continue to add filters. more templates, added commands

main/Kconfig.projbuild

@@ -39,6 +39,19 @@ menu "Can_wizard Configuration"
         help
             A priority of FreeRTOS task can_task_interactive. See more about tasks priorities in FreeRTOS documentation.
 
+    config CONSOLE_MAX_CMDLINE_LENGTH
+        int "Console max cmdline length"
+        range 100 512
+        default 256
 
+    config CONSOLE_MAX_CMDLINE_ARGS 
+        int "Console max cmdline args"
+        range 1 32
+        default 8
+
+    config CAN_MAX_SMARTFILTERS_NUM
+        int "Max number of smartfilters"
+        range 2 20
+        default 10
 
 endmenu

main/can.c

@@ -3,6 +3,7 @@
 #include "esp_log.h"
 #include "freertos/portmacro.h"
 #include "freertos/projdefs.h"
+#include "hal/twai_types.h"
 #include "sdkconfig.h"
 #include <stddef.h>
 #include <stdio.h>
@@ -12,6 +13,7 @@
 
 bool is_error_passive = false;
 bool auto_recovery = false;
+bool advanced_filtering = false;
 
 SemaphoreHandle_t can_mutex;
 volatile can_status_t curr_can_state = { 0 };
@@ -66,6 +68,10 @@ void can_msg_to_str(twai_message_t *can_msg, char *start_str, char *out_str) {
     }
 }
 
+bool matches_filters(twai_message_t *msg) {
+    return true;
+}
+
 // TODO: add software filtering
 void can_task(void* arg) {
     static const TickType_t can_task_timeout = pdMS_TO_TICKS(200);
@@ -106,6 +112,9 @@ void can_task(void* arg) {
         sem_res = xSemaphoreTake(can_mutex, 0);
         if (sem_res == pdTRUE) {
             while ((ret = twai_receive(&rx_msg, can_task_timeout)) == ESP_OK) {
+                if (advanced_filtering) {
+                    if (!matches_filters(&rx_msg)) continue;
+                }
                 can_msg_to_str(&rx_msg, "recv ", data_bytes_str); 
                 print_w_clr_time(data_bytes_str, LOG_COLOR_BLUE, false);
             }

main/can.h

@@ -42,6 +42,7 @@ extern volatile can_status_t curr_can_state;
 extern bool timestamp_enabled;
 extern bool auto_recovery;
 extern bool is_error_passive;
+extern bool advanced_filtering;
 
 // functions
 

main/cmd_can.c

@@ -4,6 +4,7 @@
 #include "esp_log.h"
 #include "hal/twai_types.h"
 #include "inttypes.h"
+#include "sdkconfig.h"
 #include "freertos/projdefs.h"
 #include "string.h"
 #include "esp_console.h"
@@ -21,6 +22,8 @@ static void register_candown(void);
 static void register_canstats(void);
 static void register_canstart(void);
 static void register_canrecover(void);
+static void register_canfilter(void);
+static void register_cansmartfilter(void);
 
 void register_can_commands(void) {
     register_cansend();
@@ -29,6 +32,8 @@ void register_can_commands(void) {
     register_canstats();
     register_canstart();
     register_canrecover();
+    register_canfilter();
+    register_cansmartfilter();
 }
 
 static struct {
@@ -144,6 +149,11 @@ static int canup(int argc, char **argv) {
     twai_general_config_t gen_cfg = default_g_config;
     // TODO: add CAN filtering
     twai_filter_config_t f_config;
+    int nerrors = arg_parse(argc, argv, (void **) &canup_args);
+    if (nerrors != 0) {
+        arg_print_errors(stderr, canup_args.end, argv[0]);
+        return 1;
+    }
     if (canup_args.filters->count) {
         f_config = my_filters;
         print_w_clr_time("Using predefined filters.", LOG_COLOR_GREEN, true);
@@ -152,11 +162,6 @@ static int canup(int argc, char **argv) {
         print_w_clr_time("Using accept all filters.", LOG_COLOR_GREEN, true);
     }
     esp_log_level_t prev_gpio_lvl = esp_log_level_get("gpio");
-    int nerrors = arg_parse(argc, argv, (void **) &canup_args);
-    if (nerrors != 0) {
-        arg_print_errors(stderr, canup_args.end, argv[0]);
-        return 1;
-    }
     int mode = 0;
     if (canup_args.mode->count) {
         const char* mode_str = canup_args.mode->sval[0];
@@ -353,3 +358,68 @@ static void register_canrecover(void) {
     };
     ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
 }
+
+static struct {
+    struct arg_lit *dual;
+    struct arg_str *code;
+    struct arg_str *mask;
+    struct arg_end *end;
+} canfilter_args;
+
+static int canfilter(int argc, char **argv) {
+    int nerrors = arg_parse(argc, argv, (void **) &canfilter_args);
+    if (nerrors != 0) {
+        arg_print_errors(stderr, canfilter_args.end, argv[0]);
+        return 1;
+    }
+    if (canfilter_args.dual->count) {
+        my_filters.single_filter = false;
+
+    } else {
+        my_filters.single_filter = true;
+    }
+    return 0;
+}
+
+static void register_canfilter(void) {
+
+    canfilter_args.mask = arg_str1("m", "mask", "<mask>", "Acceptance mask (as in esp-idf docs), uint32_t in hex form, 8 symbols.");
+    canfilter_args.code = arg_str1("c", "code", "<code>", "Acceptance code (as in esp-idf docs), uint32_t in hex form, 8 symbols.");
+    canfilter_args.dual = arg_lit0("d", NULL, "Use Dual Filter Mode.");
+
+    const esp_console_cmd_t cmd = {
+        .command = "canfilter",
+        .help = "Manually setup basic hardware filtering.",
+        .hint = NULL,
+        .func = &canfilter,
+        .argtable = &canfilter_args,
+    };
+    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
+}
+
+static struct {
+    struct arg_str *filters;
+    struct arg_end *end;
+} cansmart_args;
+
+static int cansmartfilter(int argc, char **argv) {
+    int nerrors = arg_parse(argc, argv, (void **) &cansmart_args);
+    if (nerrors != 0) {
+        arg_print_errors(stderr, cansmart_args.end, argv[0]);
+        return 1;
+    }
+    return 0;
+}
+
+static void register_cansmartfilter(void) {
+
+    cansmart_args.filters = arg_strn(NULL, NULL, "<filter1> <filter2> ...", 1, CONFIG_CAN_MAX_SMARTFILTERS_NUM, "Filters, in hex format. Each one contains mask and code in format code#mask. Both mask and code are uint32_t numbers in hex format. Example: 0000FF00#0000FFFF");
+    const esp_console_cmd_t cmd = {
+        .command = "cansmartfilter",
+        .help = "Setup smart mixed filters (hardware + software). Num of filters can be up to the value in config.",
+        .hint = NULL,
+        .func = &cansmartfilter,
+        .argtable = &cansmart_args,
+    };
+    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
+}

main/console.c

@@ -1,4 +1,5 @@
 #include "console.h"
+#include "sdkconfig.h"
 #include <fcntl.h>
 #include "esp_err.h"
 #include "esp_log.h"
@@ -197,8 +198,8 @@ void initialize_console(void) {
     ESP_ERROR_CHECK(usb_serial_jtag_driver_install(&usb_serial_jtag_config));
     /* Tell vfs to use usb-serial-jtag driver */
     esp_vfs_usb_serial_jtag_use_driver();
-    console_config.max_cmdline_args = 8;
-    console_config.max_cmdline_length = 256;
+    console_config.max_cmdline_args = CONFIG_CONSOLE_MAX_CMDLINE_ARGS;
+    console_config.max_cmdline_length = CONFIG_CONSOLE_MAX_CMDLINE_LENGTH;
     if (use_colors) console_config.hint_color = atoi(LOG_COLOR_CYAN);
     ESP_ERROR_CHECK(esp_console_init(&console_config));
     // linenoiseSetMultiLine(1);

sdkconfig

@@ -401,6 +401,9 @@ CONFIG_CAN_TX_GPIO=8
 CONFIG_CAN_TASK_PRIORITY=5
 CONFIG_CONSOLE_TX_PRIORITY=2
 CONFIG_CONSOLE_INT_PRIORITY=1
+CONFIG_CONSOLE_MAX_CMDLINE_LENGTH=256
+CONFIG_CONSOLE_MAX_CMDLINE_ARGS=22
+CONFIG_CAN_MAX_SMARTFILTERS_NUM=10
 # end of Can_wizard Configuration
 
 #