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

Arun Muthusamy posted 15 patches 1 week, 5 days ago
[PATCH v4 12/15] can: grcan: Add CANFD TX support alongside legacy CAN
Posted by Arun Muthusamy 1 week, 5 days ago 
Include CANFD TX support with the legacy CAN support, enabling
support for extended data payloads to provide higher bit rates.

Signed-off-by: Arun Muthusamy <arun.muthusamy@gaisler.com>
---
 drivers/net/can/grcan.c | 103 +++++++++++++++++++++++++++++-----------
 1 file changed, 75 insertions(+), 28 deletions(-)

diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c
index 3104946071dd..da0b5c129aae 100644
--- a/drivers/net/can/grcan.c
+++ b/drivers/net/can/grcan.c
@@ -174,6 +174,7 @@ struct grcan_registers {
 #define GRCAN_IRQ_DEFAULT (GRCAN_IRQ_RX | GRCAN_IRQ_TX | GRCAN_IRQ_ERRORS)

 #define GRCAN_MSG_SIZE		16
+#define GRCAN_CLASSIC_DATA_SIZE 8

 #define GRCAN_MSG_IDE		0x80000000
 #define GRCAN_MSG_RTR		0x40000000
@@ -195,6 +196,10 @@ struct grcan_registers {
 #define GRCAN_MSG_OFF		0x00000002
 #define GRCAN_MSG_PASS		0x00000001

+#define GRCAN_MSG_EID_MASK      GENMASK(28, 0)
+#define GRCAN_MSG_BID_MASK      GENMASK(28, 18)
+#define GRCAN_MSG_DLC_MASK      GENMASK(31, 28)
+
 #define GRCAN_BUFFER_ALIGNMENT		1024
 #define GRCAN_DEFAULT_BUFFER_SIZE	1024
 #define GRCAN_VALID_TR_SIZE_MASK	0x001fffc0
@@ -227,6 +232,9 @@ struct grcan_registers {
 #define GRCANFD_FDBTR_PS2_BIT 5
 #define GRCANFD_FDBTR_SJW_BIT 0

+#define GRCAN_TX_BRS  BIT(25)
+#define GRCAN_TX_FDF  BIT(26)
+
 /* Hardware capabilities */
 struct grcan_hwcap {
 	/* CAN-FD capable, indicates GRCANFD IP.
@@ -1207,6 +1215,14 @@ static void grcan_transmit_catch_up(struct net_device *dev)
 	spin_unlock_irqrestore(&priv->lock, flags);
 }

+static int grcan_numbds(int len)
+{
+	if (len <= GRCAN_CLASSIC_DATA_SIZE)
+		return 1;
+
+	return 1 + DIV_ROUND_UP(len - GRCAN_CLASSIC_DATA_SIZE, GRCAN_MSG_SIZE);
+}
+
 static int grcan_receive(struct net_device *dev, int budget)
 {
 	struct grcan_priv *priv = netdev_priv(dev);
@@ -1389,15 +1405,22 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
 				    struct net_device *dev)
 {
 	struct grcan_priv *priv = netdev_priv(dev);
-	struct grcan_registers __iomem *regs = priv->regs;
+	struct grcan_registers __iomem *regs;
+	u32 eff, rtr, dlc, tmp, err, can_id;
 	struct grcan_dma *dma = &priv->dma;
-	struct can_frame *cf = (struct can_frame *)skb->data;
+	u32 bds, copy_len, payload_offset;
 	u32 id, txwr, txrd, space, txctrl;
-	int slotindex;
-	u32 *slot;
-	u32 rtr, eff, dlc, tmp, err;
+	struct canfd_frame *cfd;
+	struct can_frame *cf;
 	unsigned long flags;
-	u32 oneshotmode = priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT;
+	u32 oneshotmode;
+	u8 *payload;
+	u32 *slot;
+	u8 len;
+	int i;
+
+	regs = priv->regs;
+	oneshotmode = priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT;

 	if (can_dev_dropped_skb(dev, skb))
 		return NETDEV_TX_OK;
@@ -1408,6 +1431,18 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
 	if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
 		return NETDEV_TX_BUSY;

+	cfd = (struct canfd_frame *)skb->data;
+	len = cfd->len;
+	can_id  = cfd->can_id;
+	payload = cfd->data;
+
+	if (can_is_canfd_skb(skb)) {
+		dlc = can_fd_len2dlc(len);
+	} else {
+		cf = (struct can_frame *)skb->data;
+		dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
+	}
+
 	/* Reads of priv->eskbp and shut-downs of the queue needs to
 	 * be atomic towards the updates to priv->eskbp and wake-ups
 	 * of the queue in the interrupt handler.
@@ -1416,9 +1451,7 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,

 	txwr = grcan_read_reg(&regs->txwr);
 	space = grcan_txspace(dma->tx.size, txwr, priv->eskbp);
-
-	slotindex = txwr / GRCAN_MSG_SIZE;
-	slot = dma->tx.buf + txwr;
+	bds = grcan_numbds(len);

 	if (unlikely(space == 1))
 		netif_stop_queue(dev);
@@ -1434,24 +1467,39 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
 		return NETDEV_TX_BUSY;
 	}

-	/* Convert and write CAN message to DMA buffer */
-	eff = cf->can_id & CAN_EFF_FLAG;
-	rtr = cf->can_id & CAN_RTR_FLAG;
-	id = cf->can_id & (eff ? CAN_EFF_MASK : CAN_SFF_MASK);
-	dlc = cf->len;
-	if (eff)
-		tmp = (id << GRCAN_MSG_EID_BIT) & GRCAN_MSG_EID;
-	else
-		tmp = (id << GRCAN_MSG_BID_BIT) & GRCAN_MSG_BID;
-	slot[0] = (eff ? GRCAN_MSG_IDE : 0) | (rtr ? GRCAN_MSG_RTR : 0) | tmp;
+	payload_offset = 0;
+	for (i = 0; i < bds; i++) {
+		slot = dma->tx.buf + txwr;
+		memset(slot, 0, GRCAN_MSG_SIZE);
+
+		if (i == 0) {
+			eff = can_id & CAN_EFF_FLAG;
+			rtr = can_id & CAN_RTR_FLAG;
+			id = can_id & (eff ? CAN_EFF_MASK : CAN_SFF_MASK);
+			if (eff)
+				tmp = FIELD_PREP(GRCAN_MSG_EID_MASK, id);
+			else
+				tmp = FIELD_PREP(GRCAN_MSG_BID_MASK, id);
+			slot[0] = (eff ? GRCAN_MSG_IDE : 0) | (rtr ? GRCAN_MSG_RTR : 0) | tmp;
+			slot[1] = FIELD_PREP(GRCAN_MSG_DLC_MASK, dlc);
+			if (can_is_canfd_skb(skb)) {
+				slot[1] |= GRCAN_TX_FDF;
+				if (cfd->flags & CANFD_BRS)
+					slot[1] |= GRCAN_TX_BRS;
+			}

-	slot[1] = ((dlc << GRCAN_MSG_DLC_BIT) & GRCAN_MSG_DLC);
-	slot[2] = 0;
-	slot[3] = 0;
-	if (dlc > 0)
-		memcpy(&slot[2], cf->data, sizeof(u32));
-	if (dlc > 4)
-		memcpy(&slot[3], cf->data + 4, sizeof(u32));
+			copy_len = min(len, 8);
+			memcpy(&slot[2], payload, copy_len);
+			payload_offset += copy_len;
+		} else {
+			copy_len =  min(len - payload_offset, GRCAN_MSG_SIZE);
+			memcpy(slot, payload + payload_offset, copy_len);
+			payload_offset += copy_len;
+		}
+		txwr += GRCAN_MSG_SIZE;
+		if (txwr >= dma->tx.size)
+			txwr -= dma->tx.size;
+	}

 	/* Checking that channel has not been disabled. These cases
 	 * should never happen
@@ -1493,8 +1541,7 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
 	wmb();

 	/* Update write pointer to start transmission */
-	grcan_write_reg(&regs->txwr,
-			grcan_ring_add(txwr, GRCAN_MSG_SIZE, dma->tx.size));
+	grcan_write_reg(&regs->txwr, txwr);

 	return NETDEV_TX_OK;
 }
--
2.51.0
Re: [PATCH v4 12/15] can: grcan: Add CANFD TX support alongside legacy CAN
Posted by Vincent Mailhol 1 week, 1 day ago 
On 28/01/2026 at 15:49, Arun Muthusamy wrote:
> Include CANFD TX support with the legacy CAN support, enabling
> support for extended data payloads to provide higher bit rates.
> 
> Signed-off-by: Arun Muthusamy <arun.muthusamy@gaisler.com>
> ---
>  drivers/net/can/grcan.c | 103 +++++++++++++++++++++++++++++-----------
>  1 file changed, 75 insertions(+), 28 deletions(-)
> 
> diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c
> index 3104946071dd..da0b5c129aae 100644
> --- a/drivers/net/can/grcan.c
> +++ b/drivers/net/can/grcan.c
> @@ -174,6 +174,7 @@ struct grcan_registers {
>  #define GRCAN_IRQ_DEFAULT (GRCAN_IRQ_RX | GRCAN_IRQ_TX | GRCAN_IRQ_ERRORS)
> 
>  #define GRCAN_MSG_SIZE		16
> +#define GRCAN_CLASSIC_DATA_SIZE 8
> 
>  #define GRCAN_MSG_IDE		0x80000000
>  #define GRCAN_MSG_RTR		0x40000000
> @@ -195,6 +196,10 @@ struct grcan_registers {
>  #define GRCAN_MSG_OFF		0x00000002
>  #define GRCAN_MSG_PASS		0x00000001
> 
> +#define GRCAN_MSG_EID_MASK      GENMASK(28, 0)
> +#define GRCAN_MSG_BID_MASK      GENMASK(28, 18)
> +#define GRCAN_MSG_DLC_MASK      GENMASK(31, 28)
> +
>  #define GRCAN_BUFFER_ALIGNMENT		1024
>  #define GRCAN_DEFAULT_BUFFER_SIZE	1024
>  #define GRCAN_VALID_TR_SIZE_MASK	0x001fffc0
> @@ -227,6 +232,9 @@ struct grcan_registers {
>  #define GRCANFD_FDBTR_PS2_BIT 5
>  #define GRCANFD_FDBTR_SJW_BIT 0
> 
> +#define GRCAN_TX_BRS  BIT(25)
> +#define GRCAN_TX_FDF  BIT(26)
> +
>  /* Hardware capabilities */
>  struct grcan_hwcap {
>  	/* CAN-FD capable, indicates GRCANFD IP.
> @@ -1207,6 +1215,14 @@ static void grcan_transmit_catch_up(struct net_device *dev)
>  	spin_unlock_irqrestore(&priv->lock, flags);
>  }
> 
> +static int grcan_numbds(int len)
> +{
> +	if (len <= GRCAN_CLASSIC_DATA_SIZE)
> +		return 1;
> +
> +	return 1 + DIV_ROUND_UP(len - GRCAN_CLASSIC_DATA_SIZE, GRCAN_MSG_SIZE);
> +}
> +
>  static int grcan_receive(struct net_device *dev, int budget)
>  {
>  	struct grcan_priv *priv = netdev_priv(dev);
> @@ -1389,15 +1405,22 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
>  				    struct net_device *dev)
>  {
>  	struct grcan_priv *priv = netdev_priv(dev);
> -	struct grcan_registers __iomem *regs = priv->regs;
> +	struct grcan_registers __iomem *regs;
> +	u32 eff, rtr, dlc, tmp, err, can_id;
>  	struct grcan_dma *dma = &priv->dma;
> -	struct can_frame *cf = (struct can_frame *)skb->data;
> +	u32 bds, copy_len, payload_offset;
>  	u32 id, txwr, txrd, space, txctrl;
> -	int slotindex;
> -	u32 *slot;
> -	u32 rtr, eff, dlc, tmp, err;
> +	struct canfd_frame *cfd;
> +	struct can_frame *cf;
>  	unsigned long flags;
> -	u32 oneshotmode = priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT;
> +	u32 oneshotmode;
> +	u8 *payload;
> +	u32 *slot;
> +	u8 len;
> +	int i;
> +
> +	regs = priv->regs;
> +	oneshotmode = priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT;
> 
>  	if (can_dev_dropped_skb(dev, skb))
>  		return NETDEV_TX_OK;
> @@ -1408,6 +1431,18 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
>  	if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
>  		return NETDEV_TX_BUSY;
> 
> +	cfd = (struct canfd_frame *)skb->data;
> +	len = cfd->len;
> +	can_id  = cfd->can_id;
> +	payload = cfd->data;
> +
> +	if (can_is_canfd_skb(skb)) {
> +		dlc = can_fd_len2dlc(len);
> +	} else {
> +		cf = (struct can_frame *)skb->data;
> +		dlc = can_get_cc_dlc(cf, priv->can.ctrlmode);
> +	}
> +
>  	/* Reads of priv->eskbp and shut-downs of the queue needs to
>  	 * be atomic towards the updates to priv->eskbp and wake-ups
>  	 * of the queue in the interrupt handler.
> @@ -1416,9 +1451,7 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
> 
>  	txwr = grcan_read_reg(&regs->txwr);
>  	space = grcan_txspace(dma->tx.size, txwr, priv->eskbp);
> -
> -	slotindex = txwr / GRCAN_MSG_SIZE;
> -	slot = dma->tx.buf + txwr;
> +	bds = grcan_numbds(len);
> 
>  	if (unlikely(space == 1))
>  		netif_stop_queue(dev);
> @@ -1434,24 +1467,39 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *skb,
>  		return NETDEV_TX_BUSY;
>  	}
> 
> -	/* Convert and write CAN message to DMA buffer */
> -	eff = cf->can_id & CAN_EFF_FLAG;
> -	rtr = cf->can_id & CAN_RTR_FLAG;
> -	id = cf->can_id & (eff ? CAN_EFF_MASK : CAN_SFF_MASK);
> -	dlc = cf->len;
> -	if (eff)
> -		tmp = (id << GRCAN_MSG_EID_BIT) & GRCAN_MSG_EID;
> -	else
> -		tmp = (id << GRCAN_MSG_BID_BIT) & GRCAN_MSG_BID;
> -	slot[0] = (eff ? GRCAN_MSG_IDE : 0) | (rtr ? GRCAN_MSG_RTR : 0) | tmp;
> +	payload_offset = 0;
> +	for (i = 0; i < bds; i++) {
> +		slot = dma->tx.buf + txwr;

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

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


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

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

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

Please introduce this in a seperate preparation patch.

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

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

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


Yours sincerely,
Vincent Mailhol

Patchew 2.1-devel-b67e4c2

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