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Date: Sat, 09 Nov 2013 04:02:27 +0300
From: Sergei Shtylyov <sergei.shtylyov@...entembedded.com>
To: Wolfgang Grandegger <wg@...ndegger.com>, netdev@...r.kernel.org,
mkl@...gutronix.de, linux-can@...r.kernel.org
CC: linux-sh@...r.kernel.org, vksavl@...il.com
Subject: Re: [PATCH] can: add Renesas R-Car CAN driver
Hello.
On 10/21/2013 11:12 PM, Wolfgang Grandegger wrote:
>> Sorry for the belated reply -- was on vacations.
And again sorry, couldn't get to this due to other things.
>>> thanks for your contribution. The patch looks already quite good. Before
>>> I find time for a detailed review could you please check error handling
>>> and bus-off recovery by reporting the output of "$ candump -td -e
>>> any,0:0,#FFFFFFFF" while sending messages to the device ...
[...]
>> root@...0.0.101:/opt/can-utils# ip -details link show can0
>> 2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN
>> qlen 10 link/can
>> can state ERROR-PASSIVE (berr-counter tx 128 rx 0) restart-ms 0
>> bitrate 297619 sample-point 0.714
> Strange, what bitrate did you configure?
300000.
>> tq 480 prop-seg 2 phase-seg1 2 phase-seg2 2 sjw 1
>> rcar_can: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..1024 brp-inc 1
>> clock 49999999
> Could you please try if the algorithm works better with 50000000.
It doesn't. Look at the logs below:
Bitrate setting:
----------------
actual:
300KHz
ip -details link show can0
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
link/can
can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
bitrate 297619 sample-point 0.714
tq 480 prop-seg 2 phase-seg1 2 phase-seg2 2 sjw 1
rcar_can: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..1024 brp-inc 1
clock 49999999
500KHz:
ip -details link show can0
2: can0: <NOARP,ECHO> mtu 16 qdisc pfifo_fast state DOWN qlen 10
link/can
can state STOPPED (berr-counter tx 0 rx 0) restart-ms 0
bitrate 499999 sample-point 0.800
tq 200 prop-seg 3 phase-seg1 4 phase-seg2 2 sjw 1
rcar_can: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..1024 brp-inc 1
clock 49999999
700KHz:
ip -details link show can0
2: can0: <NOARP,ECHO> mtu 16 qdisc pfifo_fast state DOWN qlen 10
link/can
can state STOPPED (berr-counter tx 0 rx 0) restart-ms 0
bitrate 694444 sample-point 0.750
tq 180 prop-seg 2 phase-seg1 3 phase-seg2 2 sjw 1
rcar_can: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..1024 brp-inc 1
clock 49999999
--------------
Forced:
priv->can.clock.freq = 50000000;
300KHz:
ip -details link show can0
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
link/can
can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
bitrate 297619 sample-point 0.714
tq 480 prop-seg 2 phase-seg1 2 phase-seg2 2 sjw 1
rcar_can: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..1024 brp-inc 1
clock 50000000
root@...0.0.101:/opt#
700KHz:
root@...0.0.101:/opt# ip -details link show can0
2: can0: <NOARP,ECHO> mtu 16 qdisc pfifo_fast state DOWN qlen 10
link/can
can state STOPPED (berr-counter tx 0 rx 0) restart-ms 0
bitrate 694444 sample-point 0.750
tq 180 prop-seg 2 phase-seg1 3 phase-seg2 2 sjw 1
rcar_can: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..1024 brp-inc 1
clock 50000000
>> root@...0.0.101:/opt/can-utils#
>> dmesg:
>> rcar_can rcar_can.0 can0: bitrate error 0.7%
>> rcar_can rcar_can.0 can0: Error warning interrupt
>> rcar_can rcar_can.0 can0: Bus error interrupt:
>> rcar_can rcar_can.0 can0: ACK Error
>> rcar_can rcar_can.0 can0: Error passive interrupt
>>> 2. ... with short-circuited CAN high and low and doing some time later
>>> a manual recovery with "ip link set can0 type can restart"
>> Now we have auto recovery only. Manual recovery was tested with the
>> first driver version and worked.
> What do you mean with "auto recovery"? Auto recovery by the hardware or
> via "restart-ms <ms>"? How do you choose between "manual" and "auto"
> recovery?
This exact test was done with hardware auto-recovery only. No "restart-ms"
was programmed.
>> Terminal 1:
>> root@...0.0.104:/opt/can-utils# ./cangen -n 1 -g 1 can0
>> root@...0.0.104:/opt/can-utils# ./cangen -n 1 -g 1 can0
>> root@...0.0.104:/opt/can-utils# ./cangen -n 1 -g 1 can0
>> root@...0.0.104:/opt/can-utils#
>> Terminal 2:
>> root@...0.0.104:/opt/can-utils# ./candump -td -e any,0:0,#FFFFFFFF
>> (000.000000) can0 2000008C [8] 00 00 08 00 00 00 00 00 ERRORFRAME
>> controller-problem{}
>> protocol-violation{{tx-dominant-bit-error}{}}
>> bus-error
>> (000.021147) can0 20000144 [8] 00 00 00 00 00 00 00 00 ERRORFRAME
>> controller-problem{}
>> bus-off
>> restarted-after-bus-off
> Why does it get "restarted" directly after the bus-off?
Because we have hardware auto-recovery enabled.
>> (011.738522) can0 2000008C [8] 00 00 08 00 00 00 00 00 ERRORFRAME
>> controller-problem{}
> What controller problem? data[1] is not set for some reasom.
Not comments. Looking into it.
>> protocol-violation{{tx-dominant-bit-error}{}}
>> bus-error
>> (000.021163) can0 20000144 [8] 00 00 00 00 00 00 00 00 ERRORFRAME
>> controller-problem{}
>> bus-off
>> restarted-after-bus-off
>> (001.666625) can0 2000008C [8] 00 00 08 00 00 00 00 00 ERRORFRAME
>> controller-problem{}
>> protocol-violation{{tx-dominant-bit-error}{}}
>> bus-error
>> (000.021157) can0 20000144 [8] 00 00 00 00 00 00 00 00 ERRORFRAME
>> controller-problem{}
>> bus-off
>> restarted-after-bus-off
>> dmesg:
>> rcar_can rcar_can.0 can0: Error warning interrupt
>> rcar_can rcar_can.0 can0: Error passive interrupt
>> rcar_can rcar_can.0 can0: Bus error interrupt:
>> rcar_can rcar_can.0 can0: Bit Error (dominant)
>> rcar_can rcar_can.0 can0: Error warning interrupt
>> rcar_can rcar_can.0 can0: Error passive interrupt
> Why are they reported again. You are already in error passive.
Don't know. :-/
[...]
>>> I also wonder if the messages are always sent in order. You could use
>>> the program "canfdtest" [1] from the can-utils for validation.
>> This program is PITA. With the driver workaroung it works:
> What workaround?
Doesn't matter already, got rid of it.
> Wolfgang.
WBR, Sergei
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