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[Backport v2.7-branch] drivers: can: m_can: fix alignmed issues #46182

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Merged
merged 1 commit into from
Jun 11, 2022
Merged

[Backport v2.7-branch] drivers: can: m_can: fix alignmed issues #46182

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77 changes: 44 additions & 33 deletions drivers/can/can_mcan.c
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,34 @@ LOG_MODULE_DECLARE(can_driver, CONFIG_CAN_LOG_LEVEL);
#define MCAN_MAX_DLC CAN_MAX_DLC
#endif

static void memcpy32_volatile(volatile void *dst_, const volatile void *src_,
size_t len)
{
volatile uint32_t *dst = dst_;
const volatile uint32_t *src = src_;

__ASSERT(len % 4 == 0, "len must be a multiple of 4!");
len /= sizeof(uint32_t);

while (len--) {
*dst = *src;
++dst;
++src;
}
}

static void memset32_volatile(volatile void *dst_, uint32_t val, size_t len)
{
volatile uint32_t *dst = dst_;

__ASSERT(len % 4 == 0, "len must be a multiple of 4!");
len /= sizeof(uint32_t);

while (len--) {
*dst++ = val;
}
}

static int can_exit_sleep_mode(struct can_mcan_reg *can)
{
uint32_t start_time;
Expand Down Expand Up @@ -389,12 +417,7 @@ int can_mcan_init(const struct device *dev, const struct can_mcan_config *cfg,
}

/* No memset because only aligned ptr are allowed */
for (uint32_t *ptr = (uint32_t *)msg_ram;
ptr < (uint32_t *)msg_ram +
sizeof(struct can_mcan_msg_sram) / sizeof(uint32_t);
ptr++) {
*ptr = 0;
}
memset32_volatile(msg_ram, 0, sizeof(struct can_mcan_msg_sram));

return 0;
}
Expand Down Expand Up @@ -486,15 +509,15 @@ static void can_mcan_get_message(struct can_mcan_data *data,
uint32_t get_idx, filt_idx;
struct zcan_frame frame;
can_rx_callback_t cb;
volatile uint32_t *src, *dst, *end;
int data_length;
void *cb_arg;
struct can_mcan_rx_fifo_hdr hdr;

while ((*fifo_status_reg & CAN_MCAN_RXF0S_F0FL)) {
get_idx = (*fifo_status_reg & CAN_MCAN_RXF0S_F0GI) >>
CAN_MCAN_RXF0S_F0GI_POS;
hdr = fifo[get_idx].hdr;
memcpy32_volatile(&hdr, &fifo[get_idx].hdr,
sizeof(struct can_mcan_rx_fifo_hdr));

if (hdr.xtd) {
frame.id = hdr.ext_id;
Expand Down Expand Up @@ -525,13 +548,8 @@ static void can_mcan_get_message(struct can_mcan_data *data,
data_length = can_dlc_to_bytes(frame.dlc);
if (data_length <= sizeof(frame.data)) {
/* data needs to be written in 32 bit blocks!*/
for (src = fifo[get_idx].data_32,
dst = frame.data_32,
end = dst + CAN_DIV_CEIL(data_length, sizeof(uint32_t));
dst < end;
src++, dst++) {
*dst = *src;
}
memcpy32_volatile(frame.data_32, fifo[get_idx].data_32,
ROUND_UP(data_length, sizeof(uint32_t)));

if (frame.id_type == CAN_STANDARD_IDENTIFIER) {
LOG_DBG("Frame on filter %d, ID: 0x%x",
Expand Down Expand Up @@ -647,8 +665,6 @@ int can_mcan_send(const struct can_mcan_config *cfg,
uint32_t put_idx;
int ret;
struct can_mcan_mm mm;
volatile uint32_t *dst, *end;
const uint32_t *src;

LOG_DBG("Sending %d bytes. Id: 0x%x, ID type: %s %s %s %s",
data_length, frame->id,
Expand Down Expand Up @@ -696,15 +712,9 @@ int can_mcan_send(const struct can_mcan_config *cfg,
tx_hdr.ext_id = frame->id;
}

msg_ram->tx_buffer[put_idx].hdr = tx_hdr;

for (src = frame->data_32,
dst = msg_ram->tx_buffer[put_idx].data_32,
end = dst + CAN_DIV_CEIL(data_length, sizeof(uint32_t));
dst < end;
src++, dst++) {
*dst = *src;
}
memcpy32_volatile(&msg_ram->tx_buffer[put_idx].hdr, &tx_hdr, sizeof(tx_hdr));
memcpy32_volatile(msg_ram->tx_buffer[put_idx].data_32, frame->data_32,
ROUND_UP(data_length, 4));

data->tx_fin_cb[put_idx] = callback;
data->tx_fin_cb_arg[put_idx] = callback_arg;
Expand Down Expand Up @@ -761,7 +771,8 @@ int can_mcan_attach_std(struct can_mcan_data *data,
filter_element.sfce = filter_nr & 0x01 ? CAN_MCAN_FCE_FIFO1 :
CAN_MCAN_FCE_FIFO0;

msg_ram->std_filt[filter_nr] = filter_element;
memcpy32_volatile(&msg_ram->std_filt[filter_nr], &filter_element,
sizeof(struct can_mcan_std_filter));

k_mutex_unlock(&data->inst_mutex);

Expand Down Expand Up @@ -820,7 +831,8 @@ static int can_mcan_attach_ext(struct can_mcan_data *data,
filter_element.efce = filter_nr & 0x01 ? CAN_MCAN_FCE_FIFO1 :
CAN_MCAN_FCE_FIFO0;

msg_ram->ext_filt[filter_nr] = filter_element;
memcpy32_volatile(&msg_ram->ext_filt[filter_nr], &filter_element,
sizeof(struct can_mcan_ext_filter));

k_mutex_unlock(&data->inst_mutex);

Expand Down Expand Up @@ -874,9 +886,6 @@ int can_mcan_attach_isr(struct can_mcan_data *data,
void can_mcan_detach(struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram, int filter_nr)
{
const struct can_mcan_ext_filter ext_filter = {0};
const struct can_mcan_std_filter std_filter = {0};

k_mutex_lock(&data->inst_mutex, K_FOREVER);
if (filter_nr >= NUM_STD_FILTER_DATA) {
filter_nr -= NUM_STD_FILTER_DATA;
Expand All @@ -885,10 +894,12 @@ void can_mcan_detach(struct can_mcan_data *data,
return;
}

msg_ram->ext_filt[filter_nr] = ext_filter;
memset32_volatile(&msg_ram->ext_filt[filter_nr], 0,
sizeof(struct can_mcan_ext_filter));
data->rx_cb_ext[filter_nr] = NULL;
} else {
msg_ram->std_filt[filter_nr] = std_filter;
memset32_volatile(&msg_ram->std_filt[filter_nr], 0,
sizeof(struct can_mcan_std_filter));
data->rx_cb_std[filter_nr] = NULL;
}

Expand Down
16 changes: 8 additions & 8 deletions drivers/can/can_mcan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,15 +48,15 @@ struct can_mcan_rx_fifo_hdr {
volatile uint32_t res : 2; /* Reserved */
volatile uint32_t fidx : 7; /* Filter Index */
volatile uint32_t anmf : 1; /* Accepted non-matching frame */
} __packed;
} __packed __aligned(4);

struct can_mcan_rx_fifo {
struct can_mcan_rx_fifo_hdr hdr;
union {
volatile uint8_t data[64];
volatile uint32_t data_32[16];
};
} __packed;
} __packed __aligned(4);

struct can_mcan_mm {
volatile uint8_t idx : 5;
Expand Down Expand Up @@ -84,15 +84,15 @@ struct can_mcan_tx_buffer_hdr {
volatile uint8_t res2 : 1; /* Reserved */
volatile uint8_t efc : 1; /* Event FIFO control (Store Tx events) */
struct can_mcan_mm mm; /* Message marker */
} __packed;
} __packed __aligned(4);

struct can_mcan_tx_buffer {
struct can_mcan_tx_buffer_hdr hdr;
union {
volatile uint8_t data[64];
volatile uint32_t data_32[16];
};
} __packed;
} __packed __aligned(4);

#define CAN_MCAN_TE_TX 0x1 /* TX event */
#define CAN_MCAN_TE_TXC 0x2 /* TX event in spite of cancellation */
Expand All @@ -109,7 +109,7 @@ struct can_mcan_tx_event_fifo {
volatile uint8_t fdf : 1; /* FD Format */
volatile uint8_t et : 2; /* Event type */
struct can_mcan_mm mm; /* Message marker */
} __packed;
} __packed __aligned(4);

#define CAN_MCAN_FCE_DISABLE 0x0
#define CAN_MCAN_FCE_FIFO0 0x1
Expand All @@ -130,7 +130,7 @@ struct can_mcan_std_filter {
volatile uint32_t id1 : 11;
volatile uint32_t sfce : 3; /* Filter config */
volatile uint32_t sft : 2; /* Filter type */
} __packed;
} __packed __aligned(4);

#define CAN_MCAN_EFT_RANGE_XIDAM 0x0
#define CAN_MCAN_EFT_DUAL 0x1
Expand All @@ -143,7 +143,7 @@ struct can_mcan_ext_filter {
volatile uint32_t id2 : 29; /* ID2 for dual or range, mask otherwise */
volatile uint32_t res : 1;
volatile uint32_t eft : 2; /* Filter type */
} __packed;
} __packed __aligned(4);

struct can_mcan_msg_sram {
volatile struct can_mcan_std_filter std_filt[NUM_STD_FILTER_ELEMENTS];
Expand All @@ -153,7 +153,7 @@ struct can_mcan_msg_sram {
volatile struct can_mcan_rx_fifo rx_buffer[NUM_RX_BUF_ELEMENTS];
volatile struct can_mcan_tx_event_fifo tx_event_fifo[NUM_TX_BUF_ELEMENTS];
volatile struct can_mcan_tx_buffer tx_buffer[NUM_TX_BUF_ELEMENTS];
} __packed;
} __packed __aligned(4);

struct can_mcan_data {
struct k_mutex inst_mutex;
Expand Down