blob: 09186da5d7ac3bb3ea3f62b4b4d662058ace4226 [file] [log] [blame]
/*
* Copyright (c) 2019 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/sys/printk.h>
#include <zephyr/shell/shell.h>
#include <zephyr/drivers/can.h>
#include <zephyr/types.h>
#include <stdlib.h>
CAN_MSGQ_DEFINE(msgq, 4);
const struct shell *msgq_shell;
static struct k_work_poll msgq_work;
static struct k_poll_event msgq_events[1] = {
K_POLL_EVENT_STATIC_INITIALIZER(K_POLL_TYPE_MSGQ_DATA_AVAILABLE,
K_POLL_MODE_NOTIFY_ONLY,
&msgq, 0)
};
static inline int read_config_options(const struct shell *sh, int pos,
char **argv, bool *listenonly, bool *loopback,
bool *oneshot, bool *triple)
{
char *arg = argv[pos];
if (arg[0] != '-') {
return pos;
}
for (arg = &arg[1]; *arg; arg++) {
switch (*arg) {
case 's':
if (listenonly == NULL) {
shell_error(sh, "Unknown option %c", *arg);
} else {
*listenonly = true;
}
break;
case 'l':
if (loopback == NULL) {
shell_error(sh, "Unknown option %c", *arg);
} else {
*loopback = true;
}
break;
case 'o':
if (oneshot == NULL) {
shell_error(sh, "Unknown option %c", *arg);
} else {
*oneshot = true;
}
break;
case 't':
if (triple == NULL) {
shell_error(sh, "Unknown option %c", *arg);
} else {
*triple = true;
}
break;
default:
shell_error(sh, "Unknown option %c", *arg);
return -EINVAL;
}
}
return ++pos;
}
static inline int read_frame_options(const struct shell *sh, int pos,
char **argv, bool *rtr, bool *ext)
{
char *arg = argv[pos];
if (arg[0] != '-') {
return pos;
}
for (arg = &arg[1]; *arg; arg++) {
switch (*arg) {
case 'r':
if (rtr == NULL) {
shell_error(sh, "Unknown option %c", *arg);
} else {
*rtr = true;
}
break;
case 'e':
if (ext == NULL) {
shell_error(sh, "Unknown option %c", *arg);
} else {
*ext = true;
}
break;
default:
shell_error(sh, "Unknown option %c", *arg);
return -EINVAL;
}
}
return ++pos;
}
static inline int read_bitrate(const struct shell *sh, int pos, char **argv,
uint32_t *bitrate)
{
char *end_ptr;
long val;
val = strtol(argv[pos], &end_ptr, 0);
if (*end_ptr != '\0') {
shell_error(sh, "Bitrate is not a number");
return -EINVAL;
}
*bitrate = (uint32_t)val;
return ++pos;
}
static inline int read_id(const struct shell *sh, int pos, char **argv,
bool ext, uint32_t *id)
{
char *end_ptr;
long val;
val = strtol(argv[pos], &end_ptr, 0);
if (*end_ptr != '\0') {
shell_error(sh, "ID is not a number");
return -EINVAL;
}
if (val < 0 || val > CAN_EXT_ID_MASK ||
(!ext && val > CAN_MAX_STD_ID)) {
shell_error(sh, "ID invalid. %sid must not be negative or "
"bigger than 0x%x",
ext ? "ext " : "",
ext ? CAN_EXT_ID_MASK : CAN_MAX_STD_ID);
return -EINVAL;
}
*id = (uint32_t)val;
return ++pos;
}
static inline int read_mask(const struct shell *sh, int pos, char **argv,
bool ext, uint32_t *mask)
{
char *end_ptr;
long val;
val = strtol(argv[pos], &end_ptr, 0);
if (*end_ptr != '\0') {
shell_error(sh, "Mask is not a number");
return -EINVAL;
}
if (val < 0 || val > CAN_EXT_ID_MASK ||
(!ext && val > CAN_MAX_STD_ID)) {
shell_error(sh, "Mask invalid. %smask must not be negative "
"or bigger than 0x%x",
ext ? "ext " : "",
ext ? CAN_EXT_ID_MASK : CAN_MAX_STD_ID);
return -EINVAL;
}
*mask = (uint32_t)val;
return ++pos;
}
static inline int read_data(const struct shell *sh, int pos, char **argv,
size_t argc, uint8_t *data, uint8_t *dlc)
{
int i;
uint8_t *data_ptr = data;
if (argc - pos > CAN_MAX_DLC) {
shell_error(sh, "Too many databytes. Max is %d",
CAN_MAX_DLC);
return -EINVAL;
}
for (i = pos; i < argc; i++) {
char *end_ptr;
long val;
val = strtol(argv[i], &end_ptr, 0);
if (*end_ptr != '\0') {
shell_error(sh, "Data bytes must be numbers");
return -EINVAL;
}
if (val & ~0xFFL) {
shell_error(sh, "A data bytes must not be > 0xFF");
return -EINVAL;
}
*data_ptr = val;
data_ptr++;
}
*dlc = i - pos;
return i;
}
static void print_frame(struct zcan_frame *frame, const struct shell *sh)
{
shell_fprintf(sh, SHELL_NORMAL, "|0x%-8x|%s|%s|%d|",
frame->id,
frame->id_type == CAN_STANDARD_IDENTIFIER ? "std" : "ext",
frame->rtr ? "RTR" : " ", frame->dlc);
for (int i = 0; i < CAN_MAX_DLEN; i++) {
if (i < frame->dlc) {
shell_fprintf(sh, SHELL_NORMAL, " 0x%02x",
frame->data[i]);
} else {
shell_fprintf(sh, SHELL_NORMAL, " ");
}
}
shell_fprintf(sh, SHELL_NORMAL, "|\n");
}
static void msgq_triggered_work_handler(struct k_work *work)
{
struct zcan_frame frame;
int ret;
while (k_msgq_get(&msgq, &frame, K_NO_WAIT) == 0) {
print_frame(&frame, msgq_shell);
}
ret = k_work_poll_submit(&msgq_work, msgq_events,
ARRAY_SIZE(msgq_events), K_FOREVER);
if (ret != 0) {
shell_error(msgq_shell, "Failed to resubmit msgq polling [%d]", ret);
}
}
static int cmd_config(const struct shell *sh, size_t argc, char **argv)
{
const struct device *can_dev;
int pos = 1;
bool listenonly = false;
bool loopback = false;
bool oneshot = false;
bool triple = false;
can_mode_t mode = CAN_MODE_NORMAL;
uint32_t bitrate;
int ret;
can_dev = device_get_binding(argv[pos]);
if (!can_dev) {
shell_error(sh, "Can't get binding to device \"%s\"",
argv[pos]);
return -EINVAL;
}
pos++;
pos = read_config_options(sh, pos, argv, &listenonly, &loopback, &oneshot, &triple);
if (pos < 0) {
return -EINVAL;
}
if (listenonly) {
mode |= CAN_MODE_LISTENONLY;
}
if (loopback) {
mode |= CAN_MODE_LOOPBACK;
}
if (oneshot) {
mode |= CAN_MODE_ONE_SHOT;
}
if (triple) {
mode |= CAN_MODE_3_SAMPLES;
}
ret = can_set_mode(can_dev, mode);
if (ret) {
shell_error(sh, "Failed to set mode [%d]",
ret);
return ret;
}
pos = read_bitrate(sh, pos, argv, &bitrate);
if (pos < 0) {
return -EINVAL;
}
ret = can_set_bitrate(can_dev, bitrate);
if (ret) {
shell_error(sh, "Failed to set bitrate [%d]",
ret);
return ret;
}
return 0;
}
static int cmd_send(const struct shell *sh, size_t argc, char **argv)
{
const struct device *can_dev;
int pos = 1;
bool rtr = false, ext = false;
struct zcan_frame frame;
int ret;
uint32_t id;
can_dev = device_get_binding(argv[pos]);
if (!can_dev) {
shell_error(sh, "Can't get binding to device \"%s\"",
argv[pos]);
return -EINVAL;
}
pos++;
pos = read_frame_options(sh, pos, argv, &rtr, &ext);
if (pos < 0) {
return -EINVAL;
}
frame.id_type = ext ? CAN_EXTENDED_IDENTIFIER : CAN_STANDARD_IDENTIFIER;
frame.rtr = rtr ? CAN_REMOTEREQUEST : CAN_DATAFRAME;
pos = read_id(sh, pos, argv, ext, &id);
if (pos < 0) {
return -EINVAL;
}
frame.id = id;
pos = read_data(sh, pos, argv, argc, frame.data, &frame.dlc);
if (pos < 0) {
return -EINVAL;
}
shell_print(sh, "Send frame with ID 0x%x (%s ID) and %d data bytes",
frame.id, ext ? "extended" : "standard", frame.dlc);
ret = can_send(can_dev, &frame, K_FOREVER, NULL, NULL);
if (ret) {
shell_error(sh, "Failed to send frame [%d]", ret);
return -EIO;
}
return 0;
}
static int cmd_add_rx_filter(const struct shell *sh, size_t argc, char **argv)
{
const struct device *can_dev;
int pos = 1;
bool rtr = false, ext = false, rtr_mask = false;
struct zcan_filter filter;
int ret;
uint32_t id, mask;
can_dev = device_get_binding(argv[pos]);
if (!can_dev) {
shell_error(sh, "Can't get binding to device \"%s\"",
argv[pos]);
return -EINVAL;
}
pos++;
pos = read_frame_options(sh, pos, argv, &rtr, &ext);
if (pos < 0) {
return -EINVAL;
}
filter.id_type = ext ? CAN_EXTENDED_IDENTIFIER : CAN_STANDARD_IDENTIFIER;
filter.rtr = rtr ? CAN_REMOTEREQUEST : CAN_DATAFRAME;
pos = read_id(sh, pos, argv, ext, &id);
if (pos < 0) {
return -EINVAL;
}
filter.id = id;
if (pos != argc) {
pos = read_mask(sh, pos, argv, ext, &mask);
if (pos < 0) {
return -EINVAL;
}
filter.id_mask = mask;
} else {
filter.id_mask = ext ? CAN_EXT_ID_MASK : CAN_STD_ID_MASK;
}
if (pos != argc) {
pos = read_frame_options(sh, pos, argv, &rtr_mask, NULL);
if (pos < 0) {
return -EINVAL;
}
}
filter.rtr_mask = rtr_mask;
shell_print(sh, "Add RX filter with ID 0x%x (%s ID), mask 0x%x, RTR %d",
filter.id, ext ? "extended" : "standard", filter.id_mask,
filter.rtr_mask);
ret = can_add_rx_filter_msgq(can_dev, &msgq, &filter);
if (ret < 0) {
if (ret == -ENOSPC) {
shell_error(sh, "Failed to add RX filter, no free filter left");
} else {
shell_error(sh, "Failed to add RX filter [%d]", ret);
}
return -EIO;
}
shell_print(sh, "Filter ID: %d", ret);
if (msgq_shell == NULL) {
msgq_shell = sh;
k_work_poll_init(&msgq_work, msgq_triggered_work_handler);
}
ret = k_work_poll_submit(&msgq_work, msgq_events,
ARRAY_SIZE(msgq_events), K_FOREVER);
if (ret != 0) {
shell_error(sh, "Failed to submit msgq polling [%d]", ret);
}
return 0;
}
static int cmd_remove_rx_filter(const struct shell *sh, size_t argc, char **argv)
{
const struct device *can_dev;
char *end_ptr;
long id;
can_dev = device_get_binding(argv[1]);
if (!can_dev) {
shell_error(sh, "Can't get binding to device \"%s\"",
argv[1]);
return -EINVAL;
}
id = strtol(argv[2], &end_ptr, 0);
if (*end_ptr != '\0') {
shell_error(sh, "filter_id is not a number");
return -EINVAL;
}
if (id < 0) {
shell_error(sh, "filter_id must not be negative");
}
can_remove_rx_filter(can_dev, (int)id);
return 0;
}
SHELL_STATIC_SUBCMD_SET_CREATE(sub_can,
SHELL_CMD_ARG(config, NULL,
"Configure CAN controller.\n"
" Usage: config device_name [-slo] bitrate\n"
" -s Listen-only mode\n"
" -l Loopback mode\n"
" -o One-shot mode\n"
" -t Triple sampling mode",
cmd_config, 3, 1),
SHELL_CMD_ARG(send, NULL,
"Send a CAN frame.\n"
" Usage: send device_name [-re] id [byte_1 byte_2 ...]\n"
" -r Remote transmission request\n"
" -e Extended address",
cmd_send, 3, 12),
SHELL_CMD_ARG(add_rx_filter, NULL,
"Add a RX filter and print matching frames.\n"
" Usage: add_rx_filter device_name [-re] id [mask [-r]]\n"
" -r Remote transmission request\n"
" -e Extended address",
cmd_add_rx_filter, 3, 3),
SHELL_CMD_ARG(remove_rx_filter, NULL,
"Remove a RX filter and stop printing matching frames\n"
" Usage: remove_rx_filter device_name filter_id",
cmd_remove_rx_filter, 3, 0),
SHELL_SUBCMD_SET_END /* Array terminated. */
);
SHELL_CMD_ARG_REGISTER(canbus, &sub_can, "CAN commands", NULL, 2, 0);