a752c7ab
 elopes
add first test an...
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/*
* Copyright (C) 2016 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.
*/
/**
* @defgroup sys_can_isotp ISO transport protocol over CAN
* @ingroup sys_can
* @brief ISO transport protocol over CAN (ISO15765)
* @{
*
* @file
* @brief ISO TP high level interface
*
* @author Vincent Dupont <vincent@otakeys.com>
*/
#ifndef CAN_ISOTP_H
#define CAN_ISOTP_H
#ifdef __cplusplus
extern "C" {
#endif
#include "can/can.h"
#include "can/common.h"
#include "thread.h"
#include "xtimer.h"
#include "net/gnrc/pktbuf.h"
/**
* @brief The isotp_fc_options struct
*
* It describes the flow control options
*/
struct isotp_fc_options {
uint8_t bs; /**< blocksize provided in FC frame, 0 = off */
/** separation time provided in FC frame
* 0x00 - 0x7F : 0 - 127 ms
* 0x80 - 0xF0 : reserved
* 0xF1 - 0xF9 : 100 us - 900 us
* 0xFA - 0xFF : reserved */
uint8_t stmin;
uint8_t wftmax; /**< max. number of wait frame transmiss., 0 = ignored */
};
/**
* @brief The isotp_options struct
*
* It describes the ISO-TP options
*/
struct isotp_options {
canid_t tx_id; /**< transmit CAN ID */
canid_t rx_id; /**< Receive CAN ID */
uint16_t flags; /**< set flags for isotp behaviour. */
uint8_t ext_address; /**< set address for extended addressing */
uint8_t txpad_content; /**< set content of padding byte (tx) */
uint8_t rx_ext_address; /**< set address for extended addressing */
};
/**
* @brief The tpcon struct
*
* It describes the current connection status
*/
struct tpcon {
unsigned idx; /**< current index in @p buf */
uint8_t state; /**< the protocol state */
uint8_t bs; /**< block size */
uint8_t sn; /**< current sequence number */
int tx_handle; /**< handle of the last sent frame */
gnrc_pktsnip_t *snip; /**< allocated snip containing data buffer */
};
/**
* @brief The isotp struct
*
* This is the main struct used by an ISO-TP channel
*/
struct isotp {
struct isotp *next; /**< next bound channel */
struct isotp_options opt; /**< channel options */
struct isotp_fc_options rxfc; /**< rx flow control options (defined locally) */
struct isotp_fc_options txfc; /**< tx flow control options (defined remotely) */
struct tpcon tx; /**< transmit state */
struct tpcon rx; /**< receive state */
xtimer_t tx_timer; /**< timer for tx operations */
xtimer_t rx_timer; /**< timer for rx operations */
can_reg_entry_t entry; /**< entry containing ifnum and upper layer msg system */
uint32_t tx_gap; /**< transmit gap from fc (in us) */
uint8_t tx_wft; /**< transmit wait counter */
void *arg; /**< upper layer private arg */
};
/**
* @name flags for isotp behaviour
* @{
*/
#define CAN_ISOTP_RX_FLAGS_MASK 0x0000FFFF /**< rx flags mask */
#define CAN_ISOTP_LISTEN_MODE 0x0001 /**< listen only flag (do not send FC) */
#define CAN_ISOTP_EXTEND_ADDR 0x0002 /**< enable extended addressing */
#define CAN_ISOTP_TX_PADDING 0x0004 /**< enable CAN frame padding tx path */
#define CAN_ISOTP_HALF_DUPLEX 0x0040 /**< half duplex error state handling */
#define CAN_ISOTP_RX_EXT_ADDR 0x0200 /**< different rx extended addressing */
#define CAN_ISOTP_TX_FLAGS_MASK 0xFFFF0000 /**< tx flags mask */
#define CAN_ISOTP_TX_DONT_WAIT 0x00010000 /**< do not send a tx confirmation msg */
/** @} */
/**
* @name default configuration values
* @{
*/
#define CAN_ISOTP_DEFAULT_FLAGS 0
#define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00
#define CAN_ISOTP_DEFAULT_PAD_CONTENT 0xCC /* prevent bit-stuffing */
#define CAN_ISOTP_DEFAULT_FRAME_TXTIME 0
#define CAN_ISOTP_DEFAULT_RECV_BS 0
#define CAN_ISOTP_DEFAULT_RECV_STMIN 0x00
#define CAN_ISOTP_DEFAULT_RECV_WFTMAX 0
/** @} */
/**
* @brief Initialize the isotp layer
*
* @param stack stack for the isotp thread
* @param stacksize size of @p stack
* @param priority priority of the isotp thread
* @param name name of the isotp thread
*
* @return the pid of the isotp thread
*/
kernel_pid_t isotp_init(char *stack, int stacksize, char priority, const char *name);
/**
* @brief Send data through an isotp channel
*
* @param isotp the channel to use
* @param buf the data to send
* @param len length of the data to send
* @param flags flags for sending
*
* @return the number of bytes sent
* @return < 0 if an error occured (-EBUSY, -ENOMEM)
*/
int isotp_send(struct isotp *isotp, const void *buf, int len, int flags);
/**
* @brief Bind an isotp channel
*
* Initialize the channel, set the filter on the DLL and add the
* channel to the list of bound channels
*
* @param isotp the channel to bind
* @param entry entry identifying the CAN ifnum and the upper layer
* either by its pid or its mailbox
* @param arg upper layer private parameter
*
* @return 0 on success, < 0 on error
*/
int isotp_bind(struct isotp *isotp, can_reg_entry_t *entry, void *arg);
/**
* @brief Release a bound isotp channel
*
* Unset the filter on the DLL and remove the channel from the list
* of bound channels
*
* @param isotp the channel to relase
*
* @return 0 on success, < 0 on error
*/
int isotp_release(struct isotp *isotp);
/**
* @brief Free a received buffer
*
* This MUST be called by the upper layer when the received data are read
*
* @param rx the received data
*/
void isotp_free_rx(can_rx_data_t *rx);
#ifdef __cplusplus
}
#endif
#endif /* CAN_ISOTP_H */
/** @} */
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