--- /dev/null
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h>
+#include <termios.h>
+#include <stdint.h>
+#include <assert.h>
+#include "pcl_config.h"
+#include "lin_config.h"
+
+struct termios term_attr;
+
+static void pcl_reset_input_mode(int tty)
+{
+ tcsetattr(tty, TCSANOW, &term_attr);
+}
+
+static void pcl_set_input_mode(int tty)
+{
+ int status;
+ struct termios tattr;
+
+ /* Flush input and output queues. */
+ if (tcflush(tty, TCIOFLUSH) != 0) {
+ perror("tcflush");
+ exit(EXIT_FAILURE);
+ }
+
+ /* Fetch the current terminal parameters. */
+ if (!isatty(tty)) {
+ fprintf(stderr, "Not a terminal.\n");
+ exit(EXIT_FAILURE);
+ }
+
+ /* Save settings for later restoring */
+ tcgetattr(tty, &term_attr);
+
+ /* 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;
+
+ tattr.c_cc[VMIN] = 1;
+ tattr.c_cc[VTIME] = 0;
+
+ /* Set TX, RX speed */
+ cfsetispeed(&tattr, B38400);
+ cfsetospeed(&tattr, B38400);
+
+ status = tcsetattr(tty, TCSANOW, &tattr);
+ if (status == -1)
+ perror("tcsetattr()");
+}
+
+/* Transform 'logic' representation of a frame to exact byte sequence */
+int pcl_serialize(pcl_packet_t *pkt, uint8_t *pkt_raw)
+{
+ int i;
+ uint8_t checksum = 0;
+
+ pkt_raw[0] = pkt->stx;
+ pkt_raw[1] = (pkt->seq_no << PCL_SEQ_NO_ofs) |
+ (pkt->seq_frlen << PCL_SEQ_FRLEN_ofs);
+ pkt_raw[2] = (pkt->ctrl_tiface << PCL_CTRL_TIFACE_ofs) |
+ (pkt->ctrl_comc << PCL_CTRL_COMC_ofs);
+
+ for (i = 0; i < pkt->seq_frlen; i++) {
+ pkt_raw[3+i] = pkt->parms[i];
+ }
+
+ /* Calculate XOR checksum; Skip STX */
+ for (i = 1; i <= pkt->seq_frlen + PCL_HEADERS_SIZE; i++) {
+ checksum ^= pkt_raw[i];
+ }
+ pkt_raw[i] = checksum;
+
+ printf("Snd: [STX] [SEQ] [PRM] [...] \n ");
+ for (i = 0; i < pkt->seq_frlen + PCL_PACKET_OVERHEAD + 1; i++)
+ printf("0x%02X ", pkt_raw[i]);
+ printf("\n");
+
+ return pkt->seq_frlen + 4; /* real packet size */
+}
+
+int pcl_send_frame(int tty, pcl_packet_t *pkt)
+{
+ int pkt_size;
+ int to_send;
+ int sent;
+ uint8_t pkt_buff[PCL_PKT_MAX_SIZE];
+
+ pkt_size = pcl_serialize(pkt, (uint8_t *) &pkt_buff);
+ to_send = pkt_size;
+ sent = 0;
+
+ while (to_send > 0) {
+ sent = write(tty, pkt_buff+sent, to_send);
+ to_send -= sent;
+ }
+
+ memset(pkt, '\0', sizeof(pcl_packet_t));
+ return 0;
+}
+
+int pcl_read_reset_response(int tty)
+{
+ char c;
+ int ret;
+ int i = 0;
+ char str_match[] = {'G', 'm', 'b', 'H'};
+
+ do {
+ ret = read(tty, &c, 1);
+ if (ret == -1)
+ perror("read()");
+
+ printf("%c", c);
+
+ if ((c == str_match[i]) && (i == 3))
+ i = -1; /* We are done -- Stop the loop*/
+ else if (c == str_match[i])
+ i++; /* Match found -- Go to the next letter */
+ else
+ i = 0; /* Start from beginning */
+
+ } while (i != -1);
+
+ printf("\n\n");
+
+ return 0;
+}
+
+int pcl_read_response(int tty)
+{
+ int i;
+ int received = 0;
+ int to_read = 0;
+ int data_length = 0;
+ uint8_t buff[PCL_PKT_MAX_SIZE];
+ //memset(buff, '\0', sizeof(buff));
+
+ /* Read 2 bytes of header */
+ received = read(tty, &buff[0], 1); /* Read STX */
+ if (received == -1)
+ perror("read()");
+
+ if (buff[0] == 0x2) { /* STX ok */
+ received = read(tty, &buff[1], 1); /* Read SEQ */
+ if (received == -1)
+ perror("read()");
+ } else {
+ return 1;
+ }
+
+ data_length = (buff[1] & PCL_SEQ_FRLEN_msk);
+ to_read = data_length + 1; /* +chksm */
+ while (to_read > 0) {
+ received = read(tty, &buff[2], to_read);
+ to_read -= received;
+ }
+
+ printf("Rcv: [STX] [SEQ] [PRM] [CHK]\n"); // FIXME add spaces before "CHKS" when
+ //more than 1 byte received in params
+ printf(" 0x%02X 0x%02X", buff[0], buff[1]);
+ for (i = 0; i < data_length; i++) {
+ printf(" 0x%02X", buff[i + 2]);
+ }
+ printf(" 0x%02X\n\n", buff[i]);
+
+ return 0;
+}
+
+void pcl_insert_scheduler_entries(int tty, struct linc_lin_state *linc_lin_state)
+{
+ pcl_packet_t pkt;
+ int i;
+
+ /* Insert scheduler entry */
+ for (i = 0; i < (sizeof(linc_lin_state->scheduler_entry)/sizeof(struct linc_scheduler_entry)); i++) {
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x3;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x28;
+ pkt.parms[0] = (linc_lin_state->scheduler_entry[i].interval_ms) & 0xFF;
+ pkt.parms[1] = (linc_lin_state->scheduler_entry[i].interval_ms >> 8) & 0xFF;
+ pkt.parms[2] = linc_lin_state->scheduler_entry[i].lin_id; /* LIN ID */
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+ }
+
+}
+
+void pcl_set_slave_id_and_data_configuration(int tty, struct linc_lin_state *linc_lin_state)
+{
+ pcl_packet_t pkt;
+ int i;
+
+ /* Set Slave ID + Data Configuration */
+ for (i = 0; i < 0x3F; i++) {
+ int len;
+
+ if (linc_lin_state->frame_entry[i].status == PCL_ACTIVE) {
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = linc_lin_state->frame_entry[i].data_len + 2;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x29;
+ pkt.parms[0] = linc_lin_state->frame_entry[i].status; /* Field Status */
+ pkt.parms[1] = i; /* LIN ID */
+ pkt.parms[2] = linc_lin_state->frame_entry[i].data[0]; /* Data */
+ pkt.parms[3] = linc_lin_state->frame_entry[i].data[1]; /* Data */
+ pkt.parms[4] = linc_lin_state->frame_entry[i].data[2]; /* Data */
+ pkt.parms[5] = linc_lin_state->frame_entry[i].data[3]; /* Data */
+ pkt.parms[6] = linc_lin_state->frame_entry[i].data[4]; /* Data */
+ pkt.parms[7] = linc_lin_state->frame_entry[i].data[5]; /* Data */
+ pkt.parms[8] = linc_lin_state->frame_entry[i].data[6]; /* Data */
+ pkt.parms[9] = linc_lin_state->frame_entry[i].data[7]; /* Data */
+
+ } else {
+ if (i < 0x20)
+ len = 4;
+ else if (i < 0x30)
+ len = 6;
+ else
+ len = 8;
+
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = len;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x29;
+ pkt.parms[0] = 0x00; /* Field Status -- unactive */
+ pkt.parms[1] = i; /* LIN ID */
+ }
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+ }
+}
+
+void pcl_flash_config(int tty)
+{
+ pcl_packet_t pkt;
+
+ /* Flash Current Configuration */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x0;
+ pkt.ctrl_tiface = PCL_PACKET_MODULE_IFACE;
+ pkt.ctrl_comc = 0x3;
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+}
+
+void pcl_reset_device(int tty)
+{
+ pcl_packet_t pkt;
+
+ /* Reset module */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x0;
+ pkt.ctrl_tiface = PCL_PACKET_MODULE_IFACE;
+ pkt.ctrl_comc = 0x4;
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_reset_response(tty);
+}
+
+int pcl_lin_init(int tty, struct linc_lin_state *linc_lin_state)
+{
+ pcl_packet_t pkt;
+#if 0
+ /* Initialization according to current parameters */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x0;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x0;
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+#endif
+
+ /* Reset module */
+ pcl_reset_device(tty);
+
+ /* Erase Master Scheduler List */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x0;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x33;
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+
+ /* Set Activation Status */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x1;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x1E;
+ pkt.parms[0] = linc_lin_state->is_active;
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+
+ /* Set bitrate */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x2;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x1F;
+ pkt.parms[0] = 0x00;
+ pkt.parms[1] = 0x4B; /* 19200 kBit/s */
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+
+ /* Set Forward Mask */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x1;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x20;
+ pkt.parms[0] = 0x00;
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+
+ /* Set Filter Mask */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x1;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x21;
+ pkt.parms[0] = 0xFF;
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+
+ /* Set Filter Code */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x1;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x21;
+ pkt.parms[0] = 0x00;
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+
+ /* Set Message Transmission Timeouts */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x8;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x26;
+ pkt.parms[0] = 0xA0;
+ pkt.parms[1] = 0x0F;
+ pkt.parms[2] = 0x09;
+ pkt.parms[3] = 0x00;
+ pkt.parms[4] = 0x06;
+ pkt.parms[5] = 0x00;
+ pkt.parms[6] = 0x05;
+ pkt.parms[7] = 0x00;
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+
+ /* Set Message Retries */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x1;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x27;
+ pkt.parms[0] = 0x0;
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+
+ /* Set Slave ID + Data configuration */
+ pcl_set_slave_id_and_data_configuration(tty, linc_lin_state);
+
+ /* Insert scheduler entry */
+ pcl_insert_scheduler_entries(tty, linc_lin_state);
+
+ /* Set master status: Active */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x1;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x24;
+ pkt.parms[0] = linc_lin_state->master_status;
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+
+ /* Set LIN bus termination */
+ pkt.stx = PCL_STX;
+ pkt.seq_no = 0x0;
+ pkt.seq_frlen = 0x1;
+ pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+ pkt.ctrl_comc = 0x25;
+ pkt.parms[0] = linc_lin_state->bus_termination;
+ /* Should have the same value as "Set master status" */
+
+ pcl_send_frame(tty, &pkt);
+ pcl_read_response(tty);
+
+ return 0;
+}
+
+int pcl_config(struct linc_lin_state *linc_lin_state, unsigned int flags)
+{
+ int tty;
+
+ tty = open(linc_lin_state->dev, O_RDWR);
+ if (tty < 0) {
+ perror("open()");
+ return -4;
+ }
+ /* Configure UART */
+ pcl_set_input_mode(tty);
+
+
+ if (flags & RESET_DEVICE_fl) {
+ pcl_reset_device(tty);
+ return 0;
+ }
+
+ pcl_lin_init(tty, linc_lin_state);
+
+ if (flags & FLASH_CONF_fl) {
+ pcl_flash_config(tty);
+ pcl_reset_device(tty);
+ }
+
+ pcl_reset_input_mode(tty);
+ close(tty);
+
+ return 0;
+}
+
+
projects / linux-lin.git / blobdiff