diff options
Diffstat (limited to 'iotbzh-CAN-binding.c')
| -rw-r--r-- | iotbzh-CAN-binding.c | 273 |
1 files changed, 134 insertions, 139 deletions
diff --git a/iotbzh-CAN-binding.c b/iotbzh-CAN-binding.c index 293ad3bc..e96796c0 100644 --- a/iotbzh-CAN-binding.c +++ b/iotbzh-CAN-binding.c @@ -28,8 +28,10 @@ #include <math.h> #include <fcntl.h> #include <systemd/sd-event.h> +#include <errno.h> #include <json-c/json.h> +#include <openxc.pb.h> #include <afb/afb-binding.h> #include <afb/afb-service-itf.h> @@ -44,10 +46,16 @@ /*****************************************************************************************/ /*****************************************************************************************/ -/* - * Interface between the daemon and the binding - */ -static const struct afb_binding_interface *interface; +/* max. number of CAN interfaces given on the cmdline */ +#define MAXSOCK 16 + +/* buffer sizes for CAN frame string representations */ +#define CL_ID (sizeof("12345678##1")) +#define CL_DATA sizeof(".AA") +#define CL_BINDATA sizeof(".10101010") + + /* CAN FD ASCII hex short representation with DATA_SEPERATORs */ +#define CL_CFSZ (2*CL_ID + 64*CL_DATA) /* * the type of position expected @@ -64,27 +72,30 @@ enum type { #define type_size sizeof(enum type)-2 /* - * names of the types + * each generated event */ -static const char * const type_NAMES[type_size] = { - "OBDII", - "CAN" +struct event { + struct event *next; /* link for the same period */ + const char *name; /* name of the event */ + struct afb_event event; /* the event for the binder */ + enum type type; /* the type of data expected */ + int id; /* id of the event for unsubscribe */ }; struct can_handler { int socket; char *device; - char *send_msg; - char *read_msg; struct sockaddr_can txAddress; }; -static struct can_handler can_handler = { - .socket = -1, - .device = "vcan0" -}; - -struct can_frame can_frame; +static __u32 dropcnt[MAXSOCK]; +static __u32 last_dropcnt[MAXSOCK]; +char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))]; +struct timeval tv; +struct iovec iov; +struct msghdr msg; +struct cmsghdr *cmsg; +struct canfd_frame can_frame; /*****************************************************************************************/ /*****************************************************************************************/ @@ -95,6 +106,10 @@ struct can_frame can_frame; /** **/ /*****************************************************************************************/ /*****************************************************************************************/ +/* + * Interface between the daemon and the binding + */ +static const struct afb_binding_interface *interface; /* * @brief Retry a function 3 times @@ -129,123 +144,31 @@ static int retry( int(*func)()) /** **/ /*****************************************************************************************/ /*****************************************************************************************/ - -static int connect_to_event_loop(); - /* - * Parse the CAN frame data payload as a CANopen packet - * TODO: define can_frame_t - */ -int can_frame_parse(canopen_frame_t *canopen_frame, struct can_frame *can_frame) -{ - int i; - - if (canopen_frame == NULL || can_frame == NULL) - { - return -1; - } - - bzero((void *)canopen_frame, sizeof(canopen_frame_t)); - - // - // Parse basic protocol fields - // - - if (can_frame->can_id & CAN_EFF_FLAG) - { - canopen_frame->type = CANOPEN_FLAG_EXTENDED; - canopen_frame->id = can_frame->can_id & CAN_EFF_MASK; - } - else - { - canopen_frame->type = CANOPEN_FLAG_STANDARD; - canopen_frame->function_code = (can_frame->can_id & 0x00000780U) >> 7; - canopen_frame->id = (can_frame->can_id & 0x0000007FU); - } - - canopen_frame->rtr = (can_frame->can_id & CAN_RTR_FLAG) ? - CANOPEN_FLAG_RTR : CANOPEN_FLAG_NORMAL; - - canopen_frame->data_len = can_frame->can_dlc; - for (i = 0; i < can_frame->can_dlc; i++) - { - canopen_frame->payload.data[i] = can_frame->data[i]; - } - - // - // Parse payload data - // - - // NMT protocol - switch (canopen_frame->function_code) - { - // --------------------------------------------------------------------- - // Network ManagemenT frame: Module Control - // - case CANOPEN_FC_NMT_MC: - - break; - - // --------------------------------------------------------------------- - // Network ManagemenT frame: Node Guarding - // - case CANOPEN_FC_NMT_NG: - - - break; - - //default: - // unhandled type... - } - - return 0; -} - -/* - * Read on CAN bus + * names of the types */ -static int read_can() -{ - int byte_read; +static const char * const type_NAMES[type_size] = { + "OBDII", + "CAN" +}; - byte_read = read(can_handler.socket, &can_frame, sizeof(struct can_frame)); - if (byte_read < 0) - { - ERROR(interface, "Error reading CAN bus"); - return -1; - } - - if (byte_read < (int)sizeof(struct can_frame)) - { - ERROR(interface, "CAN frame incomplete"); - return -2; - } -} +// Initialize default can_handler values +static struct can_handler can_handler = { + .socket = -1, + .device = "vcan0" +}; /* - * called on an event on the CAN bus + * Parse the CAN frame data payload as a CAN packet + * TODO: parse as an OpenXC Can Message */ -static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata) +int can_frame_parse(openxc_CanMessage *can_message, struct can_frame *can_frame) { - /* read available data */ - if ((revents & EPOLLIN) != 0) - { - read_can(); -// event_send(); - } - - /* check if error or hangup */ - if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) - { - sd_event_source_unref(s); - close(fd); - connect_to_event_loop(); - } - return 0; } + /* * open the can socket */ @@ -304,23 +227,6 @@ static int write_can() /* * TODO change old hvac write can frame to generic on_event */ - can_frame.can_id = 0x30; - can_frame.can_dlc = 8; - can_frame.data[0] = 0; - can_frame.data[1] = 0; - can_frame.data[2] = 0; - can_frame.data[3] = 0xf0; - can_frame.data[4] = 0; - can_frame.data[5] = 1; - can_frame.data[6] = 0; - can_frame.data[7] = 0; - - DEBUG(interface, "%s: %d %d [%02x %02x %02x %02x %02x %02x %02x %02x]\n", - can_handler.send_msg, - can_frame.can_id, can_frame.can_dlc, - can_frame.data[0], can_frame.data[1], can_frame.data[2], can_frame.data[3], - can_frame.data[4], can_frame.data[5], can_frame.data[6], can_frame.data[7]); - rc = sendto(can_handler.socket, &can_frame, sizeof(struct can_frame), 0, (struct sockaddr*)&can_handler.txAddress, sizeof(can_handler.txAddress)); if (rc < 0) @@ -336,6 +242,69 @@ static int write_can() return rc; } +/* + * Read on CAN bus and return how much bytes has been read. + */ +static int read_can(openxc_CanMessage *can_message) +{ + int byte_read, maxdlen; + iov.iov_base = &can_frame; + msg.msg_name = &can_handler.txAddress; + msg.msg_iov = &iov; + msg.msg_iovlen = 1; + msg.msg_control = &ctrlmsg; + + byte_read = recvmsg(can_handler.socket, &msg, 0); + + if (byte_read < 0) + { + if (errno == ENETDOWN) { + ERROR(interface, "%s: interface down", can_handler.device); + } + ERROR(interface, "Error reading CAN bus"); + return -1; + } + + // CAN frame integrity check + if ((size_t)byte_read == CAN_MTU) + maxdlen = CAN_MAX_DLEN; + else if ((size_t)byte_read == CANFD_MTU) + maxdlen = CANFD_MAX_DLEN; + else + { + ERROR(interface, "CAN frame incomplete"); + return -2; + } + + for ( cmsg = CMSG_FIRSTHDR(&msg); + cmsg && (cmsg->cmsg_level == SOL_SOCKET); + cmsg = CMSG_NXTHDR(&msg,cmsg)) + { + if (cmsg->cmsg_type == SO_TIMESTAMP) + tv = *(struct timeval *)CMSG_DATA(cmsg); + else if (cmsg->cmsg_type == SO_RXQ_OVFL) + dropcnt[can_handler.socket] = *(__u32 *)CMSG_DATA(cmsg); + } + + // Check if there is a new CAN frame dropped. + if (dropcnt[can_handler.socket] != last_dropcnt[can_handler.socket]) + { + __u32 frames = dropcnt[can_handler.socket] - last_dropcnt[can_handler.socket]; + WARNING(interface, "DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)", + frames, (frames > 1)?"s":"", can_handler.device, dropcnt[can_handler.socket]); + if (log) + WARNING(interface, "DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n", + frames, (frames > 1)?"s":"", can_handler.device, dropcnt[can_handler.socket]); + + last_dropcnt[can_handler.socket] = dropcnt[can_handler.socket]; + } + + can_message->has_id = true; + can_message->id = msg.id; // TODO make the parsing to extract id from data and only return left data into msg.msg_iov + can_message->has_data = true; + can_message->data = msg.msg_iov; +} + /***************************************************************************************/ /***************************************************************************************/ /** **/ @@ -345,6 +314,32 @@ static int write_can() /** **/ /***************************************************************************************/ /***************************************************************************************/ +static int connect_to_event_loop(); + +/* + * called on an event on the CAN bus + */ +static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata) +{ + openxc_CanMessage can_message; + + /* read available data */ + if ((revents & EPOLLIN) != 0) + { + read_can(&can_message); +// event_send(); + } + + /* check if error or hangup */ + if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) + { + sd_event_source_unref(s); + close(fd); + connect_to_event_loop(); + } + + return 0; +} /* * get or create an event handler for the type |