forked from test34/can_wizard
507 lines
19 KiB
C
507 lines
19 KiB
C
#include "cmd_can.h"
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#include "can.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "hal/twai_types.h"
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#include "inttypes.h"
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#include "list.h"
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#include "sdkconfig.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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twai_filter_config_t my_filters = TWAI_FILTER_CONFIG_ACCEPT_ALL();
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static void register_cansend(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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static void register_canfilter(void);
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static void register_cansmartfilter(void);
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void register_can_commands(void) {
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register_cansend();
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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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register_canfilter();
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register_cansmartfilter();
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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 = { 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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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) || (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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msg.extd = (id_l > 3);
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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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print_w_clr_time(printf_str, NULL, true);
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break;
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case ESP_ERR_TIMEOUT:
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print_w_clr_time("Timeout!", LOG_COLOR_RED, true);
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break;
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case ESP_ERR_NOT_SUPPORTED:
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print_w_clr_time("Can't sent in Listen-Only mode!", LOG_COLOR_RED, true);
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break;
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default:
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print_w_clr_time("Invalid state!", LOG_COLOR_RED, true);
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break;
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}
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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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print_w_clr_time("Invalid arguments!", LOG_COLOR_RED, true);
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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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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 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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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 const char* can_modes[] = {
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"normal",
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"no_ack",
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"listen_only",
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};
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static struct {
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struct arg_int *speed;
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struct arg_lit *filters;
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struct arg_lit *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 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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// TODO: add CAN filtering
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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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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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}
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if (canup_args.filters->count) {
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f_config = my_filters;
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printf("Using %s filters.\n", adv_filters.enabled ? "smart" : "basic hw");
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} else {
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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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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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while (mode < 4) {
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if (mode == 3) {
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print_w_clr_time("Unsupported mode!", LOG_COLOR_RED, true);
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return 1;
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}
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if (memcmp(mode_str, can_modes[mode], strlen(mode_str)) == 0) break;
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mode++;
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}
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}
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switch(mode) {
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case 1:
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gen_cfg.mode = TWAI_MODE_NO_ACK;
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print_w_clr_time("Starting CAN in No Ack Mode...", LOG_COLOR_BLUE, true);
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break;
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case 2:
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gen_cfg.mode = TWAI_MODE_LISTEN_ONLY;
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print_w_clr_time("Starting CAN in Listen Only Mode...", LOG_COLOR_BLUE, true);
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break;
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default: //0
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print_w_clr_time("Starting CAN in Normal Mode...", LOG_COLOR_BLUE, true);
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break;
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}
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switch (canup_args.speed->ival[0]) {
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case 1000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_1KBITS();
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break;
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case 5000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_5KBITS();
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break;
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case 10000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_10KBITS();
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break;
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case 12500:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_12_5KBITS();
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break;
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case 16000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_16KBITS();
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break;
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case 20000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_20KBITS();
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break;
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case 25000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_25KBITS();
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break;
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case 50000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_50KBITS();
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break;
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case 100000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_100KBITS();
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break;
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case 125000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_125KBITS();
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break;
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case 250000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_250KBITS();
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break;
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case 500000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_500KBITS();
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break;
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case 800000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_800KBITS();
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break;
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case 1000000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_1MBITS();
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break;
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default:
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print_w_clr_time("Unsupported speed!", LOG_COLOR_RED, true);
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return 1;
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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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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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print_w_clr_time("Auto recovery is enabled!", LOG_COLOR_PURPLE, true);
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auto_recovery = true;
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} else auto_recovery = false;
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} else if (res == ESP_ERR_INVALID_STATE) {
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print_w_clr_time("Driver is already installed!", LOG_COLOR_BROWN, true);
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goto free_exit;
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} else {
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print_w_clr_time("Couldn't install CAN driver! Rebooting...", LOG_COLOR_RED, true);
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esp_restart();
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}
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ESP_ERROR_CHECK(twai_start());
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is_error_passive = false;
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print_w_clr_time("CAN driver started", LOG_COLOR_BLUE, true);
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free_exit:
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xSemaphoreGive(can_mutex);
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esp_log_level_set("gpio", prev_gpio_lvl);
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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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xSemaphoreTake(can_mutex, portMAX_DELAY);
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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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} else print_w_clr_time("Driver is not in stopped state, or is not installed.", LOG_COLOR_RED, true);
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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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if (curr_can_state.state != CAN_BUF_OFF) {
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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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xSemaphoreGive(can_mutex);
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return 1;
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}
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}
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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_cansend(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_int1(NULL, NULL, "<speed>", "CAN bus speed, in bps. See help for supported speeds.");
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canup_args.mode = arg_str0("m", "mode", "<normal|no_ack|listen_only>", "Set CAN mode. Normal (default), No Ack (for self-testing) or Listen Only (to prevent transmitting, for monitoring).");
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canup_args.filters = arg_lit0("f", NULL, "Use predefined CAN filters.");
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canup_args.autorecover = arg_lit0("r", "auto-recovery", "Set to enable auto-recovery of CAN bus if case of bus-off event");
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canup_args.end = arg_end(4);
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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. Supported speeds: 1mbits, 800kbits, 500kbits, 250kbits, 125kbits, 100kbits, 50kbits, 25kbits, 20kbits, 16kbits, 12.5kbits, 10kbits, 5kbits, 1kbits.",
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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 bus 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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static struct {
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struct arg_lit *dual_arg;
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struct arg_str *code_arg;
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struct arg_str *mask_arg;
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struct arg_end *end;
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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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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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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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uint32_t mask = 0;
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uint32_t code = 0;
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if (sscanf(mask_s, "%" PRIX32, &mask) < 1) goto invalid_args;
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if (sscanf(code_s, "%" PRIX32, &code) < 1) goto invalid_args;
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if (canfilter_args.dual_arg->count) {
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my_filters.single_filter = false;
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print_w_clr_time("Setting hw filters in dual mode.", LOG_COLOR_GREEN, true);
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} else {
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my_filters.single_filter = true;
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print_w_clr_time("Setting hw filters in single mode.", LOG_COLOR_GREEN, true);
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}
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printf("mask: %" PRIX32 ", code: %" PRIX32 "\n", mask, code);
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my_filters.acceptance_code = code;
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my_filters.acceptance_mask = mask;
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adv_filters.enabled = false;
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adv_filters.sw_filtering = false;
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return 0;
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invalid_args:
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print_w_clr_time("Invalid arguments!", LOG_COLOR_RED, true);
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return 1;
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}
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static void register_canfilter(void) {
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canfilter_args.mask_arg = arg_str1("m", "mask", "<mask>", "Acceptance mask (as in esp-idf docs), uint32_t in hex form, 8 symbols.");
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canfilter_args.code_arg = arg_str1("c", "code", "<code>", "Acceptance code (as in esp-idf docs), uint32_t in hex form, 8 symbols.");
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canfilter_args.dual_arg = arg_lit0("d", NULL, "Use Dual Filter Mode.");
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const esp_console_cmd_t cmd = {
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.command = "canfilter",
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.help = "Manually setup basic hardware filtering.",
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.hint = NULL,
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.func = &canfilter,
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.argtable = &canfilter_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 struct {
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struct arg_str *filters;
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struct arg_end *end;
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} cansmart_args;
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void smartfilters_destroy(List** head) {
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while (*head != NULL) {
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List* tmp_cursor = *head;
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*head = (*head)->next;
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free((smart_filt_element_t *) tmp_cursor->data);
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free(tmp_cursor);
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}
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}
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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);
|
|
if (nerrors != 0) {
|
|
arg_print_errors(stderr, cansmart_args.end, argv[0]);
|
|
return 1;
|
|
}
|
|
smartfilters_destroy(&adv_filters.filters);
|
|
adv_filters.sw_filtering = false;
|
|
adv_filters.enabled = false;
|
|
bool tmp_sw = false;
|
|
uint32_t hwfilt_code = 0;
|
|
uint32_t hwfilt_mask = 0;
|
|
for (int i = 0; i < cansmart_args.filters->count; i++) {
|
|
filt_element = malloc(sizeof(smart_filt_element_t));
|
|
const char *filter_str_ptr = cansmart_args.filters->sval[i];
|
|
filter_str_buf = strdup(filter_str_ptr);
|
|
char *code_substr = strtok(filter_str_buf, "#");
|
|
char *mask_substr = strtok(NULL, "#");
|
|
if (code_substr == NULL || mask_substr == NULL || strtok(NULL, "#") != NULL) goto invalid_args;
|
|
int m_l = strlen(mask_substr);
|
|
int c_l = strlen(code_substr);
|
|
if (m_l > 8 || c_l > 8) goto invalid_args;
|
|
for (int i = 0; i < m_l; i++) if (!isxdigit((int) mask_substr[i])) goto invalid_args;
|
|
for (int i = 0; i < c_l; i++) if (!isxdigit((int) code_substr[i])) goto invalid_args;
|
|
if (sscanf(code_substr, "%" PRIX32, &filt_element->filt) < 1) goto invalid_args;
|
|
if (sscanf(mask_substr, "%" PRIX32, &filt_element->mask) < 1) goto invalid_args;
|
|
list_push(&adv_filters.filters, (void *) filt_element);
|
|
if (i == 0) {
|
|
hwfilt_mask = filt_element->mask;
|
|
hwfilt_code = filt_element->filt;
|
|
} else {
|
|
uint32_t common_bits = filt_element->mask & hwfilt_mask;
|
|
uint32_t new_bits = filt_element->mask - common_bits;
|
|
uint32_t missing_bits = hwfilt_mask - common_bits;
|
|
hwfilt_mask &= filt_element->mask;
|
|
uint32_t bit_to_delete = (hwfilt_code ^ filt_element->filt) & hwfilt_mask;
|
|
hwfilt_mask -= bit_to_delete;
|
|
if (new_bits || missing_bits || bit_to_delete) tmp_sw = true;
|
|
}
|
|
filt_element = NULL;
|
|
}
|
|
my_filters.single_filter = true;
|
|
my_filters.acceptance_mask = ~(hwfilt_mask << 3);
|
|
my_filters.acceptance_code = hwfilt_code << 3;
|
|
adv_filters.sw_filtering = tmp_sw;
|
|
adv_filters.enabled = true;
|
|
print_w_clr_time("Smart filters were set.", LOG_COLOR_GREEN, true);
|
|
printf("Num of smart filters: %d\n", list_sizeof(adv_filters.filters));
|
|
return 0;
|
|
invalid_args:
|
|
free(filter_str_buf);
|
|
free(filt_element);
|
|
print_w_clr_time("Invalid arguments!", LOG_COLOR_RED, true);
|
|
smartfilters_destroy(&adv_filters.filters);
|
|
return 1;
|
|
}
|
|
|
|
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. Supportd only ID filtering of extended frames, standart frames aren't supported for now.",
|
|
.hint = NULL,
|
|
.func = &cansmartfilter,
|
|
.argtable = &cansmart_args,
|
|
};
|
|
ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
|
|
}
|