From nobody Fri Apr 3 01:41:56 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 1F52B29BD87; Mon, 16 Feb 2026 13:53:55 +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=1771250041; cv=none; b=HFUaPJke327m7Fpq07vttC9n4mFCyLHOBFxlygdpP6GytAymwV8OGYNSzX+GyWpnDkNLcm54EcaPBUl1C2JwyyXgrAYualFQj0n8BHGn72ESlp//Wnne2O0ryrNHkab6bvJJ2Nj6+l+8utFCpUpmeB3nubq5qB9Jv1y6mM3kzC0= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1771250041; c=relaxed/simple; bh=sUnVK+abi20szbRu/TsbyEYH5sKS317ncvgswyDJETQ=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=FETHBtCs9vbuH2Ml4MXYpxUaVJQWHyS0NjxVlgCwjd4Qciew70bn9X8aKH0wUexY1Pg/Xm5F/nuMSKM+BYd7STBKKdOh4CjvjlXcyIVNP7qvDk7EQISd6/ID7KnJknQQ/0IZfdz+le9hy8HQxxzYW0N4Jqa1LehAarB9ik1bw0o= 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=pOG/WYTI 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="pOG/WYTI" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44X29Brz1FbwK; Mon, 16 Feb 2026 14:53:48 +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 4fF44W6grFz1FbbB; Mon, 16 Feb 2026 14:53:47 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250028; bh=iX7VqUaWibeG9wCWEco8lmK+AEYcMSSoBfhahTDCOrM=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=pOG/WYTIQnO7kVOdNm2Xvyu8YYfhoLKE4qCzNqNTPxPLy+3poYF/RVIFm0j45rGYo yrgcdIbOSexPIgTlkY5txe0IoQ9dcaZyFZvu30xfFOAM5355UD+vQtEAf3MpLUZJq5 t4Jr5yWJ3Cl2cOOVDPbAqwhhO4DSrokuOP04H24uE9265J/aMwtSpoD89P+K1Di1Tt ZKys7ewBR6h4hsguoKwrJwL9v6w8DTB6Lj9vNhoVxf1aL9Bxfeuwr4bjtXytJUAOdo xBrtU9UHbDompMW6FubkZ9T7GrP/ITaywQ0zfTC/U14SppYxcK9F2P4KH+zhKhItNB vwg/ugC76uqrw== 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, Ludwig Rydberg , Arun Muthusamy , Krzysztof Kozlowski Subject: [PATCH v5 01/16] dt-bindings: Add vendor prefix for Frontgrade Gaisler AB Date: Mon, 16 Feb 2026 14:53:29 +0100 Message-ID: <20260216135344.23246-2-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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" From: Ludwig Rydberg Frontgrade Gaisler AB provides IP cores and supporting development tools for embedded processors based on the SPARC and RISC-V architectures. Some essential products are the LEON and NOEL synthesizable processor models together with a complete development environment and a library of IP cores (GRLIB). The company specializes in digital hardware design (ASIC/FPGA) for both commercial and aerospace applications. Web site: https://www.gaisler.com/ Signed-off-by: Arun Muthusamy Acked-by: Krzysztof Kozlowski Signed-off-by: Ludwig Rydberg --- Documentation/devicetree/bindings/vendor-prefixes.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Documentation/devicetree/bindings/vendor-prefixes.yaml b/Docum= entation/devicetree/bindings/vendor-prefixes.yaml index 424aa7b911a7..4e1b4eeff9ff 100644 --- a/Documentation/devicetree/bindings/vendor-prefixes.yaml +++ b/Documentation/devicetree/bindings/vendor-prefixes.yaml @@ -594,6 +594,8 @@ patternProperties: description: Fujitsu Ltd. "^fxtec,.*": description: FX Technology Ltd. + "^gaisler,.*": + description: Frontgrade Gaisler AB "^galaxycore,.*": description: GalaxyCore Inc. "^gameforce,.*": --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 1F4BF28C871; Mon, 16 Feb 2026 13:53:55 +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=1771250038; cv=none; b=KjHoJRHmc13zFO2zmbZZN0GBJxNb6nUQZVPhxCIf6m+WdgfuffTlK/KgeEJj+Z5VqaxzIo9SUP2MQLlv7dXhwZRb8+0JtPVO9JgJjcfT8a1ZOWyr2nzFI3udrvxhOp4wxyGio66JvtAMtDFUH3vhZB4NaBbos8yI8JQFTNHrj+g= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1771250038; c=relaxed/simple; bh=eCbPS8Ap0yfs80aEEQIA7JzlQ9DLeyLWKPgj8TiRjQk=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=DTMGm0gfqS+wFotHqSbkmkJq52hMfG0gG4HmxUaFg5tfyhrI9REJiBORJ4dlx7ocg9FeVKqR25J9ZDXfDBXUCz6rAA2HrlaidEYpTS0s2HAmWAjvATE4sV3O8fNW0RREEfzotk8KWYB8B4lTNakgRf8FJspRbBhRjvrhNAT8SBM= 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=BfvAMJTt 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="BfvAMJTt" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44X3lRWz1FbwM; Mon, 16 Feb 2026 14:53:48 +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 4fF44X1pkCz1Fbw6; Mon, 16 Feb 2026 14:53:48 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250028; bh=m7n4sIS38bSgIxKBHwPD/b/kaxsxN/cmYx9adBN1Ojw=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=BfvAMJTtnqQzJicI3hSpcP8vXL3KFXbSt9IGdZ4EiELJXrsGHee5ot14I4NFKjiHe 2h0xa5sJkyNNmSkJ4+OVF9Z190NbUzqBl4qrWxN7clngM5OBdoJXQSP4CyOmtWxVBv fVsvXvhkcBA+V+iUft0w4pLBvHmL0Fq92XGLGPcykPVwW5CgaR8XJ95eIKCo14TODO lCtj16vCVMffxy6sk/RlECKOKAFkkagLAwyy1Jo3WhdMSXhysMTPB4fqW58+3PxU1G 8Czy7HyaF5JAsf+5yV1lxlVClpEB3hBSGJllbQlHeWfUSaS5YacNi/wrq1boi+Vyz5 6Q1kAzRy8vknw== 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 Subject: [PATCH v5 02/16] net: can: Convert gaisler,grcan to DT schema Date: Mon, 16 Feb 2026 14:53:30 +0100 Message-ID: <20260216135344.23246-3-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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" Migrate device tree bindings for Gaisler GRCAN, GRHCAN and GRCANFD CAN controllers from a text format to YAML format. Additional changes: - Remove stale systemid property removed in commit 1e93ed26acf0 ("can: grcan: grcan_probe(): fix broken system id check for errata workaround needs") - Make freq optional - Add clocks - Add compatible - Add example Signed-off-by: Arun Muthusamy Reviewed-by: Rob Herring --- .../bindings/net/can/gaisler,grcan.yaml | 62 +++++++++++++++++++ .../devicetree/bindings/net/can/grcan.txt | 28 --------- 2 files changed, 62 insertions(+), 28 deletions(-) create mode 100644 Documentation/devicetree/bindings/net/can/gaisler,grcan= .yaml delete mode 100644 Documentation/devicetree/bindings/net/can/grcan.txt diff --git a/Documentation/devicetree/bindings/net/can/gaisler,grcan.yaml b= /Documentation/devicetree/bindings/net/can/gaisler,grcan.yaml new file mode 100644 index 000000000000..8fea97c7319a --- /dev/null +++ b/Documentation/devicetree/bindings/net/can/gaisler,grcan.yaml @@ -0,0 +1,62 @@ +# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) +%YAML 1.2 +--- +$id: http://devicetree.org/schemas/net/can/gaisler,grcan.yaml# +$schema: http://devicetree.org/meta-schemas/core.yaml# + +title: Aeroflex Gaisler GRCAN, GRHCAN and GRCANFD CAN controllers. + +description: | + GRCAN, GRCANFD, GRHCAN controllers are available in the GRLIB VHDL + IP core library. + For further information look in the documentation for the GRLIB IP libra= ry: + https://download.gaisler.com/products/GRLIB/doc/grip.pdf + +maintainers: + - Arun Muthusamy + - Andreas Larsson + +allOf: + - $ref: can-controller.yaml# + +properties: + compatible: + enum: + - gaisler,grcan + - gaisler,grcanfd + + reg: + maxItems: 1 + + interrupts: + maxItems: 1 + + clocks: + maxItems: 1 + + freq: + $ref: /schemas/types.yaml#/definitions/uint32 + description: | + Frequency of the external oscillator clock in Hz (the frequency of t= he + AMBA bus in the ordinary case). + This property should be used by systems where the common clock + framework is not supported. + +required: + - compatible + - reg + - interrupts + +unevaluatedProperties: false + +examples: + - | + #include + + can@ff400000 { + compatible =3D "gaisler,grcanfd"; + clocks =3D <&sysclock>; + reg =3D <0xff400000 0x400>; + interrupt-parent =3D <&plic0>; + interrupts =3D <6>; + }; diff --git a/Documentation/devicetree/bindings/net/can/grcan.txt b/Document= ation/devicetree/bindings/net/can/grcan.txt deleted file mode 100644 index 34ef3498f887..000000000000 --- a/Documentation/devicetree/bindings/net/can/grcan.txt +++ /dev/null @@ -1,28 +0,0 @@ -Aeroflex Gaisler GRCAN and GRHCAN CAN controllers. - -The GRCAN and CRHCAN CAN controllers are available in the GRLIB VHDL IP co= re -library. - -Note: These properties are built from the AMBA plug&play in a Leon SPARC s= ystem -(the ordinary environment for GRCAN and GRHCAN). There are no dts files for -sparc. - -Required properties: - -- name : Should be "GAISLER_GRCAN", "01_03d", "GAISLER_GRHCAN" or "01_034" - -- reg : Address and length of the register set for the device - -- freq : Frequency of the external oscillator clock in Hz (the frequency of - the amba bus in the ordinary case) - -- interrupts : Interrupt number for this device - -Optional properties: - -- systemid : If not present or if the value of the least significant 16 bi= ts - of this 32-bit property is smaller than GRCAN_TXBUG_SAFE_GRLIB_VERSION - a bug workaround is activated. - -For further information look in the documentation for the GLIB IP core lib= rary: -http://www.gaisler.com/products/grlib/grip.pdf --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 65C562EBB9E; Mon, 16 Feb 2026 13:53:56 +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=1771250038; cv=none; b=agKztCdjy6kpKF3SdvIdEiIEfgo8Wa21dA1TvG7g5i0ei9oiTHBJM+qt/hk5IVi4n/l4p85UIK687Ae0Lae0hlREGTg3Io7RSUNZxo9SdRkATFcuLDwfN2TEn7YYJDGug9ZpUKklQ1zh+O0s6PjlAV2pfBLj8mba8hsya7dFXIE= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1771250038; c=relaxed/simple; bh=hG5KSuPtLiBtHjq424HSyAbeOdsq1PzCy6qL7NHd2UY=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=ZG6rP4VE7E8GnaDs/DHfsVVQXXTo+71NSrnMoq7y/g20GXatK8S/ToB8Si6UG+U7qbBEekZknet5xn25lpYZtAcUktjGoBdhsuckRCT8ayswd7Ubc5BPFaZ3GYohJhlzSr5DdL/YqBr31iWkWERj+4UmXfOBADlfU7AFtFoN9s8= 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=VVkhbCSp 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="VVkhbCSp" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44X6CV0z1FbwC; Mon, 16 Feb 2026 14:53:48 +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 4fF44X3Y4qz1DPkL; Mon, 16 Feb 2026 14:53:48 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250028; bh=lDfZgx61aSWUJ1n5uo3C1KLCGawncX5ACzgdlX+fljk=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=VVkhbCSp9mGizEQZmushGraMBBr9X2oo3+KU5v9JGbzSXyMsCa1Lks6+diMxhUPSx 4NC808aPql3c5+MGxDkwRdYXpptlJCkWDKm16vKMDGa1oN58rkTTF+/8dzVDw2KHGu CM4HOi+Jxy6xNf+5FXZGTtqsmogeIKSSiUWwvw9jTG5lcoDleEmfdUehw6/MC2XQId OSM8JkqvfonjR6W/THJj9CLAS3/P4nWv1iJ3pJp0KxQ6LX41qocPuOxc/uZY53hPEW uyWJyXveEcOvo8gn5+iXkc4qUZl9kjfPZ3U3iecZflTx3e6cOYkMxVebLYCwlTRMDX 2H6UIAj8lBpNQ== 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 Subject: [PATCH v5 03/16] MAINTAINERS: Add maintainers for GRCAN CAN network driver Date: Mon, 16 Feb 2026 14:53:31 +0100 Message-ID: <20260216135344.23246-4-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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 Arun Muthusamy and Andreas Larsson as maintainers for the GRCAN CAN network driver, This entry ensures clear communication channels for maintaining the Documentation and driver code associated with GRCAN. Signed-off-by: Arun Muthusamy --- MAINTAINERS | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/MAINTAINERS b/MAINTAINERS index 0dc4aa37d903..14ddd48e063f 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -10706,6 +10706,14 @@ F: drivers/gpio/gpiolib-cdev.c F: include/uapi/linux/gpio.h F: tools/gpio/ =20 +GRCAN CAN NETWORK DRIVER +M: Andreas Larsson +M: Arun Muthusamy +L: linux-can@vger.kernel.org +S: Maintained +F: Documentation/devicetree/bindings/net/can/gaisler,grcan.yaml +F: drivers/net/can/grcan.c + GRETH 10/100/1G Ethernet MAC device driver M: Andreas Larsson L: netdev@vger.kernel.org --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 6F7942FFDD5; Mon, 16 Feb 2026 13:53:56 +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=1771250038; cv=none; b=C2yTpLV2lYHA4CFqwH2VDF4Wa/i+QyFYbi1/TR/K82OHkqSpl6Esd13Jj7SzT1yE/0JXapxQdjJ2w7AESAzraERQYIaWAPPMhpTGPUAjQHRK27ONBMLsTAaV6HeI1cIxMBSXUlDNkwCXpt43mbk5MCi+hPeh1DxykMD9/Ad7Evs= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1771250038; c=relaxed/simple; bh=pAbE7oUiYBzPGw0DKpSKNoz6vw1tL4Fy7hQ2s129X2w=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=Yyp7l+ufsUsfz8JwbdZV0O3+AIHxBq3ESzuxHuUeqgtOfjAkLt48cRXJ8BWzvX/hnEQpad5EGgOn4rBQydJsZ4JLTroFLjoFezUsioH/wJHyErHFyZeEBNRAc3EDJ5KgCd4DvkVm76juurM9Xr264vzJwOarKAmlL3zH5qTDNZU= 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=g2TO0cJO 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="g2TO0cJO" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44Y1DS4z1FbwN; Mon, 16 Feb 2026 14:53:49 +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 4fF44X5kNGz1Fbw6; Mon, 16 Feb 2026 14:53:48 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250029; bh=IMU/wLjbU6RVE7LY0W7niv61k/USFwtxnDj46IVSkeM=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=g2TO0cJO6FQbZrQf/t2LmRw2X0Na8jJx2bcs7kuMYg5y4EPARpeB7zmw8bypkjq/G Dp6QD4CZN+ZDvkDadImJPFSpflku0cIS2QQuJ6agyFqL+0hkAtdK7oDbSQ9CCo78T6 /HCzkHQp2zHBMUytNsxLRrpaeNHE8/RtfNPQVNFmhVNmgUL+U21CnuJgikRBn6ZAlU r731G7CLF5Lwk8qGDA+fPb8/sYT0WK7UNtt4Z/QL8PrPzIFuf9QmJzCusBpzS0m3h6 LNfIdwXY7pRSMhFUEv1/KTkiMTwjDSvgUIRF4RIULMB+SQyk5wbUlmkuXTGMMlSYjX N401rCGFFuXeQ== 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, Daniel Hellstrom , Arun Muthusamy Subject: [PATCH v5 04/16] can: grcan: Add clock handling Date: Mon, 16 Feb 2026 14:53:32 +0100 Message-ID: <20260216135344.23246-5-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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" From: Daniel Hellstrom Add clock handling and add error messages for missing 'freq' DT property. Signed-off-by: Daniel Hellstrom Signed-off-by: Arun Muthusamy --- drivers/net/can/grcan.c | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index 3b1b09943436..f3821e224f4f 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -34,7 +34,7 @@ #include #include #include - +#include #include =20 #define DRV_NAME "grcan" @@ -1644,6 +1644,7 @@ static int grcan_probe(struct platform_device *ofdev) { struct device_node *np =3D ofdev->dev.of_node; struct device_node *sysid_parent; + struct clk *clk; u32 sysid, ambafreq; int irq, err; void __iomem *base; @@ -1663,8 +1664,19 @@ static int grcan_probe(struct platform_device *ofdev) =20 err =3D of_property_read_u32(np, "freq", &ambafreq); if (err) { - dev_err(&ofdev->dev, "unable to fetch \"freq\" property\n"); - goto exit_error; + clk =3D devm_clk_get(&ofdev->dev, NULL); + if (IS_ERR(clk)) { + dev_err_probe(&ofdev->dev, PTR_ERR(clk), + "Failed both to get \"freq\" property and clock for fallback\n"); + err =3D PTR_ERR(clk); + goto exit_error; + } + + ambafreq =3D clk_get_rate(clk); + if (!ambafreq) { + dev_err(&ofdev->dev, "Invalid or Uninitialized clock\n"); + return -EINVAL; + } } =20 base =3D devm_platform_ioremap_resource(ofdev, 0); --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 A976E310635; Mon, 16 Feb 2026 13:53:59 +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=1771250041; cv=none; b=c2CeJLxtBK/HRRwOR424+zdzYMPA/7SKdFNInvuLgJrGa1GpSncaenF5m7gfqlG+JhevsLOvWZrPP7PVs1UZCO0JpqX3lV/cLHBzPqbS46kwnhi5FSLvBzWQGSQ2bzyzDVIJBiZ7dxwNENxgGnme1BcVXuQ4gErGP9y278vE7bs= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1771250041; c=relaxed/simple; bh=JpdUupId/R8qhXGqFCNEF2uh+WoduDoWFD8Bwdx86dk=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=b5hytw162Jt7u70ClM4rPGOyL47Y/CUV4qumHFPyXPPJKTOYwE8yYQCf+P2VHAGN2iAW9X5nF4iWBIiPgdjZZA6N3eOEaeHZt+PzYSEIytFQTvUJ2p+TB1iZML16jWuTtLHAynD/zqm/jdpIib0d7tKi/KnbSD937d6WeKs2wPM= 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=Eyu3n2TM 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="Eyu3n2TM" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44Y2yvBz1FbwL; Mon, 16 Feb 2026 14:53:49 +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 4fF44Y0l1rz1FV00; Mon, 16 Feb 2026 14:53:49 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250029; bh=p+KzDx4M2gcKRYgJHx+u+LHbuSg09/20zOFN0HOSdwA=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=Eyu3n2TMS2pWI6DY1oj4LMQyYGz7F42LrFuwNdpYfwvBAbp1KYiRd3ioLfYQiW4tb 3PIboqf7iFyDN9hl2SQgoDSdAnySjYV7+atItKz5HzMh9PZDI4FDOEUeG30HuZTFVR 1F9qs63dDk6UQDKYTSnEBeQvLQCkUg+0qiruvDKtrM/8qsdwREvH7M02dyqw7mozpm V+oNGahIXzAED0/C4ihnwPYn/7elcDFP/NuBLAb+s5315yAwC/1yx/XDDyB99mHK5k S1xivSUMSuNCyZLiruY38ZppjF4TGFJExjqXERCDtX1wQnx3p1vwmpW9ww0Bo3uzcQ D4S5gHjXYPXIA== 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 v5 05/16] can: grcan: Replace bit timing macros with literal values Date: Mon, 16 Feb 2026 14:53:33 +0100 Message-ID: <20260216135344.23246-6-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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" Refactor the bit timing constants in grcan_bittiming_const by replacing macros with literal values. Signed-off-by: Arun Muthusamy Signed-off-by: Daniel Hellstrom --- drivers/net/can/grcan.c | 27 +++++++++------------------ 1 file changed, 9 insertions(+), 18 deletions(-) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index f3821e224f4f..12fd4911add2 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -36,6 +36,7 @@ #include #include #include +#include =20 #define DRV_NAME "grcan" =20 @@ -93,16 +94,6 @@ struct grcan_registers { (GRCAN_CONF_BPR | GRCAN_CONF_RSJ | GRCAN_CONF_PS1 \ | GRCAN_CONF_PS2 | GRCAN_CONF_SCALER) =20 -#define GRCAN_CONF_RSJ_MIN 1 -#define GRCAN_CONF_RSJ_MAX 4 -#define GRCAN_CONF_PS1_MIN 1 -#define GRCAN_CONF_PS1_MAX 15 -#define GRCAN_CONF_PS2_MIN 2 -#define GRCAN_CONF_PS2_MAX 8 -#define GRCAN_CONF_SCALER_MIN 0 -#define GRCAN_CONF_SCALER_MAX 255 -#define GRCAN_CONF_SCALER_INC 1 - #define GRCAN_CONF_BPR_BIT 8 #define GRCAN_CONF_RSJ_BIT 12 #define GRCAN_CONF_PS1_BIT 20 @@ -392,14 +383,14 @@ static struct grcan_device_config grcan_module_config= =3D =20 static const struct can_bittiming_const grcan_bittiming_const =3D { .name =3D DRV_NAME, - .tseg1_min =3D GRCAN_CONF_PS1_MIN + 1, - .tseg1_max =3D GRCAN_CONF_PS1_MAX + 1, - .tseg2_min =3D GRCAN_CONF_PS2_MIN, - .tseg2_max =3D GRCAN_CONF_PS2_MAX, - .sjw_max =3D GRCAN_CONF_RSJ_MAX, - .brp_min =3D GRCAN_CONF_SCALER_MIN + 1, - .brp_max =3D GRCAN_CONF_SCALER_MAX + 1, - .brp_inc =3D GRCAN_CONF_SCALER_INC, + .tseg1_min =3D 2, + .tseg1_max =3D 16, + .tseg2_min =3D 2, + .tseg2_max =3D 8, + .sjw_max =3D 4, + .brp_min =3D 1, + .brp_max =3D 256, + .brp_inc =3D 1, }; =20 static int grcan_set_bittiming(struct net_device *dev) --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 B76FA310645; Mon, 16 Feb 2026 13:53:59 +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=1771250041; cv=none; b=njmtwfHM7JTSEwd5+74PLIfqeyp1wCkBA71A+3rOxWED8j0MmvrjytKZ++zkkU0MDR43WhEjXk0pNvH6oByFEmQveorTT1il/0vaSt9iLT+yHfE7RSDsrJtaq5BtH2wfAN0yHqiWYAGvqIjiIqyg49rUG8SW2WO5xL1XzvZ8z/M= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1771250041; c=relaxed/simple; bh=ue7TFtiSgcio+Jbu3gQqJ9Ulj5COvcU7zdmIoM60A3A=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=Oig6CnORPKLTdvCx4JWiV4kH7oyFV2Fxt0/fZ095UL//J220EGypKn9sgg+LiUN1oi0MPUFWXWOargIMTP90iMBu27cEMRrbPhcCG56opZZl3IUfcuxOPaVoEve6n4szwUUNTo01FtsC0iv1ITU9oTsLiUnyfHzHSCg0Kv36NW8= ARC-Authentication-Results: i=1; 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charset="utf-8" Remove redundant error checks and use FIELD_PREP for bit timing assignments to simplify the timing configuration Signed-off-by: Arun Muthusamy Signed-off-by: Daniel Hellstrom --- drivers/net/can/grcan.c | 41 +++++++++++++---------------------------- 1 file changed, 13 insertions(+), 28 deletions(-) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index 12fd4911add2..4ed0fb1d70b7 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -396,41 +396,26 @@ static const struct can_bittiming_const grcan_bittimi= ng_const =3D { static int grcan_set_bittiming(struct net_device *dev) { struct grcan_priv *priv =3D netdev_priv(dev); - struct grcan_registers __iomem *regs =3D priv->regs; - struct can_bittiming *bt =3D &priv->can.bittiming; - u32 timing =3D 0; + struct grcan_registers __iomem *regs; int bpr, rsj, ps1, ps2, scaler; + struct can_bittiming *bt; + u32 timing =3D 0; =20 - /* Should never happen - function will not be called when - * device is up - */ - if (grcan_read_bits(®s->ctrl, GRCAN_CTRL_ENABLE)) - return -EBUSY; + regs =3D priv->regs; + bt =3D &priv->can.bittiming; =20 bpr =3D 0; /* Note bpr and brp are different concepts */ rsj =3D bt->sjw; ps1 =3D (bt->prop_seg + bt->phase_seg1) - 1; /* tseg1 - 1 */ ps2 =3D bt->phase_seg2; - scaler =3D (bt->brp - 1); - netdev_dbg(dev, "Request for BPR=3D%d, RSJ=3D%d, PS1=3D%d, PS2=3D%d, SCAL= ER=3D%d", - bpr, rsj, ps1, ps2, scaler); - if (!(ps1 > ps2)) { - netdev_err(dev, "PS1 > PS2 must hold: PS1=3D%d, PS2=3D%d\n", - ps1, ps2); - return -EINVAL; - } - if (!(ps2 >=3D rsj)) { - netdev_err(dev, "PS2 >=3D RSJ must hold: PS2=3D%d, RSJ=3D%d\n", - ps2, rsj); - return -EINVAL; - } - - timing |=3D (bpr << GRCAN_CONF_BPR_BIT) & GRCAN_CONF_BPR; - timing |=3D (rsj << GRCAN_CONF_RSJ_BIT) & GRCAN_CONF_RSJ; - timing |=3D (ps1 << GRCAN_CONF_PS1_BIT) & GRCAN_CONF_PS1; - timing |=3D (ps2 << GRCAN_CONF_PS2_BIT) & GRCAN_CONF_PS2; - timing |=3D (scaler << GRCAN_CONF_SCALER_BIT) & GRCAN_CONF_SCALER; - netdev_info(dev, "setting timing=3D0x%x\n", timing); + scaler =3D bt->brp - 1; + + timing |=3D FIELD_PREP(GRCAN_CONF_BPR, bpr); + timing |=3D FIELD_PREP(GRCAN_CONF_RSJ, rsj); + timing |=3D FIELD_PREP(GRCAN_CONF_PS1, ps1); + timing |=3D FIELD_PREP(GRCAN_CONF_PS2, ps2); + timing |=3D FIELD_PREP(GRCAN_CONF_SCALER, scaler); + netdev_dbg(dev, "setting timing=3D0x%x\n", timing); grcan_write_bits(®s->conf, timing, GRCAN_CONF_TIMING); =20 return 0; --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 59B823112C9; Mon, 16 Feb 2026 13:54:00 +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=1771250042; cv=none; b=UkjQ56Kch133qKFzqiESOj0eH+itqceMaGHXdAmbi9I2J2PIjcj8bSaEmmo6DZpjbAyJ+EvJJ63YUJG8vwZAfLKcqho7Li7oLXB9bfsV/2nj1tgvIqJVJHt2qqMaoqD4vpYffVYs+T0tTRufi4Cn1x06SR9C9MapchS5W3qIARI= ARC-Message-Signature: i=1; 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Mon, 16 Feb 2026 14:53:50 +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 4fF44Y58vLz1FbbB; Mon, 16 Feb 2026 14:53:49 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250029; bh=YKraLCfX9sUKTKhBlpVkse1ctK5HfkR4tSodMZ5Riww=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=Tk9AXpr1tCm6Kl3XWvvFIv+5VA/sevKy50p/AeBzdx1XYWqX1TMZ5LWOTp9NfG1KW qtDswQpufu3Di2r54la4/DQ+4B1LleUsYvHARnYDr5wxA8L1GQMMO6uqPPyHaDx+nz vMlYpDqWhmtLXTtnd+E+EMTODDPYiS9ySpPqsuTe58WP124Mzoo7l0DbJfctOuw9MA r1mg+fU2sU+R5uniwZSe6tuDELb2xbcF2qxiD/caaU4OvmbL6XXVPpYpYnYYboQlGq 8XI9VK3ygDsTGJ35bkicSaGVhZ8wsiTwxuGR6/hQI2Dk1EGlWwfGL3Jc067zF2wIa5 +vTHRpoKo3zhQ== 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 v5 07/16] can: grcan: add FD capability detection and nominal bit-timing Date: Mon, 16 Feb 2026 14:53:35 +0100 Message-ID: <20260216135344.23246-8-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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. =20 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 =20 +#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; =20 struct grcan_registers __iomem *regs; /* ioremap'ed registers */ + const struct grcan_hwcap *hwcap; struct grcan_device_config config; struct grcan_dma dma; =20 @@ -393,6 +432,19 @@ static const struct can_bittiming_const grcan_bittimin= g_const =3D { .brp_inc =3D 1, }; =20 +/* 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; } =20 +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= { =20 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; =20 /* 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; =20 + 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); + } } =20 err =3D of_property_read_u32(np, "freq", &ambafreq); @@ -1670,7 +1756,7 @@ static int grcan_probe(struct platform_device *ofdev) =20 grcan_sanitize_module_config(ofdev); =20 - 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; =20 @@ -1697,11 +1783,30 @@ static void grcan_remove(struct platform_device *of= dev) free_candev(dev); } =20 +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}, {}, }; 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charset="utf-8" From: Daniel Hellstrom Optimizes DMA transfers in the GRCAN driver by reorganizing data handling to use 32-bit accesses instead of individual byte accesses. Signed-off-by: Daniel Hellstrom Signed-off-by: Arun Muthusamy --- drivers/net/can/grcan.c | 26 ++++++++++---------------- 1 file changed, 10 insertions(+), 16 deletions(-) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index a752aea51d96..29247e9860c9 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -194,9 +194,6 @@ struct grcan_registers { #define GRCAN_MSG_OFF 0x00000002 #define GRCAN_MSG_PASS 0x00000001 =20 -#define GRCAN_MSG_DATA_SLOT_INDEX(i) (2 + (i) / 4) -#define GRCAN_MSG_DATA_SHIFT(i) ((3 - (i) % 4) * 8) - #define GRCAN_BUFFER_ALIGNMENT 1024 #define GRCAN_DEFAULT_BUFFER_SIZE 1024 #define GRCAN_VALID_TR_SIZE_MASK 0x001fffc0 @@ -1217,7 +1214,7 @@ static int grcan_receive(struct net_device *dev, int = budget) struct sk_buff *skb; u32 wr, rd, startrd; u32 *slot; - u32 i, rtr, eff, j, shift; + u32 rtr, eff; int work_done =3D 0; =20 rd =3D grcan_read_reg(®s->rxrd); @@ -1253,11 +1250,10 @@ static int grcan_receive(struct net_device *dev, in= t budget) if (rtr) { cf->can_id |=3D CAN_RTR_FLAG; } else { - for (i =3D 0; i < cf->len; i++) { - j =3D GRCAN_MSG_DATA_SLOT_INDEX(i); - shift =3D GRCAN_MSG_DATA_SHIFT(i); - cf->data[i] =3D (u8)(slot[j] >> shift); - } + if (cf->can_dlc > 0) + memcpy(cf->data, &slot[2], sizeof(u32)); + if (cf->can_dlc > 4) + memcpy(cf->data + 4, &slot[3], sizeof(u32)); =20 stats->rx_bytes +=3D cf->len; } @@ -1396,8 +1392,7 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *s= kb, u32 id, txwr, txrd, space, txctrl; int slotindex; u32 *slot; - u32 i, rtr, eff, dlc, tmp, err; - int j, shift; + u32 rtr, eff, dlc, tmp, err; unsigned long flags; u32 oneshotmode =3D priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT; =20 @@ -1450,11 +1445,10 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff = *skb, slot[1] =3D ((dlc << GRCAN_MSG_DLC_BIT) & GRCAN_MSG_DLC); slot[2] =3D 0; slot[3] =3D 0; - for (i =3D 0; i < dlc; i++) { - j =3D GRCAN_MSG_DATA_SLOT_INDEX(i); - shift =3D GRCAN_MSG_DATA_SHIFT(i); - slot[j] |=3D cf->data[i] << shift; - } + if (dlc > 0) + memcpy(&slot[2], cf->data, sizeof(u32)); + if (dlc > 4) + memcpy(&slot[3], cf->data + 4, sizeof(u32)); =20 /* Checking that channel has not been disabled. These cases * should never happen --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 6196A3112DD; Mon, 16 Feb 2026 13:54:00 +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=1771250042; cv=none; b=b/QV1fsRgAJd2ompr7QrTYXP2nFdTT/4TMhRR/C+H4rapn3vNImBkXjLcGArAGq7vNlgSwF3XL9fZeS9mx0r4/89gRs7OhPXNP1O7NCwDFErVNT3ETzgPsD90Wv8yXkF03rDizq5PDn90f9jKs2Xq1mq77QFY7EOHRWG/fCnuAA= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1771250042; c=relaxed/simple; bh=uVrZ0pyVLCvHW7B+h0I/LjU5mAmaJJk1PFxAq/SUBqc=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=uo7CxxYmCNgINnQebhEyd5pmC6EGJLLHPznZoohab8+YImYCqAmx8ns4lzZ3m9xyRttdl/0+DotYVHRVaUFJOr83rUciWVJdYtbYw6krr8GUsx3Q4Z7TldGR3FpUIHiN3uirQI3J+kzf2t/QkAXtmLhsKb2FN8odvqmFN1FhOq8= 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=G4rqTzCE 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="G4rqTzCE" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44Z5t1dz1FbwW; Mon, 16 Feb 2026 14:53:50 +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 4fF44Z2Plhz1FbbB; Mon, 16 Feb 2026 14:53:50 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250030; bh=Xu+Tx4YbRAuYDk68YZmjQXkVSfoxhaU2CbP0o4HeWPA=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=G4rqTzCE0divp3RKvveYok7EwCVXwZVtW8GoI7iJVJOBC2r5phPqGyGs0KVCAik5L fzsuV0hDTxoYVnGI5JQGnYlqGrLZKLN2g0nTPeWqMKS8JdDB5vQvVWJ1peoXaodFMK geqZn79+qASRalhcbVdnS+gte8SAtBwLdSL6S4N/YRN37HgAoUb6v5djZCSzu8sHmy r35LubN8L6Z7PSkLXg7Kr36VYtmk3/1XvJKrtxZH9JaStOxSLli06yrUY0zVR04al0 YnJmkxnljDnPwOWUeJA0m26/xaj/UkQwOr5zYSr7QYl3e4S3qx5R5KUxJyJtFXT3Cz Y6Ray8m8G38+g== 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, Daniel Hellstrom , Arun Muthusamy Subject: [PATCH v5 09/16] can: grcan: set DMA mask for GRCAN and GRCANFD to 32-bit Date: Mon, 16 Feb 2026 14:53:37 +0100 Message-ID: <20260216135344.23246-10-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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" From: Daniel Hellstrom Sets the DMA mask for GRCAN and GRCANFD devices to 32-bit. Setting the DMA mask and coherent DMA mask to 32-bit ensures proper memory addressing during DMA operations Signed-off-by: Daniel Hellstrom Signed-off-by: Arun Muthusamy --- drivers/net/can/grcan.c | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index 29247e9860c9..13dc4989f067 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -1741,6 +1741,13 @@ static int grcan_probe(struct platform_device *ofdev) goto exit_error; } =20 + /* On 64-bit systems.. GRCAN and GRCANFD can only address 32-bit */ + err =3D dma_set_mask_and_coherent(&ofdev->dev, DMA_BIT_MASK(32)); + if (err) { + dev_err_probe(&ofdev->dev, err, "No usable DMA configuration.\n"); + goto exit_error; + } + irq =3D irq_of_parse_and_map(np, GRCAN_IRQIX_IRQ); if (!irq) { dev_err(&ofdev->dev, "no irq found\n"); --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 6D1B8311583; Mon, 16 Feb 2026 13:54:00 +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=1771250042; cv=none; b=c35ecP4bRoP2/BX0T3BOx9rwENGQNqDobiL6fzX5C80+fJMy7JSPM9pZ21GAfVWmDKzPJe/j+K+Vgijgcti7QjN8bNK720lR1nyGVhpEibjuUn+HSJJD3eTg6J4QAKLadcci6GRG2RNBTFn8xTtwtpc0LBK860q1Q0vshWO6Zxg= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1771250042; c=relaxed/simple; bh=llM/KzBhmu+L1VSf3YRy2olgNb3GA7BR8+7MG0A3LjY=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=oerw3ctmWCrVOurKPy38sP6YFivvRmj316alhhK8e1X0udyp+eXDISL1ECPyXflNWCeNHTct8cb89/XhlTBJ4n7dzaeHroXmQPkz/k/dNMlCHTKa9HVEEcjh5Q7XBzs4+K6XnouvaEAF8m6B+qYSkXQGnZD3Gynk2bbDXfob0jY= 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=pYRH/vSp 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="pYRH/vSp" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44b43LCz1Fbwb; Mon, 16 Feb 2026 14:53:51 +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 4fF44Z5c4yz1FbwS; Mon, 16 Feb 2026 14:53:50 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250031; bh=jXQcjRcxsrRIpmX3uVmGRrYNnSd0R0YaXJGt3CFoZWY=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=pYRH/vSptesfA7htlh8anXgejD1p5X2YX2U1xpgucypt1gUq4dgSnAR0LXYL2TCIP k1wTmj/pTJ0TNUDcp0oZJs38NMg0g+uiMxV/VDW5kc77eNeJcYM4NIU8wRSqHgJwN/ VjcZE5E/Uiheo6JuTJas7+EhcajoWth0F+eVaGSJp7xxtKhp87fVopZdHrkJntz1ZW SHjPufsHa+dHVPLfIlPao9G2Ch1L/P0QrwcFobHqBcnBZJlIeFU7/UAoZ3d71cubWs JKLL4EdEdip8en5KL0AY0BQUXLxlV50ocvB0mFAxGMDlZu3CB1s7kSFJRKguLxHfuq 8vtUxDsxBT9eA== 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, Daniel Hellstrom , Arun Muthusamy Subject: [PATCH v5 10/16] can: grcan: Add saving and restoring of CAN FD baud-rate registers Date: Mon, 16 Feb 2026 14:53:38 +0100 Message-ID: <20260216135344.23246-11-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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" From: Daniel Hellstrom While reset the GRCAN baud-rates are preserved, since GRCANFD has the baud-rate in different registers we need to add saving of those registers too. Signed-off-by: Daniel Hellstrom Signed-off-by: Arun Muthusamy --- drivers/net/can/grcan.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index 13dc4989f067..0ceda12335bc 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -525,6 +525,8 @@ static void grcan_reset(struct net_device *dev) =20 /* Turn off hardware filtering - regs->rxcode set to 0 by reset */ grcan_write_reg(®s->rxmask, 0); + + priv->hwcap->set_bittiming(dev); } =20 /* stop device without changing any configurations */ --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 CF3A830EF87; Mon, 16 Feb 2026 13:54:00 +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=1771250042; cv=none; b=IzJzrp0OpQGpyFXe7JOUgcx68csB2l+6aPxfxVjid9LBrJbaOPwCiSDutA3DmiE8LokTB3iR391ifz2MNxtwu4UTRWxl45FtgcGSVuVoYGxqLFKNXP1Nj/k9aLG1hdQvC8gMNaJfJNRgH5PVL87Ng2gg7F9V1gPncO0Y/YW1ugg= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1771250042; c=relaxed/simple; bh=6MaiAjXRozwgWtPwUfXezORiF4z1nInsBf7XwPWop3Q=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=BvyJhT3SoXglmnkRi5rVI1FyRzf/7mQ9z//PdEh1Sj+FzeHaTnRuv6d3ciScUXIrtOEZCcEmPJreJDk4F3oLhYb578aIOdmb4/c1mjACWXwfAZFye5M5LUzfHp/w5ymukCnuGqPCN9RbLuLbf4+/iofrqN56c8qAoKxQAF8HHo8= 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=B/fG8b+J 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="B/fG8b+J" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44b5t3yz1FbwV; Mon, 16 Feb 2026 14:53:51 +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 4fF44b3XbJz1FbwR; Mon, 16 Feb 2026 14:53:51 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250031; bh=XhDpIgFvLtKYCf6Xd2LNeTP2TSc4kdJLbKvmX5frO1o=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=B/fG8b+JvkRzyjv405dGcF6c5/tKIDXYq+IS2nHdHWjmZ2R9dAhDvUgiNnLfy811X nWEE4BMhUcSyLfww0xOXTC47P6z/ypnG/itAsXlj6ALvY+bszPeZ7NlzWVsWT4WdWY /675Ra/xe1V5EplLZdUigjLNzJ5FKdBvkoYGmjT4jm61T+h6TQGwv1gtD9zsrJNBi/ 8q6hOmK6dbACz8m2pdbVnfwJfMafVKJVn6RPoqxXDqv3CkbEUZxqdDYvoE1bfNAMSz bMnA+H1XvoqEqQU+pZYAX338Cx+w5kuXLZU4HvtpdTLvp3jNfN9EsvST1D91zU17TJ iJP1+YVyvqjZA== 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, Daniel Hellstrom , Arun Muthusamy Subject: [PATCH v5 11/16] can: grcan: Reserve space between cap and next register to align with address layout Date: Mon, 16 Feb 2026 14:53:39 +0100 Message-ID: <20260216135344.23246-12-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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" From: Daniel Hellstrom Reserves space between the capability register and the next register within the GRCAN driver to align with the hardware address layout. Signed-off-by: Daniel Hellstrom Signed-off-by: Arun Muthusamy --- drivers/net/can/grcan.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index 0ceda12335bc..3104946071dd 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -49,7 +49,8 @@ struct grcan_registers { u32 conf; /* 0x00 */ u32 stat; /* 0x04 */ u32 ctrl; /* 0x08 */ - u32 __reserved1[GRCAN_RESERVE_SIZE(0x08, 0x18)]; + u32 cap; /* 0x0c */ + u32 __reserved1[GRCAN_RESERVE_SIZE(0x0c, 0x18)]; u32 smask; /* 0x18 - CanMASK */ u32 scode; /* 0x1c - CanCODE */ u32 __reserved2[GRCAN_RESERVE_SIZE(0x1c, 0x40)]; --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 D21F43115AF; Mon, 16 Feb 2026 13:54:00 +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=1771250042; cv=none; b=Uu1rLWq9eLClwLoe5TpudjL2T9zdoKYRJDH0w6Wp2+WFYFJ7A4hKz+XaVyLRAi9VK3slNreMsq7VATv6s9Le/+LQu42MYiL+/sVT5SJ6kwqb9LGnW4+/VfO19INJeRvxQc2LH0fpQGAXwcvKCc2uE+qZDtx8zvtjdNHvDXBmwVc= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1771250042; c=relaxed/simple; bh=jRLYy6cpSbsB/zdM8fl7k/GXvW61206WfuUgIl0DkJY=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=rdXxlS8dhTJIrvk+RyTi6J8+BcCw/OFr+wOw3/F1/1sr8TLZ1/DAU+mDGTZvjvzYtLd43c39YUJmO/47JpGW4fdgsqn/Z1W3powdMurjULoRmWdGSKPSJjRvVl/tba+DVeXRxswt8lU76ykYrc8vsaLqsfWRKRibBWYc+4e+wSc= 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=ZXeMzk9x 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="ZXeMzk9x" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44c0Y2xz1Fbwf; Mon, 16 Feb 2026 14:53:52 +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 4fF44b5gxWz1FbwT; Mon, 16 Feb 2026 14:53:51 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250031; bh=3CEg7uF6i0KbM3OcGQ67hVqNfMc35wMZO2CX3hOxMQc=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=ZXeMzk9xT+UPmFV7irusn2SNF30LI2cYtOUz0FMV3RGYTtYp0XoeAAY7YeXPv4EpH GFA5UAdKM1DJSpohrJJsGirej6CexB6/P5o+XL+mBD0h15i4lCjaak6XXU4qntLFnV ST1iLHYRsZYAaHejs2stHoi6i0aBQ7Q74Ci2xPt7J3hLFrmlASb0Z87CfYLoTI9j4e mYsow8s56yzUfPJcshbWcxEh5G6s1FjRKJkckaq0UCWcJ7fqghE5vpXRPr9dee51rf 7w2xlR5XPVbG1pKCEbNunhJXSl9vBbgsGqNrEq9XlNNUSTFGw8axh1AQRDIgVinLro u1DGd2ZziEBcA== 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 Subject: [PATCH v5 12/16] can: grcan: Refactor GRCAN DMA buffer to use structured memory layout Date: Mon, 16 Feb 2026 14:53:40 +0100 Message-ID: <20260216135344.23246-13-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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" Introduce a structured layout that accurately represents the hardware memo= ry by using struct grcan_msg_slot. This structure encapsulates the message parameters, including id, dlc, and= data. Signed-off-by: Arun Muthusamy --- drivers/net/can/grcan.c | 25 ++++++++++++++++++++----- 1 file changed, 20 insertions(+), 5 deletions(-) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index 3104946071dd..28fa219e1c3b 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) =20 #define GRCAN_MSG_SIZE 16 +#define GRCAN_CLASSIC_DATA_SIZE 8 =20 #define GRCAN_MSG_IDE 0x80000000 #define GRCAN_MSG_RTR 0x40000000 @@ -239,9 +240,23 @@ struct grcan_hwcap { bool fd; }; =20 +union grcan_msg_slot { + /* First slot: header + 8 bytes payload */ + struct { + u32 id; + u32 ctrl; + u8 data[GRCAN_CLASSIC_DATA_SIZE]; + } __packed header; + + /* Continuation slot: payload only */ + struct { + u8 data[GRCAN_MSG_SIZE]; + } __packed frags; +} __packed; + struct grcan_dma_buffer { size_t size; - void *buf; + union grcan_msg_slot *msg_slot; dma_addr_t handle; }; =20 @@ -1019,8 +1034,8 @@ static int grcan_allocate_dma_buffers(struct net_devi= ce *dev, small->handle =3D large->handle + lsize; shift =3D large->handle - dma->base_handle; =20 - large->buf =3D dma->base_buf + shift; - small->buf =3D large->buf + lsize; + large->msg_slot =3D (union grcan_msg_slot *)((u8 *)dma->base_buf + shift); + small->msg_slot =3D (union grcan_msg_slot *)((u8 *)large->msg_slot + lsiz= e); =20 return 0; } @@ -1237,7 +1252,7 @@ static int grcan_receive(struct net_device *dev, int = budget) continue; } =20 - slot =3D dma->rx.buf + rd; + slot =3D (u32 *)((u8 *)dma->rx.msg_slot + rd); eff =3D slot[0] & GRCAN_MSG_IDE; rtr =3D slot[0] & GRCAN_MSG_RTR; if (eff) { @@ -1418,7 +1433,7 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *s= kb, space =3D grcan_txspace(dma->tx.size, txwr, priv->eskbp); =20 slotindex =3D txwr / GRCAN_MSG_SIZE; - slot =3D dma->tx.buf + txwr; + slot =3D (u32 *)((u8 *)dma->tx.msg_slot + txwr); =20 if (unlikely(space =3D=3D 1)) netif_stop_queue(dev); --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 BF31831328A; 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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="ZCE0MW1Y" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44c2FQJz1Fbwc; Mon, 16 Feb 2026 14:53:52 +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 4fF44c0MGgz1FbwZ; Mon, 16 Feb 2026 14:53:52 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250032; bh=mIj+Gfc6bwbkhoXJDGZOXj4xv50OW9cInGwc4zKvq4I=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=ZCE0MW1YY/QdD9K1RSzG/fUU4Y7SSj5pgdKbGjy9jDzdVblRKtVCcU5DLDincIYlc evl0IenD1hCAE9Yx1GOAQXWWnmS5FEhyY+CMWiJ3HJ/AhsDab/Rsk3Te+dtFZiv3OC kzgJQUlR/NjvDRwXEHNglVT7CXAsAfQm4D9AQoecJUrDzFYmTyKQ+6pqErC8vERMfy G8mhKfH8ZGd2n7VW4ZSBdA9+ptp1Bl3mXrPQwlNpBe77H+C7P4yDODlwVwemFtYMTv NkEQtxEXD8P8D8HwLpQsA91z8lkHFPf87n1fSIwtxbpai0HajfnNr52Ijf7k4ase62 mbT6oasln+TSQ== 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 Subject: [PATCH v5 13/16] can: grcan: Add CANFD TX support alongside legacy CAN Date: Mon, 16 Feb 2026 14:53:41 +0100 Message-ID: <20260216135344.23246-14-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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" 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 --- drivers/net/can/grcan.c | 111 ++++++++++++++++++++++++++++++---------- 1 file changed, 85 insertions(+), 26 deletions(-) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index 28fa219e1c3b..ae9f6fd4c8bf 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -196,6 +196,10 @@ struct grcan_registers { #define GRCAN_MSG_OFF 0x00000002 #define GRCAN_MSG_PASS 0x00000001 =20 +#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 @@ -228,6 +232,9 @@ struct grcan_registers { #define GRCANFD_FDBTR_PS2_BIT 5 #define GRCANFD_FDBTR_SJW_BIT 0 =20 +#define GRCAN_TX_BRS BIT(25) +#define GRCAN_TX_FDF BIT(26) + /* Hardware capabilities */ struct grcan_hwcap { /* CAN-FD capable, indicates GRCANFD IP. @@ -1222,6 +1229,19 @@ static void grcan_transmit_catch_up(struct net_devic= e *dev) spin_unlock_irqrestore(&priv->lock, flags); } =20 +static int grcan_numbds(int len) +{ + if (len <=3D GRCAN_CLASSIC_DATA_SIZE) + return 1; + + return 1 + DIV_ROUND_UP(len - GRCAN_CLASSIC_DATA_SIZE, GRCAN_MSG_SIZE); +} + +static inline union grcan_msg_slot *grcan_tx_msg_slot(struct grcan_dma *dm= a, u32 off) +{ + return (union grcan_msg_slot *)((u8 *)dma->tx.msg_slot + off); +} + static int grcan_receive(struct net_device *dev, int budget) { struct grcan_priv *priv =3D netdev_priv(dev); @@ -1404,15 +1424,23 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff = *skb, struct net_device *dev) { struct grcan_priv *priv =3D netdev_priv(dev); - struct grcan_registers __iomem *regs =3D priv->regs; + struct grcan_registers __iomem *regs; + u32 eff, rtr, dlc, tmp, err, can_id; struct grcan_dma *dma =3D &priv->dma; - struct can_frame *cf =3D (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; + union grcan_msg_slot *msg; + struct canfd_frame *cfd; + struct can_frame *cf; unsigned long flags; - u32 oneshotmode =3D priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT; + u32 oneshotmode; + int slotindex; + u8 *payload; + u8 len; + int i; + + regs =3D priv->regs; + oneshotmode =3D priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT; =20 if (can_dev_dropped_skb(dev, skb)) return NETDEV_TX_OK; @@ -1423,6 +1451,18 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *= skb, if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) return NETDEV_TX_BUSY; =20 + cfd =3D (struct canfd_frame *)skb->data; + len =3D cfd->len; + can_id =3D cfd->can_id; + payload =3D cfd->data; + + if (can_is_canfd_skb(skb)) { + dlc =3D can_fd_len2dlc(len); + } else { + cf =3D (struct can_frame *)skb->data; + dlc =3D 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. @@ -1433,7 +1473,7 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *s= kb, space =3D grcan_txspace(dma->tx.size, txwr, priv->eskbp); =20 slotindex =3D txwr / GRCAN_MSG_SIZE; - slot =3D (u32 *)((u8 *)dma->tx.msg_slot + txwr); + bds =3D grcan_numbds(len); =20 if (unlikely(space =3D=3D 1)) netif_stop_queue(dev); @@ -1449,24 +1489,44 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff = *skb, return NETDEV_TX_BUSY; } =20 - /* Convert and write CAN message to DMA buffer */ - eff =3D cf->can_id & CAN_EFF_FLAG; - rtr =3D cf->can_id & CAN_RTR_FLAG; - id =3D cf->can_id & (eff ? CAN_EFF_MASK : CAN_SFF_MASK); - dlc =3D cf->len; - if (eff) - tmp =3D (id << GRCAN_MSG_EID_BIT) & GRCAN_MSG_EID; - else - tmp =3D (id << GRCAN_MSG_BID_BIT) & GRCAN_MSG_BID; - slot[0] =3D (eff ? GRCAN_MSG_IDE : 0) | (rtr ? GRCAN_MSG_RTR : 0) | tmp; + msg =3D grcan_tx_msg_slot(dma, txwr); + memset(msg, 0, sizeof(*msg)); + + eff =3D can_id & CAN_EFF_FLAG; + rtr =3D can_id & CAN_RTR_FLAG; + id =3D can_id & (eff ? CAN_EFF_MASK : CAN_SFF_MASK); + + tmp =3D eff ? FIELD_PREP(GRCAN_MSG_EID_MASK, id) + : FIELD_PREP(GRCAN_MSG_BID_MASK, id); + + msg->header.id =3D (eff ? GRCAN_MSG_IDE : 0) | + (rtr ? GRCAN_MSG_RTR : 0) | + tmp; =20 - slot[1] =3D ((dlc << GRCAN_MSG_DLC_BIT) & GRCAN_MSG_DLC); - slot[2] =3D 0; - slot[3] =3D 0; - if (dlc > 0) - memcpy(&slot[2], cf->data, sizeof(u32)); - if (dlc > 4) - memcpy(&slot[3], cf->data + 4, sizeof(u32)); + msg->header.ctrl =3D FIELD_PREP(GRCAN_MSG_DLC_MASK, dlc); + + if (can_is_canfd_skb(skb)) { + msg->header.ctrl |=3D GRCAN_TX_FDF; + if (cfd->flags & CANFD_BRS) + msg->header.ctrl |=3D GRCAN_TX_BRS; + } + + copy_len =3D min_t(u32, len, GRCAN_CLASSIC_DATA_SIZE); + memcpy(msg->header.data, payload, copy_len); + payload_offset =3D copy_len; + + txwr =3D grcan_ring_add(txwr, GRCAN_MSG_SIZE, dma->tx.size); + + for (i =3D 1; i < bds; i++) { + msg =3D grcan_tx_msg_slot(dma, txwr); + + memset(msg, 0, sizeof(*msg)); + copy_len =3D min_t(u32, (u32)len - payload_offset, (u32)GRCAN_MSG_SIZE); + memcpy(msg->frags.data, payload + payload_offset, copy_len); + payload_offset +=3D copy_len; + + txwr =3D grcan_ring_add(txwr, GRCAN_MSG_SIZE, dma->tx.size); + } =20 /* Checking that channel has not been disabled. These cases * should never happen @@ -1508,8 +1568,7 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *s= kb, wmb(); =20 /* Update write pointer to start transmission */ - grcan_write_reg(®s->txwr, - grcan_ring_add(txwr, GRCAN_MSG_SIZE, dma->tx.size)); + grcan_write_reg(®s->txwr, txwr); =20 return NETDEV_TX_OK; } --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 7A2A83128AE; Mon, 16 Feb 2026 13:54:02 +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=1771250044; cv=none; b=OgGY5wtJ7fAyoaoL0hTzzqP3nUCTh6wBy097hZcVNnq96Z0GIE+7yGBoGtAOzisKRkXb/tT8q+RlPKVItrsZud4KLS4yotWrDJkd3A1BHClfJTOCgcrXrvZsvXKUIgDKwcW+ATn2+y4Fkze/RrheWte0Z5M1aAB9/yKT6DrRJZQ= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1771250044; c=relaxed/simple; bh=B0GLMV3cesPSPsRvbU9Pd3edbTphbbQyXzi59Q1AC2Y=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=M6xMtZOtRh97Yaln50rtw9mpd76oG9W3yKPM4n5XyYl1kNeiHunZTq55PjocJ87mdXTL06lyK96BgXee3TP8OQlpycq7frBIO22HM8i6hM3I3Zj7tJqLkDD3SLgAIKeobsKm5roq+9dpDxEWfQp+M6mD2AVZm/uBNOTnPRwU/QM= 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=XZEnnFCe 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="XZEnnFCe" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44c40V4z1Fbwj; Mon, 16 Feb 2026 14:53:52 +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 4fF44c246Bz1FbwS; Mon, 16 Feb 2026 14:53:52 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250032; bh=iRnFF5nLsoP6t6Q6GFyPF3u3sSqHl56MO1l7XvWk6zs=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=XZEnnFCegugmjAhmWYvjfJq6L9cuy2TamapUSg6hsr1ms5LcTWVSX8xTwrMZTyp+r n4z6jqVtG+XdXb26sPlrg6e1PNZbNPrYGyV81PVBHg0vGRD6zZ3cZUJ1PO4xx3I57e gk2xXnG75iP6RWyK88nwxUZ3TLiDaNmb0pyeMsmnDAikfTQvSTfY83JwaNPuGITSvY 3Zwbb6i/RY6SFJHHFWgv5yvsTrGXE6igUR99B3e9MnvVbW2AWSAqHZH4r5wiU4xZG+ jYMlm7I8DGyrFfIwA45/DO+9C8ia3ZpNBmYk+y97PSGWCEn+n+YWDuBT81PHF8lWMk ObWJbnft6WSKA== 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 Subject: [PATCH v5 14/16] can: grcan: Add CANFD RX support alongside legacy CAN Date: Mon, 16 Feb 2026 14:53:42 +0100 Message-ID: <20260216135344.23246-15-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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" Include CANFD RX support with the legacy CAN support, enabling support for extended data payloads to provide higher bit rates. Signed-off-by: Arun Muthusamy --- drivers/net/can/grcan.c | 89 +++++++++++++++++++++++++++-------------- 1 file changed, 59 insertions(+), 30 deletions(-) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index ae9f6fd4c8bf..e54214f6112d 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -235,6 +235,9 @@ struct grcan_registers { #define GRCAN_TX_BRS BIT(25) #define GRCAN_TX_FDF BIT(26) =20 +#define GRCAN_RX_BRS BIT(25) +#define GRCAN_RX_FDF BIT(26) + /* Hardware capabilities */ struct grcan_hwcap { /* CAN-FD capable, indicates GRCANFD IP. @@ -1242,20 +1245,29 @@ static inline union grcan_msg_slot *grcan_tx_msg_sl= ot(struct grcan_dma *dma, u32 return (union grcan_msg_slot *)((u8 *)dma->tx.msg_slot + off); } =20 +static inline union grcan_msg_slot *grcan_rx_msg_slot(struct grcan_dma *dm= a, u32 off) +{ + return (union grcan_msg_slot *)((u8 *)dma->rx.msg_slot + off); +} + static int grcan_receive(struct net_device *dev, int budget) { + struct net_device_stats *stats =3D &dev->stats; struct grcan_priv *priv =3D netdev_priv(dev); - struct grcan_registers __iomem *regs =3D priv->regs; + struct grcan_registers __iomem *regs; struct grcan_dma *dma =3D &priv->dma; - struct net_device_stats *stats =3D &dev->stats; - struct can_frame *cf; + u32 bds, copy_len, payload_offset; + union grcan_msg_slot *msg; + u32 wr, rd, dlc, startrd; + struct canfd_frame *cf; + int i, work_done =3D 0; struct sk_buff *skb; - u32 wr, rd, startrd; - u32 *slot; u32 rtr, eff; - int work_done =3D 0; + u8 *data; =20 + regs =3D priv->regs; rd =3D grcan_read_reg(®s->rxrd); + startrd =3D rd; for (work_done =3D 0; work_done < budget; work_done++) { /* Check for packet to receive */ @@ -1263,43 +1275,60 @@ static int grcan_receive(struct net_device *dev, in= t budget) if (rd =3D=3D wr) break; =20 - /* Take care of packet */ - skb =3D alloc_can_skb(dev, &cf); - if (skb =3D=3D NULL) { - netdev_err(dev, - "dropping frame: skb allocation failed\n"); + msg =3D grcan_rx_msg_slot(dma, rd); + if (msg->header.ctrl & GRCAN_RX_FDF) + skb =3D alloc_canfd_skb(dev, &cf); + else + skb =3D alloc_can_skb(dev, (struct can_frame **)&cf); + + if (unlikely(!skb)) { + netdev_err(dev, "dropping frame: skb allocation failed\n"); stats->rx_dropped++; continue; } =20 - slot =3D (u32 *)((u8 *)dma->rx.msg_slot + rd); - eff =3D slot[0] & GRCAN_MSG_IDE; - rtr =3D slot[0] & GRCAN_MSG_RTR; + dlc =3D FIELD_GET(GRCAN_MSG_DLC_MASK, msg->header.ctrl); + if (msg->header.ctrl & GRCAN_RX_FDF) + cf->len =3D can_fd_dlc2len(dlc); + else + cf->len =3D can_cc_dlc2len(dlc); + + bds =3D grcan_numbds(cf->len); + payload_offset =3D 0; + data =3D cf->data; + + eff =3D msg->header.id & GRCAN_MSG_IDE; + rtr =3D msg->header.id & GRCAN_MSG_RTR; + if (eff) { - cf->can_id =3D ((slot[0] & GRCAN_MSG_EID) - >> GRCAN_MSG_EID_BIT); + cf->can_id =3D FIELD_GET(GRCAN_MSG_EID_MASK, msg->header.id); cf->can_id |=3D CAN_EFF_FLAG; } else { - cf->can_id =3D ((slot[0] & GRCAN_MSG_BID) - >> GRCAN_MSG_BID_BIT); + cf->can_id =3D FIELD_GET(GRCAN_MSG_BID_MASK, msg->header.id); } - cf->len =3D can_cc_dlc2len((slot[1] & GRCAN_MSG_DLC) - >> GRCAN_MSG_DLC_BIT); - if (rtr) { + if (rtr) cf->can_id |=3D CAN_RTR_FLAG; - } else { - if (cf->can_dlc > 0) - memcpy(cf->data, &slot[2], sizeof(u32)); - if (cf->can_dlc > 4) - memcpy(cf->data + 4, &slot[3], sizeof(u32)); =20 - stats->rx_bytes +=3D cf->len; + copy_len =3D min_t(u32, cf->len, GRCAN_CLASSIC_DATA_SIZE); + memcpy(data, msg->header.data, copy_len); + payload_offset +=3D copy_len; + + rd =3D grcan_ring_add(rd, GRCAN_MSG_SIZE, dma->rx.size); + + for (i =3D 1; i < bds; i++) { + msg =3D grcan_rx_msg_slot(dma, rd); + + copy_len =3D min_t(u32, (u32)cf->len - payload_offset, (u32)GRCAN_MSG_S= IZE); + memcpy(data + payload_offset, msg->frags.data, copy_len); + payload_offset +=3D copy_len; + + rd =3D grcan_ring_add(rd, GRCAN_MSG_SIZE, dma->rx.size); } - stats->rx_packets++; =20 + /* Update statistics and read pointer */ + stats->rx_packets++; + stats->rx_bytes +=3D cf->len; netif_receive_skb(skb); - - rd =3D grcan_ring_add(rd, GRCAN_MSG_SIZE, dma->rx.size); } =20 /* Make sure everything is read before allowing hardware to --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 E80B531352A; 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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="QSBhIzc8" Received: from localhost (localhost [127.0.0.1]) by smtp.simply.com (Simply.com) with ESMTP id 4fF44c5tfBz1Fbwd; Mon, 16 Feb 2026 14:53:52 +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 4fF44c3qllz1Fbwh; Mon, 16 Feb 2026 14:53:52 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gaisler.com; s=simplycom2; t=1771250032; bh=BAwgA5B2Fkxxn4aVdYR5mOLyDs1iukIf1f2W8NScSDA=; h=From:To:Cc:Subject:Date:In-Reply-To:References; b=QSBhIzc8FKYuQQqNJQXK+vzqxsXTkug0ozCObojgKO3sv57ruOfs80x1syddEUpbp DEaKQlC+ktGl4nqqQw765uwLf6mJRc8hTXFWZApOLBIrBYRycevaTOn7GGCqvq1pkp w3tiU19+L8og0EUDQOSwhUij1jPCW6mDFKKR38zejLjJISxED0UZ/XKv44ykhJ2ztq IG6mdBcWknpj6S3dEwiGNIhjHym+qSdgATXo9J9OblzO5JFDWT7RxtgQO6ouOZYHnl 2OQgKMD1Kzm0NbtF30eHW0W9CZ3rDFJrwlCDUM+u1oF6U1KuiMlIEFHresLAkWDx5F s3Jw+sgwWqmPQ== 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 Subject: [PATCH v5 15/16] can: grcan: Update echo skb handling to match variable length CANFD frame Date: Mon, 16 Feb 2026 14:53:43 +0100 Message-ID: <20260216135344.23246-16-arun.muthusamy@gaisler.com> X-Mailer: git-send-email 2.51.0 In-Reply-To: <20260216135344.23246-1-arun.muthusamy@gaisler.com> References: <20260216135344.23246-1-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" Refactor echo socket buffer management by introducing dedicated indices for current and next echo slots. - Introduce "echo_skb_idx" to keep track of the current packet index in the echo buffer, and "next_echo_idx" for the next available slot. - Adjust memory allocation for echo skb to calculate the number of slots based on slot size. - Enhance logic in catch_up_echo_skb() to correctly process and free echo skbs. - Initialize "next_echo_idx" in grcan_set_mode() to ensure proper starting conditions when the device enters proper modes. - Improve memory and index handling in grcan_start_xmit() and added a check to stop the network queue when necessary. Signed-off-by: Arun Muthusamy --- drivers/net/can/grcan.c | 56 ++++++++++++++++++++++++++++------------- 1 file changed, 39 insertions(+), 17 deletions(-) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index e54214f6112d..72bdea6d27cd 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -312,6 +312,15 @@ struct grcan_priv { =20 struct sk_buff **echo_skb; /* We allocate this on our own */ =20 + /* + * Since the CAN FD frame has a variable length, this variable is used + * to keep track of the index of the CAN echo skb (socket buffer) frame. + */ + u32 echo_skb_idx; + + /* Next echo skb free slot index */ + u32 next_echo_idx; + /* The echo skb pointer, pointing into echo_skb and indicating which * frames can be echoed back. See the "Notes on the tx cyclic buffer * handling"-comment for grcan_start_xmit for more details. @@ -581,7 +590,7 @@ static int catch_up_echo_skb(struct net_device *dev, in= t budget, bool echo) struct grcan_registers __iomem *regs =3D priv->regs; struct grcan_dma *dma =3D &priv->dma; struct net_device_stats *stats =3D &dev->stats; - int i, work_done; + int work_done; =20 /* Updates to priv->eskbp and wake-ups of the queue needs to * be atomic towards the reads of priv->eskbp and shut-downs @@ -592,19 +601,22 @@ static int catch_up_echo_skb(struct net_device *dev, = int budget, bool echo) for (work_done =3D 0; work_done < budget || budget < 0; work_done++) { if (priv->eskbp =3D=3D txrd) break; - i =3D priv->eskbp / GRCAN_MSG_SIZE; - if (echo) { - /* Normal echo of messages */ - stats->tx_packets++; - stats->tx_bytes +=3D can_get_echo_skb(dev, i, NULL); - } else { - /* For cleanup of untransmitted messages */ - can_free_echo_skb(dev, i, NULL); - } =20 priv->eskbp =3D grcan_ring_add(priv->eskbp, GRCAN_MSG_SIZE, dma->tx.size); txrd =3D grcan_read_reg(®s->txrd); + + /* Grab the packet once the packet is send or free untransmitted packet = */ + if (priv->eskbp =3D=3D txrd) { + if (echo) { + /* Normal echo of messages */ + stats->tx_packets++; + stats->tx_bytes +=3D can_get_echo_skb(dev, priv->echo_skb_idx, NULL); + } else { + /* For cleanup of untransmitted messages */ + can_free_echo_skb(dev, priv->echo_skb_idx, NULL); + } + } } return work_done; } @@ -1112,6 +1124,7 @@ static int grcan_set_mode(struct net_device *dev, enu= m can_mode mode) if (!(priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)) netif_wake_queue(dev); } + priv->next_echo_idx =3D 0; spin_unlock_irqrestore(&priv->lock, flags); return err; } @@ -1123,6 +1136,7 @@ static int grcan_open(struct net_device *dev) struct grcan_priv *priv =3D netdev_priv(dev); struct grcan_dma *dma =3D &priv->dma; unsigned long flags; + u32 nr_echo_slots; int err; =20 /* Allocate memory */ @@ -1133,13 +1147,15 @@ static int grcan_open(struct net_device *dev) return err; } =20 - priv->echo_skb =3D kcalloc(dma->tx.size, sizeof(*priv->echo_skb), + nr_echo_slots =3D dma->tx.size / GRCAN_MSG_SIZE; + + priv->echo_skb =3D kcalloc(nr_echo_slots, sizeof(*priv->echo_skb), GFP_KERNEL); if (!priv->echo_skb) { err =3D -ENOMEM; goto exit_free_dma_buffers; } - priv->can.echo_skb_max =3D dma->tx.size; + priv->can.echo_skb_max =3D nr_echo_slots; priv->can.echo_skb =3D priv->echo_skb; =20 /* Get can device up */ @@ -1463,7 +1479,6 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *s= kb, struct can_frame *cf; unsigned long flags; u32 oneshotmode; - int slotindex; u8 *payload; u8 len; int i; @@ -1500,12 +1515,13 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff = *skb, =20 txwr =3D grcan_read_reg(®s->txwr); space =3D grcan_txspace(dma->tx.size, txwr, priv->eskbp); - - slotindex =3D txwr / GRCAN_MSG_SIZE; bds =3D grcan_numbds(len); =20 - if (unlikely(space =3D=3D 1)) + if (unlikely(space < bds || priv->can.echo_skb[priv->echo_skb_idx])) { netif_stop_queue(dev); + spin_unlock_irqrestore(&priv->lock, flags); + return NETDEV_TX_BUSY; + } =20 spin_unlock_irqrestore(&priv->lock, flags); /* End of critical section*/ @@ -1589,7 +1605,13 @@ static netdev_tx_t grcan_start_xmit(struct sk_buff *= skb, * can_put_echo_skb would be an error unless other measures are * taken. */ - can_put_echo_skb(skb, dev, slotindex, 0); + + priv->echo_skb_idx =3D priv->next_echo_idx; + + can_put_echo_skb(skb, dev, priv->next_echo_idx, 0); + + /* Move to the next index in the echo skb buffer */ + priv->next_echo_idx =3D (priv->next_echo_idx + 1) % priv->can.echo_skb_ma= x; =20 /* Make sure everything is written before allowing hardware to * read from the memory --=20 2.51.0 From nobody Fri Apr 3 01:41:56 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 C48D631328B; Mon, 16 Feb 2026 13:54:02 +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=1771250044; cv=none; b=m3p661p4OMjZ+c1dEl7X6WsHGYPfa9vzG8vjjv/J8sEguumeNIT8KUDLB75vhH0IBfe6Xxlsj3zzZIiFThO0ZSCiKD+tireKhoF82RdvphMtXc5jD/uYGWZRsXSU0y8pcKunnmoFG+yjM3v9zUcXuXQoe5r8ZeOArc5wOjdq+cY= ARC-Message-Signature: i=1; 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charset="utf-8" Advertise CANFD capability for GRCANFD hardware by enabling CAN_CTRLMODE_FD flag and providing CANFD timing operations. Signed-off-by: Arun Muthusamy --- drivers/net/can/grcan.c | 3 +++ 1 file changed, 3 insertions(+) diff --git a/drivers/net/can/grcan.c b/drivers/net/can/grcan.c index 72bdea6d27cd..b673c5a7a429 100644 --- a/drivers/net/can/grcan.c +++ b/drivers/net/can/grcan.c @@ -1770,11 +1770,14 @@ static int grcan_setup_netdev(struct platform_devic= e *ofdev, priv->ofdev_dev =3D &ofdev->dev; priv->regs =3D base; priv->can.bittiming_const =3D hwcap->bt_const; + priv->can.fd.data_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; + if (hwcap->fd) + priv->can.ctrlmode_supported |=3D CAN_CTRLMODE_FD; priv->need_txbug_workaround =3D txbug; priv->hwcap =3D hwcap; =20 --=20 2.51.0