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% on the following slides, include icon in the left sidebar
\def\lximg{/usr/share/lx/icons/fueller.png}
\input{configpres}
\title{SocketCAN}
\maketitle
% stop displaying 'fueller.png' on the following slides
\def\lximg{none}
\subsection{SocketCAN}
\begin{frame}
\frametitle{Übersicht}
\begin{itemize}
\item Als neues Netzwerkprotokoll integriert
\item PF\_CAN
\item CAN Kommunikation über Sockets
\item Konfiguration und Debugging über Netzwerktools
\end{itemize}
\end{frame}
\begin{frame}[fragile]
\frametitle{Virtual CAN interface}
\begin{verbatim}
sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0
\end{verbatim}
\end{frame}
\begin{frame}[fragile]
\frametitle{ifconfig}
\tiny
\begin{verbatim}
$ ifconfig
...
vcan0 Link encap:UNSPEC Hardware Adresse 00-00-00-00-00
UP RUNNING NOARP MTU:16 Metrik:1
RX packets:1 errors:0 dropped:0 overruns:0 frame:0
TX packets:1 errors:0 dropped:0 overruns:0 carrier:0
Kollisionen:0 Sendewarteschlangenlänge:0
RX bytes:4 (4.0 B) TX bytes:4 (4.0 B)
...
\end{verbatim}
\end{frame}
\subsubsection{Tools}
\begin{frame}[fragile]
\frametitle{cansend / candump}
cansend:
\begin{verbatim}
cansend vcan0 123#11223344
\end{verbatim}
candump:
\begin{verbatim}
$ candump vcan0
vcan0 123 [4] 11 22 33 44
\end{verbatim}
\end{frame}
\begin{frame}[fragile]
\frametitle{cangen}
\begin{verbatim}
$ cangen vcan0 -I 123 -L 1 -D i
\end{verbatim}
\begin{verbatim}
$ candump vcan0
vcan0 123 [1] 39
vcan0 123 [1] 3A
vcan0 123 [1] 3B
vcan0 123 [1] 3C
vcan0 123 [1] 3D
vcan0 123 [1] 3E
vcan0 123 [1] 3F
vcan0 123 [1] 40
\end{verbatim}
\end{frame}
\begin{frame}[fragile]
\frametitle{cansniffer}
cangen:
\begin{verbatim}
$ cangen vcan0 -I 123 -L 1 -D i
\end{verbatim}
cansniffer vcan0:
\begin{verbatim}
- time ID data ... < cansniffer vcan0 #
0.200107 123 01000000
\end{verbatim}
\end{frame}
\subsubsection{Programmbeispiel}
\begin{frame}[fragile]
\frametitle{Programmierbeispiel: can example}
\begin{lstlisting}
int skt = socket(PF_CAN, SOCK_RAW, CAN_RAW);
int bytes_sent, bytes_read, i;
struct ifreq ifr;
struct sockaddr_can addr;
struct can_frame frame;
strcpy(ifr.ifr_name, "vcan0");
ioctl(skt, SIOCGIFINDEX, &ifr);
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
bind(skt, (struct sockaddr*)&addr, sizeof(addr));
frame.can_id = 0x123;
strcpy(frame.data, "tst");
frame.can_dlc = strlen(frame.data);
bytes_sent = write(skt, &frame, sizeof(frame));
bytes_read = read(skt, &frame, sizeof(frame));
for(i = 0; i < 4; i++)
printf("Recveived -> %X\n", frame.data[i]);
\end{lstlisting}
\end{frame}
\begin{frame}[fragile]
\frametitle{Programmierbeispiel: can example}
1)
\begin{verbatim}
$ ./can_example
\end{verbatim}
2)
\begin{verbatim}
$ candump vcan0
vcan0 123 [3] 66 6F 6F
\end{verbatim}
3)
\begin{verbatim}
$ cansend vcan0 123#11223344
\end{verbatim}
4) can\_example:
\begin{verbatim}
Received -> 11
Received -> 22
...
\end{verbatim}
\end{frame}
\subsubsection{Logger}
\begin{frame}[fragile]
\frametitle{canlogserver}
\begin{verbatim}
$ canlogserver vcan0 &
\end{verbatim}
\begin{verbatim}
$ cangen vcan0 -Di -I 42A -L1 &
\end{verbatim}
\begin{verbatim}
$ telnet localhost 28700
Trying ::1...
Trying 127.0.0.1...
Connected to localhost.
Escape character is '^]'.
(1289664132.891896) vcan0 42A#00
(1289664133.092037) vcan0 42A#01
(1289664133.292138) vcan0 42A#02
(1289664133.492246) vcan0 42A#03
(1289664133.692351) vcan0 42A#04
\end{verbatim}
\end{frame}
\input{tailpres}
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