Merge tag 'linux-can-next-for-6.12-20240904-2' of...

Merge tag 'linux-can-next-for-6.12-20240904-2' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next

Marc Kleine-Budde says:

====================
pull-request: can-next 2024-09-04-2

this is a pull request of 18 patches for net-next/master.

All 18 patches add support for CAN-FD IP core found on Rockchip
RK3568.

The first patch is co-developed by Elaine Zhang and me and adds DT
bindings documentation.

The remaining 17 patches are by me and add the driver in several
stages.

linux-can-next-for-6.12-20240904-2

* tag 'linux-can-next-for-6.12-20240904-2' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next:
  can: rockchip_canfd: add support for CAN_CTRLMODE_BERR_REPORTING
  can: rockchip_canfd: add support for CAN_CTRLMODE_LOOPBACK
  can: rockchip_canfd: add hardware timestamping support
  can: rockchip_canfd: enable full TX-FIFO depth of 2
  can: rockchip_canfd: prepare to use full TX-FIFO depth
  can: rockchip_canfd: add stats support for errata workarounds
  can: rockchip_canfd: rkcanfd_get_berr_counter_corrected(): work around broken {RX,TX}ERRORCNT register
  can: rockchip_canfd: implement workaround for erratum 12
  can: rockchip_canfd: implement workaround for erratum 6
  can: rockchip_canfd: add TX PATH
  can: rockchip_canfd: rkcanfd_register_done(): add warning for erratum 5
  can: rockchip_canfd: rkcanfd_handle_rx_int_one(): implement workaround for erratum 5: check for empty FIFO
  can: rockchip_canfd: add notes about known issues
  can: rockchip_canfd: add support for rk3568v3
  can: rockchip_canfd: add quirk for broken CAN-FD support
  can: rockchip_canfd: add quirks for errata workarounds
  can: rockchip_canfd: add driver for Rockchip CAN-FD controller
  dt-bindings: can: rockchip_canfd: add rockchip CAN-FD controller
====================

Link: https://patch.msgid.link/20240904130256.1965582-1-mkl@pengutronix.deSigned-off-by: Paolo Abeni <pabeni@redhat.com>

Documentation/devicetree/bindings/net/can/rockchip,rk3568v2-canfd.yaml

+# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+%YAML 1.2
+---
+$id: http://devicetree.org/schemas/net/can/rockchip,rk3568v2-canfd.yaml#
+$schema: http://devicetree.org/meta-schemas/core.yaml#
+
+title:
+  Rockchip CAN-FD controller
+
+maintainers:
+  - Marc Kleine-Budde <mkl@pengutronix.de>
+
+allOf:
+  - $ref: can-controller.yaml#
+
+properties:
+  compatible:
+    oneOf:
+      - const: rockchip,rk3568v2-canfd
+      - items:
+          - const: rockchip,rk3568v3-canfd
+          - const: rockchip,rk3568v2-canfd
+
+  reg:
+    maxItems: 1
+
+  interrupts:
+    maxItems: 1
+
+  clocks:
+    maxItems: 2
+
+  clock-names:
+    items:
+      - const: baud
+      - const: pclk
+
+  resets:
+    maxItems: 2
+
+  reset-names:
+    items:
+      - const: core
+      - const: apb
+
+required:
+  - compatible
+  - reg
+  - interrupts
+  - clocks
+  - resets
+
+additionalProperties: false
+
+examples:
+  - |
+    #include <dt-bindings/clock/rk3568-cru.h>
+    #include <dt-bindings/interrupt-controller/arm-gic.h>
+    #include <dt-bindings/interrupt-controller/irq.h>
+
+    soc {
+        #address-cells = <2>;
+        #size-cells = <2>;
+
+        can@fe570000 {
+            compatible = "rockchip,rk3568v2-canfd";
+            reg = <0x0 0xfe570000 0x0 0x1000>;
+            interrupts = <GIC_SPI 1 IRQ_TYPE_LEVEL_HIGH>;
+            clocks = <&cru CLK_CAN0>, <&cru PCLK_CAN0>;
+            clock-names = "baud", "pclk";
+            resets = <&cru SRST_CAN0>, <&cru SRST_P_CAN0>;
+            reset-names = "core", "apb";
+        };
+    };

MAINTAINERS

@@ -19730,6 +19730,14 @@ F:	Documentation/ABI/*/sysfs-driver-hid-roccat*
 F:	drivers/hid/hid-roccat*
 F:	include/linux/hid-roccat*
 
+ROCKCHIP CAN-FD DRIVER
+M:	Marc Kleine-Budde <mkl@pengutronix.de>
+R:	kernel@pengutronix.de
+L:	linux-can@vger.kernel.org
+S:	Maintained
+F:	Documentation/devicetree/bindings/net/can/rockchip,rk3568v2-canfd.yaml
+F:	drivers/net/can/rockchip/
+
 ROCKCHIP CRYPTO DRIVERS
 M:	Corentin Labbe <clabbe@baylibre.com>
 L:	linux-crypto@vger.kernel.org

drivers/net/can/Kconfig

@@ -225,6 +225,7 @@ source "drivers/net/can/m_can/Kconfig"
 source "drivers/net/can/mscan/Kconfig"
 source "drivers/net/can/peak_canfd/Kconfig"
 source "drivers/net/can/rcar/Kconfig"
+source "drivers/net/can/rockchip/Kconfig"
 source "drivers/net/can/sja1000/Kconfig"
 source "drivers/net/can/softing/Kconfig"
 source "drivers/net/can/spi/Kconfig"

drivers/net/can/Makefile

@@ -10,6 +10,7 @@ obj-$(CONFIG_CAN_SLCAN)		+= slcan/
 obj-y				+= dev/
 obj-y				+= esd/
 obj-y				+= rcar/
+obj-y				+= rockchip/
 obj-y				+= spi/
 obj-y				+= usb/
 obj-y				+= softing/

drivers/net/can/rockchip/Kconfig

+# SPDX-License-Identifier: GPL-2.0
+
+config CAN_ROCKCHIP_CANFD
+	tristate "Rockchip CAN-FD controller"
+	depends on OF || COMPILE_TEST
+	select CAN_RX_OFFLOAD
+	help
+	  Say Y here if you want to use CAN-FD controller found on
+	  Rockchip SoCs.

drivers/net/can/rockchip/Makefile

+# SPDX-License-Identifier: GPL-2.0
+
+obj-$(CONFIG_CAN_ROCKCHIP_CANFD) += rockchip_canfd.o
+
+rockchip_canfd-objs :=
+rockchip_canfd-objs += rockchip_canfd-core.o
+rockchip_canfd-objs += rockchip_canfd-ethtool.o
+rockchip_canfd-objs += rockchip_canfd-rx.o
+rockchip_canfd-objs += rockchip_canfd-timestamp.o
+rockchip_canfd-objs += rockchip_canfd-tx.o

drivers/net/can/rockchip/rockchip_canfd-ethtool.c

+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright (c) 2023, 2024 Pengutronix,
+//               Marc Kleine-Budde <kernel@pengutronix.de>
+//
+
+#include <linux/ethtool.h>
+
+#include "rockchip_canfd.h"
+
+enum rkcanfd_stats_type {
+	RKCANFD_STATS_TYPE_RX_FIFO_EMPTY_ERRORS,
+	RKCANFD_STATS_TYPE_TX_EXTENDED_AS_STANDARD_ERRORS,
+};
+
+static const char rkcanfd_stats_strings[][ETH_GSTRING_LEN] = {
+	[RKCANFD_STATS_TYPE_RX_FIFO_EMPTY_ERRORS] = "rx_fifo_empty_errors",
+	[RKCANFD_STATS_TYPE_TX_EXTENDED_AS_STANDARD_ERRORS] = "tx_extended_as_standard_errors",
+};
+
+static void
+rkcanfd_ethtool_get_strings(struct net_device *ndev, u32 stringset, u8 *buf)
+{
+	switch (stringset) {
+	case ETH_SS_STATS:
+		memcpy(buf, rkcanfd_stats_strings,
+		       sizeof(rkcanfd_stats_strings));
+	}
+}
+
+static int rkcanfd_ethtool_get_sset_count(struct net_device *netdev, int sset)
+{
+	switch (sset) {
+	case ETH_SS_STATS:
+		return ARRAY_SIZE(rkcanfd_stats_strings);
+	default:
+		return -EOPNOTSUPP;
+	}
+}
+
+static void
+rkcanfd_ethtool_get_ethtool_stats(struct net_device *ndev,
+				  struct ethtool_stats *stats, u64 *data)
+{
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+	struct rkcanfd_stats *rkcanfd_stats;
+	unsigned int start;
+
+	rkcanfd_stats = &priv->stats;
+
+	do {
+		start = u64_stats_fetch_begin(&rkcanfd_stats->syncp);
+
+		data[RKCANFD_STATS_TYPE_RX_FIFO_EMPTY_ERRORS] =
+			u64_stats_read(&rkcanfd_stats->rx_fifo_empty_errors);
+		data[RKCANFD_STATS_TYPE_TX_EXTENDED_AS_STANDARD_ERRORS] =
+			u64_stats_read(&rkcanfd_stats->tx_extended_as_standard_errors);
+	} while (u64_stats_fetch_retry(&rkcanfd_stats->syncp, start));
+}
+
+static const struct ethtool_ops rkcanfd_ethtool_ops = {
+	.get_ts_info = can_ethtool_op_get_ts_info_hwts,
+	.get_strings = rkcanfd_ethtool_get_strings,
+	.get_sset_count = rkcanfd_ethtool_get_sset_count,
+	.get_ethtool_stats = rkcanfd_ethtool_get_ethtool_stats,
+};
+
+void rkcanfd_ethtool_init(struct rkcanfd_priv *priv)
+{
+	priv->ndev->ethtool_ops = &rkcanfd_ethtool_ops;
+
+	u64_stats_init(&priv->stats.syncp);
+}

drivers/net/can/rockchip/rockchip_canfd-rx.c

+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright (c) 2023, 2024 Pengutronix,
+//               Marc Kleine-Budde <kernel@pengutronix.de>
+//
+
+#include <net/netdev_queues.h>
+
+#include "rockchip_canfd.h"
+
+static bool rkcanfd_can_frame_header_equal(const struct canfd_frame *const cfd1,
+					   const struct canfd_frame *const cfd2,
+					   const bool is_canfd)
+{
+	const u8 mask_flags = CANFD_BRS | CANFD_ESI | CANFD_FDF;
+	canid_t mask = CAN_EFF_FLAG;
+
+	if (canfd_sanitize_len(cfd1->len) != canfd_sanitize_len(cfd2->len))
+		return false;
+
+	if (!is_canfd)
+		mask |= CAN_RTR_FLAG;
+
+	if (cfd1->can_id & CAN_EFF_FLAG)
+		mask |= CAN_EFF_MASK;
+	else
+		mask |= CAN_SFF_MASK;
+
+	if ((cfd1->can_id & mask) != (cfd2->can_id & mask))
+		return false;
+
+	if (is_canfd &&
+	    (cfd1->flags & mask_flags) != (cfd2->flags & mask_flags))
+		return false;
+
+	return true;
+}
+
+static bool rkcanfd_can_frame_data_equal(const struct canfd_frame *cfd1,
+					 const struct canfd_frame *cfd2,
+					 const bool is_canfd)
+{
+	u8 len;
+
+	if (!is_canfd && (cfd1->can_id & CAN_RTR_FLAG))
+		return true;
+
+	len = canfd_sanitize_len(cfd1->len);
+
+	return !memcmp(cfd1->data, cfd2->data, len);
+}
+
+static unsigned int
+rkcanfd_fifo_header_to_cfd_header(const struct rkcanfd_priv *priv,
+				  const struct rkcanfd_fifo_header *header,
+				  struct canfd_frame *cfd)
+{
+	unsigned int len = sizeof(*cfd) - sizeof(cfd->data);
+	u8 dlc;
+
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FRAME_FORMAT)
+		cfd->can_id = FIELD_GET(RKCANFD_REG_FD_ID_EFF, header->id) |
+			CAN_EFF_FLAG;
+	else
+		cfd->can_id = FIELD_GET(RKCANFD_REG_FD_ID_SFF, header->id);
+
+	dlc = FIELD_GET(RKCANFD_REG_FD_FRAMEINFO_DATA_LENGTH,
+			header->frameinfo);
+
+	/* CAN-FD */
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FDF) {
+		cfd->len = can_fd_dlc2len(dlc);
+
+		/* The cfd is not allocated by alloc_canfd_skb(), so
+		 * set CANFD_FDF here.
+		 */
+		cfd->flags |= CANFD_FDF;
+
+		if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_BRS)
+			cfd->flags |= CANFD_BRS;
+	} else {
+		cfd->len = can_cc_dlc2len(dlc);
+
+		if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_RTR) {
+			cfd->can_id |= CAN_RTR_FLAG;
+
+			return len;
+		}
+	}
+
+	return len + cfd->len;
+}
+
+static int rkcanfd_rxstx_filter(struct rkcanfd_priv *priv,
+				const struct canfd_frame *cfd_rx, const u32 ts,
+				bool *tx_done)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	struct rkcanfd_stats *rkcanfd_stats = &priv->stats;
+	const struct canfd_frame *cfd_nominal;
+	const struct sk_buff *skb;
+	unsigned int tx_tail;
+
+	tx_tail = rkcanfd_get_tx_tail(priv);
+	skb = priv->can.echo_skb[tx_tail];
+	if (!skb) {
+		netdev_err(priv->ndev,
+			   "%s: echo_skb[%u]=NULL tx_head=0x%08x tx_tail=0x%08x\n",
+			   __func__, tx_tail,
+			   priv->tx_head, priv->tx_tail);
+
+		return -ENOMSG;
+	}
+	cfd_nominal = (struct canfd_frame *)skb->data;
+
+	/* We RX'ed a frame identical to our pending TX frame. */
+	if (rkcanfd_can_frame_header_equal(cfd_rx, cfd_nominal,
+					   cfd_rx->flags & CANFD_FDF) &&
+	    rkcanfd_can_frame_data_equal(cfd_rx, cfd_nominal,
+					 cfd_rx->flags & CANFD_FDF)) {
+		unsigned int frame_len;
+
+		rkcanfd_handle_tx_done_one(priv, ts, &frame_len);
+
+		WRITE_ONCE(priv->tx_tail, priv->tx_tail + 1);
+		netif_subqueue_completed_wake(priv->ndev, 0, 1, frame_len,
+					      rkcanfd_get_effective_tx_free(priv),
+					      RKCANFD_TX_START_THRESHOLD);
+
+		*tx_done = true;
+
+		return 0;
+	}
+
+	if (!(priv->devtype_data.quirks & RKCANFD_QUIRK_RK3568_ERRATUM_6))
+		return 0;
+
+	/* Erratum 6: Extended frames may be send as standard frames.
+	 *
+	 * Not affected if:
+	 * - TX'ed a standard frame -or-
+	 * - RX'ed an extended frame
+	 */
+	if (!(cfd_nominal->can_id & CAN_EFF_FLAG) ||
+	    (cfd_rx->can_id & CAN_EFF_FLAG))
+		return 0;
+
+	/* Not affected if:
+	 * - standard part and RTR flag of the TX'ed frame
+	 *   is not equal the CAN-ID and RTR flag of the RX'ed frame.
+	 */
+	if ((cfd_nominal->can_id & (CAN_RTR_FLAG | CAN_SFF_MASK)) !=
+	    (cfd_rx->can_id & (CAN_RTR_FLAG | CAN_SFF_MASK)))
+		return 0;
+
+	/* Not affected if:
+	 * - length is not the same
+	 */
+	if (cfd_nominal->len != cfd_rx->len)
+		return 0;
+
+	/* Not affected if:
+	 * - the data of non RTR frames is different
+	 */
+	if (!(cfd_nominal->can_id & CAN_RTR_FLAG) &&
+	    memcmp(cfd_nominal->data, cfd_rx->data, cfd_nominal->len))
+		return 0;
+
+	/* Affected by Erratum 6 */
+	u64_stats_update_begin(&rkcanfd_stats->syncp);
+	u64_stats_inc(&rkcanfd_stats->tx_extended_as_standard_errors);
+	u64_stats_update_end(&rkcanfd_stats->syncp);
+
+	/* Manual handling of CAN Bus Error counters. See
+	 * rkcanfd_get_corrected_berr_counter() for detailed
+	 * explanation.
+	 */
+	if (priv->bec.txerr)
+		priv->bec.txerr--;
+
+	*tx_done = true;
+
+	stats->tx_packets++;
+	stats->tx_errors++;
+
+	rkcanfd_xmit_retry(priv);
+
+	return 0;
+}
+
+static inline bool
+rkcanfd_fifo_header_empty(const struct rkcanfd_fifo_header *header)
+{
+	/* Erratum 5: If the FIFO is empty, we read the same value for
+	 * all elements.
+	 */
+	return header->frameinfo == header->id &&
+		header->frameinfo == header->ts;
+}
+
+static int rkcanfd_handle_rx_int_one(struct rkcanfd_priv *priv)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	struct canfd_frame cfd[1] = { }, *skb_cfd;
+	struct rkcanfd_fifo_header header[1] = { };
+	struct sk_buff *skb;
+	unsigned int len;
+	int err;
+
+	/* read header into separate struct and convert it later */
+	rkcanfd_read_rep(priv, RKCANFD_REG_RX_FIFO_RDATA,
+			 header, sizeof(*header));
+	/* read data directly into cfd */
+	rkcanfd_read_rep(priv, RKCANFD_REG_RX_FIFO_RDATA,
+			 cfd->data, sizeof(cfd->data));
+
+	/* Erratum 5: Counters for TXEFIFO and RXFIFO may be wrong */
+	if (rkcanfd_fifo_header_empty(header)) {
+		struct rkcanfd_stats *rkcanfd_stats = &priv->stats;
+
+		u64_stats_update_begin(&rkcanfd_stats->syncp);
+		u64_stats_inc(&rkcanfd_stats->rx_fifo_empty_errors);
+		u64_stats_update_end(&rkcanfd_stats->syncp);
+
+		return 0;
+	}
+
+	len = rkcanfd_fifo_header_to_cfd_header(priv, header, cfd);
+
+	/* Drop any received CAN-FD frames if CAN-FD mode is not
+	 * requested.
+	 */
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FDF &&
+	    !(priv->can.ctrlmode & CAN_CTRLMODE_FD)) {
+		stats->rx_dropped++;
+
+		return 0;
+	}
+
+	if (rkcanfd_get_tx_pending(priv)) {
+		bool tx_done = false;
+
+		err = rkcanfd_rxstx_filter(priv, cfd, header->ts, &tx_done);
+		if (err)
+			return err;
+		if (tx_done && !(priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK))
+			return 0;
+	}
+
+	/* Manual handling of CAN Bus Error counters. See
+	 * rkcanfd_get_corrected_berr_counter() for detailed
+	 * explanation.
+	 */
+	if (priv->bec.rxerr)
+		priv->bec.rxerr = min(CAN_ERROR_PASSIVE_THRESHOLD,
+				      priv->bec.rxerr) - 1;
+
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FDF)
+		skb = alloc_canfd_skb(priv->ndev, &skb_cfd);
+	else
+		skb = alloc_can_skb(priv->ndev, (struct can_frame **)&skb_cfd);
+
+	if (!skb) {
+		stats->rx_dropped++;
+
+		return 0;
+	}
+
+	memcpy(skb_cfd, cfd, len);
+	rkcanfd_skb_set_timestamp(priv, skb, header->ts);
+
+	err = can_rx_offload_queue_timestamp(&priv->offload, skb, header->ts);
+	if (err)
+		stats->rx_fifo_errors++;
+
+	return 0;
+}
+
+static inline unsigned int
+rkcanfd_rx_fifo_get_len(const struct rkcanfd_priv *priv)
+{
+	const u32 reg = rkcanfd_read(priv, RKCANFD_REG_RX_FIFO_CTRL);
+
+	return FIELD_GET(RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_CNT, reg);
+}
+
+int rkcanfd_handle_rx_int(struct rkcanfd_priv *priv)
+{
+	unsigned int len;
+	int err;
+
+	while ((len = rkcanfd_rx_fifo_get_len(priv))) {
+		err = rkcanfd_handle_rx_int_one(priv);
+		if (err)
+			return err;
+	}
+
+	return 0;
+}

drivers/net/can/rockchip/rockchip_canfd-timestamp.c

+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright (c) 2023, 2024 Pengutronix,
+//               Marc Kleine-Budde <kernel@pengutronix.de>
+//
+
+#include <linux/clocksource.h>
+
+#include "rockchip_canfd.h"
+
+static u64 rkcanfd_timestamp_read(const struct cyclecounter *cc)
+{
+	const struct rkcanfd_priv *priv = container_of(cc, struct rkcanfd_priv, cc);
+
+	return rkcanfd_get_timestamp(priv);
+}
+
+void rkcanfd_skb_set_timestamp(const struct rkcanfd_priv *priv,
+			       struct sk_buff *skb, const u32 timestamp)
+{
+	struct skb_shared_hwtstamps *hwtstamps = skb_hwtstamps(skb);
+	u64 ns;
+
+	ns = timecounter_cyc2time(&priv->tc, timestamp);
+
+	hwtstamps->hwtstamp = ns_to_ktime(ns);
+}
+
+static void rkcanfd_timestamp_work(struct work_struct *work)
+{
+	const struct delayed_work *delayed_work = to_delayed_work(work);
+	struct rkcanfd_priv *priv;
+
+	priv = container_of(delayed_work, struct rkcanfd_priv, timestamp);
+	timecounter_read(&priv->tc);
+
+	schedule_delayed_work(&priv->timestamp, priv->work_delay_jiffies);
+}
+
+void rkcanfd_timestamp_init(struct rkcanfd_priv *priv)
+{
+	const struct can_bittiming *dbt = &priv->can.data_bittiming;
+	const struct can_bittiming *bt = &priv->can.bittiming;
+	struct cyclecounter *cc = &priv->cc;
+	u32 bitrate, div, reg, rate;
+	u64 work_delay_ns;
+	u64 max_cycles;
+
+	/* At the standard clock rate of 300Mhz on the rk3658, the 32
+	 * bit timer overflows every 14s. This means that we have to
+	 * poll it quite often to avoid missing a wrap around.
+	 *
+	 * Divide it down to a reasonable rate, at least twice the bit
+	 * rate.
+	 */
+	bitrate = max(bt->bitrate, dbt->bitrate);
+	div = min(DIV_ROUND_UP(priv->can.clock.freq, bitrate * 2),
+		  FIELD_MAX(RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_PRESCALE) + 1);
+
+	reg = FIELD_PREP(RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_PRESCALE,
+			 div - 1) |
+		RKCANFD_REG_TIMESTAMP_CTRL_TIME_BASE_COUNTER_ENABLE;
+	rkcanfd_write(priv, RKCANFD_REG_TIMESTAMP_CTRL, reg);
+
+	cc->read = rkcanfd_timestamp_read;
+	cc->mask = CYCLECOUNTER_MASK(32);
+
+	rate = priv->can.clock.freq / div;
+	clocks_calc_mult_shift(&cc->mult, &cc->shift, rate, NSEC_PER_SEC,
+			       RKCANFD_TIMESTAMP_WORK_MAX_DELAY_SEC);
+
+	max_cycles = div_u64(ULLONG_MAX, cc->mult);
+	max_cycles = min(max_cycles, cc->mask);
+	work_delay_ns = clocksource_cyc2ns(max_cycles, cc->mult, cc->shift) / 3;
+	priv->work_delay_jiffies = nsecs_to_jiffies(work_delay_ns);
+	INIT_DELAYED_WORK(&priv->timestamp, rkcanfd_timestamp_work);
+
+	netdev_dbg(priv->ndev, "clock=%lu.%02luMHz bitrate=%lu.%02luMBit/s div=%u rate=%lu.%02luMHz mult=%u shift=%u delay=%lus\n",
+		   priv->can.clock.freq / MEGA,
+		   priv->can.clock.freq % MEGA / KILO / 10,
+		   bitrate / MEGA,
+		   bitrate % MEGA / KILO / 100,
+		   div,
+		   rate / MEGA,
+		   rate % MEGA / KILO / 10,
+		   cc->mult, cc->shift,
+		   priv->work_delay_jiffies / HZ);
+}
+
+void rkcanfd_timestamp_start(struct rkcanfd_priv *priv)
+{
+	timecounter_init(&priv->tc, &priv->cc, ktime_get_real_ns());
+
+	schedule_delayed_work(&priv->timestamp, priv->work_delay_jiffies);
+}
+
+void rkcanfd_timestamp_stop(struct rkcanfd_priv *priv)
+{
+	cancel_delayed_work(&priv->timestamp);
+}
+
+void rkcanfd_timestamp_stop_sync(struct rkcanfd_priv *priv)
+{
+	cancel_delayed_work_sync(&priv->timestamp);
+}

drivers/net/can/rockchip/rockchip_canfd-tx.c

+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright (c) 2023, 2024 Pengutronix,
+//               Marc Kleine-Budde <kernel@pengutronix.de>
+//
+
+#include <net/netdev_queues.h>
+
+#include "rockchip_canfd.h"
+
+static bool rkcanfd_tx_tail_is_eff(const struct rkcanfd_priv *priv)
+{
+	const struct canfd_frame *cfd;
+	const struct sk_buff *skb;
+	unsigned int tx_tail;
+
+	if (!rkcanfd_get_tx_pending(priv))
+		return false;
+
+	tx_tail = rkcanfd_get_tx_tail(priv);
+	skb = priv->can.echo_skb[tx_tail];
+	if (!skb) {
+		netdev_err(priv->ndev,
+			   "%s: echo_skb[%u]=NULL tx_head=0x%08x tx_tail=0x%08x\n",
+			   __func__, tx_tail,
+			   priv->tx_head, priv->tx_tail);
+
+		return false;
+	}
+
+	cfd = (struct canfd_frame *)skb->data;
+
+	return cfd->can_id & CAN_EFF_FLAG;
+}
+
+unsigned int rkcanfd_get_effective_tx_free(const struct rkcanfd_priv *priv)
+{
+	if (priv->devtype_data.quirks & RKCANFD_QUIRK_RK3568_ERRATUM_6 &&
+	    rkcanfd_tx_tail_is_eff(priv))
+		return 0;
+
+	return rkcanfd_get_tx_free(priv);
+}
+
+static void rkcanfd_start_xmit_write_cmd(const struct rkcanfd_priv *priv,
+					 const u32 reg_cmd)
+{
+	if (priv->devtype_data.quirks & RKCANFD_QUIRK_RK3568_ERRATUM_12)
+		rkcanfd_write(priv, RKCANFD_REG_MODE, priv->reg_mode_default |
+			      RKCANFD_REG_MODE_SPACE_RX_MODE);
+
+	rkcanfd_write(priv, RKCANFD_REG_CMD, reg_cmd);
+
+	if (priv->devtype_data.quirks & RKCANFD_QUIRK_RK3568_ERRATUM_12)
+		rkcanfd_write(priv, RKCANFD_REG_MODE, priv->reg_mode_default);
+}
+
+void rkcanfd_xmit_retry(struct rkcanfd_priv *priv)
+{
+	const unsigned int tx_head = rkcanfd_get_tx_head(priv);
+	const u32 reg_cmd = RKCANFD_REG_CMD_TX_REQ(tx_head);
+
+	rkcanfd_start_xmit_write_cmd(priv, reg_cmd);
+}
+
+int rkcanfd_start_xmit(struct sk_buff *skb, struct net_device *ndev)
+{
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+	u32 reg_frameinfo, reg_id, reg_cmd;
+	unsigned int tx_head, frame_len;
+	const struct canfd_frame *cfd;
+	int err;
+	u8 i;
+
+	if (can_dropped_invalid_skb(ndev, skb))
+		return NETDEV_TX_OK;
+
+	if (!netif_subqueue_maybe_stop(priv->ndev, 0,
+				       rkcanfd_get_effective_tx_free(priv),
+				       RKCANFD_TX_STOP_THRESHOLD,
+				       RKCANFD_TX_START_THRESHOLD)) {
+		if (net_ratelimit())
+			netdev_info(priv->ndev,
+				    "Stopping tx-queue (tx_head=0x%08x, tx_tail=0x%08x, tx_pending=%d)\n",
+				    priv->tx_head, priv->tx_tail,
+				    rkcanfd_get_tx_pending(priv));
+
+		return NETDEV_TX_BUSY;
+	}
+
+	cfd = (struct canfd_frame *)skb->data;
+
+	if (cfd->can_id & CAN_EFF_FLAG) {
+		reg_frameinfo = RKCANFD_REG_FD_FRAMEINFO_FRAME_FORMAT;
+		reg_id = FIELD_PREP(RKCANFD_REG_FD_ID_EFF, cfd->can_id);
+	} else {
+		reg_frameinfo = 0;
+		reg_id = FIELD_PREP(RKCANFD_REG_FD_ID_SFF, cfd->can_id);
+	}
+
+	if (cfd->can_id & CAN_RTR_FLAG)
+		reg_frameinfo |= RKCANFD_REG_FD_FRAMEINFO_RTR;
+
+	if (can_is_canfd_skb(skb)) {
+		reg_frameinfo |= RKCANFD_REG_FD_FRAMEINFO_FDF;
+
+		if (cfd->flags & CANFD_BRS)
+			reg_frameinfo |= RKCANFD_REG_FD_FRAMEINFO_BRS;
+
+		reg_frameinfo |= FIELD_PREP(RKCANFD_REG_FD_FRAMEINFO_DATA_LENGTH,
+					    can_fd_len2dlc(cfd->len));
+	} else {
+		reg_frameinfo |= FIELD_PREP(RKCANFD_REG_FD_FRAMEINFO_DATA_LENGTH,
+					    cfd->len);
+	}
+
+	tx_head = rkcanfd_get_tx_head(priv);
+	reg_cmd = RKCANFD_REG_CMD_TX_REQ(tx_head);
+
+	rkcanfd_write(priv, RKCANFD_REG_FD_TXFRAMEINFO, reg_frameinfo);
+	rkcanfd_write(priv, RKCANFD_REG_FD_TXID, reg_id);
+	for (i = 0; i < cfd->len; i += 4)
+		rkcanfd_write(priv, RKCANFD_REG_FD_TXDATA0 + i,
+			      *(u32 *)(cfd->data + i));
+
+	frame_len = can_skb_get_frame_len(skb);
+	err = can_put_echo_skb(skb, ndev, tx_head, frame_len);
+	if (!err)
+		netdev_sent_queue(priv->ndev, frame_len);
+
+	WRITE_ONCE(priv->tx_head, priv->tx_head + 1);
+
+	rkcanfd_start_xmit_write_cmd(priv, reg_cmd);
+
+	netif_subqueue_maybe_stop(priv->ndev, 0,
+				  rkcanfd_get_effective_tx_free(priv),
+				  RKCANFD_TX_STOP_THRESHOLD,
+				  RKCANFD_TX_START_THRESHOLD);
+
+	return NETDEV_TX_OK;
+}
+
+void rkcanfd_handle_tx_done_one(struct rkcanfd_priv *priv, const u32 ts,
+				unsigned int *frame_len_p)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	unsigned int tx_tail;
+	struct sk_buff *skb;
+
+	tx_tail = rkcanfd_get_tx_tail(priv);
+	skb = priv->can.echo_skb[tx_tail];
+
+	/* Manual handling of CAN Bus Error counters. See
+	 * rkcanfd_get_corrected_berr_counter() for detailed
+	 * explanation.
+	 */
+	if (priv->bec.txerr)
+		priv->bec.txerr--;
+
+	if (skb)
+		rkcanfd_skb_set_timestamp(priv, skb, ts);
+	stats->tx_bytes +=
+		can_rx_offload_get_echo_skb_queue_timestamp(&priv->offload,
+							    tx_tail, ts,
+							    frame_len_p);
+	stats->tx_packets++;
+}