From nobody Tue Feb 10 01:31:32 2026 Received: from smtp-out3.simply.com (smtp-out3.simply.com [94.231.106.210]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id A4789364037; Wed, 28 Jan 2026 14:49:32 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=94.231.106.210 ARC-Seal: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1769611776; cv=none; b=OyF5swy/WyYi6ttb6yJBiTz80r5tfTZCqJlClhDBq7D/k87fQLhA38aTZoJUyjhbJuZ8qLLrcnN3G9AJ0AGLaBIxEMyIM6pbprAA0Pi7GmgNB0eUO74TjrhZY/6vlMqrdEIOOUigDPP29trVHHXhQqN0vUIh2VMxJj4POV+TrjU= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1769611776; c=relaxed/simple; bh=RPIVoAMFk1h/d/PLuQxfQAEVIXrFvOzekbjN8qv8GIA=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=RnObqCIdxG0rXiOw1Uz2n5BWhApt10tRyNZ7XfB3lRMOAUIw06Mn3ZYTUkfz7svlGYd4qWgjeXPVcSrr8xOzMnHR4/s4CSQeC/6THQDXhMOBvj0LAysyYnqbAYwrxTQ1xFpI/0zH9KT0+1ZR5aXKoCqLF3B9HBe4BEQtlv72V1E= ARC-Authentication-Results: i=1; smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gaisler.com; spf=pass smtp.mailfrom=gaisler.com; dkim=fail (0-bit key) header.d=gaisler.com header.i=@gaisler.com header.b=ZAFxrjeR reason="key not found in DNS"; arc=none smtp.client-ip=94.231.106.210 Authentication-Results: smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=gaisler.com Authentication-Results: smtp.subspace.kernel.org; spf=pass smtp.mailfrom=gaisler.com Authentication-Results: smtp.subspace.kernel.org; dkim=fail reason="key not found in DNS" (0-bit key) header.d=gaisler.com header.i=@gaisler.com header.b="ZAFxrjeR" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4f1QCY1BbRz1FQVT; Wed, 28 Jan 2026 15:49:29 +0100 (CET) Received: from d-5xj5g74.got.gaisler.com.com (h-98-128-223-123.NA.cust.bahnhof.se [98.128.223.123]) by smtp.simply.com (Simply.com) with ESMTPA id 4f1QCX4qYQz1DQsp; Wed, 28 Jan 2026 15:49:28 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1769611769; bh=YKraLCfX9sUKTKhBlpVkse1ctK5HfkR4tSodMZ5Riww=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=ZAFxrjeRg4sYST3Mt1pox64aOYlWH1zIU+vNxzVj4xJ+AtGvevLKGCtCuaAKOsayF kR8ll8zAXzHuHaGLnejVFB97f86JmLgWS3olivA5evmupvDdIin+w40cOkwWD5Axv9 RgS+05fTuS0jIat7Dq+LL334B1L7Aig4joD4FLmlKHrVaylUzhqdKbQJ06n0uGXb+6 qxpr91UbrPFs7YODtMeACrcmudY/3fCBimWQqCZzFw4Ylxkm+qVJOBSLVfBwy49AoA kuyRPkMBtiNhpao+KVR6yqhq2n2GiPrG1W7T9rGuyA0wGqJcBRi9nxRZJ7qFLIoUMN XKVUL/lMEStTA== From: Arun Muthusamy To: robh@kernel.org, krzk+dt@kernel.org, conor+dt@kernel.org, mkl@pengutronix.de, mailhol@kernel.org Cc: devicetree@vger.kernel.org, linux-kernel@vger.kernel.org, linux-can@vger.kernel.org, Arun Muthusamy , Daniel Hellstrom Subject: [PATCH v4 07/15] can: grcan: add FD capability detection and nominal bit-timing Date: Wed, 28 Jan 2026 15:49:13 +0100 Message-ID: <20260128144921.5458-8-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260128144921.5458-1-arun.muthusamy@gaisler.com> References: <20260128144921.5458-1-arun.muthusamy@gaisler.com> Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: quoted-printable Content-Type: text/plain; charset="utf-8" Add capability for the driver to detect CAN FD support and adjust accordingly. Introduce structures and functions for setting nominal bit-timing for standard CAN FD. The `grcan_hwcap` structure defines hardware capabilities like CAN FD support and baud-rate options. Additionally, improved device tree compatibility by updating the `of_device_id` table for better matching of GRCAN and GRCANFD devices. Also update Kconfig to mention GRCANFD support. Signed-off-by: Arun Muthusamy Signed-off-by: Daniel Hellstrom --- drivers/net/can/Kconfig | 6 +- drivers/net/can/grcan.c | 137 +++++++++++++++++++++++++++++++++++----- 2 files changed, 125 insertions(+), 18 deletions(-) diff --git a/drivers/net/can/Kconfig b/drivers/net/can/Kconfig index d43d56694667..96f61b40a898 100644 --- a/drivers/net/can/Kconfig +++ b/drivers/net/can/Kconfig @@ -133,10 +133,12 @@ config CAN_FLEXCAN Say Y here if you want to support for Freescale FlexCAN. config CAN_GRCAN - tristate "Aeroflex Gaisler GRCAN and GRHCAN CAN devices" + tristate "Aeroflex Gaisler GRCAN(FD) and GRHCAN CAN devices" depends on OF && HAS_DMA && HAS_IOMEM help - Say Y here if you want to use Aeroflex Gaisler GRCAN or GRHCAN. + Say Y here if you want to use Aeroflex Gaisler GRCAN or GRCANFD + or GRHCAN. + Note that the driver supports little endian, even though little endian syntheses of the cores would need some modifications on the hardware level to work. diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index 4ed0fb1d70b7..a752aea51d96 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -33,6 +33,7 @@ #include #include #include +#include #include #include #include @@ -51,7 +52,11 @@ struct grcan_registers { u32 __reserved1[GRCAN_RESERVE_SIZE(0x08, 0x18)]; u32 smask; /* 0x18 - CanMASK */ u32 scode; /* 0x1c - CanCODE */ - u32 __reserved2[GRCAN_RESERVE_SIZE(0x1c, 0x100)]; + u32 __reserved2[GRCAN_RESERVE_SIZE(0x1c, 0x40)]; + u32 nbtr; /* 0x40 */ + u32 fdbtr; /* 0x44 */ + u32 tdelay; /* 0x48 */ + u32 __reserved2_[GRCAN_RESERVE_SIZE(0x48, 0x100)]; u32 pimsr; /* 0x100 */ u32 pimr; /* 0x104 */ u32 pisr; /* 0x108 */ @@ -203,6 +208,39 @@ struct grcan_registers { #error "Invalid default buffer size" #endif +#define GRCANFD_NBTR_SCALER GENMASK(23, 16) +#define GRCANFD_NBTR_PS1 GENMASK(17, 10) +#define GRCANFD_NBTR_PS2 GENMASK(9, 5) +#define GRCANFD_NBTR_SJW GENMASK(4, 0) +#define GRCANFD_NBTR_TIMING \ + (GRCANFD_NBTR_SCALER | GRCANFD_NBTR_PS1 | GRCANFD_NBTR_PS2 | \ + GRCANFD_NBTR_SJW) + +#define GRCANFD_FDBTR_SCALER 0x00ff0000 +#define GRCANFD_FDBTR_PS1 0x00003c00 +#define GRCANFD_FDBTR_PS2 0x000001e0 +#define GRCANFD_FDBTR_SJW 0x0000000f +#define GRCANFD_FDBTR_TIMING \ + (GRCANFD_FDBTR_SCALER | GRCANFD_FDBTR_PS1 | GRCANFD_FDBTR_PS2 | \ + GRCANFD_FDBTR_SJW) + +#define GRCANFD_FDBTR_SCALER_BIT 16 +#define GRCANFD_FDBTR_PS1_BIT 10 +#define GRCANFD_FDBTR_PS2_BIT 5 +#define GRCANFD_FDBTR_SJW_BIT 0 + +/* Hardware capabilities */ +struct grcan_hwcap { + /* CAN-FD capable, indicates GRCANFD IP. + * The GRCANFD has different baud-rate registers and extended DMA + * format to also describe FD-frames. + */ + const struct can_bittiming_const *bt_const; + int (*set_bittiming)(struct net_device *dev); + bool txbug_possible; + bool fd; +}; + struct grcan_dma_buffer { size_t size; void *buf; @@ -245,6 +283,7 @@ struct grcan_priv { struct napi_struct napi; struct grcan_registers __iomem *regs; /* ioremap'ed registers */ + const struct grcan_hwcap *hwcap; struct grcan_device_config config; struct grcan_dma dma; @@ -393,6 +432,19 @@ static const struct can_bittiming_const grcan_bittimin= g_const =3D { .brp_inc =3D 1, }; +/* GRCANFD nominal boundaries for baud-rate parameters */ +static const struct can_bittiming_const grcanfd_bittiming_const =3D { + .name =3D DRV_NAME, + .tseg1_min =3D 2, + .tseg1_max =3D 63, + .tseg2_min =3D 2, + .tseg2_max =3D 16, + .sjw_max =3D 16, + .brp_min =3D 1, + .brp_max =3D 256, + .brp_inc =3D 1, +}; + static int grcan_set_bittiming(struct net_device *dev) { struct grcan_priv *priv =3D netdev_priv(dev); @@ -421,6 +473,32 @@ static int grcan_set_bittiming(struct net_device *dev) return 0; } +static int grcanfd_set_bittiming(struct net_device *dev) +{ + struct grcan_priv *priv =3D netdev_priv(dev); + struct grcan_registers __iomem *regs; + int sjw, ps1, ps2, scaler; + struct can_bittiming *bt; + u32 timing =3D 0; + + regs =3D priv->regs; + bt =3D &priv->can.bittiming; + + sjw =3D bt->sjw; + ps1 =3D (bt->prop_seg + bt->phase_seg1); + ps2 =3D bt->phase_seg2; + scaler =3D bt->brp - 1; + + timing |=3D FIELD_PREP(GRCANFD_NBTR_SJW, sjw); + timing |=3D FIELD_PREP(GRCANFD_NBTR_PS1, ps1); + timing |=3D FIELD_PREP(GRCANFD_NBTR_PS2, ps2); + timing |=3D FIELD_PREP(GRCANFD_NBTR_SCALER, scaler); + netdev_dbg(dev, "setting timing=3D0x%x\n", timing); + grcan_write_bits(®s->nbtr, timing, GRCANFD_NBTR_TIMING); + + return 0; +} + static int grcan_get_berr_counter(const struct net_device *dev, struct can_berr_counter *bec) { @@ -1545,7 +1623,8 @@ static const struct ethtool_ops grcan_ethtool_ops =3D= { static int grcan_setup_netdev(struct platform_device *ofdev, void __iomem *base, - int irq, u32 ambafreq, bool txbug) + int irq, u32 ambafreq, bool txbug, + const struct grcan_hwcap *hwcap) { struct net_device *dev; struct grcan_priv *priv; @@ -1568,14 +1647,14 @@ static int grcan_setup_netdev(struct platform_devic= e *ofdev, priv->dev =3D dev; priv->ofdev_dev =3D &ofdev->dev; priv->regs =3D base; - priv->can.bittiming_const =3D &grcan_bittiming_const; - priv->can.do_set_bittiming =3D grcan_set_bittiming; + priv->can.bittiming_const =3D hwcap->bt_const; priv->can.do_set_mode =3D grcan_set_mode; priv->can.do_get_berr_counter =3D grcan_get_berr_counter; priv->can.clock.freq =3D ambafreq; priv->can.ctrlmode_supported =3D CAN_CTRLMODE_LISTENONLY | CAN_CTRLMODE_ONE_SHOT; priv->need_txbug_workaround =3D txbug; + priv->hwcap =3D hwcap; /* Discover if triple sampling is supported by hardware */ regs =3D priv->regs; @@ -1620,22 +1699,29 @@ static int grcan_probe(struct platform_device *ofde= v) { struct device_node *np =3D ofdev->dev.of_node; struct device_node *sysid_parent; + const struct grcan_hwcap *hwcap; struct clk *clk; u32 sysid, ambafreq; int irq, err; void __iomem *base; bool txbug =3D true; + hwcap =3D device_get_match_data(&ofdev->dev); + /* Compare GRLIB version number with the first that does not * have the tx bug (see start_xmit) */ - sysid_parent =3D of_find_node_by_path("/ambapp0"); - if (sysid_parent) { - err =3D of_property_read_u32(sysid_parent, "systemid", &sysid); - if (!err && ((sysid & GRLIB_VERSION_MASK) >=3D - GRCAN_TXBUG_SAFE_GRLIB_VERSION)) - txbug =3D false; - of_node_put(sysid_parent); + if (!hwcap->txbug_possible) { + txbug =3D false; + } else { + sysid_parent =3D of_find_node_by_path("/ambapp0"); + if (sysid_parent) { + err =3D of_property_read_u32(sysid_parent, "systemid", &sysid); + if (!err && ((sysid & GRLIB_VERSION_MASK) >=3D + GRCAN_TXBUG_SAFE_GRLIB_VERSION)) + txbug =3D false; + of_node_put(sysid_parent); + } } err =3D of_property_read_u32(np, "freq", &ambafreq); @@ -1670,7 +1756,7 @@ static int grcan_probe(struct platform_device *ofdev) grcan_sanitize_module_config(ofdev); - err =3D grcan_setup_netdev(ofdev, base, irq, ambafreq, txbug); + err =3D grcan_setup_netdev(ofdev, base, irq, ambafreq, txbug, hwcap); if (err) goto exit_dispose_irq; @@ -1697,11 +1783,30 @@ static void grcan_remove(struct platform_device *of= dev) free_candev(dev); } +static const struct grcan_hwcap grcan_hwcap =3D { + .fd =3D false, + .txbug_possible =3D true, + .bt_const =3D &grcan_bittiming_const, + .set_bittiming =3D grcan_set_bittiming, +}; + +static const struct grcan_hwcap grcanfd_hwcap =3D { + .fd =3D true, + .txbug_possible =3D false, + .bt_const =3D &grcanfd_bittiming_const, + .set_bittiming =3D grcanfd_set_bittiming, +}; + static const struct of_device_id grcan_match[] =3D { - {.name =3D "GAISLER_GRCAN"}, - {.name =3D "01_03d"}, - {.name =3D "GAISLER_GRHCAN"}, - {.name =3D "01_034"}, + {.name =3D "GAISLER_GRCAN", .data =3D &grcan_hwcap}, + {.name =3D "01_03d", .data =3D &grcan_hwcap}, + {.name =3D "GAISLER_GRHCAN", .data =3D &grcan_hwcap}, + {.name =3D "01_034", .data =3D &grcan_hwcap}, + {.compatible =3D "gaisler,grcan", .data =3D &grcan_hwcap}, + /* GRCANFD */ + {.compatible =3D "gaisler,grcanfd", .data =3D &grcanfd_hwcap}, + {.name =3D "GAISLER_GRCANFD", .data =3D &grcanfd_hwcap}, + {.name =3D "01_0b5", .data =3D &grcanfd_hwcap}, {}, }; -- 2.51.0