diff options
| -rw-r--r-- | drivers/net/can/at91_can.c | 4 | ||||
| -rw-r--r-- | drivers/net/can/dev/bittiming.c | 30 | ||||
| -rw-r--r-- | drivers/net/can/dev/netlink.c | 221 | ||||
| -rw-r--r-- | drivers/net/can/janz-ican3.c | 2 | ||||
| -rw-r--r-- | drivers/net/can/mscan/mpc5xxx_can.c | 6 | ||||
| -rw-r--r-- | drivers/net/can/rcar/Kconfig | 4 | ||||
| -rw-r--r-- | drivers/net/can/usb/etas_es58x/es58x_fd.c | 7 | ||||
| -rw-r--r-- | drivers/net/can/usb/gs_usb.c | 12 | ||||
| -rw-r--r-- | drivers/net/can/usb/peak_usb/pcan_usb_core.c | 13 | ||||
| -rw-r--r-- | drivers/net/can/usb/peak_usb/pcan_usb_core.h | 1 | ||||
| -rw-r--r-- | drivers/net/can/usb/peak_usb/pcan_usb_fd.c | 9 | ||||
| -rw-r--r-- | drivers/net/can/xilinx_can.c | 7 | ||||
| -rw-r--r-- | include/linux/can/bittiming.h | 89 | ||||
| -rw-r--r-- | include/linux/can/dev.h | 34 | ||||
| -rw-r--r-- | include/uapi/linux/can/netlink.h | 31 | ||||
| -rw-r--r-- | net/can/bcm.c | 2 |
16 files changed, 402 insertions, 70 deletions
diff --git a/drivers/net/can/at91_can.c b/drivers/net/can/at91_can.c index b06af90a9964..3aea32c9b108 100644 --- a/drivers/net/can/at91_can.c +++ b/drivers/net/can/at91_can.c @@ -1170,9 +1170,9 @@ static ssize_t mb0_id_show(struct device *dev, struct at91_priv *priv = netdev_priv(to_net_dev(dev)); if (priv->mb0_id & CAN_EFF_FLAG) - return snprintf(buf, PAGE_SIZE, "0x%08x\n", priv->mb0_id); + return sysfs_emit(buf, "0x%08x\n", priv->mb0_id); else - return snprintf(buf, PAGE_SIZE, "0x%03x\n", priv->mb0_id); + return sysfs_emit(buf, "0x%03x\n", priv->mb0_id); } static ssize_t mb0_id_store(struct device *dev, diff --git a/drivers/net/can/dev/bittiming.c b/drivers/net/can/dev/bittiming.c index f49170eadd54..0509625c3082 100644 --- a/drivers/net/can/dev/bittiming.c +++ b/drivers/net/can/dev/bittiming.c @@ -175,27 +175,29 @@ int can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt, return 0; } -void can_calc_tdco(struct net_device *dev) -{ - struct can_priv *priv = netdev_priv(dev); - const struct can_bittiming *dbt = &priv->data_bittiming; - struct can_tdc *tdc = &priv->tdc; - const struct can_tdc_const *tdc_const = priv->tdc_const; +void can_calc_tdco(struct can_tdc *tdc, const struct can_tdc_const *tdc_const, + const struct can_bittiming *dbt, + u32 *ctrlmode, u32 ctrlmode_supported) - if (!tdc_const) +{ + if (!tdc_const || !(ctrlmode_supported & CAN_CTRLMODE_TDC_AUTO)) return; + *ctrlmode &= ~CAN_CTRLMODE_TDC_MASK; + /* As specified in ISO 11898-1 section 11.3.3 "Transmitter * delay compensation" (TDC) is only applicable if data BRP is * one or two. */ if (dbt->brp == 1 || dbt->brp == 2) { - /* Reuse "normal" sample point and convert it to time quanta */ - u32 sample_point_in_tq = can_bit_time(dbt) * dbt->sample_point / 1000; - - tdc->tdco = min(sample_point_in_tq, tdc_const->tdco_max); - } else { - tdc->tdco = 0; + /* Sample point in clock periods */ + u32 sample_point_in_tc = (CAN_SYNC_SEG + dbt->prop_seg + + dbt->phase_seg1) * dbt->brp; + + if (sample_point_in_tc < tdc_const->tdco_min) + return; + tdc->tdco = min(sample_point_in_tc, tdc_const->tdco_max); + *ctrlmode |= CAN_CTRLMODE_TDC_AUTO; } } #endif /* CONFIG_CAN_CALC_BITTIMING */ @@ -209,7 +211,7 @@ static int can_fixup_bittiming(struct net_device *dev, struct can_bittiming *bt, const struct can_bittiming_const *btc) { struct can_priv *priv = netdev_priv(dev); - int tseg1, alltseg; + unsigned int tseg1, alltseg; u64 brp64; tseg1 = bt->prop_seg + bt->phase_seg1; diff --git a/drivers/net/can/dev/netlink.c b/drivers/net/can/dev/netlink.c index 80425636049d..95cca4e5251f 100644 --- a/drivers/net/can/dev/netlink.c +++ b/drivers/net/can/dev/netlink.c @@ -2,6 +2,7 @@ /* Copyright (C) 2005 Marc Kleine-Budde, Pengutronix * Copyright (C) 2006 Andrey Volkov, Varma Electronics * Copyright (C) 2008-2009 Wolfgang Grandegger <wg@grandegger.com> + * Copyright (C) 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr> */ #include <linux/can/dev.h> @@ -19,6 +20,19 @@ static const struct nla_policy can_policy[IFLA_CAN_MAX + 1] = { [IFLA_CAN_DATA_BITTIMING] = { .len = sizeof(struct can_bittiming) }, [IFLA_CAN_DATA_BITTIMING_CONST] = { .len = sizeof(struct can_bittiming_const) }, [IFLA_CAN_TERMINATION] = { .type = NLA_U16 }, + [IFLA_CAN_TDC] = { .type = NLA_NESTED }, +}; + +static const struct nla_policy can_tdc_policy[IFLA_CAN_TDC_MAX + 1] = { + [IFLA_CAN_TDC_TDCV_MIN] = { .type = NLA_U32 }, + [IFLA_CAN_TDC_TDCV_MAX] = { .type = NLA_U32 }, + [IFLA_CAN_TDC_TDCO_MIN] = { .type = NLA_U32 }, + [IFLA_CAN_TDC_TDCO_MAX] = { .type = NLA_U32 }, + [IFLA_CAN_TDC_TDCF_MIN] = { .type = NLA_U32 }, + [IFLA_CAN_TDC_TDCF_MAX] = { .type = NLA_U32 }, + [IFLA_CAN_TDC_TDCV] = { .type = NLA_U32 }, + [IFLA_CAN_TDC_TDCO] = { .type = NLA_U32 }, + [IFLA_CAN_TDC_TDCF] = { .type = NLA_U32 }, }; static int can_validate(struct nlattr *tb[], struct nlattr *data[], @@ -30,6 +44,7 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[], * - nominal/arbitration bittiming * - data bittiming * - control mode with CAN_CTRLMODE_FD set + * - TDC parameters are coherent (details below) */ if (!data) @@ -37,8 +52,43 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[], if (data[IFLA_CAN_CTRLMODE]) { struct can_ctrlmode *cm = nla_data(data[IFLA_CAN_CTRLMODE]); + u32 tdc_flags = cm->flags & CAN_CTRLMODE_TDC_MASK; is_can_fd = cm->flags & cm->mask & CAN_CTRLMODE_FD; + + /* CAN_CTRLMODE_TDC_{AUTO,MANUAL} are mutually exclusive */ + if (tdc_flags == CAN_CTRLMODE_TDC_MASK) + return -EOPNOTSUPP; + /* If one of the CAN_CTRLMODE_TDC_* flag is set then + * TDC must be set and vice-versa + */ + if (!!tdc_flags != !!data[IFLA_CAN_TDC]) + return -EOPNOTSUPP; + /* If providing TDC parameters, at least TDCO is + * needed. TDCV is needed if and only if + * CAN_CTRLMODE_TDC_MANUAL is set + */ + if (data[IFLA_CAN_TDC]) { + struct nlattr *tb_tdc[IFLA_CAN_TDC_MAX + 1]; + int err; + + err = nla_parse_nested(tb_tdc, IFLA_CAN_TDC_MAX, + data[IFLA_CAN_TDC], + can_tdc_policy, extack); + if (err) + return err; + + if (tb_tdc[IFLA_CAN_TDC_TDCV]) { + if (tdc_flags & CAN_CTRLMODE_TDC_AUTO) + return -EOPNOTSUPP; + } else { + if (tdc_flags & CAN_CTRLMODE_TDC_MANUAL) + return -EOPNOTSUPP; + } + + if (!tb_tdc[IFLA_CAN_TDC_TDCO]) + return -EOPNOTSUPP; + } } if (is_can_fd) { @@ -46,7 +96,7 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[], return -EOPNOTSUPP; } - if (data[IFLA_CAN_DATA_BITTIMING]) { + if (data[IFLA_CAN_DATA_BITTIMING] || data[IFLA_CAN_TDC]) { if (!is_can_fd) return -EOPNOTSUPP; } @@ -54,11 +104,60 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[], return 0; } +static int can_tdc_changelink(struct can_priv *priv, const struct nlattr *nla, + struct netlink_ext_ack *extack) +{ + struct nlattr *tb_tdc[IFLA_CAN_TDC_MAX + 1]; + struct can_tdc tdc = { 0 }; + const struct can_tdc_const *tdc_const = priv->tdc_const; + int err; + + if (!tdc_const || !can_tdc_is_enabled(priv)) + return -EOPNOTSUPP; + + err = nla_parse_nested(tb_tdc, IFLA_CAN_TDC_MAX, nla, + can_tdc_policy, extack); + if (err) + return err; + + if (tb_tdc[IFLA_CAN_TDC_TDCV]) { + u32 tdcv = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCV]); + + if (tdcv < tdc_const->tdcv_min || tdcv > tdc_const->tdcv_max) + return -EINVAL; + + tdc.tdcv = tdcv; + } + + if (tb_tdc[IFLA_CAN_TDC_TDCO]) { + u32 tdco = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCO]); + + if (tdco < tdc_const->tdco_min || tdco > tdc_const->tdco_max) + return -EINVAL; + + tdc.tdco = tdco; + } + + if (tb_tdc[IFLA_CAN_TDC_TDCF]) { + u32 tdcf = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCF]); + + if (tdcf < tdc_const->tdcf_min || tdcf > tdc_const->tdcf_max) + return -EINVAL; + + tdc.tdcf = tdcf; + } + + priv->tdc = tdc; + + return 0; +} + static int can_changelink(struct net_device *dev, struct nlattr *tb[], struct nlattr *data[], struct netlink_ext_ack *extack) { struct can_priv *priv = netdev_priv(dev); + u32 tdc_mask = 0; int err; /* We need synchronization with dev->stop() */ @@ -138,7 +237,16 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[], dev->mtu = CAN_MTU; memset(&priv->data_bittiming, 0, sizeof(priv->data_bittiming)); + priv->ctrlmode &= ~CAN_CTRLMODE_TDC_MASK; + memset(&priv->tdc, 0, sizeof(priv->tdc)); } + + tdc_mask = cm->mask & CAN_CTRLMODE_TDC_MASK; + /* CAN_CTRLMODE_TDC_{AUTO,MANUAL} are mutually + * exclusive: make sure to turn the other one off + */ + if (tdc_mask) + priv->ctrlmode &= cm->flags | ~CAN_CTRLMODE_TDC_MASK; } if (data[IFLA_CAN_RESTART_MS]) { @@ -187,9 +295,26 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[], return -EINVAL; } - memcpy(&priv->data_bittiming, &dbt, sizeof(dbt)); + memset(&priv->tdc, 0, sizeof(priv->tdc)); + if (data[IFLA_CAN_TDC]) { + /* TDC parameters are provided: use them */ + err = can_tdc_changelink(priv, data[IFLA_CAN_TDC], + extack); + if (err) { + priv->ctrlmode &= ~CAN_CTRLMODE_TDC_MASK; + return err; + } + } else if (!tdc_mask) { + /* Neither of TDC parameters nor TDC flags are + * provided: do calculation + */ + can_calc_tdco(&priv->tdc, priv->tdc_const, &priv->data_bittiming, + &priv->ctrlmode, priv->ctrlmode_supported); + } /* else: both CAN_CTRLMODE_TDC_{AUTO,MANUAL} are explicitly + * turned off. TDC is disabled: do nothing + */ - can_calc_tdco(dev); + memcpy(&priv->data_bittiming, &dbt, sizeof(dbt)); if (priv->do_set_data_bittiming) { /* Finally, set the bit-timing registers */ @@ -226,6 +351,38 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[], return 0; } +static size_t can_tdc_get_size(const struct net_device *dev) +{ + struct can_priv *priv = netdev_priv(dev); + size_t size; + + if (!priv->tdc_const) + return 0; + + size = nla_total_size(0); /* nest IFLA_CAN_TDC */ + if (priv->ctrlmode_supported & CAN_CTRLMODE_TDC_MANUAL) { + size += nla_total_size(sizeof(u32)); /* IFLA_CAN_TDCV_MIN */ + size += nla_total_size(sizeof(u32)); /* IFLA_CAN_TDCV_MAX */ + } + size += nla_total_size(sizeof(u32)); /* IFLA_CAN_TDCO_MIN */ + size += nla_total_size(sizeof(u32)); /* IFLA_CAN_TDCO_MAX */ + if (priv->tdc_const->tdcf_max) { + size += nla_total_size(sizeof(u32)); /* IFLA_CAN_TDCF_MIN */ + size += nla_total_size(sizeof(u32)); /* IFLA_CAN_TDCF_MAX */ + } + + if (can_tdc_is_enabled(priv)) { + if (priv->ctrlmode & CAN_CTRLMODE_TDC_MANUAL || + priv->do_get_auto_tdcv) + size += nla_total_size(sizeof(u32)); /* IFLA_CAN_TDCV */ + size += nla_total_size(sizeof(u32)); /* IFLA_CAN_TDCO */ + if (priv->tdc_const->tdcf_max) + size += nla_total_size(sizeof(u32)); /* IFLA_CAN_TDCF */ + } + + return size; +} + static size_t can_get_size(const struct net_device *dev) { struct can_priv *priv = netdev_priv(dev); @@ -257,10 +414,64 @@ static size_t can_get_size(const struct net_device *dev) size += nla_total_size(sizeof(*priv->data_bitrate_const) * priv->data_bitrate_const_cnt); size += sizeof(priv->bitrate_max); /* IFLA_CAN_BITRATE_MAX */ + size += can_tdc_get_size(dev); /* IFLA_CAN_TDC */ return size; } +static int can_tdc_fill_info(struct sk_buff *skb, const struct net_device *dev) +{ + struct nlattr *nest; + struct can_priv *priv = netdev_priv(dev); + struct can_tdc *tdc = &priv->tdc; + const struct can_tdc_const *tdc_const = priv->tdc_const; + + if (!tdc_const) + return 0; + + nest = nla_nest_start(skb, IFLA_CAN_TDC); + if (!nest) + return -EMSGSIZE; + + if (priv->ctrlmode_supported & CAN_CTRLMODE_TDC_MANUAL && + (nla_put_u32(skb, IFLA_CAN_TDC_TDCV_MIN, tdc_const->tdcv_min) || + nla_put_u32(skb, IFLA_CAN_TDC_TDCV_MAX, tdc_const->tdcv_max))) + goto err_cancel; + if (nla_put_u32(skb, IFLA_CAN_TDC_TDCO_MIN, tdc_const->tdco_min) || + nla_put_u32(skb, IFLA_CAN_TDC_TDCO_MAX, tdc_const->tdco_max)) + goto err_cancel; + if (tdc_const->tdcf_max && + (nla_put_u32(skb, IFLA_CAN_TDC_TDCF_MIN, tdc_const->tdcf_min) || + nla_put_u32(skb, IFLA_CAN_TDC_TDCF_MAX, tdc_const->tdcf_max))) + goto err_cancel; + + if (can_tdc_is_enabled(priv)) { + u32 tdcv; + int err = -EINVAL; + + if (priv->ctrlmode & CAN_CTRLMODE_TDC_MANUAL) { + tdcv = tdc->tdcv; + err = 0; + } else if (priv->do_get_auto_tdcv) { + err = priv->do_get_auto_tdcv(dev, &tdcv); + } + if (!err && nla_put_u32(skb, IFLA_CAN_TDC_TDCV, tdcv)) + goto err_cancel; + if (nla_put_u32(skb, IFLA_CAN_TDC_TDCO, tdc->tdco)) + goto err_cancel; + if (tdc_const->tdcf_max && + nla_put_u32(skb, IFLA_CAN_TDC_TDCF, tdc->tdcf)) + goto err_cancel; + } + + nla_nest_end(skb, nest); + return 0; + +err_cancel: + nla_nest_cancel(skb, nest); + return -EMSGSIZE; +} + static int can_fill_info(struct sk_buff *skb, const struct net_device *dev) { struct can_priv *priv = netdev_priv(dev); @@ -318,7 +529,9 @@ static int can_fill_info(struct sk_buff *skb, const struct net_device *dev) (nla_put(skb, IFLA_CAN_BITRATE_MAX, sizeof(priv->bitrate_max), - &priv->bitrate_max)) + &priv->bitrate_max)) || + + (can_tdc_fill_info(skb, dev)) ) return -EMSGSIZE; diff --git a/drivers/net/can/janz-ican3.c b/drivers/net/can/janz-ican3.c index c68ad56628bd..32006dbf5abd 100644 --- a/drivers/net/can/janz-ican3.c +++ b/drivers/net/can/janz-ican3.c @@ -1831,7 +1831,7 @@ static ssize_t termination_show(struct device *dev, return -ETIMEDOUT; } - return snprintf(buf, PAGE_SIZE, "%u\n", mod->termination_enabled); + return sysfs_emit(buf, "%u\n", mod->termination_enabled); } static ssize_t termination_store(struct device *dev, diff --git a/drivers/net/can/mscan/mpc5xxx_can.c b/drivers/net/can/mscan/mpc5xxx_can.c index 35892c1efef0..de4ddf79ba9b 100644 --- a/drivers/net/can/mscan/mpc5xxx_can.c +++ b/drivers/net/can/mscan/mpc5xxx_can.c @@ -293,10 +293,8 @@ static int mpc5xxx_can_probe(struct platform_device *ofdev) return -EINVAL; base = of_iomap(np, 0); - if (!base) { - dev_err(&ofdev->dev, "couldn't ioremap\n"); - return err; - } + if (!base) + return dev_err_probe(&ofdev->dev, err, "couldn't ioremap\n"); irq = irq_of_parse_and_map(np, 0); if (!irq) { diff --git a/drivers/net/can/rcar/Kconfig b/drivers/net/can/rcar/Kconfig index 56320a7f828b..c66762ef631b 100644 --- a/drivers/net/can/rcar/Kconfig +++ b/drivers/net/can/rcar/Kconfig @@ -1,7 +1,7 @@ # SPDX-License-Identifier: GPL-2.0 config CAN_RCAR tristate "Renesas R-Car and RZ/G CAN controller" - depends on ARCH_RENESAS || ARM || COMPILE_TEST + depends on ARCH_RENESAS || COMPILE_TEST help Say Y here if you want to use CAN controller found on Renesas R-Car or RZ/G SoCs. @@ -11,7 +11,7 @@ config CAN_RCAR config CAN_RCAR_CANFD tristate "Renesas R-Car CAN FD controller" - depends on ARCH_RENESAS || ARM || COMPILE_TEST + depends on ARCH_RENESAS || COMPILE_TEST help Say Y here if you want to use CAN FD controller found on Renesas R-Car SoCs. The driver puts the controller in CAN FD only diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.c b/drivers/net/can/usb/etas_es58x/es58x_fd.c index af042aa55f59..4f0cae29f4d8 100644 --- a/drivers/net/can/usb/etas_es58x/es58x_fd.c +++ b/drivers/net/can/usb/etas_es58x/es58x_fd.c @@ -428,7 +428,7 @@ static int es58x_fd_enable_channel(struct es58x_priv *priv) es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming, &priv->can.data_bittiming); - if (priv->can.tdc.tdco) { + if (can_tdc_is_enabled(&priv->can)) { tx_conf_msg.tdc_enabled = 1; tx_conf_msg.tdco = cpu_to_le16(priv->can.tdc.tdco); tx_conf_msg.tdcf = cpu_to_le16(priv->can.tdc.tdcf); @@ -505,8 +505,11 @@ static const struct can_bittiming_const es58x_fd_data_bittiming_const = { * Register" from Microchip. */ static const struct can_tdc_const es58x_tdc_const = { + .tdcv_min = 0, .tdcv_max = 0, /* Manual mode not supported. */ + .tdco_min = 0, .tdco_max = 127, + .tdcf_min = 0, .tdcf_max = 127 }; @@ -523,7 +526,7 @@ const struct es58x_parameters es58x_fd_param = { .clock = {.freq = 80 * CAN_MHZ}, .ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY | CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO | - CAN_CTRLMODE_CC_LEN8_DLC, + CAN_CTRLMODE_CC_LEN8_DLC | CAN_CTRLMODE_TDC_AUTO, .tx_start_of_frame = 0xCEFA, /* FACE in little endian */ .rx_start_of_frame = 0xFECA, /* CAFE in little endian */ .tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN, diff --git a/drivers/net/can/usb/gs_usb.c b/drivers/net/can/usb/gs_usb.c index 5e892bef46b0..1b400de00f51 100644 --- a/drivers/net/can/usb/gs_usb.c +++ b/drivers/net/can/usb/gs_usb.c @@ -352,7 +352,7 @@ static void gs_usb_receive_bulk_callback(struct urb *urb) } else { /* echo_id == hf->echo_id */ if (hf->echo_id >= GS_MAX_TX_URBS) { netdev_err(netdev, - "Unexpected out of range echo id %d\n", + "Unexpected out of range echo id %u\n", hf->echo_id); goto resubmit_urb; } @@ -365,7 +365,7 @@ static void gs_usb_receive_bulk_callback(struct urb *urb) /* bad devices send bad echo_ids. */ if (!txc) { netdev_err(netdev, - "Unexpected unused echo id %d\n", + "Unexpected unused echo id %u\n", hf->echo_id); goto resubmit_urb; } @@ -458,7 +458,7 @@ static void gs_usb_xmit_callback(struct urb *urb) struct net_device *netdev = dev->netdev; if (urb->status) - netdev_info(netdev, "usb xmit fail %d\n", txc->echo_id); + netdev_info(netdev, "usb xmit fail %u\n", txc->echo_id); usb_free_coherent(urb->dev, urb->transfer_buffer_length, @@ -501,7 +501,7 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb, idx = txc->echo_id; if (idx >= GS_MAX_TX_URBS) { - netdev_err(netdev, "Invalid tx context %d\n", idx); + netdev_err(netdev, "Invalid tx context %u\n", idx); goto badidx; } @@ -964,11 +964,11 @@ static int gs_usb_probe(struct usb_interface *intf, } icount = dconf->icount + 1; - dev_info(&intf->dev, "Configuring for %d interfaces\n", icount); + dev_info(&intf->dev, "Configuring for %u interfaces\n", icount); if (icount > GS_MAX_INTF) { dev_err(&intf->dev, - "Driver cannot handle more that %d CAN interfaces\n", + "Driver cannot handle more that %u CAN interfaces\n", GS_MAX_INTF); kfree(dconf); return -EINVAL; diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_core.c b/drivers/net/can/usb/peak_usb/pcan_usb_core.c index e8f43ed90b72..6107fef9f4a0 100644 --- a/drivers/net/can/usb/peak_usb/pcan_usb_core.c +++ b/drivers/net/can/usb/peak_usb/pcan_usb_core.c @@ -205,6 +205,19 @@ int peak_usb_netif_rx(struct sk_buff *skb, return netif_rx(skb); } +/* post received skb with native 64-bit hw timestamp */ +int peak_usb_netif_rx_64(struct sk_buff *skb, u32 ts_low, u32 ts_high) +{ + struct skb_shared_hwtstamps *hwts = skb_hwtstamps(skb); + u64 ns_ts; + + ns_ts = (u64)ts_high << 32 | ts_low; + ns_ts *= NSEC_PER_USEC; + hwts->hwtstamp = ns_to_ktime(ns_ts); + + return netif_rx(skb); +} + /* * callback for bulk Rx urb */ diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_core.h b/drivers/net/can/usb/peak_usb/pcan_usb_core.h index b00a4811bf61..daa19f57e742 100644 --- a/drivers/net/can/usb/peak_usb/pcan_usb_core.h +++ b/drivers/net/can/usb/peak_usb/pcan_usb_core.h @@ -143,6 +143,7 @@ void peak_usb_set_ts_now(struct peak_time_ref *time_ref, u32 ts_now); void peak_usb_get_ts_time(struct peak_time_ref *time_ref, u32 ts, ktime_t *tv); int peak_usb_netif_rx(struct sk_buff *skb, struct peak_time_ref *time_ref, u32 ts_low); +int peak_usb_netif_rx_64(struct sk_buff *skb, u32 ts_low, u32 ts_high); void peak_usb_async_complete(struct urb *urb); void peak_usb_restart_complete(struct peak_usb_device *dev); diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c index 09029a3bad1a..6bd12549f101 100644 --- a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c +++ b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c @@ -515,7 +515,8 @@ static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if, netdev->stats.rx_packets++; netdev->stats.rx_bytes += cfd->len; - peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(rm->ts_low)); + peak_usb_netif_rx_64(skb, le32_to_cpu(rm->ts_low), + le32_to_cpu(rm->ts_high)); return 0; } @@ -579,7 +580,8 @@ static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if *usb_if, netdev->stats.rx_packets++; netdev->stats.rx_bytes += cf->len; - peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(sm->ts_low)); + peak_usb_netif_rx_64(skb, le32_to_cpu(sm->ts_low), + le32_to_cpu(sm->ts_high)); return 0; } @@ -629,7 +631,8 @@ static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if *usb_if, cf->can_id |= CAN_ERR_CRTL; cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW; - peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(ov->ts_low)); + peak_usb_netif_rx_64(skb, le32_to_cpu(ov->ts_low), + le32_to_cpu(ov->ts_high)); netdev->stats.rx_over_errors++; netdev->stats.rx_errors++; diff --git a/drivers/net/can/xilinx_can.c b/drivers/net/can/xilinx_can.c index 3b883e607d8b..e2b15d29d15e 100644 --- a/drivers/net/can/xilinx_can.c +++ b/drivers/net/can/xilinx_can.c @@ -516,8 +516,7 @@ static int xcan_chip_start(struct net_device *ndev) * @ndev: Pointer to net_device structure * @mode: Tells the mode of the driver * - * This check the drivers state and calls the - * the corresponding modes to set. + * This check the drivers state and calls the corresponding modes to set. * * Return: 0 on success and failure value on error */ @@ -982,7 +981,7 @@ static void xcan_update_error_state_after_rxtx(struct net_device *ndev) * @isr: interrupt status register value * * This is the CAN error interrupt and it will - * check the the type of error and forward the error + * check the type of error and forward the error * frame to upper layers. */ static void xcan_err_interrupt(struct net_device *ndev, u32 isr) @@ -1844,11 +1843,9 @@ err: static int xcan_remove(struct platform_device *pdev) { struct net_device *ndev = platform_get_drvdata(pdev); - struct xcan_priv *priv = netdev_priv(ndev); unregister_candev(ndev); pm_runtime_disable(&pdev->dev); - netif_napi_del(&priv->napi); free_candev(ndev); return 0; diff --git a/include/linux/can/bittiming.h b/include/linux/can/bittiming.h index 9de6e9053e34..20b50baf3a02 100644 --- a/include/linux/can/bittiming.h +++ b/include/linux/can/bittiming.h @@ -19,6 +19,9 @@ /* Megahertz */ #define CAN_MHZ 1000000UL +#define CAN_CTRLMODE_TDC_MASK \ + (CAN_CTRLMODE_TDC_AUTO | CAN_CTRLMODE_TDC_MANUAL) + /* * struct can_tdc - CAN FD Transmission Delay Compensation parameters * @@ -28,34 +31,54 @@ * * To solve this issue, ISO 11898-1 introduces in section 11.3.3 * "Transmitter delay compensation" a SSP (Secondary Sample Point) - * equal to the distance, in time quanta, from the start of the bit - * time on the TX pin to the actual measurement on the RX pin. + * equal to the distance from the start of the bit time on the TX pin + * to the actual measurement on the RX pin. * * This structure contains the parameters to calculate that SSP. * - * @tdcv: Transmitter Delay Compensation Value. Distance, in time - * quanta, from when the bit is sent on the TX pin to when it is - * received on the RX pin of the transmitter. Possible options: + * -+----------- one bit ----------+-- TX pin + * |<--- Sample Point --->| * - * 0: automatic mode. The controller dynamically measures @tdcv - * for each transmitted CAN FD frame. + * --+----------- one bit ----------+-- RX pin + * |<-------- TDCV -------->| + * |<------- TDCO ------->| + * |<----------- Secondary Sample Point ---------->| * - * Other values: manual mode. Use the fixed provided value. + * To increase precision, contrary to the other bittiming parameters + * which are measured in time quanta, the TDC parameters are measured + * in clock periods (also referred as "minimum time quantum" in ISO + * 11898-1). * - * @tdco: Transmitter Delay Compensation Offset. Offset value, in time - * quanta, defining the distance between the start of the bit - * reception on the RX pin of the transceiver and the SSP - * position such that SSP = @tdcv + @tdco. + * @tdcv: Transmitter Delay Compensation Value. The time needed for + * the signal to propagate, i.e. the distance, in clock periods, + * from the start of the bit on the TX pin to when it is received + * on the RX pin. @tdcv depends on the controller modes: + * + * CAN_CTRLMODE_TDC_AUTO is set: The transceiver dynamically + * measures @tdcv for each transmitted CAN FD frame and the + * value provided here should be ignored. + * + * CAN_CTRLMODE_TDC_MANUAL is set: use the fixed provided @tdcv + * value. * - * If @tdco is zero, then TDC is disabled and both @tdcv and - * @tdcf should be ignored. + * N.B. CAN_CTRLMODE_TDC_AUTO and CAN_CTRLMODE_TDC_MANUAL are + * mutually exclusive. Only one can be set at a time. If both + * CAN_TDC_CTRLMODE_AUTO and CAN_TDC_CTRLMODE_MANUAL are unset, + * TDC is disabled and all the values of this structure should be + * ignored. + * + * @tdco: Transmitter Delay Compensation Offset. Offset value, in + * clock periods, defining the distance between the start of the + * bit reception on the RX pin of the transceiver and the SSP + * position such that SSP = @tdcv + @tdco. * * @tdcf: Transmitter Delay Compensation Filter window. Defines the - * minimum value for the SSP position in time quanta. If SSP is - * less than @tdcf, then no delay compensations occur and the - * normal sampling point is used instead. The feature is enabled - * if and only if @tdcv is set to zero (automatic mode) and @tdcf - * is configured to a value greater than @tdco. + * minimum value for the SSP position in clock periods. If the + * SSP position is less than @tdcf, then no delay compensations + * occur and the normal sampling point is used instead. The + * feature is enabled if and only if @tdcv is set to zero + * (automatic mode) and @tdcf is configured to a value greater + * than @tdco. */ struct can_tdc { u32 tdcv; @@ -67,19 +90,32 @@ struct can_tdc { * struct can_tdc_const - CAN hardware-dependent constant for * Transmission Delay Compensation * - * @tdcv_max: Transmitter Delay Compensation Value maximum value. - * Should be set to zero if the controller does not support - * manual mode for tdcv. + * @tdcv_min: Transmitter Delay Compensation Value minimum value. If + * the controller does not support manual mode for tdcv + * (c.f. flag CAN_CTRLMODE_TDC_MANUAL) then this value is + * ignored. + * @tdcv_max: Transmitter Delay Compensation Value maximum value. If + * the controller does not support manual mode for tdcv + * (c.f. flag CAN_CTRLMODE_TDC_MANUAL) then this value is + * ignored. + * + * @tdco_min: Transmitter Delay Compensation Offset minimum value. * @tdco_max: Transmitter Delay Compensation Offset maximum value. * Should not be zero. If the controller does not support TDC, * then the pointer to this structure should be NULL. + * + * @tdcf_min: Transmitter Delay Compensation Filter window minimum + * value. If @tdcf_max is zero, this value is ignored. * @tdcf_max: Transmitter Delay Compensation Filter window maximum * value. Should be set to zero if the controller does not * support this feature. */ struct can_tdc_const { + u32 tdcv_min; u32 tdcv_max; + u32 tdco_min; u32 tdco_max; + u32 tdcf_min; u32 tdcf_max; }; @@ -87,7 +123,9 @@ struct can_tdc_const { int can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt, const struct can_bittiming_const *btc); -void can_calc_tdco(struct net_device *dev); +void can_calc_tdco(struct can_tdc *tdc, const struct can_tdc_const *tdc_const, + const struct can_bittiming *dbt, + u32 *ctrlmode, u32 ctrlmode_supported); #else /* !CONFIG_CAN_CALC_BITTIMING */ static inline int can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt, @@ -97,7 +135,10 @@ can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt, return -EINVAL; } -static inline void can_calc_tdco(struct net_device *dev) +static inline void +can_calc_tdco(struct can_tdc *tdc, const struct can_tdc_const *tdc_const, + const struct can_bittiming *dbt, + u32 *ctrlmode, u32 ctrlmode_supported) { } #endif /* CONFIG_CAN_CALC_BITTIMING */ diff --git a/include/linux/can/dev.h b/include/linux/can/dev.h index 2413253e54c7..45f19d9db5ca 100644 --- a/include/linux/can/dev.h +++ b/include/linux/can/dev.h @@ -82,6 +82,7 @@ struct can_priv { enum can_state *state); int (*do_get_berr_counter)(const struct net_device *dev, struct can_berr_counter *bec); + int (*do_get_auto_tdcv)(const struct net_device *dev, u32 *tdcv); unsigned int echo_skb_max; struct sk_buff **echo_skb; @@ -96,6 +97,39 @@ struct can_priv { #endif }; +static inline bool can_tdc_is_enabled(const struct can_priv *priv) +{ + return !!(priv->ctrlmode & CAN_CTRLMODE_TDC_MASK); +} + +/* + * can_get_relative_tdco() - TDCO relative to the sample point + * + * struct can_tdc::tdco represents the absolute offset from TDCV. Some + * controllers use instead an offset relative to the Sample Point (SP) + * such that: + * + * SSP = TDCV + absolute TDCO + * = TDCV + SP + relative TDCO + * + * -+----------- one bit ----------+-- TX pin + * |<--- Sample Point --->| + * + * --+----------- one bit ----------+-- RX pin + * |<-------- TDCV -------->| + * |<------------------------>| absolute TDCO + * |<--- Sample Point --->| + * | |<->| relative TDCO + * |<------------- Secondary Sample Point ------------>| + */ +static inline s32 can_get_relative_tdco(const struct can_priv *priv) +{ + const struct can_bittiming *dbt = &priv->data_bittiming; + s32 sample_point_in_tc = (CAN_SYNC_SEG + dbt->prop_seg + + dbt->phase_seg1) * dbt->brp; + + return (s32)priv->tdc.tdco - sample_point_in_tc; +} /* helper to define static CAN controller features at device creation time */ static inline void can_set_static_ctrlmode(struct net_device *dev, diff --git a/include/uapi/linux/can/netlink.h b/include/uapi/linux/can/netlink.h index f730d443b918..75b85c60efb2 100644 --- a/include/uapi/linux/can/netlink.h +++ b/include/uapi/linux/can/netlink.h @@ -101,6 +101,8 @@ struct can_ctrlmode { #define CAN_CTRLMODE_PRESUME_ACK 0x40 /* Ignore missing CAN ACKs */ #define CAN_CTRLMODE_FD_NON_ISO 0x80 /* CAN FD in non-ISO mode */ #define CAN_CTRLMODE_CC_LEN8_DLC 0x100 /* Classic CAN DLC option */ +#define CAN_CTRLMODE_TDC_AUTO 0x200 /* CAN transiver automatically calculates TDCV */ +#define CAN_CTRLMODE_TDC_MANUAL 0x400 /* TDCV is manually set up by user */ /* * CAN device statistics @@ -134,10 +136,35 @@ enum { IFLA_CAN_BITRATE_CONST, IFLA_CAN_DATA_BITRATE_CONST, IFLA_CAN_BITRATE_MAX, - __IFLA_CAN_MAX + IFLA_CAN_TDC, + + /* add new constants above here */ + __IFLA_CAN_MAX, + IFLA_CAN_MAX = __IFLA_CAN_MAX - 1 }; -#define IFLA_CAN_MAX (__IFLA_CAN_MAX - 1) +/* + * CAN FD Transmitter Delay Compensation (TDC) + * + * Please refer to struct can_tdc_const and can_tdc in + * include/linux/can/bittiming.h for further details. + */ +enum { + IFLA_CAN_TDC_UNSPEC, + IFLA_CAN_TDC_TDCV_MIN, /* u32 */ + IFLA_CAN_TDC_TDCV_MAX, /* u32 */ + IFLA_CAN_TDC_TDCO_MIN, /* u32 */ + IFLA_CAN_TDC_TDCO_MAX, /* u32 */ + IFLA_CAN_TDC_TDCF_MIN, /* u32 */ + IFLA_CAN_TDC_TDCF_MAX, /* u32 */ + IFLA_CAN_TDC_TDCV, /* u32 */ + IFLA_CAN_TDC_TDCO, /* u32 */ + IFLA_CAN_TDC_TDCF, /* u32 */ + + /* add new constants above here */ + __IFLA_CAN_TDC, + IFLA_CAN_TDC_MAX = __IFLA_CAN_TDC - 1 +}; /* u16 termination range: 1..65535 Ohms */ #define CAN_TERMINATION_DISABLED 0 diff --git a/net/can/bcm.c b/net/can/bcm.c index 508f67de0b80..bc88d901a1c0 100644 --- a/net/can/bcm.c +++ b/net/can/bcm.c @@ -625,7 +625,7 @@ static enum hrtimer_restart bcm_rx_thr_handler(struct hrtimer *hrtimer) struct bcm_op *op = container_of(hrtimer, struct bcm_op, thrtimer); if (bcm_rx_thr_flush(op)) { - hrtimer_forward(hrtimer, ktime_get(), op->kt_ival2); + hrtimer_forward_now(hrtimer, op->kt_ival2); return HRTIMER_RESTART; } else { /* rearm throttle handling */ |