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SPDX-License-Identifier: GPL-2.0-or-later + +CTU CAN FD Driver +================= + +Author: Martin Jerabek <martin.jerabek01@gmail.com> + + +About CTU CAN FD IP Core +------------------------ + +`CTU CAN FD <https://gitlab.fel.cvut.cz/canbus/ctucanfd_ip_core>`_ +is an open source soft core written in VHDL. +It originated in 2015 as Ondrej Ille's project +at the `Department of Measurement <https://meas.fel.cvut.cz/>`_ +of `FEE <http://www.fel.cvut.cz/en/>`_ at `CTU <https://www.cvut.cz/en>`_. + +The SocketCAN driver for Xilinx Zynq SoC based MicroZed board +`Vivado integration <https://gitlab.fel.cvut.cz/canbus/zynq/zynq-can-sja1000-top>`_ +and Intel Cyclone V 5CSEMA4U23C6 based DE0-Nano-SoC Terasic board +`QSys integration <https://gitlab.fel.cvut.cz/canbus/intel-soc-ctucanfd>`_ +has been developed as well as support for +`PCIe integration <https://gitlab.fel.cvut.cz/canbus/pcie-ctucanfd>`_ of the core. + +In the case of Zynq, the core is connected via the APB system bus, which does +not have enumeration support, and the device must be specified in Device Tree. +This kind of devices is called platform device in the kernel and is +handled by a platform device driver. + +The basic functional model of the CTU CAN FD peripheral has been +accepted into QEMU mainline. See QEMU `CAN emulation support <https://www.qemu.org/docs/master/system/devices/can.html>`_ +for CAN FD buses, host connection and CTU CAN FD core emulation. The development +version of emulation support can be cloned from ctu-canfd branch of QEMU local +development `repository <https://gitlab.fel.cvut.cz/canbus/qemu-canbus>`_. + + +About SocketCAN +--------------- + +SocketCAN is a standard common interface for CAN devices in the Linux +kernel. As the name suggests, the bus is accessed via sockets, similarly +to common network devices. The reasoning behind this is in depth +described in `Linux SocketCAN <https://www.kernel.org/doc/html/latest/networking/can.html>`_. +In short, it offers a +natural way to implement and work with higher layer protocols over CAN, +in the same way as, e.g., UDP/IP over Ethernet. + +Device probe +~~~~~~~~~~~~ + +Before going into detail about the structure of a CAN bus device driver, +let's reiterate how the kernel gets to know about the device at all. +Some buses, like PCI or PCIe, support device enumeration. That is, when +the system boots, it discovers all the devices on the bus and reads +their configuration. The kernel identifies the device via its vendor ID +and device ID, and if there is a driver registered for this identifier +combination, its probe method is invoked to populate the driver's +instance for the given hardware. A similar situation goes with USB, only +it allows for device hot-plug. + +The situation is different for peripherals which are directly embedded +in the SoC and connected to an internal system bus (AXI, APB, Avalon, +and others). These buses do not support enumeration, and thus the kernel +has to learn about the devices from elsewhere. This is exactly what the +Device Tree was made for. + +Device tree +~~~~~~~~~~~ + +An entry in device tree states that a device exists in the system, how +it is reachable (on which bus it resides) and its configuration – +registers address, interrupts and so on. An example of such a device +tree is given in . + +:: + + / { + /* ... */ + amba: amba { + #address-cells = <1>; + #size-cells = <1>; + compatible = "simple-bus"; + + CTU_CAN_FD_0: CTU_CAN_FD@43c30000 { + compatible = "ctu,ctucanfd"; + interrupt-parent = <&intc>; + interrupts = <0 30 4>; + clocks = <&clkc 15>; + reg = <0x43c30000 0x10000>; + }; + }; + }; + + +.. _sec:socketcan:drv: + +Driver structure +~~~~~~~~~~~~~~~~ + +The driver can be divided into two parts – platform-dependent device +discovery and set up, and platform-independent CAN network device +implementation. + +.. _sec:socketcan:platdev: + +Platform device driver +^^^^^^^^^^^^^^^^^^^^^^ + +In the case of Zynq, the core is connected via the AXI system bus, which +does not have enumeration support, and the device must be specified in +Device Tree. This kind of devices is called *platform device* in the +kernel and is handled by a *platform device driver*\ [1]_. + +A platform device driver provides the following things: + +- A *probe* function + +- A *remove* function + +- A table of *compatible* devices that the driver can handle + +The *probe* function is called exactly once when the device appears (or +the driver is loaded, whichever happens later). If there are more +devices handled by the same driver, the *probe* function is called for +each one of them. Its role is to allocate and initialize resources +required for handling the device, as well as set up low-level functions +for the platform-independent layer, e.g., *read_reg* and *write_reg*. +After that, the driver registers the device to a higher layer, in our +case as a *network device*. + +The *remove* function is called when the device disappears, or the +driver is about to be unloaded. It serves to free the resources +allocated in *probe* and to unregister the device from higher layers. + +Finally, the table of *compatible* devices states which devices the +driver can handle. The Device Tree entry ``compatible`` is matched +against the tables of all *platform drivers*. + +.. code:: c + + /* Match table for OF platform binding */ + static const struct of_device_id ctucan_of_match[] = { + { .compatible = "ctu,canfd-2", }, + { .compatible = "ctu,ctucanfd", }, + { /* end of list */ }, + }; + MODULE_DEVICE_TABLE(of, ctucan_of_match); + + static int ctucan_probe(struct platform_device *pdev); + static int ctucan_remove(struct platform_device *pdev); + + static struct platform_driver ctucanfd_driver = { + .probe = ctucan_probe, + .remove = ctucan_remove, + .driver = { + .name = DRIVER_NAME, + .of_match_table = ctucan_of_match, + }, + }; + module_platform_driver(ctucanfd_driver); + + +.. _sec:socketcan:netdev: + +Network device driver +^^^^^^^^^^^^^^^^^^^^^ + +Each network device must support at least these operations: + +- Bring the device up: ``ndo_open`` + +- Bring the device down: ``ndo_close`` + +- Submit TX frames to the device: ``ndo_start_xmit`` + +- Signal TX completion and errors to the network subsystem: ISR + +- Submit RX frames to the network subsystem: ISR and NAPI + +There are two possible event sources: the device and the network +subsystem. Device events are usually signaled via an interrupt, handled +in an Interrupt Service Routine (ISR). Handlers for the events +originating in the network subsystem are then specified in +``struct net_device_ops``. + +When the device is brought up, e.g., by calling ``ip link set can0 up``, +the driver’s function ``ndo_open`` is called. It should validate the +interface configuration and configure and enable the device. The +analogous opposite is ``ndo_close``, called when the device is being +brought down, be it explicitly or implicitly. + +When the system should transmit a frame, it does so by calling +``ndo_start_xmit``, which enqueues the frame into the device. If the +device HW queue (FIFO, mailboxes or whatever the implementation is) +becomes full, the ``ndo_start_xmit`` implementation informs the network +subsystem that it should stop the TX queue (via ``netif_stop_queue``). +It is then re-enabled later in ISR when the device has some space +available again and is able to enqueue another frame. + +All the device events are handled in ISR, namely: + +#. **TX completion**. When the device successfully finishes transmitting + a frame, the frame is echoed locally. On error, an informative error + frame [2]_ is sent to the network subsystem instead. In both cases, + the software TX queue is resumed so that more frames may be sent. + +#. **Error condition**. If something goes wrong (e.g., the device goes + bus-off or RX overrun happens), error counters are updated, and + informative error frames are enqueued to SW RX queue. + +#. **RX buffer not empty**. In this case, read the RX frames and enqueue + them to SW RX queue. Usually NAPI is used as a middle layer (see ). + +.. _sec:socketcan:napi: + +NAPI +~~~~ + +The frequency of incoming frames can be high and the overhead to invoke +the interrupt service routine for each frame can cause significant +system load. There are multiple mechanisms in the Linux kernel to deal +with this situation. They evolved over the years of Linux kernel +development and enhancements. For network devices, the current standard +is NAPI – *the New API*. It is similar to classical top-half/bottom-half +interrupt handling in that it only acknowledges the interrupt in the ISR +and signals that the rest of the processing should be done in softirq +context. On top of that, it offers the possibility to *poll* for new +frames for a while. This has a potential to avoid the costly round of +enabling interrupts, handling an incoming IRQ in ISR, re-enabling the +softirq and switching context back to softirq. + +See :ref:`Documentation/networking/napi.rst <napi>` for more information. + +Integrating the core to Xilinx Zynq +----------------------------------- + +The core interfaces a simple subset of the Avalon +(search for Intel **Avalon Interface Specifications**) +bus as it was originally used on +Alterra FPGA chips, yet Xilinx natively interfaces with AXI +(search for ARM **AMBA AXI and ACE Protocol Specification AXI3, +AXI4, and AXI4-Lite, ACE and ACE-Lite**). +The most obvious solution would be to use +an Avalon/AXI bridge or implement some simple conversion entity. +However, the core’s interface is half-duplex with no handshake +signaling, whereas AXI is full duplex with two-way signaling. Moreover, +even AXI-Lite slave interface is quite resource-intensive, and the +flexibility and speed of AXI are not required for a CAN core. + +Thus a much simpler bus was chosen – APB (Advanced Peripheral Bus) +(search for ARM **AMBA APB Protocol Specification**). +APB-AXI bridge is directly available in +Xilinx Vivado, and the interface adaptor entity is just a few simple +combinatorial assignments. + +Finally, to be able to include the core in a block diagram as a custom +IP, the core, together with the APB interface, has been packaged as a +Vivado component. + +CTU CAN FD Driver design +------------------------ + +The general structure of a CAN device driver has already been examined +in . The next paragraphs provide a more detailed description of the CTU +CAN FD core driver in particular. + +Low-level driver +~~~~~~~~~~~~~~~~ + +The core is not intended to be used solely with SocketCAN, and thus it +is desirable to have an OS-independent low-level driver. This low-level +driver can then be used in implementations of OS driver or directly +either on bare metal or in a user-space application. Another advantage +is that if the hardware slightly changes, only the low-level driver +needs to be modified. + +The code [3]_ is in part automatically generated and in part written +manually by the core author, with contributions of the thesis’ author. +The low-level driver supports operations such as: set bit timing, set +controller mode, enable/disable, read RX frame, write TX frame, and so +on. + +Configuring bit timing +~~~~~~~~~~~~~~~~~~~~~~ + +On CAN, each bit is divided into four segments: SYNC, PROP, PHASE1, and +PHASE2. Their duration is expressed in multiples of a Time Quantum +(details in `CAN Specification, Version 2.0 <http://esd.cs.ucr.edu/webres/can20.pdf>`_, chapter 8). +When configuring +bitrate, the durations of all the segments (and time quantum) must be +computed from the bitrate and Sample Point. This is performed +independently for both the Nominal bitrate and Data bitrate for CAN FD. + +SocketCAN is fairly flexible and offers either highly customized +configuration by setting all the segment durations manually, or a +convenient configuration by setting just the bitrate and sample point +(and even that is chosen automatically per Bosch recommendation if not +specified). However, each CAN controller may have different base clock +frequency and different width of segment duration registers. The +algorithm thus needs the minimum and maximum values for the durations +(and clock prescaler) and tries to optimize the numbers to fit both the +constraints and the requested parameters. + +.. code:: c + + struct can_bittiming_const { + char name[16]; /* Name of the CAN controller hardware */ + __u32 tseg1_min; /* Time segment 1 = prop_seg + phase_seg1 */ + __u32 tseg1_max; + __u32 tseg2_min; /* Time segment 2 = phase_seg2 */ + __u32 tseg2_max; + __u32 sjw_max; /* Synchronisation jump width */ + __u32 brp_min; /* Bit-rate prescaler */ + __u32 brp_max; + __u32 brp_inc; + }; + + +[lst:can_bittiming_const] + +A curious reader will notice that the durations of the segments PROP_SEG +and PHASE_SEG1 are not determined separately but rather combined and +then, by default, the resulting TSEG1 is evenly divided between PROP_SEG +and PHASE_SEG1. In practice, this has virtually no consequences as the +sample point is between PHASE_SEG1 and PHASE_SEG2. In CTU CAN FD, +however, the duration registers ``PROP`` and ``PH1`` have different +widths (6 and 7 bits, respectively), so the auto-computed values might +overflow the shorter register and must thus be redistributed among the +two [4]_. + +Handling RX +~~~~~~~~~~~ + +Frame reception is handled in NAPI queue, which is enabled from ISR when +the RXNE (RX FIFO Not Empty) bit is set. Frames are read one by one +until either no frame is left in the RX FIFO or the maximum work quota +has been reached for the NAPI poll run (see ). Each frame is then passed +to the network interface RX queue. + +An incoming frame may be either a CAN 2.0 frame or a CAN FD frame. The +way to distinguish between these two in the kernel is to allocate either +``struct can_frame`` or ``struct canfd_frame``, the two having different +sizes. In the controller, the information about the frame type is stored +in the first word of RX FIFO. + +This brings us a chicken-egg problem: we want to allocate the ``skb`` +for the frame, and only if it succeeds, fetch the frame from FIFO; +otherwise keep it there for later. But to be able to allocate the +correct ``skb``, we have to fetch the first work of FIFO. There are +several possible solutions: + +#. Read the word, then allocate. If it fails, discard the rest of the + frame. When the system is low on memory, the situation is bad anyway. + +#. Always allocate ``skb`` big enough for an FD frame beforehand. Then + tweak the ``skb`` internals to look like it has been allocated for + the smaller CAN 2.0 frame. + +#. Add option to peek into the FIFO instead of consuming the word. + +#. If the allocation fails, store the read word into driver’s data. On + the next try, use the stored word instead of reading it again. + +Option 1 is simple enough, but not very satisfying if we could do +better. Option 2 is not acceptable, as it would require modifying the +private state of an integral kernel structure. The slightly higher +memory consumption is just a virtual cherry on top of the “cake”. Option +3 requires non-trivial HW changes and is not ideal from the HW point of +view. + +Option 4 seems like a good compromise, with its disadvantage being that +a partial frame may stay in the FIFO for a prolonged time. Nonetheless, +there may be just one owner of the RX FIFO, and thus no one else should +see the partial frame (disregarding some exotic debugging scenarios). +Basides, the driver resets the core on its initialization, so the +partial frame cannot be “adopted” either. In the end, option 4 was +selected [5]_. + +.. _subsec:ctucanfd:rxtimestamp: + +Timestamping RX frames +^^^^^^^^^^^^^^^^^^^^^^ + +The CTU CAN FD core reports the exact timestamp when the frame has been +received. The timestamp is by default captured at the sample point of +the last bit of EOF but is configurable to be captured at the SOF bit. +The timestamp source is external to the core and may be up to 64 bits +wide. At the time of writing, passing the timestamp from kernel to +userspace is not yet implemented, but is planned in the future. + +Handling TX +~~~~~~~~~~~ + +The CTU CAN FD core has 4 independent TX buffers, each with its own +state and priority. When the core wants to transmit, a TX buffer in +Ready state with the highest priority is selected. + +The priorities are 3bit numbers in register TX_PRIORITY +(nibble-aligned). This should be flexible enough for most use cases. +SocketCAN, however, supports only one FIFO queue for outgoing +frames [6]_. The buffer priorities may be used to simulate the FIFO +behavior by assigning each buffer a distinct priority and *rotating* the +priorities after a frame transmission is completed. + +In addition to priority rotation, the SW must maintain head and tail +pointers into the FIFO formed by the TX buffers to be able to determine +which buffer should be used for next frame (``txb_head``) and which +should be the first completed one (``txb_tail``). The actual buffer +indices are (obviously) modulo 4 (number of TX buffers), but the +pointers must be at least one bit wider to be able to distinguish +between FIFO full and FIFO empty – in this situation, +:math:`txb\_head \equiv txb\_tail\ (\textrm{mod}\ 4)`. An example of how +the FIFO is maintained, together with priority rotation, is depicted in + +| + ++------+---+---+---+---+ +| TXB# | 0 | 1 | 2 | 3 | ++======+===+===+===+===+ +| Seq | A | B | C | | ++------+---+---+---+---+ +| Prio | 7 | 6 | 5 | 4 | ++------+---+---+---+---+ +| | | T | | H | ++------+---+---+---+---+ + +| + ++------+---+---+---+---+ +| TXB# | 0 | 1 | 2 | 3 | ++======+===+===+===+===+ +| Seq | | B | C | | ++------+---+---+---+---+ +| Prio | 4 | 7 | 6 | 5 | ++------+---+---+---+---+ +| | | T | | H | ++------+---+---+---+---+ + +| + ++------+---+---+---+---+----+ +| TXB# | 0 | 1 | 2 | 3 | 0’ | ++======+===+===+===+===+====+ +| Seq | E | B | C | D | | ++------+---+---+---+---+----+ +| Prio | 4 | 7 | 6 | 5 | | ++------+---+---+---+---+----+ +| | | T | | | H | ++------+---+---+---+---+----+ + +| + +.. kernel-figure:: fsm_txt_buffer_user.svg + + TX Buffer states with possible transitions + +.. _subsec:ctucanfd:txtimestamp: + +Timestamping TX frames +^^^^^^^^^^^^^^^^^^^^^^ + +When submitting a frame to a TX buffer, one may specify the timestamp at +which the frame should be transmitted. The frame transmission may start +later, but not sooner. Note that the timestamp does not participate in +buffer prioritization – that is decided solely by the mechanism +described above. + +Support for time-based packet transmission was recently merged to Linux +v4.19 `Time-based packet transmission <https://lwn.net/Articles/748879/>`_, +but it remains yet to be researched +whether this functionality will be practical for CAN. + +Also similarly to retrieving the timestamp of RX frames, the core +supports retrieving the timestamp of TX frames – that is the time when +the frame was successfully delivered. The particulars are very similar +to timestamping RX frames and are described in . + +Handling RX buffer overrun +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +When a received frame does no more fit into the hardware RX FIFO in its +entirety, RX FIFO overrun flag (STATUS[DOR]) is set and Data Overrun +Interrupt (DOI) is triggered. When servicing the interrupt, care must be +taken first to clear the DOR flag (via COMMAND[CDO]) and after that +clear the DOI interrupt flag. Otherwise, the interrupt would be +immediately [7]_ rearmed. + +**Note**: During development, it was discussed whether the internal HW +pipelining cannot disrupt this clear sequence and whether an additional +dummy cycle is necessary between clearing the flag and the interrupt. On +the Avalon interface, it indeed proved to be the case, but APB being +safe because it uses 2-cycle transactions. Essentially, the DOR flag +would be cleared, but DOI register’s Preset input would still be high +the cycle when the DOI clear request would also be applied (by setting +the register’s Reset input high). As Set had higher priority than Reset, +the DOI flag would not be reset. This has been already fixed by swapping +the Set/Reset priority (see issue #187). + +Reporting Error Passive and Bus Off conditions +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +It may be desirable to report when the node reaches *Error Passive*, +*Error Warning*, and *Bus Off* conditions. The driver is notified about +error state change by an interrupt (EPI, EWLI), and then proceeds to +determine the core’s error state by reading its error counters. + +There is, however, a slight race condition here – there is a delay +between the time when the state transition occurs (and the interrupt is +triggered) and when the error counters are read. When EPI is received, +the node may be either *Error Passive* or *Bus Off*. If the node goes +*Bus Off*, it obviously remains in the state until it is reset. +Otherwise, the node is *or was* *Error Passive*. However, it may happen +that the read state is *Error Warning* or even *Error Active*. It may be +unclear whether and what exactly to report in that case, but I +personally entertain the idea that the past error condition should still +be reported. Similarly, when EWLI is received but the state is later +detected to be *Error Passive*, *Error Passive* should be reported. + + +CTU CAN FD Driver Sources Reference +----------------------------------- + +.. kernel-doc:: drivers/net/can/ctucanfd/ctucanfd.h + :internal: + +.. kernel-doc:: drivers/net/can/ctucanfd/ctucanfd_base.c + :internal: + +.. kernel-doc:: drivers/net/can/ctucanfd/ctucanfd_pci.c + :internal: + +.. kernel-doc:: drivers/net/can/ctucanfd/ctucanfd_platform.c + :internal: + +CTU CAN FD IP Core and Driver Development Acknowledgment +--------------------------------------------------------- + +* Odrej Ille <ondrej.ille@gmail.com> + + * started the project as student at Department of Measurement, FEE, CTU + * invested great amount of personal time and enthusiasm to the project over years + * worked on more funded tasks + +* `Department of Measurement <https://meas.fel.cvut.cz/>`_, + `Faculty of Electrical Engineering <http://www.fel.cvut.cz/en/>`_, + `Czech Technical University <https://www.cvut.cz/en>`_ + + * is the main investor into the project over many years + * uses project in their CAN/CAN FD diagnostics framework for `Skoda Auto <https://www.skoda-auto.cz/>`_ + +* `Digiteq Automotive <https://www.digiteqautomotive.com/en>`_ + + * funding of the project CAN FD Open Cores Support Linux Kernel Based Systems + * negotiated and paid CTU to allow public access to the project + * provided additional funding of the work + +* `Department of Control Engineering <https://control.fel.cvut.cz/en>`_, + `Faculty of Electrical Engineering <http://www.fel.cvut.cz/en/>`_, + `Czech Technical University <https://www.cvut.cz/en>`_ + + * solving the project CAN FD Open Cores Support Linux Kernel Based Systems + * providing GitLab management + * virtual servers and computational power for continuous integration + * providing hardware for HIL continuous integration tests + +* `PiKRON Ltd. <http://pikron.com/>`_ + + * minor funding to initiate preparation of the project open-sourcing + +* Petr Porazil <porazil@pikron.com> + + * design of PCIe transceiver addon board and assembly of boards + * design and assembly of MZ_APO baseboard for MicroZed/Zynq based system + +* Martin Jerabek <martin.jerabek01@gmail.com> + + * Linux driver development + * continuous integration platform architect and GHDL updates + * thesis `Open-source and Open-hardware CAN FD Protocol Support <https://dspace.cvut.cz/bitstream/handle/10467/80366/F3-DP-2019-Jerabek-Martin-Jerabek-thesis-2019-canfd.pdf>`_ + +* Jiri Novak <jnovak@fel.cvut.cz> + + * project initiation, management and use at Department of Measurement, FEE, CTU + +* Pavel Pisa <pisa@cmp.felk.cvut.cz> + + * initiate open-sourcing, project coordination, management at Department of Control Engineering, FEE, CTU + +* Jaroslav Beran<jara.beran@gmail.com> + + * system integration for Intel SoC, core and driver testing and updates + +* Carsten Emde (`OSADL <https://www.osadl.org/>`_) + + * provided OSADL expertise to discuss IP core licensing + * pointed to possible deadlock for LGPL and CAN bus possible patent case which lead to relicense IP core design to BSD like license + +* Reiner Zitzmann and Holger Zeltwanger (`CAN in Automation <https://www.can-cia.org/>`_) + + * provided suggestions and help to inform community about the project and invited us to events focused on CAN bus future development directions + +* Jan Charvat + + * implemented CTU CAN FD functional model for QEMU which has been integrated into QEMU mainline (`docs/system/devices/can.rst <https://www.qemu.org/docs/master/system/devices/can.html>`_) + * Bachelor thesis Model of CAN FD Communication Controller for QEMU Emulator + +Notes +----- + + +.. [1] + Other buses have their own specific driver interface to set up the + device. + +.. [2] + Not to be mistaken with CAN Error Frame. This is a ``can_frame`` with + ``CAN_ERR_FLAG`` set and some error info in its ``data`` field. + +.. [3] + Available in CTU CAN FD repository + `<https://gitlab.fel.cvut.cz/canbus/ctucanfd_ip_core>`_ + +.. [4] + As is done in the low-level driver functions + ``ctucan_hw_set_nom_bittiming`` and + ``ctucan_hw_set_data_bittiming``. + +.. [5] + At the time of writing this thesis, option 1 is still being used and + the modification is queued in gitlab issue #222 + +.. [6] + Strictly speaking, multiple CAN TX queues are supported since v4.19 + `can: enable multi-queue for SocketCAN devices <https://lore.kernel.org/patchwork/patch/913526/>`_ but no mainline driver is using + them yet. + +.. [7] + Or rather in the next clock cycle |