add can support

src/main.c

@@ -6,6 +6,10 @@
 #include <string.h>
 #include <unistd.h>
 #include <time.h>
+#include <linux/can.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <net/if.h>
 
 const int digit_bitmaps[10][5][3] = {
         {{1,1,1},{1,0,1},{1,0,1},{1,0,1},{1,1,1}}, // 0
@@ -99,6 +103,26 @@ void get_fake_data(Tel *t) {
         t->mot_temp.data = t->mot_temp.ldata + ((float)rand() / (float)RAND_MAX) * (float)(t->mot_temp.hdata - t->mot_temp.ldata);
 }
 
+void read_can(Tel *t, int soc) {
+        struct can_frame frame;
+        int nbytes = read(soc, &frame, sizeof(struct can_frame));
+
+        if (nbytes > 0) {
+
+                switch (frame.can_id) {
+
+                        case 0x382:
+                                if (frame.can_dlc >= 2) {
+                                t->rpm.data = frame.data[0] | (frame.data[1] << 8);
+                                t->speed.data = t->rpm.data * 0.017;
+                                }
+                                break;
+                        default:
+                                break;
+                }
+        }
+}
+
 long now_ms(void) {
     struct timespec ts;
     clock_gettime(CLOCK_MONOTONIC, &ts);
@@ -338,6 +362,11 @@ int main(int argc, char **argv) {
         int option;
         int delay = 1;
         int fake_data = 0;
+        int use_can = 0;
+        int soc = 0;
+        struct sockaddr_can addr;
+        struct ifreq ifr;
+
 
         while ((option = getopt(argc, argv, "d:hf")) !=-1) {
                 switch (option) {
@@ -350,12 +379,32 @@ int main(int argc, char **argv) {
                         case 'f' :
                                 fake_data = 1;
                                 break;
+                        case 'c' :
+                                use_can = 1;
+                                break;
                         case 'h' :
-                                printf("Usage: ./cocomobile-tui [-d int DELAY by how much to slow down] [-h HELP] [-f generate fake data]\n");
+                                printf("Usage: ./cocomobile-tui [-d int DELAY by how much to slow down] [-h HELP] [-f generate fake data] [-c enable can]\n");
                                 return(0);
                 }
         }
 
+        if (use_can) {
+                soc = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+                if (soc < 0) {
+                        perror("socket error");
+                        return 1;
+                }
+                strcpy(ifr.ifr_name, "can0");
+                ioctl(soc, SIOCGIFINDEX, &ifr);
+                addr.can_family = AF_CAN;
+                addr.can_ifindex = ifr.ifr_ifindex;
+                if (bind(soc, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+                        perror("bind error");
+                        close(soc);
+                        return 1;
+                }
+        }
+
         initscr();
         noecho();
         cbreak();
@@ -429,7 +478,7 @@ int main(int argc, char **argv) {
                                 if (fake_data) {
                                         get_fake_data(&tel);
                                 } else {
-                                        //real_data()
+                                        if (use_can) read_can(&tel, soc);
                                 }
                                 break;
                 }