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-rw-r--r--include/linux/can/bittiming.h125
-rw-r--r--include/linux/can/dev.h148
-rw-r--r--include/linux/can/dev/peak_canfd.h4
3 files changed, 192 insertions, 85 deletions
diff --git a/include/linux/can/bittiming.h b/include/linux/can/bittiming.h
index 9b8a9c39614b..726d909e87ce 100644
--- a/include/linux/can/bittiming.h
+++ b/include/linux/can/bittiming.h
@@ -1,6 +1,6 @@
/* SPDX-License-Identifier: GPL-2.0-only */
/* Copyright (c) 2020 Pengutronix, Marc Kleine-Budde <kernel@pengutronix.de>
- * Copyright (c) 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
+ * Copyright (c) 2021-2025 Vincent Mailhol <mailhol@kernel.org>
*/
#ifndef _CAN_BITTIMING_H
@@ -14,8 +14,14 @@
#define CAN_BITRATE_UNSET 0
#define CAN_BITRATE_UNKNOWN (-1U)
-#define CAN_CTRLMODE_TDC_MASK \
+#define CAN_CTRLMODE_FD_TDC_MASK \
(CAN_CTRLMODE_TDC_AUTO | CAN_CTRLMODE_TDC_MANUAL)
+#define CAN_CTRLMODE_XL_TDC_MASK \
+ (CAN_CTRLMODE_XL_TDC_AUTO | CAN_CTRLMODE_XL_TDC_MANUAL)
+#define CAN_CTRLMODE_TDC_AUTO_MASK \
+ (CAN_CTRLMODE_TDC_AUTO | CAN_CTRLMODE_XL_TDC_AUTO)
+#define CAN_CTRLMODE_TDC_MANUAL_MASK \
+ (CAN_CTRLMODE_TDC_MANUAL | CAN_CTRLMODE_XL_TDC_MANUAL)
/*
* struct can_tdc - CAN FD Transmission Delay Compensation parameters
@@ -81,6 +87,11 @@ struct can_tdc {
u32 tdcf;
};
+/* The transceiver decoding margin corresponds to t_Decode in ISO 11898-2 */
+#define CAN_PWM_DECODE_NS 5
+/* Maximum PWM symbol duration. Corresponds to t_SymbolNom_MAX - t_Decode */
+#define CAN_PWM_NS_MAX (205 - CAN_PWM_DECODE_NS)
+
/*
* struct can_tdc_const - CAN hardware-dependent constant for
* Transmission Delay Compensation
@@ -114,27 +125,85 @@ struct can_tdc_const {
u32 tdcf_max;
};
+/*
+ * struct can_pwm - CAN Pulse-Width Modulation (PWM) parameters
+ *
+ * @pwms: pulse width modulation short phase
+ * @pwml: pulse width modulation long phase
+ * @pwmo: pulse width modulation offset
+ */
+struct can_pwm {
+ u32 pwms;
+ u32 pwml;
+ u32 pwmo;
+};
+
+/*
+ * struct can_pwm - CAN hardware-dependent constants for Pulse-Width
+ * Modulation (PWM)
+ *
+ * @pwms_min: PWM short phase minimum value. Must be at least 1.
+ * @pwms_max: PWM short phase maximum value
+ * @pwml_min: PWM long phase minimum value. Must be at least 1.
+ * @pwml_max: PWM long phase maximum value
+ * @pwmo_min: PWM offset phase minimum value
+ * @pwmo_max: PWM offset phase maximum value
+ */
+struct can_pwm_const {
+ u32 pwms_min;
+ u32 pwms_max;
+ u32 pwml_min;
+ u32 pwml_max;
+ u32 pwmo_min;
+ u32 pwmo_max;
+};
+
+struct data_bittiming_params {
+ const struct can_bittiming_const *data_bittiming_const;
+ struct can_bittiming data_bittiming;
+ const struct can_tdc_const *tdc_const;
+ const struct can_pwm_const *pwm_const;
+ union {
+ struct can_tdc tdc;
+ struct can_pwm pwm;
+ };
+ const u32 *data_bitrate_const;
+ unsigned int data_bitrate_const_cnt;
+ int (*do_set_data_bittiming)(struct net_device *dev);
+ int (*do_get_auto_tdcv)(const struct net_device *dev, u32 *tdcv);
+};
+
#ifdef CONFIG_CAN_CALC_BITTIMING
int can_calc_bittiming(const struct net_device *dev, struct can_bittiming *bt,
const struct can_bittiming_const *btc, struct netlink_ext_ack *extack);
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);
+ u32 tdc_mask, u32 *ctrlmode, u32 ctrlmode_supported);
+
+int can_calc_pwm(struct net_device *dev, struct netlink_ext_ack *extack);
#else /* !CONFIG_CAN_CALC_BITTIMING */
static inline int
can_calc_bittiming(const struct net_device *dev, struct can_bittiming *bt,
const struct can_bittiming_const *btc, struct netlink_ext_ack *extack)
{
- netdev_err(dev, "bit-timing calculation not available\n");
+ NL_SET_ERR_MSG(extack, "bit-timing calculation not available\n");
return -EINVAL;
}
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)
+ u32 tdc_mask, u32 *ctrlmode, u32 ctrlmode_supported)
+{
+}
+
+static inline int
+can_calc_pwm(struct net_device *dev, struct netlink_ext_ack *extack)
{
+ NL_SET_ERR_MSG(extack,
+ "bit-timing calculation not available: manually provide PWML and PWMS\n");
+ return -EINVAL;
}
#endif /* CONFIG_CAN_CALC_BITTIMING */
@@ -149,6 +218,39 @@ int can_get_bittiming(const struct net_device *dev, struct can_bittiming *bt,
const unsigned int bitrate_const_cnt,
struct netlink_ext_ack *extack);
+int can_validate_pwm_bittiming(const struct net_device *dev,
+ const struct can_pwm *pwm,
+ struct netlink_ext_ack *extack);
+
+/*
+ * 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 data_bittiming_params *dbt_params)
+{
+ const struct can_bittiming *dbt = &dbt_params->data_bittiming;
+ s32 sample_point_in_tc = (CAN_SYNC_SEG + dbt->prop_seg +
+ dbt->phase_seg1) * dbt->brp;
+
+ return (s32)dbt_params->tdc.tdco - sample_point_in_tc;
+}
+
/*
* can_bit_time() - Duration of one bit
*
@@ -162,4 +264,17 @@ static inline unsigned int can_bit_time(const struct can_bittiming *bt)
return CAN_SYNC_SEG + bt->prop_seg + bt->phase_seg1 + bt->phase_seg2;
}
+/* Duration of one bit in minimum time quantum */
+static inline unsigned int can_bit_time_tqmin(const struct can_bittiming *bt)
+{
+ return can_bit_time(bt) * bt->brp;
+}
+
+/* Convert a duration from minimum a minimum time quantum to nano seconds */
+static inline u32 can_tqmin_to_ns(u32 tqmin, u32 clock_freq)
+{
+ return DIV_U64_ROUND_CLOSEST(mul_u32_u32(tqmin, NSEC_PER_SEC),
+ clock_freq);
+}
+
#endif /* !_CAN_BITTIMING_H */
diff --git a/include/linux/can/dev.h b/include/linux/can/dev.h
index 1b92aed49363..f6416a56e95d 100644
--- a/include/linux/can/dev.h
+++ b/include/linux/can/dev.h
@@ -45,16 +45,11 @@ struct can_priv {
struct net_device *dev;
struct can_device_stats can_stats;
- const struct can_bittiming_const *bittiming_const,
- *data_bittiming_const;
- struct can_bittiming bittiming, data_bittiming;
- const struct can_tdc_const *tdc_const;
- struct can_tdc tdc;
-
+ const struct can_bittiming_const *bittiming_const;
+ struct can_bittiming bittiming;
+ struct data_bittiming_params fd, xl;
unsigned int bitrate_const_cnt;
const u32 *bitrate_const;
- const u32 *data_bitrate_const;
- unsigned int data_bitrate_const_cnt;
u32 bitrate_max;
struct can_clock clock;
@@ -77,69 +72,22 @@ struct can_priv {
struct delayed_work restart_work;
int (*do_set_bittiming)(struct net_device *dev);
- int (*do_set_data_bittiming)(struct net_device *dev);
int (*do_set_mode)(struct net_device *dev, enum can_mode mode);
int (*do_set_termination)(struct net_device *dev, u16 term);
int (*do_get_state)(const struct net_device *dev,
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);
};
-static inline bool can_tdc_is_enabled(const struct can_priv *priv)
+static inline bool can_fd_tdc_is_enabled(const struct can_priv *priv)
{
- return !!(priv->ctrlmode & CAN_CTRLMODE_TDC_MASK);
+ return !!(priv->ctrlmode & CAN_CTRLMODE_FD_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)
+static inline bool can_xl_tdc_is_enabled(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 int __must_check can_set_static_ctrlmode(struct net_device *dev,
- u32 static_mode)
-{
- struct can_priv *priv = netdev_priv(dev);
-
- /* alloc_candev() succeeded => netdev_priv() is valid at this point */
- if (priv->ctrlmode_supported & static_mode) {
- netdev_warn(dev,
- "Controller features can not be supported and static at the same time\n");
- return -EINVAL;
- }
- priv->ctrlmode = static_mode;
-
- /* override MTU which was set by default in can_setup()? */
- if (static_mode & CAN_CTRLMODE_FD)
- dev->mtu = CANFD_MTU;
-
- return 0;
+ return !!(priv->ctrlmode & CAN_CTRLMODE_XL_TDC_MASK);
}
static inline u32 can_get_static_ctrlmode(struct can_priv *priv)
@@ -152,22 +100,6 @@ static inline bool can_is_canxl_dev_mtu(unsigned int mtu)
return (mtu >= CANXL_MIN_MTU && mtu <= CANXL_MAX_MTU);
}
-/* drop skb if it does not contain a valid CAN frame for sending */
-static inline bool can_dev_dropped_skb(struct net_device *dev, struct sk_buff *skb)
-{
- struct can_priv *priv = netdev_priv(dev);
-
- if (priv->ctrlmode & CAN_CTRLMODE_LISTENONLY) {
- netdev_info_once(dev,
- "interface in listen only mode, dropping skb\n");
- kfree_skb(skb);
- dev->stats.tx_dropped++;
- return true;
- }
-
- return can_dropped_invalid_skb(dev, skb);
-}
-
void can_setup(struct net_device *dev);
struct net_device *alloc_candev_mqs(int sizeof_priv, unsigned int echo_skb_max,
@@ -179,14 +111,27 @@ struct net_device *alloc_candev_mqs(int sizeof_priv, unsigned int echo_skb_max,
void free_candev(struct net_device *dev);
/* a candev safe wrapper around netdev_priv */
+#if IS_ENABLED(CONFIG_CAN_NETLINK)
struct can_priv *safe_candev_priv(struct net_device *dev);
+#else
+static inline struct can_priv *safe_candev_priv(struct net_device *dev)
+{
+ return NULL;
+}
+#endif
int open_candev(struct net_device *dev);
void close_candev(struct net_device *dev);
-int can_change_mtu(struct net_device *dev, int new_mtu);
-int can_eth_ioctl_hwts(struct net_device *netdev, struct ifreq *ifr, int cmd);
+void can_set_default_mtu(struct net_device *dev);
+int __must_check can_set_static_ctrlmode(struct net_device *dev,
+ u32 static_mode);
+int can_hwtstamp_get(struct net_device *netdev,
+ struct kernel_hwtstamp_config *cfg);
+int can_hwtstamp_set(struct net_device *netdev,
+ struct kernel_hwtstamp_config *cfg,
+ struct netlink_ext_ack *extack);
int can_ethtool_op_get_ts_info_hwts(struct net_device *dev,
- struct ethtool_ts_info *info);
+ struct kernel_ethtool_ts_info *info);
int register_candev(struct net_device *dev);
void unregister_candev(struct net_device *dev);
@@ -195,6 +140,53 @@ int can_restart_now(struct net_device *dev);
void can_bus_off(struct net_device *dev);
const char *can_get_state_str(const enum can_state state);
+const char *can_get_ctrlmode_str(u32 ctrlmode);
+
+static inline bool can_dev_in_xl_only_mode(struct can_priv *priv)
+{
+ const u32 mixed_mode = CAN_CTRLMODE_FD | CAN_CTRLMODE_XL;
+
+ /* When CAN XL is enabled but FD is disabled we are running in
+ * the so-called 'CANXL-only mode' where the error signalling is
+ * disabled. This helper function determines the required value
+ * to disable error signalling in the CAN XL controller.
+ * The so-called CC/FD/XL 'mixed mode' requires error signalling.
+ */
+ return ((priv->ctrlmode & mixed_mode) == CAN_CTRLMODE_XL);
+}
+
+/* drop skb if it does not contain a valid CAN frame for sending */
+static inline bool can_dev_dropped_skb(struct net_device *dev, struct sk_buff *skb)
+{
+ struct can_priv *priv = netdev_priv(dev);
+ u32 silent_mode = priv->ctrlmode & (CAN_CTRLMODE_LISTENONLY |
+ CAN_CTRLMODE_RESTRICTED);
+
+ if (silent_mode) {
+ netdev_info_once(dev, "interface in %s mode, dropping skb\n",
+ can_get_ctrlmode_str(silent_mode));
+ goto invalid_skb;
+ }
+
+ if (!(priv->ctrlmode & CAN_CTRLMODE_FD) && can_is_canfd_skb(skb)) {
+ netdev_info_once(dev, "CAN FD is disabled, dropping skb\n");
+ goto invalid_skb;
+ }
+
+ if (can_dev_in_xl_only_mode(priv) && !can_is_canxl_skb(skb)) {
+ netdev_info_once(dev,
+ "Error signaling is disabled, dropping skb\n");
+ goto invalid_skb;
+ }
+
+ return can_dropped_invalid_skb(dev, skb);
+
+invalid_skb:
+ kfree_skb(skb);
+ dev->stats.tx_dropped++;
+ return true;
+}
+
void can_state_get_by_berr_counter(const struct net_device *dev,
const struct can_berr_counter *bec,
enum can_state *tx_state,
diff --git a/include/linux/can/dev/peak_canfd.h b/include/linux/can/dev/peak_canfd.h
index f38772fd0c07..d3788a3d0942 100644
--- a/include/linux/can/dev/peak_canfd.h
+++ b/include/linux/can/dev/peak_canfd.h
@@ -2,8 +2,8 @@
/*
* CAN driver for PEAK System micro-CAN based adapters
*
- * Copyright (C) 2003-2011 PEAK System-Technik GmbH
- * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com>
+ * Copyright (C) 2003-2025 PEAK System-Technik GmbH
+ * Author: Stéphane Grosjean <stephane.grosjean@hms-networks.com>
*/
#ifndef PUCAN_H
#define PUCAN_H
generated by cgit (git 2.34.1) at 2025-12-24 21:14:06 +0000