blocks/tlc_c/sfunction_cansetup.tlc

   1 %% Copyright (C) 2014 Czech Technical University in Prague
   2 %%
   3 %% Authors:
   4 %%     Michal Horn  <hornmich@fel.cvut.cz>
   5 %%     Michal Sojka <sojkam1@fel.cvut.cz>
   6 %%
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   8 %% modification, are permitted provided that the following conditions are
   9 %% met:
  10 %%
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  12 %%    notice, this list of conditions and the following disclaimer.
  13 %%
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  15 %%    notice, this list of conditions and the following disclaimer in the
  16 %%    documentation and/or other materials provided with the
  17 %%    distribution.
  18 %%
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  26 %% A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
  27 %% HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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  29 %% LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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  31 %% THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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  33 %% OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  34 %%
  35 %% File : sfunction_cansetup.tlc
  36 %% Abstract:
  37 %%     TLC file for configuring the CAN modules on the TI TMS570LS3137 MCU
  38 %%
  39 %% References:
  40 %%     BlockTypeSetup() : refs/rtw_tlc.pdf p. 277
  41 %%     Outputs()        : refs/rtw_tlc.pdf p. 281
  42
  43
  44 %implements sfunction_cansetup "C"
  45
  46 %include "common.tlc"
  47 %include "rpp_can_common.tlc"
  48
  49 %% Function: BlockTypeSetup ====================================================
  50 %function BlockTypeSetup(block, system) void
  51
  52     %% Ensure required header files are included
  53     %<RppCommonBlockTypeSetup(block, system)>
  54         %% %<LibAddToCommonIncludes("<sys/ti_drv_dmm.h>")>
  55
  56         %assign ::rpp_can_config_present = 1
  57
  58         %<RppCANCommonBlockTypeSetup()>
  59 %endfunction
  60
  61 %function BlockInstanceSetup(block, system) void
  62     %if EXISTS("rpp_canc_in_model") == 0
  63         %assign ::rpp_canc_in_model = 1
  64     %else
  65         %<LibBlockReportError(block, "Only one CAN Setup block is allowed in the model.")>
  66     %endif
  67 %endfunction
  68
  69
  70 %% Function: Start =============================================================
  71 %function Start(block, system) Output
  72  %openfile buffer
  73
  74         enum ert_can_msg_types {
  75                 ERT_CAN_STANDARD,
  76                 ERT_CAN_EXTENDED,
  77                 ERT_CAN_MIXED,
  78         };
  79
  80         struct ert_can_channel_config {
  81                 unsigned int baudrate;
  82                 const char *net_dev_name;
  83         };
  84
  85         struct ert_can_tx_config {
  86                 int channel;
  87                 int id_type;
  88                 canid_t id;
  89                 int msg_obj;
  90         };
  91
  92         struct ert_can_rx_config {
  93                 int channel;
  94                 int id_type;
  95                 canid_t id;
  96                 canid_t mask;
  97                 int msg_obj;
  98         };
  99
 100         struct ert_can_config {
 101                 int num_tx_obj;
 102                 int num_rx_obj;
 103                 struct ert_can_tx_config *tx_config;
 104                 struct ert_can_rx_config *rx_config;
 105                 struct ert_can_channel_config *channel_config;
 106                 const char **channel_ifname;
 107         };
 108
 109         #define CAN_TX_COUNT %<Rpp.Can.Tx.NumBlocks>
 110         #define CAN_RX_COUNT %<Rpp.Can.Rx.NumBlocks>
 111
 112         struct ert_can_channel_config can_channel_config[3] = {
 113                 {
 114                         .baudrate = %<LibBlockParameterValue(baudrate_can1, 0)>
 115                 },
 116                 {
 117                         .baudrate = %<LibBlockParameterValue(baudrate_can2, 0)>
 118                 },
 119                 {
 120                         .baudrate = %<LibBlockParameterValue(baudrate_can3, 0)>
 121                 }
 122         };
 123
 124         struct ert_can_tx_config tx_config[CAN_TX_COUNT] = {
 125           %foreach id = Rpp.Can.Tx.NumBlocks
 126                 %with Rpp.Can.Tx.Block[id]
 127                 // %<Name>
 128                 {
 129                   %if %<Type> == 1
 130                         .id_type = ERT_CAN_STANDARD,
 131                   %elseif %<Type> == 2
 132                         .id_type = ERT_CAN_EXTENDED,
 133                   %else
 134                         .id_type = ERT_CAN_MIXED,
 135                   %endif
 136                   .id = %<Id>,
 137                   .channel = %<Controller>,
 138                   .msg_obj = %<MsgObj>,
 139                 },
 140                 %endwith
 141           %endforeach
 142         };
 143
 144         struct ert_can_rx_config rx_config[CAN_RX_COUNT] = {
 145           %foreach id = Rpp.Can.Rx.NumBlocks
 146                 %with Rpp.Can.Rx.Block[id]
 147                 // %<Name>
 148                 {
 149                   %if %<Type>==1
 150                         .id_type = ERT_CAN_STANDARD,
 151                   %elseif %<Type>==2
 152                         .id_type = ERT_CAN_EXTENDED,
 153                   %else
 154                         .id_type = ERT_CAN_MIXED,
 155                   %endif
 156                   .id = %<Id>,
 157                   .mask = %<SPRINTF("%#x", Mask)>,
 158                   .channel = %<Controller>,
 159                   .msg_obj = %<MsgObj>,
 160                 },
 161                 %endwith
 162           %endforeach
 163         };
 164
 165         const char *ert_can_channel_ifname[] = {
 166                 "can0", /*FIXME - for now skip this */
 167                 "can0",
 168                 "can1",
 169                 "can2",
 170                 "can3"
 171         };
 172
 173         const struct ert_can_config can_config = {
 174                 .num_tx_obj = CAN_TX_COUNT,
 175                 .num_rx_obj = CAN_RX_COUNT,
 176                 .tx_config = tx_config,
 177                 .rx_config = rx_config,
 178                 .channel_config = can_channel_config,
 179                 .channel_ifname = ert_can_channel_ifname
 180         };
 181
 182         int can_tx_handles[CAN_TX_COUNT];
 183
 184         int can_rx_handles[CAN_RX_COUNT];
 185
 186         %closefile buffer
 187         %<LibSetSourceFileSection(LibGetModelDotCFile(), "Declarations", buffer)>
 188         {
 189                 int idx;
 190
 191                 for (idx = 0; idx < CAN_TX_COUNT; idx++) {
 192                         struct ert_can_tx_config *cfg = &can_config.tx_config[idx];
 193                         const char *ifname = can_config.channel_ifname[cfg->channel];
 194                         int fd;
 195                         struct sockaddr_can addr;
 196                         struct ifreq ifr;
 197
 198                         fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 199                         if (fd == -1) {
 200                                 printf("CAN socket create error.\n");
 201                                 exit(1);
 202                         }
 203                         if(fcntl(fd, F_SETFL, O_NONBLOCK) < 0) {
 204                                 printf("CAN socket set O_NONBLOCK error.\n");
 205                                 exit(1);
 206                         }
 207                         memset(&addr, 0, sizeof(addr));
 208                         addr.can_family = AF_CAN;
 209                         strncpy(ifr.ifr_name, ifname, sizeof(ifr.ifr_name));
 210                         if (ioctl(fd, SIOCGIFINDEX, &ifr) < 0) {
 211                                 printf("CAN socket ioctl SIOCGIFINDEX error.\n");
 212                                 exit(1);
 213                         }
 214                         addr.can_ifindex = ifr.ifr_ifindex;
 215
 216                         /* disable default receive filter on this RAW socket */
 217                         setsockopt(fd, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
 218
 219                         if (bind(fd, (struct sockaddr *)(void*)&addr, sizeof(addr)) < 0) {
 220                                 printf("CAN socket bind error.\n");
 221                                 exit(1);
 222                         }
 223                         printf("rx opening %s\n", ifname);
 224                         can_tx_handles[idx] = fd;
 225                 }
 226
 227                 for (idx = 0; idx < CAN_RX_COUNT; idx++) {
 228                         struct ert_can_rx_config *cfg = &can_config.rx_config[idx];
 229                         const char *ifname = can_config.channel_ifname[cfg->channel];
 230                         int fd;
 231                         struct sockaddr_can addr;
 232                         struct ifreq ifr;
 233                         struct can_filter sc_filter;
 234
 235                         fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 236                         if (fd == -1) {
 237                                 printf("CAN socket create error.\n");
 238                                 exit(1);
 239                         }
 240                         if(fcntl(fd, F_SETFL, O_NONBLOCK) < 0) {
 241                                 printf("CAN socket set O_NONBLOCK error.\n");
 242                                 exit(1);
 243                         }
 244                         memset(&addr, 0, sizeof(addr));
 245                         addr.can_family = AF_CAN;
 246                         strncpy(ifr.ifr_name, ifname, sizeof(ifr.ifr_name));
 247                         if (ioctl(fd, SIOCGIFINDEX, &ifr) < 0) {
 248                                 printf("CAN socket ioctl SIOCGIFINDEX error.\n");
 249                                 exit(1);
 250                         }
 251                         addr.can_ifindex = ifr.ifr_ifindex;
 252
 253                         /* disable default receive filter on this RAW socket */
 254                         setsockopt(fd, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
 255
 256                         if (bind(fd, (struct sockaddr *)(void*)&addr, sizeof(addr)) < 0) {
 257                                 printf("CAN socket bind error.\n");
 258                                 exit(1);
 259                         }
 260
 261                         memset(&sc_filter, 0, sizeof(sc_filter));
 262                         sc_filter.can_id = cfg->id;
 263                         sc_filter.can_mask = CAN_EFF_MASK | CAN_EFF_FLAG | CAN_RTR_FLAG;
 264                         if (cfg->id_type == ERT_CAN_EXTENDED)
 265                                 sc_filter.can_id |= CAN_EFF_FLAG;
 266                         else if(cfg->id_type == ERT_CAN_MIXED)
 267                                 sc_filter.can_mask &= ~CAN_EFF_FLAG;
 268
 269                         if (setsockopt(fd, SOL_CAN_RAW, CAN_RAW_FILTER, &sc_filter, sizeof(sc_filter)) < 0) {
 270                                 printf("CAN socket setsockopt CAN_RAW_FILTER error.\n");
 271                                 exit(1);
 272                         }
 273
 274                         printf("tx opening %s\n", ifname);
 275                         can_rx_handles[idx] = fd;
 276                 }
 277         }
 278         %%else {
 279         %%      printf("CAN communication initialized.\n");
 280         %%}
 281  %endfunction
 282
 283 %% [EOF]