2 * Copyright 2015-2016 Max Staudt
4 * This program is free software: you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License 2 as published
6 * by the Free Software Foundation.
16 #include <sys/types.h>
17 #include <sys/socket.h>
18 #include <linux/can.h>
19 #include <linux/can/raw.h>
21 #include <sys/ioctl.h>
27 #include "vw-nm-tools.h"
31 static int nm_is_rx_frame_valid(struct NM_Main *nm, struct can_frame *frame)
33 if (frame->can_dlc < 2) {
34 printf("Skipping short frame from CAN ID %03x\n", frame->can_id);
38 if ((frame->can_id & ~(nm->max_nodes - 1)) != nm->can_base) {
39 printf("Skipping non-NM from CAN ID %03x\n", frame->can_id);
49 static void nm_update_my_next_id(struct NM_Main *nm) {
50 unsigned id = nm->my_id;
56 if (id >= nm->max_nodes) {
60 state = nm->nodes[id].state & NM_MAIN_MASK;
62 if (state == NM_MAIN_ON || state == NM_MAIN_LOGIN) {
63 /* TODO: Check for limp home nodes? */
64 nm->nodes[nm->my_id].next = id;
67 } while (id != nm->my_id);
72 static void nm_handle_can_frame(struct NM_Main *nm, struct can_frame *frame)
77 /* Is this a valid frame within our logical network? */
78 if (!nm_is_rx_frame_valid(nm, frame)) {
82 printf("Received NM frame from CAN ID %03x\n", frame->can_id);
85 /* Parse sender, its perceived successor, and its state */
86 sender = frame->can_id & (nm->max_nodes - 1);
87 next = frame->data[0];
88 state = frame->data[1];
90 /* TODO: Validate state, it needs to be within the enum */
92 /* Skip our own frames */
93 if (sender == nm->my_id) {
97 nm->nodes[sender].next = next;
98 nm->nodes[sender].state = state;
100 switch (state & NM_MAIN_MASK) {
102 if (next == nm->nodes[nm->my_id].next
103 && nm->nodes[nm->my_id].next != nm->my_id) {
104 /* sender doesn't know we exist */
106 nm->nodes[nm->my_id].state = NM_MAIN_LOGIN;
110 /* IMPORTANT: The caller needs to check for
111 * timeouts first, so no other NM frames are
112 * received until our correcting login has
115 } else if (next == nm->nodes[nm->my_id].next) {
116 /* where nm->nodes[nm->my_id].next == nm->my_id */
118 /* It can happen when:
119 * - our sent frames don't go anywhere
120 * - we just logged in and immediately
121 * afterwards another ECU sent a regular
125 /* Let's handle this just like a LOGIN, since
126 * we're learning about a new device.
127 * See case NM_MAIN_LOGIN below for details.
130 nm_update_my_next_id(nm);
131 nm->nodes[nm->my_id].state = NM_MAIN_ON;
132 } else if (next == nm->my_id) {
134 * Reset the timeout so anyone we missed
135 * can send its login frame to correct us.
138 nm->tv.tv_usec = NM_USECS_MY_TURN;
140 /* We just got some random ON message.
141 * Reset the timer looking out for broken
145 nm->tv.tv_usec = NM_USECS_OTHER_TURN;
149 /* Note: sender != nm->my_id */
151 nm_update_my_next_id(nm);
153 /* We're not alone anymore, so let's change state. */
154 nm->nodes[nm->my_id].state = NM_MAIN_ON;
156 /* We don't reset the timeout when somebody logs in.
157 * Instead, we'll simply include them in the next
160 /* Actually, when a login is done as a correction,
161 * we do reset the timeout.
176 static void nm_buildframe(struct NM_Main *nm, struct can_frame *frame)
178 frame->can_id = nm->can_base + nm->my_id;
180 frame->data[0] = nm->nodes[nm->my_id].next;
181 frame->data[1] = nm->nodes[nm->my_id].state;
187 static void nm_timeout_callback(struct NM_Main *nm, struct can_frame *frame)
190 nm->tv.tv_usec = NM_USECS_OTHER_TURN;
192 nm_buildframe(nm, frame);
198 static void nm_start(struct NM_Main *nm, struct can_frame *frame)
201 nm->tv.tv_usec = 50000;
205 nm->nodes[nm->my_id].next = nm->my_id;
206 nm->nodes[nm->my_id].state = NM_MAIN_LOGIN;
208 nm_buildframe(nm, frame);
214 static int net_init(char *ifname)
218 struct sockaddr_can addr;
220 struct can_filter fi;
222 s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
228 /* Convert interface name to index */
229 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
230 strncpy(ifr.ifr_name, ifname, IFNAMSIZ);
231 if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
232 perror("SIOCGIFINDEX");
236 /* Open the CAN interface */
237 memset(&addr, 0, sizeof(addr));
238 addr.can_family = AF_CAN;
239 addr.can_ifindex = ifr.ifr_ifindex;
240 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
245 recv_own_msgs = 1; /* 0 = disabled (default), 1 = enabled */
246 setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
247 &recv_own_msgs, sizeof(recv_own_msgs));
249 /* Handle only 32 NM IDs at CAN base ID 0x420 */
253 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &fi, sizeof(struct can_filter));
259 int main(int argc, char **argv)
266 printf("syntax: %s IFNAME\n", argv[0]);
270 nm = nm_alloc(5, 0x0b, 0x420);
272 printf("Out of memory allocating NM struct.\n");
276 s = net_init(argv[1]);
278 /* Stir up the hornet's nest */
280 struct can_frame frame;
282 nm_start(nm, &frame);
292 retval = select(s+1, &rdfs, NULL, NULL, &nm->tv);
293 /* We currently rely on Linux timeout behavior here,
294 * i.e. the timeout now reflects the remaining time */
298 } else if (!retval) {
299 /* Timeout, we NEED to check this first */
300 struct can_frame frame;
302 nm_timeout_callback(nm, &frame);
304 } else if (FD_ISSET(s, &rdfs)) {
305 struct can_frame frame;
308 ret = read(s, &frame, sizeof(frame));
310 perror("recvfrom CAN socket");
314 nm_handle_can_frame(nm, &frame);