sc: add CAN basic send and dump commands

sys/shell/commands/Makefile

@@ -64,6 +64,9 @@ endif
 ifneq (,$(filter vfs,$(USEMODULE)))
   SRC += sc_vfs.c
 endif
+ifneq (,$(filter conn_can,$(USEMODULE)))
+  SRC += sc_can.c
+endif
 
 # TODO
 # Conditional building not possible at the moment due to

sys/shell/commands/sc_can.c

@@ -0,0 +1,184 @@
+/*
+ * Copyright 2017 OTA keys S.A.
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     sys_shell_commands
+ * @{
+ *
+ * @file
+ * @brief       Shell command implementation for CAN stack
+ *
+ * @author      Vincent Dupont <vincent@otakeys.com>
+ *
+ * @}
+ */
+
+
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include "can/conn/raw.h"
+#include "can/raw.h"
+
+#define SC_CAN_MAX_FILTERS  10
+#define xstr(a) str(a)
+#define str(a) #a
+
+static int _can_usage(void);
+
+static int _list(int argc, char **argv)
+{
+    (void)argc;
+    (void)argv;
+
+    for (int i = 0; i < CAN_DLL_NUMOF; i++) {
+        const char *name = raw_can_get_name_by_ifnum(i);
+        if (name) {
+            printf("CAN #%d: %s\n", i, name);
+        }
+        else {
+            break;
+        }
+    }
+
+    return 0;
+}
+
+static int _send(int argc, char **argv)
+{
+    if (argc < 3 || argc > 11) {
+        _can_usage();
+        return 1;
+    }
+
+    conn_can_raw_t conn;
+    struct can_frame frame;
+    int ifnum = atoi(argv[1]);
+    if (ifnum >= CAN_DLL_NUMOF) {
+        puts("Invalid ifnum");
+        return 1;
+    }
+    frame.can_id = strtoul(argv[2], NULL, 16);
+    frame.can_dlc = argc - 3;
+    for (int i = 0; i < frame.can_dlc; i++) {
+        frame.data[i] = strtoul(argv[3 + i], NULL, 16);
+    }
+    conn_can_raw_create(&conn, NULL, 0, ifnum, 0);
+    conn_can_raw_send(&conn, &frame, 0);
+
+    return 0;
+}
+
+static int _dump(int argc, char **argv)
+{
+    if (argc < 4) {
+        _can_usage();
+        return 0;
+    }
+
+    int ret;
+    struct can_filter filters[SC_CAN_MAX_FILTERS];
+    conn_can_raw_t conn;
+    struct can_frame frame;
+    int ifnum = atoi(argv[1]);
+    int cnt = atoi(argv[2]);
+    uint32_t ms = strtoul(argv[3], NULL, 0);
+    size_t nb_filters = 1;
+    if (ifnum >= CAN_DLL_NUMOF) {
+        puts("Invalid ifnum");
+        return 1;
+    }
+    if (cnt) {
+        cnt++;
+    }
+
+    if (argc > 4) {
+        char *p = argv[4];
+        char *end;
+        int i = 0;
+        while (*p != '\0' && i < SC_CAN_MAX_FILTERS) {
+            filters[i].can_id = strtoul(p, &end, 16);
+            if (*end == ':') {
+                p = end + 1;
+                filters[i].can_mask = strtoul(p, &end, 16);
+            }
+            else {
+                filters[i].can_mask = 0xffffffff;
+            }
+            if (*end == ',') {
+                p = end + 1;
+            }
+            else {
+                p = end;
+            }
+            i++;
+        }
+        nb_filters = i;
+    }
+    else {
+        filters[0].can_id = 0;
+        filters[0].can_mask = 0;
+    }
+    conn_can_raw_create(&conn, filters, nb_filters, ifnum, 0);
+    while ((cnt != 1) &&
+           ((ret = conn_can_raw_recv(&conn, &frame, ms * US_PER_MS))
+           == sizeof(struct can_frame))) {
+        printf("%-8s(%d) %8" PRIX32 "  [%x] ",
+               raw_can_get_name_by_ifnum(ifnum), ifnum,
+               frame.can_id, frame.can_dlc);
+        for (int i = 0; i < frame.can_dlc; i++) {
+            printf(" %02X", frame.data[i]);
+        }
+        printf("\n");
+        if (cnt) {
+            cnt--;
+        }
+    }
+    if (ret < 0) {
+        puts("Timeout");
+    }
+    puts("Closing");
+    conn_can_raw_close(&conn);
+
+    return 0;
+}
+
+static int _can_usage(void)
+{
+    puts("usage: can <command> [arguments]");
+    puts("commands:");
+    puts("\tlist");
+    puts("\tsend ifnum id [B1 .. B8]");
+    puts("\tdump ifnum nb ms [id1[:mask1][,id2[:mask2], .. id"
+         xstr(SC_CAN_MAX_FILTERS) ":[mask" xstr(SC_CAN_MAX_FILTERS) "]]");
+    return 0;
+}
+
+int _can_handler(int argc, char **argv)
+{
+    if (argc < 2) {
+        _can_usage();
+        return 1;
+    }
+    else if (strncmp(argv[1], "list", 5) == 0) {
+        return _list(argc - 1, argv + 1);
+    }
+    else if (strncmp(argv[1], "send", 5) == 0) {
+        return _send(argc - 1, argv + 1);
+    }
+    else if (strncmp(argv[1], "dump", 5) == 0) {
+        return _dump(argc - 1, argv + 1);
+    }
+    else {
+        printf("unknown command: %s\n", argv[1]);
+        return 1;
+    }
+    return 0;
+}

sys/shell/commands/shell_commands.c

@@ -132,6 +132,10 @@ extern int _vfs_handler(int argc, char **argv);
 extern int _ls_handler(int argc, char **argv);
 #endif
 
+#ifdef MODULE_CONN_CAN
+extern int _can_handler(int argc, char **argv);
+#endif
+
 const shell_command_t _shell_command_list[] = {
     {"reboot", "Reboot the node", _reboot_handler},
 #ifdef MODULE_CONFIG
@@ -220,6 +224,9 @@ const shell_command_t _shell_command_list[] = {
 #ifdef MODULE_VFS
     {"vfs", "virtual file system operations", _vfs_handler},
     {"ls", "list files", _ls_handler},
+#endif
+#ifdef MODULE_CONN_CAN
+    {"can", "CAN commands", _can_handler},
 #endif
     {NULL, NULL, NULL}
 };