[PATCH v4 1/1] can: add pruss CAN driver.

[PATCH v4 1/1] can: add pruss CAN driver.

[Subhasish Ghosh]

This patch adds support for the CAN device emulated on PRUSS.

Signed-off-by: Subhasish Ghosh <subhasish@mistralsolutions.com>
---
 drivers/net/can/Kconfig     |    7 +
 drivers/net/can/Makefile    |    1 +
 drivers/net/can/pruss_can.c | 1074 +++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 1082 insertions(+), 0 deletions(-)
 create mode 100644 drivers/net/can/pruss_can.c

diff --git a/drivers/net/can/Kconfig b/drivers/net/can/Kconfig
index 5dec456..4682a4f 100644
--- a/drivers/net/can/Kconfig
+++ b/drivers/net/can/Kconfig
@@ -111,6 +111,13 @@ config PCH_CAN
 	  embedded processor.
 	  This driver can access CAN bus.
 
+config CAN_TI_DA8XX_PRU
+	depends on CAN_DEV && ARCH_DAVINCI && ARCH_DAVINCI_DA850
+	tristate "PRU based CAN emulation for DA8XX"
+	---help---
+	Enable this to emulate a CAN controller on the PRU of DA8XX.
+	If not sure, mark N
+
 source "drivers/net/can/mscan/Kconfig"
 
 source "drivers/net/can/sja1000/Kconfig"
diff --git a/drivers/net/can/Makefile b/drivers/net/can/Makefile
index 53c82a7..d0b7cbd 100644
--- a/drivers/net/can/Makefile
+++ b/drivers/net/can/Makefile
@@ -15,6 +15,7 @@ obj-$(CONFIG_CAN_SJA1000)	+= sja1000/
 obj-$(CONFIG_CAN_MSCAN)		+= mscan/
 obj-$(CONFIG_CAN_AT91)		+= at91_can.o
 obj-$(CONFIG_CAN_TI_HECC)	+= ti_hecc.o
+obj-$(CONFIG_CAN_TI_DA8XX_PRU)	+= pruss_can.o
 obj-$(CONFIG_CAN_MCP251X)	+= mcp251x.o
 obj-$(CONFIG_CAN_BFIN)		+= bfin_can.o
 obj-$(CONFIG_CAN_JANZ_ICAN3)	+= janz-ican3.o
diff --git a/drivers/net/can/pruss_can.c b/drivers/net/can/pruss_can.c
new file mode 100644
index 0000000..7702509
--- /dev/null
+++ b/drivers/net/can/pruss_can.c
@@ -0,0 +1,1074 @@
+/*
+ *  TI DA8XX PRU CAN Emulation device driver
+ *  Author: subhasish@mistralsolutions.com
+ *
+ *  This driver supports TI's PRU CAN Emulation and the
+ *  specs for the same is available at <http://www.ti.com>
+ *
+ *  Copyright (C) 2010, 2011 Texas Instruments Incorporated
+ *
+ *  This program is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License as
+ *  published by the Free Software Foundation version 2.
+ *
+ *  This program is distributed as is WITHOUT ANY WARRANTY of any
+ *  kind, whether express or implied; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ */
+
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/kernel.h>
+#include <linux/bitops.h>
+#include <linux/interrupt.h>
+#include <linux/errno.h>
+#include <linux/netdevice.h>
+#include <linux/skbuff.h>
+#include <linux/platform_device.h>
+#include <linux/firmware.h>
+#include <linux/clk.h>
+#include <linux/types.h>
+#include <linux/sysfs.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/can/error.h>
+#include <linux/mfd/pruss.h>
+
+#define PRUSS_CAN_RX_PRU_0			PRUSS_NUM0
+#define PRUSS_CAN_TX_PRU_1			PRUSS_NUM1
+#define PRUSS_CAN_TX_SYS_EVT			34
+#define PRUSS_CAN_RX_SYS_EVT			33
+#define PRUSS_CAN_ARM2DSP_SYS_EVT		32
+#define PRUSS_CAN_DELAY_LOOP_LENGTH		2
+#define PRUSS_CAN_TIMER_SETUP_DELAY		14
+#define PRUSS_CAN_GPIO_SETUP_DELAY		150
+#define PRUSS_CAN_TX_GBL_STAT_REG		(PRUSS_PRU1_BASE_ADDRESS + 0x04)
+#define PRUSS_CAN_TX_INTR_MASK_REG		(PRUSS_PRU1_BASE_ADDRESS + 0x08)
+#define PRUSS_CAN_TX_INTR_STAT_REG		(PRUSS_PRU1_BASE_ADDRESS + 0x0C)
+#define PRUSS_CAN_TX_MBOX0_STAT_REG		(PRUSS_PRU1_BASE_ADDRESS + 0x10)
+#define PRUSS_CAN_TX_ERR_CNTR_REG		(PRUSS_PRU1_BASE_ADDRESS + 0x30)
+#define PRUSS_CAN_TX_INT_STAT			0x2
+#define PRUSS_CAN_MBOX_OFFSET			0x40
+#define PRUSS_CAN_MBOX_SIZE			0x10
+#define PRUSS_CAN_MBOX_STAT_OFFSET		0x10
+#define PRUSS_CAN_MBOX_STAT_SIZE		0x04
+#define PRUSS_CAN_GBL_STAT_REG_VAL		0x00000040
+#define PRUSS_CAN_INTR_MASK_REG_VAL		0x00004000
+#define PRUSS_CAN_TIMING_VAL_TX			(PRUSS_PRU1_BASE_ADDRESS + 0xC0)
+#define PRUSS_CAN_TIMING_SETUP			(PRUSS_PRU1_BASE_ADDRESS + 0xC4)
+#define PRUSS_CAN_RX_GBL_STAT_REG		(PRUSS_PRU0_BASE_ADDRESS + 0x04)
+#define PRUSS_CAN_RX_INTR_MASK_REG		(PRUSS_PRU0_BASE_ADDRESS + 0x08)
+#define PRUSS_CAN_RX_INTR_STAT_REG		(PRUSS_PRU0_BASE_ADDRESS + 0x0C)
+#define PRUSS_CAN_RX_ERR_CNTR_REG		(PRUSS_PRU0_BASE_ADDRESS + 0x34)
+#define PRUSS_CAN_TIMING_VAL_RX			(PRUSS_PRU0_BASE_ADDRESS + 0xD0)
+#define PRUSS_CAN_BIT_TIMING_VAL_RX		(PRUSS_PRU0_BASE_ADDRESS + 0xD4)
+#define PRUSS_CAN_ID_MAP			(PRUSS_PRU0_BASE_ADDRESS + 0xF0)
+#define PRUSS_CAN_ERROR_ACTIVE			128
+#define PRUSS_CAN_GBL_STAT_REG_MASK		0x1F
+#define PRUSS_CAN_GBL_STAT_REG_SET_TX		0x80
+#define PRUSS_CAN_GBL_STAT_REG_SET_RX		0x40
+#define PRUSS_CAN_GBL_STAT_REG_STOP_TX		0x7F
+#define PRUSS_CAN_GBL_STAT_REG_STOP_RX		0xBF
+#define PRUSS_CAN_SET_TX_REQ			0x00000080
+#define PRUSS_CAN_STD_FRAME_MASK		18
+#define PRUSS_CAN_START				1
+#define PRUSS_CAN_MB_MIN			0
+#define PRUSS_CAN_MB_MAX			7
+#define PRUSS_CAN_MID_IDE			BIT(29)
+#define PRUSS_CAN_ISR_BIT_CCI			BIT(15)
+#define PRUSS_CAN_ISR_BIT_ESI			BIT(14)
+#define PRUSS_CAN_ISR_BIT_SRDI			BIT(13)
+#define PRUSS_CAN_ISR_BIT_RRI			BIT(8)
+#define PRUSS_CAN_GSR_BIT_EPM			BIT(4)
+#define PRUSS_CAN_GSR_BIT_BFM			BIT(3)
+#define PRUSS_CAN_RTR_BUFF_NUM			8
+#define PRUSS_DEF_NAPI_WEIGHT			8
+#define PRUSS_CAN_DRV_NAME "da8xx_pruss_can"
+#define PRUSS_CAN_DRV_DESC "TI PRU CAN Controller Driver v1.0"
+
+enum can_tx_dir {
+	TRANSMIT = 1,
+	RECEIVE
+};
+
+struct can_mbox {
+	canid_t can_id;
+	u8 data[8];
+	u16 datalength;
+	u16 crc;
+};
+
+struct can_emu_cntx {
+	enum can_tx_dir txdir;
+	struct can_mbox mbox;
+	u32 mboxno;
+	u8 pruno;
+	u32 gbl_stat;
+	u32 intr_stat;
+	u32 mbox_stat;
+};
+
+struct can_emu_priv {
+	struct can_priv can;
+	struct napi_struct napi;
+	struct net_device *ndev;
+	struct device *dev;
+	struct clk *clk_timer;
+	struct can_emu_cntx can_tx_cntx;
+	struct can_emu_cntx can_rx_cntx;
+	unsigned int clk_freq_pru;
+	unsigned int trx_irq;
+	unsigned int tx_head;
+	unsigned int tx_tail;
+	unsigned int tx_next;
+	unsigned int mbx_id[8];
+};
+
+static struct can_bittiming_const pru_can_bittiming_const = {
+	.name = PRUSS_CAN_DRV_NAME,
+	.tseg1_min = 1,
+	.tseg1_max = 16,
+	.tseg2_min = 1,
+	.tseg2_max = 8,
+	.sjw_max = 4,
+	.brp_min = 1,
+	.brp_max = 256,
+	.brp_inc = 1,
+};
+
+static int pru_can_mbox_write(struct device *dev,
+			struct can_emu_cntx *emu_cntx)
+{
+	u32 offset = 0;
+
+	offset = PRUSS_PRU1_BASE_ADDRESS + PRUSS_CAN_MBOX_OFFSET
+			+ (PRUSS_CAN_MBOX_SIZE * emu_cntx->mboxno);
+
+	pruss_writel_multi(dev, offset, (u32 *) &(emu_cntx->mbox), 4);
+
+	return 0;
+}
+
+static int pru_can_mbox_read(struct device *dev,
+			struct can_emu_cntx *emu_cntx)
+{
+	u32 offset = 0;
+
+	offset = PRUSS_PRU0_BASE_ADDRESS + PRUSS_CAN_MBOX_OFFSET
+			+ (PRUSS_CAN_MBOX_SIZE * emu_cntx->mboxno);
+
+	pruss_readl_multi(dev, offset, (u32 *) &emu_cntx->mbox, 4);
+
+	return 0;
+}
+
+static int pru_can_rx_id_set(struct device *dev, u32 nodeid, u32 mboxno)
+{
+	pruss_writel(dev, (PRUSS_CAN_ID_MAP + (mboxno * 4)), nodeid);
+
+	return 0;
+}
+
+static int pru_can_intr_stat_get(struct device *dev,
+		struct can_emu_cntx *emu_cntx)
+{
+	if (emu_cntx->pruno == PRUCORE_1)
+		pruss_readl(dev, PRUSS_CAN_TX_INTR_STAT_REG,
+				&emu_cntx->intr_stat);
+	else if (emu_cntx->pruno == PRUCORE_0)
+		pruss_readl(dev, PRUSS_CAN_RX_INTR_STAT_REG,
+				&emu_cntx->intr_stat);
+	else
+		return -EINVAL;
+
+	return 0;
+}
+
+static int pru_can_gbl_stat_get(struct device *dev,
+		struct can_emu_cntx *emu_cntx)
+{
+	if (emu_cntx->pruno == PRUCORE_1)
+		pruss_readl(dev, PRUSS_CAN_TX_GBL_STAT_REG,
+				&emu_cntx->gbl_stat);
+	else if (emu_cntx->pruno == PRUCORE_0)
+		pruss_readl(dev, PRUSS_CAN_RX_GBL_STAT_REG,
+				&emu_cntx->gbl_stat);
+	else
+		return -EINVAL;
+	return 0;
+}
+
+static int pru_can_tx_mode_set(struct device *dev, bool transfer_flag,
+					enum can_tx_dir ecan_trx)
+{
+	u32 value;
+
+	if (ecan_trx == TRANSMIT) {
+		pruss_readl(dev, PRUSS_CAN_RX_GBL_STAT_REG, &value);
+		if (transfer_flag) {
+			value &= PRUSS_CAN_GBL_STAT_REG_MASK;
+			value |= PRUSS_CAN_GBL_STAT_REG_SET_TX;
+		} else
+			value &= PRUSS_CAN_GBL_STAT_REG_STOP_TX;
+
+		pruss_writel(dev, PRUSS_CAN_RX_GBL_STAT_REG, value);
+		pruss_writel(dev, PRUSS_CAN_TX_GBL_STAT_REG, value);
+	} else if (ecan_trx == RECEIVE) {
+		pruss_readl(dev, PRUSS_CAN_RX_GBL_STAT_REG, &value);
+		if (transfer_flag) {
+			value &= PRUSS_CAN_GBL_STAT_REG_MASK;
+			value |= PRUSS_CAN_GBL_STAT_REG_SET_RX;
+		} else
+			value &= PRUSS_CAN_GBL_STAT_REG_STOP_RX;
+
+		pruss_writel(dev, PRUSS_CAN_RX_GBL_STAT_REG, value);
+		pruss_writel(dev, PRUSS_CAN_TX_GBL_STAT_REG, value);
+	} else
+		return -EINVAL;
+
+	return 0;
+}
+
+static u32 pruss_intc_init[19][3] = {
+	{PRUSS_INTC_POLARITY0,		PRU_INTC_REGMAP_MASK,	0xFFFFFFFF},
+	{PRUSS_INTC_POLARITY1,		PRU_INTC_REGMAP_MASK,	0xFFFFFFFF},
+	{PRUSS_INTC_TYPE0,		PRU_INTC_REGMAP_MASK,	0x1C000000},
+	{PRUSS_INTC_TYPE1,		PRU_INTC_REGMAP_MASK,	0},
+	{PRUSS_INTC_GLBLEN,		0,			1},
+	{PRUSS_INTC_HOSTMAP0,		PRU_INTC_REGMAP_MASK,	0x03020100},
+	{PRUSS_INTC_HOSTMAP1,		PRU_INTC_REGMAP_MASK,	0x07060504},
+	{PRUSS_INTC_HOSTMAP2,		PRU_INTC_REGMAP_MASK,	0x0000908},
+	{PRUSS_INTC_CHANMAP0,		PRU_INTC_REGMAP_MASK,	0},
+	{PRUSS_INTC_CHANMAP8,		PRU_INTC_REGMAP_MASK,	0x00020200},
+	{PRUSS_INTC_STATIDXCLR,		0,			32},
+	{PRUSS_INTC_STATIDXCLR,		0,			19},
+	{PRUSS_INTC_ENIDXSET,		0,			19},
+	{PRUSS_INTC_STATIDXCLR,		0,			18},
+	{PRUSS_INTC_ENIDXSET,		0,			18},
+	{PRUSS_INTC_STATIDXCLR,		0,			34},
+	{PRUSS_INTC_ENIDXSET,		0,			34},
+	{PRUSS_INTC_ENIDXSET,		0,			32},
+	{PRUSS_INTC_HOSTINTEN,		0,			5}
+};
+
+static int pru_can_emu_init(struct device *dev, u32 pruclock)
+{
+	u32 value[8] = {[0 ... 7] = 1};
+	u32 i;
+
+	/* PRU Internal Registers Initializations */
+	pruss_writel_multi(dev, PRUSS_CAN_TX_MBOX0_STAT_REG, value, 8);
+
+	*value = PRUSS_CAN_GBL_STAT_REG_VAL;
+	pruss_writel(dev, PRUSS_CAN_TX_GBL_STAT_REG, value[0]);
+	pruss_writel(dev, PRUSS_CAN_RX_GBL_STAT_REG, value[0]);
+
+	*value = PRUSS_CAN_INTR_MASK_REG_VAL;
+	pruss_writel(dev, PRUSS_CAN_TX_INTR_MASK_REG, value[0]);
+	pruss_writel(dev, PRUSS_CAN_RX_INTR_MASK_REG, value[0]);
+
+	for (i = 0; i < 19; i++)
+		(i < 12) ?	pruss_rmwl(dev, pruss_intc_init[i][0],
+						pruss_intc_init[i][1],
+						pruss_intc_init[i][2]) :
+				pruss_idx_writel(dev, pruss_intc_init[i][0],
+						pruss_intc_init[i][2]);
+	return 0;
+}
+
+static void pru_can_emu_exit(struct device *dev)
+{
+	pruss_disable(dev, PRUSS_CAN_RX_PRU_0);
+	pruss_disable(dev, PRUSS_CAN_TX_PRU_1);
+}
+
+static int pru_can_tx(struct device *dev, u8 mboxnumber, u8 pruno)
+{
+	u32 value = 0;
+
+	if (PRUCORE_1 == pruno) {
+		value = PRUSS_CAN_SET_TX_REQ;
+		pruss_writel(dev, ((PRUSS_PRU1_BASE_ADDRESS +
+				(PRUSS_CAN_MBOX_STAT_OFFSET +
+				(PRUSS_CAN_MBOX_STAT_SIZE * mboxnumber)))
+				& 0xFFFF), value);
+	} else if (PRUCORE_0 == pruno) {
+		pruss_readl(dev, PRUSS_CAN_RX_INTR_STAT_REG, &value);
+		value = value & ~(1 << mboxnumber);
+		pruss_writel(dev, PRUSS_CAN_RX_INTR_STAT_REG, value);
+		value = 0;
+		pruss_writel(dev, ((PRUSS_PRU0_BASE_ADDRESS +
+				(PRUSS_CAN_MBOX_STAT_OFFSET +
+				(PRUSS_CAN_MBOX_STAT_SIZE * mboxnumber)))
+				& 0xFFFF), value);
+	} else
+		return -EINVAL;
+	return 0;
+}
+
+static int pru_can_reset_tx(struct device *dev)
+{
+	pruss_idx_writel(dev, PRUSS_INTC_STATIDXCLR, PRUSS_CAN_ARM2DSP_SYS_EVT);
+	pruss_idx_writel(dev, PRUSS_INTC_ENIDXSET, PRUSS_CAN_ARM2DSP_SYS_EVT);
+	pruss_idx_writel(dev, PRUSS_INTC_STATIDXSET, PRUSS_CAN_ARM2DSP_SYS_EVT);
+	return 0;
+}
+
+static void pru_can_mask_ints(struct device *dev, u32 trx, bool enable)
+{
+	u32 value = 0;
+
+	value = (trx == PRUSS_CAN_TX_PRU_1) ?
+		PRUSS_CAN_TX_SYS_EVT : PRUSS_CAN_RX_SYS_EVT;
+	enable ? pruss_idx_writel(dev, PRUSS_INTC_ENIDXSET, value) :
+		pruss_idx_writel(dev, PRUSS_INTC_ENIDXCLR, value);
+}
+
+static unsigned int pru_can_get_error_cnt(struct device *dev, u8 pruno)
+{
+	u32 value = 0;
+
+	if (pruno == PRUSS_CAN_RX_PRU_0)
+		pruss_readl(dev, PRUSS_CAN_RX_ERR_CNTR_REG, &value);
+	else if (pruno == PRUSS_CAN_TX_PRU_1)
+		pruss_readl(dev, PRUSS_CAN_TX_ERR_CNTR_REG, &value);
+	else
+		return -EINVAL;
+
+	return value;
+}
+
+static unsigned int pru_can_get_intc_status(struct device *dev)
+{
+	u32 value = 0;
+
+	pruss_readl(dev, PRUSS_INTC_STATCLRINT1, &value);
+	return value;
+}
+
+static void pru_can_clr_intc_status(struct device *dev, u32 trx)
+{
+	u32 value = 0;
+
+	value = (trx == PRUSS_CAN_TX_PRU_1) ?
+		PRUSS_CAN_TX_SYS_EVT : PRUSS_CAN_RX_SYS_EVT;
+	pruss_idx_writel(dev, PRUSS_INTC_STATIDXCLR, value);
+}
+
+static int pru_can_get_state(const struct net_device *ndev,
+					enum can_state *state)
+{
+	struct can_emu_priv *priv = netdev_priv(ndev);
+	*state = priv->can.state;
+
+	return 0;
+}
+
+static int pru_can_set_bittiming(struct net_device *ndev)
+{
+	struct can_emu_priv *priv = netdev_priv(ndev);
+	struct can_bittiming *bt = &priv->can.bittiming;
+	u32 value;
+
+	value = priv->can.clock.freq / bt->bitrate;
+	pruss_writel(priv->dev, PRUSS_CAN_TIMING_VAL_TX, value);
+	pruss_writel(priv->dev, PRUSS_CAN_BIT_TIMING_VAL_RX, value);
+
+	value = (bt->phase_seg2 + bt->phase_seg1 +
+			bt->prop_seg + 1) * bt->brp;
+	value = (value >> 1) - PRUSS_CAN_TIMER_SETUP_DELAY;
+	value = (value << 16) | value;
+	pruss_writel(priv->dev, PRUSS_CAN_TIMING_VAL_RX, value);
+
+	value = (PRUSS_CAN_GPIO_SETUP_DELAY *
+		(priv->clk_freq_pru / 1000000) / 1000) /
+		PRUSS_CAN_DELAY_LOOP_LENGTH;
+
+	pruss_writel(priv->dev, PRUSS_CAN_TIMING_SETUP, value);
+	return 0;
+}
+
+static void pru_can_stop(struct net_device *ndev)
+{
+	struct can_emu_priv *priv = netdev_priv(ndev);
+
+	pru_can_mask_ints(priv->dev, PRUSS_CAN_TX_PRU_1, false);
+	pru_can_mask_ints(priv->dev, PRUSS_CAN_RX_PRU_0, false);
+	pru_can_reset_tx(priv->dev);
+	priv->can.state = CAN_STATE_STOPPED;
+}
+
+/*
+ * This is to just set the can state to ERROR_ACTIVE
+ *	ip link set canX up type can bitrate 125000
+ */
+static void pru_can_start(struct net_device *ndev)
+{
+	struct can_emu_priv *priv = netdev_priv(ndev);
+
+	if (priv->can.state != CAN_STATE_STOPPED)
+		pru_can_stop(ndev);
+
+	pru_can_mask_ints(priv->dev, PRUSS_CAN_TX_PRU_1, true);
+	pru_can_mask_ints(priv->dev, PRUSS_CAN_RX_PRU_0, true);
+
+	pru_can_gbl_stat_get(priv->dev, &priv->can_tx_cntx);
+	pru_can_gbl_stat_get(priv->dev, &priv->can_rx_cntx);
+
+	if (PRUSS_CAN_GSR_BIT_EPM & priv->can_tx_cntx.gbl_stat)
+		priv->can.state = CAN_STATE_ERROR_PASSIVE;
+	else if (PRUSS_CAN_GSR_BIT_BFM & priv->can_tx_cntx.gbl_stat)
+		priv->can.state = CAN_STATE_BUS_OFF;
+	else
+		priv->can.state = CAN_STATE_ERROR_ACTIVE;
+}
+
+static int pru_can_set_mode(struct net_device *ndev, enum can_mode mode)
+{
+	int ret = 0;
+
+	switch (mode) {
+	case CAN_MODE_START:
+		pru_can_start(ndev);
+		netif_wake_queue(ndev);
+		break;
+	default:
+		ret = -EOPNOTSUPP;
+		break;
+	}
+	return ret;
+}
+
+static netdev_tx_t pru_can_start_xmit(struct sk_buff *skb,
+					struct net_device *ndev)
+{
+	struct can_emu_priv *priv = netdev_priv(ndev);
+	struct can_frame *cf = (struct can_frame *)skb->data;
+	int count;
+	u8 *data = cf->data;
+	u8 dlc = cf->can_dlc;
+	u8 *pdata = NULL;
+
+	if (can_dropped_invalid_skb(ndev, skb))
+		return NETDEV_TX_OK;
+
+	netif_stop_queue(ndev);
+	if (cf->can_id & CAN_EFF_FLAG)	/* Extended frame format */
+		priv->can_tx_cntx.mbox.can_id =
+		    (cf->can_id & CAN_EFF_MASK) | PRUSS_CAN_MID_IDE;
+	else			/* Standard frame format */
+		priv->can_tx_cntx.mbox.can_id =
+		    (cf->can_id & CAN_SFF_MASK) << PRUSS_CAN_STD_FRAME_MASK;
+
+	if (cf->can_id & CAN_RTR_FLAG)	/* Remote transmission request */
+		priv->can_tx_cntx.mbox.can_id |= CAN_RTR_FLAG;
+
+	pdata = &priv->can_tx_cntx.mbox.data[0] + (dlc - 1);
+	for (count = 0; count < (u8) dlc; count++)
+		*pdata-- = *data++;
+
+	priv->can_tx_cntx.mbox.datalength = (u16) dlc;
+	priv->can_tx_cntx.mbox.crc = 0;
+/*
+ * search for the next available mbx
+ * if the next mbx is busy, then try the next + 1
+ * do this until the head is reached.
+ * if still unable to tx, stop accepting any packets
+ * if able to tx and the head is reached, then reset next to tail, i.e mbx0
+ * if head is not reached, then just point to the next mbx
+ */
+	for (; priv->tx_next <= priv->tx_head; priv->tx_next++) {
+		priv->can_tx_cntx.mboxno = priv->tx_next;
+		if (-1 == pru_can_mbox_write(priv->dev,
+					&priv->can_tx_cntx)) {
+			if (priv->tx_next == priv->tx_head) {
+				priv->tx_next = priv->tx_tail;
+				netif_stop_queue(ndev);	/* IF stalled */
+				dev_err(priv->dev,
+					"%s: no tx mbx available", __func__);
+				return NETDEV_TX_BUSY;
+			} else
+				continue;
+		} else {
+			/* set transmit request */
+			pru_can_tx(priv->dev, priv->tx_next,
+						PRUSS_CAN_TX_PRU_1);
+			pru_can_tx_mode_set(priv->dev, false, RECEIVE);
+			pru_can_tx_mode_set(priv->dev, true, TRANSMIT);
+			pru_can_reset_tx(priv->dev);
+			priv->tx_next++;
+			can_put_echo_skb(skb, ndev, 0);
+			break;
+		}
+	}
+	if (priv->tx_next > priv->tx_head)
+		priv->tx_next = priv->tx_tail;
+
+	return NETDEV_TX_OK;
+}
+
+static int pru_can_rx(struct net_device *ndev, u32 mbxno)
+{
+	struct can_emu_priv *priv = netdev_priv(ndev);
+	struct net_device_stats *stats = &ndev->stats;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+	u8 *data = NULL;
+	u8 *pdata = NULL;
+	int count = 0;
+
+	skb = alloc_can_skb(ndev, &cf);
+	if (!skb) {
+		if (printk_ratelimit())
+			dev_err(priv->dev,
+				"alloc_can_skb() failed\n");
+		return -ENOMEM;
+	}
+	data = cf->data;
+	/* get payload */
+	priv->can_rx_cntx.mboxno = mbxno;
+	if (pru_can_mbox_read(priv->dev, &priv->can_rx_cntx)) {
+		dev_err(priv->dev, "failed to get data from mailbox\n");
+		return -EAGAIN;
+	}
+	/* give ownweship to pru */
+	pru_can_tx(priv->dev, mbxno, PRUSS_CAN_RX_PRU_0);
+
+	/* get data length code */
+	cf->can_dlc = get_can_dlc(priv->can_rx_cntx.mbox.datalength & 0xF);
+	if (cf->can_dlc <= 4) {
+		pdata = &priv->can_rx_cntx.mbox.data[4] + (4 - cf->can_dlc);
+		for (count = 0; count < cf->can_dlc; count++)
+			*data++ = *pdata++;
+	} else {
+		pdata = &priv->can_rx_cntx.mbox.data[4];
+		for (count = 0; count < 4; count++)
+			*data++ = *pdata++;
+		pdata = &priv->can_rx_cntx.mbox.data[3] - (cf->can_dlc - 5);
+		for (count = 0; count < cf->can_dlc - 4; count++)
+			*data++ = *pdata++;
+	}
+
+	/* get id extended or std */
+	if (priv->can_rx_cntx.mbox.can_id & PRUSS_CAN_MID_IDE)
+		cf->can_id = (priv->can_rx_cntx.mbox.can_id & CAN_EFF_MASK)
+								| CAN_EFF_FLAG;
+	else
+		cf->can_id = (priv->can_rx_cntx.mbox.can_id >> 18)
+							& CAN_SFF_MASK;
+
+	if (priv->can_rx_cntx.mbox.can_id & CAN_RTR_FLAG)
+		cf->can_id |= CAN_RTR_FLAG;
+
+	stats->rx_bytes += cf->can_dlc;
+	netif_receive_skb(skb);
+	stats->rx_packets++;
+	return 0;
+}
+
+static int pru_can_err(struct net_device *ndev, int int_status,
+			     int err_status)
+{
+	struct can_emu_priv *priv = netdev_priv(ndev);
+	struct net_device_stats *stats = &ndev->stats;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+	u32 tx_err_cnt, rx_err_cnt;
+
+	skb = alloc_can_err_skb(ndev, &cf);
+	if (!skb) {
+		if (printk_ratelimit())
+			dev_err(priv->dev,
+				"alloc_can_err_skb() failed\n");
+		return -ENOMEM;
+	}
+
+	if (err_status & PRUSS_CAN_GSR_BIT_EPM) {	/* error passive int */
+		priv->can.state = CAN_STATE_ERROR_PASSIVE;
+		++priv->can.can_stats.error_passive;
+		cf->can_id |= CAN_ERR_CRTL;
+		tx_err_cnt = pru_can_get_error_cnt(priv->dev,
+						PRUSS_CAN_TX_PRU_1);
+		rx_err_cnt = pru_can_get_error_cnt(priv->dev,
+						PRUSS_CAN_RX_PRU_0);
+		if (tx_err_cnt > PRUSS_CAN_ERROR_ACTIVE - 1)
+			cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
+		if (rx_err_cnt > PRUSS_CAN_ERROR_ACTIVE - 1)
+			cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
+
+		dev_dbg(priv->ndev->dev.parent, "Error passive interrupt\n");
+	}
+
+	if (err_status & PRUSS_CAN_GSR_BIT_BFM) {
+		priv->can.state = CAN_STATE_BUS_OFF;
+		cf->can_id |= CAN_ERR_BUSOFF;
+		/*
+		 *      Disable all interrupts in bus-off to avoid int hog
+		 *      this should be handled by the pru
+		 */
+		pru_can_mask_ints(priv->dev, PRUSS_CAN_TX_PRU_1, false);
+		pru_can_mask_ints(priv->dev, PRUSS_CAN_RX_PRU_0, false);
+		can_bus_off(ndev);
+		dev_dbg(priv->ndev->dev.parent, "Bus off mode\n");
+	}
+
+	netif_rx(skb);
+	stats->rx_packets++;
+	stats->rx_bytes += cf->can_dlc;
+	return 0;
+}
+
+static int pru_can_rx_poll(struct napi_struct *napi, int quota)
+{
+	struct net_device *ndev = napi->dev;
+	struct can_emu_priv *priv = netdev_priv(ndev);
+	u32 bit_set, mbxno = 0;
+	u32 num_pkts = 0;
+
+	if (!netif_running(ndev))
+		return 0;
+
+	do {
+		/* rx int sys_evt -> 33 */
+		pru_can_clr_intc_status(priv->dev, PRUSS_CAN_RX_PRU_0);
+		if (pru_can_intr_stat_get(priv->dev, &priv->can_rx_cntx))
+			return num_pkts;
+
+		if (PRUSS_CAN_ISR_BIT_RRI & priv->can_rx_cntx.intr_stat) {
+			mbxno = PRUSS_CAN_RTR_BUFF_NUM;
+			pru_can_rx(ndev, mbxno);
+			num_pkts++;
+		} else {
+			/* Extract the mboxno from the status */
+			bit_set = fls(priv->can_rx_cntx.intr_stat & 0xFF);
+			if (bit_set) {
+				num_pkts++;
+				mbxno = bit_set - 1;
+				if (PRUSS_CAN_ISR_BIT_ESI & priv->can_rx_cntx.
+				    intr_stat) {
+					pru_can_gbl_stat_get(priv->dev,
+						&priv->can_rx_cntx);
+						pru_can_err(ndev,
+					priv->can_rx_cntx.intr_stat,
+					priv->can_rx_cntx.gbl_stat);
+				} else
+					pru_can_rx(ndev, mbxno);
+			} else
+				break;
+		}
+	} while (((PRUSS_CAN_TX_INT_STAT & pru_can_get_intc_status(priv->dev))
+						&& (num_pkts < quota)));
+
+	/* Enable packet interrupt if all pkts are handled */
+	if (!(PRUSS_CAN_TX_INT_STAT & pru_can_get_intc_status(priv->dev))) {
+		napi_complete(napi);
+		/* Re-enable RX mailbox interrupts */
+		pru_can_mask_ints(priv->dev, PRUSS_CAN_RX_PRU_0, true);
+	}
+	return num_pkts;
+}
+
+static irqreturn_t pru_tx_can_intr(int irq, void *dev_id)
+{
+	struct net_device *ndev = dev_id;
+	struct can_emu_priv *priv = netdev_priv(ndev);
+	struct net_device_stats *stats = &ndev->stats;
+	u32 bit_set, mbxno;
+
+	pru_can_intr_stat_get(priv->dev, &priv->can_tx_cntx);
+	if ((PRUSS_CAN_ISR_BIT_CCI & priv->can_tx_cntx.intr_stat)
+	    || (PRUSS_CAN_ISR_BIT_SRDI & priv->can_tx_cntx.intr_stat)) {
+		dev_dbg(priv->ndev->dev.parent, "tx_int_status = 0x%X\n",
+			    priv->can_tx_cntx.intr_stat);
+		can_free_echo_skb(ndev, 0);
+	} else {
+		bit_set = fls(priv->can_tx_cntx.intr_stat & 0xFF);
+		if (!bit_set) {
+			dev_err(priv->dev, "%s: invalid mailbox number\n",
+								__func__);
+			can_free_echo_skb(ndev, 0);
+		} else {
+			mbxno = bit_set - 1;
+			if (PRUSS_CAN_ISR_BIT_ESI & priv->can_tx_cntx.
+								intr_stat) {
+				/* read gsr and ack pru */
+				pru_can_gbl_stat_get(priv->dev,
+							&priv->can_tx_cntx);
+				pru_can_err(ndev, priv->can_tx_cntx.intr_stat,
+						priv->can_tx_cntx.gbl_stat);
+			} else {
+				stats->tx_packets++;
+				/* stats->tx_bytes += dlc; */
+				/*can_get_echo_skb(ndev, 0);*/
+			}
+		}
+	}
+	netif_wake_queue(ndev);
+	can_get_echo_skb(ndev, 0);
+	pru_can_tx_mode_set(priv->dev, true, RECEIVE);
+	return IRQ_HANDLED;
+}
+
+static irqreturn_t pru_rx_can_intr(int irq, void *dev_id)
+{
+	struct net_device *ndev = dev_id;
+	struct can_emu_priv *priv = netdev_priv(ndev);
+	u32 intc_status = 0;
+
+	intc_status = pru_can_get_intc_status(priv->dev);
+
+	/* tx int sys_evt -> 34 */
+	if (intc_status & 4) {
+		pru_can_clr_intc_status(priv->dev, PRUSS_CAN_TX_PRU_1);
+		return pru_tx_can_intr(irq, dev_id);
+	}
+	/* Disable RX mailbox interrupts and let NAPI reenable them */
+	if (intc_status & 2) {
+		pru_can_mask_ints(priv->dev, PRUSS_CAN_RX_PRU_0, false);
+		napi_schedule(&priv->napi);
+	}
+
+	return IRQ_HANDLED;
+}
+
+static int pru_can_open(struct net_device *ndev)
+{
+	struct can_emu_priv *priv = netdev_priv(ndev);
+	s32 err;
+
+	/* register interrupt handler */
+	err = request_irq(priv->trx_irq, &pru_rx_can_intr, IRQF_SHARED,
+						"pru_can_irq", ndev);
+	if (err) {
+		dev_err(priv->dev, "error requesting rx interrupt\n");
+		goto exit_trx_irq;
+	}
+	err = open_candev(ndev);
+	if (err) {
+		dev_err(priv->dev, "open_candev() failed %d\n", err);
+		goto exit_open;
+	}
+
+	pru_can_emu_init(priv->dev, priv->can.clock.freq);
+	priv->tx_tail = PRUSS_CAN_MB_MIN;
+	priv->tx_head = PRUSS_CAN_MB_MAX;
+	pru_can_start(ndev);
+	napi_enable(&priv->napi);
+	netif_start_queue(ndev);
+	return 0;
+
+exit_open:
+	free_irq(priv->trx_irq, ndev);
+exit_trx_irq:
+	return err;
+}
+
+static int pru_can_close(struct net_device *ndev)
+{
+	struct can_emu_priv *priv = netdev_priv(ndev);
+
+	netif_stop_queue(ndev);
+	napi_disable(&priv->napi);
+	close_candev(ndev);
+	free_irq(priv->trx_irq, ndev);
+	return 0;
+}
+
+static const struct net_device_ops pru_can_netdev_ops = {
+	.ndo_open		= pru_can_open,
+	.ndo_stop		= pru_can_close,
+	.ndo_start_xmit		= pru_can_start_xmit,
+};
+
+/* Shows all the mailbox IDs */
+static ssize_t pru_sysfs_mbx_id_show(struct device *dev,
+		struct device_attribute *attr, char *buf)
+{
+	struct can_emu_priv *priv = netdev_priv(to_net_dev(dev));
+
+	return snprintf(buf, PAGE_SIZE, "<mbx_no:mbx_id>\n"
+					"0:0x%X 1:0x%X 2:0x%X 3:0x%X "
+					"4:0x%X 5:0x%X 6:0x%X 7:0x%X\n",
+					priv->mbx_id[0], priv->mbx_id[1],
+					priv->mbx_id[2], priv->mbx_id[3],
+					priv->mbx_id[4], priv->mbx_id[5],
+					priv->mbx_id[6], priv->mbx_id[7]);
+}
+
+/*
+ * Sets Mailbox IDs
+ * This should be programmed as mbx_num:mbx_id (in hex)
+ * eg: $ echo 0:0x123 > /sys/class/net/can0/mbx_id
+ */
+static ssize_t pru_sysfs_mbx_id_set(struct device *dev,
+		struct device_attribute *attr, const char *buf, size_t count)
+{
+	struct net_device *ndev = to_net_dev(dev);
+	struct can_emu_priv *priv = netdev_priv(ndev);
+	unsigned long can_id;
+	unsigned long mbx_num;
+	char mbx[2] = {*buf, '\0'}; /* mbx num */
+	ssize_t ret = count;
+	s32 err;
+
+	if (ndev->flags & IFF_UP) {
+		ret = -EBUSY;
+		goto out;
+	}
+
+	if (*(buf + 1) != ':') {
+		ret = -EINVAL;
+		goto out;
+	}
+
+	err = strict_strtoul(mbx, 0, &mbx_num);
+	if (err) {
+		ret = err;
+		goto out;
+	}
+
+	if (mbx_num > 7) {
+		ret = -EINVAL;
+		goto out;
+	}
+
+	err = strict_strtoul((buf + 2), 0, &can_id);
+	if (err) {
+		ret = err;
+		goto out;
+	}
+
+	priv->mbx_id[mbx_num] = can_id;
+	pru_can_rx_id_set(priv->dev, priv->mbx_id[mbx_num], mbx_num);
+
+	return ret;
+out:
+	dev_err(priv->dev, "invalid buffer format\n");
+	return ret;
+}
+
+static DEVICE_ATTR(mbx_id, S_IWUSR | S_IRUGO,
+	pru_sysfs_mbx_id_show, pru_sysfs_mbx_id_set);
+
+static struct attribute *pru_sysfs_attrs[] = {
+	&dev_attr_mbx_id.attr,
+	NULL,
+};
+
+static struct attribute_group pru_sysfs_attr_group = {
+	.attrs = pru_sysfs_attrs,
+};
+
+static int __devinit pru_can_probe(struct platform_device *pdev)
+{
+	struct net_device *ndev = NULL;
+	const struct da850_evm_pruss_can_data *pdata;
+	struct can_emu_priv *priv = NULL;
+	struct device *dev = &pdev->dev;
+	struct clk *clk_pruss;
+	const struct firmware *fw_rx;
+	const struct firmware *fw_tx;
+	u32 err;
+
+	pdata = dev->platform_data;
+	if (!pdata) {
+		dev_err(&pdev->dev, "platform data not found\n");
+		return -EINVAL;
+	}
+	(pdata->setup)();
+
+	ndev = alloc_candev(sizeof(struct can_emu_priv), PRUSS_CAN_MB_MAX + 1);
+	if (!ndev) {
+		dev_err(&pdev->dev, "alloc_candev failed\n");
+		err = -ENOMEM;
+		goto probe_exit;
+	}
+
+	ndev->sysfs_groups[0] = &pru_sysfs_attr_group;
+
+	priv = netdev_priv(ndev);
+
+	priv->trx_irq = platform_get_irq(to_platform_device(dev->parent), 0);
+	if (!priv->trx_irq) {
+		dev_err(&pdev->dev, "unable to get pru "
+						"interrupt resources!\n");
+		err = -ENODEV;
+		goto probe_exit;
+	}
+
+	priv->ndev = ndev;
+	priv->dev = dev;
+
+	priv->can.bittiming_const = &pru_can_bittiming_const;
+	priv->can.do_set_bittiming = pru_can_set_bittiming;
+	priv->can.do_set_mode = pru_can_set_mode;
+	priv->can.do_get_state = pru_can_get_state;
+	priv->can_tx_cntx.pruno = PRUSS_CAN_TX_PRU_1;
+	priv->can_rx_cntx.pruno = PRUSS_CAN_RX_PRU_0;
+
+	/* we support local echo, no arp */
+	ndev->flags |= (IFF_ECHO | IFF_NOARP);
+
+	/* pdev->dev->device_private->driver_data = ndev */
+	platform_set_drvdata(pdev, ndev);
+	SET_NETDEV_DEV(ndev, &pdev->dev);
+	ndev->netdev_ops = &pru_can_netdev_ops;
+
+	priv->clk_timer = clk_get(&pdev->dev, "pll1_sysclk2");
+	if (IS_ERR(priv->clk_timer)) {
+		dev_err(&pdev->dev, "no timer clock available\n");
+		err = PTR_ERR(priv->clk_timer);
+		priv->clk_timer = NULL;
+		goto probe_exit_candev;
+	}
+
+	priv->can.clock.freq = clk_get_rate(priv->clk_timer);
+
+	clk_pruss = clk_get(NULL, "pruss");
+	if (IS_ERR(clk_pruss)) {
+		dev_err(&pdev->dev, "no clock available: pruss\n");
+		err = -ENODEV;
+		goto probe_exit_clk;
+	}
+	priv->clk_freq_pru = clk_get_rate(clk_pruss);
+	clk_put(clk_pruss);
+
+	err = register_candev(ndev);
+	if (err) {
+		dev_err(&pdev->dev, "register_candev() failed\n");
+		err = -ENODEV;
+		goto probe_exit_clk;
+	}
+
+	err = request_firmware(&fw_tx, "PRU_CAN_Emulation_Tx.bin",
+			&pdev->dev);
+	if (err) {
+		dev_err(&pdev->dev, "can't load firmware\n");
+		err = -ENODEV;
+		goto probe_exit_clk;
+	}
+
+	dev_info(&pdev->dev, "fw_tx size %d. downloading...\n", fw_tx->size);
+
+	err = request_firmware(&fw_rx, "PRU_CAN_Emulation_Rx.bin",
+			&pdev->dev);
+	if (err) {
+		dev_err(&pdev->dev, "can't load firmware\n");
+		err = -ENODEV;
+		goto probe_release_fw;
+	}
+	dev_info(&pdev->dev, "fw_rx size %d. downloading...\n", fw_rx->size);
+
+	/* init the pru */
+	pru_can_emu_init(priv->dev, priv->can.clock.freq);
+	udelay(200);
+
+	netif_napi_add(ndev, &priv->napi, pru_can_rx_poll,
+					PRUSS_DEF_NAPI_WEIGHT);
+
+	pruss_enable(priv->dev, PRUSS_CAN_RX_PRU_0);
+	pruss_enable(priv->dev, PRUSS_CAN_TX_PRU_1);
+
+	/* download firmware into pru */
+	err = pruss_load(priv->dev, PRUSS_CAN_RX_PRU_0,
+		(u32 *)fw_rx->data, (fw_rx->size / 4));
+	if (err) {
+		dev_err(&pdev->dev, "firmware download error\n");
+		err = -ENODEV;
+		goto probe_release_fw_1;
+	}
+	release_firmware(fw_rx);
+	err = pruss_load(priv->dev, PRUSS_CAN_TX_PRU_1,
+		(u32 *)fw_tx->data, (fw_tx->size / 4));
+	if (err) {
+		dev_err(&pdev->dev, "firmware download error\n");
+		err = -ENODEV;
+		goto probe_release_fw_1;
+	}
+	release_firmware(fw_tx);
+
+	pruss_run(priv->dev, PRUSS_CAN_RX_PRU_0);
+	pruss_run(priv->dev, PRUSS_CAN_TX_PRU_1);
+
+	dev_info(&pdev->dev,
+		 "%s device registered (trx_irq = %d,  clk = %d)\n",
+		 PRUSS_CAN_DRV_NAME, priv->trx_irq, priv->can.clock.freq);
+
+	return 0;
+
+probe_release_fw_1:
+	release_firmware(fw_rx);
+probe_release_fw:
+	release_firmware(fw_tx);
+probe_exit_clk:
+	clk_put(priv->clk_timer);
+probe_exit_candev:
+	if (NULL != ndev)
+		free_candev(ndev);
+probe_exit:
+	return err;
+}
+
+static int __devexit pru_can_remove(struct platform_device *pdev)
+{
+	struct net_device *ndev = platform_get_drvdata(pdev);
+	struct can_emu_priv *priv = netdev_priv(ndev);
+
+	pru_can_stop(ndev);
+	pru_can_emu_exit(priv->dev);
+	clk_put(priv->clk_timer);
+	unregister_candev(ndev);
+	free_candev(ndev);
+	platform_set_drvdata(pdev, NULL);
+	return 0;
+}
+
+#ifdef CONFIG_PM
+static int pru_can_suspend(struct platform_device *pdev,
+			pm_message_t mesg)
+{
+	dev_info(&pdev->dev, "%s not yet implemented\n", __func__);
+	return 0;
+}
+
+static int pru_can_resume(struct platform_device *pdev)
+{
+	dev_info(&pdev->dev, "%s not yet implemented\n", __func__);
+	return 0;
+}
+#else
+#define pru_can_suspend NULL
+#define pru_can_resume NULL
+#endif
+
+static struct platform_driver omapl_pru_can_driver = {
+	.probe		= pru_can_probe,
+	.remove		= __devexit_p(pru_can_remove),
+	.suspend	= pru_can_suspend,
+	.resume		= pru_can_resume,
+	.driver		= {
+		.name	= PRUSS_CAN_DRV_NAME,
+		.owner	= THIS_MODULE,
+	},
+};
+
+static int __init pru_can_init(void)
+{
+	pr_debug(KERN_INFO PRUSS_CAN_DRV_DESC "\n");
+	return platform_driver_register(&omapl_pru_can_driver);
+}
+
+module_init(pru_can_init);
+
+static void __exit pru_can_exit(void)
+{
+	pr_debug(KERN_INFO PRUSS_CAN_DRV_DESC " unloaded\n");
+	platform_driver_unregister(&omapl_pru_can_driver);
+}
+
+module_exit(pru_can_exit);
+
+MODULE_AUTHOR("Subhasish Ghosh <subhasish@mistralsolutions.com>");
+MODULE_LICENSE("GPL");
+MODULE_DESCRIPTION("omapl pru CAN netdevice driver");
-- 
1.7.2.3

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Wolfgang Grandegger]

Hi,

On 04/22/2011 05:50 PM, Marc Kleine-Budde wrote:
> On 04/22/2011 02:11 PM, Subhasish Ghosh wrote:
>> This patch adds support for the CAN device emulated on PRUSS.
> 
> After commenting the code inline, some remarks:
> - Your tx path looks broken, see commits inline
> - Please setup a proper struct to describe your register layout, make
>   use of arrays for rx and tx
> - don't use u32, s32 for not hardware related variables like return
>   codes and loop counter.
> - the routines that load and save the can data bytes from/into your
>   mailbox look way to complicated. Please write down the layout so that
>   we can think of a elegant way to do it
> - a lot of functions unconditionally return 0, make them void if no
>   error can happen
> - think about using managed devices, that would simplify the probe and
>   release function

I agree with Marc's comments and would like to add:

- Use just *one* value per sysfs file

A few more comments inline...

>> Signed-off-by: Subhasish Ghosh <subhasish@mistralsolutions.com>
>> ---
>>  drivers/net/can/Kconfig     |    7 +
>>  drivers/net/can/Makefile    |    1 +
>>  drivers/net/can/pruss_can.c | 1074 +++++++++++++++++++++++++++++++++++++++++++
>>  3 files changed, 1082 insertions(+), 0 deletions(-)
>>  create mode 100644 drivers/net/can/pruss_can.c
>>
>> diff --git a/drivers/net/can/Kconfig b/drivers/net/can/Kconfig
>> index 5dec456..4682a4f 100644
>> --- a/drivers/net/can/Kconfig
>> +++ b/drivers/net/can/Kconfig
>> @@ -111,6 +111,13 @@ config PCH_CAN
>>  	  embedded processor.
>>  	  This driver can access CAN bus.
>>  
>> +config CAN_TI_DA8XX_PRU
>> +	depends on CAN_DEV && ARCH_DAVINCI && ARCH_DAVINCI_DA850
>> +	tristate "PRU based CAN emulation for DA8XX"
>> +	---help---
>> +	Enable this to emulate a CAN controller on the PRU of DA8XX.
>> +	If not sure, mark N
> 
> Please indent the help text with 1 tab and 2 spaces
> 
>> +
>>  source "drivers/net/can/mscan/Kconfig"
>>  
>>  source "drivers/net/can/sja1000/Kconfig"
>> diff --git a/drivers/net/can/Makefile b/drivers/net/can/Makefile
>> index 53c82a7..d0b7cbd 100644
>> --- a/drivers/net/can/Makefile
>> +++ b/drivers/net/can/Makefile
>> @@ -15,6 +15,7 @@ obj-$(CONFIG_CAN_SJA1000)	+= sja1000/
>>  obj-$(CONFIG_CAN_MSCAN)		+= mscan/
>>  obj-$(CONFIG_CAN_AT91)		+= at91_can.o
>>  obj-$(CONFIG_CAN_TI_HECC)	+= ti_hecc.o
>> +obj-$(CONFIG_CAN_TI_DA8XX_PRU)	+= pruss_can.o
>>  obj-$(CONFIG_CAN_MCP251X)	+= mcp251x.o
>>  obj-$(CONFIG_CAN_BFIN)		+= bfin_can.o
>>  obj-$(CONFIG_CAN_JANZ_ICAN3)	+= janz-ican3.o
>> diff --git a/drivers/net/can/pruss_can.c b/drivers/net/can/pruss_can.c
>> new file mode 100644
>> index 0000000..7702509
>> --- /dev/null
>> +++ b/drivers/net/can/pruss_can.c
...
> is this array const?
>> +static u32 pruss_intc_init[19][3] = {
>> +	{PRUSS_INTC_POLARITY0,		PRU_INTC_REGMAP_MASK,	0xFFFFFFFF},
>> +	{PRUSS_INTC_POLARITY1,		PRU_INTC_REGMAP_MASK,	0xFFFFFFFF},
>> +	{PRUSS_INTC_TYPE0,		PRU_INTC_REGMAP_MASK,	0x1C000000},
>> +	{PRUSS_INTC_TYPE1,		PRU_INTC_REGMAP_MASK,	0},
>> +	{PRUSS_INTC_GLBLEN,		0,			1},
>> +	{PRUSS_INTC_HOSTMAP0,		PRU_INTC_REGMAP_MASK,	0x03020100},
>> +	{PRUSS_INTC_HOSTMAP1,		PRU_INTC_REGMAP_MASK,	0x07060504},
>> +	{PRUSS_INTC_HOSTMAP2,		PRU_INTC_REGMAP_MASK,	0x0000908},
>> +	{PRUSS_INTC_CHANMAP0,		PRU_INTC_REGMAP_MASK,	0},
>> +	{PRUSS_INTC_CHANMAP8,		PRU_INTC_REGMAP_MASK,	0x00020200},
>> +	{PRUSS_INTC_STATIDXCLR,		0,			32},
>> +	{PRUSS_INTC_STATIDXCLR,		0,			19},
>> +	{PRUSS_INTC_ENIDXSET,		0,			19},
>> +	{PRUSS_INTC_STATIDXCLR,		0,			18},
>> +	{PRUSS_INTC_ENIDXSET,		0,			18},
>> +	{PRUSS_INTC_STATIDXCLR,		0,			34},
>> +	{PRUSS_INTC_ENIDXSET,		0,			34},
>> +	{PRUSS_INTC_ENIDXSET,		0,			32},
>> +	{PRUSS_INTC_HOSTINTEN,		0,			5}
> 
> please add ","

Also a struct to describe each entry would improve readability.
Then you could also use ARRAY_SIZE.

>> +};
...
>> +static int pru_can_set_bittiming(struct net_device *ndev)
>> +{
>> +	struct can_emu_priv *priv = netdev_priv(ndev);
>> +	struct can_bittiming *bt = &priv->can.bittiming;
>> +	u32 value;
>> +
>> +	value = priv->can.clock.freq / bt->bitrate;
>> +	pruss_writel(priv->dev, PRUSS_CAN_TIMING_VAL_TX, value);
>> +	pruss_writel(priv->dev, PRUSS_CAN_BIT_TIMING_VAL_RX, value);
>> +
>> +	value = (bt->phase_seg2 + bt->phase_seg1 +
>> +			bt->prop_seg + 1) * bt->brp;
>> +	value = (value >> 1) - PRUSS_CAN_TIMER_SETUP_DELAY;
>> +	value = (value << 16) | value;
>> +	pruss_writel(priv->dev, PRUSS_CAN_TIMING_VAL_RX, value);
>> +
>> +	value = (PRUSS_CAN_GPIO_SETUP_DELAY *
>> +		(priv->clk_freq_pru / 1000000) / 1000) /
>> +		PRUSS_CAN_DELAY_LOOP_LENGTH;

This calculation looks delicate. 64-bit math would be safer.

>> +
>> +	pruss_writel(priv->dev, PRUSS_CAN_TIMING_SETUP, value);
>> +	return 0;
>> +}
...
>> +static int pru_can_err(struct net_device *ndev, int int_status,
>> +			     int err_status)
>> +{
>> +	struct can_emu_priv *priv = netdev_priv(ndev);
>> +	struct net_device_stats *stats = &ndev->stats;
>> +	struct can_frame *cf;
>> +	struct sk_buff *skb;
>> +	u32 tx_err_cnt, rx_err_cnt;
>> +
>> +	skb = alloc_can_err_skb(ndev, &cf);
>> +	if (!skb) {
>> +		if (printk_ratelimit())
>> +			dev_err(priv->dev,
>> +				"alloc_can_err_skb() failed\n");
>> +		return -ENOMEM;
>> +	}
>> +
>> +	if (err_status & PRUSS_CAN_GSR_BIT_EPM) {	/* error passive int */
>> +		priv->can.state = CAN_STATE_ERROR_PASSIVE;
>> +		++priv->can.can_stats.error_passive;
>> +		cf->can_id |= CAN_ERR_CRTL;
>> +		tx_err_cnt = pru_can_get_error_cnt(priv->dev,
>> +						PRUSS_CAN_TX_PRU_1);
>> +		rx_err_cnt = pru_can_get_error_cnt(priv->dev,
>> +						PRUSS_CAN_RX_PRU_0);
>> +		if (tx_err_cnt > PRUSS_CAN_ERROR_ACTIVE - 1)
>> +			cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
>> +		if (rx_err_cnt > PRUSS_CAN_ERROR_ACTIVE - 1)
>> +			cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
>> +
>> +		dev_dbg(priv->ndev->dev.parent, "Error passive interrupt\n");
>> +	}
>> +
>> +	if (err_status & PRUSS_CAN_GSR_BIT_BFM) {
>> +		priv->can.state = CAN_STATE_BUS_OFF;
>> +		cf->can_id |= CAN_ERR_BUSOFF;
>> +		/*
>> +		 *      Disable all interrupts in bus-off to avoid int hog
>> +		 *      this should be handled by the pru
>> +		 */
>> +		pru_can_mask_ints(priv->dev, PRUSS_CAN_TX_PRU_1, false);
>> +		pru_can_mask_ints(priv->dev, PRUSS_CAN_RX_PRU_0, false);
>> +		can_bus_off(ndev);
>> +		dev_dbg(priv->ndev->dev.parent, "Bus off mode\n");
>> +	}
>> +
>> +	netif_rx(skb);

You should use netif_receive_skb(skb) here as well.

>> +	stats->rx_packets++;
>> +	stats->rx_bytes += cf->can_dlc;
>> +	return 0;
>> +}
>> +
>> +static int pru_can_rx_poll(struct napi_struct *napi, int quota)
>> +{
>> +	struct net_device *ndev = napi->dev;
>> +	struct can_emu_priv *priv = netdev_priv(ndev);
>> +	u32 bit_set, mbxno = 0;
>> +	u32 num_pkts = 0;
>> +
>> +	if (!netif_running(ndev))
>> +		return 0;
>> +
>> +	do {
>> +		/* rx int sys_evt -> 33 */
>> +		pru_can_clr_intc_status(priv->dev, PRUSS_CAN_RX_PRU_0);
>> +		if (pru_can_intr_stat_get(priv->dev, &priv->can_rx_cntx))
>> +			return num_pkts;
>> +
>> +		if (PRUSS_CAN_ISR_BIT_RRI & priv->can_rx_cntx.intr_stat) {
>> +			mbxno = PRUSS_CAN_RTR_BUFF_NUM;
>> +			pru_can_rx(ndev, mbxno);
>> +			num_pkts++;
>> +		} else {
>> +			/* Extract the mboxno from the status */
>> +			bit_set = fls(priv->can_rx_cntx.intr_stat & 0xFF);
>> +			if (bit_set) {
>> +				num_pkts++;
>> +				mbxno = bit_set - 1;
>> +				if (PRUSS_CAN_ISR_BIT_ESI & priv->can_rx_cntx.
>> +				    intr_stat) {

				if (PRUSS_CAN_ISR_BIT_ESI &
				    priv->can_rx_cntx.intr_stat) {

Is more readable.


>> +					pru_can_gbl_stat_get(priv->dev,
>> +						&priv->can_rx_cntx);
>> +						pru_can_err(ndev,
>> +					priv->can_rx_cntx.intr_stat,
>> +					priv->can_rx_cntx.gbl_stat);

Please fix bogous indention.

>> +				} else
>> +					pru_can_rx(ndev, mbxno);
>> +			} else
>> +				break;
>> +		}
>> +	} while (((PRUSS_CAN_TX_INT_STAT & pru_can_get_intc_status(priv->dev))
>> +						&& (num_pkts < quota)));
>> +
>> +	/* Enable packet interrupt if all pkts are handled */
>> +	if (!(PRUSS_CAN_TX_INT_STAT & pru_can_get_intc_status(priv->dev))) {
>> +		napi_complete(napi);
>> +		/* Re-enable RX mailbox interrupts */
>> +		pru_can_mask_ints(priv->dev, PRUSS_CAN_RX_PRU_0, true);
>> +	}
>> +	return num_pkts;
>> +}
...
>> +/* Shows all the mailbox IDs */
>> +static ssize_t pru_sysfs_mbx_id_show(struct device *dev,
>> +		struct device_attribute *attr, char *buf)
>> +{
>> +	struct can_emu_priv *priv = netdev_priv(to_net_dev(dev));
>> +
>> +	return snprintf(buf, PAGE_SIZE, "<mbx_no:mbx_id>\n"
>> +					"0:0x%X 1:0x%X 2:0x%X 3:0x%X "
>> +					"4:0x%X 5:0x%X 6:0x%X 7:0x%X\n",
>> +					priv->mbx_id[0], priv->mbx_id[1],
>> +					priv->mbx_id[2], priv->mbx_id[3],
>> +					priv->mbx_id[4], priv->mbx_id[5],
>> +					priv->mbx_id[6], priv->mbx_id[7]);
>> +}

As mentioned above, just one value per sysfs file, please...

>> +/*
>> + * Sets Mailbox IDs
>> + * This should be programmed as mbx_num:mbx_id (in hex)
>> + * eg: $ echo 0:0x123 > /sys/class/net/can0/mbx_id
>> + */

... which would also avoid string parsing.

>> +static int __devinit pru_can_probe(struct platform_device *pdev)
>> +{
>> +	struct net_device *ndev = NULL;
>> +	const struct da850_evm_pruss_can_data *pdata;
>> +	struct can_emu_priv *priv = NULL;
>> +	struct device *dev = &pdev->dev;
>> +	struct clk *clk_pruss;
>> +	const struct firmware *fw_rx;
>> +	const struct firmware *fw_tx;
>> +	u32 err;
> use int
>> +
>> +	pdata = dev->platform_data;
>> +	if (!pdata) {
>> +		dev_err(&pdev->dev, "platform data not found\n");
>> +		return -EINVAL;
>> +	}
>> +	(pdata->setup)();
> 
> no need fot the ( )
> 
>> +
>> +	ndev = alloc_candev(sizeof(struct can_emu_priv), PRUSS_CAN_MB_MAX + 1);
>> +	if (!ndev) {
>> +		dev_err(&pdev->dev, "alloc_candev failed\n");
>> +		err = -ENOMEM;
>> +		goto probe_exit;
>> +	}
>> +
>> +	ndev->sysfs_groups[0] = &pru_sysfs_attr_group;
>> +
>> +	priv = netdev_priv(ndev);
>> +
>> +	priv->trx_irq = platform_get_irq(to_platform_device(dev->parent), 0);
>> +	if (!priv->trx_irq) {
>> +		dev_err(&pdev->dev, "unable to get pru "
>> +						"interrupt resources!\n");
>> +		err = -ENODEV;
>> +		goto probe_exit;
>> +	}
>> +
>> +	priv->ndev = ndev;
>> +	priv->dev = dev;
>> +
>> +	priv->can.bittiming_const = &pru_can_bittiming_const;
>> +	priv->can.do_set_bittiming = pru_can_set_bittiming;
>> +	priv->can.do_set_mode = pru_can_set_mode;
>> +	priv->can.do_get_state = pru_can_get_state;

Please remove that callback. It's not needed as state changes are
handled properly.

>> +	priv->can_tx_cntx.pruno = PRUSS_CAN_TX_PRU_1;
>> +	priv->can_rx_cntx.pruno = PRUSS_CAN_RX_PRU_0;
>> +
>> +	/* we support local echo, no arp */
>> +	ndev->flags |= (IFF_ECHO | IFF_NOARP);
> 
> no need to se NOARP
> 
>> +
>> +	/* pdev->dev->device_private->driver_data = ndev */
>> +	platform_set_drvdata(pdev, ndev);
>> +	SET_NETDEV_DEV(ndev, &pdev->dev);
>> +	ndev->netdev_ops = &pru_can_netdev_ops;
>> +
>> +	priv->clk_timer = clk_get(&pdev->dev, "pll1_sysclk2");
>> +	if (IS_ERR(priv->clk_timer)) {
>> +		dev_err(&pdev->dev, "no timer clock available\n");
>> +		err = PTR_ERR(priv->clk_timer);
>> +		priv->clk_timer = NULL;
>> +		goto probe_exit_candev;
>> +	}
>> +
>> +	priv->can.clock.freq = clk_get_rate(priv->clk_timer);
>> +
>> +	clk_pruss = clk_get(NULL, "pruss");
>> +	if (IS_ERR(clk_pruss)) {
>> +		dev_err(&pdev->dev, "no clock available: pruss\n");
>> +		err = -ENODEV;
>> +		goto probe_exit_clk;
>> +	}
>> +	priv->clk_freq_pru = clk_get_rate(clk_pruss);
>> +	clk_put(clk_pruss);
> 
> why do you put the clock here?
>> +
>> +	err = register_candev(ndev);
>> +	if (err) {
>> +		dev_err(&pdev->dev, "register_candev() failed\n");
>> +		err = -ENODEV;
>> +		goto probe_exit_clk;
>> +	}
>> +
>> +	err = request_firmware(&fw_tx, "PRU_CAN_Emulation_Tx.bin",
>> +			&pdev->dev);
>> +	if (err) {
>> +		dev_err(&pdev->dev, "can't load firmware\n");
>> +		err = -ENODEV;
>> +		goto probe_exit_clk;
>> +	}
>> +
>> +	dev_info(&pdev->dev, "fw_tx size %d. downloading...\n", fw_tx->size);
>> +
>> +	err = request_firmware(&fw_rx, "PRU_CAN_Emulation_Rx.bin",
>> +			&pdev->dev);
>> +	if (err) {
>> +		dev_err(&pdev->dev, "can't load firmware\n");
>> +		err = -ENODEV;
>> +		goto probe_release_fw;
>> +	}
>> +	dev_info(&pdev->dev, "fw_rx size %d. downloading...\n", fw_rx->size);
>> +
>> +	/* init the pru */
>> +	pru_can_emu_init(priv->dev, priv->can.clock.freq);
>> +	udelay(200);
>> +
>> +	netif_napi_add(ndev, &priv->napi, pru_can_rx_poll,
>> +					PRUSS_DEF_NAPI_WEIGHT);
> 
> personally I'd wait to add the interface to napi until the firmware is
> loaded.
> 
>> +
>> +	pruss_enable(priv->dev, PRUSS_CAN_RX_PRU_0);
>> +	pruss_enable(priv->dev, PRUSS_CAN_TX_PRU_1);
>> +
>> +	/* download firmware into pru */
>> +	err = pruss_load(priv->dev, PRUSS_CAN_RX_PRU_0,
>> +		(u32 *)fw_rx->data, (fw_rx->size / 4));
>> +	if (err) {
>> +		dev_err(&pdev->dev, "firmware download error\n");
>> +		err = -ENODEV;
>> +		goto probe_release_fw_1;
>> +	}
>> +	release_firmware(fw_rx);
>> +	err = pruss_load(priv->dev, PRUSS_CAN_TX_PRU_1,
>> +		(u32 *)fw_tx->data, (fw_tx->size / 4));
>> +	if (err) {
>> +		dev_err(&pdev->dev, "firmware download error\n");
>> +		err = -ENODEV;
>> +		goto probe_release_fw_1;
>> +	}
>> +	release_firmware(fw_tx);
>> +
>> +	pruss_run(priv->dev, PRUSS_CAN_RX_PRU_0);
>> +	pruss_run(priv->dev, PRUSS_CAN_TX_PRU_1);
>> +
>> +	dev_info(&pdev->dev,
>> +		 "%s device registered (trx_irq = %d,  clk = %d)\n",
>> +		 PRUSS_CAN_DRV_NAME, priv->trx_irq, priv->can.clock.freq);
>> +
>> +	return 0;
>> +
>> +probe_release_fw_1:
>> +	release_firmware(fw_rx);
>> +probe_release_fw:
>> +	release_firmware(fw_tx);
>> +probe_exit_clk:
>> +	clk_put(priv->clk_timer);
>> +probe_exit_candev:
>> +	if (NULL != ndev)
>> +		free_candev(ndev);
>> +probe_exit:
>> +	return err;
>> +}

Thanks,

Wolfgang.

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Subhasish Ghosh]

>
> - Use just *one* value per sysfs file

SG - I felt adding entry for each mbx_id will clutter the sysfs.
        Is it ok to do that.


>>> +static u32 pruss_intc_init[19][3] = {
>>> + {PRUSS_INTC_POLARITY0, PRU_INTC_REGMAP_MASK, 0xFFFFFFFF},
>>> + {PRUSS_INTC_POLARITY1, PRU_INTC_REGMAP_MASK, 0xFFFFFFFF},
>>> + {PRUSS_INTC_TYPE0, PRU_INTC_REGMAP_MASK, 0x1C000000},
>>> + {PRUSS_INTC_TYPE1, PRU_INTC_REGMAP_MASK, 0},
>>> + {PRUSS_INTC_GLBLEN, 0, 1},
>>> + {PRUSS_INTC_HOSTMAP0, PRU_INTC_REGMAP_MASK, 0x03020100},
>>> + {PRUSS_INTC_HOSTMAP1, PRU_INTC_REGMAP_MASK, 0x07060504},
>>> + {PRUSS_INTC_HOSTMAP2, PRU_INTC_REGMAP_MASK, 0x0000908},
>>> + {PRUSS_INTC_CHANMAP0, PRU_INTC_REGMAP_MASK, 0},
>>> + {PRUSS_INTC_CHANMAP8, PRU_INTC_REGMAP_MASK, 0x00020200},
>>> + {PRUSS_INTC_STATIDXCLR, 0, 32},
>>> + {PRUSS_INTC_STATIDXCLR, 0, 19},
>>> + {PRUSS_INTC_ENIDXSET, 0, 19},
>>> + {PRUSS_INTC_STATIDXCLR, 0, 18},
>>> + {PRUSS_INTC_ENIDXSET, 0, 18},
>>> + {PRUSS_INTC_STATIDXCLR, 0, 34},
>>> + {PRUSS_INTC_ENIDXSET, 0, 34},
>>> + {PRUSS_INTC_ENIDXSET, 0, 32},
>>> + {PRUSS_INTC_HOSTINTEN, 0, 5}
>>
>> please add ","
>
> Also a struct to describe each entry would improve readability.
> Then you could also use ARRAY_SIZE.

SG _ I could not follow this, are you recommending that I create a structure 
with three variables and then create
            an array for it.
something like:

const static struct [] = {
    {
    unsigned int reg_base;
    unsigned int reg_mask;
    unsigned int reg_val;
    },
...
};


>>> + value = (PRUSS_CAN_GPIO_SETUP_DELAY *
>>> + (priv->clk_freq_pru / 1000000) / 1000) /
>>> + PRUSS_CAN_DELAY_LOOP_LENGTH;
>
> This calculation looks delicate. 64-bit math would be safer.

SG - This one works fine. I am dividing it twice to avoid the problem.


>>> + pru_can_mask_ints(priv->dev, PRUSS_CAN_TX_PRU_1, false);
>>> + pru_can_mask_ints(priv->dev, PRUSS_CAN_RX_PRU_0, false);
>>> + can_bus_off(ndev);
>>> + dev_dbg(priv->ndev->dev.parent, "Bus off mode\n");
>>> + }
>>> +
>>> + netif_rx(skb);
>
> You should use netif_receive_skb(skb) here as well.

SG - Ok, Will do.

>
> if (PRUSS_CAN_ISR_BIT_ESI &
>     priv->can_rx_cntx.intr_stat) {
>
> Is more readable.

SG - Ok, Will do.

>
>
>>> + pru_can_gbl_stat_get(priv->dev,
>>> + &priv->can_rx_cntx);
>>> + pru_can_err(ndev,
>>> + priv->can_rx_cntx.intr_stat,
>>> + priv->can_rx_cntx.gbl_stat);
>
> Please fix bogous indention.

SG - Ok, Will do.


>>> +
>>> + pdata = dev->platform_data;
>>> + if (!pdata) {
>>> + dev_err(&pdev->dev, "platform data not found\n");
>>> + return -EINVAL;
>>> + }
>>> + (pdata->setup)();
>>
>> no need fot the ( )

SG - Ok, Will do.

>>> + }
>>> +
>>> + priv->ndev = ndev;
>>> + priv->dev = dev;
>>> +
>>> + priv->can.bittiming_const = &pru_can_bittiming_const;
>>> + priv->can.do_set_bittiming = pru_can_set_bittiming;
>>> + priv->can.do_set_mode = pru_can_set_mode;
>>> + priv->can.do_get_state = pru_can_get_state;
>
> Please remove that callback. It's not needed as state changes are
> handled properly.
>

SG -- Ok, Will do

 

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Marc Kleine-Budde]

[-- Attachment #1: Type: text/plain, Size: 2178 bytes --]

On 04/27/2011 03:08 PM, Subhasish Ghosh wrote:

>>>> +static u32 pruss_intc_init[19][3] = {
>>>> + {PRUSS_INTC_POLARITY0, PRU_INTC_REGMAP_MASK, 0xFFFFFFFF},
>>>> + {PRUSS_INTC_POLARITY1, PRU_INTC_REGMAP_MASK, 0xFFFFFFFF},
>>>> + {PRUSS_INTC_TYPE0, PRU_INTC_REGMAP_MASK, 0x1C000000},
>>>> + {PRUSS_INTC_TYPE1, PRU_INTC_REGMAP_MASK, 0},
>>>> + {PRUSS_INTC_GLBLEN, 0, 1},
>>>> + {PRUSS_INTC_HOSTMAP0, PRU_INTC_REGMAP_MASK, 0x03020100},
>>>> + {PRUSS_INTC_HOSTMAP1, PRU_INTC_REGMAP_MASK, 0x07060504},
>>>> + {PRUSS_INTC_HOSTMAP2, PRU_INTC_REGMAP_MASK, 0x0000908},
>>>> + {PRUSS_INTC_CHANMAP0, PRU_INTC_REGMAP_MASK, 0},
>>>> + {PRUSS_INTC_CHANMAP8, PRU_INTC_REGMAP_MASK, 0x00020200},
>>>> + {PRUSS_INTC_STATIDXCLR, 0, 32},
>>>> + {PRUSS_INTC_STATIDXCLR, 0, 19},
>>>> + {PRUSS_INTC_ENIDXSET, 0, 19},
>>>> + {PRUSS_INTC_STATIDXCLR, 0, 18},
>>>> + {PRUSS_INTC_ENIDXSET, 0, 18},
>>>> + {PRUSS_INTC_STATIDXCLR, 0, 34},
>>>> + {PRUSS_INTC_ENIDXSET, 0, 34},
>>>> + {PRUSS_INTC_ENIDXSET, 0, 32},
>>>> + {PRUSS_INTC_HOSTINTEN, 0, 5}
>>>
>>> please add ","
>>
>> Also a struct to describe each entry would improve readability.
>> Then you could also use ARRAY_SIZE.
> 
> SG _ I could not follow this, are you recommending that I create a
> structure with three variables and then create
>            an array for it.
> something like:
> 
> const static struct [] = {
>    {
>    unsigned int reg_base;
>    unsigned int reg_mask;
>    unsigned int reg_val;
>    },
> ...
> };

I think this isn't valid C. It should look like this:

struct pruss_intc_init {
	unsigned long reg_base;
	u32 reg_mask;
	u32 reg+val;
};

static const struct pruss_intc_init pruss_initc_init[] = {
	{ .reg_base = 0xdeadbeef, .reg_mask = 0xaa, .reg_val = 0x55 },
	...
};

I'm not sure about the datatype of reg_base. I haven't looked at the
code that uses this array.

cheers, Marc

-- 
Pengutronix e.K.                  | Marc Kleine-Budde           |
Industrial Linux Solutions        | Phone: +49-231-2826-924     |
Vertretung West/Dortmund          | Fax:   +49-5121-206917-5555 |
Amtsgericht Hildesheim, HRA 2686  | http://www.pengutronix.de   |


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Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Arnd Bergmann]

On Wednesday 27 April 2011, Subhasish Ghosh wrote:
> >
> > - Use just one value per sysfs file
> 
> SG - I felt adding entry for each mbx_id will clutter the sysfs.
>         Is it ok to do that.

That is probably not much better either.

Note also that every sysfs file needs to come with associated
documentation in Documentation/ABI/*/ to make sure that users
will know exactly how the file is meant to work. 

Why do you need to export these values in the first place? Is
it just for debugging or do you expect all CAN user space
to look at this?

If it's for debugging, please don't export the files through sysfs.
Depending on how useful the data is to regular users, you can
still export it through a debugfs file in that case, which has
much less strict rules.

If the file is instead meant as part of the regular operation of
the device, it should not be in debugfs but probably be integrated
into the CAN socket interface, so that users don't need to work
with two different ways of getting to the device (socket and sysfs).

	Arnd

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Subhasish Ghosh]

> On Wednesday 27 April 2011, Subhasish Ghosh wrote:
>> >
>> > - Use just one value per sysfs file
>> 
>> SG - I felt adding entry for each mbx_id will clutter the sysfs.
>>         Is it ok to do that.
> 
> That is probably not much better either.
> 
> Note also that every sysfs file needs to come with associated
> documentation in Documentation/ABI/*/ to make sure that users
> will know exactly how the file is meant to work. 
> 
> Why do you need to export these values in the first place? Is
> it just for debugging or do you expect all CAN user space
> to look at this?
> 
> If it's for debugging, please don't export the files through sysfs.
> Depending on how useful the data is to regular users, you can
> still export it through a debugfs file in that case, which has
> much less strict rules.
> 
> If the file is instead meant as part of the regular operation of
> the device, it should not be in debugfs but probably be integrated
> into the CAN socket interface, so that users don't need to work
> with two different ways of getting to the device (socket and sysfs).
> 

CAN requires mail box IDs to be programmed in. But, the socket
CAN subsystem supports only software filtering of the mail box IDs.

So, the mail box IDs programmed into socket CAN during initialization
does not propagate into the hardware. This is planned to be a future
implementation in Socket CAN.

In our case, we support hardware filtering, to work around with this,
Wolfgang (Socket CAN owner) suggested that we implement
this using sysfs.

These setting are not for debugging, but to program the mail box IDs
into the hardware. 

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Arnd Bergmann]

On Wednesday 04 May 2011, Subhasish Ghosh wrote:
> CAN requires mail box IDs to be programmed in. But, the socket
> CAN subsystem supports only software filtering of the mail box IDs.
> 
> So, the mail box IDs programmed into socket CAN during initialization
> does not propagate into the hardware. This is planned to be a future
> implementation in Socket CAN.
> 
> In our case, we support hardware filtering, to work around with this,
> Wolfgang (Socket CAN owner) suggested that we implement
> this using sysfs.
> 
> These setting are not for debugging, but to program the mail box IDs
> into the hardware. 

Ok, I see. Can you point me to that discussion?

Wolfgang, I'm a bit worried by the API being split between sockets and sysfs.
The problem is that once the sysfs API is established, users will start
relying on it, and you can no longer migrate away from it, even when
a later version of the Socket CAN also supports setting through a different
interface. What is the current interface to set mail box IDs in software?
How hard would it be to implement that feature in Socket CAN?

Is that something that Subhasish or someone else could to as a prerequisite
to merging the driver?

	Arnd

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Wolfgang Grandegger]

Hi Arnd,

On 05/04/2011 03:11 PM, Arnd Bergmann wrote:
> On Wednesday 04 May 2011, Subhasish Ghosh wrote:
>> CAN requires mail box IDs to be programmed in. But, the socket
>> CAN subsystem supports only software filtering of the mail box IDs.
>>
>> So, the mail box IDs programmed into socket CAN during initialization
>> does not propagate into the hardware. This is planned to be a future
>> implementation in Socket CAN.
>>
>> In our case, we support hardware filtering, to work around with this,
>> Wolfgang (Socket CAN owner) suggested that we implement
>> this using sysfs.
>>
>> These setting are not for debugging, but to program the mail box IDs
>> into the hardware. 
> 
> Ok, I see. Can you point me to that discussion?
> 
> Wolfgang, I'm a bit worried by the API being split between sockets and sysfs.
> The problem is that once the sysfs API is established, users will start
> relying on it, and you can no longer migrate away from it, even when
> a later version of the Socket CAN also supports setting through a different
> interface. What is the current interface to set mail box IDs in software?

Note that this CAN controller is *very* special. It cannot handle all
CAN id's due to a lack or resources. The PRUSS firmware is able to
manage just up to 8 different CAN identifiers out of the usual 4096
(12-bit) or even more for the extended CAN ids using 29 bits. There is
no other CAN controller with such rather serious limitations and
therefore there exists also no appropriate interface. I think using
sysfs is OK for such device-specific parameters, at least for the time
being.

> How hard would it be to implement that feature in Socket CAN?

CAN controllers usually provide some kind of hardware CAN id filtering,
but in a very hardware dependent way. A generic interface may be able to
handle the PRUSS restrictions as well. CAN devices are usually
configured through the netlink interface. e.g.

  $ ip link set can0 up type can bitrate 125000

and such a common interface would be netlink based as well.

> Is that something that Subhasish or someone else could to as a prerequisite
> to merging the driver?

Any ideas on how to handle hardware filtering in a generic way are
welcome. I will try to come up with a proposal sooner than later.

Wolfgang.

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Arnd Bergmann]

On Wednesday 04 May 2011, Wolfgang Grandegger wrote:
> On 05/04/2011 03:11 PM, Arnd Bergmann wrote:

> > Wolfgang, I'm a bit worried by the API being split between sockets and sysfs.
> > The problem is that once the sysfs API is established, users will start
> > relying on it, and you can no longer migrate away from it, even when
> > a later version of the Socket CAN also supports setting through a different
> > interface. What is the current interface to set mail box IDs in software?
> 
> Note that this CAN controller is *very* special. It cannot handle all
> CAN id's due to a lack or resources. The PRUSS firmware is able to
> manage just up to 8 different CAN identifiers out of the usual 4096
> (12-bit) or even more for the extended CAN ids using 29 bits. 

So for other controllers, they can simply access every ID within
the range (12 or 29 bits), but there is no need to configure?

What are these IDs for? Do they identify a local port, a remote address,
a connection, or something else?

> There is
> no other CAN controller with such rather serious limitations and
> therefore there exists also no appropriate interface. I think using
> sysfs is OK for such device-specific parameters, at least for the time
> being.

It sounds like it's not very scalable, especially since the implementation
is done completely in firmware. Imagine a new firmware version suddenly
supporting 256 ids instead of 8 -- you'd then have to create 256 sysfs
files to be compatible if I understand you correctly.

> > How hard would it be to implement that feature in Socket CAN?
> 
> CAN controllers usually provide some kind of hardware CAN id filtering,
> but in a very hardware dependent way. A generic interface may be able to
> handle the PRUSS restrictions as well. CAN devices are usually
> configured through the netlink interface. e.g.
> 
>   $ ip link set can0 up type can bitrate 125000
> 
> and such a common interface would be netlink based as well.

Agreed.

> > Is that something that Subhasish or someone else could to as a prerequisite
> > to merging the driver?
> 
> Any ideas on how to handle hardware filtering in a generic way are
> welcome. I will try to come up with a proposal sooner than later.

It sounds to me like the best solution would be change the firmware
to lift that restriction and simply allow all IDs, in case it's not
actually a hardware limitation (which sounds unlikely).

If that's not possible, maybe it's possible to define a generic
filtering interface using netlink, and then either do it completely
in the kernel, or using the hardware support.

	Arnd

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Wolfgang Grandegger]

On 05/04/2011 04:48 PM, Arnd Bergmann wrote:
> On Wednesday 04 May 2011, Wolfgang Grandegger wrote:
>> On 05/04/2011 03:11 PM, Arnd Bergmann wrote:
> 
>>> Wolfgang, I'm a bit worried by the API being split between sockets and sysfs.
>>> The problem is that once the sysfs API is established, users will start
>>> relying on it, and you can no longer migrate away from it, even when
>>> a later version of the Socket CAN also supports setting through a different
>>> interface. What is the current interface to set mail box IDs in software?
>>
>> Note that this CAN controller is *very* special. It cannot handle all
>> CAN id's due to a lack or resources. The PRUSS firmware is able to
>> manage just up to 8 different CAN identifiers out of the usual 4096
>> (12-bit) or even more for the extended CAN ids using 29 bits. 
> 
> So for other controllers, they can simply access every ID within
> the range (12 or 29 bits), but there is no need to configure?

Yes, 11 or 29 bits, to be correct.

> What are these IDs for? Do they identify a local port, a remote address,
> a connection, or something else?

It's a message identifier, which is used for bus arbitration and which
other CAN nodes can listen to. See also:

http://lxr.linux.no/#linux+v2.6.38/Documentation/networking/can.txt#L146
http://en.wikipedia.org/wiki/Controller_area_network

>> There is
>> no other CAN controller with such rather serious limitations and
>> therefore there exists also no appropriate interface. I think using
>> sysfs is OK for such device-specific parameters, at least for the time
>> being.
> 
> It sounds like it's not very scalable, especially since the implementation
> is done completely in firmware. Imagine a new firmware version suddenly
> supporting 256 ids instead of 8 -- you'd then have to create 256 sysfs
> files to be compatible if I understand you correctly.

Well, than an array of CAN identifiers per file would indeed be more
appropriate.

>>> How hard would it be to implement that feature in Socket CAN?
>>
>> CAN controllers usually provide some kind of hardware CAN id filtering,
>> but in a very hardware dependent way. A generic interface may be able to
>> handle the PRUSS restrictions as well. CAN devices are usually
>> configured through the netlink interface. e.g.
>>
>>   $ ip link set can0 up type can bitrate 125000
>>
>> and such a common interface would be netlink based as well.
> 
> Agreed.
> 
>>> Is that something that Subhasish or someone else could to as a prerequisite
>>> to merging the driver?
>>
>> Any ideas on how to handle hardware filtering in a generic way are
>> welcome. I will try to come up with a proposal sooner than later.
> 
> It sounds to me like the best solution would be change the firmware
> to lift that restriction and simply allow all IDs, in case it's not
> actually a hardware limitation (which sounds unlikely).

Yes, that would be best but they told us, that it's not possible with
the available hardware resources. Subhasish?

> If that's not possible, maybe it's possible to define a generic
> filtering interface using netlink, and then either do it completely
> in the kernel, or using the hardware support.

Well, I hesitate to implement an interface especially for such an exotic
device. Fine if it could be handled by a generic CAN hardware filter
interface, which is especially useful for normal CAN controllers.

Wolfgang.

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Subhasish Ghosh]

>> 
>> It sounds to me like the best solution would be change the firmware
>> to lift that restriction and simply allow all IDs, in case it's not
>> actually a hardware limitation (which sounds unlikely).
> 
> Yes, that would be best but they told us, that it's not possible with
> the available hardware resources. Subhasish?

Yes, In case if we allow the ALL implementation, it hogs the CPU.
In that case we do not need the PRU. The whole purpose of the PRU
is to offload the processor for any such implementations. 

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Alan Cox]

On Tue, 10 May 2011 15:41:49 +0530
"Subhasish Ghosh" <subhasish@mistralsolutions.com> wrote:

> >> 
> >> It sounds to me like the best solution would be change the firmware
> >> to lift that restriction and simply allow all IDs, in case it's not
> >> actually a hardware limitation (which sounds unlikely).
> > 
> > Yes, that would be best but they told us, that it's not possible with
> > the available hardware resources. Subhasish?
> 
> Yes, In case if we allow the ALL implementation, it hogs the CPU.
> In that case we do not need the PRU. The whole purpose of the PRU
> is to offload the processor for any such implementations. 

So the kernel presumably needs to switch between using the PRU and native
according to the number of ids being requested at the time ?

That would be roughly what we do with other things (eg IP multicast) so
that apps don't need to know all the innards

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Subhasish Ghosh]

>> Yes, In case if we allow the ALL implementation, it hogs the CPU.
>> In that case we do not need the PRU. The whole purpose of the PRU
>> is to offload the processor for any such implementations. 
> 
> So the kernel presumably needs to switch between using the PRU and native
> according to the number of ids being requested at the time ?

All the IDs are programmed into the PRU data RAM.
The Kernel receives interrupts based upon these IDs.
I could not clearly follow "PRU and native", could you please elaborate.

> That would be roughly what we do with other things (eg IP multicast) so
> that apps don't need to know all the innards

 

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Arnd Bergmann]

On Tuesday 10 May 2011, Subhasish Ghosh wrote:
> 
> >> Yes, In case if we allow the ALL implementation, it hogs the CPU.
> >> In that case we do not need the PRU. The whole purpose of the PRU
> >> is to offload the processor for any such implementations. 
> > 
> > So the kernel presumably needs to switch between using the PRU and native
> > according to the number of ids being requested at the time ?
> 
> All the IDs are programmed into the PRU data RAM.
> The Kernel receives interrupts based upon these IDs.
> I could not clearly follow "PRU and native", could you please elaborate.

We would really like all CAN drivers to behave the same way. All other
drivers are able to work without filters, so pruss_can should allow that
too, even if it becomes a CPU hog at that time.

It seems to me that the pruss can implementation has one thing backwards:
it assumes a specific usage model for CAN that it is trying to do offload
for. However, that usage model is currently not even supported by Socket
CAN. If I understand Wolfgang correctly, it is in fact considered an
unwanted limitation of the pruss can driver, instead of a useful feature.

If that interpretation is right, I would seriously recommend rethinking
the design of the CAN firmware for pruss, so you can start doing something
useful with the offload engine that fits into the Socket CAN API, or that
would be a useful extension to Socket CAN that is also implementable in
the kernel for all other drivers in a meaningful way.

	Arnd

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Arnd Bergmann]

On Wednesday 11 May 2011, Arnd Bergmann wrote:
> If that interpretation is right, I would seriously recommend rethinking
> the design of the CAN firmware for pruss, so you can start doing something
> useful with the offload engine that fits into the Socket CAN API, or that
> would be a useful extension to Socket CAN that is also implementable in
> the kernel for all other drivers in a meaningful way.

I've looked some more into the CAN socket implementation, and I suppose that
the idea of the pruss driver was really to help do the work from the
can_rcv_filter function in hardware.

Doing this right would really mean supporting both a mode where any new
filter that gets added to socket can ends up being added to the hardware
as long as it fits, similar to how we can add additional unicast mac
addresses to an ethernet NIC. However, when the filters from all user
sockets combined can not be represented in the hardware driver, the hardware
needs to be put into a less efficient mode where all packets are returned
to the kernel and processed in software.

	Arnd

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Marc Kleine-Budde]

[-- Attachment #1: Type: text/plain, Size: 1662 bytes --]

On 05/11/2011 11:44 PM, Arnd Bergmann wrote:
> On Wednesday 11 May 2011, Arnd Bergmann wrote:
>> If that interpretation is right, I would seriously recommend rethinking
>> the design of the CAN firmware for pruss, so you can start doing something
>> useful with the offload engine that fits into the Socket CAN API, or that
>> would be a useful extension to Socket CAN that is also implementable in
>> the kernel for all other drivers in a meaningful way.
> 
> I've looked some more into the CAN socket implementation, and I suppose that
> the idea of the pruss driver was really to help do the work from the
> can_rcv_filter function in hardware.
> 
> Doing this right would really mean supporting both a mode where any new
> filter that gets added to socket can ends up being added to the hardware
> as long as it fits, similar to how we can add additional unicast mac
> addresses to an ethernet NIC. However, when the filters from all user
> sockets combined can not be represented in the hardware driver, the hardware
> needs to be put into a less efficient mode where all packets are returned
> to the kernel and processed in software.

I'm not sure if reprogramming hardware filters on the fly works on evey
can core. The more conservative solution would be to configure the
filter list globally (+when the interface is down) via netlink.

regards, Marc

-- 
Pengutronix e.K.                  | Marc Kleine-Budde           |
Industrial Linux Solutions        | Phone: +49-231-2826-924     |
Vertretung West/Dortmund          | Fax:   +49-5121-206917-5555 |
Amtsgericht Hildesheim, HRA 2686  | http://www.pengutronix.de   |


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Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Alan Cox]

> I'm not sure if reprogramming hardware filters on the fly works on evey
> can core. The more conservative solution would be to configure the
> filter list globally (+when the interface is down) via netlink.

For anything that isn't so braindead it ought to be done on the fly and
behind the users back to avoid having to make app code specially aware.
If the lists are fixed either in firmware or in software the stack needs
to error attempts to use anything else - and as you say you need some
kind of way to configure those global lists, preferably portably.

Alan

can: hardware vs. software filter

[Kurt Van Dijck]

On Wed, May 11, 2011 at 11:56:52PM +0100, Alan Cox wrote:
> > I'm not sure if reprogramming hardware filters on the fly works on evey
> > can core. The more conservative solution would be to configure the
> > filter list globally (+when the interface is down) via netlink.
> 
> For anything that isn't so braindead it ought to be done on the fly and
> behind the users back to avoid having to make app code specially aware.

> If the lists are fixed either in firmware or in software the stack needs
> to error attempts to use anything else

That is the best guarantee to let users never use this.
A tool like 'candump' should not know about any pre-configured
filter that is in place. It's the responsibility of the root user
to put proper preconfigured filters.

A lot of code would be spent to allow an application to request
software filters that fit in the preconfigured ones.
IMHO its the root users job to judge about a proper preconfigured
filter that suits the applications that run. The applications should
then be able to request any software filter they like, the root user
decided on limiting traffic.

This poses a problem in that an application may depend on these filters
for its proper operation. That exactly is the responsibility of the
root user who restricts the preconfigured filter.

Kurt

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Wolfgang Grandegger]

On 05/11/2011 11:44 PM, Arnd Bergmann wrote:
> On Wednesday 11 May 2011, Arnd Bergmann wrote:
>> If that interpretation is right, I would seriously recommend rethinking
>> the design of the CAN firmware for pruss, so you can start doing something
>> useful with the offload engine that fits into the Socket CAN API, or that
>> would be a useful extension to Socket CAN that is also implementable in
>> the kernel for all other drivers in a meaningful way.
> 
> I've looked some more into the CAN socket implementation, and I suppose that
> the idea of the pruss driver was really to help do the work from the
> can_rcv_filter function in hardware.

That software filter is per socket while the hardware filter will be per
device.

> Doing this right would really mean supporting both a mode where any new
> filter that gets added to socket can ends up being added to the hardware
> as long as it fits, similar to how we can add additional unicast mac
> addresses to an ethernet NIC. However, when the filters from all user
> sockets combined can not be represented in the hardware driver, the hardware
> needs to be put into a less efficient mode where all packets are returned
> to the kernel and processed in software.

Well, that seems sophisticated resulting in a complex implementation
(may code line) also because hardware filters are very hardware
dependent. Usually just one global filter can be defined. I think that's
overkill. A simple interface using:

  ip link set can0 type can filter <id>:<mask> [<id>:<mask> ...]

would just be fine.

Wolfgang.

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Kurt Van Dijck]

On Thu, May 12, 2011 at 09:13:40AM +0200, Wolfgang Grandegger wrote:
> A simple interface using:
> 
>   ip link set can0 type can filter <id>:<mask> [<id>:<mask> ...]
> 
> would just be fine.
Yep.

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Arnd Bergmann]

On Thursday 12 May 2011, Wolfgang Grandegger wrote:
> Well, that seems sophisticated resulting in a complex implementation
> (may code line) also because hardware filters are very hardware
> dependent. Usually just one global filter can be defined. I think that's
> overkill. A simple interface using:
> 
>   ip link set can0 type can filter <id>:<mask> [<id>:<mask> ...]
> 
> would just be fine.

Ok, fair enough. Still I would suggest you first come up with
a reasonable user interface (the one you posted may be just right,
I don't know), and then let someone do the implementation in the
pruss firmware that is the best match for the user interface, rather
than the other way around.

	Arnd

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Marc Kleine-Budde]

[-- Attachment #1: Type: text/plain, Size: 1301 bytes --]

On 05/12/2011 02:54 PM, Arnd Bergmann wrote:
> On Thursday 12 May 2011, Wolfgang Grandegger wrote:
>> Well, that seems sophisticated resulting in a complex implementation
>> (may code line) also because hardware filters are very hardware
>> dependent. Usually just one global filter can be defined. I think that's
>> overkill. A simple interface using:
>>
>>   ip link set can0 type can filter <id>:<mask> [<id>:<mask> ...]
>>
>> would just be fine.
> 
> Ok, fair enough. Still I would suggest you first come up with
> a reasonable user interface (the one you posted may be just right,
> I don't know), and then let someone do the implementation in the
> pruss firmware that is the best match for the user interface, rather
> than the other way around.

I suggested some time ago to implement the more-or-less standard
<id>:<mask> filter instead of just a single <id> (per filter entry). The
cost is probably quite low, it's just a single AND operation per filter
entry more expensive.

regards, Marc

-- 
Pengutronix e.K.                  | Marc Kleine-Budde           |
Industrial Linux Solutions        | Phone: +49-231-2826-924     |
Vertretung West/Dortmund          | Fax:   +49-5121-206917-5555 |
Amtsgericht Hildesheim, HRA 2686  | http://www.pengutronix.de   |


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Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Oliver Hartkopp]

On 12.05.2011 09:13, Wolfgang Grandegger wrote:
> On 05/11/2011 11:44 PM, Arnd Bergmann wrote:
>> On Wednesday 11 May 2011, Arnd Bergmann wrote:
>>> If that interpretation is right, I would seriously recommend rethinking
>>> the design of the CAN firmware for pruss, so you can start doing something
>>> useful with the offload engine that fits into the Socket CAN API, or that
>>> would be a useful extension to Socket CAN that is also implementable in
>>> the kernel for all other drivers in a meaningful way.
>>
>> I've looked some more into the CAN socket implementation, and I suppose that
>> the idea of the pruss driver was really to help do the work from the
>> can_rcv_filter function in hardware.
> 
> That software filter is per socket while the hardware filter will be per
> device.

Hi all,

i took some while to get behind all the arguments for me :-)

Wolfgangs suggestion

>  A simple interface using:
> 
>   ip link set can0 type can filter <id>:<mask> [<id>:<mask> ...]
> 

indeed would just be fine - but IMHO it doesn't help for the pruss CAN driver.

The problem is, that you plan to filter on a CAN-identifier base. This is not
only very application dependent (as Kurt already pointed out) - it also does
not bring any safety that your system does not explode on heavy CAN load.

E.g. assume you need the CAN-IDs 0x100, 0x200 and 0x300 in your application
and for that reason you configure these IDs in the pruss CAN driver.

What if someone generates a 100% CAN busload exactly on CAN-ID 0x100 then?

Worst case (1MBit/s, DLC=0) you would need to handle about 21.000 irqs/s for
the correctly received CAN frames with the filtered CAN-ID 0x100 ...

At the beginnig of the SocketCAN development, we had a PowerPC (E603) @ 133MHz
that was able to handle 4 (dumb) SJA1000 CAN controllers without problems.

Maybe i should tell a bit more about what's happening at CAN frame receive time:

1. IRQ happens
2. Read CAN frame from CAN controller registers
3. Allocate a socketbuffer (skb) and queue it into the netdevice rx queue
4. Softirq handles the new skb
5. Check the (specialized/optimized) CAN-ID filters for this CAN device
6. Enqueue the data to the sockets recv buffer(s) and/or drop the skb.

This all depends heavily on Linux networking (skb handling, caching, etc) and
is pretty fast and optimized!! That was also the reason why it ran on the old
PowerPC that smoothly. The mostly seen effect if anything drops is when the
application (holding the socket) was not fast enough to handle the incoming
data. NB: For that reason we implemented a CAN content filter (CAN_BCM) that
is able to do content filtering and timeout monitoring in Kernelspace - all
performed in the SoftIRQ.

Having 'Mailboxes' bound to CAN-IDs is something that's useful for 8/16 bit
CPUs where an application is tightly bound to the embedded ECUs functionality.

IMO you should try to implement an 'open' pruss CAN driver without filtering
as it doesn't really help (see above). The networking stack can cope with the
load. In all cases (with/without filters) the reduction the irqload could be a
way to investigate (e.g. think about dropping CAN frames based on the irqload).

But you should try the 'open' way first. And i think with your current driver
you could just filter for one CAN-ID (e.g. 0x100) and then produce the heavy
CAN busload with this CAN-ID 0x100 and a second CAN node, right?

Regards,
Oliver

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Arnd Bergmann]

On Thursday 12 May 2011 16:41:58 Oliver Hartkopp wrote:
> E.g. assume you need the CAN-IDs 0x100, 0x200 and 0x300 in your application
> and for that reason you configure these IDs in the pruss CAN driver.
> 
> What if someone generates a 100% CAN busload exactly on CAN-ID 0x100 then?
> 
> Worst case (1MBit/s, DLC=0) you would need to handle about 21.000 irqs/s for
> the correctly received CAN frames with the filtered CAN-ID 0x100 ...

Then I guess the main thing that a "smart" CAN implementation like pruss
should do is interrupt mitigation. When you have a constant flow of
packets coming in, the hardware should be able to DMA a lot of
them into kernel memory before the driver is required to pick them up,
and only get into interrupt driven mode when the kernel has managed
to process all outstanding packets.

> This all depends heavily on Linux networking (skb handling, caching, etc) and
> is pretty fast and optimized!! That was also the reason why it ran on the old
> PowerPC that smoothly. The mostly seen effect if anything drops is when the
> application (holding the socket) was not fast enough to handle the incoming
> data. NB: For that reason we implemented a CAN content filter (CAN_BCM) that
> is able to do content filtering and timeout monitoring in Kernelspace - all
> performed in the SoftIRQ.

Right, dropping packets that no process is waiting for should be done as
early as possible. In pruss-can, the idea was to do it in hardware, which
doesn't really work all that well for the reasons discussed before.
Dropping the frames in the NAPI poll function (softirq time) seems like a
logical choice.

> Having 'Mailboxes' bound to CAN-IDs is something that's useful for 8/16 bit
> CPUs where an application is tightly bound to the embedded ECUs functionality.

Makes sense.

	Arnd

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Oliver Hartkopp]

On 22.05.2011 12:30, Arnd Bergmann wrote:
> On Thursday 12 May 2011 16:41:58 Oliver Hartkopp wrote:
>> E.g. assume you need the CAN-IDs 0x100, 0x200 and 0x300 in your application
>> and for that reason you configure these IDs in the pruss CAN driver.
>>
>> What if someone generates a 100% CAN busload exactly on CAN-ID 0x100 then?
>>
>> Worst case (1MBit/s, DLC=0) you would need to handle about 21.000 irqs/s for
>> the correctly received CAN frames with the filtered CAN-ID 0x100 ...
> 
> Then I guess the main thing that a "smart" CAN implementation like pruss
> should do is interrupt mitigation. When you have a constant flow of
> packets coming in, the hardware should be able to DMA a lot of
> them into kernel memory before the driver is required to pick them up,
> and only get into interrupt driven mode when the kernel has managed
> to process all outstanding packets.
> 
>> This all depends heavily on Linux networking (skb handling, caching, etc) and
>> is pretty fast and optimized!! That was also the reason why it ran on the old
>> PowerPC that smoothly. The mostly seen effect if anything drops is when the
>> application (holding the socket) was not fast enough to handle the incoming
>> data. NB: For that reason we implemented a CAN content filter (CAN_BCM) that
>> is able to do content filtering and timeout monitoring in Kernelspace - all
>> performed in the SoftIRQ.
> 
> Right, dropping packets that no process is waiting for should be done as
> early as possible. In pruss-can, the idea was to do it in hardware, which
> doesn't really work all that well for the reasons discussed before.
> Dropping the frames in the NAPI poll function (softirq time) seems like a
> logical choice.

In 'real world' CAN setups you'll never see 21.000 CAN frames per second (and
therefore 21.000 irqs/s) - you are usually designing CAN network traffic with
less than 60% busload. So interrupt rates somewhere below 1000 irqs/s can be
assumed.

>From what i've seen so far a 3-4 messages rx FIFO and NAPI support just make it.

@Marc/Wolfgang: Would this be also your recommendation for a CAN controller
design that supports SocketCAN in the best way?

As the Linux network stack supports hardware timestamps too, this could be an
additional (optional!) feature.

Regards,
Oliver

>> Having 'Mailboxes' bound to CAN-IDs is something that's useful for 8/16 bit
>> CPUs where an application is tightly bound to the embedded ECUs functionality.
> 
> Makes sense.
> 
> 	Arnd

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Marc Kleine-Budde]

[-- Attachment #1: Type: text/plain, Size: 1302 bytes --]

On 05/23/2011 08:21 AM, Oliver Hartkopp wrote:

[...]

> In 'real world' CAN setups you'll never see 21.000 CAN frames per second (and
> therefore 21.000 irqs/s) - you are usually designing CAN network traffic with
> less than 60% busload. So interrupt rates somewhere below 1000 irqs/s can be
> assumed.
> 
> From what i've seen so far a 3-4 messages rx FIFO and NAPI support just make it.
> 
> @Marc/Wolfgang: Would this be also your recommendation for a CAN controller
> design that supports SocketCAN in the best way?

If you have a rx FIFO NAPI is the way to go. For a single mailbox it
adds overhead, if you can read the CAN frame in the interrupt handler.
The error messages should probably generated from NAPI, too. Especially
the I'm-the-only-CAN-node-on-the-net-and-get-no-ACK error message.

However IIRC David said that every new driver should implement NAPI.

> As the Linux network stack supports hardware timestamps too, this could be an
> additional (optional!) feature.

regards, Marc
-- 
Pengutronix e.K.                  | Marc Kleine-Budde           |
Industrial Linux Solutions        | Phone: +49-231-2826-924     |
Vertretung West/Dortmund          | Fax:   +49-5121-206917-5555 |
Amtsgericht Hildesheim, HRA 2686  | http://www.pengutronix.de   |


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Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Wolfgang Grandegger]

Hi Oliver,

sorry for the late answer.

On 05/23/2011 08:21 AM, Oliver Hartkopp wrote:
> On 22.05.2011 12:30, Arnd Bergmann wrote:
>> On Thursday 12 May 2011 16:41:58 Oliver Hartkopp wrote:
>>> E.g. assume you need the CAN-IDs 0x100, 0x200 and 0x300 in your application
>>> and for that reason you configure these IDs in the pruss CAN driver.
>>>
>>> What if someone generates a 100% CAN busload exactly on CAN-ID 0x100 then?
>>>
>>> Worst case (1MBit/s, DLC=0) you would need to handle about 21.000 irqs/s for
>>> the correctly received CAN frames with the filtered CAN-ID 0x100 ...
>>
>> Then I guess the main thing that a "smart" CAN implementation like pruss
>> should do is interrupt mitigation. When you have a constant flow of
>> packets coming in, the hardware should be able to DMA a lot of
>> them into kernel memory before the driver is required to pick them up,
>> and only get into interrupt driven mode when the kernel has managed
>> to process all outstanding packets.
>>
>>> This all depends heavily on Linux networking (skb handling, caching, etc) and
>>> is pretty fast and optimized!! That was also the reason why it ran on the old
>>> PowerPC that smoothly. The mostly seen effect if anything drops is when the
>>> application (holding the socket) was not fast enough to handle the incoming
>>> data. NB: For that reason we implemented a CAN content filter (CAN_BCM) that
>>> is able to do content filtering and timeout monitoring in Kernelspace - all
>>> performed in the SoftIRQ.
>>
>> Right, dropping packets that no process is waiting for should be done as
>> early as possible. In pruss-can, the idea was to do it in hardware, which
>> doesn't really work all that well for the reasons discussed before.
>> Dropping the frames in the NAPI poll function (softirq time) seems like a
>> logical choice.
> 
> In 'real world' CAN setups you'll never see 21.000 CAN frames per second (and
> therefore 21.000 irqs/s) - you are usually designing CAN network traffic with
> less than 60% busload. So interrupt rates somewhere below 1000 irqs/s can be
> assumed.
> 
>>From what i've seen so far a 3-4 messages rx FIFO and NAPI support just make it.

I think you speak about the SJA100 which is able to buffer 64 byte
corresponding to up to 4 messages. There are CAN controllers able to
queue more or just one message and then NAPI adds overhead.

> @Marc/Wolfgang: Would this be also your recommendation for a CAN controller
> design that supports SocketCAN in the best way?

Anyway, NAPI *always* useful as it helps with the infamous interrupt
flooding.

Wolfgang.

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Wolfgang Grandegger]

On 05/11/2011 11:31 PM, Arnd Bergmann wrote:
> On Tuesday 10 May 2011, Subhasish Ghosh wrote:
>>
>>>> Yes, In case if we allow the ALL implementation, it hogs the CPU.
>>>> In that case we do not need the PRU. The whole purpose of the PRU
>>>> is to offload the processor for any such implementations. 
>>>
>>> So the kernel presumably needs to switch between using the PRU and native
>>> according to the number of ids being requested at the time ?
>>
>> All the IDs are programmed into the PRU data RAM.
>> The Kernel receives interrupts based upon these IDs.
>> I could not clearly follow "PRU and native", could you please elaborate.
> 
> We would really like all CAN drivers to behave the same way. All other
> drivers are able to work without filters, so pruss_can should allow that
> too, even if it becomes a CPU hog at that time.
> 
> It seems to me that the pruss can implementation has one thing backwards:
> it assumes a specific usage model for CAN that it is trying to do offload
> for. However, that usage model is currently not even supported by Socket
> CAN. If I understand Wolfgang correctly, it is in fact considered an
> unwanted limitation of the pruss can driver, instead of a useful feature.

"Unwanted" is not the right word. I see it as a piece of CAN hardware
with some serious limitations and I doubt that it will make real CAN
users happy. But well, I might be wrong.

> If that interpretation is right, I would seriously recommend rethinking
> the design of the CAN firmware for pruss, so you can start doing something
> useful with the offload engine that fits into the Socket CAN API, or that
> would be a useful extension to Socket CAN that is also implementable in
> the kernel for all other drivers in a meaningful way.

It would be really nice if they could provide a better firmware. Anyway,
the generic CAN hardware filter interface we spoke about in a previous
mail would fit for the PRUSS CAN hardware as well. It just needs to be
implemented.

Wolfgang.

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Kurt Van Dijck]

> 
> > How hard would it be to implement that feature in Socket CAN?
> 
> CAN controllers usually provide some kind of hardware CAN id filtering,
> but in a very hardware dependent way. A generic interface may be able to
> handle the PRUSS restrictions as well. CAN devices are usually
> configured through the netlink interface. e.g.
> 
>   $ ip link set can0 up type can bitrate 125000
> 
> and such a common interface would be netlink based as well.
ack.
> 
> > Is that something that Subhasish or someone else could to as a prerequisite
> > to merging the driver?
> 
> Any ideas on how to handle hardware filtering in a generic way are
> welcome. I will try to come up with a proposal sooner than later.

When doing so, I'd vote for an unlimited(by software) list of hardware filters (id/mask).
The hardware must abort when no more filters are available.
I think that when using hardware filters, knowing the actual device
with it's amount of hardware filters is the least of your problems.
Userspace applications that suddenly stop working properly due to
hw filters (i.e. some traffic not coming in anymore) will be a major
source of bugreports.

Kurt

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Wolfgang Grandegger]

Hi Kurt,

On 05/04/2011 05:57 PM, Kurt Van Dijck wrote:
>>
>>> How hard would it be to implement that feature in Socket CAN?
>>
>> CAN controllers usually provide some kind of hardware CAN id filtering,
>> but in a very hardware dependent way. A generic interface may be able to
>> handle the PRUSS restrictions as well. CAN devices are usually
>> configured through the netlink interface. e.g.
>>
>>   $ ip link set can0 up type can bitrate 125000
>>
>> and such a common interface would be netlink based as well.
> ack.
>>
>>> Is that something that Subhasish or someone else could to as a prerequisite
>>> to merging the driver?
>>
>> Any ideas on how to handle hardware filtering in a generic way are
>> welcome. I will try to come up with a proposal sooner than later.
> 
> When doing so, I'd vote for an unlimited(by software) list of hardware filters (id/mask).
> The hardware must abort when no more filters are available.

Sounds good and not even to complicated. For the SJA1000 we would just
allow to set the global mask.

> I think that when using hardware filters, knowing the actual device
> with it's amount of hardware filters is the least of your problems.
> Userspace applications that suddenly stop working properly due to
> hw filters (i.e. some traffic not coming in anymore) will be a major
> source of bugreports.

Well, hardware filtering will be off by default and must explicitly be
set by the user, like for the bitrate setting.

Wolfgang.

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Oliver Hartkopp]

On 04.05.2011 18:09, Wolfgang Grandegger wrote:

> On 05/04/2011 05:57 PM, Kurt Van Dijck wrote:

>> When doing so, I'd vote for an unlimited(by software) list of hardware filters (id/mask).
>> The hardware must abort when no more filters are available.
> 
> Sounds good and not even to complicated. For the SJA1000 we would just
> allow to set the global mask.

Yes. "unlimited(by software)" was a bit misleading at first reading, as we
should not filter IDs by software in the irq handler. But to create a API that
supports as much HW filters as the hardware provides is a good idea.

>> I think that when using hardware filters, knowing the actual device
>> with it's amount of hardware filters is the least of your problems.
>> Userspace applications that suddenly stop working properly due to
>> hw filters (i.e. some traffic not coming in anymore) will be a major
>> source of bugreports.
> 
> Well, hardware filtering will be off by default and must explicitly be
> set by the user, like for the bitrate setting.

To be correct: By the admin.

The setting of CAN HW filters has a system-wide effect to all users on the
local host. The same effect as we have for the setting of the bitrate. This is
the major difference to the user-configurable per-socket CAN-ID filters that
are provided e.g. by the CAN_RAW socket.

As the current netlink configuration interface for CAN interfaces is not
accessible for standard users also this would be the right place to extend the
netlink interface.

Regards,
Oliver

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Wolfgang Grandegger]

On 04/27/2011 03:08 PM, Subhasish Ghosh wrote:
>>
>> - Use just *one* value per sysfs file
> 
> SG - I felt adding entry for each mbx_id will clutter the sysfs.
>        Is it ok to do that.

No, see:

http://lxr.linux.no/#linux+v2.6.38/Documentation/filesystems/sysfs.txt#L56

>>>> +static u32 pruss_intc_init[19][3] = {
>>>> + {PRUSS_INTC_POLARITY0, PRU_INTC_REGMAP_MASK, 0xFFFFFFFF},
>>>> + {PRUSS_INTC_POLARITY1, PRU_INTC_REGMAP_MASK, 0xFFFFFFFF},
>>>> + {PRUSS_INTC_TYPE0, PRU_INTC_REGMAP_MASK, 0x1C000000},
>>>> + {PRUSS_INTC_TYPE1, PRU_INTC_REGMAP_MASK, 0},
>>>> + {PRUSS_INTC_GLBLEN, 0, 1},
>>>> + {PRUSS_INTC_HOSTMAP0, PRU_INTC_REGMAP_MASK, 0x03020100},
>>>> + {PRUSS_INTC_HOSTMAP1, PRU_INTC_REGMAP_MASK, 0x07060504},
>>>> + {PRUSS_INTC_HOSTMAP2, PRU_INTC_REGMAP_MASK, 0x0000908},
>>>> + {PRUSS_INTC_CHANMAP0, PRU_INTC_REGMAP_MASK, 0},
>>>> + {PRUSS_INTC_CHANMAP8, PRU_INTC_REGMAP_MASK, 0x00020200},
>>>> + {PRUSS_INTC_STATIDXCLR, 0, 32},
>>>> + {PRUSS_INTC_STATIDXCLR, 0, 19},
>>>> + {PRUSS_INTC_ENIDXSET, 0, 19},
>>>> + {PRUSS_INTC_STATIDXCLR, 0, 18},
>>>> + {PRUSS_INTC_ENIDXSET, 0, 18},
>>>> + {PRUSS_INTC_STATIDXCLR, 0, 34},
>>>> + {PRUSS_INTC_ENIDXSET, 0, 34},
>>>> + {PRUSS_INTC_ENIDXSET, 0, 32},
>>>> + {PRUSS_INTC_HOSTINTEN, 0, 5}
>>>
>>> please add ","
>>
>> Also a struct to describe each entry would improve readability.
>> Then you could also use ARRAY_SIZE.
> 
> SG _ I could not follow this, are you recommending that I create a
> structure with three variables and then create
>            an array for it.
> something like:
> 
> const static struct [] = {
>    {
>    unsigned int reg_base;
>    unsigned int reg_mask;
>    unsigned int reg_val;
>    },
> ...
> };

Yes:

  struct s_name {
	unsigned int base;
	unsigned int mask;
	unsigned int val;
  };

  const static struct s_name array[] = {
	...
  };

> 
>>>> + value = (PRUSS_CAN_GPIO_SETUP_DELAY *
>>>> + (priv->clk_freq_pru / 1000000) / 1000) /
>>>> + PRUSS_CAN_DELAY_LOOP_LENGTH;
>>
>> This calculation looks delicate. 64-bit math would be safer.
> 
> SG - This one works fine. I am dividing it twice to avoid the problem.

Yes, but what if the frequency increases with the next generation of the
hardware?

Wolfgang.

Re: [PATCH v4 1/1] can: add pruss CAN driver.

[Wolfgang Grandegger]

On 04/27/2011 03:28 PM, Wolfgang Grandegger wrote:
> On 04/27/2011 03:08 PM, Subhasish Ghosh wrote:
>>>
>>> - Use just *one* value per sysfs file
>>
>> SG - I felt adding entry for each mbx_id will clutter the sysfs.
>>        Is it ok to do that.
> 
> No, see:
> 
> http://lxr.linux.no/#linux+v2.6.38/Documentation/filesystems/sysfs.txt#L56

s/No/Yes/

Sorry for the confusion.

Wolfgang.