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Diffstat (limited to 'src/can/can-bus-dev.cpp')
| -rw-r--r-- | src/can/can-bus-dev.cpp | 92 |
1 files changed, 92 insertions, 0 deletions
diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp new file mode 100644 index 0000000..5166550 --- /dev/null +++ b/src/can/can-bus-dev.cpp @@ -0,0 +1,92 @@ +/* + * Copyright (C) 2015, 2016, 2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@iot.bzh> + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include <string.h> +#include <linux/can/raw.h> +#include <net/if.h> +#include <sys/ioctl.h> + +#include "can-bus-dev.hpp" +#include "low-can-binding.hpp" + +/// @brief Class constructor +/// @param dev_name String representing the device name into the linux /dev tree +can_bus_dev_t::can_bus_dev_t(const std::string& dev_name) + : device_name_{dev_name} +{ +} + +/// @brief Open the can socket and returning it +/// @return -1 +int can_bus_dev_t::open() +{ + const int canfd_on = 1; + const int timestamp_on = 1; + struct ifreq ifr; + struct timeval timeout; + + DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket()); + if (can_socket_) return 0; + + can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW); + if (can_socket_) + { + DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_.socket()); + + // Set timeout for read + can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); + + // Set timestamp for receveid frame + if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) + WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); + DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode"); + + // try to switch the socket into CAN_FD mode + if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) + { + NOTICE(binder_interface, "Can not switch into CAN Extended frame format."); + is_fdmode_on_ = false; + } + else + { + DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames."); + is_fdmode_on_ = true; + } + + // Attempts to open a socket to CAN bus + ::strcpy(ifr.ifr_name, device_name_.c_str()); + DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name); + if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0) + ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno)); + else + { + txAddress_.can_family = AF_CAN; + txAddress_.can_ifindex = ifr.ifr_ifindex; + + // And bind it to txAddress + DEBUG(binder_interface, "Bind the socket"); + if (::bind(can_socket_.socket(), (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) + ERROR(binder_interface, "Bind failed. %s", strerror(errno)); + else + return 0; + } + close(); + } + else ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno)); + return -1; +} |