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can.c
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can.c
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/*
* Description: the can part for microcom project
*
* Copyright (C) 2010 by Marc Kleine-Budde <[email protected]>
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details at www.gnu.org
*
*/
#include "config.h"
#include <stdlib.h>
#include <string.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/select.h>
#include <sys/socket.h>
#include <sys/time.h>
#include <sys/types.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include "microcom.h"
struct can_data {
int can_id;
};
static struct can_data data;
static ssize_t can_write(struct ios_ops *ios, const void *buf, size_t count)
{
size_t loopcount;
ssize_t ret = 0, err;
struct can_frame to_can = {
.can_id = data.can_id,
};
while (count > 0) {
loopcount = min(count, sizeof(to_can.data));
memcpy(to_can.data, buf, loopcount);
to_can.can_dlc = loopcount;
retry:
err = write(ios->fd, &to_can, sizeof(to_can));
if (err < 0 && errno == EINTR)
goto retry;
if (err < 0)
return err;
assert(err == sizeof(to_can));
buf += loopcount;
count -= loopcount;
ret += loopcount;
}
return ret;
}
static ssize_t can_read(struct ios_ops *ios, void *buf, size_t count)
{
struct can_frame from_can;
ssize_t ret;
retry:
ret = read(ios->fd, &from_can, sizeof(from_can));
if (ret < 0 && errno != EINTR)
goto retry;
if (ret < 0)
return ret;
assert(count >= from_can.can_dlc);
memcpy(buf, from_can.data, from_can.can_dlc);
return from_can.can_dlc;
}
static int can_set_speed(struct ios_ops *ios, unsigned long speed)
{
return 0;
}
static int can_set_flow(struct ios_ops *ios, int flow)
{
return 0;
}
static int can_send_break(struct ios_ops *ios)
{
return 0;
}
static void can_exit(struct ios_ops *ios)
{
close(ios->fd);
free(ios);
}
struct ios_ops *can_init(char *interface_id)
{
struct ios_ops *ios;
struct ifreq ifr;
struct can_filter filter[] = {
{
.can_mask = CAN_SFF_MASK,
},
};
struct sockaddr_can addr = {
.can_family = PF_CAN,
};
char *interface = interface_id;
char *id_str = NULL;
ios = malloc(sizeof(*ios));
if (!ios)
return NULL;
ios->write = can_write;
ios->read = can_read;
ios->set_speed = can_set_speed;
ios->set_flow = can_set_flow;
ios->send_break = can_send_break;
ios->exit = can_exit;
/*
* the string is supposed to be formated this way:
* interface:rx:tx
*/
if (interface_id)
id_str = strchr(interface, ':');
if (id_str) {
*id_str = 0x0;
id_str++;
filter->can_id = strtol(id_str, NULL, 16) & CAN_SFF_MASK;
id_str = strchr(id_str, ':');
} else {
filter->can_id = DEFAULT_CAN_ID;
}
if (id_str) {
*id_str = 0x0;
id_str++;
data.can_id = strtol(id_str, NULL, 16) & CAN_SFF_MASK;
} else {
data.can_id = filter->can_id;
}
if (!interface || *interface == 0x0)
interface = DEFAULT_CAN_INTERFACE;
/* no cleanups on failure, we exit anyway */
ios->fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (ios->fd < 0) {
perror("socket");
return NULL;
}
if (setsockopt(ios->fd, SOL_CAN_RAW, CAN_RAW_FILTER,
filter, sizeof(filter))) {
perror("setsockopt");
return NULL;
}
strcpy(ifr.ifr_name, interface);
if (ioctl(ios->fd, SIOCGIFINDEX, &ifr)) {
printf("%s: %s\n", interface, strerror(errno));
return NULL;
}
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(ios->fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return NULL;
}
printf("connected to %s (rx_id=%x, tx_id=%x)\n",
interface, filter->can_id, data.can_id);
return ios;
}