forked from test34/can_wizard
222 lines
7.2 KiB
C
222 lines
7.2 KiB
C
#include "cmd_can.h"
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#include "freertos/portmacro.h"
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#include "inttypes.h"
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#include "driver/twai.h"
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#include "freertos/projdefs.h"
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#include "hal/twai_types.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 "can.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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static void register_send_can_frame(void);
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static void register_canup(void);
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static void register_candown(void);
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static void register_canstats(void);
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static void register_canstart(void);
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static void register_canrecover(void);
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void register_can_commands(void) {
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register_send_can_frame();
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register_canup();
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register_candown();
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register_canstats();
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register_canstart();
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register_canrecover();
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}
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static struct {
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struct arg_str *message;
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struct arg_end *end;
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} cansend_args;
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static struct {
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struct arg_str *speed;
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struct arg_str *filters;
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struct arg_str *autorecover;
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struct arg_str *mode;
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struct arg_end *end;
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} canup_args;
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static int send_can_frame(int argc, char **argv) {
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twai_message_t msg = {.extd = 1};
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char printf_str[50];
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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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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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if ((id_l > 8) || (dt_l > 16) || (id_l % 2) || (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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int num;
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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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}
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msg.data_length_code = dt_l / 2;
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msg.identifier = msg_id;
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twai_transmit(&msg, pdMS_TO_TICKS(1000));
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can_msg_to_str(&msg, printf_str);
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printf("sent %s\n", printf_str);
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// free(can_msg_str_buf);
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return 0;
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invalid_args:
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printf("Invalid arguments!\n");
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free(can_msg_str_buf);
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return 1;
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}
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static int canrecover(int argc, char **argv) {
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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 int canstats(int argc, char **argv) {
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if (curr_can_state.state == CAN_NOT_INSTALLED) {
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printf("CAN driver is not installed!\n");
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return 0;
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} else {
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const char *state_str = can_states_str[curr_can_state.state];
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printf("status: %s\n", state_str);
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printf("TX Err Counter: %" PRIu32 "\n", curr_can_state.tx_error_counter);
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printf("RX Err Counter: %" PRIu32 "\n", curr_can_state.rx_error_counter);
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printf("Failed transmit: %" PRIu32 "\n", curr_can_state.tx_failed_count);
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printf("Arbitration lost times: %" PRIu32 "\n", curr_can_state.arb_lost_count);
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printf("Bus-off count: %" PRIu32 "\n", curr_can_state.bus_error_count);
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}
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return 0;
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}
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static int canup(int argc, char **argv) {
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esp_err_t res;
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xSemaphoreTake(can_mutex, portMAX_DELAY);
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// Install CAN driver
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// TODO: add CAN filtering
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static twai_filter_config_t f_config = {.acceptance_code = 0, .acceptance_mask = 0xFFFFFFFF, .single_filter = true};
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res = twai_driver_install(&g_config, &t_config, &f_config);
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if (res != ESP_OK) {
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printf("Couldn't install CAN driver! Rebooting...\n");
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esp_restart();
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}
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printf("CAN driver installed\n");
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// Start CAN driver
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res = twai_start();
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printf("CAN driver started\n");
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xSemaphoreGive(can_mutex);
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return 0;
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}
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static int canstart(int argc, char **argv) {
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// Start CAN driver
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xSemaphoreTake(can_mutex, portMAX_DELAY);
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ESP_ERROR_CHECK(twai_start());
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printf("CAN driver started\n");
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xSemaphoreGive(can_mutex);
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return 0;
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}
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static int candown(int argc, char **argv) {
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xSemaphoreTake(can_mutex, portMAX_DELAY);
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ESP_ERROR_CHECK(twai_stop());
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ESP_ERROR_CHECK(twai_driver_uninstall());
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xSemaphoreGive(can_mutex);
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return 0;
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}
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static void register_send_can_frame(void) {
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cansend_args.message = arg_str1(NULL, NULL, "ID#data", "Message to send, ID and data bytes, all in hex. # is the delimiter.");
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cansend_args.end = arg_end(2);
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const esp_console_cmd_t cmd = {
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.command = "cansend",
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.help = "Send a can message to the bus, example: cansend 00008C03#02",
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.hint = NULL,
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.func = &send_can_frame,
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.argtable = &cansend_args,
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};
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ESP_ERROR_CHECK( esp_console_cmd_register(&cmd) );
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}
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static void register_canup(void) {
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canup_args.speed = arg_str1(NULL, NULL, "<25|50|100|125|250|500|800|1000>", "CAN bus speed, in kbits.");
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canup_args.mode = arg_str0("m", "mode", "<normal|no_ack|listen_only", "Set CAN mode. Normal, No Ack (for self-testing) or Listen Only (to prevent transmitting, for monitoring).");
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canup_args.filters = arg_str0("f", "filters", "<filters>", "CAN filters to receive only selected frames.");
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canup_args.autorecover = arg_str0("r", "auto-recover", "<1|0>", "Set 1 to enable auto-recovery of CAN bus if case of bus-off event.");
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canup_args.end = arg_end(2);
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const esp_console_cmd_t cmd = {
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.command = "canup",
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.help = "Install can drivers and start can interface. Used right after board start or during runtime for changing CAN configuration.",
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.hint = NULL,
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.func = &canup,
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.argtable = &canup_args,
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};
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ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
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}
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static void register_candown(void) {
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const esp_console_cmd_t cmd = {
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.command = "candown",
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.help = "Stop CAN interface and uninstall CAN driver, for example, to install and start with different parameters/filters.",
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.hint = NULL,
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.func = &candown,
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};
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ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
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}
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static void register_canstats(void) {
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const esp_console_cmd_t cmd = {
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.command = "canstats",
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.help = "Print CAN statistics.",
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.hint = NULL,
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.func = &canstats,
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};
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ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
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}
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static void register_canstart(void) {
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const esp_console_cmd_t cmd = {
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.command = "canstart",
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.help = "Start CAN interface, used after buf recovery, otherwise see canup command.",
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.hint = NULL,
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.func = &canstart,
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};
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ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
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}
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static void register_canrecover(void) {
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const esp_console_cmd_t cmd = {
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.command = "canrecover",
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.help = "Recover CAN after buf-off. Used when auto-recovery is turned off.",
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.hint = NULL,
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.func = &canrecover,
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};
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ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
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}
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