From 0b721ac21c7862294fcca619cf75cd0eec441baf Mon Sep 17 00:00:00 2001
From: Peter van der Perk <peter.vanderperk@nxp.com>
Date: Fri, 4 Aug 2023 15:02:39 +0200
Subject: [PATCH] imxrt: flexcan use hpwork for receiving frames
FlexCAN before used interrupts to process incoming frames.
This patch adds a HPWORK workqueue to process incoming frames in the workqueue
context instead. Also renamed mbi to txmb for better readability.
---
arch/arm/src/imxrt/imxrt_flexcan.c | 90 +++++++++++++++++++++++-------
1 file changed, 71 insertions(+), 19 deletions(-)
diff --git a/arch/arm/src/imxrt/imxrt_flexcan.c b/arch/arm/src/imxrt/imxrt_flexcan.c
index cabd1161c0..71010c6720 100644
--- a/arch/arm/src/imxrt/imxrt_flexcan.c
+++ b/arch/arm/src/imxrt/imxrt_flexcan.c
@@ -66,7 +66,8 @@
* is required.
*/
-#define CANWORK LPWORK
+#define CANWORK LPWORK
+#define CANRCVWORK HPWORK
/* CONFIG_IMXRT_FLEXCAN_NETHIFS determines the number of physical
* interfaces that will be supported.
@@ -268,6 +269,7 @@ struct imxrt_driver_s
#ifdef TX_TIMEOUT_WQ
struct wdog_s txtimeout[TXMBCOUNT]; /* TX timeout timer */
#endif
+ struct work_s rcvwork; /* For deferring interrupt work to the wq */
struct work_s irqwork; /* For deferring interrupt work to the wq */
struct work_s pollwork; /* For deferring poll work to the work wq */
struct canfd_frame *txdesc_fd; /* A pointer to the list of TX descriptor for FD frames */
@@ -482,6 +484,7 @@ static void imxrt_txdone(struct imxrt_driver_s *priv);
static int imxrt_flexcan_interrupt(int irq, void *context,
void *arg);
+static void imxrt_flexcan_interrupt_work(void *arg);
/* Watchdog timer expirations */
#ifdef TX_TIMEOUT_WQ
@@ -578,6 +581,7 @@ static int imxrt_transmit(struct imxrt_driver_s *priv)
#endif
#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
int32_t timeout;
+ uint32_t txmb = 0;
#endif
mbi = RXMBCOUNT + 1;
@@ -596,6 +600,9 @@ static int imxrt_transmit(struct imxrt_driver_s *priv)
mb_bit <<= 1;
mbi++;
+#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
+ txmb++;
+#endif
}
if (mbi == TOTALMBCOUNT)
@@ -613,7 +620,7 @@ static int imxrt_transmit(struct imxrt_driver_s *priv)
{
struct timeval *tv =
(struct timeval *)(priv->dev.d_buf + priv->dev.d_len);
- priv->txmb[mbi].deadline = *tv;
+ priv->txmb[txmb].deadline = *tv;
timeout = (tv->tv_sec - ts.tv_sec)*CLK_TCK
+ ((tv->tv_usec - ts.tv_nsec / 1000)*CLK_TCK) / 1000000;
if (timeout < 0)
@@ -629,15 +636,15 @@ static int imxrt_transmit(struct imxrt_driver_s *priv)
{
timeout = ((CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE / 1000000)
*CLK_TCK);
- priv->txmb[mbi].deadline.tv_sec = ts.tv_sec +
+ priv->txmb[txmb].deadline.tv_sec = ts.tv_sec +
CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE / 1000000;
- priv->txmb[mbi].deadline.tv_usec = (ts.tv_nsec / 1000) +
+ priv->txmb[txmb].deadline.tv_usec = (ts.tv_nsec / 1000) +
CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE % 1000000;
}
else
{
- priv->txmb[mbi].deadline.tv_sec = 0;
- priv->txmb[mbi].deadline.tv_usec = 0;
+ priv->txmb[txmb].deadline.tv_sec = 0;
+ priv->txmb[txmb].deadline.tv_usec = 0;
timeout = -1;
}
}
@@ -726,7 +733,7 @@ static int imxrt_transmit(struct imxrt_driver_s *priv)
if (timeout > 0)
{
- wd_start(&priv->txtimeout[mbi - RXMBCOUNT], timeout + 1,
+ wd_start(&priv->txtimeout[txmb], timeout + 1,
imxrt_txtimeout_expiry, (wdparm_t)priv);
}
#endif
@@ -981,6 +988,9 @@ static void imxrt_txdone(struct imxrt_driver_s *priv)
uint32_t flags;
uint32_t mbi;
uint32_t mb_bit;
+#ifdef TX_TIMEOUT_WQ
+ uint32_t txmb;
+#endif
flags = getreg32(priv->base + IMXRT_CAN_IFLAG1_OFFSET);
flags &= IFLAG1_TX;
@@ -989,8 +999,13 @@ static void imxrt_txdone(struct imxrt_driver_s *priv)
/* Process TX completions */
- mb_bit = 1 << RXMBCOUNT;
- for (mbi = 0; flags && mbi < TXMBCOUNT; mbi++)
+ mbi = RXMBCOUNT + 1;
+ mb_bit = 1 << mbi;
+#ifdef TX_TIMEOUT_WQ
+ txmb = 0;
+#endif
+
+ while (mbi < TOTALMBCOUNT)
{
if (flags & mb_bit)
{
@@ -1003,13 +1018,17 @@ static void imxrt_txdone(struct imxrt_driver_s *priv)
* mailbox be set to inactive
*/
- wd_cancel(&priv->txtimeout[mbi]);
- struct mb_s *mb = flexcan_get_mb(priv, mbi + RXMBCOUNT);
+ wd_cancel(&priv->txtimeout[txmb]);
+ struct mb_s *mb = flexcan_get_mb(priv, mbi);
mb->cs.code = CAN_TXMB_INACTIVE;
#endif
}
mb_bit <<= 1;
+ mbi++;
+#ifdef TX_TIMEOUT_WQ
+ txmb++;
+#endif
}
}
@@ -1046,6 +1065,43 @@ static void imxrt_txdone_work(void *arg)
net_unlock();
}
+/****************************************************************************
+ * Function: imxrt_flexcan_interrupt_work
+ *
+ * Description:
+ * Three interrupt sources will vector this this function:
+ * 1. CAN MB transmit interrupt handler
+ * 2. CAN MB receive interrupt handler
+ * 3.
+ *
+ * Input Parameters:
+ * irq - Number of the IRQ that generated the interrupt
+ * context - Interrupt register state save info (architecture-specific)
+ *
+ * Returned Value:
+ * OK on success
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static void imxrt_flexcan_interrupt_work(void *arg)
+{
+ struct imxrt_driver_s *priv = (struct imxrt_driver_s *)arg;
+
+ uint32_t flags;
+ flags = getreg32(priv->base + IMXRT_CAN_IFLAG1_OFFSET);
+ flags &= IFLAG1_RX;
+
+ net_lock();
+ imxrt_receive(priv, flags);
+ net_unlock();
+
+ /* Mask MB again */
+
+ modifyreg32(priv->base + IMXRT_CAN_IMASK1_OFFSET, 0, IFLAG1_RX);
+}
+
/****************************************************************************
* Function: imxrt_flexcan_interrupt
*
@@ -1079,11 +1135,9 @@ static int imxrt_flexcan_interrupt(int irq, void *context,
if (flags)
{
- /* Process immediately since scheduling a workqueue is too slow
- * which causes us to drop CAN frames
- */
-
- imxrt_receive(priv, flags);
+ modifyreg32(priv->base + IMXRT_CAN_IMASK1_OFFSET, IFLAG1_RX, 0);
+ work_queue(CANRCVWORK, &priv->rcvwork,
+ imxrt_flexcan_interrupt_work, priv, 0);
}
flags = getreg32(priv->base + IMXRT_CAN_IFLAG1_OFFSET);
@@ -1095,9 +1149,7 @@ static int imxrt_flexcan_interrupt(int irq, void *context,
* condition here.
*/
- flags = getreg32(priv->base + IMXRT_CAN_IMASK1_OFFSET);
- flags &= ~(IFLAG1_TX);
- putreg32(flags, priv->base + IMXRT_CAN_IMASK1_OFFSET);
+ modifyreg32(priv->base + IMXRT_CAN_IMASK1_OFFSET, IFLAG1_TX, 0);
work_queue(CANWORK, &priv->irqwork, imxrt_txdone_work, priv, 0);
}
}