forked from test34/can_wizard
81 lines
2.6 KiB
C
81 lines
2.6 KiB
C
#include "cmd_can.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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void register_can_commands(void) {
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register_send_can_frame();
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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 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!");
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free(can_msg_str_buf);
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return 1;
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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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