - read multiple CAN messages from mailboxes
539 * @quota: max number of pkgs we're allowed to receive
541 * Theory of Operation:
543 * 12 of the 16 mailboxes on the chip are reserved for RX. we split
544 * them into 2 groups. The lower group holds 8 and upper 4 mailboxes.
546 * Like it or not, but the chip always saves a received CAN message
547 * into the first free mailbox it finds (starting with the
548 * lowest). This makes it very difficult to read the messages in the
549 * right order from the chip. This is how we work around that problem:
551 * The first message goes into mb nr. 0 and issues an interrupt. All
552 * rx ints are disabled in the interrupt handler and a napi poll is
553 * scheduled. We read the mailbox, but do _not_ reenable the mb (to
554 * receive another message).
557 * ______^______ __^__
559 * +-+-+-+-+-+-+-+-++-+-+-+-+
560 * |x|x|x|x|x|x|x|x|| | | | |
561 * +-+-+-+-+-+-+-+-++-+-+-+-+
562 * 0 0 0 0 0 0 0 0 0 0 1 1 \ mail
563 * 0 1 2 3 4 5 6 7 8 9 0 1 / box
565 * The variable priv->rx_next points to the next mailbox to read a
566 * message from. As long we're in the lower mailboxes we just read the
567 * mailbox but not reenable it.
569 * With completion of the last of the lower mailboxes, we reenable the
570 * whole first group, but continue to look for filled mailboxes in the
571 * upper mailboxes. Imagine the second group like overflow mailboxes,
572 * which takes CAN messages if the lower goup is full. While in the
573 * upper group we reenable the mailbox right after reading it. Giving
574 * the chip more room to store messages.
576 * After finishing we look again in the lower group if we've still
580 static int at91_poll_rx(struct net_device
*dev
, int quota
)
582 struct at91_priv
*priv
= netdev_priv(dev
);
583 u32 reg_sr
= at91_read(priv
, AT91_SR
);
584 const unsigned long *addr
= (unsigned long *)®_sr
;
588 if (priv
->rx_next
> AT91_MB_RX_LOW_LAST
&&
589 reg_sr
& AT91_MB_RX_LOW_MASK
)
590 dev_info(dev
->dev
.parent
,
591 "order of incoming frames cannot be guaranteed\n");
594 for (mb
= find_next_bit(addr
, AT91_MB_RX_NUM
, priv
->rx_next
);
595 mb
< AT91_MB_RX_NUM
&& quota
> 0;
596 reg_sr
= at91_read(priv
, AT91_SR
),
597 mb
= find_next_bit(addr
, AT91_MB_RX_NUM
, ++priv
->rx_next
)) {
598 at91_read_msg(dev
, mb
);
600 /* reactivate mailboxes */
601 if (mb
== AT91_MB_RX_LOW_LAST
)
602 /* all lower mailboxed, if just finished it */
603 at91_activate_rx_low(priv
);
604 else if (mb
> AT91_MB_RX_LOW_LAST
)
605 /* only the mailbox we read */
606 at91_activate_rx_mb(priv
, mb
);
612 /* upper group completed, look again in lower */
613 if (priv
->rx_next
> AT91_MB_RX_LOW_LAST
&&
614 quota
> 0 && mb
>= AT91_MB_RX_NUM
) {
622 static void at91_poll_err_frame(struct net_device
*dev
,
623 struct can_frame
*cf
, u32 reg_sr
)
625 struct at91_priv
*priv
= netdev_priv(dev
);
628 if (reg_sr
& AT91_IRQ_CERR
) {
629 dev_dbg(dev
->dev
.parent
, "CERR irq\n");
630 dev
->stats
.rx_errors
++;
631 priv
->can
.can_stats
.bus_error
++;
632 cf
->can_id
|= CAN_ERR_PROT
| CAN_ERR_BUSERROR
;
636 if (reg_sr
& AT91_IRQ_SERR
) {
637 dev_dbg(dev
->dev
.parent
, "SERR irq\n");
638 dev
->stats
.rx_errors
++;
639 priv
->can
.can_stats
.bus_error
++;
640 cf
->can_id
|= CAN_ERR_PROT
| CAN_ERR_BUSERROR
;
641 cf
->data
[2] |= CAN_ERR_PROT_STUFF
;
644 /* Acknowledgement Error */
645 if (reg_sr
& AT91_IRQ_AERR
) {
646 dev_dbg(dev
->dev
.parent
, "AERR irq\n");
647 dev
->stats
.tx_errors
++;
648 cf
->can_id
|= CAN_ERR_ACK
;
652 if (reg_sr
& AT91_IRQ_FERR
) {
653 dev_dbg(dev
->dev
.parent
, "FERR irq\n");
654 dev
->stats
.rx_errors
++;
655 priv
->can
.can_stats
.bus_error
++;
656 cf
->can_id
|= CAN_ERR_PROT
| CAN_ERR_BUSERROR
;
657 cf
->data
[2] |= CAN_ERR_PROT_FORM
;
661 if (reg_sr
& AT91_IRQ_BERR
) {
662 dev_dbg(dev
->dev
.parent
, "BERR irq\n");
663 dev
->stats
.tx_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_BIT
;
670 static int at91_poll_err(struct net_device
*dev
, int quota
, u32 reg_sr
)
673 struct can_frame
*cf
;
678 skb
= alloc_can_err_skb(dev
, &cf
);
682 at91_poll_err_frame(dev
, cf
, reg_sr
);
683 netif_receive_skb(skb
);
685 dev
->stats
.rx_packets
++;
686 dev
->stats
.rx_bytes
+= cf
->can_dlc
;
691 static int at91_poll(struct napi_struct
*napi
, int quota
)
693 struct net_device
*dev
= napi
->dev
;
694 const struct at91_priv
*priv
= netdev_priv(dev
);
695 u32 reg_sr
= at91_read(priv
, AT91_SR
);
698 if (reg_sr
& AT91_IRQ_MB_RX
)
699 work_done
+= at91_poll_rx(dev
, quota
- work_done
);
702 * The error bits are clear on read,
703 * so use saved value from irq handler.
705 reg_sr
|= priv
->reg_sr
;
706 if (reg_sr
& AT91_IRQ_ERR_FRAME
)
707 work_done
+= at91_poll_err(dev
, quota
- work_done
, reg_sr
);
709 if (work_done
< quota
) {
710 /* enable IRQs for frame errors and all mailboxes >= rx_next */
711 u32 reg_ier
= AT91_IRQ_ERR_FRAME
;
712 reg_ier
|= AT91_IRQ_MB_RX
& ~AT91_MB_RX_MASK(priv
->rx_next
);
715 at91_write(priv
, AT91_IER
, reg_ier
);
722 * theory of operation:
724 * priv->tx_echo holds the number of the oldest can_frame put for
725 * transmission into the hardware, but not yet ACKed by the CAN tx
728 * We iterate from priv->tx_echo to priv->tx_next and check if the
729 * packet has been transmitted, echo it back to the CAN framework. If
730 * we discover a not yet transmitted package, stop looking for more.
733 static void at91_irq_tx(struct net_device
*dev
, u32 reg_sr
)
735 struct at91_priv
*priv
= netdev_priv(dev
);
739 /* masking of reg_sr not needed, already done by at91_irq */
741 for (/* nix */; (priv
->tx_next
- priv
->tx_echo
) > 0; priv
->tx_echo
++) {
742 mb
= get_tx_echo_mb(priv
);
744 /* no event in mailbox? */
745 if (!(reg_sr
& (1 << mb
)))
748 /* Disable irq for this TX mailbox */
749 at91_write(priv
, AT91_IDR
, 1 << mb
);
752 * only echo if mailbox signals us a transfer
753 * complete (MSR_MRDY). Otherwise it's a tansfer
754 * abort. "can_bus_off()" takes care about the skbs
755 * parked in the echo queue.
757 reg_msr
= at91_read(priv
, AT91_MSR(mb
));
758 if (likely(reg_msr
& AT91_MSR_MRDY
&&
759 ~reg_msr
& AT91_MSR_MABT
)) {
760 /* _NOTE_: substract AT91_MB_TX_FIRST offset from mb! */
761 can_get_echo_skb(dev
, mb
- AT91_MB_TX_FIRST
);
762 dev
->stats
.tx_packets
++;
767 * restart queue if we don't have a wrap around but restart if
768 * we get a TX int for the last can frame directly before a
771 if ((priv
->tx_next
& AT91_NEXT_MASK
) != 0 ||
772 (priv
->tx_echo
& AT91_NEXT_MASK
) == 0)
773 netif_wake_queue(dev
);
776 static void at91_irq_err_state(struct net_device
*dev
,
777 struct can_frame
*cf
, enum can_state new_state
)
779 struct at91_priv
*priv
= netdev_priv(dev
);
780 u32 reg_idr
= 0, reg_ier
= 0;
781 struct can_berr_counter bec
;
783 at91_get_berr_counter(dev
, &bec
);
785 switch (priv
->can
.state
) {
786 case CAN_STATE_ERROR_ACTIVE
:
789 * to : ERROR_WARNING, ERROR_PASSIVE, BUS_OFF
790 * => : there was a warning int
792 if (new_state
>= CAN_STATE_ERROR_WARNING
&&
793 new_state
<= CAN_STATE_BUS_OFF
) {
794 dev_dbg(dev
->dev
.parent
, "Error Warning IRQ\n");
795 priv
->can
.can_stats
.error_warning
++;
797 cf
->can_id
|= CAN_ERR_CRTL
;
798 cf
->data
[1] = (bec
.txerr
> bec
.rxerr
) ?
799 CAN_ERR_CRTL_TX_WARNING
:
800 CAN_ERR_CRTL_RX_WARNING
;
802 case CAN_STATE_ERROR_WARNING
: /* fallthrough */
804 * from: ERROR_ACTIVE, ERROR_WARNING
805 * to : ERROR_PASSIVE, BUS_OFF
806 * => : error passive int
808 if (new_state
>= CAN_STATE_ERROR_PASSIVE
&&
809 new_state
<= CAN_STATE_BUS_OFF
) {
810 dev_dbg(dev
->dev
.parent
, "Error Passive IRQ\n");
811 priv
->can
.can_stats
.error_passive
++;
813 cf
->can_id
|= CAN_ERR_CRTL
;
814 cf
->data
[1] = (bec
.txerr
> bec
.rxerr
) ?
815 CAN_ERR_CRTL_TX_PASSIVE
:
816 CAN_ERR_CRTL_RX_PASSIVE
;
819 case CAN_STATE_BUS_OFF
:
822 * to : ERROR_ACTIVE, ERROR_WARNING, ERROR_PASSIVE
824 if (new_state
<= CAN_STATE_ERROR_PASSIVE
) {
825 cf
->can_id
|= CAN_ERR_RESTARTED
;
827 dev_dbg(dev
->dev
.parent
, "restarted\n");
828 priv
->can
.can_stats
.restarts
++;
830 netif_carrier_on(dev
);
831 netif_wake_queue(dev
);
839 /* process state changes depending on the new state */
841 case CAN_STATE_ERROR_ACTIVE
:
843 * actually we want to enable AT91_IRQ_WARN here, but
844 * it screws up the system under certain
845 * circumstances. so just enable AT91_IRQ_ERRP, thus
848 dev_dbg(dev
->dev
.parent
, "Error Active\n");
849 cf
->can_id
|= CAN_ERR_PROT
;
850 cf
->data
[2] = CAN_ERR_PROT_ACTIVE
;
851 case CAN_STATE_ERROR_WARNING
: /* fallthrough */
852 reg_idr
= AT91_IRQ_ERRA
| AT91_IRQ_WARN
| AT91_IRQ_BOFF
;
853 reg_ier
= AT91_IRQ_ERRP
;
855 case CAN_STATE_ERROR_PASSIVE
:
856 reg_idr
= AT91_IRQ_ERRA
| AT91_IRQ_WARN
| AT91_IRQ_ERRP
;
857 reg_ier
= AT91_IRQ_BOFF
;
859 case CAN_STATE_BUS_OFF
:
860 reg_idr
= AT91_IRQ_ERRA
| AT91_IRQ_ERRP
|
861 AT91_IRQ_WARN
| AT91_IRQ_BOFF
;
864 cf
->can_id
|= CAN_ERR_BUSOFF
;
866 dev_dbg(dev
->dev
.parent
, "bus-off\n");
867 netif_carrier_off(dev
);
868 priv
->can
.can_stats
.bus_off
++;
870 /* turn off chip, if restart is disabled */
871 if (!priv
->can
.restart_ms
) {
872 at91_chip_stop(dev
, CAN_STATE_BUS_OFF
);
880 at91_write(priv
, AT91_IDR
, reg_idr
);
881 at91_write(priv
, AT91_IER
, reg_ier
);
884 static void at91_irq_err(struct net_device
*dev
)
886 struct at91_priv
*priv
= netdev_priv(dev
);
888 struct can_frame
*cf
;
889 enum can_state new_state
;
892 reg_sr
= at91_read(priv
, AT91_SR
);
894 /* we need to look at the unmasked reg_sr */
895 if (unlikely(reg_sr
& AT91_IRQ_BOFF
))
896 new_state
= CAN_STATE_BUS_OFF
;
897 else if (unlikely(reg_sr
& AT91_IRQ_ERRP
))
898 new_state
= CAN_STATE_ERROR_PASSIVE
;
899 else if (unlikely(reg_sr
& AT91_IRQ_WARN
))
900 new_state
= CAN_STATE_ERROR_WARNING
;
901 else if (likely(reg_sr
& AT91_IRQ_ERRA
))
902 new_state
= CAN_STATE_ERROR_ACTIVE
;
904 dev_err(dev
->dev
.parent
, "BUG! hardware in undefined state\n");
908 /* state hasn't changed */
909 if (likely(new_state
== priv
->can
.state
))
912 skb
= alloc_can_err_skb(dev
, &cf
);
916 at91_irq_err_state(dev
, cf
, new_state
);
919 dev
->stats
.rx_packets
++;
920 dev
->stats
.rx_bytes
+= cf
->can_dlc
;
922 priv
->can
.state
= new_state
;
928 static irqreturn_t
at91_irq(int irq
, void *dev_id
)
930 struct net_device
*dev
= dev_id
;
931 struct at91_priv
*priv
= netdev_priv(dev
);
932 irqreturn_t handled
= IRQ_NONE
;
935 reg_sr
= at91_read(priv
, AT91_SR
);
936 reg_imr
= at91_read(priv
, AT91_IMR
);
938 /* Ignore masked interrupts */
943 handled
= IRQ_HANDLED
;
945 /* Receive or error interrupt? -> napi */
946 if (reg_sr
& (AT91_IRQ_MB_RX
| AT91_IRQ_ERR_FRAME
)) {
948 * The error bits are clear on read,
949 * save for later use.
951 priv
->reg_sr
= reg_sr
;
952 at91_write(priv
, AT91_IDR
,
953 AT91_IRQ_MB_RX
| AT91_IRQ_ERR_FRAME
);
954 napi_schedule(&priv
->napi
);
957 /* Transmission complete interrupt */
958 if (reg_sr
& AT91_IRQ_MB_TX
)
959 at91_irq_tx(dev
, reg_sr
);
967 static int at91_open(struct net_device
*dev
)
969 struct at91_priv
*priv
= netdev_priv(dev
);
972 clk_enable(priv
->clk
);
974 /* check or determine and set bittime */
975 err
= open_candev(dev
);
979 /* register interrupt handler */
980 if (request_irq(dev
->irq
, at91_irq
, IRQF_SHARED
,
986 /* start chip and queuing */
987 at91_chip_start(dev
);
988 napi_enable(&priv
->napi
);
989 netif_start_queue(dev
);
996 clk_disable(priv
->clk
);
1002 * stop CAN bus activity
1004 static int at91_close(struct net_device
*dev
)
1006 struct at91_priv
*priv
= netdev_priv(dev
);
1008 netif_stop_queue(dev
);
1009 napi_disable(&priv
->napi
);
1010 at91_chip_stop(dev
, CAN_STATE_STOPPED
);
1012 free_irq(dev
->irq
, dev
);
1013 clk_disable(priv
->clk
);
1020 static int at91_set_mode(struct net_device
*dev
, enum can_mode mode
)
1023 case CAN_MODE_START
:
1024 at91_chip_start(dev
);
1025 netif_wake_queue(dev
);
1035 static const struct net_device_ops at91_netdev_ops
= {
1036 .ndo_open
= at91_open
,
1037 .ndo_stop
= at91_close
,
1038 .ndo_start_xmit
= at91_start_xmit
,
1041 static int __devinit
at91_can_probe(struct platform_device
*pdev
)
1043 struct net_device
*dev
;
1044 struct at91_priv
*priv
;
1045 struct resource
*res
;
1050 clk
= clk_get(&pdev
->dev
, "can_clk");
1052 dev_err(&pdev
->dev
, "no clock defined\n");
1057 res
= platform_get_resource(pdev
, IORESOURCE_MEM
, 0);
1058 irq
= platform_get_irq(pdev
, 0);
1059 if (!res
|| irq
<= 0) {
1064 if (!request_mem_region(res
->start
,
1071 addr
= ioremap_nocache(res
->start
, resource_size(res
));
1077 dev
= alloc_candev(sizeof(struct at91_priv
), AT91_MB_TX_NUM
);
1083 dev
->netdev_ops
= &at91_netdev_ops
;
1085 dev
->flags
|= IFF_ECHO
;
1087 priv
= netdev_priv(dev
);
1088 priv
->can
.clock
.freq
= clk_get_rate(clk
);
1089 priv
->can
.bittiming_const
= &at91_bittiming_const
;
1090 priv
->can
.do_set_mode
= at91_set_mode
;
1091 priv
->can
.do_get_berr_counter
= at91_get_berr_counter
;
1092 priv
->can
.ctrlmode_supported
= CAN_CTRLMODE_3_SAMPLES
;
1093 priv
->reg_base
= addr
;
1096 priv
->pdata
= pdev
->dev
.platform_data
;
1098 netif_napi_add(dev
, &priv
->napi
, at91_poll
, AT91_NAPI_WEIGHT
);
1100 dev_set_drvdata(&pdev
->dev
, dev
);
1101 SET_NETDEV_DEV(dev
, &pdev
->dev
);
1103 err
= register_candev(dev
);
1105 dev_err(&pdev
->dev
, "registering netdev failed\n");
1109 dev_info(&pdev
->dev
, "device registered (reg_base=%p, irq=%d)\n",
1110 priv
->reg_base
, dev
->irq
);
1119 release_mem_region(res
->start
, resource_size(res
));
1126 static int __devexit
at91_can_remove(struct platform_device
*pdev
)
1128 struct net_device
*dev
= platform_get_drvdata(pdev
);
1129 struct at91_priv
*priv
= netdev_priv(dev
);
1130 struct resource
*res
;
1132 unregister_netdev(dev
);
1134 platform_set_drvdata(pdev
, NULL
);
1136 iounmap(priv
->reg_base
);
1138 res
= platform_get_resource(pdev
, IORESOURCE_MEM
, 0);
1139 release_mem_region(res
->start
, resource_size(res
));
1148 static struct platform_driver at91_can_driver
= {
1149 .probe
= at91_can_probe
,
1150 .remove
= __devexit_p(at91_can_remove
),
1153 .owner
= THIS_MODULE
,
1157 static int __init
at91_can_module_init(void)
1159 printk(KERN_INFO
"%s netdevice driver\n", DRV_NAME
);
1160 return platform_driver_register(&at91_can_driver
);
1163 static void __exit
at91_can_module_exit(void)
1165 platform_driver_unregister(&at91_can_driver
);
1166 printk(KERN_INFO
"%s: driver removed\n", DRV_NAME
);
1169 module_init(at91_can_module_init
);
1170 module_exit(at91_can_module_exit
);
1172 MODULE_AUTHOR("Marc Kleine-Budde <mkl@pengutronix.de>");
1173 MODULE_LICENSE("GPL v2");
1174 MODULE_DESCRIPTION(DRV_NAME
" CAN netdevice driver");