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gokrazy-cm3588-kernel/_build/patch/rk3588-1230-can-rockchip-add-rk3588-can-support.patch
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From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: luch00 <1579567540@qq.com>
Date: Mon, 6 Jul 2026 15:50:11 +0800
Subject: can: rockchip: add RK3588 CAN support
Add support for the RK3588 CAN controller by introducing a dedicated
model ID and OF match entry.
The block is closely related to the existing RK3568 variants, but it
cannot reuse their match data unchanged. In particular, RK3588
encodes RX_FIFO_CNT in bits 7:5 instead of 6:4, so the RX path needs
SoC-specific handling.
The RX FIFO count bitfield difference was found by comparing Rockchip's
vendor kernel 6.1 CAN support for RK3568 and RK3588. Runtime testing on
RK3588 also confirms that bits 7:5 are needed.
Enable the existing erratum 5 empty-FIFO workaround for RK3588.
Heiko reproduced erratum 6 on RK3588, so enable that workaround as
well.
CAN-FD is enabled for RK3588. The BRS bus-off issue seen in earlier
testing was caused by the transmit delay compensation setting. With
RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION programmed to 0 on RK3588,
CAN-FD with BRS works in local testing.
Tested on an embedfire,rk3588-lubancat-5io board with can0/can1
directly connected, no other device on the bus, 60 Ohm bus
termination, and a 300 MHz CAN clock. Runtime testing used 500 kbit/s
arbitration bitrate and 1, 3 and 5 Mbit/s data bitrates. The 5 Mbit/s
data phase test ran for 15 minutes with cangen using BRS and
cansequence on the receiver. Both interfaces reported 9528377 packets
and 150667356 bytes, with 0 bus-errors, 0 error-warn, 0 error-pass and
0 bus-off events.
Co-developed-by: Heiko Stuebner <heiko.stuebner@cherry.de>
Signed-off-by: Heiko Stuebner <heiko.stuebner@cherry.de>
Signed-off-by: luch00 <1579567540@qq.com>
---
Documentation/devicetree/bindings/net/can/rockchip,rk3568v2-canfd.yaml | 4 +-
arch/arm64/boot/dts/rockchip/rk3588-base.dtsi | 39 ++++++++++
drivers/net/can/rockchip/rockchip_canfd-core.c | 17 ++++
drivers/net/can/rockchip/rockchip_canfd-rx.c | 5 +-
drivers/net/can/rockchip/rockchip_canfd.h | 14 +++-
5 files changed, 76 insertions(+), 3 deletions(-)
diff --git a/Documentation/devicetree/bindings/net/can/rockchip,rk3568v2-canfd.yaml b/Documentation/devicetree/bindings/net/can/rockchip,rk3568v2-canfd.yaml
index 111111111111..222222222222 100644
--- a/Documentation/devicetree/bindings/net/can/rockchip,rk3568v2-canfd.yaml
+++ b/Documentation/devicetree/bindings/net/can/rockchip,rk3568v2-canfd.yaml
@@ -16,7 +16,9 @@ allOf:
properties:
compatible:
oneOf:
- - const: rockchip,rk3568v2-canfd
+ - enum:
+ - rockchip,rk3568v2-canfd
+ - rockchip,rk3588-canfd
- items:
- const: rockchip,rk3568v3-canfd
- const: rockchip,rk3568v2-canfd
diff --git a/arch/arm64/boot/dts/rockchip/rk3588-base.dtsi b/arch/arm64/boot/dts/rockchip/rk3588-base.dtsi
index 111111111111..222222222222 100644
--- a/arch/arm64/boot/dts/rockchip/rk3588-base.dtsi
+++ b/arch/arm64/boot/dts/rockchip/rk3588-base.dtsi
@@ -2648,6 +2648,45 @@ dmac1: dma-controller@fea30000 {
#dma-cells = <1>;
};
+ can0: can@fea50000 {
+ compatible = "rockchip,rk3588-canfd";
+ reg = <0x0 0xfea50000 0x0 0x1000>;
+ interrupts = <GIC_SPI 341 IRQ_TYPE_LEVEL_HIGH 0>;
+ clocks = <&cru CLK_CAN0>, <&cru PCLK_CAN0>;
+ clock-names = "baud", "pclk";
+ resets = <&cru SRST_CAN0>, <&cru SRST_P_CAN0>;
+ reset-names = "core", "apb";
+ pinctrl-names = "default";
+ pinctrl-0 = <&can0m0_pins>;
+ status = "disabled";
+ };
+
+ can1: can@fea60000 {
+ compatible = "rockchip,rk3588-canfd";
+ reg = <0x0 0xfea60000 0x0 0x1000>;
+ interrupts = <GIC_SPI 342 IRQ_TYPE_LEVEL_HIGH 0>;
+ clocks = <&cru CLK_CAN1>, <&cru PCLK_CAN1>;
+ clock-names = "baud", "pclk";
+ resets = <&cru SRST_CAN1>, <&cru SRST_P_CAN1>;
+ reset-names = "core", "apb";
+ pinctrl-names = "default";
+ pinctrl-0 = <&can1m0_pins>;
+ status = "disabled";
+ };
+
+ can2: can@fea70000 {
+ compatible = "rockchip,rk3588-canfd";
+ reg = <0x0 0xfea70000 0x0 0x1000>;
+ interrupts = <GIC_SPI 343 IRQ_TYPE_LEVEL_HIGH 0>;
+ clocks = <&cru CLK_CAN2>, <&cru PCLK_CAN2>;
+ clock-names = "baud", "pclk";
+ resets = <&cru SRST_CAN2>, <&cru SRST_P_CAN2>;
+ reset-names = "core", "apb";
+ pinctrl-names = "default";
+ pinctrl-0 = <&can2m0_pins>;
+ status = "disabled";
+ };
+
i2c1: i2c@fea90000 {
compatible = "rockchip,rk3588-i2c", "rockchip,rk3399-i2c";
reg = <0x0 0xfea90000 0x0 0x1000>;
diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
index 111111111111..222222222222 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-core.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -50,6 +50,12 @@ static const struct rkcanfd_devtype_data rkcanfd_devtype_data_rk3568v3 = {
RKCANFD_QUIRK_CANFD_BROKEN,
};
+static const struct rkcanfd_devtype_data rkcanfd_devtype_data_rk3588 = {
+ .model = RKCANFD_MODEL_RK3588,
+ .quirks = RKCANFD_QUIRK_RK3568_ERRATUM_5 |
+ RKCANFD_QUIRK_RK3568_ERRATUM_6,
+};
+
static const char *__rkcanfd_get_model_str(enum rkcanfd_model model)
{
switch (model) {
@@ -57,6 +63,8 @@ static const char *__rkcanfd_get_model_str(enum rkcanfd_model model)
return "rk3568v2";
case RKCANFD_MODEL_RK3568V3:
return "rk3568v3";
+ case RKCANFD_MODEL_RK3588:
+ return "rk3588";
}
return "<unknown>";
@@ -148,6 +156,12 @@ static int rkcanfd_set_bittiming(struct rkcanfd_priv *priv)
rkcanfd_write(priv, RKCANFD_REG_FD_DATA_BITTIMING, reg_dbt);
+ /* RK3588 CAN-FD BRS works with TDC disabled. */
+ if (priv->devtype_data.model == RKCANFD_MODEL_RK3588) {
+ rkcanfd_write(priv, RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION, 0);
+ return 0;
+ }
+
tdco = (priv->can.clock.freq / dbt->bitrate) * 2 / 3;
tdco = min(tdco, FIELD_MAX(RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION_TDC_OFFSET));
@@ -846,6 +860,9 @@ static const struct of_device_id rkcanfd_of_match[] = {
}, {
.compatible = "rockchip,rk3568v3-canfd",
.data = &rkcanfd_devtype_data_rk3568v3,
+ }, {
+ .compatible = "rockchip,rk3588-canfd",
+ .data = &rkcanfd_devtype_data_rk3588,
}, {
/* sentinel */
},
diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
index 111111111111..222222222222 100644
--- a/drivers/net/can/rockchip/rockchip_canfd-rx.c
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -281,7 +281,10 @@ 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);
+ if (priv->devtype_data.model == RKCANFD_MODEL_RK3588)
+ return FIELD_GET(RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_CNT_RK3588, reg);
+
+ return FIELD_GET(RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_CNT_RK3568, reg);
}
int rkcanfd_handle_rx_int(struct rkcanfd_priv *priv)
diff --git a/drivers/net/can/rockchip/rockchip_canfd.h b/drivers/net/can/rockchip/rockchip_canfd.h
index 111111111111..222222222222 100644
--- a/drivers/net/can/rockchip/rockchip_canfd.h
+++ b/drivers/net/can/rockchip/rockchip_canfd.h
@@ -214,7 +214,8 @@
#define RKCANFD_REG_TXEVENT_FIFO_CTRL_TXE_FIFO_ENABLE BIT(0)
#define RKCANFD_REG_RX_FIFO_CTRL 0x118
-#define RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_CNT GENMASK(6, 4)
+#define RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_CNT_RK3568 GENMASK(6, 4)
+#define RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_CNT_RK3588 GENMASK(7, 5)
#define RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_FULL_WATERMARK GENMASK(3, 1)
#define RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_ENABLE BIT(0)
@@ -331,6 +332,11 @@
* rarely with the standard clock of 300 MHz, but almost immediately
* at 80 MHz.
*
+ * Tests on the rk3588 show the same empty FIFO condition.
+ * In that setup rx_fifo_empty_errors increments when the bus
+ * transitions from idle to high CAN-FD load and stops growing once
+ * the bus reaches a steady state.
+ *
* To workaround this problem, check for empty FIFO with
* rkcanfd_fifo_header_empty() in rkcanfd_handle_rx_int_one() and exit
* early.
@@ -344,6 +350,8 @@
/* Erratum 6: The CAN controller's transmission of extended frames may
* intermittently change into standard frames
*
+ * Tests on the rk3588 show the same problem.
+ *
* Work around this issue by activating self reception (RXSTX). If we
* have pending TX CAN frames, check all RX'ed CAN frames in
* rkcanfd_rxstx_filter().
@@ -424,6 +432,9 @@
* cansequence -rv -i 1
*
* - TX starvation after repeated Bus-Off
+ * Tests on the rk3588 show the same problem. In a
+ * 10-cycle Bus-Off recovery test, 9 cycles failed to send after the
+ * controller restarted.
* To reproduce:
* host:
* sleep 3 && cangen can0 -I2 -Li -Di -p10 -g 0.0
@@ -434,6 +445,7 @@
enum rkcanfd_model {
RKCANFD_MODEL_RK3568V2 = 0x35682,
RKCANFD_MODEL_RK3568V3 = 0x35683,
+ RKCANFD_MODEL_RK3588 = 0x3588,
};
struct rkcanfd_devtype_data {
--
Armbian
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