forked from zephyrproject-rtos/zephyr
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathcan_shell.c
1112 lines (924 loc) · 29.8 KB
/
can_shell.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
* Copyright (c) 2022 Vestas Wind Systems A/S
* Copyright (c) 2019 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stdlib.h>
#include <stdio.h>
#include <zephyr/device.h>
#include <zephyr/drivers/can.h>
#include <zephyr/logging/log.h>
#include <zephyr/shell/shell.h>
LOG_MODULE_REGISTER(can_shell, CONFIG_CAN_LOG_LEVEL);
struct can_shell_tx_event {
unsigned int frame_no;
int error;
};
struct can_shell_rx_event {
struct can_frame frame;
const struct device *dev;
};
struct can_shell_mode_mapping {
const char *name;
can_mode_t mode;
};
#define CAN_SHELL_MODE_MAPPING(_name, _mode) { .name = _name, .mode = _mode }
static const struct can_shell_mode_mapping can_shell_mode_map[] = {
/* zephyr-keep-sorted-start */
CAN_SHELL_MODE_MAPPING("fd", CAN_MODE_FD),
CAN_SHELL_MODE_MAPPING("listen-only", CAN_MODE_LISTENONLY),
CAN_SHELL_MODE_MAPPING("loopback", CAN_MODE_LOOPBACK),
CAN_SHELL_MODE_MAPPING("manual-recovery", CAN_MODE_MANUAL_RECOVERY),
CAN_SHELL_MODE_MAPPING("normal", CAN_MODE_NORMAL),
CAN_SHELL_MODE_MAPPING("one-shot", CAN_MODE_ONE_SHOT),
CAN_SHELL_MODE_MAPPING("triple-sampling", CAN_MODE_3_SAMPLES),
/* zephyr-keep-sorted-stop */
};
K_MSGQ_DEFINE(can_shell_tx_msgq, sizeof(struct can_shell_tx_event),
CONFIG_CAN_SHELL_TX_QUEUE_SIZE, 4);
const struct shell *can_shell_tx_msgq_sh;
static struct k_work_poll can_shell_tx_msgq_work;
static struct k_poll_event can_shell_tx_msgq_events[] = {
K_POLL_EVENT_STATIC_INITIALIZER(K_POLL_TYPE_MSGQ_DATA_AVAILABLE,
K_POLL_MODE_NOTIFY_ONLY,
&can_shell_tx_msgq, 0)
};
K_MSGQ_DEFINE(can_shell_rx_msgq, sizeof(struct can_shell_rx_event),
CONFIG_CAN_SHELL_RX_QUEUE_SIZE, 4);
const struct shell *can_shell_rx_msgq_sh;
static struct k_work_poll can_shell_rx_msgq_work;
static struct k_poll_event can_shell_rx_msgq_events[] = {
K_POLL_EVENT_STATIC_INITIALIZER(K_POLL_TYPE_MSGQ_DATA_AVAILABLE,
K_POLL_MODE_NOTIFY_ONLY,
&can_shell_rx_msgq, 0)
};
/* Forward declarations */
static void can_shell_tx_msgq_triggered_work_handler(struct k_work *work);
static void can_shell_rx_msgq_triggered_work_handler(struct k_work *work);
static bool can_device_check(const struct device *dev)
{
return DEVICE_API_IS(can, dev) && device_is_ready(dev);
}
#ifdef CONFIG_CAN_SHELL_SCRIPTING_FRIENDLY
static void can_shell_dummy_bypass_cb(const struct shell *sh, uint8_t *data, size_t len)
{
ARG_UNUSED(sh);
ARG_UNUSED(data);
ARG_UNUSED(len);
}
#endif /* CONFIG_CAN_SHELL_SCRIPTING_FRIENDLY */
static void can_shell_print_frame(const struct shell *sh, const struct device *dev,
const struct can_frame *frame)
{
uint8_t nbytes = can_dlc_to_bytes(frame->dlc);
int i;
#ifdef CONFIG_CAN_SHELL_SCRIPTING_FRIENDLY
/* Bypass the shell to avoid breaking up the line containing the frame */
shell_set_bypass(sh, can_shell_dummy_bypass_cb);
#endif /* CONFIG_CAN_SHELL_SCRIPTING_FRIENDLY */
#ifdef CONFIG_CAN_RX_TIMESTAMP
/* Timestamp */
shell_fprintf_normal(sh, "(%05d) ", frame->timestamp);
#endif /* CONFIG_CAN_RX_TIMESTAMP */
shell_fprintf_normal(sh, "%s ", dev->name);
#ifdef CONFIG_CAN_FD_MODE
/* Flags */
shell_fprintf_normal(sh, "%c%c ",
(frame->flags & CAN_FRAME_BRS) == 0 ? '-' : 'B',
(frame->flags & CAN_FRAME_ESI) == 0 ? '-' : 'P');
#endif /* CONFIG_CAN_FD_MODE */
/* CAN ID */
shell_fprintf_normal(sh, "%*s%0*x ",
(frame->flags & CAN_FRAME_IDE) != 0 ? 0 : 5, "",
(frame->flags & CAN_FRAME_IDE) != 0 ? 8 : 3,
(frame->flags & CAN_FRAME_IDE) != 0 ?
frame->id & CAN_EXT_ID_MASK : frame->id & CAN_STD_ID_MASK);
/* DLC as number of bytes */
shell_fprintf_normal(sh, "%s[%0*d] ",
(frame->flags & CAN_FRAME_FDF) != 0 ? "" : " ",
(frame->flags & CAN_FRAME_FDF) != 0 ? 2 : 1,
nbytes);
/* Data payload */
if ((frame->flags & CAN_FRAME_RTR) != 0) {
shell_fprintf_normal(sh, "remote transmission request");
} else {
for (i = 0; i < nbytes; i++) {
shell_fprintf_normal(sh, "%02x ", frame->data[i]);
}
}
shell_fprintf_normal(sh, "\n");
#ifdef CONFIG_CAN_SHELL_SCRIPTING_FRIENDLY
shell_set_bypass(sh, NULL);
#endif /* CONFIG_CAN_SHELL_SCRIPTING_FRIENDLY */
}
static int can_shell_tx_msgq_poll_submit(const struct shell *sh)
{
int err;
if (can_shell_tx_msgq_sh == NULL) {
can_shell_tx_msgq_sh = sh;
k_work_poll_init(&can_shell_tx_msgq_work, can_shell_tx_msgq_triggered_work_handler);
}
err = k_work_poll_submit(&can_shell_tx_msgq_work, can_shell_tx_msgq_events,
ARRAY_SIZE(can_shell_tx_msgq_events), K_FOREVER);
if (err != 0) {
shell_error(can_shell_tx_msgq_sh, "failed to submit tx msgq polling (err %d)",
err);
}
return err;
}
static void can_shell_tx_msgq_triggered_work_handler(struct k_work *work)
{
struct can_shell_tx_event event;
while (k_msgq_get(&can_shell_tx_msgq, &event, K_NO_WAIT) == 0) {
if (event.error == 0) {
shell_print(can_shell_tx_msgq_sh, "CAN frame #%u successfully sent",
event.frame_no);
} else {
shell_error(can_shell_tx_msgq_sh, "failed to send CAN frame #%u (err %d)",
event.frame_no, event.error);
}
}
(void)can_shell_tx_msgq_poll_submit(can_shell_tx_msgq_sh);
}
static void can_shell_tx_callback(const struct device *dev, int error, void *user_data)
{
struct can_shell_tx_event event;
int err;
ARG_UNUSED(dev);
event.frame_no = POINTER_TO_UINT(user_data);
event.error = error;
err = k_msgq_put(&can_shell_tx_msgq, &event, K_NO_WAIT);
if (err != 0) {
LOG_ERR("CAN shell tx event queue full");
}
}
static void can_shell_rx_callback(const struct device *dev, struct can_frame *frame,
void *user_data)
{
struct can_shell_rx_event event;
int err;
ARG_UNUSED(user_data);
event.frame = *frame;
event.dev = dev;
err = k_msgq_put(&can_shell_rx_msgq, &event, K_NO_WAIT);
if (err != 0) {
LOG_ERR("CAN shell rx event queue full");
}
}
static int can_shell_rx_msgq_poll_submit(const struct shell *sh)
{
int err;
if (can_shell_rx_msgq_sh == NULL) {
can_shell_rx_msgq_sh = sh;
k_work_poll_init(&can_shell_rx_msgq_work, can_shell_rx_msgq_triggered_work_handler);
}
err = k_work_poll_submit(&can_shell_rx_msgq_work, can_shell_rx_msgq_events,
ARRAY_SIZE(can_shell_rx_msgq_events), K_FOREVER);
if (err != 0) {
shell_error(can_shell_rx_msgq_sh, "failed to submit rx msgq polling (err %d)",
err);
}
return err;
}
static void can_shell_rx_msgq_triggered_work_handler(struct k_work *work)
{
struct can_shell_rx_event event;
while (k_msgq_get(&can_shell_rx_msgq, &event, K_NO_WAIT) == 0) {
can_shell_print_frame(can_shell_rx_msgq_sh, event.dev, &event.frame);
}
(void)can_shell_rx_msgq_poll_submit(can_shell_rx_msgq_sh);
}
static const char *can_shell_state_to_string(enum can_state state)
{
switch (state) {
case CAN_STATE_ERROR_ACTIVE:
return "error-active";
case CAN_STATE_ERROR_WARNING:
return "error-warning";
case CAN_STATE_ERROR_PASSIVE:
return "error-passive";
case CAN_STATE_BUS_OFF:
return "bus-off";
case CAN_STATE_STOPPED:
return "stopped";
default:
return "unknown";
}
}
static void can_shell_print_extended_modes(const struct shell *sh, can_mode_t cap)
{
int bit;
int i;
for (bit = 0; bit < sizeof(cap) * 8; bit++) {
/* Skip unset bits */
if ((cap & BIT(bit)) == 0) {
continue;
}
/* Lookup symbolic mode name */
for (i = 0; i < ARRAY_SIZE(can_shell_mode_map); i++) {
if (BIT(bit) == can_shell_mode_map[i].mode) {
shell_fprintf_normal(sh, "%s ", can_shell_mode_map[i].name);
break;
}
}
if (i == ARRAY_SIZE(can_shell_mode_map)) {
/* Symbolic name not found, use raw mode */
shell_fprintf_normal(sh, "0x%08x ", (can_mode_t)BIT(bit));
}
}
}
static int cmd_can_start(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
int err;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
shell_print(sh, "starting %s", argv[1]);
err = can_start(dev);
if (err != 0) {
shell_error(sh, "failed to start CAN controller (err %d)", err);
return err;
}
return 0;
}
static int cmd_can_stop(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
int err;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
shell_print(sh, "stopping %s", argv[1]);
err = can_stop(dev);
if (err != 0) {
shell_error(sh, "failed to stop CAN controller (err %d)", err);
return err;
}
return 0;
}
static int cmd_can_show(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
const struct device *phy;
const struct can_timing *timing_min;
const struct can_timing *timing_max;
struct can_bus_err_cnt err_cnt;
enum can_state state;
uint32_t bitrate_max;
int max_std_filters;
int max_ext_filters;
uint32_t core_clock;
can_mode_t cap;
int err;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
err = can_get_core_clock(dev, &core_clock);
if (err != 0) {
shell_error(sh, "failed to get CAN core clock (err %d)", err);
return err;
}
bitrate_max = can_get_bitrate_max(dev);
max_std_filters = can_get_max_filters(dev, false);
if (max_std_filters < 0 && max_std_filters != -ENOSYS) {
shell_error(sh, "failed to get maximum standard (11-bit) filters (err %d)", err);
return err;
}
max_ext_filters = can_get_max_filters(dev, true);
if (max_ext_filters < 0 && max_ext_filters != -ENOSYS) {
shell_error(sh, "failed to get maximum extended (29-bit) filters (err %d)", err);
return err;
}
err = can_get_capabilities(dev, &cap);
if (err != 0) {
shell_error(sh, "failed to get CAN controller capabilities (err %d)", err);
return err;
}
err = can_get_state(dev, &state, &err_cnt);
if (err != 0) {
shell_error(sh, "failed to get CAN controller state (%d)", err);
return err;
}
shell_print(sh, "core clock: %d Hz", core_clock);
shell_print(sh, "max bitrate: %d bps", bitrate_max);
shell_print(sh, "max std filters: %d", max_std_filters);
shell_print(sh, "max ext filters: %d", max_ext_filters);
shell_fprintf_normal(sh, "capabilities: normal ");
can_shell_print_extended_modes(sh, cap);
shell_fprintf_normal(sh, "\n");
shell_fprintf_normal(sh, "mode: normal ");
can_shell_print_extended_modes(sh, can_get_mode(dev));
shell_fprintf_normal(sh, "\n");
shell_print(sh, "state: %s", can_shell_state_to_string(state));
shell_print(sh, "rx errors: %d", err_cnt.rx_err_cnt);
shell_print(sh, "tx errors: %d", err_cnt.tx_err_cnt);
timing_min = can_get_timing_min(dev);
timing_max = can_get_timing_max(dev);
shell_print(sh, "timing: sjw %u..%u, prop_seg %u..%u, "
"phase_seg1 %u..%u, phase_seg2 %u..%u, prescaler %u..%u",
timing_min->sjw, timing_max->sjw,
timing_min->prop_seg, timing_max->prop_seg,
timing_min->phase_seg1, timing_max->phase_seg1,
timing_min->phase_seg2, timing_max->phase_seg2,
timing_min->prescaler, timing_max->prescaler);
if (IS_ENABLED(CONFIG_CAN_FD_MODE) && (cap & CAN_MODE_FD) != 0) {
timing_min = can_get_timing_data_min(dev);
timing_max = can_get_timing_data_max(dev);
shell_print(sh, "timing data: sjw %u..%u, prop_seg %u..%u, "
"phase_seg1 %u..%u, phase_seg2 %u..%u, prescaler %u..%u",
timing_min->sjw, timing_max->sjw,
timing_min->prop_seg, timing_max->prop_seg,
timing_min->phase_seg1, timing_max->phase_seg1,
timing_min->phase_seg2, timing_max->phase_seg2,
timing_min->prescaler, timing_max->prescaler);
}
phy = can_get_transceiver(dev);
shell_print(sh, "transceiver: %s", phy != NULL ? phy->name : "passive/none");
#ifdef CONFIG_CAN_STATS
shell_print(sh, "statistics:");
shell_print(sh, " bit errors: %u", can_stats_get_bit_errors(dev));
shell_print(sh, " bit0 errors: %u", can_stats_get_bit0_errors(dev));
shell_print(sh, " bit1 errors: %u", can_stats_get_bit1_errors(dev));
shell_print(sh, " stuff errors: %u", can_stats_get_stuff_errors(dev));
shell_print(sh, " crc errors: %u", can_stats_get_crc_errors(dev));
shell_print(sh, " form errors: %u", can_stats_get_form_errors(dev));
shell_print(sh, " ack errors: %u", can_stats_get_ack_errors(dev));
shell_print(sh, " rx overruns: %u", can_stats_get_rx_overruns(dev));
#endif /* CONFIG_CAN_STATS */
return 0;
}
static int cmd_can_bitrate_set(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
struct can_timing timing = { 0 };
uint16_t sample_pnt;
uint32_t bitrate;
char *endptr;
int err;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
bitrate = (uint32_t)strtoul(argv[2], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse bitrate");
return -EINVAL;
}
if (argc >= 4) {
sample_pnt = (uint32_t)strtoul(argv[3], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse sample point");
return -EINVAL;
}
err = can_calc_timing(dev, &timing, bitrate, sample_pnt);
if (err < 0) {
shell_error(sh, "failed to calculate timing for "
"bitrate %d bps, sample point %d.%d%% (err %d)",
bitrate, sample_pnt / 10, sample_pnt % 10, err);
return err;
}
if (argc >= 5) {
/* Overwrite calculated default SJW with user-provided value */
timing.sjw = (uint16_t)strtoul(argv[4], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse SJW");
return -EINVAL;
}
}
shell_print(sh, "setting bitrate to %d bps, sample point %d.%d%% "
"(+/- %d.%d%%), sjw %d",
bitrate, sample_pnt / 10, sample_pnt % 10, err / 10, err % 10,
timing.sjw);
LOG_DBG("sjw %u, prop_seg %u, phase_seg1 %u, phase_seg2 %u, prescaler %u",
timing.sjw, timing.prop_seg, timing.phase_seg1, timing.phase_seg2,
timing.prescaler);
err = can_set_timing(dev, &timing);
if (err != 0) {
shell_error(sh, "failed to set timing (err %d)", err);
return err;
}
} else {
shell_print(sh, "setting bitrate to %d bps", bitrate);
err = can_set_bitrate(dev, bitrate);
if (err != 0) {
shell_error(sh, "failed to set bitrate (err %d)", err);
return err;
}
}
return 0;
}
static int cmd_can_dbitrate_set(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
struct can_timing timing = { 0 };
uint16_t sample_pnt;
uint32_t bitrate;
char *endptr;
int err;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
bitrate = (uint32_t)strtoul(argv[2], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse data bitrate");
return -EINVAL;
}
if (argc >= 4) {
sample_pnt = (uint32_t)strtoul(argv[3], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse sample point");
return -EINVAL;
}
err = can_calc_timing_data(dev, &timing, bitrate, sample_pnt);
if (err < 0) {
shell_error(sh, "failed to calculate timing for "
"data bitrate %d bps, sample point %d.%d%% (err %d)",
bitrate, sample_pnt / 10, sample_pnt % 10, err);
return err;
}
if (argc >= 5) {
/* Overwrite calculated default SJW with user-provided value */
timing.sjw = (uint16_t)strtoul(argv[4], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse SJW");
return -EINVAL;
}
}
shell_print(sh, "setting data bitrate to %d bps, sample point %d.%d%% "
"(+/- %d.%d%%), sjw %d",
bitrate, sample_pnt / 10, sample_pnt % 10, err / 10, err % 10,
timing.sjw);
LOG_DBG("sjw %u, prop_seg %u, phase_seg1 %u, phase_seg2 %u, prescaler %u",
timing.sjw, timing.prop_seg, timing.phase_seg1, timing.phase_seg2,
timing.prescaler);
err = can_set_timing_data(dev, &timing);
if (err != 0) {
shell_error(sh, "failed to set data timing (err %d)", err);
return err;
}
} else {
shell_print(sh, "setting data bitrate to %d bps", bitrate);
err = can_set_bitrate_data(dev, bitrate);
if (err != 0) {
shell_error(sh, "failed to set data bitrate (err %d)", err);
return err;
}
}
return 0;
}
static int can_shell_parse_timing(const struct shell *sh, size_t argc, char **argv,
struct can_timing *timing)
{
char *endptr;
timing->sjw = (uint32_t)strtoul(argv[2], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse sjw");
return -EINVAL;
}
timing->prop_seg = (uint32_t)strtoul(argv[3], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse prop_seg");
return -EINVAL;
}
timing->phase_seg1 = (uint32_t)strtoul(argv[4], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse phase_seg1");
return -EINVAL;
}
timing->phase_seg2 = (uint32_t)strtoul(argv[5], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse phase_seg2");
return -EINVAL;
}
timing->prescaler = (uint32_t)strtoul(argv[6], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse prescaler");
return -EINVAL;
}
return 0;
}
static int cmd_can_timing_set(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
struct can_timing timing = { 0 };
int err;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
err = can_shell_parse_timing(sh, argc, argv, &timing);
if (err < 0) {
return err;
}
shell_print(sh, "setting timing to sjw %u, prop_seg %u, phase_seg1 %u, phase_seg2 %u, "
"prescaler %u", timing.sjw, timing.prop_seg, timing.phase_seg1,
timing.phase_seg2, timing.prescaler);
err = can_set_timing(dev, &timing);
if (err != 0) {
shell_error(sh, "failed to set timing (err %d)", err);
return err;
}
return 0;
}
static int cmd_can_dtiming_set(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
struct can_timing timing = { 0 };
int err;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
err = can_shell_parse_timing(sh, argc, argv, &timing);
if (err < 0) {
return err;
}
shell_print(sh, "setting data phase timing to sjw %u, prop_seg %u, phase_seg1 %u, "
"phase_seg2 %u, prescaler %u", timing.sjw, timing.prop_seg, timing.phase_seg1,
timing.phase_seg2, timing.prescaler);
err = can_set_timing_data(dev, &timing);
if (err != 0) {
shell_error(sh, "failed to set data phase timing (err %d)", err);
return err;
}
return 0;
}
static int cmd_can_mode_set(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
can_mode_t mode = CAN_MODE_NORMAL;
can_mode_t raw;
char *endptr;
int err;
int i;
int j;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
for (i = 2; i < argc; i++) {
/* Lookup symbolic mode name */
for (j = 0; j < ARRAY_SIZE(can_shell_mode_map); j++) {
if (strcmp(argv[i], can_shell_mode_map[j].name) == 0) {
mode |= can_shell_mode_map[j].mode;
break;
}
}
if (j == ARRAY_SIZE(can_shell_mode_map)) {
/* Symbolic name not found, use raw mode if hex number */
raw = (can_mode_t)strtoul(argv[i], &endptr, 16);
if (*endptr == '\0') {
mode |= raw;
continue;
}
shell_error(sh, "failed to parse mode");
return -EINVAL;
}
}
shell_print(sh, "setting mode 0x%08x", mode);
err = can_set_mode(dev, mode);
if (err != 0) {
shell_error(sh, "failed to set mode 0x%08x (err %d)", mode, err);
return err;
}
return 0;
}
static int cmd_can_send(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
static unsigned int frame_counter;
unsigned int frame_no;
struct can_frame frame = { 0 };
uint32_t id_mask;
int argidx = 2;
uint32_t val;
char *endptr;
int nbytes;
int err;
int i;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
/* Defaults */
id_mask = CAN_STD_ID_MASK;
frame.flags = 0;
frame.dlc = 0;
/* Parse options */
while (argidx < argc && strncmp(argv[argidx], "-", 1) == 0) {
if (strcmp(argv[argidx], "--") == 0) {
argidx++;
break;
} else if (strcmp(argv[argidx], "-e") == 0) {
frame.flags |= CAN_FRAME_IDE;
id_mask = CAN_EXT_ID_MASK;
argidx++;
} else if (strcmp(argv[argidx], "-r") == 0) {
frame.flags |= CAN_FRAME_RTR;
argidx++;
} else if (strcmp(argv[argidx], "-f") == 0) {
frame.flags |= CAN_FRAME_FDF;
argidx++;
} else if (strcmp(argv[argidx], "-b") == 0) {
frame.flags |= CAN_FRAME_BRS;
argidx++;
} else {
shell_error(sh, "unsupported option %s", argv[argidx]);
shell_help(sh);
return SHELL_CMD_HELP_PRINTED;
}
}
/* Parse CAN ID */
if (argidx >= argc) {
shell_error(sh, "missing CAN ID parameter");
shell_help(sh);
return SHELL_CMD_HELP_PRINTED;
}
val = (uint32_t)strtoul(argv[argidx++], &endptr, 16);
if (*endptr != '\0') {
shell_error(sh, "failed to parse CAN ID");
return -EINVAL;
}
if (val > id_mask) {
shell_error(sh, "CAN ID 0x%0*x out of range",
(frame.flags & CAN_FRAME_IDE) != 0 ? 8 : 3,
val);
return -EINVAL;
}
frame.id = val;
nbytes = argc - argidx;
if (nbytes > ARRAY_SIZE(frame.data)) {
shell_error(sh, "excessive amount of data (%d bytes)", nbytes);
return -EINVAL;
}
frame.dlc = can_bytes_to_dlc(nbytes);
/* Parse data */
for (i = 0; i < nbytes; i++) {
val = (uint32_t)strtoul(argv[argidx++], &endptr, 16);
if (*endptr != '\0') {
shell_error(sh, "failed to parse data %s", argv[argidx++]);
return -EINVAL;
}
if (val > 0xff) {
shell_error(sh, "data 0x%x out of range", val);
return -EINVAL;
}
frame.data[i] = val;
}
err = can_shell_tx_msgq_poll_submit(sh);
if (err != 0) {
return err;
}
frame_no = frame_counter++;
shell_print(sh, "enqueuing CAN frame #%u with %s (%d-bit) CAN ID 0x%0*x, "
"RTR %d, CAN FD %d, BRS %d, DLC %d", frame_no,
(frame.flags & CAN_FRAME_IDE) != 0 ? "extended" : "standard",
(frame.flags & CAN_FRAME_IDE) != 0 ? 29 : 11,
(frame.flags & CAN_FRAME_IDE) != 0 ? 8 : 3, frame.id,
(frame.flags & CAN_FRAME_RTR) != 0 ? 1 : 0,
(frame.flags & CAN_FRAME_FDF) != 0 ? 1 : 0,
(frame.flags & CAN_FRAME_BRS) != 0 ? 1 : 0,
frame.dlc);
err = can_send(dev, &frame, K_NO_WAIT, can_shell_tx_callback, UINT_TO_POINTER(frame_no));
if (err != 0) {
shell_error(sh, "failed to enqueue CAN frame #%u (err %d)", frame_no, err);
return err;
}
return 0;
}
static int cmd_can_filter_add(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
struct can_filter filter;
uint32_t id_mask;
int argidx = 2;
uint32_t val;
char *endptr;
int err;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
/* Defaults */
id_mask = CAN_STD_ID_MASK;
filter.flags = 0U;
/* Parse options */
while (argidx < argc && strncmp(argv[argidx], "-", 1) == 0) {
if (strcmp(argv[argidx], "--") == 0) {
argidx++;
break;
} else if (strcmp(argv[argidx], "-e") == 0) {
filter.flags |= CAN_FILTER_IDE;
id_mask = CAN_EXT_ID_MASK;
argidx++;
} else {
shell_error(sh, "unsupported argument %s", argv[argidx]);
shell_help(sh);
return SHELL_CMD_HELP_PRINTED;
}
}
/* Parse CAN ID */
if (argidx >= argc) {
shell_error(sh, "missing CAN ID parameter");
shell_help(sh);
return SHELL_CMD_HELP_PRINTED;
}
val = (uint32_t)strtoul(argv[argidx++], &endptr, 16);
if (*endptr != '\0') {
shell_error(sh, "failed to parse CAN ID");
return -EINVAL;
}
if (val > id_mask) {
shell_error(sh, "CAN ID 0x%0*x out of range",
(filter.flags & CAN_FILTER_IDE) != 0 ? 8 : 3,
val);
return -EINVAL;
}
filter.id = val;
if (argidx < argc) {
/* Parse CAN ID mask */
val = (uint32_t)strtoul(argv[argidx++], &endptr, 16);
if (*endptr != '\0') {
shell_error(sh, "failed to parse CAN ID mask");
return -EINVAL;
}
if (val > id_mask) {
shell_error(sh, "CAN ID mask 0x%0*x out of range",
(filter.flags & CAN_FILTER_IDE) != 0 ? 8 : 3,
val);
return -EINVAL;
}
} else {
val = id_mask;
}
filter.mask = val;
err = can_shell_rx_msgq_poll_submit(sh);
if (err != 0) {
return err;
}
shell_print(sh, "adding filter with %s (%d-bit) CAN ID 0x%0*x, CAN ID mask 0x%0*x",
(filter.flags & CAN_FILTER_IDE) != 0 ? "extended" : "standard",
(filter.flags & CAN_FILTER_IDE) != 0 ? 29 : 11,
(filter.flags & CAN_FILTER_IDE) != 0 ? 8 : 3, filter.id,
(filter.flags & CAN_FILTER_IDE) != 0 ? 8 : 3, filter.mask);
err = can_add_rx_filter(dev, can_shell_rx_callback, NULL, &filter);
if (err < 0) {
shell_error(sh, "failed to add filter (err %d)", err);
return err;
}
shell_print(sh, "filter ID: %d", err);
return 0;
}
static int cmd_can_filter_remove(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
int filter_id;
char *endptr;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
/* Parse filter ID */
filter_id = (int)strtol(argv[2], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse filter ID");
return -EINVAL;
}
shell_print(sh, "removing filter with ID %d", filter_id);
can_remove_rx_filter(dev, filter_id);
return 0;
}
static int cmd_can_recover(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev = shell_device_get_binding(argv[1]);
k_timeout_t timeout = K_FOREVER;
int millisec;
char *endptr;
int err;
if (!can_device_check(dev)) {
shell_error(sh, "device %s not ready", argv[1]);
return -ENODEV;
}
if (argc >= 3) {
/* Parse timeout */
millisec = (int)strtol(argv[2], &endptr, 10);
if (*endptr != '\0') {
shell_error(sh, "failed to parse timeout");
return -EINVAL;
}
timeout = K_MSEC(millisec);
shell_print(sh, "recovering, timeout %d ms", millisec);
} else {
shell_print(sh, "recovering, no timeout");
}
err = can_recover(dev, timeout);
if (err != 0) {
shell_error(sh, "failed to recover CAN controller from bus-off (err %d)", err);
return err;
}
return 0;
}