// SPDX-License-Identifier: GPL-2.0-only
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/*
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* CANFD firmware interface.
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*
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* Copyright (C) 2001-2021 PEAK System-Technik GmbH
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* Copyright (C) 2019-2021 Stephane Grosjean <s.grosjean@peak-system.com>
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*/
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#include "rtcan_dev.h"
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#include "rtcan_raw.h"
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#include "rtcan_peak_canfd_user.h"
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#define DRV_NAME "xeno_peak_canfd"
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#define RTCAN_DEV_NAME "rtcan%d"
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#define RTCAN_CTRLR_NAME "peak_canfd"
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/* bittiming ranges of the PEAK-System PC CAN-FD interfaces */
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static const struct can_bittiming_const peak_canfd_nominal_const = {
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.name = RTCAN_CTRLR_NAME,
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.tseg1_min = 1,
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.tseg1_max = (1 << PUCAN_TSLOW_TSGEG1_BITS),
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.tseg2_min = 1,
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.tseg2_max = (1 << PUCAN_TSLOW_TSGEG2_BITS),
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.sjw_max = (1 << PUCAN_TSLOW_SJW_BITS),
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.brp_min = 1,
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.brp_max = (1 << PUCAN_TSLOW_BRP_BITS),
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.brp_inc = 1,
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};
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/* initialize the command area */
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static struct peak_canfd_priv *pucan_init_cmd(struct peak_canfd_priv *priv)
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{
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priv->cmd_len = 0;
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return priv;
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}
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/* add command 'cmd_op' to the command area */
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static void *pucan_add_cmd(struct peak_canfd_priv *priv, int cmd_op)
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{
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struct pucan_command *cmd;
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if (priv->cmd_len + sizeof(*cmd) > priv->cmd_maxlen)
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return NULL;
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cmd = priv->cmd_buffer + priv->cmd_len;
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/* reset all unused bit to default */
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memset(cmd, 0, sizeof(*cmd));
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cmd->opcode_channel = pucan_cmd_opcode_channel(priv->index, cmd_op);
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priv->cmd_len += sizeof(*cmd);
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return cmd;
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}
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/* send the command(s) to the IP core through the host-device interface */
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static int pucan_write_cmd(struct peak_canfd_priv *priv)
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{
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int err;
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/* prepare environment before writing the command */
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if (priv->pre_cmd) {
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err = priv->pre_cmd(priv);
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if (err)
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return err;
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}
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err = priv->write_cmd(priv);
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if (err)
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return err;
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/* update environment after writing the command */
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if (priv->post_cmd)
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err = priv->post_cmd(priv);
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return err;
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}
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/* set the device in RESET mode */
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static int pucan_set_reset_mode(struct peak_canfd_priv *priv)
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{
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int err;
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pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RESET_MODE);
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err = pucan_write_cmd(priv);
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if (!err)
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priv->rdev->state = CAN_STATE_STOPPED;
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return err;
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}
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/* set the device in NORMAL mode */
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static int pucan_set_normal_mode(struct peak_canfd_priv *priv)
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{
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int err;
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pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_NORMAL_MODE);
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err = pucan_write_cmd(priv);
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if (!err)
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priv->rdev->state = CAN_STATE_ERROR_ACTIVE;
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return err;
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}
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/* set the device in LISTEN_ONLY mode */
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static int pucan_set_listen_only_mode(struct peak_canfd_priv *priv)
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{
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int err;
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pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_LISTEN_ONLY_MODE);
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err = pucan_write_cmd(priv);
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if (!err)
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priv->rdev->state = CAN_STATE_ERROR_ACTIVE;
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return err;
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}
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/* set acceptance filters */
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static int pucan_set_std_filter(struct peak_canfd_priv *priv, u8 row, u32 mask)
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{
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struct pucan_std_filter *cmd;
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cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_STD_FILTER);
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/* All the 11-bit CAN ID values are represented by one bit in a
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* 64 rows array of 32 columns: the upper 6 bit of the CAN ID select
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* the row while the lowest 5 bit select the column in that row.
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*
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* bit filter
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* 1 passed
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* 0 discarded
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*/
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/* select the row */
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cmd->idx = row;
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/* set/unset bits in the row */
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cmd->mask = cpu_to_le32(mask);
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return pucan_write_cmd(priv);
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}
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/* request the device to stop transmission */
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static int pucan_tx_abort(struct peak_canfd_priv *priv, u16 flags)
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{
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struct pucan_tx_abort *cmd;
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cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TX_ABORT);
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cmd->flags = cpu_to_le16(flags);
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return pucan_write_cmd(priv);
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}
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/* request the device to clear rx/tx error counters */
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static int pucan_clr_err_counters(struct peak_canfd_priv *priv)
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{
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struct pucan_wr_err_cnt *cmd;
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cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_WR_ERR_CNT);
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cmd->sel_mask = cpu_to_le16(PUCAN_WRERRCNT_TE | PUCAN_WRERRCNT_RE);
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/* write the counters new value */
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cmd->tx_counter = 0;
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cmd->rx_counter = 0;
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return pucan_write_cmd(priv);
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}
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/* set options to the device */
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static int pucan_set_options(struct peak_canfd_priv *priv, u16 opt_mask)
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{
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struct pucan_options *cmd;
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cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_SET_EN_OPTION);
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cmd->options = cpu_to_le16(opt_mask);
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return pucan_write_cmd(priv);
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}
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/* request the device to notify the driver when Tx path is ready */
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static int pucan_setup_rx_barrier(struct peak_canfd_priv *priv)
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{
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pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_RX_BARRIER);
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return pucan_write_cmd(priv);
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}
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/* handle the reception of one CAN frame */
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static int pucan_handle_can_rx(struct peak_canfd_priv *priv,
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struct pucan_rx_msg *msg)
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{
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struct rtcan_skb skb = { .rb_frame_size = EMPTY_RB_FRAME_SIZE, };
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struct rtcan_rb_frame *cf = &skb.rb_frame;
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struct rtcan_device *rdev = priv->rdev;
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const u16 rx_msg_flags = le16_to_cpu(msg->flags);
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if (rx_msg_flags & PUCAN_MSG_EXT_DATA_LEN) {
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/* CAN-FD frames are silently discarded */
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return 0;
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}
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cf->can_id = le32_to_cpu(msg->can_id);
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cf->can_dlc = get_can_dlc(pucan_msg_get_dlc(msg));
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if (rx_msg_flags & PUCAN_MSG_EXT_ID)
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cf->can_id |= CAN_EFF_FLAG;
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if (rx_msg_flags & PUCAN_MSG_RTR)
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cf->can_id |= CAN_RTR_FLAG;
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else {
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memcpy(cf->data, msg->d, cf->can_dlc);
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skb.rb_frame_size += cf->can_dlc;
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}
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cf->can_ifindex = rdev->ifindex;
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/* Pass received frame out to the sockets */
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rtcan_rcv(rdev, &skb);
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return 0;
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}
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/* handle rx/tx error counters notification */
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static int pucan_handle_error(struct peak_canfd_priv *priv,
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struct pucan_error_msg *msg)
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{
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priv->bec.txerr = msg->tx_err_cnt;
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priv->bec.rxerr = msg->rx_err_cnt;
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return 0;
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}
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/* handle status notification */
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static int pucan_handle_status(struct peak_canfd_priv *priv,
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struct pucan_status_msg *msg)
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{
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struct rtcan_skb skb = { .rb_frame_size = EMPTY_RB_FRAME_SIZE, };
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struct rtcan_rb_frame *cf = &skb.rb_frame;
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struct rtcan_device *rdev = priv->rdev;
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/* this STATUS is the CNF of the RX_BARRIER: Tx path can be setup */
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if (pucan_status_is_rx_barrier(msg)) {
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if (priv->enable_tx_path) {
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int err = priv->enable_tx_path(priv);
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if (err)
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return err;
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}
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/* unlock senders */
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rtdm_sem_up(&rdev->tx_sem);
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return 0;
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}
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/* otherwise, it's a BUS status */
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cf->can_id = CAN_ERR_FLAG;
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cf->can_dlc = CAN_ERR_DLC;
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/* test state error bits according to their priority */
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if (pucan_status_is_busoff(msg)) {
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rtdm_printk(DRV_NAME " CAN%u: Bus-off entry status\n",
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priv->index+1);
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rdev->state = CAN_STATE_BUS_OFF;
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cf->can_id |= CAN_ERR_BUSOFF;
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/* wakeup waiting senders */
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rtdm_sem_destroy(&rdev->tx_sem);
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} else if (pucan_status_is_passive(msg)) {
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rtdm_printk(DRV_NAME " CAN%u: Error passive status\n",
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priv->index+1);
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rdev->state = CAN_STATE_ERROR_PASSIVE;
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cf->can_id |= CAN_ERR_CRTL;
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cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ?
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CAN_ERR_CRTL_TX_PASSIVE :
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CAN_ERR_CRTL_RX_PASSIVE;
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cf->data[6] = priv->bec.txerr;
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cf->data[7] = priv->bec.rxerr;
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} else if (pucan_status_is_warning(msg)) {
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rtdm_printk(DRV_NAME " CAN%u: Error warning status\n",
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priv->index+1);
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rdev->state = CAN_STATE_ERROR_WARNING;
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cf->can_id |= CAN_ERR_CRTL;
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cf->data[1] = (priv->bec.txerr > priv->bec.rxerr) ?
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CAN_ERR_CRTL_TX_WARNING :
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CAN_ERR_CRTL_RX_WARNING;
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cf->data[6] = priv->bec.txerr;
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cf->data[7] = priv->bec.rxerr;
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} else if (rdev->state != CAN_STATE_ERROR_ACTIVE) {
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/* back to ERROR_ACTIVE */
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rtdm_printk(DRV_NAME " CAN%u: Error active status\n",
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priv->index+1);
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rdev->state = CAN_STATE_ERROR_ACTIVE;
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}
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skb.rb_frame_size += cf->can_dlc;
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cf->can_ifindex = rdev->ifindex;
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/* Pass received frame out to the sockets */
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rtcan_rcv(rdev, &skb);
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return 0;
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}
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/* handle IP core Rx overflow notification */
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static int pucan_handle_cache_critical(struct peak_canfd_priv *priv)
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{
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struct rtcan_skb skb = { .rb_frame_size = EMPTY_RB_FRAME_SIZE, };
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struct rtcan_rb_frame *cf = &skb.rb_frame;
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struct rtcan_device *rdev = priv->rdev;
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cf->can_id = CAN_ERR_FLAG | CAN_ERR_CRTL;
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cf->can_dlc = CAN_ERR_DLC;
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cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
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cf->data[6] = priv->bec.txerr;
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cf->data[7] = priv->bec.rxerr;
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skb.rb_frame_size += cf->can_dlc;
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cf->can_ifindex = rdev->ifindex;
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/* Pass received frame out to the sockets */
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rtcan_rcv(rdev, &skb);
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return 0;
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}
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/* handle a single uCAN message */
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int peak_canfd_handle_msg(struct peak_canfd_priv *priv,
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struct pucan_rx_msg *msg)
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{
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u16 msg_type = le16_to_cpu(msg->type);
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int msg_size = le16_to_cpu(msg->size);
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int err;
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if (!msg_size || !msg_type) {
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/* null packet found: end of list */
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goto exit;
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}
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switch (msg_type) {
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case PUCAN_MSG_CAN_RX:
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err = pucan_handle_can_rx(priv, (struct pucan_rx_msg *)msg);
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break;
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case PUCAN_MSG_ERROR:
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err = pucan_handle_error(priv, (struct pucan_error_msg *)msg);
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break;
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case PUCAN_MSG_STATUS:
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err = pucan_handle_status(priv,
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(struct pucan_status_msg *)msg);
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break;
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case PUCAN_MSG_CACHE_CRITICAL:
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err = pucan_handle_cache_critical(priv);
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break;
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default:
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err = 0;
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}
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if (err < 0)
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return err;
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exit:
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return msg_size;
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}
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/* handle a list of rx_count messages from rx_msg memory address */
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int peak_canfd_handle_msgs_list(struct peak_canfd_priv *priv,
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struct pucan_rx_msg *msg_list, int msg_count)
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{
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void *msg_ptr = msg_list;
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int i, msg_size = 0;
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for (i = 0; i < msg_count; i++) {
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msg_size = peak_canfd_handle_msg(priv, msg_ptr);
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/* a null packet can be found at the end of a list */
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if (msg_size <= 0)
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break;
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msg_ptr += ALIGN(msg_size, 4);
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}
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if (msg_size < 0)
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return msg_size;
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return i;
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}
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/* start the device (set the IP core in NORMAL or LISTEN-ONLY mode) */
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static int peak_canfd_start(struct rtcan_device *rdev,
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rtdm_lockctx_t *lock_ctx)
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{
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struct peak_canfd_priv *priv = rdev->priv;
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int i, err = 0;
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switch (rdev->state) {
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case CAN_STATE_BUS_OFF:
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case CAN_STATE_STOPPED:
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err = pucan_set_reset_mode(priv);
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if (err)
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break;
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/* set ineeded option: get rx/tx error counters */
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err = pucan_set_options(priv, PUCAN_OPTION_ERROR);
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if (err)
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break;
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/* accept all standard CAN ID */
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for (i = 0; i <= PUCAN_FLTSTD_ROW_IDX_MAX; i++)
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pucan_set_std_filter(priv, i, 0xffffffff);
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/* clear device rx/tx error counters */
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err = pucan_clr_err_counters(priv);
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if (err)
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break;
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/* set resquested mode */
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if (priv->rdev->ctrl_mode & CAN_CTRLMODE_LISTENONLY)
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err = pucan_set_listen_only_mode(priv);
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else
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err = pucan_set_normal_mode(priv);
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rtdm_sem_init(&rdev->tx_sem, 1);
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/* receiving the RB status says when Tx path is ready */
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err = pucan_setup_rx_barrier(priv);
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break;
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default:
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break;
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}
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return err;
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}
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/* stop the device (set the IP core in RESET mode) */
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static int peak_canfd_stop(struct rtcan_device *rdev,
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rtdm_lockctx_t *lock_ctx)
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{
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struct peak_canfd_priv *priv = rdev->priv;
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int err = 0;
|
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switch (rdev->state) {
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case CAN_STATE_BUS_OFF:
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case CAN_STATE_STOPPED:
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break;
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default:
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/* go back to RESET mode */
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err = pucan_set_reset_mode(priv);
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if (err) {
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rtdm_printk(DRV_NAME " CAN%u: reset failed\n",
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priv->index+1);
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break;
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}
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/* abort last Tx (MUST be done in RESET mode only!) */
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pucan_tx_abort(priv, PUCAN_TX_ABORT_FLUSH);
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rtdm_sem_destroy(&rdev->tx_sem);
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break;
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}
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return err;
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}
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/* RT-Socket-CAN driver interface */
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static int peak_canfd_set_mode(struct rtcan_device *rdev, can_mode_t mode,
|
rtdm_lockctx_t *lock_ctx)
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{
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int err = 0;
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|
switch (mode) {
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case CAN_MODE_STOP:
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err = peak_canfd_stop(rdev, lock_ctx);
|
break;
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case CAN_MODE_START:
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err = peak_canfd_start(rdev, lock_ctx);
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break;
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case CAN_MODE_SLEEP:
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/* Controller must operate, otherwise go out */
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if (!CAN_STATE_OPERATING(rdev->state)) {
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err = -ENETDOWN;
|
break;
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}
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if (rdev->state == CAN_STATE_SLEEPING)
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break;
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|
fallthrough;
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default:
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err = -EOPNOTSUPP;
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break;
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}
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return err;
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}
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|
static int peak_canfd_set_bittiming(struct rtcan_device *rdev,
|
struct can_bittime *pbt,
|
rtdm_lockctx_t *lock_ctx)
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{
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struct peak_canfd_priv *priv = rdev->priv;
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struct pucan_timing_slow *cmd;
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|
/* can't support BTR0BTR1 mode with clock greater than 8 MHz */
|
if (pbt->type != CAN_BITTIME_STD) {
|
rtdm_printk(DRV_NAME
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" CAN%u: unsupported bittiming mode %u\n",
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priv->index+1, pbt->type);
|
return -EINVAL;
|
}
|
|
cmd = pucan_add_cmd(pucan_init_cmd(priv), PUCAN_CMD_TIMING_SLOW);
|
|
cmd->sjw_t = PUCAN_TSLOW_SJW_T(pbt->std.sjw - 1,
|
priv->rdev->ctrl_mode &
|
CAN_CTRLMODE_3_SAMPLES);
|
|
cmd->tseg1 = PUCAN_TSLOW_TSEG1(pbt->std.prop_seg +
|
pbt->std.phase_seg1 - 1);
|
cmd->tseg2 = PUCAN_TSLOW_TSEG2(pbt->std.phase_seg2 - 1);
|
cmd->brp = cpu_to_le16(PUCAN_TSLOW_BRP(pbt->std.brp - 1));
|
|
cmd->ewl = 96; /* default */
|
|
rtdm_printk(DRV_NAME ": nominal: brp=%u tseg1=%u tseg2=%u sjw=%u\n",
|
le16_to_cpu(cmd->brp), cmd->tseg1, cmd->tseg2, cmd->sjw_t);
|
|
return pucan_write_cmd(priv);
|
}
|
|
/* hard transmit callback: write the CAN frame to the device */
|
static netdev_tx_t peak_canfd_start_xmit(struct rtcan_device *rdev,
|
can_frame_t *cf)
|
{
|
struct peak_canfd_priv *priv = rdev->priv;
|
struct pucan_tx_msg *msg;
|
u16 msg_size, msg_flags;
|
int room_left;
|
const u8 dlc = (cf->can_dlc > CAN_MAX_DLC) ? CAN_MAX_DLC : cf->can_dlc;
|
|
msg_size = ALIGN(sizeof(*msg) + dlc, 4);
|
msg = priv->alloc_tx_msg(priv, msg_size, &room_left);
|
|
/* should never happen except under bus-off condition and
|
* (auto-)restart mechanism
|
*/
|
if (!msg) {
|
rtdm_printk(DRV_NAME
|
" CAN%u: skb lost (No room left in tx buffer)\n",
|
priv->index+1);
|
return 0;
|
}
|
|
msg->size = cpu_to_le16(msg_size);
|
msg->type = cpu_to_le16(PUCAN_MSG_CAN_TX);
|
msg_flags = 0;
|
if (cf->can_id & CAN_EFF_FLAG) {
|
msg_flags |= PUCAN_MSG_EXT_ID;
|
msg->can_id = cpu_to_le32(cf->can_id & CAN_EFF_MASK);
|
} else {
|
msg->can_id = cpu_to_le32(cf->can_id & CAN_SFF_MASK);
|
}
|
|
if (cf->can_id & CAN_RTR_FLAG)
|
msg_flags |= PUCAN_MSG_RTR;
|
|
/* set driver specific bit to differentiate with application
|
* loopback
|
*/
|
if (rdev->ctrl_mode & CAN_CTRLMODE_LOOPBACK)
|
msg_flags |= PUCAN_MSG_LOOPED_BACK;
|
|
msg->flags = cpu_to_le16(msg_flags);
|
msg->channel_dlc = PUCAN_MSG_CHANNEL_DLC(priv->index, dlc);
|
memcpy(msg->d, cf->data, dlc);
|
|
/* write the skb on the interface */
|
priv->write_tx_msg(priv, msg);
|
|
/* control senders flow */
|
if (room_left > (sizeof(*msg) + CAN_MAX_DLC))
|
rtdm_sem_up(&rdev->tx_sem);
|
|
return 0;
|
}
|
|
/* allocate a rtcan device for channel #index, with enough space to store
|
* private information.
|
*/
|
struct rtcan_device *alloc_peak_canfd_dev(int sizeof_priv, int index)
|
{
|
struct rtcan_device *rdev;
|
struct peak_canfd_priv *priv;
|
|
/* allocate the candev object */
|
rdev = rtcan_dev_alloc(sizeof_priv, 0);
|
if (!rdev)
|
return NULL;
|
|
/* RTCAN part initialization */
|
strncpy(rdev->name, RTCAN_DEV_NAME, IFNAMSIZ);
|
rdev->ctrl_name = RTCAN_CTRLR_NAME;
|
rdev->can_sys_clock = 80*1000*1000; /* default */
|
rdev->state = CAN_STATE_STOPPED;
|
rdev->hard_start_xmit = peak_canfd_start_xmit;
|
rdev->do_set_mode = peak_canfd_set_mode;
|
rdev->do_set_bit_time = peak_canfd_set_bittiming;
|
rdev->bittiming_const = &peak_canfd_nominal_const;
|
|
priv = rdev->priv;
|
|
/* private part initialization */
|
priv->rdev = rdev;
|
priv->index = index;
|
priv->cmd_len = 0;
|
priv->bec.txerr = 0;
|
priv->bec.rxerr = 0;
|
|
return rdev;
|
}
|
