/* SPDX-License-Identifier: GPL-2.0 * * Copyright (c) 2023, 2024 Pengutronix, * Marc Kleine-Budde <[email protected]> */ #ifndef _ROCKCHIP_CANFD_H #define _ROCKCHIP_CANFD_H #include <linux/bitfield.h> #include <linux/can/dev.h> #include <linux/can/rx-offload.h> #include <linux/clk.h> #include <linux/io.h> #include <linux/netdevice.h> #include <linux/reset.h> #include <linux/skbuff.h> #include <linux/timecounter.h> #include <linux/types.h> #include <linux/u64_stats_sync.h> #include <linux/units.h> #define RKCANFD_REG_MODE … #define RKCANFD_REG_MODE_CAN_FD_MODE_ENABLE … #define RKCANFD_REG_MODE_DPEE … #define RKCANFD_REG_MODE_BRSD … #define RKCANFD_REG_MODE_SPACE_RX_MODE … #define RKCANFD_REG_MODE_AUTO_BUS_ON … #define RKCANFD_REG_MODE_AUTO_RETX_MODE … #define RKCANFD_REG_MODE_OVLD_MODE … #define RKCANFD_REG_MODE_COVER_MODE … #define RKCANFD_REG_MODE_RXSORT_MODE … #define RKCANFD_REG_MODE_TXORDER_MODE … #define RKCANFD_REG_MODE_RXSTX_MODE … #define RKCANFD_REG_MODE_LBACK_MODE … #define RKCANFD_REG_MODE_SILENT_MODE … #define RKCANFD_REG_MODE_SELF_TEST … #define RKCANFD_REG_MODE_SLEEP_MODE … #define RKCANFD_REG_MODE_WORK_MODE … #define RKCANFD_REG_CMD … #define RKCANFD_REG_CMD_TX1_REQ … #define RKCANFD_REG_CMD_TX0_REQ … #define RKCANFD_REG_CMD_TX_REQ(i) … #define RKCANFD_REG_STATE … #define RKCANFD_REG_STATE_SLEEP_STATE … #define RKCANFD_REG_STATE_BUS_OFF_STATE … #define RKCANFD_REG_STATE_ERROR_WARNING_STATE … #define RKCANFD_REG_STATE_TX_PERIOD … #define RKCANFD_REG_STATE_RX_PERIOD … #define RKCANFD_REG_STATE_TX_BUFFER_FULL … #define RKCANFD_REG_STATE_RX_BUFFER_FULL … #define RKCANFD_REG_INT … #define RKCANFD_REG_INT_WAKEUP_INT … #define RKCANFD_REG_INT_TXE_FIFO_FULL_INT … #define RKCANFD_REG_INT_TXE_FIFO_OV_INT … #define RKCANFD_REG_INT_TIMESTAMP_COUNTER_OVERFLOW_INT … #define RKCANFD_REG_INT_BUS_OFF_RECOVERY_INT … #define RKCANFD_REG_INT_BUS_OFF_INT … #define RKCANFD_REG_INT_RX_FIFO_OVERFLOW_INT … #define RKCANFD_REG_INT_RX_FIFO_FULL_INT … #define RKCANFD_REG_INT_ERROR_INT … #define RKCANFD_REG_INT_TX_ARBIT_FAIL_INT … #define RKCANFD_REG_INT_PASSIVE_ERROR_INT … #define RKCANFD_REG_INT_OVERLOAD_INT … #define RKCANFD_REG_INT_ERROR_WARNING_INT … #define RKCANFD_REG_INT_TX_FINISH_INT … #define RKCANFD_REG_INT_RX_FINISH_INT … #define RKCANFD_REG_INT_ALL … #define RKCANFD_REG_INT_ALL_ERROR … #define RKCANFD_REG_INT_MASK … #define RKCANFD_REG_DMA_CTL … #define RKCANFD_REG_DMA_CTL_DMA_RX_MODE … #define RKCANFD_REG_DMA_CTL_DMA_TX_MODE … #define RKCANFD_REG_BITTIMING … #define RKCANFD_REG_BITTIMING_SAMPLE_MODE … #define RKCANFD_REG_BITTIMING_SJW … #define RKCANFD_REG_BITTIMING_BRP … #define RKCANFD_REG_BITTIMING_TSEG2 … #define RKCANFD_REG_BITTIMING_TSEG1 … #define RKCANFD_REG_ARBITFAIL … #define RKCANFD_REG_ARBITFAIL_ARBIT_FAIL_CODE … /* Register seems to be clear or read */ #define RKCANFD_REG_ERROR_CODE … #define RKCANFD_REG_ERROR_CODE_PHASE … #define RKCANFD_REG_ERROR_CODE_TYPE … #define RKCANFD_REG_ERROR_CODE_TYPE_BIT … #define RKCANFD_REG_ERROR_CODE_TYPE_STUFF … #define RKCANFD_REG_ERROR_CODE_TYPE_FORM … #define RKCANFD_REG_ERROR_CODE_TYPE_ACK … #define RKCANFD_REG_ERROR_CODE_TYPE_CRC … #define RKCANFD_REG_ERROR_CODE_DIRECTION_RX … #define RKCANFD_REG_ERROR_CODE_TX … #define RKCANFD_REG_ERROR_CODE_TX_OVERLOAD … #define RKCANFD_REG_ERROR_CODE_TX_ERROR … #define RKCANFD_REG_ERROR_CODE_TX_ACK … #define RKCANFD_REG_ERROR_CODE_TX_ACK_EOF … #define RKCANFD_REG_ERROR_CODE_TX_CRC … #define RKCANFD_REG_ERROR_CODE_TX_STUFF_COUNT … #define RKCANFD_REG_ERROR_CODE_TX_DATA … #define RKCANFD_REG_ERROR_CODE_TX_SOF_DLC … #define RKCANFD_REG_ERROR_CODE_TX_IDLE … #define RKCANFD_REG_ERROR_CODE_RX … #define RKCANFD_REG_ERROR_CODE_RX_BUF_INT … #define RKCANFD_REG_ERROR_CODE_RX_SPACE … #define RKCANFD_REG_ERROR_CODE_RX_EOF … #define RKCANFD_REG_ERROR_CODE_RX_ACK_LIM … #define RKCANFD_REG_ERROR_CODE_RX_ACK … #define RKCANFD_REG_ERROR_CODE_RX_CRC_LIM … #define RKCANFD_REG_ERROR_CODE_RX_CRC … #define RKCANFD_REG_ERROR_CODE_RX_STUFF_COUNT … #define RKCANFD_REG_ERROR_CODE_RX_DATA … #define RKCANFD_REG_ERROR_CODE_RX_DLC … #define RKCANFD_REG_ERROR_CODE_RX_BRS_ESI … #define RKCANFD_REG_ERROR_CODE_RX_RES … #define RKCANFD_REG_ERROR_CODE_RX_FDF … #define RKCANFD_REG_ERROR_CODE_RX_ID2_RTR … #define RKCANFD_REG_ERROR_CODE_RX_SOF_IDE … #define RKCANFD_REG_ERROR_CODE_RX_IDLE … #define RKCANFD_REG_ERROR_CODE_NOACK … #define RKCANFD_REG_RXERRORCNT … #define RKCANFD_REG_RXERRORCNT_RX_ERR_CNT … #define RKCANFD_REG_TXERRORCNT … #define RKCANFD_REG_TXERRORCNT_TX_ERR_CNT … #define RKCANFD_REG_IDCODE … #define RKCANFD_REG_IDCODE_STANDARD_FRAME_ID … #define RKCANFD_REG_IDCODE_EXTENDED_FRAME_ID … #define RKCANFD_REG_IDMASK … #define RKCANFD_REG_TXFRAMEINFO … #define RKCANFD_REG_FRAMEINFO_FRAME_FORMAT … #define RKCANFD_REG_FRAMEINFO_RTR … #define RKCANFD_REG_FRAMEINFO_DATA_LENGTH … #define RKCANFD_REG_TXID … #define RKCANFD_REG_TXID_TX_ID … #define RKCANFD_REG_TXDATA0 … #define RKCANFD_REG_TXDATA1 … #define RKCANFD_REG_RXFRAMEINFO … #define RKCANFD_REG_RXID … #define RKCANFD_REG_RXDATA0 … #define RKCANFD_REG_RXDATA1 … #define RKCANFD_REG_RTL_VERSION … #define RKCANFD_REG_RTL_VERSION_MAJOR … #define RKCANFD_REG_RTL_VERSION_MINOR … #define RKCANFD_REG_FD_NOMINAL_BITTIMING … #define RKCANFD_REG_FD_NOMINAL_BITTIMING_SAMPLE_MODE … #define RKCANFD_REG_FD_NOMINAL_BITTIMING_SJW … #define RKCANFD_REG_FD_NOMINAL_BITTIMING_BRP … #define RKCANFD_REG_FD_NOMINAL_BITTIMING_TSEG2 … #define RKCANFD_REG_FD_NOMINAL_BITTIMING_TSEG1 … #define RKCANFD_REG_FD_DATA_BITTIMING … #define RKCANFD_REG_FD_DATA_BITTIMING_SAMPLE_MODE … #define RKCANFD_REG_FD_DATA_BITTIMING_SJW … #define RKCANFD_REG_FD_DATA_BITTIMING_BRP … #define RKCANFD_REG_FD_DATA_BITTIMING_TSEG2 … #define RKCANFD_REG_FD_DATA_BITTIMING_TSEG1 … #define RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION … #define RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION_TDC_OFFSET … #define RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION_TDC_ENABLE … #define RKCANFD_REG_TIMESTAMP_CTRL … /* datasheet says 6:1, which is wrong */ #define RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_PRESCALE … #define RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_ENABLE … #define RKCANFD_REG_TIMESTAMP … #define RKCANFD_REG_TXEVENT_FIFO_CTRL … #define RKCANFD_REG_TXEVENT_FIFO_CTRL_TXE_FIFO_CNT … #define RKCANFD_REG_TXEVENT_FIFO_CTRL_TXE_FIFO_WATERMARK … #define RKCANFD_REG_TXEVENT_FIFO_CTRL_TXE_FIFO_ENABLE … #define RKCANFD_REG_RX_FIFO_CTRL … #define RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_CNT … #define RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_FULL_WATERMARK … #define RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_ENABLE … #define RKCANFD_REG_AFC_CTRL … #define RKCANFD_REG_AFC_CTRL_UAF5 … #define RKCANFD_REG_AFC_CTRL_UAF4 … #define RKCANFD_REG_AFC_CTRL_UAF3 … #define RKCANFD_REG_AFC_CTRL_UAF2 … #define RKCANFD_REG_AFC_CTRL_UAF1 … #define RKCANFD_REG_IDCODE0 … #define RKCANFD_REG_IDMASK0 … #define RKCANFD_REG_IDCODE1 … #define RKCANFD_REG_IDMASK1 … #define RKCANFD_REG_IDCODE2 … #define RKCANFD_REG_IDMASK2 … #define RKCANFD_REG_IDCODE3 … #define RKCANFD_REG_IDMASK3 … #define RKCANFD_REG_IDCODE4 … #define RKCANFD_REG_IDMASK4 … #define RKCANFD_REG_FD_TXFRAMEINFO … #define RKCANFD_REG_FD_FRAMEINFO_FRAME_FORMAT … #define RKCANFD_REG_FD_FRAMEINFO_RTR … #define RKCANFD_REG_FD_FRAMEINFO_FDF … #define RKCANFD_REG_FD_FRAMEINFO_BRS … #define RKCANFD_REG_FD_FRAMEINFO_DATA_LENGTH … #define RKCANFD_REG_FD_TXID … #define RKCANFD_REG_FD_ID_EFF … #define RKCANFD_REG_FD_ID_SFF … #define RKCANFD_REG_FD_TXDATA0 … #define RKCANFD_REG_FD_TXDATA1 … #define RKCANFD_REG_FD_TXDATA2 … #define RKCANFD_REG_FD_TXDATA3 … #define RKCANFD_REG_FD_TXDATA4 … #define RKCANFD_REG_FD_TXDATA5 … #define RKCANFD_REG_FD_TXDATA6 … #define RKCANFD_REG_FD_TXDATA7 … #define RKCANFD_REG_FD_TXDATA8 … #define RKCANFD_REG_FD_TXDATA9 … #define RKCANFD_REG_FD_TXDATA10 … #define RKCANFD_REG_FD_TXDATA11 … #define RKCANFD_REG_FD_TXDATA12 … #define RKCANFD_REG_FD_TXDATA13 … #define RKCANFD_REG_FD_TXDATA14 … #define RKCANFD_REG_FD_TXDATA15 … #define RKCANFD_REG_FD_RXFRAMEINFO … #define RKCANFD_REG_FD_RXID … #define RKCANFD_REG_FD_RXTIMESTAMP … #define RKCANFD_REG_FD_RXDATA0 … #define RKCANFD_REG_FD_RXDATA1 … #define RKCANFD_REG_FD_RXDATA2 … #define RKCANFD_REG_FD_RXDATA3 … #define RKCANFD_REG_FD_RXDATA4 … #define RKCANFD_REG_FD_RXDATA5 … #define RKCANFD_REG_FD_RXDATA6 … #define RKCANFD_REG_FD_RXDATA7 … #define RKCANFD_REG_FD_RXDATA8 … #define RKCANFD_REG_FD_RXDATA9 … #define RKCANFD_REG_FD_RXDATA10 … #define RKCANFD_REG_FD_RXDATA11 … #define RKCANFD_REG_FD_RXDATA12 … #define RKCANFD_REG_FD_RXDATA13 … #define RKCANFD_REG_FD_RXDATA14 … #define RKCANFD_REG_FD_RXDATA15 … #define RKCANFD_REG_RX_FIFO_RDATA … #define RKCANFD_REG_TXE_FIFO_RDATA … #define DEVICE_NAME … #define RKCANFD_NAPI_WEIGHT … #define RKCANFD_TXFIFO_DEPTH … #define RKCANFD_TX_STOP_THRESHOLD … #define RKCANFD_TX_START_THRESHOLD … #define RKCANFD_TIMESTAMP_WORK_MAX_DELAY_SEC … #define RKCANFD_ERRATUM_5_SYSCLOCK_HZ_MIN … /* rk3568 CAN-FD Errata, as of Tue 07 Nov 2023 11:25:31 +08:00 */ /* Erratum 1: The error frame sent by the CAN controller has an * abnormal format. */ #define RKCANFD_QUIRK_RK3568_ERRATUM_1 … /* Erratum 2: The error frame sent after detecting a CRC error has an * abnormal position. */ #define RKCANFD_QUIRK_RK3568_ERRATUM_2 … /* Erratum 3: Intermittent CRC calculation errors. */ #define RKCANFD_QUIRK_RK3568_ERRATUM_3 … /* Erratum 4: Intermittent occurrence of stuffing errors. */ #define RKCANFD_QUIRK_RK3568_ERRATUM_4 … /* Erratum 5: Counters related to the TXFIFO and RXFIFO exhibit * abnormal counting behavior. * * The rk3568 CAN-FD errata sheet as of Tue 07 Nov 2023 11:25:31 +08:00 * states that only the rk3568v2 is affected by this erratum, but * tests with the rk3568v2 and rk3568v3 show that the RX_FIFO_CNT is * sometimes too high. This leads to CAN frames being read from the * FIFO, which is then already empty. * * Further tests on the rk3568v2 and rk3568v3 show that in this * situation (i.e. empty FIFO) all elements of the FIFO header * (frameinfo, id, ts) contain the same data. * * On the rk3568v2 and rk3568v3, this problem only occurs extremely * rarely with the standard clock of 300 MHz, but almost immediately * at 80 MHz. * * To workaround this problem, check for empty FIFO with * rkcanfd_fifo_header_empty() in rkcanfd_handle_rx_int_one() and exit * early. * * To reproduce: * assigned-clocks = <&cru CLK_CANx>; * assigned-clock-rates = <80000000>; */ #define RKCANFD_QUIRK_RK3568_ERRATUM_5 … /* Erratum 6: The CAN controller's transmission of extended frames may * intermittently change into standard frames * * Work around this issue by activating self reception (RXSTX). If we * have pending TX CAN frames, check all RX'ed CAN frames in * rkcanfd_rxstx_filter(). * * If it's a frame we've send and it's OK, call the TX complete * handler: rkcanfd_handle_tx_done_one(). Mask the TX complete IRQ. * * If it's a frame we've send, but the CAN-ID is mangled, resend the * original extended frame. * * To reproduce: * host: * canfdtest -evx -g can0 * candump any,0:80000000 -cexdtA * dut: * canfdtest -evx can0 * ethtool -S can0 */ #define RKCANFD_QUIRK_RK3568_ERRATUM_6 … /* Erratum 7: In the passive error state, the CAN controller's * interframe space segment counting is inaccurate. */ #define RKCANFD_QUIRK_RK3568_ERRATUM_7 … /* Erratum 8: The Format-Error error flag is transmitted one bit * later. */ #define RKCANFD_QUIRK_RK3568_ERRATUM_8 … /* Erratum 9: In the arbitration segment, the CAN controller will * identify stuffing errors as arbitration failures. */ #define RKCANFD_QUIRK_RK3568_ERRATUM_9 … /* Erratum 10: Does not support the BUSOFF slow recovery mechanism. */ #define RKCANFD_QUIRK_RK3568_ERRATUM_10 … /* Erratum 11: Arbitration error. */ #define RKCANFD_QUIRK_RK3568_ERRATUM_11 … /* Erratum 12: A dominant bit at the third bit of the intermission may * cause a transmission error. */ #define RKCANFD_QUIRK_RK3568_ERRATUM_12 … /* Tests on the rk3568v2 and rk3568v3 show that receiving certain * CAN-FD frames trigger an Error Interrupt. * * - Form Error in RX Arbitration Phase: TX_IDLE RX_STUFF_COUNT (0x0a010100) CMD=0 RX=0 TX=0 * Error-Warning=1 Bus-Off=0 * To reproduce: * host: * cansend can0 002##01f * DUT: * candump any,0:0,#FFFFFFFF -cexdHtA * * - Form Error in RX Arbitration Phase: TX_IDLE RX_CRC (0x0a010200) CMD=0 RX=0 TX=0 * Error-Warning=1 Bus-Off=0 * To reproduce: * host: * cansend can0 002##07217010000000000 * DUT: * candump any,0:0,#FFFFFFFF -cexdHtA */ #define RKCANFD_QUIRK_CANFD_BROKEN … /* known issues with rk3568v3: * * - Overload situation during high bus load * To reproduce: * host: * # add a 2nd CAN adapter to the CAN bus * cangen can0 -I 1 -Li -Di -p10 -g 0.3 * cansequence -rve * DUT: * cangen can0 -I2 -L1 -Di -p10 -c10 -g 1 -e * cansequence -rv -i 1 * * - TX starvation after repeated Bus-Off * To reproduce: * host: * sleep 3 && cangen can0 -I2 -Li -Di -p10 -g 0.0 * DUT: * cangen can0 -I2 -Li -Di -p10 -g 0.05 */ enum rkcanfd_model { … }; struct rkcanfd_devtype_data { … }; struct rkcanfd_fifo_header { … }; struct rkcanfd_stats { … }; struct rkcanfd_priv { … }; static inline u32 rkcanfd_read(const struct rkcanfd_priv *priv, u32 reg) { … } static inline void rkcanfd_read_rep(const struct rkcanfd_priv *priv, u32 reg, void *buf, unsigned int len) { … } static inline void rkcanfd_write(const struct rkcanfd_priv *priv, u32 reg, u32 val) { … } static inline u32 rkcanfd_get_timestamp(const struct rkcanfd_priv *priv) { … } static inline unsigned int rkcanfd_get_tx_head(const struct rkcanfd_priv *priv) { … } static inline unsigned int rkcanfd_get_tx_tail(const struct rkcanfd_priv *priv) { … } static inline unsigned int rkcanfd_get_tx_pending(const struct rkcanfd_priv *priv) { … } static inline unsigned int rkcanfd_get_tx_free(const struct rkcanfd_priv *priv) { … } void rkcanfd_ethtool_init(struct rkcanfd_priv *priv); int rkcanfd_handle_rx_int(struct rkcanfd_priv *priv); void rkcanfd_skb_set_timestamp(const struct rkcanfd_priv *priv, struct sk_buff *skb, const u32 timestamp); void rkcanfd_timestamp_init(struct rkcanfd_priv *priv); void rkcanfd_timestamp_start(struct rkcanfd_priv *priv); void rkcanfd_timestamp_stop(struct rkcanfd_priv *priv); void rkcanfd_timestamp_stop_sync(struct rkcanfd_priv *priv); unsigned int rkcanfd_get_effective_tx_free(const struct rkcanfd_priv *priv); void rkcanfd_xmit_retry(struct rkcanfd_priv *priv); netdev_tx_t rkcanfd_start_xmit(struct sk_buff *skb, struct net_device *ndev); void rkcanfd_handle_tx_done_one(struct rkcanfd_priv *priv, const u32 ts, unsigned int *frame_len_p); #endif
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