From: Rostislav Lisovy <lisovy@gmail.com>
Date: Thu, 31 May 2012 13:08:27 +0000 (+0200)
Subject: pcanlin: Initial commit.
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/linux-lin.git/commitdiff_plain/97d3df1e8d1c1f33cba8b49f8f9f41f0c2f51aec

pcanlin: Initial commit.
---

97d3df1e8d1c1f33cba8b49f8f9f41f0c2f51aec
diff --git a/lin_config/src/Makefile b/lin_config/src/Makefile
new file mode 100644
index 0000000..712ab51
--- /dev/null
+++ b/lin_config/src/Makefile
@@ -0,0 +1,2 @@
+all: pcan_lin_config.c
+	gcc pcan_lin_config.c -std=gnu99 -Wall -pedantic -o pcan_lin_config
diff --git a/lin_config/src/pcan_lin_config.c b/lin_config/src/pcan_lin_config.c
new file mode 100644
index 0000000..1d941ab
--- /dev/null
+++ b/lin_config/src/pcan_lin_config.c
@@ -0,0 +1,650 @@
+/*
+ * PCAN-LIN, RS-232 to CAN/LIN converter control application
+ *
+ *   This program is free software; you can distribute it and/or
+ *   modify it under the terms of the GNU General Public License
+ *   as published by the Free Software Foundation; version 2 of
+ *   the License.
+ *
+ * Copyright:  (c) 2012 Czech Technical University in Prague
+ * Authors:    Rostislav Lisovy <lisovy@gmail.cz>
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h>
+#include <termios.h>
+#include <stdint.h>
+
+#define true					1
+#define false					0
+
+#define PCL_PKT_MAX_SIZE			16
+#define PCL_HEADERS_SIZE			2 /* There are 2 bytes of headers */
+#define PCL_CHECKSUM_SIZE			1
+#define PCL_STX_SIZE				1
+#define PCL_PACKET_OVERHEAD			(PCL_HEADERS_SIZE + PCL_CHECKSUM_SIZE)
+
+/* Logical representation of a packet sent to PCAN-LIN converter via RS232 */
+typedef struct {
+	uint8_t stx;        /* Start transmission; Always set to 0x2 */
+	uint8_t seq_no;     /* Sequence number */
+	uint8_t seq_frlen;  /* Frame length */
+	uint8_t ctrl_tiface;/* Target interface */
+	uint8_t ctrl_comc;  /* Command code */
+	uint8_t parms[8];   /* Parameters; Number of parameters depends
+				on the frame length */
+	uint8_t chks;       /* Checksum; Bitwise XOR of all bytes except STX */
+} pcl_packet_t;
+
+#define PCL_STX					0x2
+
+#define PCL_SEQ_NO_ofs				4
+#define PCL_SEQ_FRLEN_ofs			0
+#define PCL_CTRL_TIFACE_ofs			6
+#define PCL_CTRL_COMC_ofs			0
+
+#define PCL_SEQ_FRLEN_msk			0xF
+
+#define PCL_PACKET_LIN_IFACE			0x2
+#define PCL_PACKET_MODULE_IFACE			0x3
+
+struct termios term_attr;
+
+struct pcl_scheduler_entry_t {
+	int lin_id;
+	int interval_ms;
+} pcl_scheduler_entry[] = {
+//	{0x3F, 500},
+//	{0x2A, 500},
+	{1, 500},
+	{2, 500},
+	{4, 500},
+	{8, 500},
+	{16, 500}
+};
+
+#define PCL_ACTIVE				1
+#define PCL_UNACTIVE				0
+/* Excerpt from the PCAN-LIN documentation:
+
+	The length of the data depends on the slave ID. If the used frame
+	length is the default, the length to be used can be found using
+	the following table:
+		ID Range        |    Data Length
+	        ----------------+---------------
+		0x00 to 0x1F    |    2 Bytes
+		0x20 to 0x2F    |    4 Bytes
+		0x30 to 0x3F    |    8 Bytes
+
+	If the frame length of the used LIN ID was configured with another
+	length, than that length must be used;
+*/
+
+/* Index in this array = LIN ID */
+struct pcl_publish_entry_t {
+	int status; /* 1 = active; 0 = unactive */
+	int data_len;
+	unsigned char data[8];
+} pcl_publish_entry[] = {
+	[0x0] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x1] = { PCL_ACTIVE, 2, {0xff, 0xff} },
+	[0x2] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x3] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x4] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x5] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x6] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x7] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x8] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x9] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0xa] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0xb] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0xc] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0xd] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0xe] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0xf] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x10] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x11] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x12] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x13] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x14] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x15] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x16] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x17] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x18] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x19] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x1a] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x1b] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x1c] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x1d] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x1e] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+	[0x1f] = { PCL_UNACTIVE, 2, {0xff, 0xff} },
+
+	[0x20] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x21] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x22] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x23] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x24] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x25] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x26] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x27] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x28] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x29] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x2a] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x2b] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x2c] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x2d] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x2e] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+	[0x2f] = { PCL_UNACTIVE, 4, {0xff, 0xff, 0xff, 0xff} },
+
+	[0x30] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x31] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x32] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x33] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x34] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x35] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x36] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x37] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x38] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x39] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x3a] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x3b] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x3c] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x3d] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x3e] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+	[0x3f] = { PCL_UNACTIVE, 6, {0xff, 0xff, 0xff, 0xff, 0xff, 0xff} },
+};
+
+int pcl_slave_only_fl = false;
+/* ------------------------------------------------------------------------ */
+
+/* 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)
+{
+	pcl_packet_t pkt;
+	int i;
+
+	/* Insert scheduler entry */
+	for (i = 0; i < (sizeof(pcl_scheduler_entry)/sizeof(struct pcl_scheduler_entry_t)); 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] = (pcl_scheduler_entry[i].interval_ms) & 0xFF;
+		pkt.parms[1] = (pcl_scheduler_entry[i].interval_ms >> 8) & 0xFF;
+		pkt.parms[2] = pcl_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)
+{
+	pcl_packet_t pkt;
+	int i;
+
+	/* Set Slave ID + Data Configuration */
+	for (i = 0; i < 0x3F; i++) {
+		int len;
+
+		if (pcl_publish_entry[i].status == PCL_ACTIVE) {
+			pkt.stx = PCL_STX;
+			pkt.seq_no = 0x0;
+			pkt.seq_frlen = pcl_publish_entry[i].data_len + 2;
+			pkt.ctrl_tiface = PCL_PACKET_LIN_IFACE;
+			pkt.ctrl_comc = 0x29;
+			pkt.parms[0] = pcl_publish_entry[i].status; /* Field Status */
+			pkt.parms[1] = i; /* LIN ID */
+			pkt.parms[2] = pcl_publish_entry[i].data[0]; /* Data */
+			pkt.parms[3] = pcl_publish_entry[i].data[1]; /* Data */
+			pkt.parms[4] = pcl_publish_entry[i].data[2]; /* Data */
+			pkt.parms[5] = pcl_publish_entry[i].data[3]; /* Data */
+			pkt.parms[6] = pcl_publish_entry[i].data[4]; /* Data */
+			pkt.parms[7] = pcl_publish_entry[i].data[5]; /* Data */
+			pkt.parms[8] = pcl_publish_entry[i].data[6]; /* Data */
+			pkt.parms[9] = pcl_publish_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)
+{
+	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] = 0x01;
+
+	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);
+
+	/* Insert scheduler entry */
+	pcl_insert_scheduler_entries(tty);
+
+	/* 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] = (pcl_slave_only_fl) ? 0x0 : 0x1;
+
+	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] = (pcl_slave_only_fl) ? 0x0 : 0x1;
+	/* Should have the same value as "Set master status" */
+
+	pcl_send_frame(tty, &pkt);
+	pcl_read_response(tty);
+
+	return 0;
+}
+
+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()");
+
+}
+
+void pcl_explain(int argc, char *argv[])
+{
+	fprintf(stderr, "Usage: %s [OPTIONS] <SERIAL_INTERFACE>\n", argv[0]);
+	fprintf(stderr, "\n");
+	fprintf(stderr, "'pcan_lin_config' Is used for configuring PEAK PCAN-LIN device.\n");
+	fprintf(stderr, "  When invoked without any OPTIONS, it configures PCAN-LIN device\n");
+	fprintf(stderr, "  with default configuration from the program.\n");
+	fprintf(stderr, "  The PCAN-LIN module enables CAN, LIN and serial participants to communicate.\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, " -r         Execute only Reset of a device\n");
+	fprintf(stderr, " -f         Flash the active configuration\n");
+	fprintf(stderr, " -s         Activate only LIN Slave node in the device\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "Examples:\n");
+	fprintf(stderr, " %s /dev/ttyS0      (Configure the device with the default configuration)\n", argv[0]);
+	fprintf(stderr, " %s -r /dev/ttyS0   (Reset the device)\n", argv[0]);
+}
+
+int main(int argc, char *argv[])
+{
+	char dev[32]; // FIXME
+	int tty;
+	int opt;
+	int pcl_reset_device_fl = false;
+	int pcl_flash_config_fl = false;
+
+	while ((opt = getopt(argc, argv, "rfs")) != -1) {
+		switch (opt) {
+		case 'r':
+			pcl_reset_device_fl = true;
+			break;
+		case 'f':
+			pcl_flash_config_fl = true;
+			break;
+		case 's':
+			pcl_slave_only_fl = true;
+			break;
+		default:
+			pcl_explain(argc, argv);
+			exit(EXIT_FAILURE);
+		}
+	}
+
+	/* Expected argument after options */
+	if (optind >= argc) {
+		pcl_explain(argc, argv);
+		exit(EXIT_FAILURE);
+	}
+
+	strncpy((char *) &dev, argv[optind], 32);
+	tty = open(dev, O_RDWR);
+	if (tty < 0) {
+		perror("open()");
+		return -4;
+	}
+
+	/* Configure UART */
+	pcl_set_input_mode(tty);
+
+	if (pcl_reset_device_fl) {
+		pcl_reset_device(tty);
+		goto exit;
+	}
+
+	pcl_lin_init(tty);
+
+	if (pcl_flash_config_fl) {
+		pcl_flash_config(tty);
+		pcl_reset_device(tty);
+	}
+
+exit:
+	pcl_reset_input_mode(tty);
+	close(tty);
+
+	return EXIT_SUCCESS;
+}