Eu tenho um adaptador USB-CAN chamado USBtin ( link ). Ele está conectado a um Raspberry Pi 2 rodando Raspbian ( Linux raspberrypi 4.4.16-v7+ #1 SMP Fri Aug 5 14:49:49 UTC 2016 armv7l GNU/Linux ).
Meu objetivo é enviar e receber mensagens CAN em um aplicativo Python. Por isso eu pensei que usar o slcan seria uma boa ideia. Eu compilei o slcan-support no kernel, e para usá-lo eu basicamente segui o Lawicel Tutorial CANUSB .
Eu adicionei 90-slcan.rules a /etc/udev/rules.d/ , por isso deve funcionar com o USBtin:
ACTION=="add", ENV{ID_MODEL}=="USBtin", ENV{SUBSYSTEM}=="tty", \
RUN+="/usr/bin/logger [udev] USBtin detected - running slcan_add.sh!", \
RUN+="/usr/local/bin/slcan_add.sh $kernel"
ACTION=="remove", ENV{ID_MODEL}=="USBtin", ENV{SUBSYSTEM}=="usb", \
RUN+="/usr/bin/logger [udev] USBtin removed - running slcan_remove.sh!", \
RUN+="/usr/local/bin/slcan_remove.sh"
O script add é assim:
#!/bin/sh
sleep 7
#slcand -o -c -f -s4 /dev/$1 slcan0
/usr/local/bin/slcand -o -c -f -s4 /dev/$1
logger Return value of slcand was $?
sleep 2
ifconfig slcan0 up
No syslog, vejo que elas são executadas quando eu conecto / removo o adaptador. Eu também vejo o registro de sys produzido pelo slcand. A última coisa que vejo da slcand no syslog é: attached TTY /dev/ttyACM0 to netdevice slcan0 (veja abaixo). No entanto, depois disso, o daemon não está em execução e a interface slcan0 também não está lá.
Se eu executar manualmente
sudo /usr/local/bin/slcand -o -c -f -s4 /dev/ttyACM0
em um console, o daemon roda muito bem.
Alguma idéia de por que ele não funciona quando eu apenas o insiro e deixo o udev fazer isso? Eu não sei se isso ajuda, mas o código da slcand pode ser encontrado no no GitHub (eu estou usando o última versão do tronco).
Syslog:
Feb 12 17:38:28 raspberrypi kernel: [ 668.511547] usb 1-1.4: new full-speed USB device number 4 using dwc_otg
Feb 12 17:38:28 raspberrypi kernel: [ 668.616867] usb 1-1.4: New USB device found, idVendor=04d8, idProduct=000a
Feb 12 17:38:28 raspberrypi kernel: [ 668.616899] usb 1-1.4: New USB device strings: Mfr=1, Product=2, SerialNumber=0
Feb 12 17:38:28 raspberrypi kernel: [ 668.616916] usb 1-1.4: Product: USBtin
Feb 12 17:38:28 raspberrypi kernel: [ 668.616933] usb 1-1.4: Manufacturer: Microchip Technology, Inc.
Feb 12 17:38:28 raspberrypi mtp-probe: checking bus 1, device 4: "/sys/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.4"
Feb 12 17:38:28 raspberrypi mtp-probe: bus: 1, device: 4 was not an MTP device
Feb 12 17:38:28 raspberrypi kernel: [ 668.671845] cdc_acm 1-1.4:1.0: ttyACM0: USB ACM device
Feb 12 17:38:28 raspberrypi kernel: [ 668.673109] usbcore: registered new interface driver cdc_acm
Feb 12 17:38:28 raspberrypi kernel: [ 668.673130] cdc_acm: USB Abstract Control Model driver for USB modems and ISDN adapters
Feb 12 17:38:28 raspberrypi logger: [udev] USBtin detected - running slcan_add.sh!
Feb 12 17:38:35 raspberrypi slcand[1379]: starting on TTY device /dev/ttyACM0
Feb 12 17:38:35 raspberrypi slcand[1380]: attached TTY /dev/ttyACM0 to netdevice slcan0
Feb 12 17:38:35 raspberrypi logger: Return value of slcand was 0
Feb 12 17:42:29 raspberrypi systemd[1]: Starting Cleanup of Temporary Directories...
Esta é a saída de udevadm info -a -n /dev/ttyACM0 :
Udevadm info starts with the device specified by the devpath and then
walks up the chain of parent devices. It prints for every device
found, all possible attributes in the udev rules key format.
A rule to match, can be composed by the attributes of the device
and the attributes from one single parent device.
looking at device '/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.4/1-1.4:1.0/tty/ttyACM0':
KERNEL=="ttyACM0"
SUBSYSTEM=="tty"
DRIVER==""
looking at parent device '/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.4/1-1.4:1.0':
KERNELS=="1-1.4:1.0"
SUBSYSTEMS=="usb"
DRIVERS=="cdc_acm"
ATTRS{bInterfaceClass}=="02"
ATTRS{bmCapabilities}=="2"
ATTRS{bInterfaceSubClass}=="02"
ATTRS{bInterfaceProtocol}=="01"
ATTRS{bNumEndpoints}=="01"
ATTRS{authorized}=="1"
ATTRS{supports_autosuspend}=="1"
ATTRS{bAlternateSetting}==" 0"
ATTRS{bInterfaceNumber}=="00"
looking at parent device '/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.4':
KERNELS=="1-1.4"
SUBSYSTEMS=="usb"
DRIVERS=="usb"
ATTRS{bDeviceSubClass}=="00"
ATTRS{bDeviceProtocol}=="00"
ATTRS{devpath}=="1.4"
ATTRS{idVendor}=="04d8"
ATTRS{speed}=="12"
ATTRS{bNumInterfaces}==" 2"
ATTRS{bConfigurationValue}=="1"
ATTRS{bMaxPacketSize0}=="8"
ATTRS{busnum}=="1"
ATTRS{devnum}=="4"
ATTRS{configuration}==""
ATTRS{bMaxPower}=="100mA"
ATTRS{authorized}=="1"
ATTRS{bmAttributes}=="80"
ATTRS{bNumConfigurations}=="1"
ATTRS{maxchild}=="0"
ATTRS{bcdDevice}=="0100"
ATTRS{avoid_reset_quirk}=="0"
ATTRS{quirks}=="0x0"
ATTRS{version}==" 2.00"
ATTRS{urbnum}=="77"
ATTRS{ltm_capable}=="no"
ATTRS{manufacturer}=="Microchip Technology, Inc."
ATTRS{removable}=="removable"
ATTRS{idProduct}=="000a"
ATTRS{bDeviceClass}=="02"
ATTRS{product}=="USBtin"
looking at parent device '/devices/platform/soc/3f980000.usb/usb1/1-1':
KERNELS=="1-1"
SUBSYSTEMS=="usb"
DRIVERS=="usb"
ATTRS{bDeviceSubClass}=="00"
ATTRS{bDeviceProtocol}=="02"
ATTRS{devpath}=="1"
ATTRS{idVendor}=="0424"
ATTRS{speed}=="480"
ATTRS{bNumInterfaces}==" 1"
ATTRS{bConfigurationValue}=="1"
ATTRS{bMaxPacketSize0}=="64"
ATTRS{busnum}=="1"
ATTRS{devnum}=="2"
ATTRS{configuration}==""
ATTRS{bMaxPower}=="2mA"
ATTRS{authorized}=="1"
ATTRS{bmAttributes}=="e0"
ATTRS{bNumConfigurations}=="1"
ATTRS{maxchild}=="5"
ATTRS{bcdDevice}=="0200"
ATTRS{avoid_reset_quirk}=="0"
ATTRS{quirks}=="0x0"
ATTRS{version}==" 2.00"
ATTRS{urbnum}=="38"
ATTRS{ltm_capable}=="no"
ATTRS{removable}=="unknown"
ATTRS{idProduct}=="9514"
ATTRS{bDeviceClass}=="09"
looking at parent device '/devices/platform/soc/3f980000.usb/usb1':
KERNELS=="usb1"
SUBSYSTEMS=="usb"
DRIVERS=="usb"
ATTRS{bDeviceSubClass}=="00"
ATTRS{bDeviceProtocol}=="01"
ATTRS{devpath}=="0"
ATTRS{idVendor}=="1d6b"
ATTRS{speed}=="480"
ATTRS{bNumInterfaces}==" 1"
ATTRS{bConfigurationValue}=="1"
ATTRS{bMaxPacketSize0}=="64"
ATTRS{authorized_default}=="1"
ATTRS{busnum}=="1"
ATTRS{devnum}=="1"
ATTRS{configuration}==""
ATTRS{bMaxPower}=="0mA"
ATTRS{authorized}=="1"
ATTRS{bmAttributes}=="e0"
ATTRS{bNumConfigurations}=="1"
ATTRS{maxchild}=="1"
ATTRS{interface_authorized_default}=="1"
ATTRS{bcdDevice}=="0404"
ATTRS{avoid_reset_quirk}=="0"
ATTRS{quirks}=="0x0"
ATTRS{serial}=="3f980000.usb"
ATTRS{version}==" 2.00"
ATTRS{urbnum}=="26"
ATTRS{ltm_capable}=="no"
ATTRS{manufacturer}=="Linux 4.4.16-v7+ dwc_otg_hcd"
ATTRS{removable}=="unknown"
ATTRS{idProduct}=="0002"
ATTRS{bDeviceClass}=="09"
ATTRS{product}=="DWC OTG Controller"
looking at parent device '/devices/platform/soc/3f980000.usb':
KERNELS=="3f980000.usb"
SUBSYSTEMS=="platform"
DRIVERS=="dwc_otg"
ATTRS{hnp}=="HstNegScs = 0x0"
ATTRS{srp}=="SesReqScs = 0x1"
ATTRS{regvalue}=="invalid offset"
ATTRS{hsic_connect}=="HSIC Connect = 0x1"
ATTRS{guid}=="GUID = 0x2708a000"
ATTRS{mode}=="Mode = 0x1"
ATTRS{srpcapable}=="SRPCapable = 0x1"
ATTRS{regdump}=="Register Dump"
ATTRS{gpvndctl}=="GPVNDCTL = 0x00000000"
ATTRS{ggpio}=="GGPIO = 0x00000000"
ATTRS{hprt0}=="HPRT0 = 0x00001005"
ATTRS{wr_reg_test}=="Time to write GNPTXFSIZ reg 10000000 times: 500 msecs (50 jiffies)"
ATTRS{driver_override}=="(null)"
ATTRS{hcd_frrem}=="HCD Dump Frame Remaining"
ATTRS{mode_ch_tim_en}=="Mode Change Ready Timer Enable = 0x0"
ATTRS{gnptxfsiz}=="GNPTXFSIZ = 0x01000306"
ATTRS{remote_wakeup}=="Remote Wakeup Sig = 0 Enabled = 0 LPM Remote Wakeup = 0"
ATTRS{busconnected}=="Bus Connected = 0x1"
ATTRS{hcddump}=="HCD Dump"
ATTRS{gotgctl}=="GOTGCTL = 0x001c0001"
ATTRS{spramdump}=="SPRAM Dump"
ATTRS{grxfsiz}=="GRXFSIZ = 0x00000306"
ATTRS{gsnpsid}=="GSNPSID = 0x4f54280a"
ATTRS{gusbcfg}=="GUSBCFG = 0x20001700"
ATTRS{hptxfsiz}=="HPTXFSIZ = 0x02000406"
ATTRS{devspeed}=="Device Speed = 0x0"
ATTRS{fr_interval}=="Frame Interval = 0x1d4c"
ATTRS{rem_wakeup_pwrdn}==""
ATTRS{bussuspend}=="Bus Suspend = 0x0"
ATTRS{buspower}=="Bus Power = 0x1"
ATTRS{hnpcapable}=="HNPCapable = 0x1"
ATTRS{rd_reg_test}=="Time to read GNPTXFSIZ reg 10000000 times: 1410 msecs (141 jiffies)"
ATTRS{enumspeed}=="Device Enumeration Speed = 0x1"
ATTRS{inv_sel_hsic}=="Invert Select HSIC = 0x0"
ATTRS{regoffset}=="0xffffffff"
looking at parent device '/devices/platform/soc':
KERNELS=="soc"
SUBSYSTEMS=="platform"
DRIVERS==""
ATTRS{driver_override}=="(null)"
looking at parent device '/devices/platform':
KERNELS=="platform"
SUBSYSTEMS==""
DRIVERS==""
Aparentemente, não é possível iniciar comandos de longa duração via UDEV (pelo menos no raspbian). O que funciona, no entanto, é acionar o systemd para iniciar um serviço a partir do UDEV. O serviço pode então iniciar comandos de longa duração.
No meu caso eu fiz isso com:
ENV{SYSTEMD_WANTS}="can-usb.service"
No can-usb.service, inicio o script descrito anteriormente.