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From:   Srinivas Neeli <srinivas.neeli@xilinx.com>
To:     <wg@grandegger.com>, <mkl@pengutronix.de>, <davem@davemloft.net>,
        <edumazet@google.com>, <appana.durga.rao@xilinx.com>,
        <sgoud@xilinx.com>, <michal.simek@xilinx.com>
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        <linux-can@vger.kernel.org>, <netdev@vger.kernel.org>,
        <linux-arm-kernel@lists.infradead.org>,
        <linux-kernel@vger.kernel.org>, <git@xilinx.com>,
        Srinivas Neeli <srinivas.neeli@xilinx.com>
Subject: [PATCH] can: xilinx_can: Add Transmitter delay compensation (TDC) feature support
Date:   Thu, 12 May 2022 19:29:01 +0530
Message-ID: <20220512135901.1377087-1-srinivas.neeli@xilinx.com>
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Added Transmitter delay compensation (TDC) feature support.
In the case of higher measured loop delay with higher baud rates, observed
bit stuff errors.
By enabling the TDC feature in a controller, will compensate for
the measure loop delay in the receive path.
TDC feature requires BRP values can be 1 or 2.
The current CAN framework does not limit the brp so while using TDC,
have to restrict BRP values.
Ex:
ip link set can0 type can tq 12 prop-seg 39 phase-seg1 20 phase-seg2 20
sjw 20 dtq 12 dprop-seg 5 dphase-seg1 6 dphase-seg2 4 dsjw 4 fd on
loopback on tdco 12 tdc-mode auto

Signed-off-by: Srinivas Neeli <srinivas.neeli@xilinx.com>
---
 drivers/net/can/xilinx_can.c | 30 +++++++++++++++++++++++++-----
 1 file changed, 25 insertions(+), 5 deletions(-)

diff --git a/drivers/net/can/xilinx_can.c b/drivers/net/can/xilinx_can.c
index e2b15d29d15e..7af518fbed02 100644
--- a/drivers/net/can/xilinx_can.c
+++ b/drivers/net/can/xilinx_can.c
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: GPL-2.0-or-later
 /* Xilinx CAN device driver
  *
- * Copyright (C) 2012 - 2014 Xilinx, Inc.
+ * Copyright (C) 2012 - 2022 Xilinx, Inc.
  * Copyright (C) 2009 PetaLogix. All rights reserved.
  * Copyright (C) 2017 - 2018 Sandvik Mining and Construction Oy
  *
@@ -133,6 +133,8 @@ enum xcan_reg {
 #define XCAN_DLCR_BRS_MASK		0x04000000 /* BRS Mask in DLC */
 
 /* CAN register bit shift - XCAN_<REG>_<BIT>_SHIFT */
+#define XCAN_BRPR_TDCO_SHIFT_CANFD	8  /* Transmitter Delay Compensation Offset */
+#define XCAN_BRPR_TDCE_SHIFT_CANFD	16 /* Transmitter Delay Compensation (TDC) Enable */
 #define XCAN_BTR_SJW_SHIFT		7  /* Synchronous jump width */
 #define XCAN_BTR_TS2_SHIFT		4  /* Time segment 2 */
 #define XCAN_BTR_SJW_SHIFT_CANFD	16 /* Synchronous jump width */
@@ -259,7 +261,7 @@ static const struct can_bittiming_const xcan_bittiming_const_canfd2 = {
 	.tseg2_min = 1,
 	.tseg2_max = 128,
 	.sjw_max = 128,
-	.brp_min = 2,
+	.brp_min = 1,
 	.brp_max = 256,
 	.brp_inc = 1,
 };
@@ -272,11 +274,21 @@ static struct can_bittiming_const xcan_data_bittiming_const_canfd2 = {
 	.tseg2_min = 1,
 	.tseg2_max = 16,
 	.sjw_max = 16,
-	.brp_min = 2,
+	.brp_min = 1,
 	.brp_max = 256,
 	.brp_inc = 1,
 };
 
+/* Transmission Delay Compensation constants for CANFD2.0 and Versal  */
+static const struct can_tdc_const xcan_tdc_const = {
+	.tdcv_min = 0,
+	.tdcv_max = 0, /* Manual mode not supported. */
+	.tdco_min = 0,
+	.tdco_max = 64,
+	.tdcf_min = 0, /* Filter window not supported */
+	.tdcf_max = 0,
+};
+
 /**
  * xcan_write_reg_le - Write a value to the device register little endian
  * @priv:	Driver private data structure
@@ -425,6 +437,11 @@ static int xcan_set_bittiming(struct net_device *ndev)
 	    priv->devtype.cantype == XAXI_CANFD_2_0) {
 		/* Setting Baud Rate prescalar value in F_BRPR Register */
 		btr0 = dbt->brp - 1;
+		if (can_tdc_is_enabled(&priv->can)) {
+			btr0 = btr0 |
+			(priv->can.tdc.tdco) << XCAN_BRPR_TDCO_SHIFT_CANFD |
+			1 << XCAN_BRPR_TDCE_SHIFT_CANFD;
+		}
 
 		/* Setting Time Segment 1 in BTR Register */
 		btr1 = dbt->prop_seg + dbt->phase_seg1 - 1;
@@ -1747,13 +1764,16 @@ static int xcan_probe(struct platform_device *pdev)
 		priv->can.data_bittiming_const =
 			&xcan_data_bittiming_const_canfd;
 
-	if (devtype->cantype == XAXI_CANFD_2_0)
+	if (devtype->cantype == XAXI_CANFD_2_0) {
 		priv->can.data_bittiming_const =
 			&xcan_data_bittiming_const_canfd2;
+		priv->can.tdc_const = &xcan_tdc_const;
+	}
 
 	if (devtype->cantype == XAXI_CANFD ||
 	    devtype->cantype == XAXI_CANFD_2_0)
-		priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
+		priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD |
+						CAN_CTRLMODE_TDC_AUTO;
 
 	priv->reg_base = addr;
 	priv->tx_max = tx_max;
-- 
2.25.1