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can: janz-ican3: error handling for CAL/CANopen firmware

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My patch of May 2015 was missing the changed handling of error
indications. With CAL/CANopen firmware the NMTS-SlaveEventIndication
must be used instead of CAN-EventIndication. An appropriate slave node
must be configured to report the errors.

In our department (about 15 development systems with Janz ICAN3-
modules with firmware 1.48, my system also with firmware ICANOS 1.35)
we use the driver with this patch for about one year: no known problems.

Signed-off-by: Andreas Gröger <andreas24groeger@gmail.com>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
This commit is contained in:
Andreas Gröger 2016-05-06 10:04:37 +02:00 committed by Marc Kleine-Budde
parent bb208f144c
commit b16e368ed6
1 changed files with 95 additions and 9 deletions
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104
drivers/net/can/janz-ican3.c
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@ -84,6 +84,7 @@
#define MSG_COFFREQ 0x42 #define MSG_COFFREQ 0x42
#define MSG_CONREQ 0x43 #define MSG_CONREQ 0x43
#define MSG_CCONFREQ 0x47 #define MSG_CCONFREQ 0x47
#define MSG_NMTS 0xb0
#define MSG_LMTS 0xb4 #define MSG_LMTS 0xb4
/* /*
@ -130,6 +131,22 @@
#define ICAN3_CAN_DLC_MASK 0x0f #define ICAN3_CAN_DLC_MASK 0x0f
/* Janz ICAN3 NMTS subtypes */
#define NMTS_CREATE_NODE_REQ 0x0
#define NMTS_SLAVE_STATE_IND 0x8
#define NMTS_SLAVE_EVENT_IND 0x9
/* Janz ICAN3 LMTS subtypes */
#define LMTS_BUSON_REQ 0x0
#define LMTS_BUSOFF_REQ 0x1
#define LMTS_CAN_CONF_REQ 0x2
/* Janz ICAN3 NMTS Event indications */
#define NE_LOCAL_OCCURRED 0x3
#define NE_LOCAL_RESOLVED 0x2
#define NE_REMOTE_OCCURRED 0xc
#define NE_REMOTE_RESOLVED 0x8
/* /*
* SJA1000 Status and Error Register Definitions * SJA1000 Status and Error Register Definitions
* *
@ -800,21 +817,41 @@ static int ican3_set_bus_state(struct ican3_dev *mod, bool on)
return ican3_send_msg(mod, &msg); return ican3_send_msg(mod, &msg);
} else if (mod->fwtype == ICAN3_FWTYPE_CAL_CANOPEN) { } else if (mod->fwtype == ICAN3_FWTYPE_CAL_CANOPEN) {
/* bittiming + can-on/off request */
memset(&msg, 0, sizeof(msg)); memset(&msg, 0, sizeof(msg));
msg.spec = MSG_LMTS; msg.spec = MSG_LMTS;
if (on) { if (on) {
msg.len = cpu_to_le16(4); msg.len = cpu_to_le16(4);
msg.data[0] = 0; msg.data[0] = LMTS_BUSON_REQ;
msg.data[1] = 0; msg.data[1] = 0;
msg.data[2] = btr0; msg.data[2] = btr0;
msg.data[3] = btr1; msg.data[3] = btr1;
} else { } else {
msg.len = cpu_to_le16(2); msg.len = cpu_to_le16(2);
msg.data[0] = 1; msg.data[0] = LMTS_BUSOFF_REQ;
msg.data[1] = 0; msg.data[1] = 0;
} }
res = ican3_send_msg(mod, &msg);
if (res)
return res;
return ican3_send_msg(mod, &msg); if (on) {
/* create NMT Slave Node for error processing
* class 2 (with error capability, see CiA/DS203-1)
* id 1
* name locnod1 (must be exactly 7 bytes)
*/
memset(&msg, 0, sizeof(msg));
msg.spec = MSG_NMTS;
msg.len = cpu_to_le16(11);
msg.data[0] = NMTS_CREATE_NODE_REQ;
msg.data[1] = 0;
msg.data[2] = 2; /* node class */
msg.data[3] = 1; /* node id */
strcpy(msg.data + 4, "locnod1"); /* node name */
return ican3_send_msg(mod, &msg);
}
return 0;
} }
return -ENOTSUPP; return -ENOTSUPP;
} }
@ -849,12 +886,23 @@ static int ican3_set_buserror(struct ican3_dev *mod, u8 quota)
{ {
struct ican3_msg msg; struct ican3_msg msg;
memset(&msg, 0, sizeof(msg)); if (mod->fwtype == ICAN3_FWTYPE_ICANOS) {
msg.spec = MSG_CCONFREQ; memset(&msg, 0, sizeof(msg));
msg.len = cpu_to_le16(2); msg.spec = MSG_CCONFREQ;
msg.data[0] = 0x00; msg.len = cpu_to_le16(2);
msg.data[1] = quota; msg.data[0] = 0x00;
msg.data[1] = quota;
} else if (mod->fwtype == ICAN3_FWTYPE_CAL_CANOPEN) {
memset(&msg, 0, sizeof(msg));
msg.spec = MSG_LMTS;
msg.len = cpu_to_le16(4);
msg.data[0] = LMTS_CAN_CONF_REQ;
msg.data[1] = 0x00;
msg.data[2] = 0x00;
msg.data[3] = quota;
} else {
return -ENOTSUPP;
}
return ican3_send_msg(mod, &msg); return ican3_send_msg(mod, &msg);
} }
@ -1150,6 +1198,41 @@ static void ican3_handle_inquiry(struct ican3_dev *mod, struct ican3_msg *msg)
} }
} }
/* Handle NMTS Slave Event Indication Messages from the firmware */
static void ican3_handle_nmtsind(struct ican3_dev *mod, struct ican3_msg *msg)
{
u16 subspec;
subspec = msg->data[0] + msg->data[1] * 0x100;
if (subspec == NMTS_SLAVE_EVENT_IND) {
switch (msg->data[2]) {
case NE_LOCAL_OCCURRED:
case NE_LOCAL_RESOLVED:
/* now follows the same message as Raw ICANOS CEVTIND
* shift the data at the same place and call this method
*/
le16_add_cpu(&msg->len, -3);
memmove(msg->data, msg->data + 3, le16_to_cpu(msg->len));
ican3_handle_cevtind(mod, msg);
break;
case NE_REMOTE_OCCURRED:
case NE_REMOTE_RESOLVED:
/* should not occurre, ignore */
break;
default:
netdev_warn(mod->ndev, "unknown NMTS event indication %x\n",
msg->data[2]);
break;
}
} else if (subspec == NMTS_SLAVE_STATE_IND) {
/* ignore state indications */
} else {
netdev_warn(mod->ndev, "unhandled NMTS indication %x\n",
subspec);
return;
}
}
static void ican3_handle_unknown_message(struct ican3_dev *mod, static void ican3_handle_unknown_message(struct ican3_dev *mod,
struct ican3_msg *msg) struct ican3_msg *msg)
{ {
@ -1179,6 +1262,9 @@ static void ican3_handle_message(struct ican3_dev *mod, struct ican3_msg *msg)
case MSG_INQUIRY: case MSG_INQUIRY:
ican3_handle_inquiry(mod, msg); ican3_handle_inquiry(mod, msg);
break; break;
case MSG_NMTS:
ican3_handle_nmtsind(mod, msg);
break;
default: default:
ican3_handle_unknown_message(mod, msg); ican3_handle_unknown_message(mod, msg);
break; break;