1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
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;
}
|
