2 * sja1000.c - Philips SJA1000 network device driver
4 * Copyright (c) 2003 Matthias Brukner, Trajet Gmbh, Rebenring 33,
5 * 38106 Braunschweig, GERMANY
7 * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
13 * 1. Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * 2. Redistributions in binary form must reproduce the above copyright
16 * notice, this list of conditions and the following disclaimer in the
17 * documentation and/or other materials provided with the distribution.
18 * 3. Neither the name of Volkswagen nor the names of its contributors
19 * may be used to endorse or promote products derived from this software
20 * without specific prior written permission.
22 * Alternatively, provided that this notice is retained in full, this
23 * software may be distributed under the terms of the GNU General
24 * Public License ("GPL") version 2, in which case the provisions of the
25 * GPL apply INSTEAD OF those given above.
27 * The provided data structures and external interfaces from this code
28 * are not restricted to be used by modules with a GPL compatible license.
30 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
31 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
32 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
33 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
34 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
35 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
37 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
38 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
39 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
40 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
45 #include <linux/module.h>
46 #include <linux/init.h>
47 #include <linux/kernel.h>
48 #include <linux/sched.h>
49 #include <linux/types.h>
50 #include <linux/fcntl.h>
51 #include <linux/interrupt.h>
52 #include <linux/ptrace.h>
53 #include <linux/string.h>
54 #include <linux/errno.h>
55 #include <linux/netdevice.h>
56 #include <linux/if_arp.h>
57 #include <linux/if_ether.h>
58 #include <linux/skbuff.h>
59 #include <linux/delay.h>
61 #include <linux/can/dev.h>
62 #include <linux/can/error.h>
63 #include <linux/can/led.h>
67 #define DRV_NAME "sja1000"
69 MODULE_AUTHOR("Oliver Hartkopp <oliver.hartkopp@volkswagen.de>");
70 MODULE_LICENSE("Dual BSD/GPL");
71 MODULE_DESCRIPTION(DRV_NAME "CAN netdevice driver");
73 static const struct can_bittiming_const sja1000_bittiming_const = {
85 static void sja1000_write_cmdreg(struct sja1000_priv *priv, u8 val)
90 * The command register needs some locking and time to settle
91 * the write_reg() operation - especially on SMP systems.
93 spin_lock_irqsave(&priv->cmdreg_lock, flags);
94 priv->write_reg(priv, REG_CMR, val);
95 priv->read_reg(priv, REG_SR);
96 spin_unlock_irqrestore(&priv->cmdreg_lock, flags);
99 static int sja1000_is_absent(struct sja1000_priv *priv)
101 return (priv->read_reg(priv, REG_MOD) == 0xFF);
104 static int sja1000_probe_chip(struct net_device *dev)
106 struct sja1000_priv *priv = netdev_priv(dev);
108 if (priv->reg_base && sja1000_is_absent(priv)) {
109 printk(KERN_INFO "%s: probing @0x%lX failed\n",
110 DRV_NAME, dev->base_addr);
116 static void set_reset_mode(struct net_device *dev)
118 struct sja1000_priv *priv = netdev_priv(dev);
119 unsigned char status = priv->read_reg(priv, REG_MOD);
122 /* disable interrupts */
123 priv->write_reg(priv, REG_IER, IRQ_OFF);
125 for (i = 0; i < 100; i++) {
126 /* check reset bit */
127 if (status & MOD_RM) {
128 priv->can.state = CAN_STATE_STOPPED;
132 priv->write_reg(priv, REG_MOD, MOD_RM); /* reset chip */
134 status = priv->read_reg(priv, REG_MOD);
137 netdev_err(dev, "setting SJA1000 into reset mode failed!\n");
140 static void set_normal_mode(struct net_device *dev)
142 struct sja1000_priv *priv = netdev_priv(dev);
143 unsigned char status = priv->read_reg(priv, REG_MOD);
146 for (i = 0; i < 100; i++) {
147 /* check reset bit */
148 if ((status & MOD_RM) == 0) {
149 priv->can.state = CAN_STATE_ERROR_ACTIVE;
150 /* enable interrupts */
151 if (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING)
152 priv->write_reg(priv, REG_IER, IRQ_ALL);
154 priv->write_reg(priv, REG_IER,
159 /* set chip to normal mode */
160 if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
161 priv->write_reg(priv, REG_MOD, MOD_LOM);
163 priv->write_reg(priv, REG_MOD, 0x00);
167 status = priv->read_reg(priv, REG_MOD);
170 netdev_err(dev, "setting SJA1000 into normal mode failed!\n");
173 static void sja1000_start(struct net_device *dev)
175 struct sja1000_priv *priv = netdev_priv(dev);
177 /* leave reset mode */
178 if (priv->can.state != CAN_STATE_STOPPED)
181 /* Clear error counters and error code capture */
182 priv->write_reg(priv, REG_TXERR, 0x0);
183 priv->write_reg(priv, REG_RXERR, 0x0);
184 priv->read_reg(priv, REG_ECC);
186 /* leave reset mode */
187 set_normal_mode(dev);
190 static int sja1000_set_mode(struct net_device *dev, enum can_mode mode)
195 if (netif_queue_stopped(dev))
196 netif_wake_queue(dev);
206 static int sja1000_set_bittiming(struct net_device *dev)
208 struct sja1000_priv *priv = netdev_priv(dev);
209 struct can_bittiming *bt = &priv->can.bittiming;
212 btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6);
213 btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) |
214 (((bt->phase_seg2 - 1) & 0x7) << 4);
215 if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
218 netdev_info(dev, "setting BTR0=0x%02x BTR1=0x%02x\n", btr0, btr1);
220 priv->write_reg(priv, REG_BTR0, btr0);
221 priv->write_reg(priv, REG_BTR1, btr1);
226 static int sja1000_get_berr_counter(const struct net_device *dev,
227 struct can_berr_counter *bec)
229 struct sja1000_priv *priv = netdev_priv(dev);
231 bec->txerr = priv->read_reg(priv, REG_TXERR);
232 bec->rxerr = priv->read_reg(priv, REG_RXERR);
238 * initialize SJA1000 chip:
242 * - enable interrupts
243 * - start operating mode
245 static void chipset_init(struct net_device *dev)
247 struct sja1000_priv *priv = netdev_priv(dev);
249 /* set clock divider and output control register */
250 priv->write_reg(priv, REG_CDR, priv->cdr | CDR_PELICAN);
252 /* set acceptance filter (accept all) */
253 priv->write_reg(priv, REG_ACCC0, 0x00);
254 priv->write_reg(priv, REG_ACCC1, 0x00);
255 priv->write_reg(priv, REG_ACCC2, 0x00);
256 priv->write_reg(priv, REG_ACCC3, 0x00);
258 priv->write_reg(priv, REG_ACCM0, 0xFF);
259 priv->write_reg(priv, REG_ACCM1, 0xFF);
260 priv->write_reg(priv, REG_ACCM2, 0xFF);
261 priv->write_reg(priv, REG_ACCM3, 0xFF);
263 priv->write_reg(priv, REG_OCR, priv->ocr | OCR_MODE_NORMAL);
267 * transmit a CAN message
268 * message layout in the sk_buff should be like this:
269 * xx xx xx xx ff ll 00 11 22 33 44 55 66 77
270 * [ can-id ] [flags] [len] [can data (up to 8 bytes]
272 static netdev_tx_t sja1000_start_xmit(struct sk_buff *skb,
273 struct net_device *dev)
275 struct sja1000_priv *priv = netdev_priv(dev);
276 struct can_frame *cf = (struct can_frame *)skb->data;
283 if (can_dropped_invalid_skb(dev, skb))
286 netif_stop_queue(dev);
288 fi = dlc = cf->can_dlc;
291 if (id & CAN_RTR_FLAG)
294 if (id & CAN_EFF_FLAG) {
297 priv->write_reg(priv, REG_FI, fi);
298 priv->write_reg(priv, REG_ID1, (id & 0x1fe00000) >> (5 + 16));
299 priv->write_reg(priv, REG_ID2, (id & 0x001fe000) >> (5 + 8));
300 priv->write_reg(priv, REG_ID3, (id & 0x00001fe0) >> 5);
301 priv->write_reg(priv, REG_ID4, (id & 0x0000001f) << 3);
304 priv->write_reg(priv, REG_FI, fi);
305 priv->write_reg(priv, REG_ID1, (id & 0x000007f8) >> 3);
306 priv->write_reg(priv, REG_ID2, (id & 0x00000007) << 5);
309 for (i = 0; i < dlc; i++)
310 priv->write_reg(priv, dreg++, cf->data[i]);
312 can_put_echo_skb(skb, dev, 0);
314 if (priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT)
315 sja1000_write_cmdreg(priv, CMD_TR | CMD_AT);
317 sja1000_write_cmdreg(priv, CMD_TR);
322 static void sja1000_rx(struct net_device *dev)
324 struct sja1000_priv *priv = netdev_priv(dev);
325 struct net_device_stats *stats = &dev->stats;
326 struct can_frame *cf;
333 /* create zero'ed CAN frame buffer */
334 skb = alloc_can_skb(dev, &cf);
338 fi = priv->read_reg(priv, REG_FI);
341 /* extended frame format (EFF) */
343 id = (priv->read_reg(priv, REG_ID1) << (5 + 16))
344 | (priv->read_reg(priv, REG_ID2) << (5 + 8))
345 | (priv->read_reg(priv, REG_ID3) << 5)
346 | (priv->read_reg(priv, REG_ID4) >> 3);
349 /* standard frame format (SFF) */
351 id = (priv->read_reg(priv, REG_ID1) << 3)
352 | (priv->read_reg(priv, REG_ID2) >> 5);
355 cf->can_dlc = get_can_dlc(fi & 0x0F);
359 for (i = 0; i < cf->can_dlc; i++)
360 cf->data[i] = priv->read_reg(priv, dreg++);
365 /* release receive buffer */
366 sja1000_write_cmdreg(priv, CMD_RRB);
371 stats->rx_bytes += cf->can_dlc;
373 can_led_event(dev, CAN_LED_EVENT_RX);
376 static int sja1000_err(struct net_device *dev, uint8_t isrc, uint8_t status)
378 struct sja1000_priv *priv = netdev_priv(dev);
379 struct net_device_stats *stats = &dev->stats;
380 struct can_frame *cf;
382 enum can_state state = priv->can.state;
385 skb = alloc_can_err_skb(dev, &cf);
389 if (isrc & IRQ_DOI) {
390 /* data overrun interrupt */
391 netdev_dbg(dev, "data overrun interrupt\n");
392 cf->can_id |= CAN_ERR_CRTL;
393 cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
394 stats->rx_over_errors++;
396 sja1000_write_cmdreg(priv, CMD_CDO); /* clear bit */
400 /* error warning interrupt */
401 netdev_dbg(dev, "error warning interrupt\n");
403 if (status & SR_BS) {
404 state = CAN_STATE_BUS_OFF;
405 cf->can_id |= CAN_ERR_BUSOFF;
407 } else if (status & SR_ES) {
408 state = CAN_STATE_ERROR_WARNING;
410 state = CAN_STATE_ERROR_ACTIVE;
412 if (isrc & IRQ_BEI) {
413 /* bus error interrupt */
414 priv->can.can_stats.bus_error++;
417 ecc = priv->read_reg(priv, REG_ECC);
419 cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
421 switch (ecc & ECC_MASK) {
423 cf->data[2] |= CAN_ERR_PROT_BIT;
426 cf->data[2] |= CAN_ERR_PROT_FORM;
429 cf->data[2] |= CAN_ERR_PROT_STUFF;
432 cf->data[2] |= CAN_ERR_PROT_UNSPEC;
433 cf->data[3] = ecc & ECC_SEG;
436 /* Error occurred during transmission? */
437 if ((ecc & ECC_DIR) == 0)
438 cf->data[2] |= CAN_ERR_PROT_TX;
440 if (isrc & IRQ_EPI) {
441 /* error passive interrupt */
442 netdev_dbg(dev, "error passive interrupt\n");
444 state = CAN_STATE_ERROR_PASSIVE;
446 state = CAN_STATE_ERROR_ACTIVE;
448 if (isrc & IRQ_ALI) {
449 /* arbitration lost interrupt */
450 netdev_dbg(dev, "arbitration lost interrupt\n");
451 alc = priv->read_reg(priv, REG_ALC);
452 priv->can.can_stats.arbitration_lost++;
454 cf->can_id |= CAN_ERR_LOSTARB;
455 cf->data[0] = alc & 0x1f;
458 if (state != priv->can.state && (state == CAN_STATE_ERROR_WARNING ||
459 state == CAN_STATE_ERROR_PASSIVE)) {
460 uint8_t rxerr = priv->read_reg(priv, REG_RXERR);
461 uint8_t txerr = priv->read_reg(priv, REG_TXERR);
462 cf->can_id |= CAN_ERR_CRTL;
463 if (state == CAN_STATE_ERROR_WARNING) {
464 priv->can.can_stats.error_warning++;
465 cf->data[1] = (txerr > rxerr) ?
466 CAN_ERR_CRTL_TX_WARNING :
467 CAN_ERR_CRTL_RX_WARNING;
469 priv->can.can_stats.error_passive++;
470 cf->data[1] = (txerr > rxerr) ?
471 CAN_ERR_CRTL_TX_PASSIVE :
472 CAN_ERR_CRTL_RX_PASSIVE;
478 priv->can.state = state;
483 stats->rx_bytes += cf->can_dlc;
488 irqreturn_t sja1000_interrupt(int irq, void *dev_id)
490 struct net_device *dev = (struct net_device *)dev_id;
491 struct sja1000_priv *priv = netdev_priv(dev);
492 struct net_device_stats *stats = &dev->stats;
493 uint8_t isrc, status;
496 /* Shared interrupts and IRQ off? */
497 if (priv->read_reg(priv, REG_IER) == IRQ_OFF)
503 while ((isrc = priv->read_reg(priv, REG_IR)) && (n < SJA1000_MAX_IRQ)) {
505 status = priv->read_reg(priv, REG_SR);
506 /* check for absent controller due to hw unplug */
507 if (status == 0xFF && sja1000_is_absent(priv))
511 netdev_warn(dev, "wakeup interrupt\n");
514 /* transmission buffer released */
515 if (priv->can.ctrlmode & CAN_CTRLMODE_ONE_SHOT &&
516 !(status & SR_TCS)) {
518 can_free_echo_skb(dev, 0);
520 /* transmission complete */
522 priv->read_reg(priv, REG_FI) & 0xf;
524 can_get_echo_skb(dev, 0);
526 netif_wake_queue(dev);
527 can_led_event(dev, CAN_LED_EVENT_TX);
530 /* receive interrupt */
531 while (status & SR_RBS) {
533 status = priv->read_reg(priv, REG_SR);
534 /* check for absent controller */
535 if (status == 0xFF && sja1000_is_absent(priv))
539 if (isrc & (IRQ_DOI | IRQ_EI | IRQ_BEI | IRQ_EPI | IRQ_ALI)) {
540 /* error interrupt */
541 if (sja1000_err(dev, isrc, status))
547 priv->post_irq(priv);
549 if (n >= SJA1000_MAX_IRQ)
550 netdev_dbg(dev, "%d messages handled in ISR", n);
552 return (n) ? IRQ_HANDLED : IRQ_NONE;
554 EXPORT_SYMBOL_GPL(sja1000_interrupt);
556 static int sja1000_open(struct net_device *dev)
558 struct sja1000_priv *priv = netdev_priv(dev);
561 /* set chip into reset mode */
565 err = open_candev(dev);
569 /* register interrupt handler, if not done by the device driver */
570 if (!(priv->flags & SJA1000_CUSTOM_IRQ_HANDLER)) {
571 err = request_irq(dev->irq, sja1000_interrupt, priv->irq_flags,
572 dev->name, (void *)dev);
579 /* init and start chi */
582 can_led_event(dev, CAN_LED_EVENT_OPEN);
584 netif_start_queue(dev);
589 static int sja1000_close(struct net_device *dev)
591 struct sja1000_priv *priv = netdev_priv(dev);
593 netif_stop_queue(dev);
596 if (!(priv->flags & SJA1000_CUSTOM_IRQ_HANDLER))
597 free_irq(dev->irq, (void *)dev);
601 can_led_event(dev, CAN_LED_EVENT_STOP);
606 struct net_device *alloc_sja1000dev(int sizeof_priv)
608 struct net_device *dev;
609 struct sja1000_priv *priv;
611 dev = alloc_candev(sizeof(struct sja1000_priv) + sizeof_priv,
612 SJA1000_ECHO_SKB_MAX);
616 priv = netdev_priv(dev);
619 priv->can.bittiming_const = &sja1000_bittiming_const;
620 priv->can.do_set_bittiming = sja1000_set_bittiming;
621 priv->can.do_set_mode = sja1000_set_mode;
622 priv->can.do_get_berr_counter = sja1000_get_berr_counter;
623 priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
624 CAN_CTRLMODE_BERR_REPORTING | CAN_CTRLMODE_LISTENONLY |
625 CAN_CTRLMODE_ONE_SHOT;
627 spin_lock_init(&priv->cmdreg_lock);
630 priv->priv = (void *)priv + sizeof(struct sja1000_priv);
634 EXPORT_SYMBOL_GPL(alloc_sja1000dev);
636 void free_sja1000dev(struct net_device *dev)
640 EXPORT_SYMBOL_GPL(free_sja1000dev);
642 static const struct net_device_ops sja1000_netdev_ops = {
643 .ndo_open = sja1000_open,
644 .ndo_stop = sja1000_close,
645 .ndo_start_xmit = sja1000_start_xmit,
648 int register_sja1000dev(struct net_device *dev)
652 if (!sja1000_probe_chip(dev))
655 dev->flags |= IFF_ECHO; /* we support local echo */
656 dev->netdev_ops = &sja1000_netdev_ops;
661 ret = register_candev(dev);
664 devm_can_led_init(dev);
668 EXPORT_SYMBOL_GPL(register_sja1000dev);
670 void unregister_sja1000dev(struct net_device *dev)
673 unregister_candev(dev);
675 EXPORT_SYMBOL_GPL(unregister_sja1000dev);
677 static __init int sja1000_init(void)
679 printk(KERN_INFO "%s CAN netdevice driver\n", DRV_NAME);
684 module_init(sja1000_init);
686 static __exit void sja1000_exit(void)
688 printk(KERN_INFO "%s: driver removed\n", DRV_NAME);
691 module_exit(sja1000_exit);