@@ -2,5 +2,9 @@
ifeq ($(CONFIG_CAN_CORE),y)
common-obj-y += can_core.o
+ifeq ($(CONFIG_LINUX),y)
+common-obj-y += can_socketcan.o
+else
common-obj-y += can_host_stub.o
endif
+endif
new file mode 100644
@@ -0,0 +1,294 @@
+/*
+ * CAN socketcan support to connect to the Linux host SocketCAN interfaces
+ *
+ * Copyright (c) 2013-2014 Jin Yang
+ * Copyright (c) 2014-2018 Pavel Pisa
+ *
+ * Initial development supported by Google GSoC 2013 from RTEMS project slot
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#include "qemu/osdep.h"
+#include "chardev/char.h"
+#include "qemu/sockets.h"
+#include "qemu/error-report.h"
+#include "hw/hw.h"
+#include "can/can_emu.h"
+
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#ifndef DEBUG_CAN
+#define DEBUG_CAN 0
+#endif /*DEBUG_CAN*/
+
+#define CAN_READ_BUF_LEN 5
+typedef struct {
+ CanBusClientState bus_client;
+ qemu_can_filter *rfilter;
+ int rfilter_num;
+ can_err_mask_t err_mask;
+
+ qemu_can_frame buf[CAN_READ_BUF_LEN];
+ int bufcnt;
+ int bufptr;
+
+ int fd;
+} CanBusSocketcanConnectState;
+
+static void can_display_msg(struct qemu_can_frame *msg)
+{
+ int i;
+
+ /* Check that QEMU and Linux kernel flags encoding matches */
+ assert(QEMU_CAN_EFF_FLAG == CAN_EFF_FLAG);
+ assert(QEMU_CAN_RTR_FLAG == CAN_RTR_FLAG);
+ assert(QEMU_CAN_ERR_FLAG == CAN_ERR_FLAG);
+
+ assert(QEMU_CAN_INV_FILTER == CAN_INV_FILTER);
+
+ fprintf(stderr, "%03X [%01d]:", (msg->can_id & 0x1fffffff), msg->can_dlc);
+ for (i = 0; i < msg->can_dlc; i++) {
+ fprintf(stderr, " %02X", msg->data[i]);
+ }
+ fprintf(stderr, "\n");
+}
+
+static void can_bus_socketcan_read(void *opaque)
+{
+ CanBusSocketcanConnectState *c;
+ c = (CanBusSocketcanConnectState *)opaque;
+
+
+
+ /* CAN_READ_BUF_LEN for multiple messages syscall is possible for future */
+ c->bufcnt = read(c->fd, c->buf, sizeof(qemu_can_frame));
+ if (c->bufcnt < 0) {
+ perror("CAN bus host read");
+ return;
+ }
+
+ can_bus_client_send(&c->bus_client, c->buf, 1);
+
+ if (DEBUG_CAN) {
+ can_display_msg(c->buf); /* Just display the first one. */
+ }
+}
+
+static int can_bus_socketcan_can_receive(CanBusClientState *client)
+{
+ CanBusSocketcanConnectState *c;
+ c = container_of(client, CanBusSocketcanConnectState, bus_client);
+
+ if (c->fd < 0) {
+ return -1;
+ }
+
+ return 1;
+}
+
+static ssize_t can_bus_socketcan_receive(CanBusClientState *client,
+ const qemu_can_frame *frames, size_t frames_cnt)
+{
+ CanBusSocketcanConnectState *c;
+ c = container_of(client, CanBusSocketcanConnectState, bus_client);
+ size_t len = sizeof(qemu_can_frame);
+ int res;
+
+ if (c->fd < 0) {
+ return -1;
+ }
+
+ res = write(c->fd, frames, len);
+
+ if (!res) {
+ fprintf(stderr, "CAN bus write to host device zero length\n");
+ return -1;
+ }
+
+ /* send frame */
+ if (res != len) {
+ perror("CAN bus write to host device error");
+ return -1;
+ }
+
+ return 1;
+}
+
+static void can_bus_socketcan_cleanup(CanBusClientState *client)
+{
+ CanBusSocketcanConnectState *c;
+ c = container_of(client, CanBusSocketcanConnectState, bus_client);
+
+ if (c->fd >= 0) {
+ qemu_set_fd_handler(c->fd, NULL, NULL, c);
+ close(c->fd);
+ c->fd = -1;
+ }
+
+ c->rfilter_num = 0;
+ if (c->rfilter != NULL) {
+ g_free(c->rfilter);
+ }
+}
+
+static int can_bus_socketcan_set_filters(CanBusClientState *client,
+ const struct qemu_can_filter *filters, size_t filters_cnt)
+{
+ CanBusSocketcanConnectState *c;
+ c = container_of(client, CanBusSocketcanConnectState, bus_client);
+
+ int i;
+
+ if (filters_cnt > 4) {
+ return -1;
+ }
+
+ if (DEBUG_CAN) {
+ for (i = 0; i < filters_cnt; i++) {
+ fprintf(stderr, "[%i] id=0x%08x maks=0x%08x\n",
+ i, filters[i].can_id, filters[i].can_mask);
+ }
+ }
+
+ setsockopt(c->fd, SOL_CAN_RAW, CAN_RAW_FILTER,
+ filters, filters_cnt * sizeof(qemu_can_filter));
+
+ return 0;
+}
+
+static
+void can_bus_socketcan_update_read_handler(CanBusSocketcanConnectState *c)
+{
+ if (c->fd >= 0) {
+ qemu_set_fd_handler(c->fd, can_bus_socketcan_read, NULL, c);
+ }
+}
+
+static CanBusClientInfo can_bus_socketcan_bus_client_info = {
+ .can_receive = can_bus_socketcan_can_receive,
+ .receive = can_bus_socketcan_receive,
+ .cleanup = can_bus_socketcan_cleanup,
+ .poll = NULL
+};
+
+static
+CanBusSocketcanConnectState *can_bus_socketcan_connect_new(const char *host_dev_name)
+{
+ int s; /* can raw socket */
+ CanBusSocketcanConnectState *c;
+ struct sockaddr_can addr;
+ struct ifreq ifr;
+
+ c = g_malloc0(sizeof(CanBusSocketcanConnectState));
+ if (c == NULL) {
+ goto fail1;
+ }
+
+ c->fd = -1;
+
+ /* open socket */
+ s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (s < 0) {
+ perror("socket");
+ goto fail;
+ }
+
+ addr.can_family = AF_CAN;
+ memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
+ strcpy(ifr.ifr_name, host_dev_name);
+ if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
+ perror("SIOCGIFINDEX");
+ goto fail;
+ }
+ addr.can_ifindex = ifr.ifr_ifindex;
+
+ c->err_mask = 0xffffffff; /* Receive error frame. */
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
+ &c->err_mask, sizeof(c->err_mask));
+
+ c->rfilter_num = 1;
+ c->rfilter = g_malloc0(c->rfilter_num * sizeof(struct qemu_can_filter));
+ if (c->rfilter == NULL) {
+ goto fail;
+ }
+
+ /* Receive all data frame. If |= CAN_INV_FILTER no data. */
+ c->rfilter[0].can_id = 0;
+ c->rfilter[0].can_mask = 0;
+ c->rfilter[0].can_mask &= ~CAN_ERR_FLAG;
+
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, c->rfilter,
+ c->rfilter_num * sizeof(struct qemu_can_filter));
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ goto fail;
+ }
+
+ c->fd = s;
+
+ c->bus_client.info = &can_bus_socketcan_bus_client_info;
+
+ can_bus_socketcan_update_read_handler(c);
+
+ return c;
+
+fail:
+ can_bus_socketcan_cleanup(&c->bus_client);
+ g_free(c);
+fail1:
+
+ return NULL;
+}
+
+static
+int can_bus_connect_to_host_socketcan(CanBusState *bus, const char *host_dev_name)
+{
+ CanBusSocketcanConnectState *c;
+
+ c = can_bus_socketcan_connect_new(host_dev_name);
+ if (c == NULL) {
+ error_report("CAN bus setup of host connect to \"%s\" failed",
+ host_dev_name);
+ exit(1);
+ }
+
+ if (can_bus_insert_client(bus, &c->bus_client) < 0) {
+ error_report("CAN host device \"%s\" connect to bus \"%s\" failed",
+ host_dev_name, bus->name);
+ exit(1);
+ }
+
+ if (0) {
+ /*
+ * Not used there or as a CanBusSocketcanConnectState method
+ * for now but included there for documentation purposes
+ * and to suppress warning.
+ */
+ can_bus_socketcan_set_filters(&c->bus_client, NULL, 0);
+ }
+
+ return 0;
+}
+
+int (*can_bus_connect_to_host_variant)(CanBusState *bus, const char *name) =
+ can_bus_connect_to_host_socketcan;