forked from test34/can_wizard
refactoring
This commit is contained in:
Данила Горнушко
parent
526ead055a
commit
c76a9669d8
8 changed files with 57 additions and 76 deletions
23
main/can.c
23
main/can.c
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@ -5,7 +5,6 @@
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#include "freertos/projdefs.h"
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#include "hal/twai_types.h"
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#include "sdkconfig.h"
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#include <stddef.h>
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#include <stdio.h>
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#include <string.h>
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#include "freertos/ringbuf.h"
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@ -23,9 +22,9 @@ SemaphoreHandle_t can_mutex;
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volatile can_status_t curr_can_state = { 0 };
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static can_status_t get_can_state() {
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can_status_t result;
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twai_status_info_t status = { 0 };
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esp_err_t res = twai_get_status_info(&status);
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can_status_t result = { 0 };
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twai_status_info_t status = {0};
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const esp_err_t res = twai_get_status_info(&status);
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if (res != ESP_OK) {
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result.state = CAN_NOT_INSTALLED;
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return result;
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@ -57,8 +56,7 @@ static can_status_t get_can_state() {
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return result;
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}
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void can_msg_to_str(twai_message_t *can_msg, char *start_str, char *out_str) {
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char byte_str[3];
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void can_msg_to_str(const twai_message_t *can_msg, char *start_str, char *out_str) {
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out_str[0] = '\0';
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sprintf(out_str, "%scan frame: ID: %08X dlc: %d ", start_str, (int) can_msg->identifier, can_msg->data_length_code);
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if (can_msg->data_length_code == 0) {
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@ -66,17 +64,17 @@ void can_msg_to_str(twai_message_t *can_msg, char *start_str, char *out_str) {
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} else {
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strcat(out_str, "data: ");
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for (int i = 0; i < can_msg->data_length_code; i++) {
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char byte_str[3];
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sprintf(byte_str, "%02X", can_msg->data[i]);
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strcat(out_str, byte_str);
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}
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}
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}
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bool matches_filters(twai_message_t *msg) {
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List *tmp_cursor = adv_filters.filters;
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bool matches_filters(const twai_message_t *msg) {
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const List *tmp_cursor = adv_filters.filters;
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while (tmp_cursor != NULL) {
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smart_filt_element_t *curr_filter;
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curr_filter = (smart_filt_element_t *) tmp_cursor->data;
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const smart_filt_element_t* curr_filter = tmp_cursor->data;
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if ((msg->identifier & curr_filter->mask) == curr_filter->filt) {
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return true;
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}
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@ -89,10 +87,8 @@ void can_task(void* arg) {
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static const TickType_t can_task_timeout = pdMS_TO_TICKS(200);
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uint32_t alerts = 0;
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esp_err_t ret = ESP_OK;
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BaseType_t sem_res;
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can_mutex = xSemaphoreCreateMutex();
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twai_message_t rx_msg;
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char data_bytes_str[70];
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for (;;) { // A Task shall never return or exit.
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if (twai_read_alerts(&alerts, 0) == ESP_OK) {
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if (alerts & TWAI_ALERT_ERR_ACTIVE) {
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@ -121,9 +117,10 @@ void can_task(void* arg) {
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}
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}
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curr_can_state = get_can_state();
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sem_res = xSemaphoreTake(can_mutex, 0);
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const BaseType_t sem_res = xSemaphoreTake(can_mutex, 0);
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if (sem_res == pdTRUE) {
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while ((ret = twai_receive(&rx_msg, can_task_timeout)) == ESP_OK) {
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char data_bytes_str[70];
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if (adv_filters.sw_filtering) {
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if (!matches_filters(&rx_msg)) continue;
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}
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@ -3,9 +3,7 @@
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#include "driver/twai.h"
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#include "hal/twai_types.h"
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#include "sdkconfig.h"
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#include "freertos/semphr.h"
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#include <stdint.h>
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#include <list.h>
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typedef enum {
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@ -50,6 +48,6 @@ extern adv_filt_t adv_filters;
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// functions
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void can_task(void* arg);
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void can_msg_to_str(twai_message_t *can_msg, char *start_str, char *out_str);
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void can_msg_to_str(const twai_message_t *can_msg, char *start_str, char *out_str);
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#endif // MAIN_CAN_H
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@ -45,28 +45,29 @@ static struct {
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static int send_can_frame(int argc, char **argv) {
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twai_message_t msg = { 0 };
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char printf_str[70];
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int nerrors = arg_parse(argc, argv, (void **) &cansend_args);
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const int nerrors = arg_parse(argc, argv, (void **) &cansend_args);
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if (nerrors != 0) {
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arg_print_errors(stderr, cansend_args.end, argv[0]);
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return 1;
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}
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const char *can_msg_ptr = cansend_args.message->sval[0];
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char *can_msg_str_buf = strdup(can_msg_ptr);
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char *id_substr = strtok(can_msg_str_buf, "#");
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char *data_substr = strtok(NULL, "#");
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char* can_msg_str_buf = strdup(can_msg_ptr);
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const char* id_substr = strtok(can_msg_str_buf, "#");
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const char *data_substr = strtok(NULL, "#");
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if ((id_substr == NULL) || (strtok(NULL, "#") != NULL)) goto invalid_args;
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int id_l = strlen(id_substr);
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int dt_l = data_substr == NULL ? 0 : strlen(data_substr);
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const int id_l = strlen(id_substr);
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const int dt_l = data_substr == NULL ? 0 : strlen(data_substr);
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if ((id_l > 8) || (dt_l > 16) || (dt_l % 2)) goto invalid_args;
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for (int i = 0; i < id_l; i++) if(!isxdigit((int) id_substr[i])) goto invalid_args;
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for (int i = 0; i < dt_l; i++) if(!isxdigit((int) data_substr[i])) goto invalid_args;
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int msg_id;
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if (sscanf(id_substr, "%X", &msg_id) < 1) goto invalid_args;
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for (int i = 0; i < (dt_l / 2); i++) {
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char *byte_to_parse = malloc(3);
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strncpy(byte_to_parse, data_substr + i * 2, 2);
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char* byte_to_parse = malloc(3);
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// ReSharper disable once CppDFANullDereference (if dt_l == 0 we skip this loop)
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strncpy(byte_to_parse, i * 2 + data_substr, 2);
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int num;
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int res = sscanf(byte_to_parse, "%X", &num);
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const int res = sscanf(byte_to_parse, "%X", &num);
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free(byte_to_parse);
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if (res < 1) goto invalid_args;
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msg.data[i] = num;
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@ -74,7 +75,7 @@ static int send_can_frame(int argc, char **argv) {
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msg.data_length_code = dt_l / 2;
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msg.identifier = msg_id;
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msg.extd = (id_l > 3);
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esp_err_t res = twai_transmit(&msg, pdMS_TO_TICKS(1000));
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const esp_err_t res = twai_transmit(&msg, pdMS_TO_TICKS(1000));
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switch(res) {
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case ESP_OK:
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can_msg_to_str(&msg, "sent ", printf_str);
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@ -99,22 +100,16 @@ invalid_args:
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}
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static int canrecover(int argc, char **argv) {
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esp_err_t res = twai_initiate_recovery();
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const esp_err_t res = twai_initiate_recovery();
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if (res == ESP_OK) print_w_clr_time("Started CAN recovery.", LOG_COLOR_GREEN, true);
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else if (curr_can_state.state == CAN_NOT_INSTALLED) print_w_clr_time("CAN driver is not installed!", LOG_COLOR_RED, true);
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else print_w_clr_time("Can't start recovery - not in bus-off state!", LOG_COLOR_RED, true);
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return 0;
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}
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static const char* can_states_str[] = {
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"not installed",
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"stopped",
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"error active",
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"error passive",
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"bus off",
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"recovering"
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};
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static const char* can_states_str[] = {"not installed", "stopped", "error active", "error passive", "bus off", "recovering"};
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// ReSharper disable once CppDFAConstantFunctionResult
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static int canstats(int argc, char **argv) {
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if (curr_can_state.state == CAN_NOT_INSTALLED) {
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print_w_clr_time("CAN driver is not installed!", LOG_COLOR_RED, true);
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@ -146,11 +141,10 @@ static struct {
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} canup_args;
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static int canup(int argc, char **argv) {
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esp_err_t res;
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static twai_timing_config_t t_config;
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twai_general_config_t gen_cfg = default_g_config;
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twai_filter_config_t f_config;
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int nerrors = arg_parse(argc, argv, (void **) &canup_args);
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const int nerrors = arg_parse(argc, argv, (void **) &canup_args);
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if (nerrors != 0) {
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arg_print_errors(stderr, canup_args.end, argv[0]);
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return 1;
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@ -164,7 +158,7 @@ static int canup(int argc, char **argv) {
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f_config = (twai_filter_config_t) TWAI_FILTER_CONFIG_ACCEPT_ALL();
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printf("Using accept all filters.\n");
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}
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esp_log_level_t prev_gpio_lvl = esp_log_level_get("gpio");
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const esp_log_level_t prev_gpio_lvl = esp_log_level_get("gpio");
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int mode = 0;
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if (canup_args.mode->count) {
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const char* mode_str = canup_args.mode->sval[0];
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@ -239,7 +233,7 @@ static int canup(int argc, char **argv) {
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}
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xSemaphoreTake(can_mutex, portMAX_DELAY);
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esp_log_level_set("gpio", ESP_LOG_ERROR);
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res = twai_driver_install(&gen_cfg, &t_config, &f_config);
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const esp_err_t res = twai_driver_install(&gen_cfg, &t_config, &f_config);
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if (res == ESP_OK) {
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print_w_clr_time("CAN driver installed", LOG_COLOR_BLUE, true);
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if (canup_args.autorecover->count) {
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@ -264,7 +258,7 @@ free_exit:
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static int canstart(int argc, char **argv) {
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xSemaphoreTake(can_mutex, portMAX_DELAY);
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esp_err_t res = twai_start();
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const esp_err_t res = twai_start();
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if (res == ESP_OK) {
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print_w_clr_time("CAN driver started", LOG_COLOR_GREEN, true);
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is_error_passive = false;
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@ -276,7 +270,7 @@ static int canstart(int argc, char **argv) {
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static int candown(int argc, char **argv) {
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xSemaphoreTake(can_mutex, portMAX_DELAY);
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if (curr_can_state.state != CAN_BUF_OFF) {
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esp_err_t res = twai_stop();
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const esp_err_t res = twai_stop();
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if (res == ESP_OK) print_w_clr_time("CAN was stopped.", LOG_COLOR_GREEN, true);
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else {
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print_w_clr_time("Driver is not in running state, or is not installed.", LOG_COLOR_RED, true);
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@ -370,15 +364,15 @@ static struct {
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} canfilter_args;
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static int canfilter(int argc, char **argv) {
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int nerrors = arg_parse(argc, argv, (void **) &canfilter_args);
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const int nerrors = arg_parse(argc, argv, (void **) &canfilter_args);
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if (nerrors != 0) {
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arg_print_errors(stderr, canfilter_args.end, argv[0]);
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return 1;
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}
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const char* mask_s = canfilter_args.mask_arg->sval[0];
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const char* code_s = canfilter_args.code_arg->sval[0];
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int m_l = strlen(mask_s);
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int c_l = strlen(code_s);
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const int m_l = strlen(mask_s);
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const int c_l = strlen(code_s);
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if (m_l != 8 || c_l != 8) goto invalid_args;
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for (int i = 0; i < m_l; i++) if(!isxdigit((int) mask_s[i])) goto invalid_args;
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for (int i = 0; i < c_l; i++) if(!isxdigit((int) code_s[i])) goto invalid_args;
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@ -439,8 +433,8 @@ void smartfilters_destroy(List** head) {
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static int cansmartfilter(int argc, char **argv) {
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char *filter_str_buf = NULL;
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smart_filt_element_t *filt_element = NULL;
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int nerrors = arg_parse(argc, argv, (void **) &cansmart_args);
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smart_filt_element_t* filt_element = NULL;
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const int nerrors = arg_parse(argc, argv, (void **) &cansmart_args);
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if (nerrors != 0) {
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arg_print_errors(stderr, cansmart_args.end, argv[0]);
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return 1;
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@ -455,14 +449,14 @@ static int cansmartfilter(int argc, char **argv) {
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filt_element = malloc(sizeof(smart_filt_element_t));
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const char *filter_str_ptr = cansmart_args.filters->sval[i];
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filter_str_buf = strdup(filter_str_ptr);
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char *code_substr = strtok(filter_str_buf, "#");
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char *mask_substr = strtok(NULL, "#");
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const char* code_substr = strtok(filter_str_buf, "#");
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const char *mask_substr = strtok(NULL, "#");
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if (code_substr == NULL || mask_substr == NULL || strtok(NULL, "#") != NULL) goto invalid_args;
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int m_l = strlen(mask_substr);
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int c_l = strlen(code_substr);
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const int m_l = strlen(mask_substr);
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const int c_l = strlen(code_substr);
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if (m_l > 8 || c_l > 8) goto invalid_args;
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for (int i = 0; i < m_l; i++) if (!isxdigit((int) mask_substr[i])) goto invalid_args;
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for (int i = 0; i < c_l; i++) if (!isxdigit((int) code_substr[i])) goto invalid_args;
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for (int j = 0; j < m_l; j++) if (!isxdigit((int) mask_substr[j])) goto invalid_args;
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for (int j = 0; j < c_l; j++) if (!isxdigit((int) code_substr[j])) goto invalid_args;
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if (sscanf(code_substr, "%" PRIX32, &filt_element->filt) < 1) goto invalid_args;
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if (sscanf(mask_substr, "%" PRIX32, &filt_element->mask) < 1) goto invalid_args;
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free(filter_str_buf);
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@ -471,11 +465,11 @@ static int cansmartfilter(int argc, char **argv) {
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hwfilt_mask = filt_element->mask;
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hwfilt_code = filt_element->filt;
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} else {
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uint32_t common_bits = filt_element->mask & hwfilt_mask;
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uint32_t new_bits = filt_element->mask - common_bits;
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uint32_t missing_bits = hwfilt_mask - common_bits;
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const uint32_t common_bits = filt_element->mask & hwfilt_mask;
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const uint32_t new_bits = filt_element->mask - common_bits;
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const uint32_t missing_bits = hwfilt_mask - common_bits;
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hwfilt_mask &= filt_element->mask;
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uint32_t bit_to_delete = (hwfilt_code ^ filt_element->filt) & hwfilt_mask;
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const uint32_t bit_to_delete = (hwfilt_code ^ filt_element->filt) & hwfilt_mask;
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hwfilt_mask -= bit_to_delete;
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if (new_bits || missing_bits || bit_to_delete) tmp_sw = true;
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}
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@ -8,7 +8,6 @@
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#include "esp_chip_info.h"
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#include "esp_sleep.h"
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#include "esp_flash.h"
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#include "driver/rtc_io.h"
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#include "driver/uart.h"
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#include "argtable3/argtable3.h"
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#include "freertos/FreeRTOS.h"
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@ -145,7 +144,7 @@ static void register_free(void)
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/* 'heap' command prints minumum heap size */
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static int heap_size(int argc, char **argv)
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{
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uint32_t heap_size = heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT);
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const uint32_t heap_size = heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT);
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printf("min heap size: %"PRIu32"\n", heap_size);
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return 0;
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}
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@ -215,7 +214,7 @@ static const char* s_log_level_names[] = {
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static int log_level(int argc, char **argv)
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{
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int nerrors = arg_parse(argc, argv, (void **) &log_level_args);
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const int nerrors = arg_parse(argc, argv, (void **) &log_level_args);
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if (nerrors != 0) {
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arg_print_errors(stderr, log_level_args.end, argv[0]);
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return 1;
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@ -225,7 +224,7 @@ static int log_level(int argc, char **argv)
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const char* tag = log_level_args.tag->sval[0];
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const char* level_str = log_level_args.level->sval[0];
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esp_log_level_t level;
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size_t level_len = strlen(level_str);
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const size_t level_len = strlen(level_str);
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for (level = ESP_LOG_NONE; level <= ESP_LOG_VERBOSE; level++) {
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if (memcmp(level_str, s_log_level_names[level], level_len) == 0) {
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break;
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@ -1,12 +1,10 @@
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#include "cmd_utils.h"
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#include "esp_log.h"
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#include "inttypes.h"
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#include "freertos/projdefs.h"
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#include "string.h"
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#include "esp_console.h"
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#include "argtable3/argtable3.h"
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#include "xvprintf.h"
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#include <stddef.h>
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#include <stdio.h>
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#include <ctype.h>
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@ -22,7 +20,7 @@ static struct {
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} timestamp_args;
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static int timestamp(int argc, char **argv) {
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int nerrors = arg_parse(argc, argv, (void **) ×tamp_args);
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const int nerrors = arg_parse(argc, argv, (void **) ×tamp_args);
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if (nerrors != 0) {
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arg_print_errors(stderr, timestamp_args.end, argv[0]);
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return 1;
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@ -1,3 +1,4 @@
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// ReSharper disable CppDFAUnreachableCode
|
||||
#include "console.h"
|
||||
#include "sdkconfig.h"
|
||||
#include <fcntl.h>
|
||||
|
|
@ -8,7 +9,6 @@
|
|||
#include "esp_vfs_dev.h"
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "esp_system.h"
|
||||
#include "freertos/portmacro.h"
|
||||
#include "freertos/projdefs.h"
|
||||
#include "linenoise/linenoise.h"
|
||||
|
|
@ -39,7 +39,6 @@ SemaphoreHandle_t console_taken_sem;
|
|||
|
||||
static void update_prompt() {
|
||||
char text[45];
|
||||
int text_len;
|
||||
static char* prompt_color;
|
||||
text[0] = '\0';
|
||||
switch (curr_can_state.state) {
|
||||
|
|
@ -82,19 +81,17 @@ static void update_prompt() {
|
|||
} else {
|
||||
strcat(prompt_buf, text);
|
||||
}
|
||||
text_len = strlen(text);
|
||||
const int text_len = strlen(text);
|
||||
ls.prompt = prompt_buf;
|
||||
ls.plen = text_len;
|
||||
}
|
||||
|
||||
void console_task_tx(void* arg) {
|
||||
static const TickType_t prompt_timeout = pdMS_TO_TICKS(200);
|
||||
// static const TickType_t prompt_timeout = portMAX_DELAY;
|
||||
const int fd = fileno(stdout);
|
||||
char *msg_to_print;
|
||||
size_t msg_to_print_size;
|
||||
while(1) {
|
||||
msg_to_print = (char *)xRingbufferReceive(can_messages, &msg_to_print_size, prompt_timeout);
|
||||
char* msg_to_print = xRingbufferReceive(can_messages, &msg_to_print_size, prompt_timeout);
|
||||
update_prompt();
|
||||
xSemaphoreTake(console_taken_sem, portMAX_DELAY);
|
||||
xSemaphoreTake(stdout_taken_sem, portMAX_DELAY);
|
||||
|
|
@ -117,10 +114,9 @@ void console_task_interactive(void* arg) {
|
|||
console_taken_sem = xSemaphoreCreateMutex();
|
||||
stdout_taken_sem = xSemaphoreCreateMutex();
|
||||
char *buf = calloc(1, console_config.max_cmdline_length);
|
||||
char *line;
|
||||
/* Figure out if the terminal supports escape sequences */
|
||||
printf("Testing your console...\n");
|
||||
int probe_status = linenoiseProbe();
|
||||
const int probe_status = linenoiseProbe();
|
||||
// int probe_status = 1;
|
||||
if (probe_status) { /* zero indicates success */
|
||||
printf("\n"
|
||||
|
|
@ -142,7 +138,7 @@ void console_task_interactive(void* arg) {
|
|||
xTaskCreate(console_task_tx, "console tsk tx", 5000, NULL, CONFIG_CONSOLE_TX_PRIORITY, NULL);
|
||||
esp_log_set_vprintf(&vxprintf);
|
||||
while (true) {
|
||||
line = linenoiseEditFeed(&ls);
|
||||
char* line = linenoiseEditFeed(&ls);
|
||||
if (line == linenoiseEditMore) continue;
|
||||
xSemaphoreTake(console_taken_sem, portMAX_DELAY);
|
||||
linenoiseEditStop(&ls);
|
||||
|
|
@ -159,7 +155,7 @@ void console_task_interactive(void* arg) {
|
|||
}
|
||||
|
||||
int ret;
|
||||
esp_err_t err = esp_console_run(line, &ret);
|
||||
const esp_err_t err = esp_console_run(line, &ret);
|
||||
if (err == ESP_ERR_NOT_FOUND) {
|
||||
printf("Unrecognized command\n");
|
||||
} else if (err == ESP_ERR_INVALID_ARG) {
|
||||
|
|
|
|||
|
|
@ -11,7 +11,7 @@ static const char* TAG = "fs";
|
|||
void initialize_filesystem(void) {
|
||||
static wl_handle_t wl_handle;
|
||||
const esp_vfs_fat_mount_config_t mount_config = {.max_files = 4, .format_if_mount_failed = true};
|
||||
esp_err_t err = esp_vfs_fat_spiflash_mount_rw_wl(MOUNT_PATH, "storage", &mount_config, &wl_handle);
|
||||
const esp_err_t err = esp_vfs_fat_spiflash_mount_rw_wl(MOUNT_PATH, "storage", &mount_config, &wl_handle);
|
||||
if (err != ESP_OK) {
|
||||
ESP_LOGE(TAG, "Failed to mount FATFS (%s)", esp_err_to_name(err));
|
||||
return;
|
||||
|
|
|
|||
|
|
@ -15,8 +15,7 @@ void init_tx_ringbuf() {
|
|||
// @important Do NOT use the ESP_LOG* macro's in this function ELSE recursive loop and stack overflow! So use printf() instead for debug messages.
|
||||
int vxprintf(const char *fmt, va_list args) {
|
||||
char msg_to_send[300];
|
||||
size_t str_len;
|
||||
str_len = vsnprintf(msg_to_send, 299, fmt, args);
|
||||
const size_t str_len = vsnprintf(msg_to_send, 299, fmt, args);
|
||||
xRingbufferSend(can_messages, msg_to_send, str_len + 1, pdMS_TO_TICKS(200));
|
||||
return str_len;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue