/*
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* RTDM-based FLEXCAN CAN controller driver
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*
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* Rebased on linux 4.14.58 flexcan driver:
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* Copyright (c) 2018 Philippe Gerum <rpm@xenomai.org>
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*
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* Original port to RTDM:
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* Copyright (c) 2012 Wolfgang Grandegger <wg@denx.de>
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*
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* Copyright (c) 2005-2006 Varma Electronics Oy
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* Copyright (c) 2009 Sascha Hauer, Pengutronix
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* Copyright (c) 2010-2017 Pengutronix, Marc Kleine-Budde <kernel@pengutronix.de>
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* Copyright (c) 2014 David Jander, Protonic Holland
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*
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* Based on code originally by Andrey Volkov <avolkov@varma-el.com>
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*
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* LICENCE:
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as
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* published by the Free Software Foundation version 2.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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*/
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#include <linux/clk.h>
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#include <linux/delay.h>
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#include <linux/interrupt.h>
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#include <linux/io.h>
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#include <linux/module.h>
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#include <linux/of.h>
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#include <linux/of_device.h>
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#include <linux/platform_device.h>
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#include <linux/regulator/consumer.h>
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#include <rtdm/driver.h>
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#include <rtdm/can.h>
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#include "rtcan_dev.h"
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#include "rtcan_raw.h"
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#include "rtcan_internal.h"
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#include <asm/unaligned.h>
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#define DRV_NAME "flexcan"
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#define DEV_NAME "rtcan%d"
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#define CAN_MAX_DLC 8
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#define get_can_dlc(i) (min_t(__u8, (i), CAN_MAX_DLC))
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/* 8 for RX fifo and 2 error handling */
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#define FLEXCAN_NAPI_WEIGHT (8 + 2)
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/* FLEXCAN module configuration register (CANMCR) bits */
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#define FLEXCAN_MCR_MDIS BIT(31)
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#define FLEXCAN_MCR_FRZ BIT(30)
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#define FLEXCAN_MCR_FEN BIT(29)
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#define FLEXCAN_MCR_HALT BIT(28)
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#define FLEXCAN_MCR_NOT_RDY BIT(27)
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#define FLEXCAN_MCR_WAK_MSK BIT(26)
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#define FLEXCAN_MCR_SOFTRST BIT(25)
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#define FLEXCAN_MCR_FRZ_ACK BIT(24)
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#define FLEXCAN_MCR_SUPV BIT(23)
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#define FLEXCAN_MCR_SLF_WAK BIT(22)
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#define FLEXCAN_MCR_WRN_EN BIT(21)
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#define FLEXCAN_MCR_LPM_ACK BIT(20)
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#define FLEXCAN_MCR_WAK_SRC BIT(19)
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#define FLEXCAN_MCR_DOZE BIT(18)
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#define FLEXCAN_MCR_SRX_DIS BIT(17)
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#define FLEXCAN_MCR_IRMQ BIT(16)
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#define FLEXCAN_MCR_LPRIO_EN BIT(13)
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#define FLEXCAN_MCR_AEN BIT(12)
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/* MCR_MAXMB: maximum used MBs is MAXMB + 1 */
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#define FLEXCAN_MCR_MAXMB(x) ((x) & 0x7f)
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#define FLEXCAN_MCR_IDAM_A (0x0 << 8)
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#define FLEXCAN_MCR_IDAM_B (0x1 << 8)
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#define FLEXCAN_MCR_IDAM_C (0x2 << 8)
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#define FLEXCAN_MCR_IDAM_D (0x3 << 8)
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/* FLEXCAN control register (CANCTRL) bits */
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#define FLEXCAN_CTRL_PRESDIV(x) (((x) & 0xff) << 24)
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#define FLEXCAN_CTRL_RJW(x) (((x) & 0x03) << 22)
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#define FLEXCAN_CTRL_PSEG1(x) (((x) & 0x07) << 19)
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#define FLEXCAN_CTRL_PSEG2(x) (((x) & 0x07) << 16)
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#define FLEXCAN_CTRL_BOFF_MSK BIT(15)
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#define FLEXCAN_CTRL_ERR_MSK BIT(14)
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#define FLEXCAN_CTRL_CLK_SRC BIT(13)
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#define FLEXCAN_CTRL_LPB BIT(12)
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#define FLEXCAN_CTRL_TWRN_MSK BIT(11)
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#define FLEXCAN_CTRL_RWRN_MSK BIT(10)
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#define FLEXCAN_CTRL_SMP BIT(7)
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#define FLEXCAN_CTRL_BOFF_REC BIT(6)
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#define FLEXCAN_CTRL_TSYN BIT(5)
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#define FLEXCAN_CTRL_LBUF BIT(4)
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#define FLEXCAN_CTRL_LOM BIT(3)
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#define FLEXCAN_CTRL_PROPSEG(x) ((x) & 0x07)
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#define FLEXCAN_CTRL_ERR_BUS (FLEXCAN_CTRL_ERR_MSK)
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#define FLEXCAN_CTRL_ERR_STATE \
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(FLEXCAN_CTRL_TWRN_MSK | FLEXCAN_CTRL_RWRN_MSK | \
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FLEXCAN_CTRL_BOFF_MSK)
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#define FLEXCAN_CTRL_ERR_ALL \
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(FLEXCAN_CTRL_ERR_BUS | FLEXCAN_CTRL_ERR_STATE)
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/* FLEXCAN control register 2 (CTRL2) bits */
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#define FLEXCAN_CTRL2_ECRWRE BIT(29)
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#define FLEXCAN_CTRL2_WRMFRZ BIT(28)
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#define FLEXCAN_CTRL2_RFFN(x) (((x) & 0x0f) << 24)
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#define FLEXCAN_CTRL2_TASD(x) (((x) & 0x1f) << 19)
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#define FLEXCAN_CTRL2_MRP BIT(18)
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#define FLEXCAN_CTRL2_RRS BIT(17)
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#define FLEXCAN_CTRL2_EACEN BIT(16)
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/* FLEXCAN memory error control register (MECR) bits */
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#define FLEXCAN_MECR_ECRWRDIS BIT(31)
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#define FLEXCAN_MECR_HANCEI_MSK BIT(19)
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#define FLEXCAN_MECR_FANCEI_MSK BIT(18)
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#define FLEXCAN_MECR_CEI_MSK BIT(16)
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#define FLEXCAN_MECR_HAERRIE BIT(15)
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#define FLEXCAN_MECR_FAERRIE BIT(14)
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#define FLEXCAN_MECR_EXTERRIE BIT(13)
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#define FLEXCAN_MECR_RERRDIS BIT(9)
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#define FLEXCAN_MECR_ECCDIS BIT(8)
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#define FLEXCAN_MECR_NCEFAFRZ BIT(7)
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/* FLEXCAN error and status register (ESR) bits */
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#define FLEXCAN_ESR_TWRN_INT BIT(17)
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#define FLEXCAN_ESR_RWRN_INT BIT(16)
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#define FLEXCAN_ESR_BIT1_ERR BIT(15)
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#define FLEXCAN_ESR_BIT0_ERR BIT(14)
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#define FLEXCAN_ESR_ACK_ERR BIT(13)
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#define FLEXCAN_ESR_CRC_ERR BIT(12)
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#define FLEXCAN_ESR_FRM_ERR BIT(11)
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#define FLEXCAN_ESR_STF_ERR BIT(10)
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#define FLEXCAN_ESR_TX_WRN BIT(9)
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#define FLEXCAN_ESR_RX_WRN BIT(8)
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#define FLEXCAN_ESR_IDLE BIT(7)
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#define FLEXCAN_ESR_TXRX BIT(6)
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#define FLEXCAN_EST_FLT_CONF_SHIFT (4)
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#define FLEXCAN_ESR_FLT_CONF_MASK (0x3 << FLEXCAN_EST_FLT_CONF_SHIFT)
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#define FLEXCAN_ESR_FLT_CONF_ACTIVE (0x0 << FLEXCAN_EST_FLT_CONF_SHIFT)
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#define FLEXCAN_ESR_FLT_CONF_PASSIVE (0x1 << FLEXCAN_EST_FLT_CONF_SHIFT)
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#define FLEXCAN_ESR_BOFF_INT BIT(2)
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#define FLEXCAN_ESR_ERR_INT BIT(1)
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#define FLEXCAN_ESR_WAK_INT BIT(0)
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#define FLEXCAN_ESR_ERR_BUS \
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(FLEXCAN_ESR_BIT1_ERR | FLEXCAN_ESR_BIT0_ERR | \
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FLEXCAN_ESR_ACK_ERR | FLEXCAN_ESR_CRC_ERR | \
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FLEXCAN_ESR_FRM_ERR | FLEXCAN_ESR_STF_ERR)
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#define FLEXCAN_ESR_ERR_STATE \
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(FLEXCAN_ESR_TWRN_INT | FLEXCAN_ESR_RWRN_INT | FLEXCAN_ESR_BOFF_INT)
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#define FLEXCAN_ESR_ERR_ALL \
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(FLEXCAN_ESR_ERR_BUS | FLEXCAN_ESR_ERR_STATE)
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#define FLEXCAN_ESR_ALL_INT \
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(FLEXCAN_ESR_TWRN_INT | FLEXCAN_ESR_RWRN_INT | \
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FLEXCAN_ESR_BOFF_INT | FLEXCAN_ESR_ERR_INT)
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/* FLEXCAN interrupt flag register (IFLAG) bits */
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/* Errata ERR005829 step7: Reserve first valid MB */
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#define FLEXCAN_TX_MB_RESERVED_OFF_FIFO 8
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#define FLEXCAN_TX_MB_OFF_FIFO 9
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#define FLEXCAN_TX_MB_RESERVED_OFF_TIMESTAMP 0
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#define FLEXCAN_TX_MB_OFF_TIMESTAMP 1
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#define FLEXCAN_RX_MB_OFF_TIMESTAMP_FIRST (FLEXCAN_TX_MB_OFF_TIMESTAMP + 1)
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#define FLEXCAN_RX_MB_OFF_TIMESTAMP_LAST 63
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#define FLEXCAN_RX_MB_TIMESTAMP_COUNT (FLEXCAN_RX_MB_OFF_TIMESTAMP_LAST - \
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FLEXCAN_RX_MB_OFF_TIMESTAMP_FIRST + 1)
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#define FLEXCAN_IFLAG_MB(x) BIT(x)
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#define FLEXCAN_IFLAG_RX_FIFO_OVERFLOW BIT(7)
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#define FLEXCAN_IFLAG_RX_FIFO_WARN BIT(6)
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#define FLEXCAN_IFLAG_RX_FIFO_AVAILABLE BIT(5)
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/* FLEXCAN message buffers */
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#define FLEXCAN_MB_CODE_MASK (0xf << 24)
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#define FLEXCAN_MB_CODE_RX_BUSY_BIT (0x1 << 24)
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#define FLEXCAN_MB_CODE_RX_INACTIVE (0x0 << 24)
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#define FLEXCAN_MB_CODE_RX_EMPTY (0x4 << 24)
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#define FLEXCAN_MB_CODE_RX_FULL (0x2 << 24)
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#define FLEXCAN_MB_CODE_RX_OVERRUN (0x6 << 24)
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#define FLEXCAN_MB_CODE_RX_RANSWER (0xa << 24)
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#define FLEXCAN_MB_CODE_TX_INACTIVE (0x8 << 24)
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#define FLEXCAN_MB_CODE_TX_ABORT (0x9 << 24)
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#define FLEXCAN_MB_CODE_TX_DATA (0xc << 24)
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#define FLEXCAN_MB_CODE_TX_TANSWER (0xe << 24)
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#define FLEXCAN_MB_CNT_SRR BIT(22)
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#define FLEXCAN_MB_CNT_IDE BIT(21)
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#define FLEXCAN_MB_CNT_RTR BIT(20)
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#define FLEXCAN_MB_CNT_LENGTH(x) (((x) & 0xf) << 16)
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#define FLEXCAN_MB_CNT_TIMESTAMP(x) ((x) & 0xffff)
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#define FLEXCAN_TIMEOUT_US (50)
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/* FLEXCAN hardware feature flags
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*
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* Below is some version info we got:
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* SOC Version IP-Version Glitch- [TR]WRN_INT IRQ Err Memory err RTR re-
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* Filter? connected? Passive detection ception in MB
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* MX25 FlexCAN2 03.00.00.00 no no ? no no
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* MX28 FlexCAN2 03.00.04.00 yes yes no no no
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* MX35 FlexCAN2 03.00.00.00 no no ? no no
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* MX53 FlexCAN2 03.00.00.00 yes no no no no
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* MX6s FlexCAN3 10.00.12.00 yes yes no no yes
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* VF610 FlexCAN3 ? no yes no yes yes?
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*
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* Some SOCs do not have the RX_WARN & TX_WARN interrupt line connected.
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*/
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#define FLEXCAN_QUIRK_BROKEN_WERR_STATE BIT(1) /* [TR]WRN_INT not connected */
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#define FLEXCAN_QUIRK_DISABLE_RXFG BIT(2) /* Disable RX FIFO Global mask */
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#define FLEXCAN_QUIRK_ENABLE_EACEN_RRS BIT(3) /* Enable EACEN and RRS bit in ctrl2 */
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#define FLEXCAN_QUIRK_DISABLE_MECR BIT(4) /* Disable Memory error detection */
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#define FLEXCAN_QUIRK_USE_OFF_TIMESTAMP BIT(5) /* Use timestamp based offloading */
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#define FLEXCAN_QUIRK_BROKEN_PERR_STATE BIT(6) /* No interrupt for error passive */
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/* Structure of the message buffer */
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struct flexcan_mb {
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u32 can_ctrl;
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u32 can_id;
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u32 data[2];
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};
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/* Structure of the hardware registers */
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struct flexcan_regs {
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u32 mcr; /* 0x00 */
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u32 ctrl; /* 0x04 */
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u32 timer; /* 0x08 */
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u32 _reserved1; /* 0x0c */
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u32 rxgmask; /* 0x10 */
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u32 rx14mask; /* 0x14 */
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u32 rx15mask; /* 0x18 */
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u32 ecr; /* 0x1c */
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u32 esr; /* 0x20 */
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u32 imask2; /* 0x24 */
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u32 imask1; /* 0x28 */
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u32 iflag2; /* 0x2c */
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u32 iflag1; /* 0x30 */
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union { /* 0x34 */
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u32 gfwr_mx28; /* MX28, MX53 */
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u32 ctrl2; /* MX6, VF610 */
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};
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u32 esr2; /* 0x38 */
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u32 imeur; /* 0x3c */
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u32 lrfr; /* 0x40 */
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u32 crcr; /* 0x44 */
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u32 rxfgmask; /* 0x48 */
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u32 rxfir; /* 0x4c */
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u32 _reserved3[12]; /* 0x50 */
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struct flexcan_mb mb[64]; /* 0x80 */
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/* FIFO-mode:
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* MB
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* 0x080...0x08f 0 RX message buffer
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* 0x090...0x0df 1-5 reserverd
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* 0x0e0...0x0ff 6-7 8 entry ID table
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* (mx25, mx28, mx35, mx53)
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* 0x0e0...0x2df 6-7..37 8..128 entry ID table
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* size conf'ed via ctrl2::RFFN
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* (mx6, vf610)
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*/
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u32 _reserved4[256]; /* 0x480 */
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u32 rximr[64]; /* 0x880 */
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u32 _reserved5[24]; /* 0x980 */
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u32 gfwr_mx6; /* 0x9e0 - MX6 */
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u32 _reserved6[63]; /* 0x9e4 */
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u32 mecr; /* 0xae0 */
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u32 erriar; /* 0xae4 */
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u32 erridpr; /* 0xae8 */
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u32 errippr; /* 0xaec */
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u32 rerrar; /* 0xaf0 */
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u32 rerrdr; /* 0xaf4 */
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u32 rerrsynr; /* 0xaf8 */
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u32 errsr; /* 0xafc */
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};
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struct flexcan_devtype_data {
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u32 quirks; /* quirks needed for different IP cores */
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};
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struct flexcan_timestamped_frame {
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struct rtcan_skb skb;
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u32 timestamp;
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struct list_head next;
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};
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struct flexcan_priv {
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unsigned int irq;
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unsigned int mb_first;
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unsigned int mb_last;
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struct can_bittime bittiming;
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struct flexcan_timestamped_frame *ts_frames;
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struct flexcan_regs __iomem *regs;
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struct flexcan_mb __iomem *tx_mb;
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struct flexcan_mb __iomem *tx_mb_reserved;
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u8 tx_mb_idx;
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u32 reg_ctrl_default;
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u32 reg_imask1_default;
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u32 reg_imask2_default;
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struct clk *clk_ipg;
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struct clk *clk_per;
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const struct flexcan_devtype_data *devtype_data;
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struct regulator *reg_xceiver;
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unsigned long bus_errors;
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};
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static const struct flexcan_devtype_data fsl_p1010_devtype_data = {
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.quirks = FLEXCAN_QUIRK_BROKEN_WERR_STATE |
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FLEXCAN_QUIRK_BROKEN_PERR_STATE,
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};
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static const struct flexcan_devtype_data fsl_imx28_devtype_data = {
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.quirks = FLEXCAN_QUIRK_BROKEN_PERR_STATE,
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};
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static const struct flexcan_devtype_data fsl_imx6q_devtype_data = {
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.quirks = FLEXCAN_QUIRK_DISABLE_RXFG | FLEXCAN_QUIRK_ENABLE_EACEN_RRS |
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FLEXCAN_QUIRK_USE_OFF_TIMESTAMP | FLEXCAN_QUIRK_BROKEN_PERR_STATE,
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};
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static const struct flexcan_devtype_data fsl_vf610_devtype_data = {
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.quirks = FLEXCAN_QUIRK_DISABLE_RXFG | FLEXCAN_QUIRK_ENABLE_EACEN_RRS |
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FLEXCAN_QUIRK_DISABLE_MECR | FLEXCAN_QUIRK_USE_OFF_TIMESTAMP |
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FLEXCAN_QUIRK_BROKEN_PERR_STATE,
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};
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static const struct can_bittiming_const flexcan_bittiming_const = {
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.name = DRV_NAME,
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.tseg1_min = 4,
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.tseg1_max = 16,
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.tseg2_min = 2,
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.tseg2_max = 8,
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.sjw_max = 4,
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.brp_min = 1,
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.brp_max = 256,
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.brp_inc = 1,
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};
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/* Abstract off the read/write for arm versus ppc. This
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* assumes that PPC uses big-endian registers and everything
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* else uses little-endian registers, independent of CPU
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* endianness.
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*/
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#if defined(CONFIG_PPC)
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static inline u32 flexcan_read(void __iomem *addr)
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{
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return in_be32(addr);
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}
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static inline void flexcan_write(u32 val, void __iomem *addr)
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{
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out_be32(addr, val);
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}
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#else
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static inline u32 flexcan_read(void __iomem *addr)
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{
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return readl(addr);
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}
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static inline void flexcan_write(u32 val, void __iomem *addr)
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{
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writel(val, addr);
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}
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#endif
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static inline void flexcan_error_irq_enable(const struct flexcan_priv *priv)
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{
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struct flexcan_regs __iomem *regs = priv->regs;
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u32 reg_ctrl = (priv->reg_ctrl_default | FLEXCAN_CTRL_ERR_MSK);
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flexcan_write(reg_ctrl, ®s->ctrl);
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}
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static inline void flexcan_error_irq_disable(const struct flexcan_priv *priv)
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{
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struct flexcan_regs __iomem *regs = priv->regs;
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u32 reg_ctrl = (priv->reg_ctrl_default & ~FLEXCAN_CTRL_ERR_MSK);
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flexcan_write(reg_ctrl, ®s->ctrl);
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}
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static inline int flexcan_transceiver_enable(const struct flexcan_priv *priv)
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{
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if (!priv->reg_xceiver)
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return 0;
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return regulator_enable(priv->reg_xceiver);
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}
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static inline int flexcan_transceiver_disable(const struct flexcan_priv *priv)
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{
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if (!priv->reg_xceiver)
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return 0;
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return regulator_disable(priv->reg_xceiver);
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}
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static int flexcan_chip_enable(struct flexcan_priv *priv)
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{
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struct flexcan_regs __iomem *regs = priv->regs;
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unsigned int timeout = FLEXCAN_TIMEOUT_US / 10;
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u32 reg;
|
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reg = flexcan_read(®s->mcr);
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reg &= ~FLEXCAN_MCR_MDIS;
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flexcan_write(reg, ®s->mcr);
|
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while (timeout-- && (flexcan_read(®s->mcr) & FLEXCAN_MCR_LPM_ACK))
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udelay(10);
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if (flexcan_read(®s->mcr) & FLEXCAN_MCR_LPM_ACK)
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return -ETIMEDOUT;
|
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return 0;
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}
|
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static int flexcan_chip_disable(struct flexcan_priv *priv)
|
{
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struct flexcan_regs __iomem *regs = priv->regs;
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unsigned int timeout = FLEXCAN_TIMEOUT_US / 10;
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u32 reg;
|
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reg = flexcan_read(®s->mcr);
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reg |= FLEXCAN_MCR_MDIS;
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flexcan_write(reg, ®s->mcr);
|
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while (timeout-- && !(flexcan_read(®s->mcr) & FLEXCAN_MCR_LPM_ACK))
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udelay(10);
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if (!(flexcan_read(®s->mcr) & FLEXCAN_MCR_LPM_ACK))
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return -ETIMEDOUT;
|
|
return 0;
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}
|
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static int flexcan_chip_freeze(struct rtcan_device *dev)
|
{
|
struct flexcan_priv *priv = rtcan_priv(dev);
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struct flexcan_regs __iomem *regs = priv->regs;
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unsigned int timeout = 1000 * 1000 * 10 / dev->baudrate;
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u32 reg;
|
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reg = flexcan_read(®s->mcr);
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reg |= FLEXCAN_MCR_HALT;
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flexcan_write(reg, ®s->mcr);
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while (timeout-- && !(flexcan_read(®s->mcr) & FLEXCAN_MCR_FRZ_ACK))
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udelay(100);
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if (!(flexcan_read(®s->mcr) & FLEXCAN_MCR_FRZ_ACK))
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return -ETIMEDOUT;
|
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return 0;
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}
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static int flexcan_chip_unfreeze(struct flexcan_priv *priv)
|
{
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struct flexcan_regs __iomem *regs = priv->regs;
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unsigned int timeout = FLEXCAN_TIMEOUT_US / 10;
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u32 reg;
|
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reg = flexcan_read(®s->mcr);
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reg &= ~FLEXCAN_MCR_HALT;
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flexcan_write(reg, ®s->mcr);
|
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while (timeout-- && (flexcan_read(®s->mcr) & FLEXCAN_MCR_FRZ_ACK))
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udelay(10);
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if (flexcan_read(®s->mcr) & FLEXCAN_MCR_FRZ_ACK)
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return -ETIMEDOUT;
|
|
return 0;
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}
|
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static int flexcan_chip_softreset(struct flexcan_priv *priv)
|
{
|
struct flexcan_regs __iomem *regs = priv->regs;
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unsigned int timeout = FLEXCAN_TIMEOUT_US / 10;
|
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flexcan_write(FLEXCAN_MCR_SOFTRST, ®s->mcr);
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while (timeout-- && (flexcan_read(®s->mcr) & FLEXCAN_MCR_SOFTRST))
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udelay(10);
|
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if (flexcan_read(®s->mcr) & FLEXCAN_MCR_SOFTRST)
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return -ETIMEDOUT;
|
|
return 0;
|
}
|
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static int flexcan_start_xmit(struct rtcan_device *dev, struct can_frame *cf)
|
{
|
const struct flexcan_priv *priv = rtcan_priv(dev);
|
u32 can_id, data, ctrl;
|
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ctrl = FLEXCAN_MB_CODE_TX_DATA | (cf->can_dlc << 16);
|
if (cf->can_id & CAN_EFF_FLAG) {
|
can_id = cf->can_id & CAN_EFF_MASK;
|
ctrl |= FLEXCAN_MB_CNT_IDE | FLEXCAN_MB_CNT_SRR;
|
} else {
|
can_id = (cf->can_id & CAN_SFF_MASK) << 18;
|
}
|
|
if (cf->can_id & CAN_RTR_FLAG)
|
ctrl |= FLEXCAN_MB_CNT_RTR;
|
|
if (cf->can_dlc > CAN_MAX_DLC)
|
cf->can_dlc = CAN_MAX_DLC;
|
|
if (cf->can_dlc > 0) {
|
data = be32_to_cpup((__be32 *)&cf->data[0]);
|
flexcan_write(data, &priv->tx_mb->data[0]);
|
}
|
if (cf->can_dlc > 4) {
|
data = be32_to_cpup((__be32 *)&cf->data[4]);
|
flexcan_write(data, &priv->tx_mb->data[1]);
|
}
|
|
flexcan_write(can_id, &priv->tx_mb->can_id);
|
flexcan_write(ctrl, &priv->tx_mb->can_ctrl);
|
|
/* Errata ERR005829 step8:
|
* Write twice INACTIVE(0x8) code to first MB.
|
*/
|
flexcan_write(FLEXCAN_MB_CODE_TX_INACTIVE,
|
&priv->tx_mb_reserved->can_ctrl);
|
flexcan_write(FLEXCAN_MB_CODE_TX_INACTIVE,
|
&priv->tx_mb_reserved->can_ctrl);
|
|
return 0;
|
}
|
|
static void init_err_skb(struct rtcan_skb *skb)
|
{
|
struct rtcan_rb_frame *cf = &skb->rb_frame;
|
|
skb->rb_frame_size = EMPTY_RB_FRAME_SIZE + CAN_ERR_DLC;
|
cf->can_id = CAN_ERR_FLAG;
|
cf->can_dlc = CAN_ERR_DLC;
|
memset(&cf->data[0], 0, cf->can_dlc);
|
}
|
|
static void flexcan_irq_bus_err(struct rtcan_device *dev,
|
u32 reg_esr, struct rtcan_skb *skb)
|
{
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
struct rtcan_rb_frame *cf = &skb->rb_frame;
|
|
init_err_skb(skb);
|
|
cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
|
|
if (reg_esr & FLEXCAN_ESR_BIT1_ERR) {
|
rtcandev_dbg(dev, "BIT1_ERR irq\n");
|
cf->data[2] |= CAN_ERR_PROT_BIT1;
|
}
|
if (reg_esr & FLEXCAN_ESR_BIT0_ERR) {
|
rtcandev_dbg(dev, "BIT0_ERR irq\n");
|
cf->data[2] |= CAN_ERR_PROT_BIT0;
|
}
|
if (reg_esr & FLEXCAN_ESR_ACK_ERR) {
|
rtcandev_dbg(dev, "ACK_ERR irq\n");
|
cf->can_id |= CAN_ERR_ACK;
|
cf->data[3] = CAN_ERR_PROT_LOC_ACK;
|
}
|
if (reg_esr & FLEXCAN_ESR_CRC_ERR) {
|
rtcandev_dbg(dev, "CRC_ERR irq\n");
|
cf->data[2] |= CAN_ERR_PROT_BIT;
|
cf->data[3] = CAN_ERR_PROT_LOC_CRC_SEQ;
|
}
|
if (reg_esr & FLEXCAN_ESR_FRM_ERR) {
|
rtcandev_dbg(dev, "FRM_ERR irq\n");
|
cf->data[2] |= CAN_ERR_PROT_FORM;
|
}
|
if (reg_esr & FLEXCAN_ESR_STF_ERR) {
|
rtcandev_dbg(dev, "STF_ERR irq\n");
|
cf->data[2] |= CAN_ERR_PROT_STUFF;
|
}
|
|
priv->bus_errors++;
|
}
|
|
struct berr_counter {
|
u16 txerr;
|
u16 rxerr;
|
};
|
|
static void flexcan_change_state(struct rtcan_device *dev,
|
struct rtcan_rb_frame *cf,
|
struct berr_counter *bec,
|
can_state_t new_state)
|
{
|
switch (dev->state) {
|
case CAN_STATE_ERROR_ACTIVE:
|
/*
|
* from: ERROR_ACTIVE
|
* to : ERROR_WARNING, ERROR_PASSIVE, BUS_OFF
|
* => : there was a warning int
|
*/
|
if (new_state >= CAN_STATE_ERROR_WARNING &&
|
new_state <= CAN_STATE_BUS_OFF) {
|
rtcandev_dbg(dev, "Error Warning IRQ\n");
|
|
cf->can_id |= CAN_ERR_CRTL;
|
cf->data[1] = (bec->txerr > bec->rxerr) ?
|
CAN_ERR_CRTL_TX_WARNING :
|
CAN_ERR_CRTL_RX_WARNING;
|
}
|
fallthrough;
|
case CAN_STATE_ERROR_WARNING:
|
/*
|
* from: ERROR_ACTIVE, ERROR_WARNING
|
* to : ERROR_PASSIVE, BUS_OFF
|
* => : error passive int
|
*/
|
if (new_state >= CAN_STATE_ERROR_PASSIVE &&
|
new_state <= CAN_STATE_BUS_OFF) {
|
rtcandev_dbg(dev, "Error Passive IRQ\n");
|
|
cf->can_id |= CAN_ERR_CRTL;
|
cf->data[1] = (bec->txerr > bec->rxerr) ?
|
CAN_ERR_CRTL_TX_PASSIVE :
|
CAN_ERR_CRTL_RX_PASSIVE;
|
}
|
break;
|
case CAN_STATE_BUS_OFF:
|
rtcandev_err(dev, "BUG! "
|
"hardware recovered automatically from BUS_OFF\n");
|
break;
|
default:
|
break;
|
}
|
|
/* process state changes depending on the new state */
|
switch (new_state) {
|
case CAN_STATE_ERROR_ACTIVE:
|
rtcandev_dbg(dev, "Error Active\n");
|
cf->can_id |= CAN_ERR_PROT;
|
cf->data[2] = CAN_ERR_PROT_ACTIVE;
|
break;
|
case CAN_STATE_BUS_OFF:
|
cf->can_id |= CAN_ERR_BUSOFF;
|
/* Wake up waiting senders */
|
rtdm_sem_destroy(&dev->tx_sem);
|
break;
|
default:
|
break;
|
}
|
|
dev->state = new_state;
|
}
|
|
static bool flexcan_irq_state(struct rtcan_device *dev, u32 reg_esr,
|
struct rtcan_skb *skb)
|
{
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
struct flexcan_regs __iomem *regs = priv->regs;
|
enum CAN_STATE new_state, rx_state, tx_state;
|
struct rtcan_rb_frame *cf = &skb->rb_frame;
|
struct berr_counter bec;
|
u32 reg;
|
int flt;
|
|
reg = flexcan_read(®s->ecr);
|
bec.txerr = (reg >> 0) & 0xff;
|
bec.rxerr = (reg >> 8) & 0xff;
|
|
flt = reg_esr & FLEXCAN_ESR_FLT_CONF_MASK;
|
if (likely(flt == FLEXCAN_ESR_FLT_CONF_ACTIVE)) {
|
tx_state = unlikely(reg_esr & FLEXCAN_ESR_TX_WRN) ?
|
CAN_STATE_ERROR_WARNING : CAN_STATE_ERROR_ACTIVE;
|
rx_state = unlikely(reg_esr & FLEXCAN_ESR_RX_WRN) ?
|
CAN_STATE_ERROR_WARNING : CAN_STATE_ERROR_ACTIVE;
|
new_state = max(tx_state, rx_state);
|
} else
|
new_state = flt == FLEXCAN_ESR_FLT_CONF_PASSIVE ?
|
CAN_STATE_ERROR_PASSIVE : CAN_STATE_BUS_OFF;
|
|
/* state hasn't changed */
|
if (likely(new_state == dev->state))
|
return false;
|
|
init_err_skb(skb);
|
|
flexcan_change_state(dev, cf, &bec, new_state);
|
|
return true;
|
}
|
|
static unsigned int flexcan_mailbox_read(struct rtcan_device *dev,
|
struct rtcan_skb *skb,
|
u32 *timestamp, unsigned int n)
|
{
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
struct flexcan_regs __iomem *regs = priv->regs;
|
struct flexcan_mb __iomem *mb = ®s->mb[n];
|
u32 reg_ctrl, reg_id, reg_iflag1, code;
|
struct rtcan_rb_frame *cf = &skb->rb_frame;
|
|
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_USE_OFF_TIMESTAMP) {
|
do {
|
reg_ctrl = flexcan_read(&mb->can_ctrl);
|
} while (reg_ctrl & FLEXCAN_MB_CODE_RX_BUSY_BIT);
|
|
/* is this MB empty? */
|
code = reg_ctrl & FLEXCAN_MB_CODE_MASK;
|
if ((code != FLEXCAN_MB_CODE_RX_FULL) &&
|
(code != FLEXCAN_MB_CODE_RX_OVERRUN))
|
return 0;
|
} else {
|
reg_iflag1 = flexcan_read(®s->iflag1);
|
if (!(reg_iflag1 & FLEXCAN_IFLAG_RX_FIFO_AVAILABLE))
|
return 0;
|
|
reg_ctrl = flexcan_read(&mb->can_ctrl);
|
}
|
|
/* increase timstamp to full 32 bit */
|
*timestamp = reg_ctrl << 16;
|
|
cf->can_dlc = get_can_dlc((reg_ctrl >> 16) & 0xf);
|
reg_id = flexcan_read(&mb->can_id);
|
if (reg_ctrl & FLEXCAN_MB_CNT_IDE)
|
cf->can_id = ((reg_id >> 0) & CAN_EFF_MASK) | CAN_EFF_FLAG;
|
else
|
cf->can_id = (reg_id >> 18) & CAN_SFF_MASK;
|
|
skb->rb_frame_size = EMPTY_RB_FRAME_SIZE;
|
|
if (reg_ctrl & FLEXCAN_MB_CNT_RTR)
|
cf->can_id |= CAN_RTR_FLAG;
|
else
|
skb->rb_frame_size += cf->can_dlc;
|
|
put_unaligned_be32(flexcan_read(&mb->data[0]), cf->data + 0);
|
put_unaligned_be32(flexcan_read(&mb->data[1]), cf->data + 4);
|
|
cf->can_ifindex = dev->ifindex;
|
|
/* mark as read */
|
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_USE_OFF_TIMESTAMP) {
|
/* Clear IRQ */
|
if (n < 32)
|
flexcan_write(BIT(n), ®s->iflag1);
|
else
|
flexcan_write(BIT(n - 32), ®s->iflag2);
|
} else {
|
flexcan_write(FLEXCAN_IFLAG_RX_FIFO_AVAILABLE, ®s->iflag1);
|
flexcan_read(®s->timer);
|
}
|
|
return 1;
|
}
|
|
static inline bool flexcan_rx_le(struct flexcan_priv *priv, unsigned int a, unsigned int b)
|
{
|
if (priv->mb_first < priv->mb_last)
|
return a <= b;
|
|
return a >= b;
|
}
|
|
static inline unsigned int flexcan_rx_inc(struct flexcan_priv *priv, unsigned int *val)
|
{
|
if (priv->mb_first < priv->mb_last)
|
return (*val)++;
|
|
return (*val)--;
|
}
|
|
static int flexcan_mailbox_read_timestamp(struct rtcan_device *dev, u64 pending)
|
{
|
struct flexcan_timestamped_frame *new, *pos, *tmp;
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
struct list_head q, *head;
|
int i, count = 0;
|
|
INIT_LIST_HEAD(&q);
|
|
for (i = priv->mb_first;
|
flexcan_rx_le(priv, i, priv->mb_last);
|
flexcan_rx_inc(priv, &i)) {
|
if (!(pending & BIT_ULL(i)))
|
continue;
|
|
new = priv->ts_frames + (i - priv->mb_first);
|
if (!flexcan_mailbox_read(dev, &new->skb, &new->timestamp, i))
|
break;
|
|
head = &q;
|
if (list_empty(&q))
|
goto add;
|
|
list_for_each_entry_reverse(pos, &q, next) {
|
/*
|
* Substract two u32 and return result as int,
|
* to keep difference steady around the u32
|
* overflow.
|
*/
|
if (((int)(new->timestamp - pos->timestamp)) >= 0) {
|
head = &pos->next;
|
break;
|
}
|
}
|
add:
|
list_add(&new->next, head);
|
count++;
|
}
|
|
if (list_empty(&q))
|
return 0;
|
|
list_for_each_entry_safe(pos, tmp, &q, next)
|
rtcan_rcv(dev, &pos->skb);
|
|
return count;
|
}
|
|
static void flexcan_mailbox_read_fifo(struct rtcan_device *dev)
|
{
|
struct rtcan_skb skb;
|
u32 timestamp;
|
|
for (;;) {
|
if (!flexcan_mailbox_read(dev, &skb, ×tamp, 0))
|
break;
|
rtcan_rcv(dev, &skb);
|
}
|
}
|
|
static inline u64 flexcan_read_reg_iflag_rx(struct flexcan_priv *priv)
|
{
|
struct flexcan_regs __iomem *regs = priv->regs;
|
u32 iflag1, iflag2;
|
|
iflag2 = flexcan_read(®s->iflag2) & priv->reg_imask2_default;
|
iflag1 = flexcan_read(®s->iflag1) & priv->reg_imask1_default &
|
~FLEXCAN_IFLAG_MB(priv->tx_mb_idx);
|
|
return (u64)iflag2 << 32 | iflag1;
|
}
|
|
static int flexcan_do_rx(struct rtcan_device *dev, u32 reg_iflag1)
|
{
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
struct flexcan_regs __iomem *regs = priv->regs;
|
struct rtcan_skb skb;
|
struct rtcan_rb_frame *cf = &skb.rb_frame;
|
bool input = false;
|
u64 reg;
|
int ret;
|
|
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_USE_OFF_TIMESTAMP) {
|
while ((reg = flexcan_read_reg_iflag_rx(priv))) {
|
input = true;
|
ret = flexcan_mailbox_read_timestamp(dev, reg);
|
if (!ret)
|
break;
|
}
|
} else {
|
if (reg_iflag1 & FLEXCAN_IFLAG_RX_FIFO_OVERFLOW) {
|
flexcan_write(FLEXCAN_IFLAG_RX_FIFO_OVERFLOW, ®s->iflag1);
|
init_err_skb(&skb);
|
cf->can_id |= CAN_ERR_CRTL;
|
cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
|
input = true;
|
} else if (reg_iflag1 & FLEXCAN_IFLAG_RX_FIFO_AVAILABLE) {
|
flexcan_mailbox_read_fifo(dev);
|
input = true;
|
}
|
}
|
|
return input;
|
}
|
|
static int flexcan_irq(rtdm_irq_t *irq_handle)
|
{
|
struct rtcan_device *dev = rtdm_irq_get_arg(irq_handle, void);
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
struct flexcan_regs __iomem *regs = priv->regs;
|
u32 reg_iflag1, reg_esr;
|
struct rtcan_skb skb;
|
int handled;
|
|
rtdm_lock_get(&dev->device_lock);
|
rtdm_lock_get(&rtcan_recv_list_lock);
|
rtdm_lock_get(&rtcan_socket_lock);
|
|
reg_iflag1 = flexcan_read(®s->iflag1);
|
|
/* reception interrupt */
|
if (flexcan_do_rx(dev, reg_iflag1))
|
handled = RTDM_IRQ_HANDLED;
|
|
/* transmission complete interrupt */
|
if (reg_iflag1 & FLEXCAN_IFLAG_MB(priv->tx_mb_idx)) {
|
/* after sending a RTR frame MB is in RX mode */
|
flexcan_write(FLEXCAN_MB_CODE_TX_INACTIVE,
|
&priv->tx_mb->can_ctrl);
|
flexcan_write(FLEXCAN_IFLAG_MB(priv->tx_mb_idx), ®s->iflag1);
|
rtdm_sem_up(&dev->tx_sem);
|
dev->tx_count++;
|
if (rtcan_loopback_pending(dev))
|
rtcan_loopback(dev);
|
handled = RTDM_IRQ_HANDLED;
|
}
|
|
reg_esr = flexcan_read(®s->esr);
|
|
/* ACK all bus error and state change IRQ sources */
|
if (reg_esr & FLEXCAN_ESR_ALL_INT) {
|
flexcan_write(reg_esr & FLEXCAN_ESR_ALL_INT, ®s->esr);
|
handled = RTDM_IRQ_HANDLED;
|
}
|
|
/* state change interrupt or broken error state quirk fix is enabled */
|
if (reg_esr & FLEXCAN_ESR_ERR_STATE)
|
handled = RTDM_IRQ_HANDLED;
|
else if (priv->devtype_data->quirks & (FLEXCAN_QUIRK_BROKEN_WERR_STATE |
|
FLEXCAN_QUIRK_BROKEN_PERR_STATE))
|
goto esr_err;
|
|
if (reg_esr & FLEXCAN_ESR_ERR_STATE) {
|
esr_err:
|
if (flexcan_irq_state(dev, reg_esr, &skb)) {
|
rtcan_rcv(dev, &skb);
|
}
|
}
|
|
/* bus error IRQ - report unconditionally */
|
if (reg_esr & FLEXCAN_ESR_ERR_BUS) {
|
flexcan_irq_bus_err(dev, reg_esr, &skb);
|
rtcan_rcv(dev, &skb);
|
handled = RTDM_IRQ_HANDLED;
|
}
|
|
rtdm_lock_put(&rtcan_socket_lock);
|
rtdm_lock_put(&rtcan_recv_list_lock);
|
rtdm_lock_put(&dev->device_lock);
|
|
return handled;
|
}
|
|
static void flexcan_set_bittiming(struct rtcan_device *dev)
|
{
|
const struct flexcan_priv *priv = rtcan_priv(dev);
|
const struct can_bittime *bt = &priv->bittiming;
|
struct flexcan_regs __iomem *regs = priv->regs;
|
u32 reg;
|
|
reg = flexcan_read(®s->ctrl);
|
reg &= ~(FLEXCAN_CTRL_PRESDIV(0xff) |
|
FLEXCAN_CTRL_RJW(0x3) |
|
FLEXCAN_CTRL_PSEG1(0x7) |
|
FLEXCAN_CTRL_PSEG2(0x7) |
|
FLEXCAN_CTRL_PROPSEG(0x7) |
|
FLEXCAN_CTRL_LPB |
|
FLEXCAN_CTRL_SMP |
|
FLEXCAN_CTRL_LOM);
|
|
reg |= FLEXCAN_CTRL_PRESDIV(bt->std.brp - 1) |
|
FLEXCAN_CTRL_PSEG1(bt->std.phase_seg1 - 1) |
|
FLEXCAN_CTRL_PSEG2(bt->std.phase_seg2 - 1) |
|
FLEXCAN_CTRL_RJW(bt->std.sjw - 1) |
|
FLEXCAN_CTRL_PROPSEG(bt->std.prop_seg - 1);
|
|
if (dev->ctrl_mode & CAN_CTRLMODE_LOOPBACK)
|
reg |= FLEXCAN_CTRL_LPB;
|
if (dev->ctrl_mode & CAN_CTRLMODE_LISTENONLY)
|
reg |= FLEXCAN_CTRL_LOM;
|
if (dev->ctrl_mode & CAN_CTRLMODE_3_SAMPLES)
|
reg |= FLEXCAN_CTRL_SMP;
|
|
rtcandev_dbg(dev, "writing ctrl=0x%08x\n", reg);
|
flexcan_write(reg, ®s->ctrl);
|
|
/* print chip status */
|
rtcandev_dbg(dev, "%s: mcr=0x%08x ctrl=0x%08x\n", __func__,
|
flexcan_read(®s->mcr), flexcan_read(®s->ctrl));
|
}
|
|
/* flexcan_chip_start
|
*
|
* this functions is entered with clocks enabled
|
*
|
*/
|
static int flexcan_chip_start(struct rtcan_device *dev)
|
{
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
struct flexcan_regs __iomem *regs = priv->regs;
|
u32 reg_mcr, reg_ctrl, reg_ctrl2, reg_mecr;
|
int err, i;
|
|
err = clk_prepare_enable(priv->clk_ipg);
|
if (err)
|
return err;
|
|
err = clk_prepare_enable(priv->clk_per);
|
if (err)
|
goto out_disable_ipg;
|
|
/* enable module */
|
err = flexcan_chip_enable(priv);
|
if (err)
|
goto out_disable_per;
|
|
/* soft reset */
|
err = flexcan_chip_softreset(priv);
|
if (err)
|
goto out_chip_disable;
|
|
flexcan_set_bittiming(dev);
|
|
/* MCR
|
*
|
* enable freeze
|
* enable fifo
|
* halt now
|
* only supervisor access
|
* enable warning int
|
* disable local echo
|
* enable individual RX masking
|
* choose format C
|
* set max mailbox number
|
*/
|
reg_mcr = flexcan_read(®s->mcr);
|
reg_mcr &= ~FLEXCAN_MCR_MAXMB(0xff);
|
reg_mcr |= FLEXCAN_MCR_FRZ | FLEXCAN_MCR_HALT | FLEXCAN_MCR_SUPV |
|
FLEXCAN_MCR_WRN_EN | FLEXCAN_MCR_SRX_DIS | FLEXCAN_MCR_IRMQ |
|
FLEXCAN_MCR_IDAM_C;
|
|
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_USE_OFF_TIMESTAMP) {
|
reg_mcr &= ~FLEXCAN_MCR_FEN;
|
reg_mcr |= FLEXCAN_MCR_MAXMB(priv->mb_last);
|
} else {
|
reg_mcr |= FLEXCAN_MCR_FEN |
|
FLEXCAN_MCR_MAXMB(priv->tx_mb_idx);
|
}
|
rtcandev_dbg(dev, "%s: writing mcr=0x%08x", __func__, reg_mcr);
|
flexcan_write(reg_mcr, ®s->mcr);
|
|
/* CTRL
|
*
|
* disable timer sync feature
|
*
|
* disable auto busoff recovery
|
* transmit lowest buffer first
|
*
|
* enable tx and rx warning interrupt
|
* enable bus off interrupt
|
* (== FLEXCAN_CTRL_ERR_STATE)
|
*/
|
reg_ctrl = flexcan_read(®s->ctrl);
|
reg_ctrl &= ~FLEXCAN_CTRL_TSYN;
|
reg_ctrl |= FLEXCAN_CTRL_BOFF_REC | FLEXCAN_CTRL_LBUF |
|
FLEXCAN_CTRL_ERR_STATE;
|
|
/* enable the "error interrupt" (FLEXCAN_CTRL_ERR_MSK),
|
* on most Flexcan cores, too. Otherwise we don't get
|
* any error warning or passive interrupts.
|
*/
|
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_BROKEN_WERR_STATE)
|
reg_ctrl |= FLEXCAN_CTRL_ERR_MSK;
|
else
|
reg_ctrl &= ~FLEXCAN_CTRL_ERR_MSK;
|
|
/* save for later use */
|
priv->reg_ctrl_default = reg_ctrl;
|
/* leave interrupts disabled for now */
|
reg_ctrl &= ~FLEXCAN_CTRL_ERR_ALL;
|
rtcandev_dbg(dev, "%s: writing ctrl=0x%08x", __func__, reg_ctrl);
|
flexcan_write(reg_ctrl, ®s->ctrl);
|
|
if ((priv->devtype_data->quirks & FLEXCAN_QUIRK_ENABLE_EACEN_RRS)) {
|
reg_ctrl2 = flexcan_read(®s->ctrl2);
|
reg_ctrl2 |= FLEXCAN_CTRL2_EACEN | FLEXCAN_CTRL2_RRS;
|
flexcan_write(reg_ctrl2, ®s->ctrl2);
|
}
|
|
/* clear and invalidate all mailboxes first */
|
for (i = priv->tx_mb_idx; i < ARRAY_SIZE(regs->mb); i++) {
|
flexcan_write(FLEXCAN_MB_CODE_RX_INACTIVE,
|
®s->mb[i].can_ctrl);
|
}
|
|
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_USE_OFF_TIMESTAMP) {
|
for (i = priv->mb_first; i <= priv->mb_last; i++)
|
flexcan_write(FLEXCAN_MB_CODE_RX_EMPTY,
|
®s->mb[i].can_ctrl);
|
}
|
|
/* Errata ERR005829: mark first TX mailbox as INACTIVE */
|
flexcan_write(FLEXCAN_MB_CODE_TX_INACTIVE,
|
&priv->tx_mb_reserved->can_ctrl);
|
|
/* mark TX mailbox as INACTIVE */
|
flexcan_write(FLEXCAN_MB_CODE_TX_INACTIVE,
|
&priv->tx_mb->can_ctrl);
|
|
/* acceptance mask/acceptance code (accept everything) */
|
flexcan_write(0x0, ®s->rxgmask);
|
flexcan_write(0x0, ®s->rx14mask);
|
flexcan_write(0x0, ®s->rx15mask);
|
|
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_DISABLE_RXFG)
|
flexcan_write(0x0, ®s->rxfgmask);
|
|
/* clear acceptance filters */
|
for (i = 0; i < ARRAY_SIZE(regs->mb); i++)
|
flexcan_write(0, ®s->rximr[i]);
|
|
/* On Vybrid, disable memory error detection interrupts
|
* and freeze mode.
|
* This also works around errata e5295 which generates
|
* false positive memory errors and put the device in
|
* freeze mode.
|
*/
|
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_DISABLE_MECR) {
|
/* Follow the protocol as described in "Detection
|
* and Correction of Memory Errors" to write to
|
* MECR register
|
*/
|
reg_ctrl2 = flexcan_read(®s->ctrl2);
|
reg_ctrl2 |= FLEXCAN_CTRL2_ECRWRE;
|
flexcan_write(reg_ctrl2, ®s->ctrl2);
|
|
reg_mecr = flexcan_read(®s->mecr);
|
reg_mecr &= ~FLEXCAN_MECR_ECRWRDIS;
|
flexcan_write(reg_mecr, ®s->mecr);
|
reg_mecr &= ~(FLEXCAN_MECR_NCEFAFRZ | FLEXCAN_MECR_HANCEI_MSK |
|
FLEXCAN_MECR_FANCEI_MSK);
|
flexcan_write(reg_mecr, ®s->mecr);
|
}
|
|
err = flexcan_transceiver_enable(priv);
|
if (err)
|
goto out_chip_disable;
|
|
/* synchronize with the can bus */
|
err = flexcan_chip_unfreeze(priv);
|
if (err)
|
goto out_transceiver_disable;
|
|
dev->state = CAN_STATE_ERROR_ACTIVE;
|
|
/* enable interrupts atomically */
|
rtdm_irq_disable(&dev->irq_handle);
|
flexcan_write(priv->reg_ctrl_default, ®s->ctrl);
|
flexcan_write(priv->reg_imask1_default, ®s->imask1);
|
flexcan_write(priv->reg_imask2_default, ®s->imask2);
|
rtdm_irq_enable(&dev->irq_handle);
|
|
/* print chip status */
|
rtcandev_dbg(dev, "%s: reading mcr=0x%08x ctrl=0x%08x\n", __func__,
|
flexcan_read(®s->mcr), flexcan_read(®s->ctrl));
|
|
return 0;
|
|
out_transceiver_disable:
|
flexcan_transceiver_disable(priv);
|
out_chip_disable:
|
flexcan_chip_disable(priv);
|
out_disable_per:
|
clk_disable_unprepare(priv->clk_per);
|
out_disable_ipg:
|
clk_disable_unprepare(priv->clk_ipg);
|
|
return err;
|
}
|
|
/* flexcan_chip_stop
|
*
|
* this functions is entered with clocks enabled
|
*/
|
static void flexcan_chip_stop(struct rtcan_device *dev)
|
{
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
struct flexcan_regs __iomem *regs = priv->regs;
|
|
/* freeze + disable module */
|
flexcan_chip_freeze(dev);
|
flexcan_chip_disable(priv);
|
|
/* Disable all interrupts */
|
flexcan_write(0, ®s->imask2);
|
flexcan_write(0, ®s->imask1);
|
flexcan_write(priv->reg_ctrl_default & ~FLEXCAN_CTRL_ERR_ALL,
|
®s->ctrl);
|
|
flexcan_transceiver_disable(priv);
|
|
clk_disable_unprepare(priv->clk_per);
|
clk_disable_unprepare(priv->clk_ipg);
|
}
|
|
static int flexcan_mode_start(struct rtcan_device *dev,
|
rtdm_lockctx_t *lock_ctx)
|
{
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
int err = 0;
|
|
rtdm_lock_put_irqrestore(&dev->device_lock, *lock_ctx);
|
|
switch (dev->state) {
|
|
case CAN_STATE_ACTIVE:
|
case CAN_STATE_BUS_WARNING:
|
case CAN_STATE_BUS_PASSIVE:
|
break;
|
|
case CAN_STATE_STOPPED:
|
/* Register IRQ handler and pass device structure as arg */
|
err = rtdm_irq_request(&dev->irq_handle, priv->irq,
|
flexcan_irq, 0, DRV_NAME,
|
dev);
|
if (err) {
|
rtcandev_err(dev, "couldn't request irq %d\n",
|
priv->irq);
|
goto out;
|
}
|
|
/* Set up sender "mutex" */
|
rtdm_sem_init(&dev->tx_sem, 1);
|
|
/* start chip and queuing */
|
err = flexcan_chip_start(dev);
|
if (err) {
|
rtdm_irq_free(&dev->irq_handle);
|
rtdm_sem_destroy(&dev->tx_sem);
|
goto out;
|
}
|
break;
|
|
case CAN_STATE_BUS_OFF:
|
/* Set up sender "mutex" */
|
rtdm_sem_init(&dev->tx_sem, 1);
|
/* start chip and queuing */
|
err = flexcan_chip_start(dev);
|
if (err) {
|
rtdm_sem_destroy(&dev->tx_sem);
|
goto out;
|
}
|
break;
|
|
case CAN_STATE_SLEEPING:
|
default:
|
err = 0;
|
break;
|
}
|
|
out:
|
rtdm_lock_get_irqsave(&dev->device_lock, *lock_ctx);
|
|
return err;
|
}
|
|
static int flexcan_mode_stop(struct rtcan_device *dev,
|
rtdm_lockctx_t *lock_ctx)
|
{
|
if (!CAN_STATE_OPERATING(dev->state))
|
return 0;
|
|
dev->state = CAN_STATE_STOPPED;
|
|
rtdm_lock_put_irqrestore(&dev->device_lock, *lock_ctx);
|
|
flexcan_chip_stop(dev);
|
rtdm_irq_free(&dev->irq_handle);
|
rtdm_sem_destroy(&dev->tx_sem);
|
|
rtdm_lock_get_irqsave(&dev->device_lock, *lock_ctx);
|
|
return 0;
|
}
|
|
static int flexcan_set_mode(struct rtcan_device *dev, can_mode_t mode,
|
rtdm_lockctx_t *lock_ctx)
|
{
|
if (mode == CAN_MODE_START)
|
return flexcan_mode_start(dev, lock_ctx);
|
|
if (mode == CAN_MODE_STOP)
|
return flexcan_mode_stop(dev, lock_ctx);
|
|
return -EOPNOTSUPP;
|
}
|
|
static int flexcan_copy_bittiming(struct rtcan_device *dev,
|
struct can_bittime *bt,
|
rtdm_lockctx_t *lock_ctx)
|
{
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
|
memcpy(&priv->bittiming, bt, sizeof(*bt));
|
|
return 0;
|
}
|
|
static int register_flexcandev(struct rtcan_device *dev)
|
{
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
struct flexcan_regs __iomem *regs = priv->regs;
|
u32 reg, err;
|
|
err = clk_prepare_enable(priv->clk_ipg);
|
if (err)
|
return err;
|
|
err = clk_prepare_enable(priv->clk_per);
|
if (err)
|
goto out_disable_ipg;
|
|
/* select "bus clock", chip must be disabled */
|
err = flexcan_chip_disable(priv);
|
if (err)
|
goto out_disable_per;
|
reg = flexcan_read(®s->ctrl);
|
reg |= FLEXCAN_CTRL_CLK_SRC;
|
flexcan_write(reg, ®s->ctrl);
|
|
err = flexcan_chip_enable(priv);
|
if (err)
|
goto out_chip_disable;
|
|
/* set freeze, halt and activate FIFO, restrict register access */
|
reg = flexcan_read(®s->mcr);
|
reg |= FLEXCAN_MCR_FRZ | FLEXCAN_MCR_HALT |
|
FLEXCAN_MCR_FEN | FLEXCAN_MCR_SUPV;
|
flexcan_write(reg, ®s->mcr);
|
|
/* Currently we only support newer versions of this core
|
* featuring a RX hardware FIFO (although this driver doesn't
|
* make use of it on some cores). Older cores, found on some
|
* Coldfire derivates are not tested.
|
*/
|
reg = flexcan_read(®s->mcr);
|
if (!(reg & FLEXCAN_MCR_FEN)) {
|
rtcandev_err(dev, "Could not enable RX FIFO, unsupported core\n");
|
err = -ENODEV;
|
goto out_chip_disable;
|
}
|
|
err = rtcan_dev_register(dev);
|
|
/* disable core and turn off clocks */
|
out_chip_disable:
|
flexcan_chip_disable(priv);
|
out_disable_per:
|
clk_disable_unprepare(priv->clk_per);
|
out_disable_ipg:
|
clk_disable_unprepare(priv->clk_ipg);
|
|
return err;
|
}
|
|
static void unregister_flexcandev(struct rtcan_device *dev)
|
{
|
struct flexcan_priv *priv = rtcan_priv(dev);
|
|
rtcan_dev_unregister(dev);
|
if (priv->ts_frames)
|
kfree(priv->ts_frames);
|
}
|
|
static const struct of_device_id flexcan_of_match[] = {
|
{ .compatible = "fsl,imx6q-flexcan", .data = &fsl_imx6q_devtype_data, },
|
{ .compatible = "fsl,imx28-flexcan", .data = &fsl_imx28_devtype_data, },
|
{ .compatible = "fsl,p1010-flexcan", .data = &fsl_p1010_devtype_data, },
|
{ .compatible = "fsl,vf610-flexcan", .data = &fsl_vf610_devtype_data, },
|
{ /* sentinel */ },
|
};
|
MODULE_DEVICE_TABLE(of, flexcan_of_match);
|
|
static const struct platform_device_id flexcan_id_table[] = {
|
{ .name = "flexcan", .driver_data = (kernel_ulong_t)&fsl_p1010_devtype_data, },
|
{ /* sentinel */ },
|
};
|
MODULE_DEVICE_TABLE(platform, flexcan_id_table);
|
|
static int flexcan_probe(struct platform_device *pdev)
|
{
|
const struct of_device_id *of_id;
|
const struct flexcan_devtype_data *devtype_data;
|
struct rtcan_device *dev;
|
struct flexcan_priv *priv;
|
struct regulator *reg_xceiver;
|
struct resource *mem;
|
struct clk *clk_ipg = NULL, *clk_per = NULL;
|
struct flexcan_regs __iomem *regs;
|
int err, irq;
|
u32 clock_freq = 0;
|
|
reg_xceiver = devm_regulator_get(&pdev->dev, "xceiver");
|
if (PTR_ERR(reg_xceiver) == -EPROBE_DEFER)
|
return -EPROBE_DEFER;
|
else if (IS_ERR(reg_xceiver))
|
reg_xceiver = NULL;
|
|
if (pdev->dev.of_node)
|
of_property_read_u32(pdev->dev.of_node,
|
"clock-frequency", &clock_freq);
|
|
if (!clock_freq) {
|
clk_ipg = devm_clk_get(&pdev->dev, "ipg");
|
if (IS_ERR(clk_ipg)) {
|
dev_err(&pdev->dev, "no ipg clock defined\n");
|
return PTR_ERR(clk_ipg);
|
}
|
|
clk_per = devm_clk_get(&pdev->dev, "per");
|
if (IS_ERR(clk_per)) {
|
dev_err(&pdev->dev, "no per clock defined\n");
|
return PTR_ERR(clk_per);
|
}
|
clock_freq = clk_get_rate(clk_per);
|
}
|
|
mem = platform_get_resource(pdev, IORESOURCE_MEM, 0);
|
irq = platform_get_irq(pdev, 0);
|
if (irq <= 0)
|
return -ENODEV;
|
|
regs = devm_ioremap_resource(&pdev->dev, mem);
|
if (IS_ERR(regs))
|
return PTR_ERR(regs);
|
|
of_id = of_match_device(flexcan_of_match, &pdev->dev);
|
if (of_id) {
|
devtype_data = of_id->data;
|
} else if (platform_get_device_id(pdev)->driver_data) {
|
devtype_data = (struct flexcan_devtype_data *)
|
platform_get_device_id(pdev)->driver_data;
|
} else {
|
return -ENODEV;
|
}
|
|
dev = rtcan_dev_alloc(sizeof(struct flexcan_priv), 0);
|
if (!dev)
|
return -ENOMEM;
|
|
platform_set_drvdata(pdev, dev);
|
|
priv = rtcan_priv(dev);
|
priv->regs = regs;
|
priv->irq = irq;
|
priv->clk_ipg = clk_ipg;
|
priv->clk_per = clk_per;
|
priv->devtype_data = devtype_data;
|
priv->reg_xceiver = reg_xceiver;
|
|
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_USE_OFF_TIMESTAMP) {
|
priv->tx_mb_idx = FLEXCAN_TX_MB_OFF_TIMESTAMP;
|
priv->tx_mb_reserved = ®s->mb[FLEXCAN_TX_MB_RESERVED_OFF_TIMESTAMP];
|
} else {
|
priv->tx_mb_idx = FLEXCAN_TX_MB_OFF_FIFO;
|
priv->tx_mb_reserved = ®s->mb[FLEXCAN_TX_MB_RESERVED_OFF_FIFO];
|
}
|
priv->tx_mb = ®s->mb[priv->tx_mb_idx];
|
|
priv->reg_imask1_default = FLEXCAN_IFLAG_MB(priv->tx_mb_idx);
|
priv->reg_imask2_default = 0;
|
|
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_USE_OFF_TIMESTAMP) {
|
u64 imask;
|
|
priv->mb_first = FLEXCAN_RX_MB_OFF_TIMESTAMP_FIRST;
|
priv->mb_last = FLEXCAN_RX_MB_OFF_TIMESTAMP_LAST;
|
priv->ts_frames = kzalloc(sizeof(*priv->ts_frames) *
|
FLEXCAN_RX_MB_TIMESTAMP_COUNT, GFP_KERNEL);
|
if (priv->ts_frames == NULL) {
|
err = -ENOMEM;
|
goto failed_fralloc;
|
}
|
|
imask = GENMASK_ULL(priv->mb_last, priv->mb_first);
|
priv->reg_imask1_default |= imask;
|
priv->reg_imask2_default |= imask >> 32;
|
} else {
|
priv->reg_imask1_default |= FLEXCAN_IFLAG_RX_FIFO_OVERFLOW |
|
FLEXCAN_IFLAG_RX_FIFO_AVAILABLE;
|
priv->ts_frames = NULL;
|
}
|
|
dev->ctrl_name = "FLEXCAN";
|
dev->board_name = "FLEXCAN";
|
dev->base_addr = (unsigned long)regs;
|
dev->can_sys_clock = clock_freq;
|
dev->hard_start_xmit = flexcan_start_xmit;
|
dev->do_set_mode = flexcan_set_mode;
|
dev->do_set_bit_time = flexcan_copy_bittiming;
|
dev->bittiming_const = &flexcan_bittiming_const;
|
dev->state = CAN_STATE_STOPPED;
|
strncpy(dev->name, DEV_NAME, IFNAMSIZ);
|
|
err = register_flexcandev(dev);
|
if (err) {
|
dev_err(&pdev->dev, "registering netdev failed\n");
|
goto failed_register;
|
}
|
|
dev_info(&pdev->dev, "device registered (reg_base=%p, irq=%d)\n",
|
priv->regs, priv->irq);
|
|
return 0;
|
|
failed_register:
|
if (priv->ts_frames)
|
kfree(priv->ts_frames);
|
failed_fralloc:
|
rtcan_dev_free(dev);
|
return err;
|
}
|
|
static int flexcan_remove(struct platform_device *pdev)
|
{
|
struct rtcan_device *dev = platform_get_drvdata(pdev);
|
|
unregister_flexcandev(dev);
|
rtcan_dev_free(dev);
|
|
return 0;
|
}
|
|
static struct platform_driver flexcan_driver = {
|
.driver = {
|
.name = DRV_NAME,
|
.of_match_table = flexcan_of_match,
|
},
|
.probe = flexcan_probe,
|
.remove = flexcan_remove,
|
.id_table = flexcan_id_table,
|
};
|
|
module_platform_driver(flexcan_driver);
|
|
MODULE_AUTHOR("Wolfgang Grandegger <wg@denx.de>, "
|
"Sascha Hauer <kernel@pengutronix.de>, "
|
"Marc Kleine-Budde <kernel@pengutronix.de>");
|
MODULE_LICENSE("GPL v2");
|
MODULE_DESCRIPTION("RT-CAN port driver for flexcan based chip");
|
