/*
- * PCAN-LIN, RS-232 to CAN/LIN converter control application
+ * 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 <unistd.h>
+#include <fcntl.h>
+#include <time.h> /* clock_nanosleep */
+#include <getopt.h>
-#define UART_SPEED B2400
+#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 */
-struct termios term_attr;
+
+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,
+};
+
/* ------------------------------------------------------------------------ */
-static void reset_input_mode(int tty)
+
+#ifndef USE_TERMIOS2
+
+static void tty_reset_mode(struct sllin_tty *tty)
{
- tcsetattr(tty, TCSANOW, &term_attr);
+ tcsetattr(tty->tty_fd, TCSANOW, &tty->tattr_orig);
}
-static void set_input_mode(int tty, speed_t speed)
+static int tty_set_baudrate(struct sllin_tty *tty, int baudrate)
{
- int status;
- struct termios tattr;
+ /* Set "non-standard" baudrate in serial_struct struct */
+ 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 TIOCSSERIAL");
+ return -1;
+ }
+
+// cfsetispeed(&tty->tattr, B38400);
+// cfsetospeed(&tty->tattr, B38400);
+//
+// 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 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;;
}
- /* Fetch the current terminal parameters. */
- 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, &term_attr);
+ if (ioctl(tty->tty_fd, TCGETS2, &tty->tattr_orig) < 0) {
+ perror("ioctl TCGETS2");
+ return -1;
+ }
- /* RAW mode */
- tcgetattr(tty, &tattr);
- 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;
+ /* Save settings into global variables for later use */
+ if (ioctl(tty->tty_fd, TCGETS2, &tty->tattr) < 0) {
+ perror("ioctl TCGETS2");
+ return -1;
+ }
- tattr.c_cc[VMIN] = 1;
- tattr.c_cc[VTIME] = 0;
+#endif /*USE_TERMIOS2*/
- /* Set TX, RX speed */
- cfsetispeed(&tattr, speed);
- cfsetospeed(&tattr, speed);
- status = tcsetattr(tty, TCSANOW, &tattr);
- if (status == -1)
+ /* Set RAW mode */
+#if 0
+ tty->tattr.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP
+ | INLCR | IGNCR | ICRNL | IXON);
+ 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;
+
+ tty->tattr.c_cc[VMIN] = 1;
+ tty->tattr.c_cc[VTIME] = 0;
+#else
+ /* 8 data bits */
+ /* Enable receiver */
+ /* Ignore CD (local connection) */
+ 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(&tty->tattr, B38400);
+ cfsetospeed(&tty->tattr, B38400);
+
+ 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 */
+ tty_set_baudrate(tty, baudrate);
+
+ return 0;
}
+/* ------------------------------------------------------------------------ */
-int send_header(int tty)
+int sllin_open(struct sllin *sl, const char *dev_fname, int baudrate)
{
- struct termios tattr;
- int buff[3];
- buff[0] = 0x00; /* Sync byte */
- buff[1] = 0x55; /* Sync byte */
- buff[2] = 0xC1; /* LIN ID: 1 */
+ int fd;
+
+ sl->lin_baud = baudrate;
+ /* Calculate baudrate for sending LIN break */
+ 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(struct sllin *sl, int lin_id)
+{
+ int buff[3];
- /* Decrease speed to send BREAK (simulated with 0x00 data frame)*/
- tcgetattr(tty, &tattr);
- cfsetospeed(&tattr, B1200);
- tcsetattr(tty, TCSADRAIN, &tattr);
+ buff[0] = 0x00; /* Fake break */
+ buff[1] = 0x55; /* Sync byte */
- write(tty, &buff[0], 1);
+ lin_id &= 0x3f;
+ lin_id |= sllin_id_parity_table[lin_id];
+ buff[2] = lin_id; /* LIN ID: 1 */
+
+ printf("send_header() invoked\n");
+ tty_flush(sl->tty, TCIOFLUSH);
+
+ /* Decrease speed to send BREAK
+ (simulated with 0x00 data frame) */
+ tty_set_baudrate(sl->tty, sl->lin_break_baud);
+
+ printf("Write break\n");
+ write(sl->tty->tty_fd, &buff[0], 1); /* Write "break" */
+#if 0
+ 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) / sl->lin_break_baud);
+ clock_nanosleep(CLOCK_MONOTONIC, 0, &sleep_time, NULL);
+ }
+#endif
- cfsetospeed(&tattr, UART_SPEED);
- tcsetattr(tty, TCSADRAIN, &tattr);
+ /* Restore "normal" speed */
+ tty_set_baudrate(sl->tty, sl->lin_baud);
- //tcsendbreak(tty, 1); /* Break */
- //usleep((useconds_t) 50); /* Break Delimiter */
- 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);
}
- /* Configure UART */
- set_input_mode(tty, UART_SPEED);
+ /* ----------------------------------- */
+ 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");
+
while(1) {
- send_header(tty);
+ char c;
+
+ send_header(sl, lin_id);
sleep(1);
- }
- reset_input_mode(tty);
- close(tty);
+ if (read(fileno(stdin), &c, 1) > 0)
+ break;
+ }
+
+ sllin_close(sl);
return EXIT_SUCCESS;
}
projects / linux-lin.git / blobdiff