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CAN: Add more extensive error reporting information

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Frank Benkert 2016-01-18 12:22:27 -06:00 committed by Gregory Nutt
parent 7670936bbf
commit da33ec6b2e
4 changed files with 108 additions and 13 deletions
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3
ChangeLog
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@ -11323,4 +11323,7 @@
Contributed by Neil Hancock. (2016-01-18)
* arch/arm/src/stm32/stm32_otgfs/hs/host.c: Fix some backward
arguments to stm32_putreg(). Note by Hang Xu (2016-01-18).
* include/nuttx/can.h and several CAN drivers: Add more extensive
error reporting capaibility to the CAN interferace. From Frank
Benkert (21016-01-18).

2
arch

@ -1 +1 @@
Subproject commit 5416a1d51b6e50303414d156accb236a4c6ba11e
Subproject commit 0ecb54e3650597c45b3e759a036e516be556c586

14
drivers/Kconfig
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@ -104,6 +104,20 @@ config CAN_EXTID
Enables support for the 28-bit extended ID. Default Standard 11-bit
IDs.
config ARCH_HAVE_CAN_ERRORS
bool
default n
config CAN_ERRORS
bool "CAN error reporting"
default n
depends on ARCH_HAVE_CAN_ERRORS
---help---
Support CAN error reporting. If this option is selected then CAN
error reporting is enabled. In the event of an error, the ch_error
bit will be set in the CAN message and the following message payload
will include a more detailed description of certain errors.
config CAN_FD
bool "CAN FD"
default n

102
include/nuttx/can.h
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@ -207,19 +207,91 @@
/* CAN Error Indications ************************************************************/
#define CAN_ERROR_SYSTEM (1 << 0) /* Bit 0: Driver internal error */
#define CAN_ERROR_RXLOST (1 << 1) /* Bit 1: RX Message Lost */
#define CAN_ERROR_TXLOST (1 << 2) /* Bit 2: TX Message Lost */
#define CAN_ERROR_ACCESS (1 << 3) /* Bit 3: RAM Access Failure */
#define CAN_ERROR_TIMEOUT (1 << 4) /* Bit 4: Timeout Occurred */
#define CAN_ERROR_PASSIVE (1 << 5) /* Bit 5: Error Passive */
#define CAN_ERROR_CRC (1 << 6) /* Bit 6: RX CRC Error */
#define CAN_ERROR_BIT (1 << 7) /* Bit 7: Bit Error */
#define CAN_ERROR_ACK (1 << 8) /* Bit 8: Acknowledge Error */
#define CAN_ERROR_FORMAT (1 << 9) /* Bit 9: Format Error */
#define CAN_ERROR_STUFF (1 << 10) /* Bit 10: Stuff Error */
#ifdef CONFIG_CAN_ERRORS
/* Bit settings in the ch_error field of the CAN error message */
#define CAN_ERROR_ALL (0x07ff)
# define CAN_ERROR_TXTIMEOUT (1 << 0) /* TX timeout */
# define CAN_ERROR_LOSTARB (1 << 1) /* Lost arbitration (See CAN_ERROR0_* definitions) */
# define CAN_ERROR_CONTROLLER (1 << 2) /* Controller error (See CAN_ERROR1_* definitions) */
# define CAN_ERROR_PROTOCOL (1 << 3) /* Protocol error (see CAN_ERROR1_* and CAN_ERROR3_* definitions) */
# define CAN_ERROR_TRANSCEIVER (1 << 4) /* Transceiver error (See CAN_ERROR4_* definitions) */
# define CAN_ERROR_NOACK (1 << 5) /* No ACK received on transmission */
# define CAN_ERROR_BUSOFF (1 << 6) /* Bus off */
# define CAN_ERROR_BUSERROR (1 << 7) /* Bus error */
# define CAN_ERROR_RESTARTED (1 << 8) /* Controller restarted */
/* The remaining definitions described the error report payload that follows the
* CAN header.
*/
# define CAN_ERROR_DLC (8) /* DLC of error report */
/* Data[0]: Arbitration lost in ch_error. */
# define CAN_ERROR0_UNSPEC 0x00 /* Unspecified error */
# define CAN_ERROR0_BIT(n) (n) /* Bit number in the bit stream */
/* Data[1]: Error status of CAN-controller */
# define CAN_ERROR1_UNSPEC 0x00 /* Unspecified error */
# define CAN_ERROR1_RXOVERFLOW (1 << 0) /* RX buffer overflow */
# define CAN_ERROR1_TXOVERFLOW (1 << 1) /* TX buffer overflow */
# define CAN_ERROR1_RXWARNING (1 << 2) /* Reached warning level for RX errors */
# define CAN_ERROR1_TXWARNING (1 << 3) /* Reached warning level for TX errors */
# define CAN_ERROR1_RXPASSIVE (1 << 4) /* Reached passive level for RX errors */
# define CAN_ERROR1_TXPASSIVE (1 << 5) /* Reached passive level for TX errors */
/* Data[2]: Error in CAN protocol. This provides the type of the error. */
# define CAN_ERROR2_UNSPEC 0x00 /* Unspecified error */
# define CAN_ERROR2_BIT (1 << 0) /* Single bit error */
# define CAN_ERROR2_FORM (1 << 1) /* Frame format error */
# define CAN_ERROR2_STUFF (1 << 2) /* Bit stuffing error */
# define CAN_ERROR2_BIT0 (1 << 3) /* Unable to send dominant bit */
# define CAN_ERROR2_BIT1 (1 << 4) /* Unable to send recessive bit */
# define CAN_ERROR2_OVERLOAD (1 << 5) /* Bus overload */
# define CAN_ERROR2_ACTIVE (1 << 6) /* Active error announcement */
# define CAN_ERROR2_TX (1 << 7) /* Error occured on transmission */
/* Data[3]: Error in CAN protocol. This provides the loation of the error. */
# define CAN_ERROR3_UNSPEC 0x00 /* Unspecified error */
# define CAN_ERROR3_SOF 0x01 /* start of frame */
# define CAN_ERROR3_ID0 0x02 /* ID bits 0-4 */
# define CAN_ERROR3_ID1 0x03 /* ID bits 5-12 */
# define CAN_ERROR3_ID2 0x04 /* ID bits 13-17 */
# define CAN_ERROR3_ID3 0x05 /* ID bits 21-28 */
# define CAN_ERROR3_ID4 0x06 /* ID bits 18-20 */
# define CAN_ERROR3_IDE 0x07 /* Identifier extension */
# define CAN_ERROR3_RTR 0x08 /* RTR */
# define CAN_ERROR3_SRTR 0x09 /* Substitute RTR */
# define CAN_ERROR3_RES0 0x0a /* Reserved bit 0 */
# define CAN_ERROR3_RES1 0x0b /* Reserved bit 1 */
# define CAN_ERROR3_DLC 0x0c /* Data length code */
# define CAN_ERROR3_DATA 0x0d /* Data section */
# define CAN_ERROR3_CRCSEQ 0x0e /* CRC sequence */
# define CAN_ERROR3_CRCDEL 0x0f /* CRC delimiter */
# define CAN_ERROR3_ACK 0x10 /* ACK slot */
# define CAN_ERROR3_ACKDEL 0x11 /* ACK delimiter */
# define CAN_ERROR3_EOF 0x12 /* End of frame */
# define CAN_ERROR3_INTERM 0x13 /* Intermission */
/* error status of CAN-transceiver / data[4] */
# define CAN_ERROR4_UNSPEC 0x00
# define CANH_ERROR4_NOWIRE 0x01
# define CANH_ERROR4_SHORT2BAT 0x02
# define CANH_ERROR4_SHORT2VCC 0x03
# define CANH_ERROR4_SHORT2GND 0x04
# define CANL_ERROR4_NOWIRE 0x10
# define CANL_ERROR4_SHORT2BAT 0x20
# define CANL_ERROR4_SHORT2VCC 0x30
# define CANL_ERROR4_SHORT2GND 0x40
# define CANL_ERROR4_SHORT2CANH 0x50
#endif /* CONFIG_CAN_ERRORS */
/* CAN filter support ***************************************************************/
/* Some CAN hardware supports a notion of prioritizing messages that match filters.
@ -272,6 +344,8 @@
* NOTE: The error indication if valid only on message reports received from the
* CAN driver; it is ignored on transmission. When the error bit is set, the
* message ID is an encoded set of error indications (see CAN_ERROR_* definitions).
* A more detailed report of certain errors then follows in message payload.
* CONFIG_CAN_ERRORS=y is required in order to receive error reports.
*
* The struct can_msg_s holds this information in a user-friendly, unpacked form.
* This is the form that is used at the read() and write() driver interfaces. The
@ -285,7 +359,9 @@ struct can_hdr_s
uint32_t ch_id; /* 11- or 29-bit ID (20- or 3-bits unused) */
uint8_t ch_dlc : 4; /* 4-bit DLC */
uint8_t ch_rtr : 1; /* RTR indication */
#ifdef CONFIG_CAN_ERRORS
uint8_t ch_error : 1; /* 1=ch_id is an error report */
#endif
uint8_t ch_extid : 1; /* Extended ID indication */
uint8_t ch_unused : 1; /* Unused */
} packed_struct;
@ -295,7 +371,9 @@ struct can_hdr_s
uint16_t ch_id; /* 11-bit standard ID (5-bits unused) */
uint8_t ch_dlc : 4; /* 4-bit DLC. May be encoded in CAN_FD mode. */
uint8_t ch_rtr : 1; /* RTR indication */
#ifdef CONFIG_CAN_ERRORS
uint8_t ch_error : 1; /* 1=ch_id is an error report */
#endif
uint8_t ch_unused : 2; /* Unused */
} packed_struct;
#endif