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authorChristian Gromm <christian.gromm@microchip.com>2016-06-21 14:14:04 +0200
committerChristian Gromm <christian.gromm@microchip.com>2016-06-21 14:14:04 +0200
commit860b3c0ccfb2756b8ed77523048952011b74a212 (patch)
treee0672fb5cf923dcf0a4a48a62a69011e1b72976a /main.cpp
parent742bace60b9c0a0f583d8afe1097d029f468fa03 (diff)
src: can-lin: initial source import
This patch adds the sources needed for the HVAC and iDrive applications. Change-Id: I53148a5d11c34787dd11295939bbaf8702c64dcb Signed-off-by: Christian Gromm <christian.gromm@microchip.com>
Diffstat (limited to 'main.cpp')
-rw-r--r--main.cpp506
1 files changed, 506 insertions, 0 deletions
diff --git a/main.cpp b/main.cpp
new file mode 100644
index 0000000..1f0a0cd
--- /dev/null
+++ b/main.cpp
@@ -0,0 +1,506 @@
+#include <stdio.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <string.h>
+#include <errno.h>
+#include <termios.h>
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <vector>
+
+#include <stdlib.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <pthread.h>
+
+#include <linux/input.h>
+#include <linux/uinput.h>
+
+#include "abi-ipc.h"
+#include "ABICommands.h"
+
+#define DEFAULT_ABI_RX_DEVICE "/dev/mocca0"
+#define DEFAULT_ABI_TX_DEVICE "/dev/mocca0"
+#define UINPUT_DEVICE "/dev/uinput"
+
+using namespace K2L::Automotive::ABI_IPC;
+using namespace K2L::Automotive::ABI;
+
+#include "HVAC_Bin_jitter10.c"
+
+class AbiMainHandler : public CABIListener
+{
+private:
+ AbiUsbIpc *abiIpc;
+ IABI *abi;
+ bool isConnected;
+ unsigned int connectionLabel;
+ Bus canBuses[6] = { CAN1, CAN2, CAN3, CAN4, CAN5, CAN6};
+ Bus xcanBuses[6] = { XCAN1, XCAN2, XCAN3, XCAN4, XCAN5, XCAN6};
+ Bus linBuses[6] = { LIN1, LIN2, LIN3, LIN4, LIN5, LIN6};
+ int busCount = 6;
+ int socketId = -1;
+ struct can_frame txCanFrame;
+ struct sockaddr_can addr;
+ struct ifreq ifr;
+
+ pthread_t receivingThread;
+ pthread_t sendingThread;
+ BYTE busToSend = 0xFF;
+
+ pthread_mutex_t mutex;
+ BYTE currentState[8];
+ BYTE nextState[8];
+ bool sendNextState = false;
+
+ int uinputFileDescriptor = -1;
+
+ virtual void OnCanRxMessage(IABI* pAbi, void* pContext, unsigned long long timeStamp, Bus bus, unsigned int messageId, bool extended, BYTE* payload, int payloadLength)
+ {
+ if (messageId == 0x25B && payloadLength >= 8)
+ {
+ if (payload[6] & 0x01)
+ {
+ printf("MEDIA\n");
+ SendKey(KEY_MEDIA);
+ }
+ if (payload[7] & 0x01)
+ {
+ printf("MAP\n");
+ SendKey(KEY_FN_F11);
+ }
+ if (payload[5] & 0x08)
+ {
+ printf("COM\n");
+ SendKey(KEY_PHONE);
+ }
+ if (payload[6] & 0x08)
+ {
+ printf("NAV\n");
+ SendKey(KEY_FN_F12);
+ }
+ if (payload[4] & 0x20)
+ {
+ printf("BACK\n");
+ SendKey(KEY_BACK);
+ }
+ if (payload[5] & 0x01)
+ {
+ printf("OPTION\n");
+ SendKey(KEY_OPTION);
+ }
+ if (payload[3] & 0x01)
+ {
+ printf("iDRIVE (ENTER)\n");
+ SendKey(KEY_ENTER);
+ }
+ uint8_t code = (payload[3] >> 4);
+ if (code == 1)
+ {
+ printf("iDRIVE (UP)\n");
+ SendKey(KEY_UP);
+ }
+ if (code == 7)
+ {
+ printf("iDRIVE (DOWN)\n");
+ SendKey(KEY_DOWN);
+ }
+ if (code == 0xA)
+ {
+ printf("iDRIVE (LEFT)\n");
+ SendKey(KEY_LEFT);
+ }
+ if (code == 0x4)
+ {
+ printf("iDRIVE (RIGHT)\n");
+ SendKey(KEY_RIGHT);
+ }
+ }
+ else
+ {
+ if (CAN1 <= bus && bus <= CAN6)
+ {
+ printf("CAN%i: RX %04X Std", bus - CAN1 + 1, messageId, payloadLength);
+ }
+ if (XCAN1 <= bus && bus <= XCAN6)
+ {
+ printf("CAN%i: RX %04X Ext", bus - XCAN1 + 1, messageId, payloadLength);
+ }
+ printf(":");
+ for(int i = 0; i < payloadLength; i++)
+ {
+ printf(" %2X", payload[i]);
+ }
+ printf("\n");
+ }
+ }
+
+ void SendKey(unsigned int code)
+ {
+ if(this->uinputFileDescriptor < 0)
+ {
+ return;
+ }
+
+ struct input_event ev;
+
+ memset(&ev, 0, sizeof(ev));
+
+ ev.type = EV_KEY;
+ ev.code = code;
+ ev.value = 1;
+
+ if (write(this->uinputFileDescriptor, &ev, sizeof(ev)) >= 0)
+ {
+ printf("Key: %X\n", code);
+ }
+ }
+
+ virtual void OnLinRxMessage(IABI* pAbi, void* pContext, unsigned long long timeStamp, Bus bus, unsigned int sourceAddress,
+ unsigned int messageId, BYTE* payload, int payloadLength)
+ {
+ if (LIN1 <= bus && bus <= LIN6)
+ {
+ printf("LIN%i: RX %02X ", bus - LIN1 + 1, messageId, payloadLength);
+ }
+ printf(":");
+ for(int i = 0; i < payloadLength; i++)
+ {
+ printf(" %2X", payload[i]);
+ }
+ printf("\n");
+ if (this->busToSend == 0xFF)
+ {
+ this->busToSend = bus - LIN1 + 1;
+ printf("Selected bus LIN%i\n", this->busToSend);
+ }
+
+ if (messageId == 0x2D)
+ {
+ // StatusAfterCalibration
+ CheckResult("Identify", CABICommands::Identify(abi));
+ unsigned long long result;
+ CheckResult("Relay", CABICommands::SetRelay( abi, false, result));
+ }
+ if (messageId == 0x31 && payloadLength >= 8)
+ {
+ // Status
+ if (pthread_mutex_lock(&mutex) == 0)
+ {
+ printf("Save state");
+ for(int i = 0; i < payloadLength; i++)
+ {
+ printf(" %2X", payload[i]);
+ }
+ printf("...\n");
+ memcpy(currentState, payload, 8);
+ if (memcmp(currentState, nextState, 8) == 0)
+ {
+ sendNextState = false;
+ }
+ else if (sendNextState)
+ {
+ printf("Next state is ready to send...\n" );
+ struct can_frame frame;
+ frame.can_id = 0x01;
+ frame.can_dlc = 8;
+ memcpy(&frame.data, this->nextState, 8);
+ sendto(socketId, &frame, sizeof(struct can_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
+ }
+ pthread_mutex_unlock(&mutex);
+ }
+ }
+ }
+
+ static void *ReceiveThread( void *param )
+ {
+ if( NULL == param )
+ {
+ printf("ERROR: Virtual CAN receiving thread could not be started\n" );
+ pthread_exit( 0 );
+ }
+ AbiMainHandler *that = ( AbiMainHandler * )param;
+
+ printf("Virtual CAN receiving thread started...\n" );
+ int nbytes = 0;
+ struct can_frame frame;
+ while( that->isConnected )
+ {
+ nbytes = read(that->socketId, &frame, sizeof(struct can_frame));
+ if (nbytes < 0)
+ {
+ printf("ERROR: could not read CAN frame");
+ }
+
+ if (frame.can_id == 0x01 && frame.can_dlc >= 8)
+ {
+ printf("");
+ printf("Send next state LIN%i: ", that->busToSend);
+ for(int i = 0; i < 8; i++)
+ {
+ printf(" %2X", that->nextState[i]);
+ }
+ printf("...\n");
+ CheckResult("Send", CABICommands::SendLINMessage(that->abi, 150, that->busToSend, 0x30, frame.can_dlc, frame.data));
+ if (pthread_mutex_lock(&(that->mutex)) == 0)
+ {
+ memcpy(that->nextState, frame.data, 8);
+ that->sendNextState = true;
+ pthread_mutex_unlock(&(that->mutex));
+ }
+ continue;
+ }
+
+ printf("Virtual CAN: message received %x: ", frame.can_id );
+ for(int i = 0; i < frame.can_dlc; i++)
+ {
+ printf(" %2X", frame.data[i]);
+ }
+ printf("\n");
+
+ bool send = false;
+ if (frame.can_dlc >= 8 && pthread_mutex_lock(&(that->mutex)) == 0)
+ {
+ if (that->sendNextState)
+ {
+ printf("Save next state...\n");
+ memcpy(that->nextState, frame.data, 8);
+ }
+ else
+ {
+ send = true;
+ memcpy(that->nextState, frame.data, 8);
+ that->sendNextState = true;
+ }
+ pthread_mutex_unlock(&(that->mutex));
+ }
+
+ if (send)
+ {
+ printf("Send new state...\n");
+ CheckResult("Send", CABICommands::SendLINMessage(that->abi, 151, that->busToSend, frame.can_id, frame.can_dlc, frame.data));
+ }
+ }
+ pthread_exit( 0 );
+ }
+
+ virtual void OnLinTxMessage(IABI* pAbi, void* pContext, unsigned long long timeStamp, unsigned short handle, Bus bus, unsigned int targetAddress,
+ unsigned int messageId, BYTE* payload, int payloadLength)
+ {
+ if (LIN1 <= bus && bus <= LIN6)
+ {
+ printf("LIN%i: TX %02X ", bus - LIN1 + 1, messageId, payloadLength);
+ }
+ printf(":");
+ for(int i = 0; i < payloadLength; i++)
+ {
+ printf(" %2X", payload[i]);
+ }
+ printf("\n");
+
+ if (pthread_mutex_lock(&mutex) == 0)
+ {
+ memcpy(currentState, payload, 8);
+ pthread_mutex_unlock(&mutex);
+ }
+ }
+
+ static void CheckResult( const char *command, int result )
+ {
+ if( 0 == result )
+ printf( "Command '%s' succeeded\n", command );
+ else
+ printf( "Command '%s' failed, with error code: %d\n", command, result );
+ }
+
+ bool SetupAbiDevice()
+ {
+ //Lets the Active LED twinkle fast
+ CheckResult( "Identify", CABICommands::Identify( abi ) );
+
+ CheckResult( "Delete all receivers", CABICommands::Delete( abi, 0 ) );
+ unsigned long long result;
+ CheckResult("Relay", CABICommands::SetRelay( abi, true, result));
+
+ for(int i = 0; i < busCount; i++)
+ {
+ CheckResult( "Start CAN", CABICommands::StartCan( abi, canBuses[i], canTransceiverFast, canSpeed500) );
+
+ CheckResult( "Add CAN receiver", CABICommands::AddReceiver( abi, 100 + i, canBuses[i], 0x0, 0x7FF ) );
+ CheckResult( "Start CAN receiver", CABICommands::Start( abi, 100 + i ) );
+
+ CheckResult( "Add extended CAN receiver", CABICommands::AddReceiver( abi, 110 + i, xcanBuses[i], 0x0, 0x1FFFFFFF ) );
+ CheckResult( "Start extended CAN receiver", CABICommands::Start( abi, 110 + i ) );
+ }
+
+ for(int i = 0; i < busCount; i++)
+ {
+ CheckResult( "Start LIN", CABICommands::StartLin(abi, linBuses[i], sizeof(bin_data), (BYTE*)bin_data));
+
+ CheckResult( "Add LIN receiver", CABICommands::AddReceiver( abi, 120 + i, linBuses[i], 0xFF, 0 ) );
+ CheckResult( "Start LIN receiver", CABICommands::Start( abi, 120 + i ) );
+ }
+
+ this->socketId = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (this->socketId < 0)
+ {
+ printf("ERROR: socket could not be created\n");
+ return false;
+ }
+
+ strcpy(ifr.ifr_name, "vcan0" );
+ if(ioctl(this->socketId, SIOCGIFINDEX, &ifr))
+ {
+ printf("ERROR: ioctl failed\n");
+ return false;
+ }
+
+ addr.can_family = AF_CAN;
+ addr.can_ifindex = ifr.ifr_ifindex;
+
+ if (bind(this->socketId, (struct sockaddr *)&addr, sizeof(addr)) < 0)
+ {
+ printf("ERROR: bind failed\n");
+ return false;
+ }
+
+ int recv_own_msgs = 1; /* 0 = disabled (default), 1 = enabled */
+ setsockopt(this->socketId, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
+ &recv_own_msgs, sizeof(recv_own_msgs));
+
+ return true;
+ }
+
+public:
+ AbiMainHandler() : isConnected( false ), connectionLabel( 0xFFFFFFFF )
+ {
+ abiIpc = new AbiUsbIpc();
+ abi = CABIFactory::CreateAbi();
+ pthread_mutex_init(&mutex, NULL);
+ this->uinputFileDescriptor = open(UINPUT_DEVICE, O_WRONLY | O_NONBLOCK);
+ if(this->uinputFileDescriptor < 0)
+ {
+ printf("ERROR: Cannot open UInput!\n");
+ }
+ else if(ioctl(this->uinputFileDescriptor, UI_SET_EVBIT, EV_KEY) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_MEDIA) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_PHONE) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_MENU) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_BACK) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_OPTION) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_FN_F11) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_FN_F12) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_SCROLLDOWN) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_SCROLLUP) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_UP) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_LEFT) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_RIGHT) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_DOWN) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_SET_KEYBIT, KEY_ENTER) >= 0)
+ {
+ struct uinput_user_dev uidev;
+
+ memset(&uidev, 0, sizeof(uidev));
+
+ snprintf(uidev.name, UINPUT_MAX_NAME_SIZE, "uinput-sample");
+ uidev.id.bustype = BUS_USB;
+ uidev.id.vendor = 0x1234;
+ uidev.id.product = 0xfedc;
+ uidev.id.version = 1;
+
+ if (write(this->uinputFileDescriptor, &uidev, sizeof(uidev)) >= 0
+ && ioctl(this->uinputFileDescriptor, UI_DEV_CREATE) >= 0)
+ {
+ printf("UInput ready...\n");
+ }
+ else
+ {
+ printf("ERROR: cannot create UInput device...\n");
+ }
+ }
+ else
+ {
+ printf("ERROR: UInput failed!\n");
+ }
+ }
+
+ ~AbiMainHandler()
+ {
+ CheckResult( "Delete all receivers", CABICommands::Delete( abi, 0 ) );
+
+ for(int i = 0; i < busCount; i++)
+ {
+ CheckResult( "Stop LIN", CABICommands::StopLin(abi, linBuses[i]));
+ }
+
+ if(this->socketId != -1)
+ {
+ close(this->socketId);
+ printf("Socket closed\n");
+ }
+
+ if(this->uinputFileDescriptor >= 0)
+ {
+ if (ioctl(this->uinputFileDescriptor, UI_DEV_DESTROY) >= 0)
+ {
+ printf("UInput device destroyed\n");
+ }
+ close(this->uinputFileDescriptor);
+ printf("UInput closed\n");
+ }
+ }
+
+ bool Connect( const char *cdevRx, const char *cdevTx )
+ {
+ if( isConnected )
+ {
+ isConnected = false;
+ abiIpc->Disconnect();
+ }
+ bool isSingleDevice = ( 0 == strcmp( cdevRx, cdevTx ) );
+ bool success = isSingleDevice ? abiIpc->Connect( cdevRx ) : abiIpc->Connect( cdevRx, cdevTx );
+ if( success )
+ {
+ int err = abi->Init( abiIpc );
+ if( 0 == err )
+ {
+ abi->Start( this );
+ isConnected = SetupAbiDevice();
+ if( pthread_create( &this->receivingThread, NULL, ReceiveThread, this ) )
+ {
+ printf( "Failed to create receive thread\n" );
+ return false;
+ }
+ }
+ }
+
+ return isConnected;
+ }
+};
+
+int main( int argc, char *argv[] )
+{
+ AbiMainHandler mainHandler;
+ bool success = mainHandler.Connect( DEFAULT_ABI_RX_DEVICE, DEFAULT_ABI_TX_DEVICE );
+
+ if(success)
+ {
+ printf( "OptoLyzer MOCCA compact connected...\n");
+ printf("Press any key to finish...\n");
+ getchar();
+ }
+ else
+ {
+ printf( "ERROR: ABI could not started...\n", success );
+ }
+
+ return 0;
+}
+
+