* [PATCH v2] can: janz-ican3: error handling for CAL/CANopen firmware
@ 2016-05-08 17:48 Marc Kleine-Budde
2016-05-09 18:04 ` Andreas Gröger
0 siblings, 1 reply; 3+ messages in thread
From: Marc Kleine-Budde @ 2016-05-08 17:48 UTC (permalink / raw)
Cc: linux-can, Andreas Gröger, Marc Kleine-Budde
From: Andreas Gröger <andreas24groeger@gmail.com>
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>
---
Changes since v1:
- fix endianness handling in ican3_handle_nmtsind()
Andreas, please test this version.
Marc
drivers/net/can/janz-ican3.c | 104 +++++++++++++++++++++++++++++++++++++++----
1 file changed, 95 insertions(+), 9 deletions(-)
diff --git a/drivers/net/can/janz-ican3.c b/drivers/net/can/janz-ican3.c
index 5d04f5464faf..f13bb8d9bb84 100644
--- a/drivers/net/can/janz-ican3.c
+++ b/drivers/net/can/janz-ican3.c
@@ -84,6 +84,7 @@
#define MSG_COFFREQ 0x42
#define MSG_CONREQ 0x43
#define MSG_CCONFREQ 0x47
+#define MSG_NMTS 0xb0
#define MSG_LMTS 0xb4
/*
@@ -130,6 +131,22 @@
#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
*
@@ -800,21 +817,41 @@ static int ican3_set_bus_state(struct ican3_dev *mod, bool on)
return ican3_send_msg(mod, &msg);
} else if (mod->fwtype == ICAN3_FWTYPE_CAL_CANOPEN) {
+ /* bittiming + can-on/off request */
memset(&msg, 0, sizeof(msg));
msg.spec = MSG_LMTS;
if (on) {
msg.len = cpu_to_le16(4);
- msg.data[0] = 0;
+ msg.data[0] = LMTS_BUSON_REQ;
msg.data[1] = 0;
msg.data[2] = btr0;
msg.data[3] = btr1;
} else {
msg.len = cpu_to_le16(2);
- msg.data[0] = 1;
+ msg.data[0] = LMTS_BUSOFF_REQ;
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;
}
@@ -849,12 +886,23 @@ static int ican3_set_buserror(struct ican3_dev *mod, u8 quota)
{
struct ican3_msg msg;
- memset(&msg, 0, sizeof(msg));
- msg.spec = MSG_CCONFREQ;
- msg.len = cpu_to_le16(2);
- msg.data[0] = 0x00;
- msg.data[1] = quota;
-
+ if (mod->fwtype == ICAN3_FWTYPE_ICANOS) {
+ memset(&msg, 0, sizeof(msg));
+ msg.spec = MSG_CCONFREQ;
+ msg.len = cpu_to_le16(2);
+ 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);
}
@@ -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,
struct ican3_msg *msg)
{
@@ -1179,6 +1262,9 @@ static void ican3_handle_message(struct ican3_dev *mod, struct ican3_msg *msg)
case MSG_INQUIRY:
ican3_handle_inquiry(mod, msg);
break;
+ case MSG_NMTS:
+ ican3_handle_nmtsind(mod, msg);
+ break;
default:
ican3_handle_unknown_message(mod, msg);
break;
--
2.8.1
^ permalink raw reply related [flat|nested] 3+ messages in thread
* Re: [PATCH v2] can: janz-ican3: error handling for CAL/CANopen firmware
2016-05-08 17:48 [PATCH v2] can: janz-ican3: error handling for CAL/CANopen firmware Marc Kleine-Budde
@ 2016-05-09 18:04 ` Andreas Gröger
2016-05-09 18:20 ` Marc Kleine-Budde
0 siblings, 1 reply; 3+ messages in thread
From: Andreas Gröger @ 2016-05-09 18:04 UTC (permalink / raw)
To: linux-can
I have tested it, works fine. All NMTS indications are forwarded correctly to ican3_handle_cevtind.
Remark: I have only tested on little-endian machines
Regards Andreas
Am 08.05.2016 um 19:48 schrieb Marc Kleine-Budde:
> From: Andreas Gröger <andreas24groeger@gmail.com>
>
> 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>
> ---
> Changes since v1:
> - fix endianness handling in ican3_handle_nmtsind()
>
> Andreas, please test this version.
>
> Marc
>
> drivers/net/can/janz-ican3.c | 104 +++++++++++++++++++++++++++++++++++++++----
> 1 file changed, 95 insertions(+), 9 deletions(-)
>
> diff --git a/drivers/net/can/janz-ican3.c b/drivers/net/can/janz-ican3.c
> index 5d04f5464faf..f13bb8d9bb84 100644
> --- a/drivers/net/can/janz-ican3.c
> +++ b/drivers/net/can/janz-ican3.c
> @@ -84,6 +84,7 @@
> #define MSG_COFFREQ 0x42
> #define MSG_CONREQ 0x43
> #define MSG_CCONFREQ 0x47
> +#define MSG_NMTS 0xb0
> #define MSG_LMTS 0xb4
>
> /*
> @@ -130,6 +131,22 @@
>
> #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
> *
> @@ -800,21 +817,41 @@ static int ican3_set_bus_state(struct ican3_dev *mod, bool on)
> return ican3_send_msg(mod, &msg);
>
> } else if (mod->fwtype == ICAN3_FWTYPE_CAL_CANOPEN) {
> + /* bittiming + can-on/off request */
> memset(&msg, 0, sizeof(msg));
> msg.spec = MSG_LMTS;
> if (on) {
> msg.len = cpu_to_le16(4);
> - msg.data[0] = 0;
> + msg.data[0] = LMTS_BUSON_REQ;
> msg.data[1] = 0;
> msg.data[2] = btr0;
> msg.data[3] = btr1;
> } else {
> msg.len = cpu_to_le16(2);
> - msg.data[0] = 1;
> + msg.data[0] = LMTS_BUSOFF_REQ;
> 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;
> }
> @@ -849,12 +886,23 @@ static int ican3_set_buserror(struct ican3_dev *mod, u8 quota)
> {
> struct ican3_msg msg;
>
> - memset(&msg, 0, sizeof(msg));
> - msg.spec = MSG_CCONFREQ;
> - msg.len = cpu_to_le16(2);
> - msg.data[0] = 0x00;
> - msg.data[1] = quota;
> -
> + if (mod->fwtype == ICAN3_FWTYPE_ICANOS) {
> + memset(&msg, 0, sizeof(msg));
> + msg.spec = MSG_CCONFREQ;
> + msg.len = cpu_to_le16(2);
> + 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);
> }
>
> @@ -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,
> struct ican3_msg *msg)
> {
> @@ -1179,6 +1262,9 @@ static void ican3_handle_message(struct ican3_dev *mod, struct ican3_msg *msg)
> case MSG_INQUIRY:
> ican3_handle_inquiry(mod, msg);
> break;
> + case MSG_NMTS:
> + ican3_handle_nmtsind(mod, msg);
> + break;
> default:
> ican3_handle_unknown_message(mod, msg);
> break;
>
^ permalink raw reply [flat|nested] 3+ messages in thread
* Re: [PATCH v2] can: janz-ican3: error handling for CAL/CANopen firmware
2016-05-09 18:04 ` Andreas Gröger
@ 2016-05-09 18:20 ` Marc Kleine-Budde
0 siblings, 0 replies; 3+ messages in thread
From: Marc Kleine-Budde @ 2016-05-09 18:20 UTC (permalink / raw)
To: Andreas Gröger, linux-can
[-- Attachment #1.1: Type: text/plain, Size: 504 bytes --]
On 05/09/2016 08:04 PM, Andreas Gröger wrote:
> I have tested it, works fine. All NMTS indications are forwarded
> correctly to ican3_handle_cevtind. Remark: I have only tested on
> little-endian machines
Thanks,
Marc
--
Pengutronix e.K. | Marc Kleine-Budde |
Industrial Linux Solutions | Phone: +49-231-2826-924 |
Vertretung West/Dortmund | Fax: +49-5121-206917-5555 |
Amtsgericht Hildesheim, HRA 2686 | http://www.pengutronix.de |
[-- Attachment #2: OpenPGP digital signature --]
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2016-05-08 17:48 [PATCH v2] can: janz-ican3: error handling for CAL/CANopen firmware Marc Kleine-Budde
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2016-05-09 18:20 ` Marc Kleine-Budde
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