Re: [PATCH v3 13/15] can: grcan: Add CANFD TX support alongside legacy CAN

Arun Muthusamy
2026-01-27T14:18:00Z

On 1/27/26 15:12, Marc Kleine-Budde wrote:
> On 27.01.2026 15:06:55, Arun Muthusamy wrote:
>> On 1/23/26 15:25, Marc Kleine-Budde wrote:
>>> On 22.01.2026 13:10:36, Arun Muthusamy wrote:
>>>> Include CANFD TX support with the legacy CAN support, enabling
>>>> support for extended data payloads to provide higher bit rates.
>>>>
>>>> Signed-off-by: Arun Muthusamy <arun.muthusamy@gaisler.com>
>>>> ---
>>>> drivers/net/can/grcan.c | 102 +++++++++++++++++++++++++++++-----------
>>>> 1 file changed, 74 insertions(+), 28 deletions(-)
>>>>
>>>> diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c
>>>> index 9fc18064fab1..508ad5320cff 100644
>>>> --- a/drivers/net/can/grcan.c
>>>> +++ b/drivers/net/can/grcan.c
>>>> @@ -174,6 +174,7 @@ struct grcan_registers {
>>>> #define GRCAN_IRQ_DEFAULT (GRCAN_IRQ_RX | GRCAN_IRQ_TX | GRCAN_IRQ_ERRORS)
>>>>
>>>> #define GRCAN_MSG_SIZE 16
>>>> +#define GRCAN_CLASSIC_DATA_SIZE 8
>>>>
>>>> #define GRCAN_MSG_IDE 0x80000000
>>>> #define GRCAN_MSG_RTR 0x40000000
>>>> @@ -195,6 +196,10 @@ struct grcan_registers {
>>>> #define GRCAN_MSG_OFF 0x00000002
>>>> #define GRCAN_MSG_PASS 0x00000001
>>>>
>>>> +#define GRCAN_MSG_EID_MASK GENMASK(28, 0)
>>>> +#define GRCAN_MSG_BID_MASK GENMASK(28, 18)
>>>> +#define GRCAN_MSG_DLC_MASK GENMASK(31, 28)
>>>> +
>>>> #define GRCAN_BUFFER_ALIGNMENT 1024
>>>> #define GRCAN_DEFAULT_BUFFER_SIZE 1024
>>>> #define GRCAN_VALID_TR_SIZE_MASK 0x001fffc0
>>>> @@ -227,6 +232,9 @@ struct grcan_registers {
>>>> #define GRCANFD_FDBTR_PS2_BIT 5
>>>> #define GRCANFD_FDBTR_SJW_BIT 0
>>>>
>>>> +#define GRCAN_TX_BRS BIT(25)
>>>> +#define GRCAN_TX_FDF BIT(26)
>>>> +
>>>> /* Hardware capabilities */
>>>> struct grcan_hwcap {
>>>> /* CAN-FD capable, indicates GRCANFD IP.
>>>> @@ -1218,6 +1226,13 @@ static void grcan_transmit_catch_up(struct net_device *dev)
>>>> spin_unlock_irqrestore(&priv->lock, flags);
>>>> }
>>>>
>>>> +static int grcan_numbds(int len)
>>>> +{
>>>> + if (len <= GRCAN_CLASSIC_DATA_SIZE)
>>>> + return 1;
>>>> + return 1 + ((len - GRCAN_CLASSIC_DATA_SIZE + GRCAN_MSG_SIZE) / GRCAN_MSG_SIZE);
>>> This looks strange, what is calculated here? Why is "<=
>>> GRCAN_CLASSIC_DATA_SIZE" a special case?
>> grcan_numbds() calculates the number of buffer descriptors needed based on the data length.
>> The condition "len <= GRCAN_CLASSIC_DATA_SIZE" addresses cases where the data length fits within a one buffer descriptor.
>> For data lengths greater than "GRCAN_CLASSIC_DATA_SIZE", it computes additional descriptors needed.
> What happens if "len = GRCAN_CLASSIC_DATA_SIZE + GRCAN_MSG_SIZE"?
>
> | return 1 + ((len - GRCAN_CLASSIC_DATA_SIZE + GRCAN_MSG_SIZE) / GRCAN_MSG_SIZE);
>
> = 1 + ((GRCAN_CLASSIC_DATA_SIZE + GRCAN_MSG_SIZE - GRCAN_CLASSIC_DATA_SIZE + GRCAN_MSG_SIZE) / GRCAN_MSG_SIZE);
> = 1 + (( GRCAN_MSG_SIZE - + GRCAN_MSG_SIZE) / GRCAN_MSG_SIZE);
> = 1 + 2;
> = 3
>
> Is this correct?
>
Thanks for pointing out.
That's not correct. It will be addressed in the next patch series.

--
--
BR,

Arun Muthusamy
Software Engineer
Frontgrade Gaisler
T : +46 (0) 700 558 528
arun.muthusamy@gaisler.com

Frontgrade Gaisler AB, Kungsgatan 12, SE-411 19 GÖTEBORG, Sweden.
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