* UART-LIN master implementation
*/
+
+#define USE_TERMIOS2
+
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <string.h>
-#include <termios.h>
#include <stdint.h>
#include <sys/ioctl.h>
-#include <linux/serial.h> /* struct struct_serial */
#include <unistd.h>
#include <fcntl.h>
#include <time.h> /* clock_nanosleep */
+#include <getopt.h>
+
+#ifndef USE_TERMIOS2
+ #include <linux/serial.h> /* struct struct_serial */
+ #include <termios.h>
+#else /*USE_TERMIOS2*/
+ #include <asm/ioctls.h>
+ #include <asm/termbits.h>
+#endif /*USE_TERMIOS2*/
+
+#include "lin_common.h"
#define LIN_HDR_SIZE 2
-#define LIN_PKT_MAX_SIZE 16 /* FIXME */
-const int lin_baudrate = 19200;
-int lin_break_baud = 0;
+struct sllin_tty {
+ int tty_fd;
+
+#ifndef USE_TERMIOS2
+ struct termios tattr_orig;
+ struct termios tattr;
+ struct serial_struct sattr;
+#else /*USE_TERMIOS2*/
+ struct termios2 tattr_orig;
+ struct termios2 tattr;
+#endif /*USE_TERMIOS2*/
+};
+
+struct sllin_tty sllin_tty_data;
+
+struct sllin sllin_data = {
+ .tty = &sllin_tty_data,
+};
-struct termios tattr_orig;
-struct termios tattr;
-struct serial_struct sattr;
/* ------------------------------------------------------------------------ */
-static void reset_input_mode(int tty)
+
+#ifndef USE_TERMIOS2
+
+static void tty_reset_mode(struct sllin_tty *tty)
{
- tcsetattr(tty, TCSANOW, &tattr_orig);
+ tcsetattr(tty->tty_fd, TCSANOW, &tty->tattr_orig);
}
-static void set_uart_baudrate(int tty, int speed)
+static int tty_set_baudrate(struct sllin_tty *tty, int baudrate)
{
/* Set "non-standard" baudrate in serial_struct struct */
- sattr.flags &= (~ASYNC_SPD_MASK);
- sattr.flags |= (ASYNC_SPD_CUST);
- sattr.custom_divisor = ((sattr.baud_base) / speed);
- if (ioctl(tty, TIOCSSERIAL, &sattr) < 0)
+ tty->sattr.flags &= (~ASYNC_SPD_MASK);
+ tty->sattr.flags |= (ASYNC_SPD_CUST);
+ tty->sattr.custom_divisor = (tty->sattr.baud_base + baudrate / 2) / baudrate;
+ if (ioctl(tty->tty_fd, TIOCSSERIAL, &tty->sattr) < 0)
{
- perror("ioctl()");
+ perror("ioctl TIOCSSERIAL");
+ return -1;
}
-// cfsetispeed(&tattr, B38400);
-// cfsetospeed(&tattr, B38400);
+// cfsetispeed(&tty->tattr, B38400);
+// cfsetospeed(&tty->tattr, B38400);
//
-// if (tcsetattr(tty, TCSANOW, &tattr) == -1)
+// if (tcsetattr(tty->tty_fd, TCSANOW, &tty->tattr) == -1) {
// perror("tcsetattr()");
+// return -1;
+// }
+
+ return 0;
+}
+
+static int tty_flush(struct sllin_tty *tty, int queue_selector)
+{
+ return tcflush(tty->tty_fd, queue_selector);
+}
+
+#else /*USE_TERMIOS2*/
+
+static void tty_reset_mode(struct sllin_tty *tty)
+{
+ ioctl(tty->tty_fd, TCSETS2, &tty->tattr_orig);
+}
+
+static int tty_set_baudrate(struct sllin_tty *tty, int baudrate)
+{
+ tty->tattr.c_ospeed = baudrate;
+ tty->tattr.c_ispeed = baudrate;
+ tty->tattr.c_cflag &= ~CBAUD;
+ tty->tattr.c_cflag |= BOTHER;
+
+ if(ioctl(tty->tty_fd, TCSETS2, &tty->tattr)) {
+ perror("ioctl TIOCSSERIAL");
+ return -1;
+ }
+
+ return 0;
}
-static void set_input_mode(int tty)
+static int tty_flush(struct sllin_tty *tty, int queue_selector)
{
+ return ioctl(tty->tty_fd, TCFLSH, queue_selector);
+}
+
+#endif /*USE_TERMIOS2*/
+
+
+static int tty_set_mode(struct sllin_tty *tty, int baudrate)
+{
+ if(!isatty(tty->tty_fd)) {
+ fprintf(stderr, "Not a terminal.\n");
+ return -1;
+ }
+
/* Flush input and output queues. */
- if (tcflush(tty, TCIOFLUSH) != 0) {
+ if (tty_flush(tty, TCIOFLUSH) != 0) {
perror("tcflush");
- exit(EXIT_FAILURE);
+ return -1;;
}
- if(!isatty(tty)) {
- fprintf(stderr, "Not a terminal.\n");
- exit(EXIT_FAILURE);
+#ifndef USE_TERMIOS2
+
+ /* Save settings for later restoring */
+ if (tcgetattr(tty->tty_fd, &tty->tattr_orig) < 0) {
+ perror("tcgetattr");
+ return -1;
}
+ /* Save settings into global variables for later use */
+ if (tcgetattr(tty->tty_fd, &tty->tattr) < 0) {
+ perror("tcgetattr");
+ return -1;
+ }
+
+ /* Save settings into global variables for later use */
+ if (ioctl(tty->tty_fd, TIOCGSERIAL, &tty->sattr) < 0) {
+ perror("ioctl TIOCGSERIAL");
+ }
+
+#else /*USE_TERMIOS2*/
+
/* Save settings for later restoring */
- tcgetattr(tty, &tattr_orig);
+ if (ioctl(tty->tty_fd, TCGETS2, &tty->tattr_orig) < 0) {
+ perror("ioctl TCGETS2");
+ return -1;
+ }
/* Save settings into global variables for later use */
- tcgetattr(tty, &tattr);
- if (ioctl(tty, TIOCGSERIAL, &sattr) < 0)
- perror("ioctl()");
+ if (ioctl(tty->tty_fd, TCGETS2, &tty->tattr) < 0) {
+ perror("ioctl TCGETS2");
+ return -1;
+ }
+
+#endif /*USE_TERMIOS2*/
+
/* Set RAW mode */
#if 0
- tattr.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP
+ tty->tattr.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP
| INLCR | IGNCR | ICRNL | IXON);
- tattr.c_oflag &= ~OPOST;
- tattr.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
- tattr.c_cflag &= ~(CSIZE | PARENB);
- tattr.c_cflag |= CS8;
+ tty->tattr.c_oflag &= ~OPOST;
+ tty->tattr.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
+ tty->tattr.c_cflag &= ~(CSIZE | PARENB);
+ tty->tattr.c_cflag |= CS8;
- tattr.c_cc[VMIN] = 1;
- tattr.c_cc[VTIME] = 0;
+ tty->tattr.c_cc[VMIN] = 1;
+ tty->tattr.c_cc[VTIME] = 0;
#else
/* 8 data bits */
/* Enable receiver */
/* Ignore CD (local connection) */
- tattr.c_cflag = CS8 | CREAD | CLOCAL;
- tattr.c_iflag = 0;
- tattr.c_oflag = NL0 | CR0 | TAB0 | BS0 | VT0 | FF0;
- tattr.c_lflag = 0;
-
- tattr.c_cc[VINTR] = '\0';
- tattr.c_cc[VQUIT] = '\0';
- tattr.c_cc[VERASE] = '\0';
- tattr.c_cc[VKILL] = '\0';
- tattr.c_cc[VEOF] = '\0';
- tattr.c_cc[VTIME] = '\0';
- tattr.c_cc[VMIN] = 1;
- tattr.c_cc[VSWTC] = '\0';
- tattr.c_cc[VSTART] = '\0';
- tattr.c_cc[VSTOP] = '\0';
- tattr.c_cc[VSUSP] = '\0';
- tattr.c_cc[VEOL] = '\0';
- tattr.c_cc[VREPRINT] = '\0';
- tattr.c_cc[VDISCARD] = '\0';
- tattr.c_cc[VWERASE] = '\0';
- tattr.c_cc[VLNEXT] = '\0';
- tattr.c_cc[VEOL2] = '\0';
+ tty->tattr.c_cflag = CS8 | CREAD | CLOCAL;
+ tty->tattr.c_iflag = 0;
+ tty->tattr.c_oflag = NL0 | CR0 | TAB0 | BS0 | VT0 | FF0;
+ tty->tattr.c_lflag = 0;
+
+ tty->tattr.c_cc[VINTR] = '\0';
+ tty->tattr.c_cc[VQUIT] = '\0';
+ tty->tattr.c_cc[VERASE] = '\0';
+ tty->tattr.c_cc[VKILL] = '\0';
+ tty->tattr.c_cc[VEOF] = '\0';
+ tty->tattr.c_cc[VTIME] = '\0';
+ tty->tattr.c_cc[VMIN] = 1;
+ tty->tattr.c_cc[VSWTC] = '\0';
+ tty->tattr.c_cc[VSTART] = '\0';
+ tty->tattr.c_cc[VSTOP] = '\0';
+ tty->tattr.c_cc[VSUSP] = '\0';
+ tty->tattr.c_cc[VEOL] = '\0';
+ tty->tattr.c_cc[VREPRINT] = '\0';
+ tty->tattr.c_cc[VDISCARD] = '\0';
+ tty->tattr.c_cc[VWERASE] = '\0';
+ tty->tattr.c_cc[VLNEXT] = '\0';
+ tty->tattr.c_cc[VEOL2] = '\0';
#endif
+#ifndef USE_TERMIOS2
/* Set TX, RX speed to 38400 -- this value allows
to use custom speed in struct struct_serial */
- cfsetispeed(&tattr, B38400);
- cfsetospeed(&tattr, B38400);
+ cfsetispeed(&tty->tattr, B38400);
+ cfsetospeed(&tty->tattr, B38400);
- if (tcsetattr(tty, TCSANOW, &tattr) == -1)
+ if (tcsetattr(tty->tty_fd, TCSANOW, &tty->tattr) == -1) {
perror("tcsetattr()");
+ return -1;
+ }
+
+#else /*USE_TERMIOS2*/
+
+ /* Set new parameters with previous speed and left */
+ /* tty_set_baudrate() to do the rest */
+ if(ioctl(tty->tty_fd, TCSETS2, &tty->tattr)) {
+ perror("ioctl TIOCSSERIAL");
+ return -1;
+ }
+
+#endif /*USE_TERMIOS2*/
/* Set real speed */
- set_uart_baudrate(tty, lin_baudrate);
+ tty_set_baudrate(tty, baudrate);
+
+ return 0;
+}
+
+/* ------------------------------------------------------------------------ */
+
+int sllin_open(struct sllin *sl, const char *dev_fname, int baudrate)
+{
+ int fd;
+
+ sl->lin_baud = baudrate;
/* Calculate baudrate for sending LIN break */
- lin_break_baud = ((lin_baudrate * 2) / 3);
+ sl->lin_break_baud = (sl->lin_baud * 2) / 3;
+
+ fd = open(dev_fname, O_RDWR);
+ if (fd < 0) {
+ perror("open()");
+ return -1;
+ }
+ sl->tty->tty_fd = fd;
+
+ return tty_set_mode(sl->tty, sl->lin_baud);
}
+int sllin_close(struct sllin *sl)
+{
+ tty_reset_mode(sl->tty);
+ close(sl->tty->tty_fd);
+ return 0;
+}
-int send_header(int tty)
+int send_header(struct sllin *sl, int lin_id)
{
int buff[3];
+
buff[0] = 0x00; /* Fake break */
buff[1] = 0x55; /* Sync byte */
- buff[2] = 0xC1; /* LIN ID: 1 */
+
+ lin_id &= 0x3f;
+ lin_id |= sllin_id_parity_table[lin_id];
+ buff[2] = lin_id; /* LIN ID: 1 */
printf("send_header() invoked\n");
- tcflush(tty, TCIOFLUSH);
+ tty_flush(sl->tty, TCIOFLUSH);
/* Decrease speed to send BREAK
(simulated with 0x00 data frame) */
- set_uart_baudrate(tty, lin_break_baud);
+ tty_set_baudrate(sl->tty, sl->lin_break_baud);
printf("Write break\n");
- write(tty, &buff[0], 1); /* Write "break" */
+ write(sl->tty->tty_fd, &buff[0], 1); /* Write "break" */
#if 0
- read(tty, &buff[0], 1);
+ read(sl->tty->tty_fd, &buff[0], 1);
printf("Break read\n");
#else
{
struct timespec sleep_time;
sleep_time.tv_sec = 0;
- sleep_time.tv_nsec = ((1000000000ll * 11) / lin_break_baud);
+ sleep_time.tv_nsec = ((1000000000ll * 11) / sl->lin_break_baud);
clock_nanosleep(CLOCK_MONOTONIC, 0, &sleep_time, NULL);
}
#endif
/* Restore "normal" speed */
- set_uart_baudrate(tty, lin_baudrate);
+ tty_set_baudrate(sl->tty, sl->lin_baud);
- write(tty, &buff[1], 1); /* Sync Byte Field */
- write(tty, &buff[2], 1); /* PID -- Protected Identifier Field */
+ write(sl->tty->tty_fd, &buff[1], 1); /* Sync Byte Field */
+ write(sl->tty->tty_fd, &buff[2], 1); /* PID -- Protected Identifier Field */
return 0;
}
-int read_header(int tty)
+int read_header(struct sllin *sl)
{
int p0, p1; /* Parity bits */
int par_rec; /* Parity received as a part of a packet */
memset(buff, '\0', sizeof(buff));
while (1) {
- received = read(tty, &buff[0], 1);
+ received = read(sl->tty->tty_fd, &buff[0], 1);
if (received == -1)
perror("read()");
if (buff[0] != 0x55) /* Sync byte field */
continue;
- received = read(tty, &buff[1], 1);
+ received = read(sl->tty->tty_fd, &buff[1], 1);
if (received == -1)
perror("read()");
else
return 0;
}
+int parse_arr(unsigned char *buff, const char *str, int len_max)
+{
+ char *p;
+ int len = 0;
+
+ do {
+ if (len >= len_max)
+ return -1;
+
+ *buff = strtol(str, &p, 0);
+ if(str == p)
+ return -1;
+
+ str = p;
+
+ len++;
+ buff++;
+ } while (*(str++) == ',');
+
+ if (*(--str) != '\0')
+ return -1;
+
+ return len;
+}
+
+static void usage(void)
+{
+ printf("Usage: lin_master <parameters>\n\n");
+ printf("Mandatory parameters:\n");
+ printf(" -d, --device <device> Device name, e.g. /dev/ttyS0\n\n");
+ printf("Optional parameters:\n");
+ printf(" -B, --baud <baud> LIN bus baudrate. Default value is 19200.\n");
+ printf(" Recommendet values are 2400, 9600, 19200\n");
+ printf(" -i, --id <num> LIN frame ID\n");
+ printf(" -r, --response <num> Values of data fields sent from slave task\n");
+ printf(" -h, --help Help, i.e. this screen\n");
+}
int main(int argc, char* argv[])
{
- char dev[32];
- int tty;
+ struct sllin *sl = &sllin_data;
+
+ static struct option long_opts[] = {
+ {"device" , 1, 0, 'd'},
+ {"baud" , 1, 0, 'B'},
+ {"id" , 1, 0, 'i'},
+ {"response", 1, 0, 'r'},
+ {"help" , 0, 0, 'h'},
+ {0, 0, 0, 0}
+ };
+ int opt;
+ char *dev_fname = "";
+ int lin_baudrate = 19200;
+ int lin_id = 1;
+ int resp_len = 0;
+ unsigned char resp_data[SLLIN_DATA_MAX + 1];
+ char *p;
+
+ while ((opt = getopt_long(argc, argv, "d:B:i:r:h", &long_opts[0], NULL)) != EOF) {
+ switch (opt) {
+ case 'd':
+ dev_fname = optarg;
+ break;
+
+ case 'B':
+ lin_baudrate = strtol(optarg, &p, 10);
+ if ((p == optarg) || ((*p != '\0') && (*p != ' '))) {
+ fprintf(stderr, "Baudrate format error\n");
+ exit(EXIT_FAILURE);
+ }
+ break;
+
+ case 'i':
+ lin_id = strtol(optarg, &p, 0);
+ if ((p == optarg) || ((*p != '\0') && (*p != ' '))) {
+ fprintf(stderr, "LIN ID format error\n");
+ exit(EXIT_FAILURE);
+ }
+ break;
+
+ case 'r':
+ resp_len = parse_arr(resp_data, optarg, SLLIN_DATA_MAX);
+ if (resp_len < 0) {
+ fprintf(stderr, "Response data format error\n");
+ exit(EXIT_FAILURE);
+ }
+ break;
+
+ case 'h':
+ default:
+ usage();
+ exit(opt == 'h' ? 0 : 1);
+ break;
+ }
+ }
- if (argc < 2) {
- fprintf(stderr, "Device is missing\n");
- fprintf(stderr, "Usage: %s DEVICE\n", argv[0]);
- return -3;
+ if (optind < argc) {
+ usage();
+ //fprintf(stderr, "Expected argument after options\n");
+ exit(EXIT_FAILURE);
}
- strncpy((char*)&dev, argv[1], 32);
- tty = open(dev, O_RDWR);
- if (tty < 0) {
- perror("open()");
- return -4;
+ /* Device name was not set by user */
+ if (strlen(dev_fname) == 0) {
+ usage();
+ exit(EXIT_FAILURE);
+ }
+
+ /* ----------------------------------- */
+ if (sllin_open(sl, dev_fname, lin_baudrate) < 0) {
+ fprintf (stderr, "sllin_open open failed\n");
+ exit(EXIT_FAILURE);
}
fcntl(fileno(stdin), F_SETFL, O_NONBLOCK);
printf("Press enter to terminate.\n\n");
- /* Configure UART */
- set_input_mode(tty);
while(1) {
char c;
- send_header(tty);
+ send_header(sl, lin_id);
sleep(1);
if (read(fileno(stdin), &c, 1) > 0)
break;
}
- reset_input_mode(tty);
- close(tty);
+ sllin_close(sl);
return EXIT_SUCCESS;
}
projects / linux-lin.git / blobdiff