Up until now, the controller used non-ISO CAN-FD mode, although it
supports it. Add support for ISO mode, too. By default the hardware
is in non-ISO mode and an enable bit has to be explicitly set.
Signed-off-by: Michael Walle <[email protected]>
---
drivers/net/can/flexcan.c | 19 ++++++++++++++++---
1 file changed, 16 insertions(+), 3 deletions(-)
diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c
index 183e094f8d66..a92d3cdf4195 100644
--- a/drivers/net/can/flexcan.c
+++ b/drivers/net/can/flexcan.c
@@ -94,6 +94,7 @@
#define FLEXCAN_CTRL2_MRP BIT(18)
#define FLEXCAN_CTRL2_RRS BIT(17)
#define FLEXCAN_CTRL2_EACEN BIT(16)
+#define FLEXCAN_CTRL2_ISOCANFDEN BIT(12)
/* FLEXCAN memory error control register (MECR) bits */
#define FLEXCAN_MECR_ECRWRDIS BIT(31)
@@ -1344,14 +1345,25 @@ static int flexcan_chip_start(struct net_device *dev)
else
reg_mcr |= FLEXCAN_MCR_SRX_DIS;
- /* MCR - CAN-FD */
- if (priv->can.ctrlmode & CAN_CTRLMODE_FD)
+ /* MCR, CTRL2
+ *
+ * CAN-FD mode
+ * ISO CAN-FD mode
+ */
+ reg_ctrl2 = priv->read(®s->ctrl2);
+ if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
reg_mcr |= FLEXCAN_MCR_FDEN;
- else
+ reg_ctrl2 |= FLEXCAN_CTRL2_ISOCANFDEN;
+ } else {
reg_mcr &= ~FLEXCAN_MCR_FDEN;
+ }
+
+ if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)
+ reg_ctrl2 &= ~FLEXCAN_CTRL2_ISOCANFDEN;
netdev_dbg(dev, "%s: writing mcr=0x%08x", __func__, reg_mcr);
priv->write(reg_mcr, ®s->mcr);
+ priv->write(reg_ctrl2, ®s->ctrl2);
/* CTRL
*
@@ -1952,6 +1964,7 @@ static int flexcan_probe(struct platform_device *pdev)
if (priv->devtype_data->quirks & FLEXCAN_QUIRK_SUPPORT_FD) {
priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
+ priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO;
priv->can.bittiming_const = &flexcan_fd_bittiming_const;
priv->can.data_bittiming_const =
&flexcan_fd_data_bittiming_const;
--
2.20.1
> -----Original Message-----
> From: Michael Walle <[email protected]>
> Sent: 2020??6??30?? 2:18
> To: [email protected]; [email protected];
> [email protected]
> Cc: Wolfgang Grandegger <[email protected]>; Marc Kleine-Budde
> <[email protected]>; David S . Miller <[email protected]>; Jakub
> Kicinski <[email protected]>; Joakim Zhang <[email protected]>;
> dl-linux-imx <[email protected]>; Michael Walle <[email protected]>
> Subject: [PATCH 2/2] can: flexcan: add support for ISO CAN-FD
>
> Up until now, the controller used non-ISO CAN-FD mode, although it supports it.
> Add support for ISO mode, too. By default the hardware is in non-ISO mode and
> an enable bit has to be explicitly set.
>
> Signed-off-by: Michael Walle <[email protected]>
> ---
> drivers/net/can/flexcan.c | 19 ++++++++++++++++---
> 1 file changed, 16 insertions(+), 3 deletions(-)
>
> diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c index
> 183e094f8d66..a92d3cdf4195 100644
> --- a/drivers/net/can/flexcan.c
> +++ b/drivers/net/can/flexcan.c
> @@ -94,6 +94,7 @@
> #define FLEXCAN_CTRL2_MRP BIT(18)
> #define FLEXCAN_CTRL2_RRS BIT(17)
> #define FLEXCAN_CTRL2_EACEN BIT(16)
> +#define FLEXCAN_CTRL2_ISOCANFDEN BIT(12)
>
> /* FLEXCAN memory error control register (MECR) bits */
> #define FLEXCAN_MECR_ECRWRDIS BIT(31)
> @@ -1344,14 +1345,25 @@ static int flexcan_chip_start(struct net_device
> *dev)
> else
> reg_mcr |= FLEXCAN_MCR_SRX_DIS;
>
> - /* MCR - CAN-FD */
> - if (priv->can.ctrlmode & CAN_CTRLMODE_FD)
> + /* MCR, CTRL2
> + *
> + * CAN-FD mode
> + * ISO CAN-FD mode
> + */
> + reg_ctrl2 = priv->read(®s->ctrl2);
> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
> reg_mcr |= FLEXCAN_MCR_FDEN;
> - else
> + reg_ctrl2 |= FLEXCAN_CTRL2_ISOCANFDEN;
> + } else {
> reg_mcr &= ~FLEXCAN_MCR_FDEN;
> + }
> +
> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)
> + reg_ctrl2 &= ~FLEXCAN_CTRL2_ISOCANFDEN;
Hi Michael,
ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on
Above cmd can configure ISO CAN-FD.
However, if users want to configure NON-ISO CAN-FD, should use below cmd, what I did before.
ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on fd-non-iso on
Marc may not satisfy with it, to be honest, this looks not good, had better configure like below to enable NON-ISO CAN-FD.
ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd-non-iso on
I haven't got any good ideas yet.
Best Regards,
Joakim Zhang
> netdev_dbg(dev, "%s: writing mcr=0x%08x", __func__, reg_mcr);
> priv->write(reg_mcr, ®s->mcr);
> + priv->write(reg_ctrl2, ®s->ctrl2);
>
> /* CTRL
> *
> @@ -1952,6 +1964,7 @@ static int flexcan_probe(struct platform_device
> *pdev)
>
> if (priv->devtype_data->quirks & FLEXCAN_QUIRK_SUPPORT_FD) {
> priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
> + priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD_NON_ISO;
> priv->can.bittiming_const = &flexcan_fd_bittiming_const;
> priv->can.data_bittiming_const =
> &flexcan_fd_data_bittiming_const;
> --
> 2.20.1
[+ Oliver]
Hi Joakim,
Am 2020-06-30 04:42, schrieb Joakim Zhang:
>> -----Original Message-----
>> From: Michael Walle <[email protected]>
>> Sent: 2020年6月30日 2:18
>> To: [email protected]; [email protected];
>> [email protected]
>> Cc: Wolfgang Grandegger <[email protected]>; Marc Kleine-Budde
>> <[email protected]>; David S . Miller <[email protected]>; Jakub
>> Kicinski <[email protected]>; Joakim Zhang <[email protected]>;
>> dl-linux-imx <[email protected]>; Michael Walle <[email protected]>
>> Subject: [PATCH 2/2] can: flexcan: add support for ISO CAN-FD
>>
>> Up until now, the controller used non-ISO CAN-FD mode, although it
>> supports it.
>> Add support for ISO mode, too. By default the hardware is in non-ISO
>> mode and
>> an enable bit has to be explicitly set.
>>
>> Signed-off-by: Michael Walle <[email protected]>
>> ---
>> drivers/net/can/flexcan.c | 19 ++++++++++++++++---
>> 1 file changed, 16 insertions(+), 3 deletions(-)
>>
>> diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c
>> index
>> 183e094f8d66..a92d3cdf4195 100644
>> --- a/drivers/net/can/flexcan.c
>> +++ b/drivers/net/can/flexcan.c
>> @@ -94,6 +94,7 @@
>> #define FLEXCAN_CTRL2_MRP BIT(18)
>> #define FLEXCAN_CTRL2_RRS BIT(17)
>> #define FLEXCAN_CTRL2_EACEN BIT(16)
>> +#define FLEXCAN_CTRL2_ISOCANFDEN BIT(12)
>>
>> /* FLEXCAN memory error control register (MECR) bits */
>> #define FLEXCAN_MECR_ECRWRDIS BIT(31)
>> @@ -1344,14 +1345,25 @@ static int flexcan_chip_start(struct
>> net_device
>> *dev)
>> else
>> reg_mcr |= FLEXCAN_MCR_SRX_DIS;
>>
>> - /* MCR - CAN-FD */
>> - if (priv->can.ctrlmode & CAN_CTRLMODE_FD)
>> + /* MCR, CTRL2
>> + *
>> + * CAN-FD mode
>> + * ISO CAN-FD mode
>> + */
>> + reg_ctrl2 = priv->read(®s->ctrl2);
>> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
>> reg_mcr |= FLEXCAN_MCR_FDEN;
>> - else
>> + reg_ctrl2 |= FLEXCAN_CTRL2_ISOCANFDEN;
>> + } else {
>> reg_mcr &= ~FLEXCAN_MCR_FDEN;
>> + }
>> +
>> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)
>> + reg_ctrl2 &= ~FLEXCAN_CTRL2_ISOCANFDEN;
>
>
[..]
> ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on
> ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on \
> fd-non-iso on
vs.
> ip link set can0 up type can bitrate 1000000 dbitrate 5000000
> fd-non-iso on
I haven't found anything if CAN_CTRLMODE_FD_NON_ISO depends on
CAN_CTRLMODE_FD. I.e. wether CAN_CTRLMODE_FD_NON_ISO can only be set if
CAN_CTRLMODE_FD is also set.
Only the following piece of code, which might be a hint that you
have to set CAN_CTRLMODE_FD if you wan't to use CAN_CTRLMODE_FD_NON_ISO:
drivers/net/can/dev.c:
/* do not check for static fd-non-iso if 'fd' is disabled */
if (!(maskedflags & CAN_CTRLMODE_FD))
ctrlstatic &= ~CAN_CTRLMODE_FD_NON_ISO;
If CAN_CTRLMODE_FD_NON_ISO can be set without CAN_CTRLMODE_FD, what
should be the mode if both are set at the same time?
Marc? Oliver?
-michael
On 30.06.20 07:53, Michael Walle wrote:
> [+ Oliver]
>
> Hi Joakim,
>
> Am 2020-06-30 04:42, schrieb Joakim Zhang:
>>> -----Original Message-----
>>> From: Michael Walle <[email protected]>
>>> Sent: 2020年6月30日 2:18
>>> To: [email protected]; [email protected];
>>> [email protected]
>>> Cc: Wolfgang Grandegger <[email protected]>; Marc Kleine-Budde
>>> <[email protected]>; David S . Miller <[email protected]>; Jakub
>>> Kicinski <[email protected]>; Joakim Zhang <[email protected]>;
>>> dl-linux-imx <[email protected]>; Michael Walle <[email protected]>
>>> Subject: [PATCH 2/2] can: flexcan: add support for ISO CAN-FD
>>>
>>> Up until now, the controller used non-ISO CAN-FD mode, although it
>>> supports it.
>>> Add support for ISO mode, too. By default the hardware is in non-ISO
>>> mode and
>>> an enable bit has to be explicitly set.
>>>
>>> Signed-off-by: Michael Walle <[email protected]>
>>> ---
>>> drivers/net/can/flexcan.c | 19 ++++++++++++++++---
>>> 1 file changed, 16 insertions(+), 3 deletions(-)
>>>
>>> diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c index
>>> 183e094f8d66..a92d3cdf4195 100644
>>> --- a/drivers/net/can/flexcan.c
>>> +++ b/drivers/net/can/flexcan.c
>>> @@ -94,6 +94,7 @@
>>> #define FLEXCAN_CTRL2_MRP BIT(18)
>>> #define FLEXCAN_CTRL2_RRS BIT(17)
>>> #define FLEXCAN_CTRL2_EACEN BIT(16)
>>> +#define FLEXCAN_CTRL2_ISOCANFDEN BIT(12)
>>>
>>> /* FLEXCAN memory error control register (MECR) bits */
>>> #define FLEXCAN_MECR_ECRWRDIS BIT(31)
>>> @@ -1344,14 +1345,25 @@ static int flexcan_chip_start(struct net_device
>>> *dev)
>>> else
>>> reg_mcr |= FLEXCAN_MCR_SRX_DIS;
>>>
>>> - /* MCR - CAN-FD */
>>> - if (priv->can.ctrlmode & CAN_CTRLMODE_FD)
>>> + /* MCR, CTRL2
>>> + *
>>> + * CAN-FD mode
>>> + * ISO CAN-FD mode
>>> + */
>>> + reg_ctrl2 = priv->read(®s->ctrl2);
>>> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
>>> reg_mcr |= FLEXCAN_MCR_FDEN;
>>> - else
>>> + reg_ctrl2 |= FLEXCAN_CTRL2_ISOCANFDEN;
>>> + } else {
>>> reg_mcr &= ~FLEXCAN_MCR_FDEN;
>>> + }
>>> +
>>> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)
>>> + reg_ctrl2 &= ~FLEXCAN_CTRL2_ISOCANFDEN;
>>
>>
>
> [..]
>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on
>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on \
>> fd-non-iso on
>
> vs.
>
>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000
>> fd-non-iso on
>
> I haven't found anything if CAN_CTRLMODE_FD_NON_ISO depends on
> CAN_CTRLMODE_FD. I.e. wether CAN_CTRLMODE_FD_NON_ISO can only be set if
> CAN_CTRLMODE_FD is also set.
>
> Only the following piece of code, which might be a hint that you
> have to set CAN_CTRLMODE_FD if you wan't to use CAN_CTRLMODE_FD_NON_ISO:
>
> drivers/net/can/dev.c:
> /* do not check for static fd-non-iso if 'fd' is disabled */
> if (!(maskedflags & CAN_CTRLMODE_FD))
> ctrlstatic &= ~CAN_CTRLMODE_FD_NON_ISO;
>
> If CAN_CTRLMODE_FD_NON_ISO can be set without CAN_CTRLMODE_FD, what
> should be the mode if both are set at the same time?
CAN_CTRLMODE_FD_NON_ISO is only relevant when CAN_CTRLMODE_FD is set.
So in the example from above
ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd-non-iso on
either the setting of 'dbitrate 5000000' and 'fd-non-iso on' is pointless.
When switching to FD-mode with 'fd on' the FD relevant settings need to
be applied.
FD ISO is the default.
Did this help or did I get anything wrong?
Best,
Oliver
Am 2020-06-30 18:15, schrieb Oliver Hartkopp:
> On 30.06.20 07:53, Michael Walle wrote:
>> [+ Oliver]
>>
>> Hi Joakim,
>>
>> Am 2020-06-30 04:42, schrieb Joakim Zhang:
>>>> -----Original Message-----
>>>> From: Michael Walle <[email protected]>
>>>> Sent: 2020年6月30日 2:18
>>>> To: [email protected]; [email protected];
>>>> [email protected]
>>>> Cc: Wolfgang Grandegger <[email protected]>; Marc Kleine-Budde
>>>> <[email protected]>; David S . Miller <[email protected]>; Jakub
>>>> Kicinski <[email protected]>; Joakim Zhang <[email protected]>;
>>>> dl-linux-imx <[email protected]>; Michael Walle <[email protected]>
>>>> Subject: [PATCH 2/2] can: flexcan: add support for ISO CAN-FD
>>>>
>>>> Up until now, the controller used non-ISO CAN-FD mode, although it
>>>> supports it.
>>>> Add support for ISO mode, too. By default the hardware is in non-ISO
>>>> mode and
>>>> an enable bit has to be explicitly set.
>>>>
>>>> Signed-off-by: Michael Walle <[email protected]>
>>>> ---
>>>> drivers/net/can/flexcan.c | 19 ++++++++++++++++---
>>>> 1 file changed, 16 insertions(+), 3 deletions(-)
>>>>
>>>> diff --git a/drivers/net/can/flexcan.c b/drivers/net/can/flexcan.c
>>>> index
>>>> 183e094f8d66..a92d3cdf4195 100644
>>>> --- a/drivers/net/can/flexcan.c
>>>> +++ b/drivers/net/can/flexcan.c
>>>> @@ -94,6 +94,7 @@
>>>> #define FLEXCAN_CTRL2_MRP BIT(18)
>>>> #define FLEXCAN_CTRL2_RRS BIT(17)
>>>> #define FLEXCAN_CTRL2_EACEN BIT(16)
>>>> +#define FLEXCAN_CTRL2_ISOCANFDEN BIT(12)
>>>>
>>>> /* FLEXCAN memory error control register (MECR) bits */
>>>> #define FLEXCAN_MECR_ECRWRDIS BIT(31)
>>>> @@ -1344,14 +1345,25 @@ static int flexcan_chip_start(struct
>>>> net_device
>>>> *dev)
>>>> else
>>>> reg_mcr |= FLEXCAN_MCR_SRX_DIS;
>>>>
>>>> - /* MCR - CAN-FD */
>>>> - if (priv->can.ctrlmode & CAN_CTRLMODE_FD)
>>>> + /* MCR, CTRL2
>>>> + *
>>>> + * CAN-FD mode
>>>> + * ISO CAN-FD mode
>>>> + */
>>>> + reg_ctrl2 = priv->read(®s->ctrl2);
>>>> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
>>>> reg_mcr |= FLEXCAN_MCR_FDEN;
>>>> - else
>>>> + reg_ctrl2 |= FLEXCAN_CTRL2_ISOCANFDEN;
>>>> + } else {
>>>> reg_mcr &= ~FLEXCAN_MCR_FDEN;
>>>> + }
>>>> +
>>>> + if (priv->can.ctrlmode & CAN_CTRLMODE_FD_NON_ISO)
>>>> + reg_ctrl2 &= ~FLEXCAN_CTRL2_ISOCANFDEN;
[1]
>> [..]
>>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on
>>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000 fd on \
>>> fd-non-iso on
>>
>> vs.
>>
>>> ip link set can0 up type can bitrate 1000000 dbitrate 5000000
>>> fd-non-iso on
>>
>> I haven't found anything if CAN_CTRLMODE_FD_NON_ISO depends on
>> CAN_CTRLMODE_FD. I.e. wether CAN_CTRLMODE_FD_NON_ISO can only be set
>> if
>> CAN_CTRLMODE_FD is also set.
>>
>> Only the following piece of code, which might be a hint that you
>> have to set CAN_CTRLMODE_FD if you wan't to use
>> CAN_CTRLMODE_FD_NON_ISO:
>>
>> drivers/net/can/dev.c:
>> /* do not check for static fd-non-iso if 'fd' is disabled */
>> if (!(maskedflags & CAN_CTRLMODE_FD))
>> ctrlstatic &= ~CAN_CTRLMODE_FD_NON_ISO;
>>
>> If CAN_CTRLMODE_FD_NON_ISO can be set without CAN_CTRLMODE_FD, what
>> should be the mode if both are set at the same time?
>
> CAN_CTRLMODE_FD_NON_ISO is only relevant when CAN_CTRLMODE_FD is set.
>
> So in the example from above
>
> ip link set can0 up type can bitrate 1000000 dbitrate 5000000
> fd-non-iso on
>
> either the setting of 'dbitrate 5000000' and 'fd-non-iso on' is
> pointless.
>
> When switching to FD-mode with 'fd on' the FD relevant settings need
> to be applied.
>
> FD ISO is the default.
>
> Did this help or did I get anything wrong?
Thanks for the explanation. Yes this helped a great deal and this
patch should be correct; it sets ISO mode if CAN_CTRLMODE_FD is set
and masks it again if CAN_CTRLMODE_FD_NON_ISO is set. See [1].
-michael