#include <sys/socket.h>
#include <sys/ioctl.h>
#include <sys/uio.h>
-#include <net/if.h>
+//#include <net/if.h>
+#include <linux/if.h>
#include <netinet/in.h>
#include <errno.h>
#include <string.h>
#include <fcntl.h>
#include <unistd.h>
+#include <netlink/netlink.h>
+#include <netlink/cache.h>
+#include <netlink/route/link.h>
+#include <netlink/socket.h>
+
#include <linux/can.h>
#include <linux/can/bcm.h>
#include "lin_config.h"
+#include "linux/lin_bus.h"
#define SLLIN_LDISC 25
struct bcm_msg {
char iface[IFNAMSIZ+1];
};
+void sllin_ms_to_timeval(int ms, struct timeval *tv)
+{
+ tv->tv_sec = (int) ms/1000;
+ tv->tv_usec = (ms % 1000) * 1000;
+}
+
+int sllin_interface_up(struct linc_lin_state *linc_lin_state,
+ struct sllin_connection *sllin_connection)
+{
+ struct nl_sock *s;
+ struct rtnl_link *request;
+ struct nl_cache *cache;
+ struct rtnl_link *link;
+ int ret;
+
+ // Allocate and initialize a new netlink socket
+ s = nl_socket_alloc();
+
+ // Bind and connect the socket to a protocol, NETLINK_ROUTE in this example.
+ nl_connect(s, NETLINK_ROUTE);
+
+ // The first step is to retrieve a list of all available interfaces within
+ // the kernel and put them into a cache.
+ ret = rtnl_link_alloc_cache(s, AF_UNSPEC, &cache);
+ // FIXME errorhandling
+
+ // In a second step, a specific link may be looked up by either interface
+ // index or interface name.
+ link = rtnl_link_get_by_name(cache, sllin_connection->iface);
+
+ // In order to change any attributes of an existing link, we must allocate
+ // a new link to hold the change requests:
+ request = rtnl_link_alloc();
+
+ // We can also shut an interface down administratively
+ //rtnl_link_unset_flags(request, rtnl_link_str2flags("up"));
+ rtnl_link_set_flags(request, rtnl_link_str2flags("up"));
+
+ // Two ways exist to commit this change request, the first one is to
+ // build the required netlink message and send it out in one single
+ // step:
+ rtnl_link_change(s, link, request, 0);
+
+ // An alternative way is to build the netlink message and send it
+ // out yourself using nl_send_auto_complete()
+ // struct nl_msg *msg = rtnl_link_build_change_request(old, request);
+ // nl_send_auto_complete(nl_handle, nlmsg_hdr(msg));
+ // nlmsg_free(msg);
+
+ // After successful usage, the object must be given back to the cache
+ rtnl_link_put(link);
+ nl_socket_free(s);
+
+ return 0;
+}
+
+int sllin_cache_config(struct linc_lin_state *linc_lin_state,
+ struct sllin_connection *sllin_connection)
+{
+ int i;
+ struct ifreq ifr;
+ struct sockaddr_can addr;
+ struct can_frame frame;
+ int s;
+ int ret;
+
+ /* Create the socket */
+ s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (s < 0) {
+ perror("socket()");
+ return -1;
+ }
+
+ /* Locate the interface you wish to use */
+ strcpy(ifr.ifr_name, sllin_connection->iface);
+ ioctl(s, SIOCGIFINDEX, &ifr); /* ifr.ifr_ifindex gets filled
+ * with that device's index */
+
+ /* Select that CAN interface, and bind the socket to it. */
+ addr.can_family = AF_CAN;
+ addr.can_ifindex = ifr.ifr_ifindex;
+ ret = bind(s, (struct sockaddr*)&addr, sizeof(addr));
+ if (ret < 0) {
+ perror("bind()");
+ return -1;
+ }
+
+ for (i = 0; i < 0x3F; i++) {
+ frame.can_dlc = linc_lin_state->frame_entry[i].data_len;
+ frame.can_id = i; /* LIN ID */
+ frame.data[0] = linc_lin_state->frame_entry[i].data[0]; /* Data */
+ frame.data[1] = linc_lin_state->frame_entry[i].data[1]; /* Data */
+ frame.data[2] = linc_lin_state->frame_entry[i].data[2]; /* Data */
+ frame.data[3] = linc_lin_state->frame_entry[i].data[3]; /* Data */
+ frame.data[4] = linc_lin_state->frame_entry[i].data[4]; /* Data */
+ frame.data[5] = linc_lin_state->frame_entry[i].data[5]; /* Data */
+ frame.data[6] = linc_lin_state->frame_entry[i].data[6]; /* Data */
+ frame.data[7] = linc_lin_state->frame_entry[i].data[7]; /* Data */
+ frame.can_id |= LIN_CTRL_FRAME;
+ if (linc_lin_state->frame_entry[i].status == 1) { /* Is active */
+ frame.can_id |= LIN_CACHE_RESPONSE;
+ }
+ ret = write(s, &frame, sizeof(frame));
+ printf("configuring frame cache; ret = %d\n", ret);
+ //if (ret ...)
+ //read_response(tty);
+ }
+
+ close(s);
+ return 0;
+}
+
int sllin_bcm_config(struct linc_lin_state *linc_lin_state,
struct sllin_connection *sllin_connection)
{
int ret;
int i;
- //printf("tty %s to netdevice %s\n", linc_lin_state->dev, sllin_connection->iface);
-
s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM);
if (s < 0) {
perror("socket(): bcmsocket");
}
for (i = 0; i < linc_lin_state->scheduler_entries_cnt; i++) {
+ struct timeval time;
memset(&msg, 0, sizeof(msg));
+
msg.msg_head.nframes = 1;
msg.msg_head.opcode = TX_SETUP;
msg.msg_head.flags |= SETTIMER | STARTTIMER;
- //msg.msg_head.ival2.tv_sec = // FIXME
- msg.msg_head.ival2.tv_usec =
- linc_lin_state->scheduler_entry[i].interval_ms * 1000;
- msg.msg_head.can_id =
- linc_lin_state->scheduler_entry[i].lin_id | CAN_RTR_FLAG;
+ sllin_ms_to_timeval(
+ linc_lin_state->scheduler_entry[i].interval_ms, &time);
+ msg.msg_head.ival2.tv_sec = time.tv_sec;
+ msg.msg_head.ival2.tv_usec = time.tv_usec;
+ msg.msg_head.can_id = (
+ linc_lin_state->scheduler_entry[i].lin_id | CAN_RTR_FLAG);
msg.frame.can_dlc = 0;
+ msg.frame.can_id = msg.msg_head.can_id;
+
+ //printf("tv_sec = %i, tv_usec = %i\n", time.tv_sec, time.tv_usec);
sendto(s, &msg, sizeof(msg), 0,
(struct sockaddr*)&caddr, sizeof(caddr));
- printf(".\n");
//read_response(s); // FIXME
}
- close(s);
+ /* Do not close "s" to make BCM configuration running */
printf("Configuration finished\n");
return 0;
return -1;
}
- printf("Attached tty %s to netdevice %s\n", linc_lin_state->dev, sllin_connection.iface);
+ printf("Attached tty %s to netdevice %s\n",
+ linc_lin_state->dev, sllin_connection.iface);
}
if (linc_lin_state->flags & SLLIN_DETACH_fl) {
return -1;
}
- printf("Detached sllin line discipline from %s\n", linc_lin_state->dev);
- return 0;
+ printf("Detached sllin line discipline from %s\n",
+ linc_lin_state->dev);
+
+ close(tty);
+ return LIN_EXIT_OK;
}
ret = sllin_bcm_config(linc_lin_state, &sllin_connection);
+ if (ret < 0)
+ return ret;
+
+ ret = sllin_interface_up(linc_lin_state, &sllin_connection);
+ if (ret < 0)
+ return ret;
+
+ ret = sllin_cache_config(linc_lin_state, &sllin_connection);
+
+ /* !!! Do not close "tty" to enable newly
+ configured tty line discipline */
- printf("Press any key to detach %s ...\n", linc_lin_state->dev);
- getchar();
- close(tty);
return ret;
}
projects / linux-lin.git / blobdiff