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
43 * Send feedback to <socketcan-users@lists.berlios.de>
47 #include <linux/module.h>
48 #include <linux/init.h>
49 #include <linux/kernel.h>
50 #include <linux/sched.h>
51 #include <linux/types.h>
52 #include <linux/fcntl.h>
53 #include <linux/interrupt.h>
54 #include <linux/ptrace.h>
55 #include <linux/string.h>
56 #include <linux/errno.h>
57 #include <linux/netdevice.h>
58 #include <linux/if_arp.h>
59 #include <linux/if_ether.h>
60 #include <linux/skbuff.h>
61 #include <linux/delay.h>
63 #include <linux/can.h>
64 #include <linux/can/dev.h>
65 #include <linux/can/error.h>
69 #define DRV_NAME "sja1000"
71 MODULE_AUTHOR("Oliver Hartkopp <oliver.hartkopp@volkswagen.de>");
72 MODULE_LICENSE("Dual BSD/GPL");
73 MODULE_DESCRIPTION(DRV_NAME "CAN netdevice driver");
75 static struct can_bittiming_const sja1000_bittiming_const = {
87 static void sja1000_write_cmdreg(struct sja1000_priv *priv, u8 val)
92 * The command register needs some locking and time to settle
93 * the write_reg() operation - especially on SMP systems.
95 spin_lock_irqsave(&priv->cmdreg_lock, flags);
96 priv->write_reg(priv, REG_CMR, val);
97 priv->read_reg(priv, REG_SR);
98 spin_unlock_irqrestore(&priv->cmdreg_lock, flags);
101 static int sja1000_probe_chip(struct net_device *dev)
103 struct sja1000_priv *priv = netdev_priv(dev);
105 if (priv->reg_base && (priv->read_reg(priv, 0) == 0xFF)) {
106 printk(KERN_INFO "%s: probing @0x%lX failed\n",
107 DRV_NAME, dev->base_addr);
113 static void set_reset_mode(struct net_device *dev)
115 struct sja1000_priv *priv = netdev_priv(dev);
116 unsigned char status = priv->read_reg(priv, REG_MOD);
119 /* disable interrupts */
120 priv->write_reg(priv, REG_IER, IRQ_OFF);
122 for (i = 0; i < 100; i++) {
123 /* check reset bit */
124 if (status & MOD_RM) {
125 priv->can.state = CAN_STATE_STOPPED;
129 priv->write_reg(priv, REG_MOD, MOD_RM); /* reset chip */
131 status = priv->read_reg(priv, REG_MOD);
134 dev_err(dev->dev.parent, "setting SJA1000 into reset mode failed!\n");
137 static void set_normal_mode(struct net_device *dev)
139 struct sja1000_priv *priv = netdev_priv(dev);
140 unsigned char status = priv->read_reg(priv, REG_MOD);
143 for (i = 0; i < 100; i++) {
144 /* check reset bit */
145 if ((status & MOD_RM) == 0) {
146 priv->can.state = CAN_STATE_ERROR_ACTIVE;
147 /* enable interrupts */
148 if (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING)
149 priv->write_reg(priv, REG_IER, IRQ_ALL);
151 priv->write_reg(priv, REG_IER,
156 /* set chip to normal mode */
157 priv->write_reg(priv, REG_MOD, 0x00);
159 status = priv->read_reg(priv, REG_MOD);
162 dev_err(dev->dev.parent, "setting SJA1000 into normal mode failed!\n");
165 static void sja1000_start(struct net_device *dev)
167 struct sja1000_priv *priv = netdev_priv(dev);
169 /* leave reset mode */
170 if (priv->can.state != CAN_STATE_STOPPED)
173 /* Clear error counters and error code capture */
174 priv->write_reg(priv, REG_TXERR, 0x0);
175 priv->write_reg(priv, REG_RXERR, 0x0);
176 priv->read_reg(priv, REG_ECC);
178 /* leave reset mode */
179 set_normal_mode(dev);
182 static int sja1000_set_mode(struct net_device *dev, enum can_mode mode)
184 struct sja1000_priv *priv = netdev_priv(dev);
186 if (!priv->open_time)
192 if (netif_queue_stopped(dev))
193 netif_wake_queue(dev);
203 static int sja1000_set_bittiming(struct net_device *dev)
205 struct sja1000_priv *priv = netdev_priv(dev);
206 struct can_bittiming *bt = &priv->can.bittiming;
209 btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6);
210 btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) |
211 (((bt->phase_seg2 - 1) & 0x7) << 4);
212 if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
215 dev_info(dev->dev.parent,
216 "setting BTR0=0x%02x BTR1=0x%02x\n", btr0, btr1);
218 priv->write_reg(priv, REG_BTR0, btr0);
219 priv->write_reg(priv, REG_BTR1, btr1);
224 static int sja1000_get_berr_counter(const struct net_device *dev,
225 struct can_berr_counter *bec)
227 struct sja1000_priv *priv = netdev_priv(dev);
229 bec->txerr = priv->read_reg(priv, REG_TXERR);
230 bec->rxerr = priv->read_reg(priv, REG_RXERR);
236 * initialize SJA1000 chip:
240 * - enable interrupts
241 * - start operating mode
243 static void chipset_init(struct net_device *dev)
245 struct sja1000_priv *priv = netdev_priv(dev);
247 /* set clock divider and output control register */
248 priv->write_reg(priv, REG_CDR, priv->cdr | CDR_PELICAN);
250 /* set acceptance filter (accept all) */
251 priv->write_reg(priv, REG_ACCC0, 0x00);
252 priv->write_reg(priv, REG_ACCC1, 0x00);
253 priv->write_reg(priv, REG_ACCC2, 0x00);
254 priv->write_reg(priv, REG_ACCC3, 0x00);
256 priv->write_reg(priv, REG_ACCM0, 0xFF);
257 priv->write_reg(priv, REG_ACCM1, 0xFF);
258 priv->write_reg(priv, REG_ACCM2, 0xFF);
259 priv->write_reg(priv, REG_ACCM3, 0xFF);
261 priv->write_reg(priv, REG_OCR, priv->ocr | OCR_MODE_NORMAL);
265 * transmit a CAN message
266 * message layout in the sk_buff should be like this:
267 * xx xx xx xx ff ll 00 11 22 33 44 55 66 77
268 * [ can-id ] [flags] [len] [can data (up to 8 bytes]
270 static netdev_tx_t sja1000_start_xmit(struct sk_buff *skb,
271 struct net_device *dev)
273 struct sja1000_priv *priv = netdev_priv(dev);
274 struct can_frame *cf = (struct can_frame *)skb->data;
281 if (can_dropped_invalid_skb(dev, skb))
284 netif_stop_queue(dev);
286 fi = dlc = cf->can_dlc;
289 if (id & CAN_RTR_FLAG)
292 if (id & CAN_EFF_FLAG) {
295 priv->write_reg(priv, REG_FI, fi);
296 priv->write_reg(priv, REG_ID1, (id & 0x1fe00000) >> (5 + 16));
297 priv->write_reg(priv, REG_ID2, (id & 0x001fe000) >> (5 + 8));
298 priv->write_reg(priv, REG_ID3, (id & 0x00001fe0) >> 5);
299 priv->write_reg(priv, REG_ID4, (id & 0x0000001f) << 3);
302 priv->write_reg(priv, REG_FI, fi);
303 priv->write_reg(priv, REG_ID1, (id & 0x000007f8) >> 3);
304 priv->write_reg(priv, REG_ID2, (id & 0x00000007) << 5);
307 for (i = 0; i < dlc; i++)
308 priv->write_reg(priv, dreg++, cf->data[i]);
310 dev->trans_start = jiffies;
312 can_put_echo_skb(skb, dev, 0);
314 sja1000_write_cmdreg(priv, CMD_TR);
319 static void sja1000_rx(struct net_device *dev)
321 struct sja1000_priv *priv = netdev_priv(dev);
322 struct net_device_stats *stats = &dev->stats;
323 struct can_frame *cf;
330 /* create zero'ed CAN frame buffer */
331 skb = alloc_can_skb(dev, &cf);
335 fi = priv->read_reg(priv, REG_FI);
338 /* extended frame format (EFF) */
340 id = (priv->read_reg(priv, REG_ID1) << (5 + 16))
341 | (priv->read_reg(priv, REG_ID2) << (5 + 8))
342 | (priv->read_reg(priv, REG_ID3) << 5)
343 | (priv->read_reg(priv, REG_ID4) >> 3);
346 /* standard frame format (SFF) */
348 id = (priv->read_reg(priv, REG_ID1) << 3)
349 | (priv->read_reg(priv, REG_ID2) >> 5);
355 cf->can_dlc = get_can_dlc(fi & 0x0F);
356 for (i = 0; i < cf->can_dlc; i++)
357 cf->data[i] = priv->read_reg(priv, dreg++);
362 /* release receive buffer */
363 sja1000_write_cmdreg(priv, CMD_RRB);
368 stats->rx_bytes += cf->can_dlc;
371 static int sja1000_err(struct net_device *dev, uint8_t isrc, uint8_t status)
373 struct sja1000_priv *priv = netdev_priv(dev);
374 struct net_device_stats *stats = &dev->stats;
375 struct can_frame *cf;
377 enum can_state state = priv->can.state;
380 skb = alloc_can_err_skb(dev, &cf);
384 if (isrc & IRQ_DOI) {
385 /* data overrun interrupt */
386 dev_dbg(dev->dev.parent, "data overrun interrupt\n");
387 cf->can_id |= CAN_ERR_CRTL;
388 cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
389 stats->rx_over_errors++;
391 sja1000_write_cmdreg(priv, CMD_CDO); /* clear bit */
395 /* error warning interrupt */
396 dev_dbg(dev->dev.parent, "error warning interrupt\n");
398 if (status & SR_BS) {
399 state = CAN_STATE_BUS_OFF;
400 cf->can_id |= CAN_ERR_BUSOFF;
402 } else if (status & SR_ES) {
403 state = CAN_STATE_ERROR_WARNING;
405 state = CAN_STATE_ERROR_ACTIVE;
407 if (isrc & IRQ_BEI) {
408 /* bus error interrupt */
409 priv->can.can_stats.bus_error++;
412 ecc = priv->read_reg(priv, REG_ECC);
414 cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
416 switch (ecc & ECC_MASK) {
418 cf->data[2] |= CAN_ERR_PROT_BIT;
421 cf->data[2] |= CAN_ERR_PROT_FORM;
424 cf->data[2] |= CAN_ERR_PROT_STUFF;
427 cf->data[2] |= CAN_ERR_PROT_UNSPEC;
428 cf->data[3] = ecc & ECC_SEG;
431 /* Error occured during transmission? */
432 if ((ecc & ECC_DIR) == 0)
433 cf->data[2] |= CAN_ERR_PROT_TX;
435 if (isrc & IRQ_EPI) {
436 /* error passive interrupt */
437 dev_dbg(dev->dev.parent, "error passive interrupt\n");
439 state = CAN_STATE_ERROR_PASSIVE;
441 state = CAN_STATE_ERROR_ACTIVE;
443 if (isrc & IRQ_ALI) {
444 /* arbitration lost interrupt */
445 dev_dbg(dev->dev.parent, "arbitration lost interrupt\n");
446 alc = priv->read_reg(priv, REG_ALC);
447 priv->can.can_stats.arbitration_lost++;
449 cf->can_id |= CAN_ERR_LOSTARB;
450 cf->data[0] = alc & 0x1f;
453 if (state != priv->can.state && (state == CAN_STATE_ERROR_WARNING ||
454 state == CAN_STATE_ERROR_PASSIVE)) {
455 uint8_t rxerr = priv->read_reg(priv, REG_RXERR);
456 uint8_t txerr = priv->read_reg(priv, REG_TXERR);
457 cf->can_id |= CAN_ERR_CRTL;
458 if (state == CAN_STATE_ERROR_WARNING) {
459 priv->can.can_stats.error_warning++;
460 cf->data[1] = (txerr > rxerr) ?
461 CAN_ERR_CRTL_TX_WARNING :
462 CAN_ERR_CRTL_RX_WARNING;
464 priv->can.can_stats.error_passive++;
465 cf->data[1] = (txerr > rxerr) ?
466 CAN_ERR_CRTL_TX_PASSIVE :
467 CAN_ERR_CRTL_RX_PASSIVE;
473 priv->can.state = state;
478 stats->rx_bytes += cf->can_dlc;
483 irqreturn_t sja1000_interrupt(int irq, void *dev_id)
485 struct net_device *dev = (struct net_device *)dev_id;
486 struct sja1000_priv *priv = netdev_priv(dev);
487 struct net_device_stats *stats = &dev->stats;
488 uint8_t isrc, status;
491 /* Shared interrupts and IRQ off? */
492 if (priv->read_reg(priv, REG_IER) == IRQ_OFF)
498 while ((isrc = priv->read_reg(priv, REG_IR)) && (n < SJA1000_MAX_IRQ)) {
500 status = priv->read_reg(priv, REG_SR);
503 dev_warn(dev->dev.parent, "wakeup interrupt\n");
506 /* transmission complete interrupt */
507 stats->tx_bytes += priv->read_reg(priv, REG_FI) & 0xf;
509 can_get_echo_skb(dev, 0);
510 netif_wake_queue(dev);
513 /* receive interrupt */
514 while (status & SR_RBS) {
516 status = priv->read_reg(priv, REG_SR);
519 if (isrc & (IRQ_DOI | IRQ_EI | IRQ_BEI | IRQ_EPI | IRQ_ALI)) {
520 /* error interrupt */
521 if (sja1000_err(dev, isrc, status))
527 priv->post_irq(priv);
529 if (n >= SJA1000_MAX_IRQ)
530 dev_dbg(dev->dev.parent, "%d messages handled in ISR", n);
532 return (n) ? IRQ_HANDLED : IRQ_NONE;
534 EXPORT_SYMBOL_GPL(sja1000_interrupt);
536 static int sja1000_open(struct net_device *dev)
538 struct sja1000_priv *priv = netdev_priv(dev);
541 /* set chip into reset mode */
545 err = open_candev(dev);
549 /* register interrupt handler, if not done by the device driver */
550 if (!(priv->flags & SJA1000_CUSTOM_IRQ_HANDLER)) {
551 err = request_irq(dev->irq, sja1000_interrupt, priv->irq_flags,
552 dev->name, (void *)dev);
559 /* init and start chi */
561 priv->open_time = jiffies;
563 netif_start_queue(dev);
568 static int sja1000_close(struct net_device *dev)
570 struct sja1000_priv *priv = netdev_priv(dev);
572 netif_stop_queue(dev);
575 if (!(priv->flags & SJA1000_CUSTOM_IRQ_HANDLER))
576 free_irq(dev->irq, (void *)dev);
585 struct net_device *alloc_sja1000dev(int sizeof_priv)
587 struct net_device *dev;
588 struct sja1000_priv *priv;
590 dev = alloc_candev(sizeof(struct sja1000_priv) + sizeof_priv,
591 SJA1000_ECHO_SKB_MAX);
595 priv = netdev_priv(dev);
598 priv->can.bittiming_const = &sja1000_bittiming_const;
599 priv->can.do_set_bittiming = sja1000_set_bittiming;
600 priv->can.do_set_mode = sja1000_set_mode;
601 priv->can.do_get_berr_counter = sja1000_get_berr_counter;
602 priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
603 CAN_CTRLMODE_BERR_REPORTING;
606 priv->priv = (void *)priv + sizeof(struct sja1000_priv);
610 EXPORT_SYMBOL_GPL(alloc_sja1000dev);
612 void free_sja1000dev(struct net_device *dev)
616 EXPORT_SYMBOL_GPL(free_sja1000dev);
618 static const struct net_device_ops sja1000_netdev_ops = {
619 .ndo_open = sja1000_open,
620 .ndo_stop = sja1000_close,
621 .ndo_start_xmit = sja1000_start_xmit,
624 int register_sja1000dev(struct net_device *dev)
626 if (!sja1000_probe_chip(dev))
629 dev->flags |= IFF_ECHO; /* we support local echo */
630 dev->netdev_ops = &sja1000_netdev_ops;
635 return register_candev(dev);
637 EXPORT_SYMBOL_GPL(register_sja1000dev);
639 void unregister_sja1000dev(struct net_device *dev)
642 unregister_candev(dev);
644 EXPORT_SYMBOL_GPL(unregister_sja1000dev);
646 static __init int sja1000_init(void)
648 printk(KERN_INFO "%s CAN netdevice driver\n", DRV_NAME);
653 module_init(sja1000_init);
655 static __exit void sja1000_exit(void)
657 printk(KERN_INFO "%s: driver removed\n", DRV_NAME);
660 module_exit(sja1000_exit);