ISO transport protocol over CAN

ISO transport protocol over CAN (ISO15765) More...

Detailed Description

ISO transport protocol over CAN (ISO15765)

Files
file	isotp.h
	ISO TP high level interface.

Data Structures
struct	isotp_fc_options
	The isotp_fc_options struct. More...
struct	isotp_options
	The isotp_options struct. More...
struct	tpcon
	The tpcon struct. More...
struct	isotp
	The isotp struct. More...

Macros
#define	CAN_ISOTP_BS   (10)
	Default Block Size for RX Flow Control frames.
#define	CAN_ISOTP_STMIN   (5)
	Default STmin for RX Flow Control frames.
#define	CAN_ISOTP_WFTMAX   (1)
	Default maximum WFT for TX Flow Control.

Functions
kernel_pid_t	isotp_init (char *stack, int stacksize, char priority, const char *name)
	Initialize the isotp layer.
int	isotp_send (struct isotp *isotp, const void *buf, int len, int flags)
	Send data through an isotp channel.
int	isotp_bind (struct isotp *isotp, can_reg_entry_t *entry, void *arg, struct isotp_fc_options *fc_options)
	Bind an isotp channel.
int	isotp_release (struct isotp *isotp)
	Release a bound isotp channel.
void	isotp_free_rx (can_rx_data_t *rx)
	Free a received buffer.

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

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

Macro Definition Documentation

CAN_ISOTP_BS

#define CAN_ISOTP_BS   (10)

Default Block Size for RX Flow Control frames.

Definition at line 38 of file isotp.h.

CAN_ISOTP_DEFAULT_EXT_ADDRESS

#define CAN_ISOTP_DEFAULT_EXT_ADDRESS   0x00

Definition at line 141 of file isotp.h.

CAN_ISOTP_DEFAULT_FLAGS

#define CAN_ISOTP_DEFAULT_FLAGS   0

Definition at line 140 of file isotp.h.

CAN_ISOTP_DEFAULT_FRAME_TXTIME

#define CAN_ISOTP_DEFAULT_FRAME_TXTIME   0

Definition at line 143 of file isotp.h.

CAN_ISOTP_DEFAULT_PAD_CONTENT

#define CAN_ISOTP_DEFAULT_PAD_CONTENT   0xCC /* prevent bit-stuffing */

Definition at line 142 of file isotp.h.

CAN_ISOTP_DEFAULT_RECV_BS

#define CAN_ISOTP_DEFAULT_RECV_BS   0

Definition at line 144 of file isotp.h.

CAN_ISOTP_DEFAULT_RECV_STMIN

#define CAN_ISOTP_DEFAULT_RECV_STMIN   0x00

Definition at line 145 of file isotp.h.

CAN_ISOTP_DEFAULT_RECV_WFTMAX

#define CAN_ISOTP_DEFAULT_RECV_WFTMAX   0

Definition at line 146 of file isotp.h.

CAN_ISOTP_EXTEND_ADDR

#define CAN_ISOTP_EXTEND_ADDR   0x0002

enable extended addressing

Definition at line 127 of file isotp.h.

CAN_ISOTP_HALF_DUPLEX

#define CAN_ISOTP_HALF_DUPLEX   0x0040

half duplex error state handling

Definition at line 129 of file isotp.h.

CAN_ISOTP_LISTEN_MODE

#define CAN_ISOTP_LISTEN_MODE   0x0001

listen only flag (do not send FC)

Definition at line 126 of file isotp.h.

CAN_ISOTP_RX_EXT_ADDR

#define CAN_ISOTP_RX_EXT_ADDR   0x0200

different rx extended addressing

Definition at line 130 of file isotp.h.

CAN_ISOTP_RX_FLAGS_MASK

#define CAN_ISOTP_RX_FLAGS_MASK   0x0000FFFF

rx flags mask

Definition at line 125 of file isotp.h.

CAN_ISOTP_STMIN

#define CAN_ISOTP_STMIN   (5)

Default STmin for RX Flow Control frames.

Definition at line 45 of file isotp.h.

CAN_ISOTP_TX_DONT_WAIT

#define CAN_ISOTP_TX_DONT_WAIT   0x00010000

do not send a tx confirmation msg

Definition at line 133 of file isotp.h.

CAN_ISOTP_TX_FLAGS_MASK

#define CAN_ISOTP_TX_FLAGS_MASK   0xFFFF0000

tx flags mask

Definition at line 132 of file isotp.h.

CAN_ISOTP_TX_PADDING

#define CAN_ISOTP_TX_PADDING   0x0004

enable CAN frame padding tx path

Definition at line 128 of file isotp.h.

CAN_ISOTP_WFTMAX

#define CAN_ISOTP_WFTMAX   (1)

Default maximum WFT for TX Flow Control.

Definition at line 52 of file isotp.h.

Function Documentation

isotp_bind()

int isotp_bind	(	struct isotp *	isotp,
		can_reg_entry_t *	entry,
		void *	arg,
		struct isotp_fc_options *	fc_options
	)

Bind an isotp channel.

Initialize the channel, set the filter on the DLL and add the channel to the list of bound channels

Parameters

isotp	the channel to bind
entry	entry identifying the CAN ifnum and the upper layer either by its pid or its mailbox
fc_options	flow control parameters, bs and stmin for rx, wftmax for tx, if NULL, default values will be used
arg	upper layer private parameter

Returns

0 on success, < 0 on error

isotp_free_rx()

void isotp_free_rx

(

can_rx_data_t *

rx

)

Free a received buffer.

This MUST be called by the upper layer when the received data are read

Parameters

rx	the received data

isotp_init()

kernel_pid_t isotp_init	(	char *	stack,
		int	stacksize,
		char	priority,
		const char *	name
	)

Initialize the isotp layer.

Parameters

stack	stack for the isotp thread
stacksize	size of stack
priority	priority of the isotp thread
name	name of the isotp thread

Returns

the pid of the isotp thread

isotp_release()

int isotp_release

(

struct isotp *

isotp

)

Release a bound isotp channel.

Unset the filter on the DLL and remove the channel from the list of bound channels

Parameters

isotp

the channel to release

Returns

0 on success, < 0 on error

isotp_send()

int isotp_send	(	struct isotp *	isotp,
		const void *	buf,
		int	len,
		int	flags
	)

Send data through an isotp channel.

Parameters

isotp	the channel to use
buf	the data to send
len	length of the data to send
flags	flags for sending

Returns

the number of bytes sent

< 0 if an error occurred (-EBUSY, -ENOMEM)