Added shell functions

software/.vscode/settings.json

@@ -8,7 +8,9 @@
         "canbus.h": "c",
         "kernel.h": "c",
         "settings.h": "c",
-        "can.h": "c"
+        "can.h": "c",
+        "stdlib.h": "c",
+        "reboot.h": "c"
     },
     "C_Cpp.default.compileCommands": [
         "build/compile_commands.json",

software/boards/iten/valve_node/valve_node.dts

@@ -14,7 +14,7 @@
 	compatible = "iten,valve-node", "st,stm32f103rb";
 
 	can_loopback0: can_loopback0 {
-		status = "okay";
+		status = "disabled";
 		compatible = "zephyr,can-loopback";
 	};
 
@@ -23,8 +23,8 @@
 		zephyr,shell-uart = &usart1;
 		zephyr,sram = &sram0;
 		zephyr,flash = &flash0;
-		//zephyr,canbus = &can1;
+		zephyr,canbus = &can1;
-		zephyr,canbus = &can_loopback0;
+		//zephyr,canbus = &can_loopback0;
 	};
 
 	leds: leds {
@@ -79,6 +79,10 @@
 			gpios = <&gpiob 13 0>;
 			label = "Motor Open";
 		};
+		fake: fake {
+			gpios = <&gpiob 11 GPIO_PULL_UP>;
+			label = "CAN RX pullup";
+		};
 	};
 };
 

software/boards/iten/valve_node/valve_node_defconfig

@@ -18,6 +18,7 @@ CONFIG_MODBUS_ROLE_CLIENT=y
 CONFIG_CAN=y
 CONFIG_CAN_INIT_PRIORITY=80
 #CONFIG_CAN_MAX_FILTER=5
+CONFIG_CAN_ACCEPT_RTR=y
 
 # settings
 CONFIG_FLASH=y

software/lib/canbus.c

@@ -3,6 +3,7 @@
 #include <zephyr/kernel.h>
 #include <zephyr/sys/byteorder.h>
 #include "config.h"
+#include "modbus.h"
 
 int canbus_node_id = 1; // Default node ID for CAN bus
 
@@ -11,7 +12,7 @@ const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
 struct k_thread rx_thread_data;
 
 K_THREAD_STACK_DEFINE(rx_thread_stack, CANBUS_RX_THREAD_STACK_SIZE);
-CAN_MSGQ_DEFINE(commands_msq, 2);
+CAN_MSGQ_DEFINE(commands_msq, CANBUS_RX_MSGQ_SIZE);
 
 LOG_MODULE_REGISTER(canbus, CONFIG_LOG_CAN_LEVEL);
 
@@ -20,14 +21,16 @@ static void rx_thread(void *arg1, void *arg2, void *arg3)
     ARG_UNUSED(arg1);
     ARG_UNUSED(arg2);
     ARG_UNUSED(arg3);
+
     const struct can_filter filter = {
-        .flags = CAN_FILTER_IDE,
+        .flags = 0,                           // No special flags,
         .id = (canbus_node_id << 8) | 0x00,   // Standard ID with node ID in the first byte
         .mask = CAN_STD_ID_MASK & 0xFFFFFF00U // Mask for standard ID, ignoring the last byte
     };
 
     struct can_frame frame;
     int filter_id;
+    extern struct k_msgq modbus_msgq;
 
     filter_id = can_add_rx_filter_msgq(can_dev, &commands_msq, &filter);
     LOG_DBG("RX thread started. Filter ID: %d, flags: 0x%02x, id: 0x%08x, mask: 0x%08x", filter_id, filter.flags, filter.id, filter.mask);
@@ -37,10 +40,6 @@ static void rx_thread(void *arg1, void *arg2, void *arg3)
         k_msgq_get(&commands_msq, &frame, K_FOREVER);
         LOG_DBG("Received CAN frame: ID=0x%08x, DLC=%u, Flags=0x%02x",
                 frame.id, frame.dlc, frame.flags);
-        if (IS_ENABLED(CONFIG_CAN_ACCEPT_RTR) && (frame.flags & CAN_FRAME_RTR) != 0U)
-        {
-            continue;
-        }
 
         uint8_t target_node = (frame.id >> 8) & 0xFF; // Extract the target node from the ID
         if (target_node != canbus_node_id)
@@ -50,9 +49,49 @@ static void rx_thread(void *arg1, void *arg2, void *arg3)
         }
         uint8_t target_register = frame.id & 0xFF; // Extract the register address from the ID
 
+        if (IS_ENABLED(CONFIG_CAN_ACCEPT_RTR) && (frame.flags & CAN_FRAME_RTR) != 0U)
+        {
+            LOG_DBG("Received RTR frame for register address: 0x%02x", target_register);
+            switch (target_register)
+            {
+            case CANBUS_REGISTER_WATER_LEVEL_MM:
+            case CANBUS_REGISTER_WATER_MINIMUM:
+            case CANBUS_REGISTER_WATER_MAXIMUM:
+                LOG_DBG("Handling water sensor request for node %d", target_node);
+                modbus_register_t reg_max;
+                reg_max.reg = target_register;
+                reg_max.command = CANBUS_REGISTER_COMMAND_GET; // Set command to GET
+                k_msgq_put(&modbus_msgq, &reg_max, K_NO_WAIT);
+                break;
+            default:
+                LOG_WRN("Received RTR frame for unknown register address: 0x%02x", target_register);
+            }
+            continue;
+        }
         // Log the received frame details
-        LOG_DBG("Received CAN frame: ID=0x%08x, DLC=%u, Flags=0x%02x, Target Node=%d, Register Address=%d",
+        LOG_DBG("Received CAN frame: ID=0x%08x, DLC=%u, Flags=0x%02x, Target Node=%d, Register Address=0x%02x",
                 frame.id, frame.dlc, frame.flags, target_node, target_register);
+        switch (target_register)
+        {
+        case CANBUS_REGISTER_WATER_MINIMUM:
+        case CANBUS_REGISTER_WATER_MAXIMUM:
+            LOG_DBG("Handling water sensor data for node %d", target_node);
+            modbus_register_t reg;
+            reg.reg = target_register;
+            reg.command = CANBUS_REGISTER_COMMAND_SET; // Set command to SET
+            if (frame.dlc >= sizeof(reg.value)) // Ensure enough data length for value
+            {
+                reg.value = sys_get_be16(frame.data); // Convert received data to big-endian format
+                LOG_DBG("Received value: %d, 0x%04x", reg.value, reg.value);
+            }
+            else
+            {
+                LOG_ERR("Received frame with insufficient data length: %u", frame.dlc);
+                continue; // Skip processing if data length is invalid
+            }
+            k_msgq_put(&modbus_msgq, &reg, K_NO_WAIT);
+            break;
+        }
         LOG_HEXDUMP_DBG(frame.data, sizeof(frame.data) * sizeof(frame.data[0]), "Frame data:");
     }
 }
@@ -112,11 +151,12 @@ int canbus_init(void)
         return rc;
     }
 #endif
-	rc = can_start(can_dev);
+    rc = can_start(can_dev);
-	if (rc != 0) {
+    if (rc != 0)
-		printf("Error starting CAN controller [%d]", rc);
+    {
-		return 0;
+        printf("Error starting CAN controller [%d]", rc);
-	}
+        return 0;
+    }
     LOG_DBG("CAN device %s is ready", can_dev->name);
 
     LOG_DBG("Trying to start rx thread");
@@ -137,7 +177,7 @@ int canbus_init(void)
     return 0; // Return 0 on success
 }
 
-int canbus_send_message(uint8_t destination_node, uint8_t register_address, uint8_t *data, size_t data_length)
+int canbus_send_register(uint8_t destination_node, uint8_t register_address, uint8_t *data, size_t data_length)
 {
     struct can_frame frame;
     if (data_length > sizeof(frame.data))
@@ -155,7 +195,8 @@ int canbus_send_message(uint8_t destination_node, uint8_t register_address, uint
 
     // Send the CAN frame
     int rc = can_send(can_dev, &frame, K_MSEC(100), canbus_tx_callback, NULL);
-        if (rc < 0) {
+    if (rc < 0)
+    {
         LOG_ERR("Failed to send CAN message: %d", rc);
         return rc; // Return error code
     }
@@ -163,3 +204,25 @@ int canbus_send_message(uint8_t destination_node, uint8_t register_address, uint
     LOG_DBG("CAN message sent: ID=0x%08x, DLC=%u", frame.id, frame.dlc);
     return 0;
 }
+
+int canbus_request_register(uint8_t node_id, uint8_t register_address)
+{
+    int rc;
+    struct can_frame frame;
+
+    // Prepare the CAN frame for the request
+    frame.id = (node_id << 8) | register_address; // Standard ID with node ID in the first byte
+    frame.dlc = 0;                                // No data for request
+    frame.flags = CAN_FRAME_RTR;                  // Set RTR flag for request
+
+    // Send the CAN frame
+    rc = can_send(can_dev, &frame, K_MSEC(100), canbus_tx_callback, NULL);
+    if (rc < 0)
+    {
+        LOG_ERR("Failed to send CAN request: %d", rc);
+        return rc; // Return error code
+    }
+
+    LOG_DBG("CAN request sent: ID=0x%08x", frame.id);
+    return 0;
+}

software/lib/canbus.h

@@ -3,11 +3,13 @@
 
 #include <zephyr/drivers/can.h>
 #include <zephyr/kernel.h>
+#include "canbus_registers.h"
 
 #define CANBUS_RX_THREAD_STACK_SIZE (512)
-#define CANBUS_RX_THREAD_PRIORITY (-2)
+#define CANBUS_RX_THREAD_PRIORITY (5)
+#define CANBUS_RX_MSGQ_SIZE (5)
 
-typedef struct {
+typedef struct can_frame_t{
     /** Standard (11-bit) or extended (29-bit) CAN identifier. */
     uint32_t id;
     /** Data Length Code (DLC) indicating data length in bytes. */
@@ -24,6 +26,7 @@ typedef struct {
 } can_frame_t;
 
 int canbus_init(void);
-int canbus_send_message(uint8_t destination_node, uint8_t register_address, uint8_t *data, size_t data_length);
+int canbus_send_register(uint8_t node_id, uint8_t register_address, uint8_t *data, size_t data_length);
+int canbus_request_register(uint8_t node_id, uint8_t register_address);
 
 #endif // __CANBUS_H__

software/lib/canbus_registers.h

@@ -0,0 +1,18 @@
+#ifndef __CANBUS_REGISTERS_H__
+#define __CANBUS_REGISTERS_H__
+
+typedef enum {
+    CANBUS_REGISTER_VALVE_COMMAND = 0x00,
+    CANBUS_REGISTER_VALVE_STATE = 0x01,
+    
+    CANBUS_REGISTER_WATER_LEVEL_MM = 0x10,
+    CANBUS_REGISTER_WATER_MINIMUM = 0x11,
+    CANBUS_REGISTER_WATER_MAXIMUM = 0x12,
+} canbus_registers_t;
+
+typedef enum {
+    CANBUS_REGISTER_COMMAND_SET = 0x00,
+    CANBUS_REGISTER_COMMAND_GET = 0x01,
+} canbus_register_command_t;
+
+#endif // __CANBUS_REGISTERS_H__

software/lib/config.c

@@ -6,6 +6,77 @@ LOG_MODULE_REGISTER(config, CONFIG_LOG_SETTINGS_LEVEL);
 
 extern int canbus_node_id; // Default node ID for CAN bus
 
+// Only compile shell commands if CONFIG_SHELL is enabled
+// and CONFIG_REBOOT is enabled, as rebooting is required to apply changes
+#ifdef CONFIG_SHELL
+#ifndef CONFIG_REBOOT
+#error You must enable CONFIG_REBOOT to use the shell commands
+#endif // CONFIG_REBOOT
+
+#include <zephyr/shell/shell.h>
+#include <zephyr/sys/reboot.h>
+#include <stdlib.h>
+
+int reboot_system(const struct shell *shell, size_t argc, char **argv)
+{
+    // Reboot the system
+    shell_print(shell, "Rebooting node in 1 second...");
+    k_sleep(K_MSEC(1000)); // Wait for 1 second before rebooting
+    sys_reboot(SYS_REBOOT_COLD); // Perform a cold reboot
+    return 0; // Return 0 on success
+}
+
+int shell_print_config(const struct shell *shell, size_t argc, char **argv)
+{
+    // Print the current settings for the CAN bus node ID
+    shell_print(shell, "Current configuration settings:");
+    shell_print(shell, "%26s <%d>", "CANBUS node ID:", canbus_node_id);
+    return 0;
+}
+
+int shell_set_canbus_node_id(const struct shell *shell, size_t argc, char **argv)
+{
+    shell_print(shell, "argument count: %zu", argc);
+    if (argc != 2)
+    {
+        shell_error(shell, "Usage: config set_nodeid <value>");
+        return -EINVAL; // Invalid argument
+    }
+
+    int new_node_id = atoi(argv[1]);
+    if (new_node_id < 1 || new_node_id > 7)
+    {
+        shell_error(shell, "Invalid CAN bus node ID: <%d>. Must be between 1 and 7.", new_node_id);
+        return -EINVAL; // Invalid argument
+    }
+
+    canbus_node_id = new_node_id;
+    LOG_INF("Set CAN bus node ID to <%d>", canbus_node_id);
+
+    // Save the new node ID to settings
+    int rc = settings_save_one("canbus/node_id", &canbus_node_id, sizeof(canbus_node_id));
+    if (rc < 0)
+    {
+        shell_error(shell, "Failed to save CAN bus node ID: %d", rc);
+        return rc; // Save error
+    }
+
+    shell_print(shell, "CAN bus node ID set to <%d> and saved to settings", canbus_node_id);
+    shell_warn(shell, "Reboot the node (command: 'reboot') to apply changes.");
+    return 0; // Return 0 on success
+}
+
+SHELL_STATIC_SUBCMD_SET_CREATE(
+    config_cmds,
+    SHELL_CMD_ARG(print, NULL, "Print current configuration settings", shell_print_config, 0, 0),
+    SHELL_CMD_ARG(set_nodeid, NULL, "Set canbus node id", shell_set_canbus_node_id, 2, 0),
+    SHELL_SUBCMD_SET_END
+);
+
+SHELL_CMD_REGISTER(config, &config_cmds, "Configuration commands", NULL);
+SHELL_CMD_REGISTER(reboot, NULL, "Reboot the node", reboot_system);
+#endif // CONFIG_SHELL
+
 static int settings_canbus(const char *key, size_t len, settings_read_cb read_cb, void *cb_arg)
 {
     const char *next;

software/lib/modbus.h

@@ -3,6 +3,10 @@
 
 #include <zephyr/modbus/modbus.h>
 
+#define MODBUS_THREAD_STACK_SIZE (512)
+#define MODBUS_THREAD_PRIORITY (6)
+#define MODBUS_MSGQ_SIZE (5)
+
 const static struct modbus_iface_param client_param = {
 	.mode = MODBUS_MODE_RTU,
 	.rx_timeout = 50000,
@@ -12,6 +16,12 @@ const static struct modbus_iface_param client_param = {
 	},
 };
 
+typedef struct {
+	uint8_t reg;
+	uint8_t command; // 0 for set, 1 for get
+	int16_t value;
+} modbus_register_t;
+
 int mb_init_client(void);
 int mb_read_holding_registers(int node, uint16_t reg_addr, uint16_t *data, size_t len);
 int mb_read_water_level(double *mb_read_water_level);

software/test_canbus/prj.conf

@@ -1,11 +1,20 @@
 CONFIG_LOG=y
 CONFIG_LOG_DEFAULT_LEVEL=3
-CONFIG_LOG_SETTINGS_LEVEL=4
+# CONFIG_LOG_SETTINGS_LEVEL=4
-CONFIG_LOG_CAN_LEVEL=4
+# CONFIG_LOG_CAN_LEVEL=4
 CONFIG_CBPRINTF_FP_SUPPORT=y
 
 CONFIG_UART_CONSOLE=y # Console on USART1
 #CONFIG_RTT_CONSOLE=y
 #CONFIG_USE_SEGGER_RTT=y
 
+# CAN loopback mode for testing
 CONFIG_LOOPBACK_MODE=y
+CONFIG_SHELL=y
+CONFIG_CAN_SHELL=y
+CONFIG_GPIO_SHELL=y
+CONFIG_REBOOT=y
+
+# CONFIG_USE_SEGGER_RTT=y
+# CONFIG_SHELL_BACKEND_RTT=y
+# CONFIG_SHELL_BACKEND_SERIAL=n

software/test_canbus/src/main.c

@@ -7,12 +7,75 @@
 #include <zephyr/logging/log.h>
 #include <zephyr/kernel.h>
 #include <zephyr/sys/byteorder.h>
+#include <zephyr/shell/shell.h>
 
 #include "canbus.h"
+#include "modbus.h"
 #include "config.h"
 
 LOG_MODULE_REGISTER(main, CONFIG_LOG_DEFAULT_LEVEL);
 
+K_THREAD_STACK_DEFINE(fake_modbus_stack, MODBUS_THREAD_STACK_SIZE);
+K_MSGQ_DEFINE(modbus_msgq, sizeof(modbus_register_t), 10, 4);
+
+int water_min = 0;
+int water_max = 2000; // Maximum water level in mm
+
+void fake_modbus_thread(void *arg1, void *arg2, void *arg3)
+{
+	modbus_register_t reg;
+	ARG_UNUSED(arg1);
+	ARG_UNUSED(arg2);
+	ARG_UNUSED(arg3);
+
+	LOG_INF("Fake Modbus thread started");
+
+	while (1)
+	{
+		k_msgq_get(&modbus_msgq, &reg, K_FOREVER);
+		LOG_INF("Received Modbus register: 0x%02x, command: %s, value: %d", reg.reg, reg.command ? "GET" : "SET", reg.value);
+		switch (reg.command)
+		{
+		case CANBUS_REGISTER_COMMAND_SET:
+			switch (reg.reg)
+			{
+			case CANBUS_REGISTER_WATER_MINIMUM:
+				water_min = reg.value;
+				LOG_INF("Set water minimum to %d mm", water_min);
+				break;
+			case CANBUS_REGISTER_WATER_MAXIMUM:
+				water_max = reg.value;
+				LOG_INF("Set water maximum to %d mm", water_max);
+				break;
+			default:
+				LOG_INF("Received unknown command: 0x%02x for register: 0x%02x", reg.command, reg.reg);
+				break;
+			}
+		case CANBUS_REGISTER_COMMAND_GET:
+			switch (reg.reg)
+			{
+			case CANBUS_REGISTER_WATER_LEVEL_MM:
+				// Simulate reading water level in mm
+				reg.value = (water_min + water_max) / 2; // Example: average of min and max
+				LOG_INF("Read water level: %d mm", reg.value);
+				break;
+			case CANBUS_REGISTER_WATER_MINIMUM:
+				reg.value = water_min;
+				LOG_INF("Read water minimum: %d mm", reg.value);
+				break;
+			case CANBUS_REGISTER_WATER_MAXIMUM:
+				reg.value = water_max;
+				LOG_INF("Read water maximum: %d mm", reg.value);
+				break;
+			default:
+				LOG_INF("Received unknown command: 0x%02x for register: 0x%02x", reg.command, reg.reg);
+				break;
+			}
+			break;
+		}
+	}
+}
+
 int main(void)
 {
 	int rc;
@@ -32,25 +95,38 @@ int main(void)
 		return rc;
 	}
 	LOG_INF("CAN bus initialized successfully");
-	uint16_t counter = 0;
-	k_sleep(K_SECONDS(1)); // Sleep for 1 second before starting the loop
 
+	struct k_thread fake_modbus_thread_data;
+	k_tid_t fake_modbus_tid = k_thread_create(&fake_modbus_thread_data, fake_modbus_stack,
+											  K_THREAD_STACK_SIZEOF(fake_modbus_stack), fake_modbus_thread, NULL, NULL, NULL,
+											  MODBUS_THREAD_PRIORITY, 0, K_NO_WAIT);
+	if (fake_modbus_tid == NULL)
+	{
+		LOG_ERR("Failed to create fake Modbus thread");
+		return -ENOMEM; // Not enough memory to create thread
+	}
+
+	LOG_INF("Fake Modbus thread created successfully");
 	while (1)
 	{
-		uint8_t data[2] = {0x00};
+		canbus_request_register(0x01, CANBUS_REGISTER_WATER_LEVEL_MM); // Request water level in mm
-		UNALIGNED_PUT(sys_cpu_to_be16(counter), (uint16_t *)&data[0]);
+		k_sleep(K_MSEC(150)); // Wait for 150 ms to allow the request to be processed
-		canbus_send_message(1, 0x01, data, sizeof(data)); // Example message sending
+		canbus_request_register(0x01, CANBUS_REGISTER_WATER_MINIMUM); // Request water minimum
-		LOG_DBG("Sent message with counter: %d", counter);
+		k_sleep(K_MSEC(150)); // Wait for 150 ms to allow the request to be processed
-		canbus_send_message(2, 0x01, data, sizeof(data)); // Example message sending
+
-		LOG_DBG("Sent message with counter: %d", counter);
+		int water_tmp = -100;
-		counter++;
+		uint8_t data[2];
-		if (counter > 1000) // Reset counter after 1000
+		sys_put_be16(water_tmp, data); // Convert water_tmp to big-endian format
-		{
+		rc = canbus_send_register(0x01, CANBUS_REGISTER_WATER_MINIMUM, data, sizeof(data));
-			counter = 0;
+		k_sleep(K_MSEC(150)); // Wait for 150 ms to allow the request to be processed
-		}
+		canbus_request_register(0x01, CANBUS_REGISTER_WATER_LEVEL_MM); // Request water level in mm
+		k_sleep(K_MSEC(150)); // Wait for 150 ms to allow the request to be processed
+		canbus_request_register(0x01, CANBUS_REGISTER_WATER_MINIMUM); // Request water minimum
+
 		k_sleep(K_SECONDS(5)); // Sleep for 5 second before next iteration
-		return 0; // Exit the loop after one iteration for testing purposes
+		return 0;			   // Exit the loop after one iteration for testing purposes
-		// In a real application, you would likely not return here and continue the loop indefinitely
+							   // In a real application, you would remove this return statement
+							   // to keep the loop running indefinitely.
 	}
 	return 0;
 }