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>

diff --git a/drivers/net/can/janz-ican3.c b/drivers/net/can/janz-ican3.c
index 5d04f54..f13bb8d 100644 (file)
--- 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;