serialhdl: Add support for communicating over a CAN bus

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

2 files changed, 47 insertions, 1 deletions

diff --git a/klippy/serialhdl.py b/klippy/serialhdl.py
index 0d03b1bb..19b67088 100644
--- a/klippy/serialhdl.py
+++ b/klippy/serialhdl.py
@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, threading, os
-import serial
+import serial, can
 
 import msgproto, chelper, util
 
@@ -102,6 +102,51 @@ class SerialReader:
             self.ffi_lib.serialqueue_set_receive_window(
                 self.serialqueue, receive_window)
         return True
+    def connect_canbus(self, canbus_uuid, canbus_nodeid, canbus_iface="can0"):
+        txid = canbus_nodeid * 2 + 256
+        filters = [{"can_id": txid+1, "can_mask": 0x7ff, "extended": False}]
+        # Prep for SET_NODEID command
+        try:
+            uuid = int(canbus_uuid, 16)
+        except ValueError:
+            uuid = -1
+        if uuid < 0 or uuid > 0xffffffffffff:
+            raise error("Invalid CAN uuid")
+        uuid = [(uuid >> (40 - i*8)) & 0xff for i in range(6)]
+        CANBUS_ID_ADMIN = 0x3f0
+        CMD_SET_NODEID = 0x01
+        set_id_cmd = [CMD_SET_NODEID] + uuid + [canbus_nodeid]
+        set_id_msg = can.Message(arbitration_id=CANBUS_ID_ADMIN,
+                                 data=set_id_cmd, is_extended_id=False)
+        # Start connection attempt
+        logging.info("Starting CAN connect")
+        start_time = self.reactor.monotonic()
+        while 1:
+            if self.reactor.monotonic() > start_time + 90.:
+                raise error("Unable to connect")
+            try:
+                bus = can.interface.Bus(channel=canbus_iface,
+                                        can_filters=filters,
+                                        bustype='socketcan')
+                bus.send(set_id_msg)
+            except can.CanError as e:
+                logging.warn("Unable to open CAN port: %s", e)
+                self.reactor.pause(self.reactor.monotonic() + 5.)
+                continue
+            bus.close = bus.shutdown # XXX
+            ret = self._start_session(bus, 'c', txid)
+            if not ret:
+                continue
+            # Verify correct canbus_nodeid to canbus_uuid mapping
+            try:
+                params = self.send_with_response('get_canbus_id', 'canbus_id')
+                got_uuid = bytearray(params['canbus_uuid'])
+                if got_uuid == bytearray(uuid):
+                    break
+            except:
+                logging.exception("Error in canbus_uuid check")
+            logging.info("Failed to match canbus_uuid - retrying..")
+            self.disconnect()
     def connect_pipe(self, filename):
         logging.info("Starting connect")
         start_time = self.reactor.monotonic()
diff --git a/scripts/klippy-requirements.txt b/scripts/klippy-requirements.txt
index 7d0c667c..c783ba53 100644
--- a/scripts/klippy-requirements.txt
+++ b/scripts/klippy-requirements.txt
@@ -6,3 +6,4 @@ cffi==1.12.2
 pyserial==3.4
 greenlet==0.4.15
 Jinja2==2.10.1
+python-can==3.3.4