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authorAndreas Gröger <andreas24groeger@gmail.com>2016-05-06 10:04:37 +0200
committerMarc Kleine-Budde <mkl@pengutronix.de>2016-05-09 11:07:28 +0200
commitb16e368ed6193d8d1774b4cc874d7892d55c4780 (patch)
tree44ac40c4a84432521612c7ca648e9f806de0dcc4
parentbb208f144cf3f59d8f89a09a80efd04389718907 (diff)
can: janz-ican3: error handling for CAL/CANopen firmware
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>
-rw-r--r--drivers/net/can/janz-ican3.c104
1 files 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;