diff options
| -rw-r--r-- | klippy/extras/canbus_stats.py | 12 | ||||
| -rw-r--r-- | src/generic/usb_canbus.c | 60 |
2 files changed, 69 insertions, 3 deletions
diff --git a/klippy/extras/canbus_stats.py b/klippy/extras/canbus_stats.py index b9ee3102..0ddafaf3 100644 --- a/klippy/extras/canbus_stats.py +++ b/klippy/extras/canbus_stats.py @@ -3,6 +3,7 @@ # Copyright (C) 2025 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. +import logging class PrinterCANBusStats: def __init__(self, config): @@ -36,8 +37,19 @@ class PrinterCANBusStats: "get_canbus_status", "canbus_status rx_error=%u tx_error=%u tx_retries=%u" " canbus_bus_state=%u") + # Register usb_canbus_state message handling (for usb to canbus bridge) + self.mcu.register_response(self.handle_usb_canbus_state, + "usb_canbus_state") # Register periodic query timer self.reactor.register_timer(self.query_event, self.reactor.NOW) + def handle_usb_canbus_state(self, params): + discard = params['discard'] + if discard: + logging.warning("USB CANBUS bridge '%s' is discarding!" + % (self.name,)) + else: + logging.warning("USB CANBUS bridge '%s' is no longer discarding." + % (self.name,)) def query_event(self, eventtime): prev_rx = self.status['rx_error'] prev_tx = self.status['tx_error'] diff --git a/src/generic/usb_canbus.c b/src/generic/usb_canbus.c index 9c2893bf..25d41c1b 100644 --- a/src/generic/usb_canbus.c +++ b/src/generic/usb_canbus.c @@ -1,6 +1,6 @@ // Support for Linux "gs_usb" CANbus adapter emulation // -// Copyright (C) 2018-2022 Kevin O'Connor <kevin@koconnor.net> +// Copyright (C) 2018-2025 Kevin O'Connor <kevin@koconnor.net> // // This file may be distributed under the terms of the GNU GPLv3 license. @@ -108,6 +108,10 @@ static struct usbcan_data { uint8_t notify_local, usb_send_busy; uint32_t assigned_id; + // State tracking for messages to be sent from host to canbus + uint32_t bus_send_discard_time; + uint8_t bus_send_state; + // Canbus data from host uint8_t host_status; uint32_t host_pull_pos, host_push_pos; @@ -119,6 +123,10 @@ static struct usbcan_data { } UsbCan; enum { + BSS_READY = 0, BSS_BLOCKING, BSS_DISCARDING +}; + +enum { HS_TX_ECHO = 1, HS_TX_HW = 2, HS_TX_LOCAL = 4, @@ -205,10 +213,56 @@ fill_usb_host_queue(void) } } +// Report bus stall state +static void +note_discard_state(uint32_t discard) +{ + sendf("usb_canbus_state discard=%u", discard); +} + +// Check if canbus queue has gotten stuck +static int +check_need_discard(void) +{ + if (UsbCan.bus_send_state != BSS_BLOCKING) + return 0; + return timer_is_before(UsbCan.bus_send_discard_time, timer_read_time()); +} + +// Attempt to send a message on the canbus +static int +try_canmsg_send(struct canbus_msg *msg) +{ + int ret = canhw_send(msg); + if (ret >= 0) { + // Success + if (UsbCan.bus_send_state == BSS_DISCARDING) + note_discard_state(0); + UsbCan.bus_send_state = BSS_READY; + return ret; + } + + // Unable to send message + if (check_need_discard()) { + // The canbus is stalled - start discarding messages + note_discard_state(1); + UsbCan.bus_send_state = BSS_DISCARDING; + } + if (UsbCan.bus_send_state == BSS_DISCARDING) + // Queue is stalled - just discard the message + return 0; + if (UsbCan.bus_send_state == BSS_READY) { + // Just starting to block - setup stall detection after 50ms + UsbCan.bus_send_state = BSS_BLOCKING; + UsbCan.bus_send_discard_time = timer_read_time() + timer_from_us(50000); + } + return ret; +} + void usbcan_task(void) { - if (!sched_check_wake(&UsbCan.wake)) + if (!sched_check_wake(&UsbCan.wake) && !check_need_discard()) return; // Send any pending hw frames to host @@ -235,7 +289,7 @@ usbcan_task(void) UsbCan.host_status = host_status = host_status & ~HS_TX_LOCAL; } if (host_status & HS_TX_HW) { - int ret = canhw_send(&msg); + int ret = try_canmsg_send(&msg); if (ret < 0) break; UsbCan.host_status = host_status = host_status & ~HS_TX_HW; |