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Add nuttx to the system framework, which is 10.1.0

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This commit is contained in:
TangYiwen123
2021-06-09 14:33:15 +08:00
parent 06c351e27c
commit 804bd57aa0
5000 changed files with 1488544 additions and 0 deletions
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Ubiquitous/Nuttx/apps/canutils/libcanutils/Kconfig
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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_LIBCANUTILS
bool "CAN-utils support library"
default n
depends on NET_CAN
---help---
Enable the CAN-utils support library ported from
https://github.com/linux-can/can-utils
if CANUTILS_LIBCANUTILS
endif
Ubiquitous/Nuttx/apps/canutils/libcanutils/Make.defs
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############################################################################
# apps/canutils/libcanutils/Make.defs
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
ifeq ($(CONFIG_CANUTILS_LIBCANUTILS),y)
CONFIGURED_APPS += $(APPDIR)/canutils/libcanutils
endif
Ubiquitous/Nuttx/apps/canutils/libcanutils/Makefile
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############################################################################
# apps/canutils/libcanutils/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
include $(APPDIR)/Make.defs
# SocketCAN userspace utilities and tools library
# https://github.com/linux-can/can-utils
CSRCS = lib.c
include $(APPDIR)/Application.mk
Ubiquitous/Nuttx/apps/canutils/libcanutils/lib.c
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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* lib.c - library for command line tools
*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#include <stdio.h>
#include <string.h>
#include <stdint.h>
#include <sys/socket.h> /* for sa_family_t */
#include <nuttx/can.h>
#include <nuttx/can/error.h>
#include <netpacket/can.h>
#include "lib.h"
#define CANID_DELIM '#'
#define DATA_SEPERATOR '.'
const char hex_asc_upper[] = "0123456789ABCDEF";
#define hex_asc_upper_lo(x) hex_asc_upper[((x) & 0x0F)]
#define hex_asc_upper_hi(x) hex_asc_upper[((x) & 0xF0) >> 4]
static inline void put_hex_byte(char *buf, __u8 byte)
{
buf[0] = hex_asc_upper_hi(byte);
buf[1] = hex_asc_upper_lo(byte);
}
static inline void _put_id(char *buf, int end_offset, canid_t id)
{
/* build 3 (SFF) or 8 (EFF) digit CAN identifier */
while (end_offset >= 0) {
buf[end_offset--] = hex_asc_upper_lo(id);
id >>= 4;
}
}
#define put_sff_id(buf, id) _put_id(buf, 2, id)
#define put_eff_id(buf, id) _put_id(buf, 7, id)
/* CAN DLC to real data length conversion helpers */
static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
8, 12, 16, 20, 24, 32, 48, 64};
/* get data length from can_dlc with sanitized can_dlc */
unsigned char can_dlc2len(unsigned char can_dlc)
{
return dlc2len[can_dlc & 0x0F];
}
static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, /* 0 - 8 */
9, 9, 9, 9, /* 9 - 12 */
10, 10, 10, 10, /* 13 - 16 */
11, 11, 11, 11, /* 17 - 20 */
12, 12, 12, 12, /* 21 - 24 */
13, 13, 13, 13, 13, 13, 13, 13, /* 25 - 32 */
14, 14, 14, 14, 14, 14, 14, 14, /* 33 - 40 */
14, 14, 14, 14, 14, 14, 14, 14, /* 41 - 48 */
15, 15, 15, 15, 15, 15, 15, 15, /* 49 - 56 */
15, 15, 15, 15, 15, 15, 15, 15}; /* 57 - 64 */
/* map the sanitized data length to an appropriate data length code */
unsigned char can_len2dlc(unsigned char len)
{
if (len > 64)
return 0xF;
return len2dlc[len];
}
unsigned char asc2nibble(char c) {
if ((c >= '0') && (c <= '9'))
return c - '0';
if ((c >= 'A') && (c <= 'F'))
return c - 'A' + 10;
if ((c >= 'a') && (c <= 'f'))
return c - 'a' + 10;
return 16; /* error */
}
int hexstring2data(char *arg, unsigned char *data, int maxdlen) {
int len = strlen(arg);
int i;
unsigned char tmp;
if (!len || len%2 || len > maxdlen*2)
return 1;
memset(data, 0, maxdlen);
for (i=0; i < len/2; i++) {
tmp = asc2nibble(*(arg+(2*i)));
if (tmp > 0x0F)
return 1;
data[i] = (tmp << 4);
tmp = asc2nibble(*(arg+(2*i)+1));
if (tmp > 0x0F)
return 1;
data[i] |= tmp;
}
return 0;
}
int parse_canframe(char *cs, struct canfd_frame *cf) {
/* documentation see lib.h */
int i, idx, dlen, len;
int maxdlen = CAN_MAX_DLEN;
int ret = CAN_MTU;
unsigned char tmp;
len = strlen(cs);
//printf("'%s' len %d\n", cs, len);
memset(cf, 0, sizeof(*cf)); /* init CAN FD frame, e.g. LEN = 0 */
if (len < 4)
return 0;
if (cs[3] == CANID_DELIM) { /* 3 digits */
idx = 4;
for (i=0; i<3; i++){
if ((tmp = asc2nibble(cs[i])) > 0x0F)
return 0;
cf->can_id |= (tmp << (2-i)*4);
}
} else if (cs[8] == CANID_DELIM) { /* 8 digits */
idx = 9;
for (i=0; i<8; i++){
if ((tmp = asc2nibble(cs[i])) > 0x0F)
return 0;
cf->can_id |= (tmp << (7-i)*4);
}
if (!(cf->can_id & CAN_ERR_FLAG)) /* 8 digits but no errorframe? */
cf->can_id |= CAN_EFF_FLAG; /* then it is an extended frame */
} else
return 0;
if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
cf->can_id |= CAN_RTR_FLAG;
/* check for optional DLC value for CAN 2.0B frames */
if(cs[++idx] && (tmp = asc2nibble(cs[idx])) <= CAN_MAX_DLC)
cf->len = tmp;
return ret;
}
if (cs[idx] == CANID_DELIM) { /* CAN FD frame escape char '##' */
maxdlen = CANFD_MAX_DLEN;
ret = CANFD_MTU;
/* CAN FD frame <canid>##<flags><data>* */
if ((tmp = asc2nibble(cs[idx+1])) > 0x0F)
return 0;
cf->flags = tmp;
idx += 2;
}
for (i=0, dlen=0; i < maxdlen; i++){
if(cs[idx] == DATA_SEPERATOR) /* skip (optional) separator */
idx++;
if(idx >= len) /* end of string => end of data */
break;
if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
return 0;
cf->data[i] = (tmp << 4);
if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
return 0;
cf->data[i] |= tmp;
dlen++;
}
cf->len = dlen;
return ret;
}
void fprint_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int sep, int maxdlen) {
/* documentation see lib.h */
char buf[CL_CFSZ]; /* max length */
sprint_canframe(buf, cf, sep, maxdlen);
fprintf(stream, "%s", buf);
if (eol)
fprintf(stream, "%s", eol);
}
void sprint_canframe(char *buf , struct canfd_frame *cf, int sep, int maxdlen) {
/* documentation see lib.h */
int i,offset;
int len = (cf->len > maxdlen) ? maxdlen : cf->len;
if (cf->can_id & CAN_ERR_FLAG) {
put_eff_id(buf, cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
buf[8] = '#';
offset = 9;
} else if (cf->can_id & CAN_EFF_FLAG) {
put_eff_id(buf, cf->can_id & CAN_EFF_MASK);
buf[8] = '#';
offset = 9;
} else {
put_sff_id(buf, cf->can_id & CAN_SFF_MASK);
buf[3] = '#';
offset = 4;
}
/* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
if (maxdlen == CAN_MAX_DLEN && cf->can_id & CAN_RTR_FLAG) {
buf[offset++] = 'R';
/* print a given CAN 2.0B DLC if it's not zero */
if (cf->len && cf->len <= CAN_MAX_DLC)
buf[offset++] = hex_asc_upper_lo(cf->len);
buf[offset] = 0;
return;
}
if (maxdlen == CANFD_MAX_DLEN) {
/* add CAN FD specific escape char and flags */
buf[offset++] = '#';
buf[offset++] = hex_asc_upper_lo(cf->flags);
if (sep && len)
buf[offset++] = '.';
}
for (i = 0; i < len; i++) {
put_hex_byte(buf + offset, cf->data[i]);
offset += 2;
if (sep && (i+1 < len))
buf[offset++] = '.';
}
buf[offset] = 0;
}
void fprint_long_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int view, int maxdlen) {
/* documentation see lib.h */
char buf[CL_LONGCFSZ];
sprint_long_canframe(buf, cf, view, maxdlen);
fprintf(stream, "%s", buf);
if ((view & CANLIB_VIEW_ERROR) && (cf->can_id & CAN_ERR_FLAG)) {
snprintf_can_error_frame(buf, sizeof(buf), cf, "\n\t");
fprintf(stream, "\n\t%s", buf);
}
if (eol)
fprintf(stream, "%s", eol);
}
void sprint_long_canframe(char *buf , struct canfd_frame *cf, int view, int maxdlen) {
/* documentation see lib.h */
int i, j, dlen, offset;
int len = (cf->len > maxdlen)? maxdlen : cf->len;
/* initialize space for CAN-ID and length information */
memset(buf, ' ', 15);
if (cf->can_id & CAN_ERR_FLAG) {
put_eff_id(buf, cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
offset = 10;
} else if (cf->can_id & CAN_EFF_FLAG) {
put_eff_id(buf, cf->can_id & CAN_EFF_MASK);
offset = 10;
} else {
if (view & CANLIB_VIEW_INDENT_SFF) {
put_sff_id(buf + 5, cf->can_id & CAN_SFF_MASK);
offset = 10;
} else {
put_sff_id(buf, cf->can_id & CAN_SFF_MASK);
offset = 5;
}
}
/* The len value is sanitized by maxdlen (see above) */
if (maxdlen == CAN_MAX_DLEN) {
buf[offset + 1] = '[';
buf[offset + 2] = len + '0';
buf[offset + 3] = ']';
/* standard CAN frames may have RTR enabled */
if (cf->can_id & CAN_RTR_FLAG) {
sprintf(buf+offset+5, " remote request");
return;
}
} else {
buf[offset] = '[';
buf[offset + 1] = (len/10) + '0';
buf[offset + 2] = (len%10) + '0';
buf[offset + 3] = ']';
}
offset += 5;
if (view & CANLIB_VIEW_BINARY) {
dlen = 9; /* _10101010 */
if (view & CANLIB_VIEW_SWAP) {
for (i = len - 1; i >= 0; i--) {
buf[offset++] = (i == len-1)?' ':SWAP_DELIMITER;
for (j = 7; j >= 0; j--)
buf[offset++] = (1<<j & cf->data[i])?'1':'0';
}
} else {
for (i = 0; i < len; i++) {
buf[offset++] = ' ';
for (j = 7; j >= 0; j--)
buf[offset++] = (1<<j & cf->data[i])?'1':'0';
}
}
} else {
dlen = 3; /* _AA */
if (view & CANLIB_VIEW_SWAP) {
for (i = len - 1; i >= 0; i--) {
if (i == len-1)
buf[offset++] = ' ';
else
buf[offset++] = SWAP_DELIMITER;
put_hex_byte(buf + offset, cf->data[i]);
offset += 2;
}
} else {
for (i = 0; i < len; i++) {
buf[offset++] = ' ';
put_hex_byte(buf + offset, cf->data[i]);
offset += 2;
}
}
}
buf[offset] = 0; /* terminate string */
/*
* The ASCII & ERRORFRAME output is put at a fixed len behind the data.
* For now we support ASCII output only for payload length up to 8 bytes.
* Does it make sense to write 64 ASCII byte behind 64 ASCII HEX data on the console?
*/
if (len > CAN_MAX_DLEN)
return;
if (cf->can_id & CAN_ERR_FLAG)
sprintf(buf+offset, "%*s", dlen*(8-len)+13, "ERRORFRAME");
else if (view & CANLIB_VIEW_ASCII) {
j = dlen*(8-len)+4;
if (view & CANLIB_VIEW_SWAP) {
sprintf(buf+offset, "%*s", j, "`");
offset += j;
for (i = len - 1; i >= 0; i--)
if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
buf[offset++] = cf->data[i];
else
buf[offset++] = '.';
sprintf(buf+offset, "`");
} else {
sprintf(buf+offset, "%*s", j, "'");
offset += j;
for (i = 0; i < len; i++)
if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
buf[offset++] = cf->data[i];
else
buf[offset++] = '.';
sprintf(buf+offset, "'");
}
}
}
static const char *error_classes[] = {
"tx-timeout",
"lost-arbitration",
"controller-problem",
"protocol-violation",
"transceiver-status",
"no-acknowledgement-on-tx",
"bus-off",
"bus-error",
"restarted-after-bus-off",
};
static const char *controller_problems[] = {
"rx-overflow",
"tx-overflow",
"rx-error-warning",
"tx-error-warning",
"rx-error-passive",
"tx-error-passive",
"back-to-error-active",
};
static const char *protocol_violation_types[] = {
"single-bit-error",
"frame-format-error",
"bit-stuffing-error",
"tx-dominant-bit-error",
"tx-recessive-bit-error",
"bus-overload",
"active-error",
"error-on-tx",
};
static const char *protocol_violation_locations[] = {
"unspecified",
"unspecified",
"id.28-to-id.21",
"start-of-frame",
"bit-srtr",
"bit-ide",
"id.20-to-id.18",
"id.17-to-id.13",
"crc-sequence",
"reserved-bit-0",
"data-field",
"data-length-code",
"bit-rtr",
"reserved-bit-1",
"id.4-to-id.0",
"id.12-to-id.5",
"unspecified",
"active-error-flag",
"intermission",
"tolerate-dominant-bits",
"unspecified",
"unspecified",
"passive-error-flag",
"error-delimiter",
"crc-delimiter",
"acknowledge-slot",
"end-of-frame",
"acknowledge-delimiter",
"overload-flag",
"unspecified",
"unspecified",
"unspecified",
};
#ifndef ARRAY_SIZE
#define ARRAY_SIZE(arr) (sizeof(arr) / sizeof((arr)[0]))
#endif
static int snprintf_error_data(char *buf, size_t len, uint8_t err,
const char **arr, int arr_len)
{
int i, n = 0, count = 0;
if (!err || len <= 0)
return 0;
for (i = 0; i < arr_len; i++) {
if (err & (1 << i)) {
if (count)
n += snprintf(buf + n, len - n, ",");
n += snprintf(buf + n, len - n, "%s", arr[i]);
count++;
}
}
return n;
}
static int snprintf_error_lostarb(char *buf, size_t len, const struct canfd_frame *cf)
{
if (len <= 0)
return 0;
return snprintf(buf, len, "{at bit %d}", cf->data[0]);
}
static int snprintf_error_ctrl(char *buf, size_t len, const struct canfd_frame *cf)
{
int n = 0;
if (len <= 0)
return 0;
n += snprintf(buf + n, len - n, "{");
n += snprintf_error_data(buf + n, len - n, cf->data[1],
controller_problems,
ARRAY_SIZE(controller_problems));
n += snprintf(buf + n, len - n, "}");
return n;
}
static int snprintf_error_prot(char *buf, size_t len, const struct canfd_frame *cf)
{
int n = 0;
if (len <= 0)
return 0;
n += snprintf(buf + n, len - n, "{{");
n += snprintf_error_data(buf + n, len - n, cf->data[2],
protocol_violation_types,
ARRAY_SIZE(protocol_violation_types));
n += snprintf(buf + n, len - n, "}{");
if (cf->data[3] > 0 &&
cf->data[3] < ARRAY_SIZE(protocol_violation_locations))
n += snprintf(buf + n, len - n, "%s",
protocol_violation_locations[cf->data[3]]);
n += snprintf(buf + n, len - n, "}}");
return n;
}
void snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf,
const char* sep)
{
canid_t class, mask;
int i, n = 0, classes = 0;
char *defsep = ",";
if (!(cf->can_id & CAN_ERR_FLAG))
return;
class = cf->can_id & CAN_EFF_MASK;
if (class > (1 << ARRAY_SIZE(error_classes))) {
fprintf(stderr, "Error class %#jx is invalid\n", (uintmax_t)class);
return;
}
if (!sep)
sep = defsep;
for (i = 0; i < (int)ARRAY_SIZE(error_classes); i++) {
mask = 1 << i;
if (class & mask) {
if (classes)
n += snprintf(buf + n, len - n, "%s", sep);
n += snprintf(buf + n, len - n, "%s", error_classes[i]);
if (mask == CAN_ERR_LOSTARB)
n += snprintf_error_lostarb(buf + n, len - n,
cf);
if (mask == CAN_ERR_CRTL)
n += snprintf_error_ctrl(buf + n, len - n, cf);
if (mask == CAN_ERR_PROT)
n += snprintf_error_prot(buf + n, len - n, cf);
classes++;
}
}
if (cf->data[6] || cf->data[7]) {
n += snprintf(buf + n, len - n, "%s", sep);
n += snprintf(buf + n, len - n, "error-counter-tx-rx{{%d}{%d}}",
cf->data[6], cf->data[7]);
}
}
Ubiquitous/Nuttx/apps/canutils/libcanutils/lib.h
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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* lib.h - library include for command line tools
*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#ifndef CAN_UTILS_LIB_H
#define CAN_UTILS_LIB_H
#include <stdio.h>
/* Compatibility for NuttX */
typedef uint8_t __u8;
typedef uint32_t __u32;
/* buffer sizes for CAN frame string representations */
#define CL_ID (sizeof("12345678##1"))
#define CL_DATA sizeof(".AA")
#define CL_BINDATA sizeof(".10101010")
/* CAN FD ASCII hex short representation with DATA_SEPERATORs */
#define CL_CFSZ (2*CL_ID + 64*CL_DATA)
/* CAN FD ASCII hex long representation with binary output */
#define CL_LONGCFSZ (2*CL_ID + sizeof(" [255] ") + (64*CL_BINDATA))
/* CAN DLC to real data length conversion helpers especially for CAN FD */
/* get data length from can_dlc with sanitized can_dlc */
unsigned char can_dlc2len(unsigned char can_dlc);
/* map the sanitized data length to an appropriate data length code */
unsigned char can_len2dlc(unsigned char len);
unsigned char asc2nibble(char c);
/*
* Returns the decimal value of a given ASCII hex character.
*
* While 0..9, a..f, A..F are valid ASCII hex characters.
* On invalid characters the value 16 is returned for error handling.
*/
int hexstring2data(char *arg, unsigned char *data, int maxdlen);
/*
* Converts a given ASCII hex string to a (binary) byte string.
*
* A valid ASCII hex string consists of an even number of up to 16 chars.
* Leading zeros '00' in the ASCII hex string are interpreted.
*
* Examples:
*
* "1234" => data[0] = 0x12, data[1] = 0x34
* "001234" => data[0] = 0x00, data[1] = 0x12, data[2] = 0x34
*
* Return values:
* 0 = success
* 1 = error (in length or the given characters are no ASCII hex characters)
*
* Remark: The not written data[] elements are initialized with zero.
*
*/
int parse_canframe(char *cs, struct canfd_frame *cf);
/*
* Transfers a valid ASCII string describing a CAN frame into struct canfd_frame.
*
* CAN 2.0 frames
* - string layout <can_id>#{R{len}|data}
* - {data} has 0 to 8 hex-values that can (optionally) be separated by '.'
* - {len} can take values from 0 to 8 and can be omitted if zero
* - return value on successful parsing: CAN_MTU
*
* CAN FD frames
* - string layout <can_id>##<flags>{data}
* - <flags> a single ASCII Hex value (0 .. F) which defines canfd_frame.flags
* - {data} has 0 to 64 hex-values that can (optionally) be separated by '.'
* - return value on successful parsing: CANFD_MTU
*
* Return value on detected problems: 0
*
* <can_id> can have 3 (standard frame format) or 8 (extended frame format)
* hexadecimal chars
*
*
* Examples:
*
* 123# -> standard CAN-Id = 0x123, len = 0
* 12345678# -> extended CAN-Id = 0x12345678, len = 0
* 123#R -> standard CAN-Id = 0x123, len = 0, RTR-frame
* 123#R0 -> standard CAN-Id = 0x123, len = 0, RTR-frame
* 123#R7 -> standard CAN-Id = 0x123, len = 7, RTR-frame
* 7A1#r -> standard CAN-Id = 0x7A1, len = 0, RTR-frame
*
* 123#00 -> standard CAN-Id = 0x123, len = 1, data[0] = 0x00
* 123#1122334455667788 -> standard CAN-Id = 0x123, len = 8
* 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, len = 8
* 123#11.2233.44556677.88 -> standard CAN-Id = 0x123, len = 8
* 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set
*
* 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3
* 123##1112233 -> CAN FD frame, flags = CANFD_BRS, len = 3
* 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3
* 123##3 -> CAN FD frame, flags = (CANFD_ESI | CANFD_BRS), len = 0
* ^^
* CAN FD extension to handle the canfd_frame.flags content
*
* Simple facts on this compact ASCII CAN frame representation:
*
* - 3 digits: standard frame format
* - 8 digits: extendend frame format OR error frame
* - 8 digits with CAN_ERR_FLAG (0x2000000) set: error frame
* - an error frame is never a RTR frame
* - CAN FD frames do not have a RTR bit
*/
void fprint_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int sep, int maxdlen);
void sprint_canframe(char *buf , struct canfd_frame *cf, int sep, int maxdlen);
/*
* Creates a CAN frame hexadecimal output in compact format.
* The CAN data[] is separated by '.' when sep != 0.
*
* The type of the CAN frame (CAN 2.0 / CAN FD) is specified by maxdlen:
* maxdlen = 8 -> CAN2.0 frame
* maxdlen = 64 -> CAN FD frame
*
* 12345678#112233 -> extended CAN-Id = 0x12345678, len = 3, data, sep = 0
* 12345678#R -> extended CAN-Id = 0x12345678, RTR, len = 0
* 12345678#R5 -> extended CAN-Id = 0x12345678, RTR, len = 5
* 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, dlc = 8, sep = 1
* 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set
* 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3
* 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3
*
* Examples:
*
* fprint_canframe(stdout, &frame, "\n", 0); // with eol to STDOUT
* fprint_canframe(stderr, &frame, NULL, 0); // no eol to STDERR
*
*/
#define CANLIB_VIEW_ASCII 0x1
#define CANLIB_VIEW_BINARY 0x2
#define CANLIB_VIEW_SWAP 0x4
#define CANLIB_VIEW_ERROR 0x8
#define CANLIB_VIEW_INDENT_SFF 0x10
#define SWAP_DELIMITER '`'
void fprint_long_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int view, int maxdlen);
void sprint_long_canframe(char *buf , struct canfd_frame *cf, int view, int maxdlen);
/*
* Creates a CAN frame hexadecimal output in user readable format.
*
* The type of the CAN frame (CAN 2.0 / CAN FD) is specified by maxdlen:
* maxdlen = 8 -> CAN2.0 frame
* maxdlen = 64 -> CAN FD frame
*
* 12345678 [3] 11 22 33 -> extended CAN-Id = 0x12345678, dlc = 3, data
* 12345678 [0] remote request -> extended CAN-Id = 0x12345678, RTR
* 14B0DC51 [8] 4A 94 E8 2A EC 58 55 62 'J..*.XUb' -> (with ASCII output)
* 20001111 [7] C6 23 7B 32 69 98 3C ERRORFRAME -> (CAN_ERR_FLAG set)
* 12345678 [03] 11 22 33 -> CAN FD with extended CAN-Id = 0x12345678, dlc = 3
*
* 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == 0
* 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == set
*
* Examples:
*
* // CAN FD frame with eol to STDOUT
* fprint_long_canframe(stdout, &frame, "\n", 0, CANFD_MAX_DLEN);
*
* // CAN 2.0 frame without eol to STDERR
* fprint_long_canframe(stderr, &frame, NULL, 0, CAN_MAX_DLEN);
*
*/
void snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf,
const char *sep);
/*
* Creates a CAN error frame output in user readable format.
*/
#endif
Ubiquitous/Nuttx/apps/canutils/libcanutils/terminal.h
+95
View File
@@ -0,0 +1,95 @@
/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#ifndef TERMINAL_H
#define TERMINAL_H
/* reset to default */
#define ATTRESET "\33[0m"
/* attributes */
#define ATTBOLD "\33[1m"
#define ATTUNDERLINE "\33[4m"
#define ATTBLINK "\33[5m"
#define ATTINVERSE "\33[7m"
#define ATTINVISIBLE "\33[8m"
/* foreground colors */
#define FGBLACK "\33[30m"
#define FGRED "\33[31m"
#define FGGREEN "\33[32m"
#define FGYELLOW "\33[33m"
#define FGBLUE "\33[34m"
#define FGMAGENTA "\33[35m"
#define FGCYAN "\33[36m"
#define FGWHITE "\33[37m"
/* background colors */
#define BGBLACK "\33[40m"
#define BGRED "\33[41m"
#define BGGREEN "\33[42m"
#define BGYELLOW "\33[43m"
#define BGBLUE "\33[44m"
#define BGMAGENTA "\33[45m"
#define BGCYAN "\33[46m"
#define BGWHITE "\33[47m"
/* cursor */
#define CSR_HOME "\33[H"
#define CSR_UP "\33[A"
#define CSR_DOWN "\33[B"
#define CSR_RIGHT "\33[C"
#define CSR_LEFT "\33[D"
#define CSR_HIDE "\33[?25l"
#define CSR_SHOW "\33[?25h"
/* clear screen */
#define CLR_SCREEN "\33[2J"
#endif /* TERMINAL_H */