323 lines
7.2 KiB
C
323 lines
7.2 KiB
C
/*
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* $Id$
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*/
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/*
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* slcanpty.c - creates a pty for applications using the slcan ASCII protocol
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* and converts the ASCII data to a CAN network interface (and vice versa)
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*
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* Copyright (c)2009 Oliver Hartkopp
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*
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* Send feedback to <socketcan-users@lists.berlios.de>
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*
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <net/if.h>
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#include <sys/ioctl.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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/* maximum rx buffer len: extended CAN frame with timestamp */
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#define SLC_MTU (sizeof("T1111222281122334455667788EA5F\r")+1)
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static int asc2nibble(char c)
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{
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if ((c >= '0') && (c <= '9'))
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return c - '0';
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if ((c >= 'A') && (c <= 'F'))
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return c - 'A' + 10;
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if ((c >= 'a') && (c <= 'f'))
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return c - 'a' + 10;
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return 16; /* error */
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}
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int main(int argc, char **argv)
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{
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fd_set rdfs;
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int p; /* pty master file */
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int s; /* can raw socket */
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int nbytes;
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struct sockaddr_can addr;
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struct termios topts;
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struct ifreq ifr;
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int running = 1;
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int tstamp = 0;
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int is_open = 0;
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char txcmd, rxcmd;
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char txbuf[SLC_MTU];
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char rxbuf[SLC_MTU];
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int txp, rxp;
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struct can_frame txf, rxf;
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struct can_filter fi;
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int tmp, i;
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/* check command line options */
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if (argc != 3) {
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fprintf(stderr, "\n");
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fprintf(stderr, "%s creates a pty for applications using"
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" the slcan ASCII protocol and\n", argv[0]);
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fprintf(stderr, "converts the ASCII data to a CAN network"
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" interface (and vice versa)\n\n");
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fprintf(stderr, "Usage: %s <pty> <can interface>\n", argv[0]);
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fprintf(stderr, "e.g. '%s /dev/ptyc0 can0' creates"
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" /dev/ttyc0 for the slcan application\n", argv[0]);
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fprintf(stderr, "\n");
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return 1;
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}
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/* open pty */
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p = open(argv[1], O_RDWR);
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if (p < 0) {
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perror("open pty");
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return 1;
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}
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if (tcgetattr(p, &topts)) {
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perror("tcgetattr");
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return 1;
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}
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/* disable local echo which would cause double frames */
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topts.c_lflag &= ~(ICANON | ECHO | ECHOE | ECHOK |
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ECHONL | ECHOPRT | ECHOKE | ICRNL);
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tcsetattr(p, TCSANOW, &topts);
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/* open socket */
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s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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if (s < 0) {
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perror("socket");
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return 1;
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}
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addr.can_family = AF_CAN;
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strcpy(ifr.ifr_name, argv[2]);
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if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
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perror("SIOCGIFINDEX");
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return 1;
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}
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addr.can_ifindex = ifr.ifr_ifindex;
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/* disable reception of CAN frames until we are opened by 'O' */
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setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
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if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("bind");
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return 1;
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}
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/* open filter by default */
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fi.can_id = 0;
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fi.can_mask = 0;
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while (running) {
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FD_ZERO(&rdfs);
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FD_SET(0, &rdfs);
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FD_SET(p, &rdfs);
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FD_SET(s, &rdfs);
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if (select(s+1, &rdfs, NULL, NULL, NULL) < 0) {
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perror("select");
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return 1;
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}
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if (FD_ISSET(0, &rdfs)) {
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running = 0;
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continue;
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}
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if (FD_ISSET(p, &rdfs)) {
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/* read rxdata from pty */
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nbytes = read(p, &rxbuf, sizeof(rxbuf)-1);
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if (nbytes < 0) {
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perror("read pty");
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return 1;
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}
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/* convert to struct can_frame rxf */
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rxcmd = rxbuf[0];
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/* check for filter configuration commands */
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if (rxcmd == 'm' || rxcmd == 'M') {
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rxbuf[9] = 0; /* terminate filter string */
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if (rxcmd == 'm') {
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fi.can_id = strtoul(rxbuf+1,NULL,16);
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fi.can_id &= CAN_EFF_MASK;
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} else {
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fi.can_mask = strtoul(rxbuf+1,NULL,16);
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fi.can_mask &= CAN_EFF_MASK;
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}
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/* set only when both values are defined */
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if (is_open)
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setsockopt(s, SOL_CAN_RAW,
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CAN_RAW_FILTER, &fi,
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sizeof(struct can_filter));
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goto rx_out_ack;
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}
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/* check for timestamp on/off command */
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if (rxcmd == 'Z') {
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tstamp = rxbuf[1] & 0x01;
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goto rx_out_ack;
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}
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/* check for 'O'pen command */
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if (rxcmd == 'O') {
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setsockopt(s, SOL_CAN_RAW,
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CAN_RAW_FILTER, &fi,
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sizeof(struct can_filter));
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is_open = 1;
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goto rx_out_ack;
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}
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/* check for 'C'lose command */
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if (rxcmd == 'C') {
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setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER,
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NULL, 0);
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is_open = 0;
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goto rx_out_ack;
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}
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if ((rxcmd != 't') && (rxcmd != 'T') &&
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(rxcmd != 'r') && (rxcmd != 'R'))
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goto rx_out_ack;
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if (rxcmd & 0x20) /* tiny chars 'r' 't' => SFF */
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rxp = 4; /* dlc position tiiid */
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else
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rxp = 9; /* dlc position Tiiiiiiiid */
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if (!((rxbuf[rxp] >= '0') && (rxbuf[rxp] < '9')))
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goto rx_out_nack;
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rxf.can_dlc = rxbuf[rxp] & 0x0F; /* get can_dlc */
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rxbuf[rxp] = 0; /* terminate can_id string */
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rxf.can_id = strtoul(rxbuf+1, NULL, 16);
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if (!(rxcmd & 0x20)) /* NO tiny chars => EFF */
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rxf.can_id |= CAN_EFF_FLAG;
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if ((rxcmd | 0x20) == 'r') /* RTR frame */
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rxf.can_id |= CAN_RTR_FLAG;
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*(unsigned long long *) (&rxf.data) = 0ULL; /* clear */
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for (i = 0, rxp++; i < rxf.can_dlc; i++) {
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tmp = asc2nibble(rxbuf[rxp++]);
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if (tmp > 0x0F)
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goto rx_out_nack;
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rxf.data[i] = (tmp << 4);
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tmp = asc2nibble(rxbuf[rxp++]);
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if (tmp > 0x0F)
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goto rx_out_nack;
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rxf.data[i] |= tmp;
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}
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nbytes = write(s, &rxf, sizeof(rxf));
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if (nbytes != sizeof(rxf)) {
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perror("write socket");
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return 1;
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}
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rx_out_ack:
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rxcmd = '\r';
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goto rx_out;
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rx_out_nack:
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rxcmd = '\a';
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rx_out:
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nbytes = write(p, &rxcmd, 1);
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if (nbytes < 0) {
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perror("write pty ack/nack");
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return 1;
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}
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}
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if (FD_ISSET(s, &rdfs)) {
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/* read txframe from CAN interface */
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nbytes = read(s, &txf, sizeof(txf));
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if (nbytes != sizeof(txf)) {
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perror("read socket");
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return 1;
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}
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/* convert to slcan ASCII txf */
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if (txf.can_id & CAN_RTR_FLAG)
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txcmd = 'R'; /* becomes 'r' in SFF format */
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else
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txcmd = 'T'; /* becomes 't' in SFF format */
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if (txf.can_id & CAN_EFF_FLAG)
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sprintf(txbuf, "%c%08X%d", txcmd,
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txf.can_id & CAN_EFF_MASK,
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txf.can_dlc);
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else
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sprintf(txbuf, "%c%03X%d", txcmd | 0x20,
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txf.can_id & CAN_SFF_MASK,
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txf.can_dlc);
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txp = strlen(txbuf);
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for (i = 0; i < txf.can_dlc; i++)
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sprintf(&txbuf[txp + 2*i], "%02X",
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txf.data[i]);
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if (tstamp) {
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struct timeval tv;
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if (ioctl(s, SIOCGSTAMP, &tv) < 0)
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perror("SIOCGSTAMP");
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sprintf(&txbuf[txp + 2*txf.can_dlc], "%04lX",
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(tv.tv_sec%60)*1000 + tv.tv_usec/1000);
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}
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strcat(txbuf, "\r"); /* add terminating character */
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nbytes = write(p, txbuf, strlen(txbuf));
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if (nbytes < 0) {
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perror("write pty");
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return 1;
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}
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fflush(NULL);
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}
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}
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close(p);
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close(s);
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return 0;
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}
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