Re: [PATCH v4 12/15] can: grcan: Add CANFD TX support alongside legacy CAN

Vincent Mailhol
2026-02-01T16:43:30Z

On 28/01/2026 at 15:49, Arun Muthusamy wrote:
> Include CANFD TX support with the legacy CAN support, enabling
> support for extended data payloads to provide higher bit rates.
>
> Signed-off-by: Arun Muthusamy <arun.muthusamy@gaisler.com>
> ---
> drivers/net/can/grcan.c | 103 +++++++++++++++++++++++++++++-----------
> 1 file changed, 75 insertions(+), 28 deletions(-)
>
> diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c
> index 3104946071dd..da0b5c129aae 100644
> --- a/drivers/net/can/grcan.c
> +++ b/drivers/net/can/grcan.c
> @@ -174,6 +174,7 @@ struct grcan_registers {
> #define GRCAN_IRQ_DEFAULT (GRCAN_IRQ_RX | GRCAN_IRQ_TX | GRCAN_IRQ_ERRORS)
>
> #define GRCAN_MSG_SIZE 16
> +#define GRCAN_CLASSIC_DATA_SIZE 8
>
> #define GRCAN_MSG_IDE 0x80000000
> #define GRCAN_MSG_RTR 0x40000000
> @@ -195,6 +196,10 @@ struct grcan_registers {
> #define GRCAN_MSG_OFF 0x00000002
> #define GRCAN_MSG_PASS 0x00000001
>
> +#define GRCAN_MSG_EID_MASK GENMASK(28, 0)
> +#define GRCAN_MSG_BID_MASK GENMASK(28, 18)
> +#define GRCAN_MSG_DLC_MASK GENMASK(31, 28)
> +
> #define GRCAN_BUFFER_ALIGNMENT 1024
> #define GRCAN_DEFAULT_BUFFER_SIZE 1024
> #define GRCAN_VALID_TR_SIZE_MASK 0x001fffc0
> @@ -227,6 +232,9 @@ struct grcan_registers {
> #define GRCANFD_FDBTR_PS2_BIT 5
> #define GRCANFD_FDBTR_SJW_BIT 0
>
> +#define GRCAN_TX_BRS BIT(25)
> +#define GRCAN_TX_FDF BIT(26)
> +
> /* Hardware capabilities */
> struct grcan_hwcap {
> /* CAN-FD capable, indicates GRCANFD IP.
> @@ -1207,6 +1215,14 @@ static void grcan_transmit_catch_up(struct net_device *dev)
> spin_unlock_irqrestore(&priv->lock, flags);
> }
>
> +static int grcan_numbds(int len)
> +{
> + if (len <= GRCAN_CLASSIC_DATA_SIZE)
> + return 1;
> +
> + return 1 + DIV_ROUND_UP(len - GRCAN_CLASSIC_DATA_SIZE, GRCAN_MSG_SIZE);
> +}
> +
> static int grcan_receive(struct net_device *dev, int budget)
> {
> struct grcan_priv *priv = netdev_priv(dev);
> @@ -1389,15 +1405,22 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
> struct net_device *dev)
> {
> struct grcan_priv *priv = netdev_priv(dev);
> - struct grcan_registers __iomem *regs = priv->regs;
> + struct grcan_registers __iomem *regs;
> + u32 eff, rtr, dlc, tmp, err, can_id;
> struct grcan_dma *dma = &priv->dma;
> - struct can_frame *cf = (struct can_frame *)skb->data;
> + u32 bds, copy_len, payload_offset;
> u32 id, txwr, txrd, space, txctrl;
> - int slotindex;
> - u32 *slot;
> - u32 rtr, eff, dlc, tmp, err;
> + struct canfd_frame *cfd;
> + struct can_frame *cf;
> unsigned long flags;
> - u32 oneshotmode = priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT;
> + u32 oneshotmode;
> + u8 *payload;
> + u32 *slot;
> + u8 len;
> + int i;
> +
> + regs = priv->regs;
> + oneshotmode = priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT;
>
> if (can_dev_dropped_skb(dev, skb))
> return NETDEV_TX_OK;
> @@ -1408,6 +1431,18 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
> if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
> return NETDEV_TX_BUSY;
>
> + cfd = (struct canfd_frame *)skb->data;
> + len = cfd->len;
> + can_id = cfd->can_id;
> + payload = cfd->data;
> +
> + if (can_is_canfd_skb(skb)) {
> + dlc = can_fd_len2dlc(len);
> + } else {
> + cf = (struct can_frame *)skb->data;
> + dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
> + }
> +
> /* Reads of priv->eskbp and shut-downs of the queue needs to
> * be atomic towards the updates to priv->eskbp and wake-ups
> * of the queue in the interrupt handler.
> @@ -1416,9 +1451,7 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
>
> txwr = grcan_read_reg(&regs->txwr);
> space = grcan_txspace(dma->tx.size, txwr, priv->eskbp);
> -
> - slotindex = txwr / GRCAN_MSG_SIZE;
> - slot = dma->tx.buf + txwr;
> + bds = grcan_numbds(len);
>
> if (unlikely(space == 1))
> netif_stop_queue(dev);
> @@ -1434,24 +1467,39 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
> return NETDEV_TX_BUSY;
> }
>
> - /* Convert and write CAN message to DMA buffer */
> - eff = cf->can_id & CAN_EFF_FLAG;
> - rtr = cf->can_id & CAN_RTR_FLAG;
> - id = cf->can_id & (eff ? CAN_EFF_MASK : CAN_SFF_MASK);
> - dlc = cf->len;
> - if (eff)
> - tmp = (id << GRCAN_MSG_EID_BIT) & GRCAN_MSG_EID;
> - else
> - tmp = (id << GRCAN_MSG_BID_BIT) & GRCAN_MSG_BID;
> - slot[0] = (eff ? GRCAN_MSG_IDE : 0) | (rtr ? GRCAN_MSG_RTR : 0) | tmp;
> + payload_offset = 0;
> + for (i = 0; i < bds; i++) {
> + slot = dma->tx.buf + txwr;

It is hard to follow what is going on here. Please avoid this pointer
arithmetic on an opaque buffer.

Instead of having grcan_dma_buffer->buf being a void*, use a struct
which describes the actual layout of your memory. Something like that:

struct grcan_msg {
u32 msg_id;
u32 dlc;
u8 data[CANFD_MAX_DLEN];
};

struct grcan_dma_buffer {
size_t size;
struct grcan_msg *msg;
dma_addr_t handle;
};

(This is just for illustration purpose, I didn't double check the
offsets. Please adjust it to your actual needs).

Please introduce this in a seperate preparation patch.

> + memset(slot, 0, GRCAN_MSG_SIZE);
> +
> + if (i == 0) {

This should stay outside the loop. You should start to iterate with a
loop when handling the CAN frame payload, not before. Once you do the
refactor with the struct, this should become natural.

> + eff = can_id & CAN_EFF_FLAG;
> + rtr = can_id & CAN_RTR_FLAG;
> + id = can_id & (eff ? CAN_EFF_MASK : CAN_SFF_MASK);
> + if (eff)
> + tmp = FIELD_PREP(GRCAN_MSG_EID_MASK, id);
> + else
> + tmp = FIELD_PREP(GRCAN_MSG_BID_MASK, id);
> + slot[0] = (eff ? GRCAN_MSG_IDE : 0) | (rtr ? GRCAN_MSG_RTR : 0) | tmp;
> + slot[1] = FIELD_PREP(GRCAN_MSG_DLC_MASK, dlc);
> + if (can_is_canfd_skb(skb)) {
> + slot[1] |= GRCAN_TX_FDF;
> + if (cfd->flags & CANFD_BRS)
> + slot[1] |= GRCAN_TX_BRS;
> + }
>
> - slot[1] = ((dlc << GRCAN_MSG_DLC_BIT) & GRCAN_MSG_DLC);
> - slot[2] = 0;
> - slot[3] = 0;
> - if (dlc > 0)
> - memcpy(&slot[2], cf->data, sizeof(u32));
> - if (dlc > 4)
> - memcpy(&slot[3], cf->data + 4, sizeof(u32));
> + copy_len = min(len, 8);
> + memcpy(&slot[2], payload, copy_len);
> + payload_offset += copy_len;
> + } else {
> + copy_len = min(len - payload_offset, GRCAN_MSG_SIZE);
> + memcpy(slot, payload + payload_offset, copy_len);
> + payload_offset += copy_len;
> + }
> + txwr += GRCAN_MSG_SIZE;
> + if (txwr >= dma->tx.size)
> + txwr -= dma->tx.size;
> + }
>
> /* Checking that channel has not been disabled. These cases
> * should never happen
> @@ -1493,8 +1541,7 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
> wmb();
>
> /* Update write pointer to start transmission */
> - grcan_write_reg(&regs->txwr,
> - grcan_ring_add(txwr, GRCAN_MSG_SIZE, dma->tx.size));
> + grcan_write_reg(&regs->txwr, txwr);
>
> return NETDEV_TX_OK;
> }

Yours sincerely,
Vincent Mailhol