[PATCH can-next v2 00/20] an: rockchip_canfd: add support for CAN-FD IP core found on Rockchip RK3568

[PATCH can-next v2 00/20] an: rockchip_canfd: add support for CAN-FD IP core found on Rockchip RK3568

[Marc Kleine-Budde]

This series adds support for the CAN-FD IP core found on the Rockchip
RK3568.

The IP core is a bit complicated and has several documented errata.
The driver is added in several stages, first the base driver including
the RX-path. Then several workarounds for errata and the TX-path, and
finally features like hardware time stamping, loop-back mode and
bus error reporting.

regards,
Marc

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
Changes in v2:
- dt-bindings: remove redundant words from subject and patch
  description (thanks Rob)
- dt-bindings: clean up clock- and reset-names (thanks Rob)
- base driver: add missing bitfield.h header
- base driver: rkcanfd_handle_rx_int_one(): initialize header to avoid
  uninitialzied variable warning on m68k
- base driver: rkcanfd_get_berr_counter_raw(): don't add assigned only
  variable (bec_raw), move to 14/20 (thanks Simon)
- CAN-FD frame equal check + TX-path: squash, to avoid unused
  functions (thanks Simon)
- TX-path: rkcanfd_handle_tx_done_one(): don't add assigned only
  variable (skb), move to 18/20 (thanks Simon)
- HW-timetamping: add missing timecounter.h header (thanks Simon)
- Link to v1: https://lore.kernel.org/all/20240729-rockchip-canfd-v1-0-fa1250fd6be3@pengutronix.de

---
David Jander (2):
      arm64: dts: rockchip: add CAN-FD controller nodes to rk3568
      arm64: dts: rockchip: mecsbc: add CAN0 and CAN1 interfaces

Marc Kleine-Budde (18):
      dt-bindings: can: rockchip_canfd: add rockchip CAN-FD controller
      can: rockchip_canfd: add driver for Rockchip CAN-FD controller
      can: rockchip_canfd: add quirks for errata workarounds
      can: rockchip_canfd: add quirk for broken CAN-FD support
      can: rockchip_canfd: add support for rk3568v3
      can: rockchip_canfd: add notes about known issues
      can: rockchip_canfd: rkcanfd_handle_rx_int_one(): implement workaround for erratum 5: check for empty FIFO
      can: rockchip_canfd: rkcanfd_register_done(): add warning for erratum 5
      can: rockchip_canfd: add TX PATH
      can: rockchip_canfd: implement workaround for erratum 6
      can: rockchip_canfd: implement workaround for erratum 12
      can: rockchip_canfd: rkcanfd_get_berr_counter_corrected(): work around broken {RX,TX}ERRORCNT register
      can: rockchip_canfd: add stats support for errata workarounds
      can: rockchip_canfd: prepare to use full TX-FIFO depth
      can: rockchip_canfd: enable full TX-FIFO depth of 2
      can: rockchip_canfd: add hardware timestamping support
      can: rockchip_canfd: add support for CAN_CTRLMODE_LOOPBACK
      can: rockchip_canfd: add support for CAN_CTRLMODE_BERR_REPORTING

 .../bindings/net/can/rockchip,canfd.yaml           |  76 ++
 MAINTAINERS                                        |   8 +
 arch/arm64/boot/dts/rockchip/rk3568-mecsbc.dts     |  14 +
 arch/arm64/boot/dts/rockchip/rk3568.dtsi           |  39 +
 drivers/net/can/Kconfig                            |   1 +
 drivers/net/can/Makefile                           |   1 +
 drivers/net/can/rockchip/Kconfig                   |   9 +
 drivers/net/can/rockchip/Makefile                  |  10 +
 drivers/net/can/rockchip/rockchip_canfd-core.c     | 972 +++++++++++++++++++++
 drivers/net/can/rockchip/rockchip_canfd-ethtool.c  |  73 ++
 drivers/net/can/rockchip/rockchip_canfd-rx.c       | 299 +++++++
 .../net/can/rockchip/rockchip_canfd-timestamp.c    | 105 +++
 drivers/net/can/rockchip/rockchip_canfd-tx.c       | 167 ++++
 drivers/net/can/rockchip/rockchip_canfd.h          | 553 ++++++++++++
 14 files changed, 2327 insertions(+)
---
base-commit: 1722389b0d863056d78287a120a1d6cadb8d4f7b
change-id: 20240729-rockchip-canfd-4233c71f0cc6

Best regards,
-- 
Marc Kleine-Budde <mkl@pengutronix.de>

[PATCH can-next v2 01/20] dt-bindings: can: rockchip_canfd: add rockchip CAN-FD controller

[Marc Kleine-Budde]

Add documentation for the rockchip rk3568 CAN-FD controller.

Co-developed-by: Elaine Zhang <zhangqing@rock-chips.com>
Signed-off-by: Elaine Zhang <zhangqing@rock-chips.com>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 .../bindings/net/can/rockchip,canfd.yaml           | 76 ++++++++++++++++++++++
 MAINTAINERS                                        |  7 ++
 2 files changed, 83 insertions(+)

diff --git a/Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml b/Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml
new file mode 100644
index 000000000000..444269f630f4
--- /dev/null
+++ b/Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml
@@ -0,0 +1,76 @@
+# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+%YAML 1.2
+---
+$id: http://devicetree.org/schemas/net/can/rockchip,canfd.yaml#
+$schema: http://devicetree.org/meta-schemas/core.yaml#
+
+title:
+  Rockchip CAN-FD controller
+
+maintainers:
+  - Marc Kleine-Budde <mkl@pengutronix.de>
+
+allOf:
+  - $ref: can-controller.yaml#
+
+properties:
+  compatible:
+    oneOf:
+      - const: rockchip,rk3568-canfd
+      - items:
+          - enum:
+              - rockchip,rk3568v2-canfd
+              - rockchip,rk3568v3-canfd
+          - const: rockchip,rk3568-canfd
+
+  reg:
+    maxItems: 1
+
+  interrupts:
+    maxItems: 1
+
+  clocks:
+    maxItems: 2
+
+  clock-names:
+    items:
+      - const: baud
+      - const: pclk
+
+  resets:
+    maxItems: 2
+
+  reset-names:
+    items:
+      - const: core
+      - const: apb
+
+required:
+  - compatible
+  - reg
+  - interrupts
+  - clocks
+  - resets
+
+additionalProperties: false
+
+examples:
+  - |
+    #include <dt-bindings/clock/rk3568-cru.h>
+    #include <dt-bindings/interrupt-controller/arm-gic.h>
+    #include <dt-bindings/interrupt-controller/irq.h>
+
+    soc {
+        #address-cells = <2>;
+        #size-cells = <2>;
+
+        can0: can@fe570000 {
+            compatible = "rockchip,rk3568-canfd";
+            reg = <0x0 0xfe570000 0x0 0x1000>;
+            interrupts = <GIC_SPI 1 IRQ_TYPE_LEVEL_HIGH>;
+            clocks = <&cru CLK_CAN0>, <&cru PCLK_CAN0>;
+            clock-names = "baud", "pclk";
+            resets = <&cru SRST_CAN0>, <&cru SRST_P_CAN0>;
+            reset-names = "core", "apb";
+        };
+    };
diff --git a/MAINTAINERS b/MAINTAINERS
index c0a3d9e93689..d225dc39bd89 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -19694,6 +19694,13 @@ F:	Documentation/ABI/*/sysfs-driver-hid-roccat*
 F:	drivers/hid/hid-roccat*
 F:	include/linux/hid-roccat*
 
+ROCKCHIP CAN-FD DRIVER
+M:	Marc Kleine-Budde <mkl@pengutronix.de>
+R:	kernel@pengutronix.de
+L:	linux-can@vger.kernel.org
+S:	Maintained
+F:	Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml
+
 ROCKCHIP CRYPTO DRIVERS
 M:	Corentin Labbe <clabbe@baylibre.com>
 L:	linux-crypto@vger.kernel.org

-- 
2.43.0

Re: [PATCH can-next v2 01/20] dt-bindings: can: rockchip_canfd: add rockchip CAN-FD controller

[Rob Herring]

On Wed, Jul 31, 2024 at 11:37:03AM +0200, Marc Kleine-Budde wrote:
> Add documentation for the rockchip rk3568 CAN-FD controller.
> 
> Co-developed-by: Elaine Zhang <zhangqing@rock-chips.com>
> Signed-off-by: Elaine Zhang <zhangqing@rock-chips.com>
> Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
> ---
>  .../bindings/net/can/rockchip,canfd.yaml           | 76 ++++++++++++++++++++++

rockchip,rk3568-canfd.yaml

>  MAINTAINERS                                        |  7 ++
>  2 files changed, 83 insertions(+)
> 
> diff --git a/Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml b/Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml
> new file mode 100644
> index 000000000000..444269f630f4
> --- /dev/null
> +++ b/Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml
> @@ -0,0 +1,76 @@
> +# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
> +%YAML 1.2
> +---
> +$id: http://devicetree.org/schemas/net/can/rockchip,canfd.yaml#
> +$schema: http://devicetree.org/meta-schemas/core.yaml#
> +
> +title:
> +  Rockchip CAN-FD controller
> +
> +maintainers:
> +  - Marc Kleine-Budde <mkl@pengutronix.de>
> +
> +allOf:
> +  - $ref: can-controller.yaml#
> +
> +properties:
> +  compatible:
> +    oneOf:
> +      - const: rockchip,rk3568-canfd
> +      - items:
> +          - enum:
> +              - rockchip,rk3568v2-canfd
> +              - rockchip,rk3568v3-canfd
> +          - const: rockchip,rk3568-canfd

Given you already know there are differences in the versions to handle 
and there's no existing driver supporting the fallback, I don't know 
that a fallback is too useful here.

> +
> +  reg:
> +    maxItems: 1
> +
> +  interrupts:
> +    maxItems: 1
> +
> +  clocks:
> +    maxItems: 2
> +
> +  clock-names:
> +    items:
> +      - const: baud
> +      - const: pclk
> +
> +  resets:
> +    maxItems: 2
> +
> +  reset-names:
> +    items:
> +      - const: core
> +      - const: apb
> +
> +required:
> +  - compatible
> +  - reg
> +  - interrupts
> +  - clocks
> +  - resets
> +
> +additionalProperties: false
> +
> +examples:
> +  - |
> +    #include <dt-bindings/clock/rk3568-cru.h>
> +    #include <dt-bindings/interrupt-controller/arm-gic.h>
> +    #include <dt-bindings/interrupt-controller/irq.h>
> +
> +    soc {
> +        #address-cells = <2>;
> +        #size-cells = <2>;
> +
> +        can0: can@fe570000 {

Drop unused labels.

> +            compatible = "rockchip,rk3568-canfd";
> +            reg = <0x0 0xfe570000 0x0 0x1000>;
> +            interrupts = <GIC_SPI 1 IRQ_TYPE_LEVEL_HIGH>;
> +            clocks = <&cru CLK_CAN0>, <&cru PCLK_CAN0>;
> +            clock-names = "baud", "pclk";
> +            resets = <&cru SRST_CAN0>, <&cru SRST_P_CAN0>;
> +            reset-names = "core", "apb";
> +        };
> +    };
> diff --git a/MAINTAINERS b/MAINTAINERS
> index c0a3d9e93689..d225dc39bd89 100644
> --- a/MAINTAINERS
> +++ b/MAINTAINERS
> @@ -19694,6 +19694,13 @@ F:	Documentation/ABI/*/sysfs-driver-hid-roccat*
>  F:	drivers/hid/hid-roccat*
>  F:	include/linux/hid-roccat*
>  
> +ROCKCHIP CAN-FD DRIVER
> +M:	Marc Kleine-Budde <mkl@pengutronix.de>
> +R:	kernel@pengutronix.de
> +L:	linux-can@vger.kernel.org
> +S:	Maintained
> +F:	Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml
> +
>  ROCKCHIP CRYPTO DRIVERS
>  M:	Corentin Labbe <clabbe@baylibre.com>
>  L:	linux-crypto@vger.kernel.org
> 
> -- 
> 2.43.0
> 
> 

Re: [PATCH can-next v2 01/20] dt-bindings: can: rockchip_canfd: add rockchip CAN-FD controller

[Marc Kleine-Budde]

[-- Attachment #1: Type: text/plain, Size: 3055 bytes --]

On 06.08.2024 10:50:20, Rob Herring wrote:
> On Wed, Jul 31, 2024 at 11:37:03AM +0200, Marc Kleine-Budde wrote:
> > Add documentation for the rockchip rk3568 CAN-FD controller.
> > 
> > Co-developed-by: Elaine Zhang <zhangqing@rock-chips.com>
> > Signed-off-by: Elaine Zhang <zhangqing@rock-chips.com>
> > Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
> > ---
> >  .../bindings/net/can/rockchip,canfd.yaml           | 76 ++++++++++++++++++++++
> 
> rockchip,rk3568-canfd.yaml

Thanks, will rename.

> >  MAINTAINERS                                        |  7 ++
> >  2 files changed, 83 insertions(+)
> > 
> > diff --git a/Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml b/Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml
> > new file mode 100644
> > index 000000000000..444269f630f4
> > --- /dev/null
> > +++ b/Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml
> > @@ -0,0 +1,76 @@
> > +# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
> > +%YAML 1.2
> > +---
> > +$id: http://devicetree.org/schemas/net/can/rockchip,canfd.yaml#
> > +$schema: http://devicetree.org/meta-schemas/core.yaml#
> > +
> > +title:
> > +  Rockchip CAN-FD controller
> > +
> > +maintainers:
> > +  - Marc Kleine-Budde <mkl@pengutronix.de>
> > +
> > +allOf:
> > +  - $ref: can-controller.yaml#
> > +
> > +properties:
> > +  compatible:
> > +    oneOf:
> > +      - const: rockchip,rk3568-canfd
> > +      - items:
> > +          - enum:
> > +              - rockchip,rk3568v2-canfd
> > +              - rockchip,rk3568v3-canfd
> > +          - const: rockchip,rk3568-canfd
> 
> Given you already know there are differences in the versions to handle 
> and there's no existing driver supporting the fallback, I don't know 
> that a fallback is too useful here.

Let me re-think out loud about the compatibilities:

There is a CAN-FD IP core in the rockchip,rk3568 SoC.
 
In the silicon revision v2 of the SoC it has 12 documented errata und
silicon revision v3 some of them are fixed. This means the driver can
skip some of the workarounds.

The v3 revision works with all the errata of the v2 active, currently
with a probably not measurable increase of CPU load. This might change
in the future, if more v2 workarounds are added. These might
degrade performance.

So it's for the v2 silicon revision:
compatible = "rockchip,rk3568v2-canfd";

And for the v3 silicon revision:
compatible = "rockchip,rk3568v3-canfd", "rockchip,rk3568v2-canfd";

Which is documented in the yaml as:

properties:
  compatible:
    oneOf:
      - const: rockchip,rk3568v2-canfd
      - items:
          - const: rockchip,rk3568v3-canfd
          - const: rockchip,rk3568v2-canfd

regards,
Marc

-- 
Pengutronix e.K.                 | Marc Kleine-Budde          |
Embedded Linux                   | https://www.pengutronix.de |
Vertretung Nürnberg              | Phone: +49-5121-206917-129 |
Amtsgericht Hildesheim, HRA 2686 | Fax:   +49-5121-206917-9   |

[-- Attachment #2: signature.asc --]
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[PATCH can-next v2 02/20] arm64: dts: rockchip: add CAN-FD controller nodes to rk3568

[Marc Kleine-Budde]

From: David Jander <david@protonic.nl>

Add nodes to the rk3568 devicetree to support the CAN-FD controllers.

Signed-off-by: David Jander <david@protonic.nl>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 arch/arm64/boot/dts/rockchip/rk3568.dtsi | 39 ++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)

diff --git a/arch/arm64/boot/dts/rockchip/rk3568.dtsi b/arch/arm64/boot/dts/rockchip/rk3568.dtsi
index f1be76a54ceb..864b948451e4 100644
--- a/arch/arm64/boot/dts/rockchip/rk3568.dtsi
+++ b/arch/arm64/boot/dts/rockchip/rk3568.dtsi
@@ -213,6 +213,45 @@ gmac0_mtl_tx_setup: tx-queues-config {
 		};
 	};
 
+	can0: can@fe570000 {
+		compatible = "rockchip,rk3568-canfd";
+		reg = <0x0 0xfe570000 0x0 0x1000>;
+		interrupts = <GIC_SPI 1 IRQ_TYPE_LEVEL_HIGH>;
+		clocks = <&cru CLK_CAN0>, <&cru PCLK_CAN0>;
+		clock-names = "baud", "pclk";
+		resets = <&cru SRST_CAN0>, <&cru SRST_P_CAN0>;
+		reset-names = "core", "apb";
+		pinctrl-names = "default";
+		pinctrl-0 = <&can0m0_pins>;
+		status = "disabled";
+	};
+
+	can1: can@fe580000 {
+		compatible = "rockchip,rk3568-canfd";
+		reg = <0x0 0xfe580000 0x0 0x1000>;
+		interrupts = <GIC_SPI 2 IRQ_TYPE_LEVEL_HIGH>;
+		clocks = <&cru CLK_CAN1>, <&cru PCLK_CAN1>;
+		clock-names = "baud", "pclk";
+		resets = <&cru SRST_CAN1>, <&cru SRST_P_CAN1>;
+		reset-names = "core", "apb";
+		pinctrl-names = "default";
+		pinctrl-0 = <&can1m0_pins>;
+		status = "disabled";
+	};
+
+	can2: can@fe590000 {
+		compatible = "rockchip,rk3568-canfd";
+		reg = <0x0 0xfe590000 0x0 0x1000>;
+		interrupts = <GIC_SPI 3 IRQ_TYPE_LEVEL_HIGH>;
+		clocks = <&cru CLK_CAN2>, <&cru PCLK_CAN2>;
+		clock-names = "baud", "pclk";
+		resets = <&cru SRST_CAN2>, <&cru SRST_P_CAN2>;
+		reset-names = "core", "apb";
+		pinctrl-names = "default";
+		pinctrl-0 = <&can2m0_pins>;
+		status = "disabled";
+	};
+
 	combphy0: phy@fe820000 {
 		compatible = "rockchip,rk3568-naneng-combphy";
 		reg = <0x0 0xfe820000 0x0 0x100>;

-- 
2.43.0

[PATCH can-next v2 03/20] arm64: dts: rockchip: mecsbc: add CAN0 and CAN1 interfaces

[Marc Kleine-Budde]

From: David Jander <david@protonic.nl>

This patch adds support for the CAN0 and CAN1 interfaces to the board.

Signed-off-by: David Jander <david@protonic.nl>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 arch/arm64/boot/dts/rockchip/rk3568-mecsbc.dts | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/arch/arm64/boot/dts/rockchip/rk3568-mecsbc.dts b/arch/arm64/boot/dts/rockchip/rk3568-mecsbc.dts
index c2dfffc638d1..b518f430da84 100644
--- a/arch/arm64/boot/dts/rockchip/rk3568-mecsbc.dts
+++ b/arch/arm64/boot/dts/rockchip/rk3568-mecsbc.dts
@@ -117,6 +117,20 @@ &cpu3 {
 	cpu-supply = <&vdd_cpu>;
 };
 
+&can0 {
+	status = "okay";
+	compatible = "rockchip,rk3568v3-canfd", "rockchip,rk3568-canfd";
+	pinctrl-names = "default";
+	pinctrl-0 = <&can0m0_pins>;
+};
+
+&can1 {
+	status = "okay";
+	compatible = "rockchip,rk3568v3-canfd", "rockchip,rk3568-canfd";
+	pinctrl-names = "default";
+	pinctrl-0 = <&can1m1_pins>;
+};
+
 &gmac1 {
 	assigned-clocks = <&cru SCLK_GMAC1_RX_TX>, <&cru SCLK_GMAC1>;
 	assigned-clock-parents = <&cru SCLK_GMAC1_RGMII_SPEED>, <&cru CLK_MAC1_2TOP>;

-- 
2.43.0

[PATCH can-next v2 04/20] can: rockchip_canfd: add driver for Rockchip CAN-FD controller

[Marc Kleine-Budde]

Add driver for the Rockchip CAN-FD controller.

The IP core on the rk3568v2 SoC has 12 documented errata. Corrections
for these errata will be added in the upcoming patches.

Since several workarounds are required for the TX path, only add the
base driver that only implements the RX path.

Although the RX path implements CAN-FD support, it's not activated in
ctrlmode_supported, as the IP core in the rk3568v2 has problems with
receiving or sending certain CAN-FD frames.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 MAINTAINERS                                        |   1 +
 drivers/net/can/Kconfig                            |   1 +
 drivers/net/can/Makefile                           |   1 +
 drivers/net/can/rockchip/Kconfig                   |   9 +
 drivers/net/can/rockchip/Makefile                  |   9 +
 drivers/net/can/rockchip/rockchip_canfd-core.c     | 871 +++++++++++++++++++++
 drivers/net/can/rockchip/rockchip_canfd-rx.c       | 118 +++
 .../net/can/rockchip/rockchip_canfd-timestamp.c    |  15 +
 drivers/net/can/rockchip/rockchip_canfd-tx.c       |  12 +
 drivers/net/can/rockchip/rockchip_canfd.h          | 361 +++++++++
 10 files changed, 1398 insertions(+)

diff --git a/MAINTAINERS b/MAINTAINERS
index d225dc39bd89..76672de82eec 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -19700,6 +19700,7 @@ R:	kernel@pengutronix.de
 L:	linux-can@vger.kernel.org
 S:	Maintained
 F:	Documentation/devicetree/bindings/net/can/rockchip,canfd.yaml
+F:	drivers/net/can/rockchip/
 
 ROCKCHIP CRYPTO DRIVERS
 M:	Corentin Labbe <clabbe@baylibre.com>
diff --git a/drivers/net/can/Kconfig b/drivers/net/can/Kconfig
index 7f9b60a42d29..cf989bea9aa3 100644
--- a/drivers/net/can/Kconfig
+++ b/drivers/net/can/Kconfig
@@ -225,6 +225,7 @@ source "drivers/net/can/m_can/Kconfig"
 source "drivers/net/can/mscan/Kconfig"
 source "drivers/net/can/peak_canfd/Kconfig"
 source "drivers/net/can/rcar/Kconfig"
+source "drivers/net/can/rockchip/Kconfig"
 source "drivers/net/can/sja1000/Kconfig"
 source "drivers/net/can/softing/Kconfig"
 source "drivers/net/can/spi/Kconfig"
diff --git a/drivers/net/can/Makefile b/drivers/net/can/Makefile
index 4669cd51e7bf..a71db2cfe990 100644
--- a/drivers/net/can/Makefile
+++ b/drivers/net/can/Makefile
@@ -10,6 +10,7 @@ obj-$(CONFIG_CAN_SLCAN)		+= slcan/
 obj-y				+= dev/
 obj-y				+= esd/
 obj-y				+= rcar/
+obj-y				+= rockchip/
 obj-y				+= spi/
 obj-y				+= usb/
 obj-y				+= softing/
diff --git a/drivers/net/can/rockchip/Kconfig b/drivers/net/can/rockchip/Kconfig
new file mode 100644
index 000000000000..e029e2a3ca4b
--- /dev/null
+++ b/drivers/net/can/rockchip/Kconfig
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: GPL-2.0
+
+config CAN_ROCKCHIP_CANFD
+	tristate "Rockchip CAN-FD controller"
+	depends on OF || COMPILE_TEST
+	select CAN_RX_OFFLOAD
+	help
+	  Say Y here if you want to use CAN-FD controller found on
+	  Rockchip SoCs.
diff --git a/drivers/net/can/rockchip/Makefile b/drivers/net/can/rockchip/Makefile
new file mode 100644
index 000000000000..4eb7c50d8d5b
--- /dev/null
+++ b/drivers/net/can/rockchip/Makefile
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: GPL-2.0
+
+obj-$(CONFIG_CAN_ROCKCHIP_CANFD) += rockchip_canfd.o
+
+rockchip_canfd-objs :=
+rockchip_canfd-objs += rockchip_canfd-core.o
+rockchip_canfd-objs += rockchip_canfd-rx.o
+rockchip_canfd-objs += rockchip_canfd-timestamp.o
+rockchip_canfd-objs += rockchip_canfd-tx.o
diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
new file mode 100644
index 000000000000..ec00e3dd77db
--- /dev/null
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -0,0 +1,871 @@
+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright (c) 2023, 2024 Pengutronix,
+//               Marc Kleine-Budde <kernel@pengutronix.de>
+//
+// Based on:
+//
+// Rockchip CANFD driver
+//
+// Copyright (c) 2020 Rockchip Electronics Co. Ltd.
+//
+
+#include <linux/delay.h>
+#include <linux/errno.h>
+#include <linux/init.h>
+#include <linux/interrupt.h>
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/of.h>
+#include <linux/of_device.h>
+#include <linux/platform_device.h>
+#include <linux/pm_runtime.h>
+#include <linux/string.h>
+
+#include "rockchip_canfd.h"
+
+static const struct rkcanfd_devtype_data rkcanfd_devtype_data_rk3568v2 = {
+	.model = RKCANFD_MODEL_RK3568V2,
+};
+
+static const char *__rkcanfd_get_model_str(enum rkcanfd_model model)
+{
+	switch (model) {
+	case RKCANFD_MODEL_RK3568V2:
+		return "rk3568v2";
+	}
+
+	return "<unknown>";
+}
+
+static inline const char *
+rkcanfd_get_model_str(const struct rkcanfd_priv *priv)
+{
+	return __rkcanfd_get_model_str(priv->devtype_data.model);
+}
+
+/* Note:
+ *
+ * The formula to calculate the CAN System Clock is:
+ *
+ * Tsclk = 2 x Tclk x (brp + 1)
+ *
+ * Double the data sheet's brp_min, brp_max and brp_inc values (both
+ * for the arbitration and data bit timing) to take the "2 x" into
+ * account.
+ */
+static const struct can_bittiming_const rkcanfd_bittiming_const = {
+	.name = DEVICE_NAME,
+	.tseg1_min = 1,
+	.tseg1_max = 256,
+	.tseg2_min = 1,
+	.tseg2_max = 128,
+	.sjw_max = 128,
+	.brp_min = 2,	/* value from data sheet x2 */
+	.brp_max = 512,	/* value from data sheet x2 */
+	.brp_inc = 2,	/* value from data sheet x2 */
+};
+
+static const struct can_bittiming_const rkcanfd_data_bittiming_const = {
+	.name = DEVICE_NAME,
+	.tseg1_min = 1,
+	.tseg1_max = 32,
+	.tseg2_min = 1,
+	.tseg2_max = 16,
+	.sjw_max = 16,
+	.brp_min = 2,	/* value from data sheet x2 */
+	.brp_max = 512,	/* value from data sheet x2 */
+	.brp_inc = 2,	/* value from data sheet x2 */
+};
+
+static void rkcanfd_chip_set_reset_mode(const struct rkcanfd_priv *priv)
+{
+	reset_control_assert(priv->reset);
+	udelay(2);
+	reset_control_deassert(priv->reset);
+
+	rkcanfd_write(priv, RKCANFD_REG_MODE, 0x0);
+}
+
+static void rkcanfd_chip_set_work_mode(const struct rkcanfd_priv *priv)
+{
+	rkcanfd_write(priv, RKCANFD_REG_MODE, priv->reg_mode_default);
+}
+
+static int rkcanfd_set_bittiming(struct rkcanfd_priv *priv)
+{
+	const struct can_bittiming *dbt = &priv->can.data_bittiming;
+	const struct can_bittiming *bt = &priv->can.bittiming;
+	u32 reg_nbt, reg_dbt, reg_tdc;
+	u32 tdco;
+
+	reg_nbt = FIELD_PREP(RKCANFD_REG_FD_NOMINAL_BITTIMING_SJW,
+			     bt->sjw - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_NOMINAL_BITTIMING_BRP,
+			   (bt->brp / 2) - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_NOMINAL_BITTIMING_TSEG2,
+			   bt->phase_seg2 - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_NOMINAL_BITTIMING_TSEG1,
+			   bt->prop_seg + bt->phase_seg1 - 1);
+
+	rkcanfd_write(priv, RKCANFD_REG_FD_NOMINAL_BITTIMING, reg_nbt);
+
+	if (!(priv->can.ctrlmode & CAN_CTRLMODE_FD))
+		return 0;
+
+	reg_dbt = FIELD_PREP(RKCANFD_REG_FD_DATA_BITTIMING_SJW,
+			     dbt->sjw - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_DATA_BITTIMING_BRP,
+			   (dbt->brp / 2) - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_DATA_BITTIMING_TSEG2,
+			   dbt->phase_seg2 - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_DATA_BITTIMING_TSEG1,
+			   dbt->prop_seg + dbt->phase_seg1 - 1);
+
+	rkcanfd_write(priv, RKCANFD_REG_FD_DATA_BITTIMING, reg_dbt);
+
+	tdco = (priv->can.clock.freq / dbt->bitrate) * 2 / 3;
+	tdco = min(tdco, FIELD_MAX(RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION_TDC_OFFSET));
+
+	reg_tdc = FIELD_PREP(RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION_TDC_OFFSET, tdco) |
+		RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION_TDC_ENABLE;
+	rkcanfd_write(priv, RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION,
+		      reg_tdc);
+
+	return 0;
+}
+
+static void rkcanfd_get_berr_counter_raw(struct rkcanfd_priv *priv,
+					 struct can_berr_counter *bec)
+{
+	bec->rxerr = rkcanfd_read(priv, RKCANFD_REG_RXERRORCNT);
+	bec->txerr = rkcanfd_read(priv, RKCANFD_REG_TXERRORCNT);
+}
+
+static int rkcanfd_get_berr_counter(const struct net_device *ndev,
+				    struct can_berr_counter *bec)
+{
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+	int err;
+
+	err = pm_runtime_resume_and_get(ndev->dev.parent);
+	if (err)
+		return err;
+
+	rkcanfd_get_berr_counter_raw(priv, bec);
+
+	pm_runtime_put(ndev->dev.parent);
+
+	return 0;
+}
+
+static void rkcanfd_chip_interrupts_enable(const struct rkcanfd_priv *priv)
+{
+	rkcanfd_write(priv, RKCANFD_REG_INT_MASK, priv->reg_int_mask_default);
+
+	netdev_dbg(priv->ndev, "%s: reg_int_mask=0x%08x\n", __func__,
+		   rkcanfd_read(priv, RKCANFD_REG_INT_MASK));
+}
+
+static void rkcanfd_chip_interrupts_disable(const struct rkcanfd_priv *priv)
+{
+	rkcanfd_write(priv, RKCANFD_REG_INT_MASK, RKCANFD_REG_INT_ALL);
+}
+
+static void rkcanfd_chip_fifo_setup(struct rkcanfd_priv *priv)
+{
+	u32 reg;
+
+	/* TXE FIFO */
+	reg = rkcanfd_read(priv, RKCANFD_REG_RX_FIFO_CTRL);
+	reg |= RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_ENABLE;
+	rkcanfd_write(priv, RKCANFD_REG_RX_FIFO_CTRL, reg);
+
+	/* RX FIFO */
+	reg = rkcanfd_read(priv, RKCANFD_REG_RX_FIFO_CTRL);
+	reg |= RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_ENABLE;
+	rkcanfd_write(priv, RKCANFD_REG_RX_FIFO_CTRL, reg);
+
+	WRITE_ONCE(priv->tx_head, 0);
+	WRITE_ONCE(priv->tx_tail, 0);
+	netdev_reset_queue(priv->ndev);
+}
+
+static void rkcanfd_chip_start(struct rkcanfd_priv *priv)
+{
+	u32 reg;
+
+	rkcanfd_chip_set_reset_mode(priv);
+
+	/* Receiving Filter: accept all */
+	rkcanfd_write(priv, RKCANFD_REG_IDCODE, 0x0);
+	rkcanfd_write(priv, RKCANFD_REG_IDMASK, RKCANFD_REG_IDCODE_EXTENDED_FRAME_ID);
+
+	/* enable:
+	 * - CAN_FD: enable CAN-FD
+	 * - AUTO_RETX_MODE: auto retransmission on TX error
+	 * - COVER_MODE: RX-FIFO overwrite mode, do not send OVERLOAD frames
+	 * - WORK_MODE: transition from reset to working mode
+	 */
+	reg = rkcanfd_read(priv, RKCANFD_REG_MODE);
+	priv->reg_mode_default = reg |
+		RKCANFD_REG_MODE_CAN_FD_MODE_ENABLE |
+		RKCANFD_REG_MODE_AUTO_RETX_MODE |
+		RKCANFD_REG_MODE_COVER_MODE |
+		RKCANFD_REG_MODE_WORK_MODE;
+
+	/* mask, i.e. ignore:
+	 * - TIMESTAMP_COUNTER_OVERFLOW_INT - timestamp counter overflow interrupt
+	 * - TX_ARBIT_FAIL_INT - TX arbitration fail interrupt
+	 * - OVERLOAD_INT - CAN bus overload interrupt
+	 */
+	priv->reg_int_mask_default =
+		RKCANFD_REG_INT_TIMESTAMP_COUNTER_OVERFLOW_INT |
+		RKCANFD_REG_INT_TX_ARBIT_FAIL_INT |
+		RKCANFD_REG_INT_OVERLOAD_INT;
+
+	rkcanfd_chip_fifo_setup(priv);
+	rkcanfd_timestamp_init(priv);
+	rkcanfd_set_bittiming(priv);
+
+	rkcanfd_chip_interrupts_disable(priv);
+	rkcanfd_chip_set_work_mode(priv);
+
+	priv->can.state = CAN_STATE_ERROR_ACTIVE;
+
+	netdev_dbg(priv->ndev, "%s: reg_mode=0x%08x\n", __func__,
+		   rkcanfd_read(priv, RKCANFD_REG_MODE));
+}
+
+static void __rkcanfd_chip_stop(struct rkcanfd_priv *priv, const enum can_state state)
+{
+	priv->can.state = state;
+
+	rkcanfd_chip_set_reset_mode(priv);
+	rkcanfd_chip_interrupts_disable(priv);
+}
+
+static void rkcanfd_chip_stop(struct rkcanfd_priv *priv, const enum can_state state)
+{
+	priv->can.state = state;
+
+	__rkcanfd_chip_stop(priv, state);
+}
+
+static void rkcanfd_chip_stop_sync(struct rkcanfd_priv *priv, const enum can_state state)
+{
+	priv->can.state = state;
+
+	__rkcanfd_chip_stop(priv, state);
+}
+
+static int rkcanfd_set_mode(struct net_device *ndev,
+			    enum can_mode mode)
+{
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+
+	switch (mode) {
+	case CAN_MODE_START:
+		rkcanfd_chip_start(priv);
+		rkcanfd_chip_interrupts_enable(priv);
+		netif_wake_queue(ndev);
+		break;
+
+	default:
+		return -EOPNOTSUPP;
+	}
+
+	return 0;
+}
+
+static struct sk_buff *
+rkcanfd_alloc_can_err_skb(struct rkcanfd_priv *priv,
+			  struct can_frame **cf, u32 *timestamp)
+{
+	struct sk_buff *skb;
+
+	*timestamp = rkcanfd_get_timestamp(priv);
+
+	skb = alloc_can_err_skb(priv->ndev, cf);
+
+	return skb;
+}
+
+static const char *rkcanfd_get_error_type_str(unsigned int type)
+{
+	switch (type) {
+	case RKCANFD_REG_ERROR_CODE_TYPE_BIT:
+		return "Bit";
+	case RKCANFD_REG_ERROR_CODE_TYPE_STUFF:
+		return "Stuff";
+	case RKCANFD_REG_ERROR_CODE_TYPE_FORM:
+		return "Form";
+	case RKCANFD_REG_ERROR_CODE_TYPE_ACK:
+		return "ACK";
+	case RKCANFD_REG_ERROR_CODE_TYPE_CRC:
+		return "CRC";
+	}
+
+	return "<unknown>";
+}
+
+#define RKCAN_ERROR_CODE(reg_ec, code) \
+	((reg_ec) & RKCANFD_REG_ERROR_CODE_##code ? __stringify(code) " " : "")
+
+static void
+rkcanfd_handle_error_int_reg_ec(struct rkcanfd_priv *priv, struct can_frame *cf,
+				const u32 reg_ec)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	unsigned int type;
+	u32 reg_state, reg_cmd;
+
+	type = FIELD_GET(RKCANFD_REG_ERROR_CODE_TYPE, reg_ec);
+	reg_cmd = rkcanfd_read(priv, RKCANFD_REG_CMD);
+	reg_state = rkcanfd_read(priv, RKCANFD_REG_STATE);
+
+	netdev_dbg(priv->ndev, "%s Error in %s %s Phase: %s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s(0x%08x) CMD=%u RX=%u TX=%u Error-Warning=%u Bus-Off=%u\n",
+		   rkcanfd_get_error_type_str(type),
+		   reg_ec & RKCANFD_REG_ERROR_CODE_DIRECTION_RX ? "RX" : "TX",
+		   reg_ec & RKCANFD_REG_ERROR_CODE_PHASE ? "Data" : "Arbitration",
+		   RKCAN_ERROR_CODE(reg_ec, TX_OVERLOAD),
+		   RKCAN_ERROR_CODE(reg_ec, TX_ERROR),
+		   RKCAN_ERROR_CODE(reg_ec, TX_ACK),
+		   RKCAN_ERROR_CODE(reg_ec, TX_ACK_EOF),
+		   RKCAN_ERROR_CODE(reg_ec, TX_CRC),
+		   RKCAN_ERROR_CODE(reg_ec, TX_STUFF_COUNT),
+		   RKCAN_ERROR_CODE(reg_ec, TX_DATA),
+		   RKCAN_ERROR_CODE(reg_ec, TX_SOF_DLC),
+		   RKCAN_ERROR_CODE(reg_ec, TX_IDLE),
+		   RKCAN_ERROR_CODE(reg_ec, RX_BUF_INT),
+		   RKCAN_ERROR_CODE(reg_ec, RX_SPACE),
+		   RKCAN_ERROR_CODE(reg_ec, RX_EOF),
+		   RKCAN_ERROR_CODE(reg_ec, RX_ACK_LIM),
+		   RKCAN_ERROR_CODE(reg_ec, RX_ACK),
+		   RKCAN_ERROR_CODE(reg_ec, RX_CRC_LIM),
+		   RKCAN_ERROR_CODE(reg_ec, RX_CRC),
+		   RKCAN_ERROR_CODE(reg_ec, RX_STUFF_COUNT),
+		   RKCAN_ERROR_CODE(reg_ec, RX_DATA),
+		   RKCAN_ERROR_CODE(reg_ec, RX_DLC),
+		   RKCAN_ERROR_CODE(reg_ec, RX_BRS_ESI),
+		   RKCAN_ERROR_CODE(reg_ec, RX_RES),
+		   RKCAN_ERROR_CODE(reg_ec, RX_FDF),
+		   RKCAN_ERROR_CODE(reg_ec, RX_ID2_RTR),
+		   RKCAN_ERROR_CODE(reg_ec, RX_SOF_IDE),
+		   RKCAN_ERROR_CODE(reg_ec, RX_IDLE),
+		   reg_ec, reg_cmd,
+		   !!(reg_state & RKCANFD_REG_STATE_RX_PERIOD),
+		   !!(reg_state & RKCANFD_REG_STATE_TX_PERIOD),
+		   !!(reg_state & RKCANFD_REG_STATE_ERROR_WARNING_STATE),
+		   !!(reg_state & RKCANFD_REG_STATE_BUS_OFF_STATE));
+
+	priv->can.can_stats.bus_error++;
+
+	if (reg_ec & RKCANFD_REG_ERROR_CODE_DIRECTION_RX)
+		stats->rx_errors++;
+	else
+		stats->tx_errors++;
+
+	if (!cf)
+		return;
+
+	if (reg_ec & RKCANFD_REG_ERROR_CODE_DIRECTION_RX) {
+		if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_SOF_IDE)
+			cf->data[3] = CAN_ERR_PROT_LOC_SOF;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_ID2_RTR)
+			cf->data[3] = CAN_ERR_PROT_LOC_RTR;
+		/* RKCANFD_REG_ERROR_CODE_RX_FDF */
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_RES)
+			cf->data[3] = CAN_ERR_PROT_LOC_RES0;
+		/* RKCANFD_REG_ERROR_CODE_RX_BRS_ESI */
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_DLC)
+			cf->data[3] = CAN_ERR_PROT_LOC_DLC;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_DATA)
+			cf->data[3] = CAN_ERR_PROT_LOC_DATA;
+		/* RKCANFD_REG_ERROR_CODE_RX_STUFF_COUNT */
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_CRC)
+			cf->data[3] = CAN_ERR_PROT_LOC_CRC_SEQ;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_CRC_LIM)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK_DEL;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_ACK)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_ACK_LIM)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK_DEL;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_EOF)
+			cf->data[3] = CAN_ERR_PROT_LOC_EOF;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_SPACE)
+			cf->data[3] = CAN_ERR_PROT_LOC_EOF;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_BUF_INT)
+			cf->data[3] = CAN_ERR_PROT_LOC_INTERM;
+	} else {
+		cf->data[2] |= CAN_ERR_PROT_TX;
+
+		if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_SOF_DLC)
+			cf->data[3] = CAN_ERR_PROT_LOC_SOF;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_DATA)
+			cf->data[3] = CAN_ERR_PROT_LOC_DATA;
+		/* RKCANFD_REG_ERROR_CODE_TX_STUFF_COUNT */
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_CRC)
+			cf->data[3] = CAN_ERR_PROT_LOC_CRC_SEQ;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_ACK_EOF)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_ACK)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_ACK_EOF)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK_DEL;
+		/* RKCANFD_REG_ERROR_CODE_TX_ERROR */
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_OVERLOAD)
+			cf->data[2] |= CAN_ERR_PROT_OVERLOAD;
+	}
+
+	switch (reg_ec & RKCANFD_REG_ERROR_CODE_TYPE) {
+	case FIELD_PREP_CONST(RKCANFD_REG_ERROR_CODE_TYPE,
+			      RKCANFD_REG_ERROR_CODE_TYPE_BIT):
+
+		cf->data[2] |= CAN_ERR_PROT_BIT;
+		break;
+	case FIELD_PREP_CONST(RKCANFD_REG_ERROR_CODE_TYPE,
+			      RKCANFD_REG_ERROR_CODE_TYPE_STUFF):
+		cf->data[2] |= CAN_ERR_PROT_STUFF;
+		break;
+	case FIELD_PREP_CONST(RKCANFD_REG_ERROR_CODE_TYPE,
+			      RKCANFD_REG_ERROR_CODE_TYPE_FORM):
+		cf->data[2] |= CAN_ERR_PROT_FORM;
+		break;
+	case FIELD_PREP_CONST(RKCANFD_REG_ERROR_CODE_TYPE,
+			      RKCANFD_REG_ERROR_CODE_TYPE_ACK):
+		cf->can_id |= CAN_ERR_ACK;
+		break;
+	case FIELD_PREP_CONST(RKCANFD_REG_ERROR_CODE_TYPE,
+			      RKCANFD_REG_ERROR_CODE_TYPE_CRC):
+		cf->data[3] = CAN_ERR_PROT_LOC_CRC_SEQ;
+		break;
+	}
+}
+
+static int rkcanfd_handle_error_int(struct rkcanfd_priv *priv)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	struct can_frame *cf = NULL;
+	u32 reg_ec, timestamp;
+	struct sk_buff *skb;
+	int err;
+
+	reg_ec = rkcanfd_read(priv, RKCANFD_REG_ERROR_CODE);
+
+	if (!reg_ec)
+		return 0;
+
+	skb = rkcanfd_alloc_can_err_skb(priv, &cf, &timestamp);
+	if (cf) {
+		struct can_berr_counter bec;
+
+		rkcanfd_get_berr_counter_raw(priv, &bec);
+		cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR | CAN_ERR_CNT;
+		cf->data[6] = bec.txerr;
+		cf->data[7] = bec.rxerr;
+	}
+
+	rkcanfd_handle_error_int_reg_ec(priv, cf, reg_ec);
+
+	if (!cf)
+		return 0;
+
+	err = can_rx_offload_queue_timestamp(&priv->offload, skb, timestamp);
+	if (err)
+		stats->rx_fifo_errors++;
+
+	return 0;
+}
+
+static int rkcanfd_handle_state_error_int(struct rkcanfd_priv *priv)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	enum can_state new_state, rx_state, tx_state;
+	struct net_device *ndev = priv->ndev;
+	struct can_berr_counter bec;
+	struct can_frame *cf = NULL;
+	struct sk_buff *skb;
+	u32 timestamp;
+	int err;
+
+	rkcanfd_get_berr_counter_raw(priv, &bec);
+	can_state_get_by_berr_counter(ndev, &bec, &tx_state, &rx_state);
+
+	new_state = max(tx_state, rx_state);
+	if (new_state == priv->can.state)
+		return 0;
+
+	/* The skb allocation might fail, but can_change_state()
+	 * handles cf == NULL.
+	 */
+	skb = rkcanfd_alloc_can_err_skb(priv, &cf, &timestamp);
+	can_change_state(ndev, cf, tx_state, rx_state);
+
+	if (new_state == CAN_STATE_BUS_OFF) {
+		rkcanfd_chip_stop(priv, CAN_STATE_BUS_OFF);
+		can_bus_off(ndev);
+	}
+
+	if (!skb)
+		return 0;
+
+	if (new_state != CAN_STATE_BUS_OFF) {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = bec.txerr;
+		cf->data[7] = bec.rxerr;
+	}
+
+	err = can_rx_offload_queue_timestamp(&priv->offload, skb, timestamp);
+	if (err)
+		stats->rx_fifo_errors++;
+
+	return 0;
+}
+
+static int
+rkcanfd_handle_rx_fifo_overflow_int(struct rkcanfd_priv *priv)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	struct can_berr_counter bec;
+	struct can_frame *cf = NULL;
+	struct sk_buff *skb;
+	u32 timestamp;
+	int err;
+
+	stats->rx_over_errors++;
+	stats->rx_errors++;
+
+	netdev_dbg(priv->ndev, "RX-FIFO overflow\n");
+
+	skb = rkcanfd_alloc_can_err_skb(priv, &cf, &timestamp);
+	if (skb)
+		return 0;
+
+	rkcanfd_get_berr_counter_raw(priv, &bec);
+
+	cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
+	cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
+	cf->data[6] = bec.txerr;
+	cf->data[7] = bec.rxerr;
+
+	err = can_rx_offload_queue_timestamp(&priv->offload, skb, timestamp);
+	if (err)
+		stats->rx_fifo_errors++;
+
+	return 0;
+}
+
+#define rkcanfd_handle(priv, irq, ...) \
+({ \
+	struct rkcanfd_priv *_priv = (priv); \
+	int err; \
+\
+	err = rkcanfd_handle_##irq(_priv, ## __VA_ARGS__); \
+	if (err) \
+		netdev_err(_priv->ndev, \
+			"IRQ handler rkcanfd_handle_%s() returned error: %pe\n", \
+			   __stringify(irq), ERR_PTR(err)); \
+	err; \
+})
+
+static irqreturn_t rkcanfd_irq(int irq, void *dev_id)
+{
+	struct rkcanfd_priv *priv = dev_id;
+	u32 reg_int_unmasked, reg_int;
+
+	reg_int_unmasked = rkcanfd_read(priv, RKCANFD_REG_INT);
+	reg_int = reg_int_unmasked & ~priv->reg_int_mask_default;
+
+	if (!reg_int)
+		return IRQ_NONE;
+
+	/* First ACK then handle, to avoid lost-IRQ race condition on
+	 * fast re-occurring interrupts.
+	 */
+	rkcanfd_write(priv, RKCANFD_REG_INT, reg_int);
+
+	if (reg_int & RKCANFD_REG_INT_RX_FINISH_INT)
+		rkcanfd_handle(priv, rx_int);
+
+	if (reg_int & RKCANFD_REG_INT_ERROR_INT)
+		rkcanfd_handle(priv, error_int);
+
+	if (reg_int & (RKCANFD_REG_INT_BUS_OFF_INT |
+		       RKCANFD_REG_INT_PASSIVE_ERROR_INT |
+		       RKCANFD_REG_INT_ERROR_WARNING_INT) ||
+	    priv->can.state > CAN_STATE_ERROR_ACTIVE)
+		rkcanfd_handle(priv, state_error_int);
+
+	if (reg_int & RKCANFD_REG_INT_RX_FIFO_OVERFLOW_INT)
+		rkcanfd_handle(priv, rx_fifo_overflow_int);
+
+	if (reg_int & ~(RKCANFD_REG_INT_ALL_ERROR |
+			RKCANFD_REG_INT_RX_FIFO_OVERFLOW_INT |
+			RKCANFD_REG_INT_RX_FINISH_INT))
+		netdev_err(priv->ndev, "%s: int=0x%08x\n", __func__, reg_int);
+
+	if (reg_int & RKCANFD_REG_INT_WAKEUP_INT)
+		netdev_info(priv->ndev, "%s: WAKEUP_INT\n", __func__);
+
+	if (reg_int & RKCANFD_REG_INT_TXE_FIFO_FULL_INT)
+		netdev_info(priv->ndev, "%s: TXE_FIFO_FULL_INT\n", __func__);
+
+	if (reg_int & RKCANFD_REG_INT_TXE_FIFO_OV_INT)
+		netdev_info(priv->ndev, "%s: TXE_FIFO_OV_INT\n", __func__);
+
+	if (reg_int & RKCANFD_REG_INT_BUS_OFF_RECOVERY_INT)
+		netdev_info(priv->ndev, "%s: BUS_OFF_RECOVERY_INT\n", __func__);
+
+	if (reg_int & RKCANFD_REG_INT_RX_FIFO_FULL_INT)
+		netdev_info(priv->ndev, "%s: RX_FIFO_FULL_INT\n", __func__);
+
+	if (reg_int & RKCANFD_REG_INT_OVERLOAD_INT)
+		netdev_info(priv->ndev, "%s: OVERLOAD_INT\n", __func__);
+
+	can_rx_offload_irq_finish(&priv->offload);
+
+	return IRQ_HANDLED;
+}
+
+static int rkcanfd_open(struct net_device *ndev)
+{
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+	int err;
+
+	err = open_candev(ndev);
+	if (err)
+		return err;
+
+	err = pm_runtime_resume_and_get(ndev->dev.parent);
+	if (err)
+		goto out_close_candev;
+
+	rkcanfd_chip_start(priv);
+	can_rx_offload_enable(&priv->offload);
+
+	err = request_irq(ndev->irq, rkcanfd_irq, IRQF_SHARED, ndev->name, priv);
+	if (err)
+		goto out_rkcanfd_chip_stop;
+
+	rkcanfd_chip_interrupts_enable(priv);
+
+	netif_start_queue(ndev);
+
+	return 0;
+
+out_rkcanfd_chip_stop:
+	rkcanfd_chip_stop_sync(priv, CAN_STATE_STOPPED);
+	pm_runtime_put(ndev->dev.parent);
+out_close_candev:
+	close_candev(ndev);
+	return err;
+}
+
+static int rkcanfd_stop(struct net_device *ndev)
+{
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+
+	netif_stop_queue(ndev);
+
+	rkcanfd_chip_interrupts_disable(priv);
+	free_irq(ndev->irq, priv);
+	can_rx_offload_disable(&priv->offload);
+	rkcanfd_chip_stop_sync(priv, CAN_STATE_STOPPED);
+	close_candev(ndev);
+
+	pm_runtime_put(ndev->dev.parent);
+
+	return 0;
+}
+
+static const struct net_device_ops rkcanfd_netdev_ops = {
+	.ndo_open = rkcanfd_open,
+	.ndo_stop = rkcanfd_stop,
+	.ndo_start_xmit = rkcanfd_start_xmit,
+	.ndo_change_mtu = can_change_mtu,
+};
+
+static int __maybe_unused rkcanfd_runtime_suspend(struct device *dev)
+{
+	struct rkcanfd_priv *priv = dev_get_drvdata(dev);
+
+	clk_bulk_disable_unprepare(priv->clks_num, priv->clks);
+
+	return 0;
+}
+
+static int __maybe_unused rkcanfd_runtime_resume(struct device *dev)
+{
+	struct rkcanfd_priv *priv = dev_get_drvdata(dev);
+
+	return clk_bulk_prepare_enable(priv->clks_num, priv->clks);
+}
+
+static void rkcanfd_register_done(const struct rkcanfd_priv *priv)
+{
+	u32 dev_id;
+
+	dev_id = rkcanfd_read(priv, RKCANFD_REG_RTL_VERSION);
+
+	netdev_info(priv->ndev,
+		    "Rockchip-CANFD %s rev%lu.%lu found\n",
+		    rkcanfd_get_model_str(priv),
+		    FIELD_GET(RKCANFD_REG_RTL_VERSION_MAJOR, dev_id),
+		    FIELD_GET(RKCANFD_REG_RTL_VERSION_MINOR, dev_id));
+}
+
+static int rkcanfd_register(struct rkcanfd_priv *priv)
+{
+	struct net_device *ndev = priv->ndev;
+	int err;
+
+	pm_runtime_enable(ndev->dev.parent);
+
+	err = pm_runtime_resume_and_get(ndev->dev.parent);
+	if (err)
+		goto out_pm_runtime_disable;
+
+	err = register_candev(ndev);
+	if (err)
+		goto out_pm_runtime_put_sync;
+
+	rkcanfd_register_done(priv);
+
+	pm_runtime_put(ndev->dev.parent);
+
+	return 0;
+
+out_pm_runtime_put_sync:
+	pm_runtime_put_sync(ndev->dev.parent);
+out_pm_runtime_disable:
+	pm_runtime_disable(ndev->dev.parent);
+
+	return err;
+}
+
+static inline void rkcanfd_unregister(struct rkcanfd_priv *priv)
+{
+	struct net_device *ndev	= priv->ndev;
+
+	unregister_candev(ndev);
+	pm_runtime_disable(ndev->dev.parent);
+}
+
+static const struct of_device_id rkcanfd_of_match[] = {
+	{
+		.compatible = "rockchip,rk3568-canfd",
+		.data = &rkcanfd_devtype_data_rk3568v2,
+	}, {
+		.compatible = "rockchip,rk3568v2-canfd",
+		.data = &rkcanfd_devtype_data_rk3568v2,
+	}, {
+		/* sentinel */
+	},
+};
+MODULE_DEVICE_TABLE(of, rkcanfd_of_match);
+
+static int rkcanfd_probe(struct platform_device *pdev)
+{
+	struct rkcanfd_priv *priv;
+	struct net_device *ndev;
+	const void *match;
+	int err;
+
+	ndev = alloc_candev(sizeof(struct rkcanfd_priv), RKCANFD_TXFIFO_DEPTH);
+	if (!ndev)
+		return -ENOMEM;
+
+	priv = netdev_priv(ndev);
+
+	ndev->irq = platform_get_irq(pdev, 0);
+	if (ndev->irq < 0) {
+		err = ndev->irq;
+		goto out_free_candev;
+	}
+
+	priv->clks_num = devm_clk_bulk_get_all(&pdev->dev, &priv->clks);
+	if (priv->clks_num < 0) {
+		err = priv->clks_num;
+		goto out_free_candev;
+	}
+
+	priv->regs = devm_platform_ioremap_resource(pdev, 0);
+	if (IS_ERR(priv->regs)) {
+		err = PTR_ERR(priv->regs);
+		goto out_free_candev;
+	}
+
+	priv->reset = devm_reset_control_array_get_exclusive(&pdev->dev);
+	if (IS_ERR(priv->reset)) {
+		err = dev_err_probe(&pdev->dev, PTR_ERR(priv->reset),
+				    "Failed to get reset line\n");
+		goto out_free_candev;
+	}
+
+	SET_NETDEV_DEV(ndev, &pdev->dev);
+
+	ndev->netdev_ops = &rkcanfd_netdev_ops;
+	ndev->flags |= IFF_ECHO;
+
+	platform_set_drvdata(pdev, priv);
+	priv->can.clock.freq = clk_get_rate(priv->clks[0].clk);
+	priv->can.bittiming_const = &rkcanfd_bittiming_const;
+	priv->can.data_bittiming_const = &rkcanfd_data_bittiming_const;
+	priv->can.ctrlmode_supported = 0;
+	priv->can.do_set_mode = rkcanfd_set_mode;
+	priv->can.do_get_berr_counter = rkcanfd_get_berr_counter;
+	priv->ndev = ndev;
+
+	match = device_get_match_data(&pdev->dev);
+	if (match)
+		priv->devtype_data = *(struct rkcanfd_devtype_data *)match;
+
+	err = can_rx_offload_add_manual(ndev, &priv->offload,
+					RKCANFD_NAPI_WEIGHT);
+	if (err)
+		goto out_free_candev;
+
+	err = rkcanfd_register(priv);
+	if (err)
+		goto out_can_rx_offload_del;
+
+	return 0;
+
+out_can_rx_offload_del:
+	can_rx_offload_del(&priv->offload);
+out_free_candev:
+	free_candev(ndev);
+
+	return err;
+}
+
+static void rkcanfd_remove(struct platform_device *pdev)
+{
+	struct rkcanfd_priv *priv = platform_get_drvdata(pdev);
+	struct net_device *ndev = priv->ndev;
+
+	can_rx_offload_del(&priv->offload);
+	rkcanfd_unregister(priv);
+	free_candev(ndev);
+}
+
+static const struct dev_pm_ops rkcanfd_pm_ops = {
+	SET_RUNTIME_PM_OPS(rkcanfd_runtime_suspend,
+			   rkcanfd_runtime_resume, NULL)
+};
+
+static struct platform_driver rkcanfd_driver = {
+	.driver = {
+		.name = DEVICE_NAME,
+		.pm = &rkcanfd_pm_ops,
+		.of_match_table = rkcanfd_of_match,
+	},
+	.probe = rkcanfd_probe,
+	.remove = rkcanfd_remove,
+};
+module_platform_driver(rkcanfd_driver);
+
+MODULE_AUTHOR("Marc Kleine-Budde <mkl@pengutronix.de>");
+MODULE_DESCRIPTION("Rockchip CAN-FD Driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
new file mode 100644
index 000000000000..5398aff0d180
--- /dev/null
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -0,0 +1,118 @@
+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright (c) 2023, 2024 Pengutronix,
+//               Marc Kleine-Budde <kernel@pengutronix.de>
+//
+
+#include "rockchip_canfd.h"
+
+static unsigned int
+rkcanfd_fifo_header_to_cfd_header(const struct rkcanfd_priv *priv,
+				  const struct rkcanfd_fifo_header *header,
+				  struct canfd_frame *cfd)
+{
+	unsigned int len = sizeof(*cfd) - sizeof(cfd->data);
+	u8 dlc;
+
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FRAME_FORMAT)
+		cfd->can_id = FIELD_GET(RKCANFD_REG_FD_ID_EFF, header->id) |
+			CAN_EFF_FLAG;
+	else
+		cfd->can_id = FIELD_GET(RKCANFD_REG_FD_ID_SFF, header->id);
+
+	dlc = FIELD_GET(RKCANFD_REG_FD_FRAMEINFO_DATA_LENGTH,
+			header->frameinfo);
+
+	/* CAN-FD */
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FDF) {
+		cfd->len = can_fd_dlc2len(dlc);
+
+		/* The cfd is not allocated by alloc_canfd_skb(), so
+		 * set CANFD_FDF here.
+		 */
+		cfd->flags |= CANFD_FDF;
+
+		if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_BRS)
+			cfd->flags |= CANFD_BRS;
+	} else {
+		cfd->len = can_cc_dlc2len(dlc);
+
+		if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_RTR) {
+			cfd->can_id |= CAN_RTR_FLAG;
+
+			return len;
+		}
+	}
+
+	return len + cfd->len;
+}
+
+static int rkcanfd_handle_rx_int_one(struct rkcanfd_priv *priv)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	struct canfd_frame cfd[1] = { }, *skb_cfd;
+	struct rkcanfd_fifo_header header[1] = { };
+	struct sk_buff *skb;
+	unsigned int len;
+	int err;
+
+	/* read header into separate struct and convert it later */
+	rkcanfd_read_rep(priv, RKCANFD_REG_RX_FIFO_RDATA,
+			 header, sizeof(*header));
+	/* read data directly into cfd */
+	rkcanfd_read_rep(priv, RKCANFD_REG_RX_FIFO_RDATA,
+			 cfd->data, sizeof(cfd->data));
+
+	len = rkcanfd_fifo_header_to_cfd_header(priv, header, cfd);
+
+	/* Drop any received CAN-FD frames if CAN-FD mode is not
+	 * requested.
+	 */
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FDF &&
+	    !(priv->can.ctrlmode & CAN_CTRLMODE_FD)) {
+		stats->rx_dropped++;
+
+		return 0;
+	}
+
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FDF)
+		skb = alloc_canfd_skb(priv->ndev, &skb_cfd);
+	else
+		skb = alloc_can_skb(priv->ndev, (struct can_frame **)&skb_cfd);
+
+	if (!skb) {
+		stats->rx_dropped++;
+
+		return 0;
+	}
+
+	memcpy(skb_cfd, cfd, len);
+
+	err = can_rx_offload_queue_timestamp(&priv->offload, skb, header->ts);
+	if (err)
+		stats->rx_fifo_errors++;
+
+	return 0;
+}
+
+static inline unsigned int
+rkcanfd_rx_fifo_get_len(const struct rkcanfd_priv *priv)
+{
+	const u32 reg = rkcanfd_read(priv, RKCANFD_REG_RX_FIFO_CTRL);
+
+	return FIELD_GET(RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_CNT, reg);
+}
+
+int rkcanfd_handle_rx_int(struct rkcanfd_priv *priv)
+{
+	unsigned int len;
+	int err;
+
+	while ((len = rkcanfd_rx_fifo_get_len(priv))) {
+		err = rkcanfd_handle_rx_int_one(priv);
+		if (err)
+			return err;
+	}
+
+	return 0;
+}
diff --git a/drivers/net/can/rockchip/rockchip_canfd-timestamp.c b/drivers/net/can/rockchip/rockchip_canfd-timestamp.c
new file mode 100644
index 000000000000..9301b3ceceb0
--- /dev/null
+++ b/drivers/net/can/rockchip/rockchip_canfd-timestamp.c
@@ -0,0 +1,15 @@
+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright (c) 2023, 2024 Pengutronix,
+//               Marc Kleine-Budde <kernel@pengutronix.de>
+//
+
+#include "rockchip_canfd.h"
+
+void rkcanfd_timestamp_init(struct rkcanfd_priv *priv)
+{
+	u32 reg;
+
+	reg = RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_ENABLE;
+	rkcanfd_write(priv, RKCANFD_REG_TIMESTAMP_CTRL, reg);
+}
diff --git a/drivers/net/can/rockchip/rockchip_canfd-tx.c b/drivers/net/can/rockchip/rockchip_canfd-tx.c
new file mode 100644
index 000000000000..89c65db3b2dc
--- /dev/null
+++ b/drivers/net/can/rockchip/rockchip_canfd-tx.c
@@ -0,0 +1,12 @@
+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright (c) 2023, 2024 Pengutronix,
+//               Marc Kleine-Budde <kernel@pengutronix.de>
+//
+
+#include "rockchip_canfd.h"
+
+int rkcanfd_start_xmit(struct sk_buff *skb, struct net_device *ndev)
+{
+	return NETDEV_TX_OK;
+}
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
new file mode 100644
index 000000000000..0848b1900baa
--- /dev/null
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -0,0 +1,361 @@
+/* SPDX-License-Identifier: GPL-2.0
+ *
+ * Copyright (c) 2023, 2024 Pengutronix,
+ *               Marc Kleine-Budde <kernel@pengutronix.de>
+ */
+
+#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/types.h>
+#include <linux/u64_stats_sync.h>
+#include <linux/units.h>
+
+#define RKCANFD_REG_MODE 0x000
+#define RKCANFD_REG_MODE_CAN_FD_MODE_ENABLE BIT(15)
+#define RKCANFD_REG_MODE_DPEE BIT(14)
+#define RKCANFD_REG_MODE_BRSD BIT(13)
+#define RKCANFD_REG_MODE_SPACE_RX_MODE BIT(12)
+#define RKCANFD_REG_MODE_AUTO_BUS_ON BIT(11)
+#define RKCANFD_REG_MODE_AUTO_RETX_MODE BIT(10)
+#define RKCANFD_REG_MODE_OVLD_MODE BIT(9)
+#define RKCANFD_REG_MODE_COVER_MODE BIT(8)
+#define RKCANFD_REG_MODE_RXSORT_MODE BIT(7)
+#define RKCANFD_REG_MODE_TXORDER_MODE BIT(6)
+#define RKCANFD_REG_MODE_RXSTX_MODE BIT(5)
+#define RKCANFD_REG_MODE_LBACK_MODE BIT(4)
+#define RKCANFD_REG_MODE_SILENT_MODE BIT(3)
+#define RKCANFD_REG_MODE_SELF_TEST BIT(2)
+#define RKCANFD_REG_MODE_SLEEP_MODE BIT(1)
+#define RKCANFD_REG_MODE_WORK_MODE BIT(0)
+
+#define RKCANFD_REG_CMD 0x004
+#define RKCANFD_REG_CMD_TX1_REQ BIT(1)
+#define RKCANFD_REG_CMD_TX0_REQ BIT(0)
+#define RKCANFD_REG_CMD_TX_REQ(i) (RKCANFD_REG_CMD_TX0_REQ << (i))
+
+#define RKCANFD_REG_STATE 0x008
+#define RKCANFD_REG_STATE_SLEEP_STATE BIT(6)
+#define RKCANFD_REG_STATE_BUS_OFF_STATE BIT(5)
+#define RKCANFD_REG_STATE_ERROR_WARNING_STATE BIT(4)
+#define RKCANFD_REG_STATE_TX_PERIOD BIT(3)
+#define RKCANFD_REG_STATE_RX_PERIOD BIT(2)
+#define RKCANFD_REG_STATE_TX_BUFFER_FULL BIT(1)
+#define RKCANFD_REG_STATE_RX_BUFFER_FULL BIT(0)
+
+#define RKCANFD_REG_INT 0x00c
+#define RKCANFD_REG_INT_WAKEUP_INT BIT(14)
+#define RKCANFD_REG_INT_TXE_FIFO_FULL_INT BIT(13)
+#define RKCANFD_REG_INT_TXE_FIFO_OV_INT BIT(12)
+#define RKCANFD_REG_INT_TIMESTAMP_COUNTER_OVERFLOW_INT BIT(11)
+#define RKCANFD_REG_INT_BUS_OFF_RECOVERY_INT BIT(10)
+#define RKCANFD_REG_INT_BUS_OFF_INT BIT(9)
+#define RKCANFD_REG_INT_RX_FIFO_OVERFLOW_INT BIT(8)
+#define RKCANFD_REG_INT_RX_FIFO_FULL_INT BIT(7)
+#define RKCANFD_REG_INT_ERROR_INT BIT(6)
+#define RKCANFD_REG_INT_TX_ARBIT_FAIL_INT BIT(5)
+#define RKCANFD_REG_INT_PASSIVE_ERROR_INT BIT(4)
+#define RKCANFD_REG_INT_OVERLOAD_INT BIT(3)
+#define RKCANFD_REG_INT_ERROR_WARNING_INT BIT(2)
+#define RKCANFD_REG_INT_TX_FINISH_INT BIT(1)
+#define RKCANFD_REG_INT_RX_FINISH_INT BIT(0)
+
+#define RKCANFD_REG_INT_ALL \
+	(RKCANFD_REG_INT_WAKEUP_INT | \
+	 RKCANFD_REG_INT_TXE_FIFO_FULL_INT | \
+	 RKCANFD_REG_INT_TXE_FIFO_OV_INT | \
+	 RKCANFD_REG_INT_TIMESTAMP_COUNTER_OVERFLOW_INT | \
+	 RKCANFD_REG_INT_BUS_OFF_RECOVERY_INT | \
+	 RKCANFD_REG_INT_BUS_OFF_INT | \
+	 RKCANFD_REG_INT_RX_FIFO_OVERFLOW_INT | \
+	 RKCANFD_REG_INT_RX_FIFO_FULL_INT | \
+	 RKCANFD_REG_INT_ERROR_INT | \
+	 RKCANFD_REG_INT_TX_ARBIT_FAIL_INT | \
+	 RKCANFD_REG_INT_PASSIVE_ERROR_INT | \
+	 RKCANFD_REG_INT_OVERLOAD_INT | \
+	 RKCANFD_REG_INT_ERROR_WARNING_INT | \
+	 RKCANFD_REG_INT_TX_FINISH_INT | \
+	 RKCANFD_REG_INT_RX_FINISH_INT)
+
+#define RKCANFD_REG_INT_ALL_ERROR \
+	(RKCANFD_REG_INT_BUS_OFF_INT | \
+	 RKCANFD_REG_INT_ERROR_INT | \
+	 RKCANFD_REG_INT_PASSIVE_ERROR_INT | \
+	 RKCANFD_REG_INT_ERROR_WARNING_INT)
+
+#define RKCANFD_REG_INT_MASK 0x010
+
+#define RKCANFD_REG_DMA_CTL 0x014
+#define RKCANFD_REG_DMA_CTL_DMA_RX_MODE BIT(1)
+#define RKCANFD_REG_DMA_CTL_DMA_TX_MODE BIT(9)
+
+#define RKCANFD_REG_BITTIMING 0x018
+#define RKCANFD_REG_BITTIMING_SAMPLE_MODE BIT(16)
+#define RKCANFD_REG_BITTIMING_SJW GENMASK(15, 14)
+#define RKCANFD_REG_BITTIMING_BRP GENMASK(13, 8)
+#define RKCANFD_REG_BITTIMING_TSEG2 GENMASK(6, 4)
+#define RKCANFD_REG_BITTIMING_TSEG1 GENMASK(3, 0)
+
+#define RKCANFD_REG_ARBITFAIL 0x028
+#define RKCANFD_REG_ARBITFAIL_ARBIT_FAIL_CODE GENMASK(6, 0)
+
+/* Register seems to be clear or read */
+#define RKCANFD_REG_ERROR_CODE 0x02c
+#define RKCANFD_REG_ERROR_CODE_PHASE BIT(29)
+#define RKCANFD_REG_ERROR_CODE_TYPE GENMASK(28, 26)
+#define RKCANFD_REG_ERROR_CODE_TYPE_BIT 0x0
+#define RKCANFD_REG_ERROR_CODE_TYPE_STUFF 0x1
+#define RKCANFD_REG_ERROR_CODE_TYPE_FORM 0x2
+#define RKCANFD_REG_ERROR_CODE_TYPE_ACK 0x3
+#define RKCANFD_REG_ERROR_CODE_TYPE_CRC 0x4
+#define RKCANFD_REG_ERROR_CODE_DIRECTION_RX BIT(25)
+#define RKCANFD_REG_ERROR_CODE_TX GENMASK(24, 16)
+#define RKCANFD_REG_ERROR_CODE_TX_OVERLOAD BIT(24)
+#define RKCANFD_REG_ERROR_CODE_TX_ERROR BIT(23)
+#define RKCANFD_REG_ERROR_CODE_TX_ACK BIT(22)
+#define RKCANFD_REG_ERROR_CODE_TX_ACK_EOF BIT(21)
+#define RKCANFD_REG_ERROR_CODE_TX_CRC BIT(20)
+#define RKCANFD_REG_ERROR_CODE_TX_STUFF_COUNT BIT(19)
+#define RKCANFD_REG_ERROR_CODE_TX_DATA BIT(18)
+#define RKCANFD_REG_ERROR_CODE_TX_SOF_DLC BIT(17)
+#define RKCANFD_REG_ERROR_CODE_TX_IDLE BIT(16)
+#define RKCANFD_REG_ERROR_CODE_RX GENMASK(15, 0)
+#define RKCANFD_REG_ERROR_CODE_RX_BUF_INT BIT(15)
+#define RKCANFD_REG_ERROR_CODE_RX_SPACE BIT(14)
+#define RKCANFD_REG_ERROR_CODE_RX_EOF BIT(13)
+#define RKCANFD_REG_ERROR_CODE_RX_ACK_LIM BIT(12)
+#define RKCANFD_REG_ERROR_CODE_RX_ACK BIT(11)
+#define RKCANFD_REG_ERROR_CODE_RX_CRC_LIM BIT(10)
+#define RKCANFD_REG_ERROR_CODE_RX_CRC BIT(9)
+#define RKCANFD_REG_ERROR_CODE_RX_STUFF_COUNT BIT(8)
+#define RKCANFD_REG_ERROR_CODE_RX_DATA BIT(7)
+#define RKCANFD_REG_ERROR_CODE_RX_DLC BIT(6)
+#define RKCANFD_REG_ERROR_CODE_RX_BRS_ESI BIT(5)
+#define RKCANFD_REG_ERROR_CODE_RX_RES BIT(4)
+#define RKCANFD_REG_ERROR_CODE_RX_FDF BIT(3)
+#define RKCANFD_REG_ERROR_CODE_RX_ID2_RTR BIT(2)
+#define RKCANFD_REG_ERROR_CODE_RX_SOF_IDE BIT(1)
+#define RKCANFD_REG_ERROR_CODE_RX_IDLE BIT(0)
+
+#define RKCANFD_REG_ERROR_CODE_NOACK \
+	(FIELD_PREP(RKCANFD_REG_ERROR_CODE_TYPE, \
+		    RKCANFD_REG_ERROR_CODE_TYPE_ACK) | \
+	 RKCANFD_REG_ERROR_CODE_TX_ACK_EOF | \
+	 RKCANFD_REG_ERROR_CODE_RX_ACK)
+
+#define RKCANFD_REG_RXERRORCNT 0x034
+#define RKCANFD_REG_RXERRORCNT_RX_ERR_CNT GENMASK(7, 0)
+
+#define RKCANFD_REG_TXERRORCNT 0x038
+#define RKCANFD_REG_TXERRORCNT_TX_ERR_CNT GENMASK(8, 0)
+
+#define RKCANFD_REG_IDCODE 0x03c
+#define RKCANFD_REG_IDCODE_STANDARD_FRAME_ID GENMASK(10, 0)
+#define RKCANFD_REG_IDCODE_EXTENDED_FRAME_ID GENMASK(28, 0)
+
+#define RKCANFD_REG_IDMASK 0x040
+
+#define RKCANFD_REG_TXFRAMEINFO 0x050
+#define RKCANFD_REG_FRAMEINFO_FRAME_FORMAT BIT(7)
+#define RKCANFD_REG_FRAMEINFO_RTR BIT(6)
+#define RKCANFD_REG_FRAMEINFO_DATA_LENGTH GENMASK(3, 0)
+
+#define RKCANFD_REG_TXID 0x054
+#define RKCANFD_REG_TXID_TX_ID GENMASK(28, 0)
+
+#define RKCANFD_REG_TXDATA0 0x058
+#define RKCANFD_REG_TXDATA1 0x05C
+#define RKCANFD_REG_RXFRAMEINFO 0x060
+#define RKCANFD_REG_RXID 0x064
+#define RKCANFD_REG_RXDATA0 0x068
+#define RKCANFD_REG_RXDATA1 0x06c
+
+#define RKCANFD_REG_RTL_VERSION 0x070
+#define RKCANFD_REG_RTL_VERSION_MAJOR GENMASK(7, 4)
+#define RKCANFD_REG_RTL_VERSION_MINOR GENMASK(3, 0)
+
+#define RKCANFD_REG_FD_NOMINAL_BITTIMING 0x100
+#define RKCANFD_REG_FD_NOMINAL_BITTIMING_SAMPLE_MODE BIT(31)
+#define RKCANFD_REG_FD_NOMINAL_BITTIMING_SJW GENMASK(30, 24)
+#define RKCANFD_REG_FD_NOMINAL_BITTIMING_BRP GENMASK(23, 16)
+#define RKCANFD_REG_FD_NOMINAL_BITTIMING_TSEG2 GENMASK(14, 8)
+#define RKCANFD_REG_FD_NOMINAL_BITTIMING_TSEG1 GENMASK(7, 0)
+
+#define RKCANFD_REG_FD_DATA_BITTIMING 0x104
+#define RKCANFD_REG_FD_DATA_BITTIMING_SAMPLE_MODE BIT(21)
+#define RKCANFD_REG_FD_DATA_BITTIMING_SJW GENMASK(20, 17)
+#define RKCANFD_REG_FD_DATA_BITTIMING_BRP GENMASK(16, 9)
+#define RKCANFD_REG_FD_DATA_BITTIMING_TSEG2 GENMASK(8, 5)
+#define RKCANFD_REG_FD_DATA_BITTIMING_TSEG1 GENMASK(4, 0)
+
+#define RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION 0x108
+#define RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION_TDC_OFFSET GENMASK(6, 1)
+#define RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION_TDC_ENABLE BIT(0)
+
+#define RKCANFD_REG_TIMESTAMP_CTRL 0x10c
+/* datasheet says 6:1, which is wrong */
+#define RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_PRESCALE GENMASK(5, 1)
+#define RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_ENABLE BIT(0)
+
+#define RKCANFD_REG_TIMESTAMP 0x110
+
+#define RKCANFD_REG_TXEVENT_FIFO_CTRL 0x114
+#define RKCANFD_REG_TXEVENT_FIFO_CTRL_TXE_FIFO_CNT GENMASK(8, 5)
+#define RKCANFD_REG_TXEVENT_FIFO_CTRL_TXE_FIFO_WATERMARK GENMASK(4, 1)
+#define RKCANFD_REG_TXEVENT_FIFO_CTRL_TXE_FIFO_ENABLE BIT(0)
+
+#define RKCANFD_REG_RX_FIFO_CTRL 0x118
+#define RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_CNT GENMASK(6, 4)
+#define RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_FULL_WATERMARK GENMASK(3, 1)
+#define RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_ENABLE BIT(0)
+
+#define RKCANFD_REG_AFC_CTRL 0x11c
+#define RKCANFD_REG_AFC_CTRL_UAF5 BIT(4)
+#define RKCANFD_REG_AFC_CTRL_UAF4 BIT(3)
+#define RKCANFD_REG_AFC_CTRL_UAF3 BIT(2)
+#define RKCANFD_REG_AFC_CTRL_UAF2 BIT(1)
+#define RKCANFD_REG_AFC_CTRL_UAF1 BIT(0)
+
+#define RKCANFD_REG_IDCODE0 0x120
+#define RKCANFD_REG_IDMASK0 0x124
+#define RKCANFD_REG_IDCODE1 0x128
+#define RKCANFD_REG_IDMASK1 0x12c
+#define RKCANFD_REG_IDCODE2 0x130
+#define RKCANFD_REG_IDMASK2 0x134
+#define RKCANFD_REG_IDCODE3 0x138
+#define RKCANFD_REG_IDMASK3 0x13c
+#define RKCANFD_REG_IDCODE4 0x140
+#define RKCANFD_REG_IDMASK4 0x144
+
+#define RKCANFD_REG_FD_TXFRAMEINFO 0x200
+#define RKCANFD_REG_FD_FRAMEINFO_FRAME_FORMAT BIT(7)
+#define RKCANFD_REG_FD_FRAMEINFO_RTR BIT(6)
+#define RKCANFD_REG_FD_FRAMEINFO_FDF BIT(5)
+#define RKCANFD_REG_FD_FRAMEINFO_BRS BIT(4)
+#define RKCANFD_REG_FD_FRAMEINFO_DATA_LENGTH GENMASK(3, 0)
+
+#define RKCANFD_REG_FD_TXID 0x204
+#define RKCANFD_REG_FD_ID_EFF GENMASK(28, 0)
+#define RKCANFD_REG_FD_ID_SFF GENMASK(11, 0)
+
+#define RKCANFD_REG_FD_TXDATA0 0x208
+#define RKCANFD_REG_FD_TXDATA1 0x20c
+#define RKCANFD_REG_FD_TXDATA2 0x210
+#define RKCANFD_REG_FD_TXDATA3 0x214
+#define RKCANFD_REG_FD_TXDATA4 0x218
+#define RKCANFD_REG_FD_TXDATA5 0x21c
+#define RKCANFD_REG_FD_TXDATA6 0x220
+#define RKCANFD_REG_FD_TXDATA7 0x224
+#define RKCANFD_REG_FD_TXDATA8 0x228
+#define RKCANFD_REG_FD_TXDATA9 0x22c
+#define RKCANFD_REG_FD_TXDATA10 0x230
+#define RKCANFD_REG_FD_TXDATA11 0x234
+#define RKCANFD_REG_FD_TXDATA12 0x238
+#define RKCANFD_REG_FD_TXDATA13 0x23c
+#define RKCANFD_REG_FD_TXDATA14 0x240
+#define RKCANFD_REG_FD_TXDATA15 0x244
+
+#define RKCANFD_REG_FD_RXFRAMEINFO 0x300
+#define RKCANFD_REG_FD_RXID 0x304
+#define RKCANFD_REG_FD_RXTIMESTAMP 0x308
+#define RKCANFD_REG_FD_RXDATA0 0x30c
+#define RKCANFD_REG_FD_RXDATA1 0x310
+#define RKCANFD_REG_FD_RXDATA2 0x314
+#define RKCANFD_REG_FD_RXDATA3 0x318
+#define RKCANFD_REG_FD_RXDATA4 0x31c
+#define RKCANFD_REG_FD_RXDATA5 0x320
+#define RKCANFD_REG_FD_RXDATA6 0x320
+#define RKCANFD_REG_FD_RXDATA7 0x328
+#define RKCANFD_REG_FD_RXDATA8 0x32c
+#define RKCANFD_REG_FD_RXDATA9 0x330
+#define RKCANFD_REG_FD_RXDATA10 0x334
+#define RKCANFD_REG_FD_RXDATA11 0x338
+#define RKCANFD_REG_FD_RXDATA12 0x33c
+#define RKCANFD_REG_FD_RXDATA13 0x340
+#define RKCANFD_REG_FD_RXDATA14 0x344
+#define RKCANFD_REG_FD_RXDATA15 0x348
+
+#define RKCANFD_REG_RX_FIFO_RDATA 0x400
+#define RKCANFD_REG_TXE_FIFO_RDATA 0x500
+
+#define DEVICE_NAME "rockchip_canfd"
+#define RKCANFD_NAPI_WEIGHT 32
+#define RKCANFD_TXFIFO_DEPTH 1
+#define RKCANFD_TX_STOP_THRESHOLD 1
+#define RKCANFD_TX_START_THRESHOLD 1
+
+#define RKCANFD_TIMESTAMP_WORK_MAX_DELAY_SEC 60
+#define RKCANFD_ERRATUM_5_SYSCLOCK_HZ_MIN (300 * MEGA)
+
+enum rkcanfd_model {
+	RKCANFD_MODEL_RK3568V2 = 0x35682,
+};
+
+struct rkcanfd_devtype_data {
+	enum rkcanfd_model model;
+};
+
+struct rkcanfd_fifo_header {
+	u32 frameinfo;
+	u32 id;
+	u32 ts;
+};
+
+struct rkcanfd_priv {
+	struct can_priv can;
+	struct can_rx_offload offload;
+	struct net_device *ndev;
+
+	void __iomem *regs;
+	unsigned int tx_head;
+	unsigned int tx_tail;
+
+	u32 reg_mode_default;
+	u32 reg_int_mask_default;
+	struct rkcanfd_devtype_data devtype_data;
+
+	struct reset_control *reset;
+	struct clk_bulk_data *clks;
+	int clks_num;
+};
+
+static inline u32
+rkcanfd_read(const struct rkcanfd_priv *priv, u32 reg)
+{
+	return readl(priv->regs + reg);
+}
+
+static inline void
+rkcanfd_read_rep(const struct rkcanfd_priv *priv, u32 reg,
+		 void *buf, unsigned int len)
+{
+	readsl(priv->regs + reg, buf, len / sizeof(u32));
+}
+
+static inline void
+rkcanfd_write(const struct rkcanfd_priv *priv, u32 reg, u32 val)
+{
+	writel(val, priv->regs + reg);
+}
+
+static inline u32
+rkcanfd_get_timestamp(const struct rkcanfd_priv *priv)
+{
+	return rkcanfd_read(priv, RKCANFD_REG_TIMESTAMP);
+}
+
+int rkcanfd_handle_rx_int(struct rkcanfd_priv *priv);
+
+void rkcanfd_timestamp_init(struct rkcanfd_priv *priv);
+
+int rkcanfd_start_xmit(struct sk_buff *skb, struct net_device *ndev);
+
+#endif

-- 
2.43.0

[PATCH can-next v2 05/20] can: rockchip_canfd: add quirks for errata workarounds

[Marc Kleine-Budde]

Add a basic infrastructure for quirks for the 12 documented errata.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-core.c | 11 +++++-
 drivers/net/can/rockchip/rockchip_canfd.h      | 55 ++++++++++++++++++++++++++
 2 files changed, 64 insertions(+), 2 deletions(-)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index ec00e3dd77db..6329ad1fe154 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -26,6 +26,12 @@
 
 static const struct rkcanfd_devtype_data rkcanfd_devtype_data_rk3568v2 = {
 	.model = RKCANFD_MODEL_RK3568V2,
+	.quirks = RKCANFD_QUIRK_RK3568_ERRATUM_1 | RKCANFD_QUIRK_RK3568_ERRATUM_2 |
+		RKCANFD_QUIRK_RK3568_ERRATUM_3 | RKCANFD_QUIRK_RK3568_ERRATUM_4 |
+		RKCANFD_QUIRK_RK3568_ERRATUM_5 | RKCANFD_QUIRK_RK3568_ERRATUM_6 |
+		RKCANFD_QUIRK_RK3568_ERRATUM_7 | RKCANFD_QUIRK_RK3568_ERRATUM_8 |
+		RKCANFD_QUIRK_RK3568_ERRATUM_9 | RKCANFD_QUIRK_RK3568_ERRATUM_10 |
+		RKCANFD_QUIRK_RK3568_ERRATUM_11 | RKCANFD_QUIRK_RK3568_ERRATUM_12,
 };
 
 static const char *__rkcanfd_get_model_str(enum rkcanfd_model model)
@@ -709,10 +715,11 @@ static void rkcanfd_register_done(const struct rkcanfd_priv *priv)
 	dev_id = rkcanfd_read(priv, RKCANFD_REG_RTL_VERSION);
 
 	netdev_info(priv->ndev,
-		    "Rockchip-CANFD %s rev%lu.%lu found\n",
+		    "Rockchip-CANFD %s rev%lu.%lu (errata 0x%04x) found\n",
 		    rkcanfd_get_model_str(priv),
 		    FIELD_GET(RKCANFD_REG_RTL_VERSION_MAJOR, dev_id),
-		    FIELD_GET(RKCANFD_REG_RTL_VERSION_MINOR, dev_id));
+		    FIELD_GET(RKCANFD_REG_RTL_VERSION_MINOR, dev_id),
+		    priv->devtype_data.quirks);
 }
 
 static int rkcanfd_register(struct rkcanfd_priv *priv)
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index 0848b1900baa..09626ca174a8 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -295,12 +295,67 @@
 #define RKCANFD_TIMESTAMP_WORK_MAX_DELAY_SEC 60
 #define RKCANFD_ERRATUM_5_SYSCLOCK_HZ_MIN (300 * MEGA)
 
+/* 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 BIT(0)
+
+/* Erratum 2: The error frame sent after detecting a CRC error has an
+ * abnormal position.
+ */
+#define RKCANFD_QUIRK_RK3568_ERRATUM_2 BIT(1)
+
+/* Erratum 3: Intermittent CRC calculation errors. */
+#define RKCANFD_QUIRK_RK3568_ERRATUM_3 BIT(2)
+
+/* Erratum 4: Intermittent occurrence of stuffing errors. */
+#define RKCANFD_QUIRK_RK3568_ERRATUM_4 BIT(3)
+
+/* Erratum 5: Counters related to the TXFIFO and RXFIFO exhibit
+ * abnormal counting behavior.
+ */
+#define RKCANFD_QUIRK_RK3568_ERRATUM_5 BIT(4)
+
+/* Erratum 6: The CAN controller's transmission of extended frames may
+ * intermittently change into standard frames
+ */
+#define RKCANFD_QUIRK_RK3568_ERRATUM_6 BIT(5)
+
+/* Erratum 7: In the passive error state, the CAN controller's
+ * interframe space segment counting is inaccurate.
+ */
+#define RKCANFD_QUIRK_RK3568_ERRATUM_7 BIT(6)
+
+/* Erratum 8: The Format-Error error flag is transmitted one bit
+ * later.
+ */
+#define RKCANFD_QUIRK_RK3568_ERRATUM_8 BIT(7)
+
+/* Erratum 9: In the arbitration segment, the CAN controller will
+ * identify stuffing errors as arbitration failures.
+ */
+#define RKCANFD_QUIRK_RK3568_ERRATUM_9 BIT(8)
+
+/* Erratum 10: Does not support the BUSOFF slow recovery mechanism. */
+#define RKCANFD_QUIRK_RK3568_ERRATUM_10 BIT(9)
+
+/* Erratum 11: Arbitration error. */
+#define RKCANFD_QUIRK_RK3568_ERRATUM_11 BIT(10)
+
+/* Erratum 12: A dominant bit at the third bit of the intermission may
+ * cause a transmission error.
+ */
+#define RKCANFD_QUIRK_RK3568_ERRATUM_12 BIT(11)
+
 enum rkcanfd_model {
 	RKCANFD_MODEL_RK3568V2 = 0x35682,
 };
 
 struct rkcanfd_devtype_data {
 	enum rkcanfd_model model;
+	u32 quirks;
 };
 
 struct rkcanfd_fifo_header {

-- 
2.43.0

[PATCH can-next v2 06/20] can: rockchip_canfd: add quirk for broken CAN-FD support

[Marc Kleine-Budde]

The errata sheets doesn't say anything about CAN-FD, but tests on the
rk3568v2 and rk3568v3 show that receiving certain CAN-FD frames
triggers an Error Interrupt.

Mark the CAN-FD support as broken.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-core.c |  5 ++++-
 drivers/net/can/rockchip/rockchip_canfd.h      | 21 +++++++++++++++++++++
 2 files changed, 25 insertions(+), 1 deletion(-)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index 6329ad1fe154..0887164b0db3 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -31,7 +31,8 @@ static const struct rkcanfd_devtype_data rkcanfd_devtype_data_rk3568v2 = {
 		RKCANFD_QUIRK_RK3568_ERRATUM_5 | RKCANFD_QUIRK_RK3568_ERRATUM_6 |
 		RKCANFD_QUIRK_RK3568_ERRATUM_7 | RKCANFD_QUIRK_RK3568_ERRATUM_8 |
 		RKCANFD_QUIRK_RK3568_ERRATUM_9 | RKCANFD_QUIRK_RK3568_ERRATUM_10 |
-		RKCANFD_QUIRK_RK3568_ERRATUM_11 | RKCANFD_QUIRK_RK3568_ERRATUM_12,
+		RKCANFD_QUIRK_RK3568_ERRATUM_11 | RKCANFD_QUIRK_RK3568_ERRATUM_12 |
+		RKCANFD_QUIRK_CANFD_BROKEN,
 };
 
 static const char *__rkcanfd_get_model_str(enum rkcanfd_model model)
@@ -820,6 +821,8 @@ static int rkcanfd_probe(struct platform_device *pdev)
 	priv->can.bittiming_const = &rkcanfd_bittiming_const;
 	priv->can.data_bittiming_const = &rkcanfd_data_bittiming_const;
 	priv->can.ctrlmode_supported = 0;
+	if (!(priv->devtype_data.quirks & RKCANFD_QUIRK_CANFD_BROKEN))
+		priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
 	priv->can.do_set_mode = rkcanfd_set_mode;
 	priv->can.do_get_berr_counter = rkcanfd_get_berr_counter;
 	priv->ndev = ndev;
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index 09626ca174a8..7321027534fb 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -349,6 +349,27 @@
  */
 #define RKCANFD_QUIRK_RK3568_ERRATUM_12 BIT(11)
 
+/* 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 BIT(12)
+
 enum rkcanfd_model {
 	RKCANFD_MODEL_RK3568V2 = 0x35682,
 };

-- 
2.43.0

[PATCH can-next v2 07/20] can: rockchip_canfd: add support for rk3568v3

[Marc Kleine-Budde]

Add the support for the rk3568v3 SoC, the CAN-FD IP core has 7
documented errata.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-core.c | 20 ++++++++++++++++++++
 drivers/net/can/rockchip/rockchip_canfd.h      |  1 +
 2 files changed, 21 insertions(+)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index 0887164b0db3..7b4abf9984af 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -35,11 +35,28 @@ static const struct rkcanfd_devtype_data rkcanfd_devtype_data_rk3568v2 = {
 		RKCANFD_QUIRK_CANFD_BROKEN,
 };
 
+/* 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 erratum 5, but tests
+ * with the rk3568v2 and rk3568v3 show that the RX_FIFO_CNT is
+ * sometimes too high. In contrast to the errata sheet mark rk3568v3
+ * as effected by erratum 5, too.
+ */
+static const struct rkcanfd_devtype_data rkcanfd_devtype_data_rk3568v3 = {
+	.model = RKCANFD_MODEL_RK3568V3,
+	.quirks = RKCANFD_QUIRK_RK3568_ERRATUM_1 | RKCANFD_QUIRK_RK3568_ERRATUM_2 |
+		RKCANFD_QUIRK_RK3568_ERRATUM_5 | RKCANFD_QUIRK_RK3568_ERRATUM_7 |
+		RKCANFD_QUIRK_RK3568_ERRATUM_8 | RKCANFD_QUIRK_RK3568_ERRATUM_10 |
+		RKCANFD_QUIRK_RK3568_ERRATUM_11 | RKCANFD_QUIRK_RK3568_ERRATUM_12 |
+		RKCANFD_QUIRK_CANFD_BROKEN,
+};
+
 static const char *__rkcanfd_get_model_str(enum rkcanfd_model model)
 {
 	switch (model) {
 	case RKCANFD_MODEL_RK3568V2:
 		return "rk3568v2";
+	case RKCANFD_MODEL_RK3568V3:
+		return "rk3568v3";
 	}
 
 	return "<unknown>";
@@ -767,6 +784,9 @@ static const struct of_device_id rkcanfd_of_match[] = {
 	}, {
 		.compatible = "rockchip,rk3568v2-canfd",
 		.data = &rkcanfd_devtype_data_rk3568v2,
+	}, {
+		.compatible = "rockchip,rk3568v3-canfd",
+		.data = &rkcanfd_devtype_data_rk3568v3,
 	}, {
 		/* sentinel */
 	},
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index 7321027534fb..9b446331fbd0 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -372,6 +372,7 @@
 
 enum rkcanfd_model {
 	RKCANFD_MODEL_RK3568V2 = 0x35682,
+	RKCANFD_MODEL_RK3568V3 = 0x35683,
 };
 
 struct rkcanfd_devtype_data {

-- 
2.43.0

[PATCH can-next v2 08/20] can: rockchip_canfd: add notes about known issues

[Marc Kleine-Budde]

Even the rk3568v3 has some known issues. Document them together with a
reproducer.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd.h | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index 9b446331fbd0..3dafb5e68dc5 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -370,6 +370,26 @@
  */
 #define RKCANFD_QUIRK_CANFD_BROKEN BIT(12)
 
+/* 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 {
 	RKCANFD_MODEL_RK3568V2 = 0x35682,
 	RKCANFD_MODEL_RK3568V3 = 0x35683,

-- 
2.43.0

[PATCH can-next v2 09/20] can: rockchip_canfd: rkcanfd_handle_rx_int_one(): implement workaround for erratum 5: check for empty FIFO

[Marc Kleine-Budde]

The rk3568 CAN-FD errata sheet as of Tue 07 Nov 2023 11:25:31 +08:00
says:

| Erratum 5: Counters related to the TXFIFO and RXFIFO exhibit
| abnormal counting behavior.
|
| Due to a bug in the cross-asynchronous logic of the enable signals
| for rx_fifo_cnt and txe_fifo_frame_cnt counters, the counts of these
| two counters become inaccurate. This issue has resulted in the
| inability to use the TXFIFO and RXFIFO functions.

The errata sheet mentioned above 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.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-rx.c | 14 ++++++++++++++
 drivers/net/can/rockchip/rockchip_canfd.h    | 22 ++++++++++++++++++++++
 2 files changed, 36 insertions(+)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
index 5398aff0d180..609282359bca 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-rx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -47,6 +47,16 @@ rkcanfd_fifo_header_to_cfd_header(const struct rkcanfd_priv *priv,
 	return len + cfd->len;
 }
 
+static inline bool
+rkcanfd_fifo_header_empty(const struct rkcanfd_fifo_header *header)
+{
+	/* Erratum 5: If the FIFO is empty, we read the same value for
+	 * all elements.
+	 */
+	return header->frameinfo == header->id &&
+		header->frameinfo == header->ts;
+}
+
 static int rkcanfd_handle_rx_int_one(struct rkcanfd_priv *priv)
 {
 	struct net_device_stats *stats = &priv->ndev->stats;
@@ -63,6 +73,10 @@ static int rkcanfd_handle_rx_int_one(struct rkcanfd_priv *priv)
 	rkcanfd_read_rep(priv, RKCANFD_REG_RX_FIFO_RDATA,
 			 cfd->data, sizeof(cfd->data));
 
+	/* Erratum 5: Counters for TXEFIFO and RXFIFO may be wrong */
+	if (rkcanfd_fifo_header_empty(header))
+		return 0;
+
 	len = rkcanfd_fifo_header_to_cfd_header(priv, header, cfd);
 
 	/* Drop any received CAN-FD frames if CAN-FD mode is not
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index 3dafb5e68dc5..c775e75a2740 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -315,6 +315,28 @@
 
 /* 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 BIT(4)
 

-- 
2.43.0

[PATCH can-next v2 10/20] can: rockchip_canfd: rkcanfd_register_done(): add warning for erratum 5

[Marc Kleine-Budde]

Tests on the rk3568v2 and rk3568v3 show that a reduced "baudclk" (e.g.
80MHz, compared to the standard 300MHz) significantly increases the
possibility of incorrect FIFO counters, i.e. erratum 5.

Print an info message if the clock is below the known good value of
300MHz.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-core.c | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index 7b4abf9984af..232bc49b1a48 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -738,6 +738,13 @@ static void rkcanfd_register_done(const struct rkcanfd_priv *priv)
 		    FIELD_GET(RKCANFD_REG_RTL_VERSION_MAJOR, dev_id),
 		    FIELD_GET(RKCANFD_REG_RTL_VERSION_MINOR, dev_id),
 		    priv->devtype_data.quirks);
+
+	if (priv->devtype_data.quirks & RKCANFD_QUIRK_RK3568_ERRATUM_5 &&
+	    priv->can.clock.freq < RKCANFD_ERRATUM_5_SYSCLOCK_HZ_MIN)
+		netdev_info(priv->ndev,
+			    "Erratum 5: CAN clock frequency (%luMHz) lower than known good (%luMHz), expect degraded performance\n",
+			    priv->can.clock.freq / MEGA,
+			    RKCANFD_ERRATUM_5_SYSCLOCK_HZ_MIN / MEGA);
 }
 
 static int rkcanfd_register(struct rkcanfd_priv *priv)

-- 
2.43.0

[PATCH can-next v2 11/20] can: rockchip_canfd: add TX PATH

[Marc Kleine-Budde]

The IP core has a TX event FIFO. In other IP cores, this type of FIFO
usually contains the events that a CAN frame has been successfully
sent. However, the IP core on the rk3568v2 the FIFO also holds events
of unsuccessful transmission attempts.

It turned out that the best way to work around this problem is to set
the IP core to self-receive mode (RXSTX), filter out the self-received
frames and insert them into the complete TX path.

Add a pair new functions to check if 2 struct canfd_frame are equal.
The 1st checks if the header of the CAN frames are equal, the 2nd
checks if the data portion are equal:

- rkcanfd_can_frame_header_equal()
- rkcanfd_can_frame_data_equal()

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-core.c |  6 +-
 drivers/net/can/rockchip/rockchip_canfd-rx.c   | 96 ++++++++++++++++++++++++++
 drivers/net/can/rockchip/rockchip_canfd-tx.c   | 94 +++++++++++++++++++++++++
 drivers/net/can/rockchip/rockchip_canfd.h      | 26 +++++++
 4 files changed, 221 insertions(+), 1 deletion(-)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index 232bc49b1a48..237b81c71dd8 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -229,6 +229,7 @@ static void rkcanfd_chip_start(struct rkcanfd_priv *priv)
 	 * - CAN_FD: enable CAN-FD
 	 * - AUTO_RETX_MODE: auto retransmission on TX error
 	 * - COVER_MODE: RX-FIFO overwrite mode, do not send OVERLOAD frames
+	 * - RXSTX_MODE: Receive Self Transmit data mode
 	 * - WORK_MODE: transition from reset to working mode
 	 */
 	reg = rkcanfd_read(priv, RKCANFD_REG_MODE);
@@ -236,17 +237,20 @@ static void rkcanfd_chip_start(struct rkcanfd_priv *priv)
 		RKCANFD_REG_MODE_CAN_FD_MODE_ENABLE |
 		RKCANFD_REG_MODE_AUTO_RETX_MODE |
 		RKCANFD_REG_MODE_COVER_MODE |
+		RKCANFD_REG_MODE_RXSTX_MODE |
 		RKCANFD_REG_MODE_WORK_MODE;
 
 	/* mask, i.e. ignore:
 	 * - TIMESTAMP_COUNTER_OVERFLOW_INT - timestamp counter overflow interrupt
 	 * - TX_ARBIT_FAIL_INT - TX arbitration fail interrupt
 	 * - OVERLOAD_INT - CAN bus overload interrupt
+	 * - TX_FINISH_INT - Transmit finish interrupt
 	 */
 	priv->reg_int_mask_default =
 		RKCANFD_REG_INT_TIMESTAMP_COUNTER_OVERFLOW_INT |
 		RKCANFD_REG_INT_TX_ARBIT_FAIL_INT |
-		RKCANFD_REG_INT_OVERLOAD_INT;
+		RKCANFD_REG_INT_OVERLOAD_INT |
+		RKCANFD_REG_INT_TX_FINISH_INT;
 
 	rkcanfd_chip_fifo_setup(priv);
 	rkcanfd_timestamp_init(priv);
diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
index 609282359bca..650dfd41e0a0 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-rx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -4,8 +4,52 @@
 //               Marc Kleine-Budde <kernel@pengutronix.de>
 //
 
+#include <net/netdev_queues.h>
+
 #include "rockchip_canfd.h"
 
+static bool rkcanfd_can_frame_header_equal(const struct canfd_frame *const cfd1,
+					   const struct canfd_frame *const cfd2,
+					   const bool is_canfd)
+{
+	const u8 mask_flags = CANFD_BRS | CANFD_ESI | CANFD_FDF;
+	canid_t mask = CAN_EFF_FLAG;
+
+	if (canfd_sanitize_len(cfd1->len) != canfd_sanitize_len(cfd2->len))
+		return false;
+
+	if (!is_canfd)
+		mask |= CAN_RTR_FLAG;
+
+	if (cfd1->can_id & CAN_EFF_FLAG)
+		mask |= CAN_EFF_MASK;
+	else
+		mask |= CAN_SFF_MASK;
+
+	if ((cfd1->can_id & mask) != (cfd2->can_id & mask))
+		return false;
+
+	if (is_canfd &&
+	    (cfd1->flags & mask_flags) != (cfd2->flags & mask_flags))
+		return false;
+
+	return true;
+}
+
+static bool rkcanfd_can_frame_data_equal(const struct canfd_frame *cfd1,
+					 const struct canfd_frame *cfd2,
+					 const bool is_canfd)
+{
+	u8 len;
+
+	if (!is_canfd && (cfd1->can_id & CAN_RTR_FLAG))
+		return true;
+
+	len = canfd_sanitize_len(cfd1->len);
+
+	return !memcmp(cfd1->data, cfd2->data, len);
+}
+
 static unsigned int
 rkcanfd_fifo_header_to_cfd_header(const struct rkcanfd_priv *priv,
 				  const struct rkcanfd_fifo_header *header,
@@ -47,6 +91,48 @@ rkcanfd_fifo_header_to_cfd_header(const struct rkcanfd_priv *priv,
 	return len + cfd->len;
 }
 
+static int rkcanfd_rxstx_filter(struct rkcanfd_priv *priv,
+				const struct canfd_frame *cfd_rx, const u32 ts,
+				bool *tx_done)
+{
+	const struct canfd_frame *cfd_nominal;
+	const struct sk_buff *skb;
+	unsigned int tx_tail;
+
+	tx_tail = rkcanfd_get_tx_tail(priv);
+	skb = priv->can.echo_skb[tx_tail];
+	if (!skb) {
+		netdev_err(priv->ndev,
+			   "%s: echo_skb[%u]=NULL tx_head=0x%08x tx_tail=0x%08x\n",
+			   __func__, tx_tail,
+			   priv->tx_head, priv->tx_tail);
+
+		return -ENOMSG;
+	}
+	cfd_nominal = (struct canfd_frame *)skb->data;
+
+	/* We RX'ed a frame identical to our pending TX frame. */
+	if (rkcanfd_can_frame_header_equal(cfd_rx, cfd_nominal,
+					   cfd_rx->flags & CANFD_FDF) &&
+	    rkcanfd_can_frame_data_equal(cfd_rx, cfd_nominal,
+					 cfd_rx->flags & CANFD_FDF)) {
+		unsigned int frame_len;
+
+		rkcanfd_handle_tx_done_one(priv, ts, &frame_len);
+
+		WRITE_ONCE(priv->tx_tail, priv->tx_tail + 1);
+		netif_subqueue_completed_wake(priv->ndev, 0, 1, frame_len,
+					      rkcanfd_get_tx_free(priv),
+					      RKCANFD_TX_START_THRESHOLD);
+
+		*tx_done = true;
+
+		return 0;
+	}
+
+	return 0;
+}
+
 static inline bool
 rkcanfd_fifo_header_empty(const struct rkcanfd_fifo_header *header)
 {
@@ -89,6 +175,16 @@ static int rkcanfd_handle_rx_int_one(struct rkcanfd_priv *priv)
 		return 0;
 	}
 
+	if (rkcanfd_get_tx_pending(priv)) {
+		bool tx_done = false;
+
+		err = rkcanfd_rxstx_filter(priv, cfd, header->ts, &tx_done);
+		if (err)
+			return err;
+		if (tx_done)
+			return 0;
+	}
+
 	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FDF)
 		skb = alloc_canfd_skb(priv->ndev, &skb_cfd);
 	else
diff --git a/drivers/net/can/rockchip/rockchip_canfd-tx.c b/drivers/net/can/rockchip/rockchip_canfd-tx.c
index 89c65db3b2dc..668a902f4c2a 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-tx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-tx.c
@@ -4,9 +4,103 @@
 //               Marc Kleine-Budde <kernel@pengutronix.de>
 //
 
+#include <net/netdev_queues.h>
+
 #include "rockchip_canfd.h"
 
+static void rkcanfd_start_xmit_write_cmd(const struct rkcanfd_priv *priv,
+					 const u32 reg_cmd)
+{
+	rkcanfd_write(priv, RKCANFD_REG_CMD, reg_cmd);
+}
+
 int rkcanfd_start_xmit(struct sk_buff *skb, struct net_device *ndev)
 {
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+	u32 reg_frameinfo, reg_id, reg_cmd;
+	unsigned int tx_head, frame_len;
+	const struct canfd_frame *cfd;
+	int err;
+	u8 i;
+
+	if (can_dropped_invalid_skb(ndev, skb))
+		return NETDEV_TX_OK;
+
+	if (!netif_subqueue_maybe_stop(priv->ndev, 0,
+				       rkcanfd_get_tx_free(priv),
+				       RKCANFD_TX_STOP_THRESHOLD,
+				       RKCANFD_TX_START_THRESHOLD)) {
+		if (net_ratelimit())
+			netdev_info(priv->ndev,
+				    "Stopping tx-queue (tx_head=0x%08x, tx_tail=0x%08x, tx_pending=%d)\n",
+				    priv->tx_head, priv->tx_tail,
+				    rkcanfd_get_tx_pending(priv));
+
+		return NETDEV_TX_BUSY;
+	}
+
+	cfd = (struct canfd_frame *)skb->data;
+
+	if (cfd->can_id & CAN_EFF_FLAG) {
+		reg_frameinfo = RKCANFD_REG_FD_FRAMEINFO_FRAME_FORMAT;
+		reg_id = FIELD_PREP(RKCANFD_REG_FD_ID_EFF, cfd->can_id);
+	} else {
+		reg_frameinfo = 0;
+		reg_id = FIELD_PREP(RKCANFD_REG_FD_ID_SFF, cfd->can_id);
+	}
+
+	if (cfd->can_id & CAN_RTR_FLAG)
+		reg_frameinfo |= RKCANFD_REG_FD_FRAMEINFO_RTR;
+
+	if (can_is_canfd_skb(skb)) {
+		reg_frameinfo |= RKCANFD_REG_FD_FRAMEINFO_FDF;
+
+		if (cfd->flags & CANFD_BRS)
+			reg_frameinfo |= RKCANFD_REG_FD_FRAMEINFO_BRS;
+
+		reg_frameinfo |= FIELD_PREP(RKCANFD_REG_FD_FRAMEINFO_DATA_LENGTH,
+					    can_fd_len2dlc(cfd->len));
+	} else {
+		reg_frameinfo |= FIELD_PREP(RKCANFD_REG_FD_FRAMEINFO_DATA_LENGTH,
+					    cfd->len);
+	}
+
+	tx_head = rkcanfd_get_tx_head(priv);
+	reg_cmd = RKCANFD_REG_CMD_TX_REQ(tx_head);
+
+	rkcanfd_write(priv, RKCANFD_REG_FD_TXFRAMEINFO, reg_frameinfo);
+	rkcanfd_write(priv, RKCANFD_REG_FD_TXID, reg_id);
+	for (i = 0; i < cfd->len; i += 4)
+		rkcanfd_write(priv, RKCANFD_REG_FD_TXDATA0 + i,
+			      *(u32 *)(cfd->data + i));
+
+	frame_len = can_skb_get_frame_len(skb);
+	err = can_put_echo_skb(skb, ndev, tx_head, frame_len);
+	if (!err)
+		netdev_sent_queue(priv->ndev, frame_len);
+
+	WRITE_ONCE(priv->tx_head, priv->tx_head + 1);
+
+	rkcanfd_start_xmit_write_cmd(priv, reg_cmd);
+
+	netif_subqueue_maybe_stop(priv->ndev, 0,
+				  rkcanfd_get_tx_free(priv),
+				  RKCANFD_TX_STOP_THRESHOLD,
+				  RKCANFD_TX_START_THRESHOLD);
+
 	return NETDEV_TX_OK;
 }
+
+void rkcanfd_handle_tx_done_one(struct rkcanfd_priv *priv, const u32 ts,
+				unsigned int *frame_len_p)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	unsigned int tx_tail;
+
+	tx_tail = rkcanfd_get_tx_tail(priv);
+	stats->tx_bytes +=
+		can_rx_offload_get_echo_skb_queue_timestamp(&priv->offload,
+							    tx_tail, ts,
+							    frame_len_p);
+	stats->tx_packets++;
+}
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index c775e75a2740..a4688411e586 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -471,10 +471,36 @@ rkcanfd_get_timestamp(const struct rkcanfd_priv *priv)
 	return rkcanfd_read(priv, RKCANFD_REG_TIMESTAMP);
 }
 
+static inline unsigned int
+rkcanfd_get_tx_head(const struct rkcanfd_priv *priv)
+{
+	return READ_ONCE(priv->tx_head) & (RKCANFD_TXFIFO_DEPTH - 1);
+}
+
+static inline unsigned int
+rkcanfd_get_tx_tail(const struct rkcanfd_priv *priv)
+{
+	return READ_ONCE(priv->tx_tail) & (RKCANFD_TXFIFO_DEPTH - 1);
+}
+
+static inline unsigned int
+rkcanfd_get_tx_pending(const struct rkcanfd_priv *priv)
+{
+	return READ_ONCE(priv->tx_head) - READ_ONCE(priv->tx_tail);
+}
+
+static inline unsigned int
+rkcanfd_get_tx_free(const struct rkcanfd_priv *priv)
+{
+	return RKCANFD_TXFIFO_DEPTH - rkcanfd_get_tx_pending(priv);
+}
+
 int rkcanfd_handle_rx_int(struct rkcanfd_priv *priv);
 
 void rkcanfd_timestamp_init(struct rkcanfd_priv *priv);
 
 int 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

-- 
2.43.0

[PATCH can-next v2 12/20] can: rockchip_canfd: implement workaround for erratum 6

[Marc Kleine-Budde]

The rk3568 CAN-FD errata sheet as of Tue 07 Nov 2023 11:25:31 +08:00
says:

| The CAN controller's transmission of extended frames may
| intermittently change into standard frames.
|
| When using the CAN controller to send extended frames, if the
| 'tx_req' is configured as 1 and coincides with the internal
| transmission point, the extended frame will be transmitted onto the
| bus in the format of a standard frame.

To work around Erratum 6, the driver is in self-receiving mode (RXSTX)
and all received CAN frames are passed through rkcanfd_rxstx_filter().

Add a check in rkcanfd_rxstx_filter() whether the received frame
corresponds to the current outgoing frame, but the extended CAN ID has
been mangled to a standard ID. In this case re-send the original CAN
frame.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-rx.c | 44 ++++++++++++++++++++++++++++
 drivers/net/can/rockchip/rockchip_canfd-tx.c |  8 +++++
 drivers/net/can/rockchip/rockchip_canfd.h    | 19 ++++++++++++
 3 files changed, 71 insertions(+)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
index 650dfd41e0a0..31cee3362f1e 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-rx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -95,6 +95,7 @@ static int rkcanfd_rxstx_filter(struct rkcanfd_priv *priv,
 				const struct canfd_frame *cfd_rx, const u32 ts,
 				bool *tx_done)
 {
+	struct net_device_stats *stats = &priv->ndev->stats;
 	const struct canfd_frame *cfd_nominal;
 	const struct sk_buff *skb;
 	unsigned int tx_tail;
@@ -130,6 +131,49 @@ static int rkcanfd_rxstx_filter(struct rkcanfd_priv *priv,
 		return 0;
 	}
 
+	if (!(priv->devtype_data.quirks & RKCANFD_QUIRK_RK3568_ERRATUM_6))
+		return 0;
+
+	/* Erratum 6: Extended frames may be send as standard frames.
+	 *
+	 * Not affected if:
+	 * - TX'ed a standard frame -or-
+	 * - RX'ed an extended frame
+	 */
+	if (!(cfd_nominal->can_id & CAN_EFF_FLAG) ||
+	    (cfd_rx->can_id & CAN_EFF_FLAG))
+		return 0;
+
+	/* Not affected if:
+	 * - standard part and RTR flag of the TX'ed frame
+	 *   is not equal the CAN-ID and RTR flag of the RX'ed frame.
+	 */
+	if ((cfd_nominal->can_id & (CAN_RTR_FLAG | CAN_SFF_MASK)) !=
+	    (cfd_rx->can_id & (CAN_RTR_FLAG | CAN_SFF_MASK)))
+		return 0;
+
+	/* Not affected if:
+	 * - length is not the same
+	 */
+	if (cfd_nominal->len != cfd_rx->len)
+		return 0;
+
+	/* Not affected if:
+	 * - the data of non RTR frames is different
+	 */
+	if (!(cfd_nominal->can_id & CAN_RTR_FLAG) &&
+	    memcmp(cfd_nominal->data, cfd_rx->data, cfd_nominal->len))
+		return 0;
+
+	/* Affected by Erratum 6 */
+
+	*tx_done = true;
+
+	stats->tx_packets++;
+	stats->tx_errors++;
+
+	rkcanfd_xmit_retry(priv);
+
 	return 0;
 }
 
diff --git a/drivers/net/can/rockchip/rockchip_canfd-tx.c b/drivers/net/can/rockchip/rockchip_canfd-tx.c
index 668a902f4c2a..e98e7a836b83 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-tx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-tx.c
@@ -14,6 +14,14 @@ static void rkcanfd_start_xmit_write_cmd(const struct rkcanfd_priv *priv,
 	rkcanfd_write(priv, RKCANFD_REG_CMD, reg_cmd);
 }
 
+void rkcanfd_xmit_retry(struct rkcanfd_priv *priv)
+{
+	const unsigned int tx_head = rkcanfd_get_tx_head(priv);
+	const u32 reg_cmd = RKCANFD_REG_CMD_TX_REQ(tx_head);
+
+	rkcanfd_start_xmit_write_cmd(priv, reg_cmd);
+}
+
 int rkcanfd_start_xmit(struct sk_buff *skb, struct net_device *ndev)
 {
 	struct rkcanfd_priv *priv = netdev_priv(ndev);
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index a4688411e586..3fe6ddcdd8ac 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -342,6 +342,24 @@
 
 /* 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 BIT(5)
 
@@ -499,6 +517,7 @@ int rkcanfd_handle_rx_int(struct rkcanfd_priv *priv);
 
 void rkcanfd_timestamp_init(struct rkcanfd_priv *priv);
 
+void rkcanfd_xmit_retry(struct rkcanfd_priv *priv);
 int 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);

-- 
2.43.0

[PATCH can-next v2 13/20] can: rockchip_canfd: implement workaround for erratum 12

[Marc Kleine-Budde]

The rk3568 CAN-FD errata sheet as of Tue 07 Nov 2023 11:25:31 +08:00
says:

| A dominant bit at the third bit of the intermission may cause a
| transmission error.
|
| When sampling the third bit of the intermission as a dominant bit, if
| tx_req is configured to transmit extended frames at this time, the
| extended frame may be sent to the bus in the format of a standard
| frame. The extended frame will be sent as a standard frame and will not
| result in error frames

Turn on "Interframe Spaceing RX Mode" only during TX to work around
erratum 12, according to rock-chip:

| Spaceing RX Mode = 1, the third Bit between frames cannot receive
| and send, and the fourth Bit begins to receive and send.
|
| Spaceing RX Mode = 0, allowing the third Bit between frames to
| receive and send.

Message-ID: <be72939f-0a9e-0608-dfff-7b0096a26eba@rock-chips.com>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-tx.c | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-tx.c b/drivers/net/can/rockchip/rockchip_canfd-tx.c
index e98e7a836b83..9db6d90a4e7f 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-tx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-tx.c
@@ -11,7 +11,14 @@
 static void rkcanfd_start_xmit_write_cmd(const struct rkcanfd_priv *priv,
 					 const u32 reg_cmd)
 {
+	if (priv->devtype_data.quirks & RKCANFD_QUIRK_RK3568_ERRATUM_12)
+		rkcanfd_write(priv, RKCANFD_REG_MODE, priv->reg_mode_default |
+			      RKCANFD_REG_MODE_SPACE_RX_MODE);
+
 	rkcanfd_write(priv, RKCANFD_REG_CMD, reg_cmd);
+
+	if (priv->devtype_data.quirks & RKCANFD_QUIRK_RK3568_ERRATUM_12)
+		rkcanfd_write(priv, RKCANFD_REG_MODE, priv->reg_mode_default);
 }
 
 void rkcanfd_xmit_retry(struct rkcanfd_priv *priv)

-- 
2.43.0

[PATCH can-next v2 14/20] can: rockchip_canfd: rkcanfd_get_berr_counter_corrected(): work around broken {RX,TX}ERRORCNT register

[Marc Kleine-Budde]

Tests show that sometimes both CAN bus error counters read 0x0, even
if the controller is in warning mode
(RKCANFD_REG_STATE_ERROR_WARNING_STATE in RKCANFD_REG_STATE
set).

To work around this issue, if both error counters read from hardware
are 0x0, use the structure priv->bec, otherwise save the read value in
priv->bec.

In rkcanfd_handle_rx_int_one() decrement the priv->bec.rxerr for
successfully RX'ed CAN frames.

In rkcanfd_handle_tx_done_one() decrement the priv->bec.txerr for
successfully TX'ed CAN frames.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-core.c | 50 ++++++++++++++++++++++----
 drivers/net/can/rockchip/rockchip_canfd-rx.c   | 15 ++++++++
 drivers/net/can/rockchip/rockchip_canfd-tx.c   |  8 +++++
 drivers/net/can/rockchip/rockchip_canfd.h      |  2 ++
 4 files changed, 69 insertions(+), 6 deletions(-)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index 237b81c71dd8..5d78ec8dba7e 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -159,11 +159,47 @@ static int rkcanfd_set_bittiming(struct rkcanfd_priv *priv)
 	return 0;
 }
 
-static void rkcanfd_get_berr_counter_raw(struct rkcanfd_priv *priv,
-					 struct can_berr_counter *bec)
+static void rkcanfd_get_berr_counter_corrected(struct rkcanfd_priv *priv,
+					       struct can_berr_counter *bec)
 {
+	struct can_berr_counter bec_raw;
+	u32 reg_state;
+
 	bec->rxerr = rkcanfd_read(priv, RKCANFD_REG_RXERRORCNT);
 	bec->txerr = rkcanfd_read(priv, RKCANFD_REG_TXERRORCNT);
+	bec_raw = *bec;
+
+	/* Tests show that sometimes both CAN bus error counters read
+	 * 0x0, even if the controller is in warning mode
+	 * (RKCANFD_REG_STATE_ERROR_WARNING_STATE in RKCANFD_REG_STATE
+	 * set).
+	 *
+	 * In case both error counters read 0x0, use the struct
+	 * priv->bec, otherwise save the read value to priv->bec.
+	 *
+	 * rkcanfd_handle_rx_int_one() handles the decrementing of
+	 * priv->bec.rxerr for successfully RX'ed CAN frames.
+	 *
+	 * Luckily the controller doesn't decrement the RX CAN bus
+	 * error counter in hardware for self received TX'ed CAN
+	 * frames (RKCANFD_REG_MODE_RXSTX_MODE), so RXSTX doesn't
+	 * interfere with proper RX CAN bus error counters.
+	 *
+	 * rkcanfd_handle_tx_done_one() handles the decrementing of
+	 * priv->bec.txerr for successfully TX'ed CAN frames.
+	 */
+	if (!bec->rxerr && !bec->txerr)
+		*bec = priv->bec;
+	else
+		priv->bec = *bec;
+
+	reg_state = rkcanfd_read(priv, RKCANFD_REG_STATE);
+	netdev_vdbg(priv->ndev,
+		    "%s: Raw/Cor: txerr=%3u/%3u rxerr=%3u/%3u Bus Off=%u Warning=%u\n",
+		    __func__,
+		    bec_raw.txerr, bec->txerr, bec_raw.rxerr, bec->rxerr,
+		    !!(reg_state & RKCANFD_REG_STATE_BUS_OFF_STATE),
+		    !!(reg_state & RKCANFD_REG_STATE_ERROR_WARNING_STATE));
 }
 
 static int rkcanfd_get_berr_counter(const struct net_device *ndev,
@@ -176,7 +212,7 @@ static int rkcanfd_get_berr_counter(const struct net_device *ndev,
 	if (err)
 		return err;
 
-	rkcanfd_get_berr_counter_raw(priv, bec);
+	rkcanfd_get_berr_counter_corrected(priv, bec);
 
 	pm_runtime_put(ndev->dev.parent);
 
@@ -252,6 +288,8 @@ static void rkcanfd_chip_start(struct rkcanfd_priv *priv)
 		RKCANFD_REG_INT_OVERLOAD_INT |
 		RKCANFD_REG_INT_TX_FINISH_INT;
 
+	memset(&priv->bec, 0x0, sizeof(priv->bec));
+
 	rkcanfd_chip_fifo_setup(priv);
 	rkcanfd_timestamp_init(priv);
 	rkcanfd_set_bittiming(priv);
@@ -488,7 +526,7 @@ static int rkcanfd_handle_error_int(struct rkcanfd_priv *priv)
 	if (cf) {
 		struct can_berr_counter bec;
 
-		rkcanfd_get_berr_counter_raw(priv, &bec);
+		rkcanfd_get_berr_counter_corrected(priv, &bec);
 		cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR | CAN_ERR_CNT;
 		cf->data[6] = bec.txerr;
 		cf->data[7] = bec.rxerr;
@@ -517,7 +555,7 @@ static int rkcanfd_handle_state_error_int(struct rkcanfd_priv *priv)
 	u32 timestamp;
 	int err;
 
-	rkcanfd_get_berr_counter_raw(priv, &bec);
+	rkcanfd_get_berr_counter_corrected(priv, &bec);
 	can_state_get_by_berr_counter(ndev, &bec, &tx_state, &rx_state);
 
 	new_state = max(tx_state, rx_state);
@@ -570,7 +608,7 @@ rkcanfd_handle_rx_fifo_overflow_int(struct rkcanfd_priv *priv)
 	if (skb)
 		return 0;
 
-	rkcanfd_get_berr_counter_raw(priv, &bec);
+	rkcanfd_get_berr_counter_corrected(priv, &bec);
 
 	cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
 	cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
index 31cee3362f1e..eff08948840c 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-rx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -167,6 +167,13 @@ static int rkcanfd_rxstx_filter(struct rkcanfd_priv *priv,
 
 	/* Affected by Erratum 6 */
 
+	/* Manual handling of CAN Bus Error counters. See
+	 * rkcanfd_get_corrected_berr_counter() for detailed
+	 * explanation.
+	 */
+	if (priv->bec.txerr)
+		priv->bec.txerr--;
+
 	*tx_done = true;
 
 	stats->tx_packets++;
@@ -229,6 +236,14 @@ static int rkcanfd_handle_rx_int_one(struct rkcanfd_priv *priv)
 			return 0;
 	}
 
+	/* Manual handling of CAN Bus Error counters. See
+	 * rkcanfd_get_corrected_berr_counter() for detailed
+	 * explanation.
+	 */
+	if (priv->bec.rxerr)
+		priv->bec.rxerr = min(CAN_ERROR_PASSIVE_THRESHOLD,
+				      priv->bec.rxerr) - 1;
+
 	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FDF)
 		skb = alloc_canfd_skb(priv->ndev, &skb_cfd);
 	else
diff --git a/drivers/net/can/rockchip/rockchip_canfd-tx.c b/drivers/net/can/rockchip/rockchip_canfd-tx.c
index 9db6d90a4e7f..f8e74e814b3b 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-tx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-tx.c
@@ -113,6 +113,14 @@ void rkcanfd_handle_tx_done_one(struct rkcanfd_priv *priv, const u32 ts,
 	unsigned int tx_tail;
 
 	tx_tail = rkcanfd_get_tx_tail(priv);
+
+	/* Manual handling of CAN Bus Error counters. See
+	 * rkcanfd_get_corrected_berr_counter() for detailed
+	 * explanation.
+	 */
+	if (priv->bec.txerr)
+		priv->bec.txerr--;
+
 	stats->tx_bytes +=
 		can_rx_offload_get_echo_skb_queue_timestamp(&priv->offload,
 							    tx_tail, ts,
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index 3fe6ddcdd8ac..67f135fbcfb9 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -459,6 +459,8 @@ struct rkcanfd_priv {
 	u32 reg_int_mask_default;
 	struct rkcanfd_devtype_data devtype_data;
 
+	struct can_berr_counter bec;
+
 	struct reset_control *reset;
 	struct clk_bulk_data *clks;
 	int clks_num;

-- 
2.43.0

[PATCH can-next v2 15/20] can: rockchip_canfd: add stats support for errata workarounds

[Marc Kleine-Budde]

The driver contains workarounds for some of the rk3568v2 errata. Add
ethtool-based statistics ("ethtool -S") to track how often an erratum
workaround was needed.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/Makefile                 |  1 +
 drivers/net/can/rockchip/rockchip_canfd-core.c    |  2 +
 drivers/net/can/rockchip/rockchip_canfd-ethtool.c | 73 +++++++++++++++++++++++
 drivers/net/can/rockchip/rockchip_canfd-rx.c      | 13 +++-
 drivers/net/can/rockchip/rockchip_canfd.h         | 14 +++++
 5 files changed, 102 insertions(+), 1 deletion(-)

diff --git a/drivers/net/can/rockchip/Makefile b/drivers/net/can/rockchip/Makefile
index 4eb7c50d8d5b..3760d3e1baa3 100644
--- a/drivers/net/can/rockchip/Makefile
+++ b/drivers/net/can/rockchip/Makefile
@@ -4,6 +4,7 @@ obj-$(CONFIG_CAN_ROCKCHIP_CANFD) += rockchip_canfd.o
 
 rockchip_canfd-objs :=
 rockchip_canfd-objs += rockchip_canfd-core.o
+rockchip_canfd-objs += rockchip_canfd-ethtool.o
 rockchip_canfd-objs += rockchip_canfd-rx.o
 rockchip_canfd-objs += rockchip_canfd-timestamp.o
 rockchip_canfd-objs += rockchip_canfd-tx.o
diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index 5d78ec8dba7e..9c762b59e310 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -800,6 +800,8 @@ static int rkcanfd_register(struct rkcanfd_priv *priv)
 	if (err)
 		goto out_pm_runtime_disable;
 
+	rkcanfd_ethtool_init(priv);
+
 	err = register_candev(ndev);
 	if (err)
 		goto out_pm_runtime_put_sync;
diff --git a/drivers/net/can/rockchip/rockchip_canfd-ethtool.c b/drivers/net/can/rockchip/rockchip_canfd-ethtool.c
new file mode 100644
index 000000000000..0084f37b2b9f
--- /dev/null
+++ b/drivers/net/can/rockchip/rockchip_canfd-ethtool.c
@@ -0,0 +1,73 @@
+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright (c) 2023, 2024 Pengutronix,
+//               Marc Kleine-Budde <kernel@pengutronix.de>
+//
+
+#include <linux/ethtool.h>
+
+#include "rockchip_canfd.h"
+
+enum rkcanfd_stats_type {
+	RKCANFD_STATS_TYPE_RX_FIFO_EMPTY_ERRORS,
+	RKCANFD_STATS_TYPE_TX_EXTENDED_AS_STANDARD_ERRORS,
+};
+
+static const char rkcanfd_stats_strings[][ETH_GSTRING_LEN] = {
+	[RKCANFD_STATS_TYPE_RX_FIFO_EMPTY_ERRORS] = "rx_fifo_empty_errors",
+	[RKCANFD_STATS_TYPE_TX_EXTENDED_AS_STANDARD_ERRORS] = "tx_extended_as_standard_errors",
+};
+
+static void
+rkcanfd_ethtool_get_strings(struct net_device *ndev, u32 stringset, u8 *buf)
+{
+	switch (stringset) {
+	case ETH_SS_STATS:
+		memcpy(buf, rkcanfd_stats_strings,
+		       sizeof(rkcanfd_stats_strings));
+	}
+}
+
+static int rkcanfd_ethtool_get_sset_count(struct net_device *netdev, int sset)
+{
+	switch (sset) {
+	case ETH_SS_STATS:
+		return ARRAY_SIZE(rkcanfd_stats_strings);
+	default:
+		return -EOPNOTSUPP;
+	}
+}
+
+static void
+rkcanfd_ethtool_get_ethtool_stats(struct net_device *ndev,
+				  struct ethtool_stats *stats, u64 *data)
+{
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+	struct rkcanfd_stats *rkcanfd_stats;
+	unsigned int start;
+
+	rkcanfd_stats = &priv->stats;
+
+	do {
+		start = u64_stats_fetch_begin(&rkcanfd_stats->syncp);
+
+		data[RKCANFD_STATS_TYPE_RX_FIFO_EMPTY_ERRORS] =
+			u64_stats_read(&rkcanfd_stats->rx_fifo_empty_errors);
+		data[RKCANFD_STATS_TYPE_TX_EXTENDED_AS_STANDARD_ERRORS] =
+			u64_stats_read(&rkcanfd_stats->tx_extended_as_standard_errors);
+	} while (u64_stats_fetch_retry(&rkcanfd_stats->syncp, start));
+}
+
+static const struct ethtool_ops rkcanfd_ethtool_ops = {
+	.get_ts_info = ethtool_op_get_ts_info,
+	.get_strings = rkcanfd_ethtool_get_strings,
+	.get_sset_count = rkcanfd_ethtool_get_sset_count,
+	.get_ethtool_stats = rkcanfd_ethtool_get_ethtool_stats,
+};
+
+void rkcanfd_ethtool_init(struct rkcanfd_priv *priv)
+{
+	priv->ndev->ethtool_ops = &rkcanfd_ethtool_ops;
+
+	u64_stats_init(&priv->stats.syncp);
+}
diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
index eff08948840c..9f72483dab18 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-rx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -96,6 +96,7 @@ static int rkcanfd_rxstx_filter(struct rkcanfd_priv *priv,
 				bool *tx_done)
 {
 	struct net_device_stats *stats = &priv->ndev->stats;
+	struct rkcanfd_stats *rkcanfd_stats = &priv->stats;
 	const struct canfd_frame *cfd_nominal;
 	const struct sk_buff *skb;
 	unsigned int tx_tail;
@@ -166,6 +167,9 @@ static int rkcanfd_rxstx_filter(struct rkcanfd_priv *priv,
 		return 0;
 
 	/* Affected by Erratum 6 */
+	u64_stats_update_begin(&rkcanfd_stats->syncp);
+	u64_stats_inc(&rkcanfd_stats->tx_extended_as_standard_errors);
+	u64_stats_update_end(&rkcanfd_stats->syncp);
 
 	/* Manual handling of CAN Bus Error counters. See
 	 * rkcanfd_get_corrected_berr_counter() for detailed
@@ -211,8 +215,15 @@ static int rkcanfd_handle_rx_int_one(struct rkcanfd_priv *priv)
 			 cfd->data, sizeof(cfd->data));
 
 	/* Erratum 5: Counters for TXEFIFO and RXFIFO may be wrong */
-	if (rkcanfd_fifo_header_empty(header))
+	if (rkcanfd_fifo_header_empty(header)) {
+		struct rkcanfd_stats *rkcanfd_stats = &priv->stats;
+
+		u64_stats_update_begin(&rkcanfd_stats->syncp);
+		u64_stats_inc(&rkcanfd_stats->rx_fifo_empty_errors);
+		u64_stats_update_end(&rkcanfd_stats->syncp);
+
 		return 0;
+	}
 
 	len = rkcanfd_fifo_header_to_cfd_header(priv, header, cfd);
 
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index 67f135fbcfb9..f24a1d18be66 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -446,6 +446,16 @@ struct rkcanfd_fifo_header {
 	u32 ts;
 };
 
+struct rkcanfd_stats {
+	struct u64_stats_sync syncp;
+
+	/* Erratum 5 */
+	u64_stats_t rx_fifo_empty_errors;
+
+	/* Erratum 6 */
+	u64_stats_t tx_extended_as_standard_errors;
+};
+
 struct rkcanfd_priv {
 	struct can_priv can;
 	struct can_rx_offload offload;
@@ -461,6 +471,8 @@ struct rkcanfd_priv {
 
 	struct can_berr_counter bec;
 
+	struct rkcanfd_stats stats;
+
 	struct reset_control *reset;
 	struct clk_bulk_data *clks;
 	int clks_num;
@@ -515,6 +527,8 @@ rkcanfd_get_tx_free(const struct rkcanfd_priv *priv)
 	return RKCANFD_TXFIFO_DEPTH - rkcanfd_get_tx_pending(priv);
 }
 
+void rkcanfd_ethtool_init(struct rkcanfd_priv *priv);
+
 int rkcanfd_handle_rx_int(struct rkcanfd_priv *priv);
 
 void rkcanfd_timestamp_init(struct rkcanfd_priv *priv);

-- 
2.43.0

[PATCH can-next v2 16/20] can: rockchip_canfd: prepare to use full TX-FIFO depth

[Marc Kleine-Budde]

So far the TX-FIFO is only used with a depth of 1, although the
hardware offers a depth of 2.

The workaround for the chips that are affected by erratum 6, i.e. EFF
frames may be send as standard frames, is to re-send the EFF frame.
This means the driver cannot queue the next frame for sending, as long
ad the EFF frame has not been successfully send out.

Introduce rkcanfd_get_effective_tx_free() that returns "0" space in
the TX-FIFO if an EFF frame is pending and the actual free space in
the TX-FIFO otherwise. Then replace rkcanfd_get_tx_free() with
rkcanfd_get_effective_tx_free() everywhere.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-rx.c |  2 +-
 drivers/net/can/rockchip/rockchip_canfd-tx.c | 38 ++++++++++++++++++++++++++--
 drivers/net/can/rockchip/rockchip_canfd.h    |  1 +
 3 files changed, 38 insertions(+), 3 deletions(-)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
index 9f72483dab18..bacef5e5dc39 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-rx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -124,7 +124,7 @@ static int rkcanfd_rxstx_filter(struct rkcanfd_priv *priv,
 
 		WRITE_ONCE(priv->tx_tail, priv->tx_tail + 1);
 		netif_subqueue_completed_wake(priv->ndev, 0, 1, frame_len,
-					      rkcanfd_get_tx_free(priv),
+					      rkcanfd_get_effective_tx_free(priv),
 					      RKCANFD_TX_START_THRESHOLD);
 
 		*tx_done = true;
diff --git a/drivers/net/can/rockchip/rockchip_canfd-tx.c b/drivers/net/can/rockchip/rockchip_canfd-tx.c
index f8e74e814b3b..d10da548ba71 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-tx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-tx.c
@@ -8,6 +8,40 @@
 
 #include "rockchip_canfd.h"
 
+static bool rkcanfd_tx_tail_is_eff(const struct rkcanfd_priv *priv)
+{
+	const struct canfd_frame *cfd;
+	const struct sk_buff *skb;
+	unsigned int tx_tail;
+
+	if (!rkcanfd_get_tx_pending(priv))
+		return false;
+
+	tx_tail = rkcanfd_get_tx_tail(priv);
+	skb = priv->can.echo_skb[tx_tail];
+	if (!skb) {
+		netdev_err(priv->ndev,
+			   "%s: echo_skb[%u]=NULL tx_head=0x%08x tx_tail=0x%08x\n",
+			   __func__, tx_tail,
+			   priv->tx_head, priv->tx_tail);
+
+		return false;
+	}
+
+	cfd = (struct canfd_frame *)skb->data;
+
+	return cfd->can_id & CAN_EFF_FLAG;
+}
+
+unsigned int rkcanfd_get_effective_tx_free(const struct rkcanfd_priv *priv)
+{
+	if (priv->devtype_data.quirks & RKCANFD_QUIRK_RK3568_ERRATUM_6 &&
+	    rkcanfd_tx_tail_is_eff(priv))
+		return 0;
+
+	return rkcanfd_get_tx_free(priv);
+}
+
 static void rkcanfd_start_xmit_write_cmd(const struct rkcanfd_priv *priv,
 					 const u32 reg_cmd)
 {
@@ -42,7 +76,7 @@ int rkcanfd_start_xmit(struct sk_buff *skb, struct net_device *ndev)
 		return NETDEV_TX_OK;
 
 	if (!netif_subqueue_maybe_stop(priv->ndev, 0,
-				       rkcanfd_get_tx_free(priv),
+				       rkcanfd_get_effective_tx_free(priv),
 				       RKCANFD_TX_STOP_THRESHOLD,
 				       RKCANFD_TX_START_THRESHOLD)) {
 		if (net_ratelimit())
@@ -99,7 +133,7 @@ int rkcanfd_start_xmit(struct sk_buff *skb, struct net_device *ndev)
 	rkcanfd_start_xmit_write_cmd(priv, reg_cmd);
 
 	netif_subqueue_maybe_stop(priv->ndev, 0,
-				  rkcanfd_get_tx_free(priv),
+				  rkcanfd_get_effective_tx_free(priv),
 				  RKCANFD_TX_STOP_THRESHOLD,
 				  RKCANFD_TX_START_THRESHOLD);
 
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index f24a1d18be66..37d90400429f 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -533,6 +533,7 @@ int rkcanfd_handle_rx_int(struct rkcanfd_priv *priv);
 
 void rkcanfd_timestamp_init(struct rkcanfd_priv *priv);
 
+unsigned int rkcanfd_get_effective_tx_free(const struct rkcanfd_priv *priv);
 void rkcanfd_xmit_retry(struct rkcanfd_priv *priv);
 int rkcanfd_start_xmit(struct sk_buff *skb, struct net_device *ndev);
 void rkcanfd_handle_tx_done_one(struct rkcanfd_priv *priv, const u32 ts,

-- 
2.43.0

[PATCH can-next v2 17/20] can: rockchip_canfd: enable full TX-FIFO depth of 2

[Marc Kleine-Budde]

The previous commit prepared the TX path to make use of the full
TX-FIFO depth as much as possible. Increase the available TX-FIFO
depth to the hardware maximum of 2.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index 37d90400429f..6be2865ec95a 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -288,7 +288,7 @@
 
 #define DEVICE_NAME "rockchip_canfd"
 #define RKCANFD_NAPI_WEIGHT 32
-#define RKCANFD_TXFIFO_DEPTH 1
+#define RKCANFD_TXFIFO_DEPTH 2
 #define RKCANFD_TX_STOP_THRESHOLD 1
 #define RKCANFD_TX_START_THRESHOLD 1
 

-- 
2.43.0

[PATCH can-next v2 18/20] can: rockchip_canfd: add hardware timestamping support

[Marc Kleine-Budde]

Add support for hardware based timestamping.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-core.c     |  6 ++
 drivers/net/can/rockchip/rockchip_canfd-ethtool.c  |  2 +-
 drivers/net/can/rockchip/rockchip_canfd-rx.c       |  1 +
 .../net/can/rockchip/rockchip_canfd-timestamp.c    | 94 +++++++++++++++++++++-
 drivers/net/can/rockchip/rockchip_canfd-tx.c       |  4 +
 drivers/net/can/rockchip/rockchip_canfd.h          | 11 +++
 6 files changed, 115 insertions(+), 3 deletions(-)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index 9c762b59e310..acbbfdd4cb69 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -292,6 +292,8 @@ static void rkcanfd_chip_start(struct rkcanfd_priv *priv)
 
 	rkcanfd_chip_fifo_setup(priv);
 	rkcanfd_timestamp_init(priv);
+	rkcanfd_timestamp_start(priv);
+
 	rkcanfd_set_bittiming(priv);
 
 	rkcanfd_chip_interrupts_disable(priv);
@@ -315,6 +317,7 @@ static void rkcanfd_chip_stop(struct rkcanfd_priv *priv, const enum can_state st
 {
 	priv->can.state = state;
 
+	rkcanfd_timestamp_stop(priv);
 	__rkcanfd_chip_stop(priv, state);
 }
 
@@ -322,6 +325,7 @@ static void rkcanfd_chip_stop_sync(struct rkcanfd_priv *priv, const enum can_sta
 {
 	priv->can.state = state;
 
+	rkcanfd_timestamp_stop_sync(priv);
 	__rkcanfd_chip_stop(priv, state);
 }
 
@@ -353,6 +357,8 @@ rkcanfd_alloc_can_err_skb(struct rkcanfd_priv *priv,
 	*timestamp = rkcanfd_get_timestamp(priv);
 
 	skb = alloc_can_err_skb(priv->ndev, cf);
+	if (skb)
+		rkcanfd_skb_set_timestamp(priv, skb, *timestamp);
 
 	return skb;
 }
diff --git a/drivers/net/can/rockchip/rockchip_canfd-ethtool.c b/drivers/net/can/rockchip/rockchip_canfd-ethtool.c
index 0084f37b2b9f..5aeeef64a67a 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-ethtool.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-ethtool.c
@@ -59,7 +59,7 @@ rkcanfd_ethtool_get_ethtool_stats(struct net_device *ndev,
 }
 
 static const struct ethtool_ops rkcanfd_ethtool_ops = {
-	.get_ts_info = ethtool_op_get_ts_info,
+	.get_ts_info = can_ethtool_op_get_ts_info_hwts,
 	.get_strings = rkcanfd_ethtool_get_strings,
 	.get_sset_count = rkcanfd_ethtool_get_sset_count,
 	.get_ethtool_stats = rkcanfd_ethtool_get_ethtool_stats,
diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
index bacef5e5dc39..d862116840eb 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-rx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -267,6 +267,7 @@ static int rkcanfd_handle_rx_int_one(struct rkcanfd_priv *priv)
 	}
 
 	memcpy(skb_cfd, cfd, len);
+	rkcanfd_skb_set_timestamp(priv, skb, header->ts);
 
 	err = can_rx_offload_queue_timestamp(&priv->offload, skb, header->ts);
 	if (err)
diff --git a/drivers/net/can/rockchip/rockchip_canfd-timestamp.c b/drivers/net/can/rockchip/rockchip_canfd-timestamp.c
index 9301b3ceceb0..81cccc5fd838 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-timestamp.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-timestamp.c
@@ -4,12 +4,102 @@
 //               Marc Kleine-Budde <kernel@pengutronix.de>
 //
 
+#include <linux/clocksource.h>
+
 #include "rockchip_canfd.h"
 
+static u64 rkcanfd_timestamp_read(const struct cyclecounter *cc)
+{
+	const struct rkcanfd_priv *priv = container_of(cc, struct rkcanfd_priv, cc);
+
+	return rkcanfd_get_timestamp(priv);
+}
+
+void rkcanfd_skb_set_timestamp(const struct rkcanfd_priv *priv,
+			       struct sk_buff *skb, const u32 timestamp)
+{
+	struct skb_shared_hwtstamps *hwtstamps = skb_hwtstamps(skb);
+	u64 ns;
+
+	ns = timecounter_cyc2time(&priv->tc, timestamp);
+
+	hwtstamps->hwtstamp = ns_to_ktime(ns);
+}
+
+static void rkcanfd_timestamp_work(struct work_struct *work)
+{
+	const struct delayed_work *delayed_work = to_delayed_work(work);
+	struct rkcanfd_priv *priv;
+
+	priv = container_of(delayed_work, struct rkcanfd_priv, timestamp);
+	timecounter_read(&priv->tc);
+
+	schedule_delayed_work(&priv->timestamp, priv->work_delay_jiffies);
+}
+
 void rkcanfd_timestamp_init(struct rkcanfd_priv *priv)
 {
-	u32 reg;
+	const struct can_bittiming *dbt = &priv->can.data_bittiming;
+	const struct can_bittiming *bt = &priv->can.bittiming;
+	struct cyclecounter *cc = &priv->cc;
+	u32 bitrate, div, reg, rate;
+	u64 work_delay_ns;
+	u64 max_cycles;
 
-	reg = RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_ENABLE;
+	/* At the standard clock rate of 300Mhz on the rk3658, the 32
+	 * bit timer overflows every 14s. This means that we have to
+	 * poll it quite often to avoid missing a wrap around.
+	 *
+	 * Divide it down to a reasonable rate, at least twice the bit
+	 * rate.
+	 */
+	bitrate = max(bt->bitrate, dbt->bitrate);
+	div = min(DIV_ROUND_UP(priv->can.clock.freq, bitrate * 2),
+		  FIELD_MAX(RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_PRESCALE) + 1);
+
+	reg = FIELD_PREP(RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_PRESCALE,
+			 div - 1) |
+		RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_ENABLE;
 	rkcanfd_write(priv, RKCANFD_REG_TIMESTAMP_CTRL, reg);
+
+	cc->read = rkcanfd_timestamp_read;
+	cc->mask = CYCLECOUNTER_MASK(32);
+
+	rate = priv->can.clock.freq / div;
+	clocks_calc_mult_shift(&cc->mult, &cc->shift, rate, NSEC_PER_SEC,
+			       RKCANFD_TIMESTAMP_WORK_MAX_DELAY_SEC);
+
+	max_cycles = div_u64(ULLONG_MAX, cc->mult);
+	max_cycles = min(max_cycles, cc->mask);
+	work_delay_ns = clocksource_cyc2ns(max_cycles, cc->mult, cc->shift) / 3;
+	priv->work_delay_jiffies = nsecs_to_jiffies(work_delay_ns);
+	INIT_DELAYED_WORK(&priv->timestamp, rkcanfd_timestamp_work);
+
+	netdev_dbg(priv->ndev, "clock=%lu.%02luMHz bitrate=%lu.%02luMBit/s div=%u rate=%lu.%02luMHz mult=%u shift=%u delay=%lus\n",
+		   priv->can.clock.freq / MEGA,
+		   priv->can.clock.freq % MEGA / KILO / 10,
+		   bitrate / MEGA,
+		   bitrate % MEGA / KILO / 100,
+		   div,
+		   rate / MEGA,
+		   rate % MEGA / KILO / 10,
+		   cc->mult, cc->shift,
+		   priv->work_delay_jiffies / HZ);
+}
+
+void rkcanfd_timestamp_start(struct rkcanfd_priv *priv)
+{
+	timecounter_init(&priv->tc, &priv->cc, ktime_get_real_ns());
+
+	schedule_delayed_work(&priv->timestamp, priv->work_delay_jiffies);
+}
+
+void rkcanfd_timestamp_stop(struct rkcanfd_priv *priv)
+{
+	cancel_delayed_work(&priv->timestamp);
+}
+
+void rkcanfd_timestamp_stop_sync(struct rkcanfd_priv *priv)
+{
+	cancel_delayed_work_sync(&priv->timestamp);
 }
diff --git a/drivers/net/can/rockchip/rockchip_canfd-tx.c b/drivers/net/can/rockchip/rockchip_canfd-tx.c
index d10da548ba71..f954f38b955f 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-tx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-tx.c
@@ -145,8 +145,10 @@ void rkcanfd_handle_tx_done_one(struct rkcanfd_priv *priv, const u32 ts,
 {
 	struct net_device_stats *stats = &priv->ndev->stats;
 	unsigned int tx_tail;
+	struct sk_buff *skb;
 
 	tx_tail = rkcanfd_get_tx_tail(priv);
+	skb = priv->can.echo_skb[tx_tail];
 
 	/* Manual handling of CAN Bus Error counters. See
 	 * rkcanfd_get_corrected_berr_counter() for detailed
@@ -155,6 +157,8 @@ void rkcanfd_handle_tx_done_one(struct rkcanfd_priv *priv, const u32 ts,
 	if (priv->bec.txerr)
 		priv->bec.txerr--;
 
+	if (skb)
+		rkcanfd_skb_set_timestamp(priv, skb, ts);
 	stats->tx_bytes +=
 		can_rx_offload_get_echo_skb_queue_timestamp(&priv->offload,
 							    tx_tail, ts,
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index 6be2865ec95a..3efd7f174e14 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -15,6 +15,7 @@
 #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>
@@ -469,6 +470,11 @@ struct rkcanfd_priv {
 	u32 reg_int_mask_default;
 	struct rkcanfd_devtype_data devtype_data;
 
+	struct cyclecounter cc;
+	struct timecounter tc;
+	struct delayed_work timestamp;
+	unsigned long work_delay_jiffies;
+
 	struct can_berr_counter bec;
 
 	struct rkcanfd_stats stats;
@@ -531,7 +537,12 @@ 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);

-- 
2.43.0

[PATCH can-next v2 19/20] can: rockchip_canfd: add support for CAN_CTRLMODE_LOOPBACK

[Marc Kleine-Budde]

Add support for loopback mode.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-core.c | 7 ++++++-
 drivers/net/can/rockchip/rockchip_canfd-rx.c   | 2 +-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index acbbfdd4cb69..2d6eca8d23be 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -276,6 +276,11 @@ static void rkcanfd_chip_start(struct rkcanfd_priv *priv)
 		RKCANFD_REG_MODE_RXSTX_MODE |
 		RKCANFD_REG_MODE_WORK_MODE;
 
+	if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK)
+		priv->reg_mode_default |= RKCANFD_REG_MODE_LBACK_MODE |
+			RKCANFD_REG_MODE_SILENT_MODE |
+			RKCANFD_REG_MODE_SELF_TEST;
+
 	/* mask, i.e. ignore:
 	 * - TIMESTAMP_COUNTER_OVERFLOW_INT - timestamp counter overflow interrupt
 	 * - TX_ARBIT_FAIL_INT - TX arbitration fail interrupt
@@ -897,7 +902,7 @@ static int rkcanfd_probe(struct platform_device *pdev)
 	priv->can.clock.freq = clk_get_rate(priv->clks[0].clk);
 	priv->can.bittiming_const = &rkcanfd_bittiming_const;
 	priv->can.data_bittiming_const = &rkcanfd_data_bittiming_const;
-	priv->can.ctrlmode_supported = 0;
+	priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK;
 	if (!(priv->devtype_data.quirks & RKCANFD_QUIRK_CANFD_BROKEN))
 		priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
 	priv->can.do_set_mode = rkcanfd_set_mode;
diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
index d862116840eb..475c0409e215 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-rx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -243,7 +243,7 @@ static int rkcanfd_handle_rx_int_one(struct rkcanfd_priv *priv)
 		err = rkcanfd_rxstx_filter(priv, cfd, header->ts, &tx_done);
 		if (err)
 			return err;
-		if (tx_done)
+		if (tx_done && !(priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK))
 			return 0;
 	}
 

-- 
2.43.0

[PATCH can-next v2 20/20] can: rockchip_canfd: add support for CAN_CTRLMODE_BERR_REPORTING

[Marc Kleine-Budde]

Add support for Bus Error Reporting.

Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
---
 drivers/net/can/rockchip/rockchip_canfd-core.c | 25 +++++++++++++++++--------
 1 file changed, 17 insertions(+), 8 deletions(-)

diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index 2d6eca8d23be..6daaee7dfe56 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -293,6 +293,12 @@ static void rkcanfd_chip_start(struct rkcanfd_priv *priv)
 		RKCANFD_REG_INT_OVERLOAD_INT |
 		RKCANFD_REG_INT_TX_FINISH_INT;
 
+	/* Do not mask the bus error interrupt if the bus error
+	 * reporting is requested.
+	 */
+	if (!(priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING))
+		priv->reg_int_mask_default |= RKCANFD_REG_INT_ERROR_INT;
+
 	memset(&priv->bec, 0x0, sizeof(priv->bec));
 
 	rkcanfd_chip_fifo_setup(priv);
@@ -533,14 +539,16 @@ static int rkcanfd_handle_error_int(struct rkcanfd_priv *priv)
 	if (!reg_ec)
 		return 0;
 
-	skb = rkcanfd_alloc_can_err_skb(priv, &cf, &timestamp);
-	if (cf) {
-		struct can_berr_counter bec;
+	if (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING) {
+		skb = rkcanfd_alloc_can_err_skb(priv, &cf, &timestamp);
+		if (cf) {
+			struct can_berr_counter bec;
 
-		rkcanfd_get_berr_counter_corrected(priv, &bec);
-		cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR | CAN_ERR_CNT;
-		cf->data[6] = bec.txerr;
-		cf->data[7] = bec.rxerr;
+			rkcanfd_get_berr_counter_corrected(priv, &bec);
+			cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR | CAN_ERR_CNT;
+			cf->data[6] = bec.txerr;
+			cf->data[7] = bec.rxerr;
+		}
 	}
 
 	rkcanfd_handle_error_int_reg_ec(priv, cf, reg_ec);
@@ -902,7 +910,8 @@ static int rkcanfd_probe(struct platform_device *pdev)
 	priv->can.clock.freq = clk_get_rate(priv->clks[0].clk);
 	priv->can.bittiming_const = &rkcanfd_bittiming_const;
 	priv->can.data_bittiming_const = &rkcanfd_data_bittiming_const;
-	priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK;
+	priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK |
+		CAN_CTRLMODE_BERR_REPORTING;
 	if (!(priv->devtype_data.quirks & RKCANFD_QUIRK_CANFD_BROKEN))
 		priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
 	priv->can.do_set_mode = rkcanfd_set_mode;

-- 
2.43.0