blob: b414c8c6f641f2e9d2b3e98c4bbaf6a34516ef86 [file] [log] [blame]
/*
* Copyright (c) 2019 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <sys/printk.h>
#include <shell/shell.h>
#include <drivers/can.h>
#include <zephyr/types.h>
#include <stdlib.h>
static struct zcan_work work;
static inline int read_config_options(const struct shell *shell, int pos,
char **argv, bool *silent, bool *loopback)
{
char *arg = argv[pos];
if (arg[0] != '-') {
return pos;
}
for (arg = &arg[1]; *arg; arg++) {
switch (*arg) {
case 's':
if (silent == NULL) {
shell_error(shell, "unknown option %c", *arg);
} else {
*silent = true;
}
break;
case 'l':
if (loopback == NULL) {
shell_error(shell, "unknown option %c", *arg);
} else {
*loopback = true;
}
break;
default:
shell_error(shell, "unknown option %c", *arg);
return -EINVAL;
}
}
return ++pos;
}
static inline int read_frame_options(const struct shell *shell, 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(shell, "unknown option %c", *arg);
} else {
*rtr = true;
}
break;
case 'e':
if (ext == NULL) {
shell_error(shell, "unknown option %c", *arg);
} else {
*ext = true;
}
break;
default:
shell_error(shell, "unknown option %c", *arg);
return -EINVAL;
}
}
return ++pos;
}
static inline int read_bitrate(const struct shell *shell, 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(shell, "bitrate is not a number");
return -EINVAL;
}
*bitrate = (uint32_t)val;
return ++pos;
}
static inline int read_id(const struct shell *shell, 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(shell, "id is not a number");
return -EINVAL;
}
if (val < 0 || val > CAN_EXT_ID_MASK ||
(!ext && val > CAN_MAX_STD_ID)) {
shell_error(shell, "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 *shell, 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(shell, "Mask is not a number");
return -EINVAL;
}
if (val < 0 || val > CAN_EXT_ID_MASK ||
(!ext && val > CAN_MAX_STD_ID)) {
shell_error(shell, "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 *shell, 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(shell, "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(shell, "Data bytes must be numbers");
return -EINVAL;
}
if (val & ~0xFFL) {
shell_error(shell, "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, void *arg)
{
const struct shell *shell = (const struct shell *)arg;
shell_fprintf(shell, SHELL_NORMAL, "|0x%-8x|%s|%s|%d|",
frame->id_type == CAN_STANDARD_IDENTIFIER ?
frame->std_id : frame->ext_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(shell, SHELL_NORMAL, " 0x%02x",
frame->data[i]);
} else {
shell_fprintf(shell, SHELL_NORMAL, " ");
}
}
shell_fprintf(shell, SHELL_NORMAL, "|\n");
}
static int cmd_config(const struct shell *shell, size_t argc, char **argv)
{
const struct device *can_dev;
int pos = 1;
bool silent = false, loopback = false;
enum can_mode mode;
uint32_t bitrate;
int ret;
can_dev = device_get_binding(argv[pos]);
if (!can_dev) {
shell_error(shell, "Can't get binding to device \"%s\"",
argv[pos]);
return -EINVAL;
}
pos++;
pos = read_config_options(shell, pos, argv, &silent, &loopback);
if (pos < 0) {
return -EINVAL;
}
if (silent && loopback) {
mode = CAN_SILENT_LOOPBACK_MODE;
} else if (silent) {
mode = CAN_SILENT_MODE;
} else if (loopback) {
mode = CAN_LOOPBACK_MODE;
} else {
mode = CAN_NORMAL_MODE;
}
pos = read_bitrate(shell, pos, argv, &bitrate);
if (pos < 0) {
return -EINVAL;
}
ret = can_configure(can_dev, mode, bitrate);
if (ret) {
shell_error(shell, "Failed to configure CAN controller [%d]",
ret);
return ret;
}
return 0;
}
static int cmd_send(const struct shell *shell, 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(shell, "Can't get binding to device \"%s\"",
argv[pos]);
return -EINVAL;
}
pos++;
pos = read_frame_options(shell, 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(shell, pos, argv, ext, &id);
if (pos < 0) {
return -EINVAL;
}
frame.ext_id = id;
pos = read_data(shell, pos, argv, argc, frame.data, &frame.dlc);
if (pos < 0) {
return -EINVAL;
}
shell_print(shell, "Send frame with ID 0x%x (%s id) and %d data bytes",
ext ? frame.ext_id : frame.std_id,
ext ? "extended" : "standard", frame.dlc);
ret = can_send(can_dev, &frame, K_FOREVER, NULL, NULL);
if (ret) {
shell_error(shell, "Failed to send frame [%d]", ret);
return -EIO;
}
return 0;
}
static int cmd_attach(const struct shell *shell, 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(shell, "Can't get binding to device \"%s\"",
argv[pos]);
return -EINVAL;
}
pos++;
pos = read_frame_options(shell, 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(shell, pos, argv, ext, &id);
if (pos < 0) {
return -EINVAL;
}
filter.ext_id = id;
if (pos != argc) {
pos = read_mask(shell, pos, argv, ext, &mask);
if (pos < 0) {
return -EINVAL;
}
filter.ext_id_mask = mask;
} else {
filter.ext_id_mask = ext ? CAN_EXT_ID_MASK : CAN_STD_ID_MASK;
}
if (pos != argc) {
pos = read_frame_options(shell, pos, argv, &rtr_mask, NULL);
if (pos < 0) {
return -EINVAL;
}
}
filter.rtr_mask = rtr_mask;
shell_print(shell, "Attach filter with ID 0x%x (%s id) and mask 0x%x "
" RTR: %d",
ext ? filter.ext_id : filter.std_id,
ext ? "extended" : "standard",
ext ? filter.ext_id_mask : filter.std_id_mask,
filter.rtr_mask);
ret = can_attach_workq(can_dev, &k_sys_work_q, &work, print_frame,
(void *)shell, &filter);
if (ret < 0) {
if (ret == CAN_NO_FREE_FILTER) {
shell_error(shell, "Can't attach, no free filter left");
} else {
shell_error(shell, "Failed to attach filter [%d]", ret);
}
return -EIO;
}
shell_print(shell, "Filter ID: %d", ret);
return 0;
}
static int cmd_detach(const struct shell *shell, 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(shell, "Can't get binding to device \"%s\"",
argv[1]);
return -EINVAL;
}
id = strtol(argv[2], &end_ptr, 0);
if (*end_ptr != '\0') {
shell_error(shell, "filter_id is not a number");
return -EINVAL;
}
if (id < 0) {
shell_error(shell, "filter_id must not be negative");
}
can_detach(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 [-sl] bitrate\n"
" -s Silent mode\n"
" -l Listen-only 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(attach, NULL,
"Attach a message filter and print those messages.\n"
" Usage: attach device_name [-re] id [mask [-r]]\n"
" -r Remote transmission request\n"
" -e Extended address",
cmd_attach, 3, 3),
SHELL_CMD_ARG(detach, NULL,
"Detach the filter and stop receiving those messages\n"
" Usage: detach device_name filter_id",
cmd_detach, 3, 0),
SHELL_SUBCMD_SET_END /* Array terminated. */
);
SHELL_CMD_ARG_REGISTER(canbus, &sub_can, "CAN commands", NULL, 2, 0);