170 lines
3.5 KiB
C
170 lines
3.5 KiB
C
/*
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* Copyright (c) 2019 Intel Corporation
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* Copyright (c) 2022 Martin Jäger <martin@libre.solar>
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/**
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* @file
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*
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* Routines setting up the host system. Those are placed in separate file
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* because there is naming conflicts between host and zephyr network stacks.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdarg.h>
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#include <errno.h>
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#include <string.h>
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#include <stdbool.h>
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/* Linux host include files. */
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#ifdef __linux
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <sys/socket.h>
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#include <sys/select.h>
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#include <net/if.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#else
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#error "This driver can only be built on Linux systems"
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#endif
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#include "can_native_posix_linux_socketcan.h"
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#ifndef CANFD_FDF
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/* Linux kernels before v5.14 do not define CANFD_FDF */
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#define CANFD_FDF 0x04
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#endif /* CANFD_FDF */
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int linux_socketcan_iface_open(const char *if_name)
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{
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struct sockaddr_can addr;
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struct ifreq ifr;
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int fd, opt, ret = -EINVAL;
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fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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if (fd < 0) {
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return -errno;
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}
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(void)memset(&ifr, 0, sizeof(ifr));
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(void)memset(&addr, 0, sizeof(addr));
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strncpy(ifr.ifr_name, if_name, IFNAMSIZ);
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ret = ioctl(fd, SIOCGIFINDEX, (void *)&ifr);
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if (ret < 0) {
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close(fd);
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return -errno;
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}
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addr.can_ifindex = ifr.ifr_ifindex;
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addr.can_family = PF_CAN;
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ret = bind(fd, (struct sockaddr *)&addr, sizeof(addr));
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if (ret < 0) {
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close(fd);
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return -errno;
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}
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/* this option must always be enabled in order to receive TX confirmations */
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opt = 1;
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ret = setsockopt(fd, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &opt, sizeof(opt));
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if (ret < 0) {
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close(fd);
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return -errno;
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}
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return fd;
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}
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int linux_socketcan_iface_close(int fd)
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{
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return close(fd);
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}
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int linux_socketcan_poll_data(int fd)
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{
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struct timeval timeout;
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fd_set rset;
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int ret;
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FD_ZERO(&rset);
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FD_SET(fd, &rset);
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timeout.tv_sec = 0;
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timeout.tv_usec = 0;
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ret = select(fd + 1, &rset, NULL, NULL, &timeout);
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if (ret < 0 && errno != EINTR) {
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return -errno;
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} else if (ret > 0) {
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if (FD_ISSET(fd, &rset)) {
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return 0;
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}
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}
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return -EAGAIN;
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}
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ssize_t linux_socketcan_read_data(int fd, void *buf, size_t buf_len, bool *msg_confirm)
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{
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struct canfd_frame *frame = (struct canfd_frame *)buf;
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struct msghdr msg = {0};
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struct iovec iov = {
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.iov_base = buf,
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.iov_len = buf_len,
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};
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msg.msg_iov = &iov;
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msg.msg_iovlen = 1;
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int ret = recvmsg(fd, &msg, MSG_WAITALL);
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if (msg_confirm != NULL) {
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*msg_confirm = (msg.msg_flags & MSG_CONFIRM) != 0;
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}
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/* Make sure to set the flags for all frames received via the Linux API.
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*
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* Zephyr relies on defined flags field of the SocketCAN data for both FD and classical CAN
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* frames. In Linux the flags field is undefined for legacy frames.
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*/
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if (ret == CANFD_MTU) {
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frame->flags |= CANFD_FDF;
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} else if (ret == CAN_MTU) {
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frame->flags = 0;
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}
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return ret;
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}
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ssize_t linux_socketcan_write_data(int fd, void *buf, size_t buf_len)
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{
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return write(fd, buf, buf_len);
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}
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int linux_socketcan_setsockopt(int fd, int level, int optname,
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const void *optval, socklen_t optlen)
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{
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return setsockopt(fd, level, optname, optval, optlen);
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}
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int linux_socketcan_getsockopt(int fd, int level, int optname,
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void *optval, socklen_t *optlen)
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{
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return getsockopt(fd, level, optname, optval, optlen);
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}
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int linux_socketcan_set_mode_fd(int fd, bool mode_fd)
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{
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int opt = mode_fd ? 1 : 0;
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return setsockopt(fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &opt, sizeof(opt));
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}
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