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isotp.h
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1/*
2 * Copyright (C) 2016 OTA keys S.A.
3 *
4 * This file is subject to the terms and conditions of the GNU Lesser General
5 * Public License v2.1. See the file LICENSE in the top level directory for more
6 * details.
7 */
8
21#ifndef CAN_ISOTP_H
22#define CAN_ISOTP_H
23
24#ifdef __cplusplus
25extern "C" {
26#endif
27
28#include "can/can.h"
29#include "can/common.h"
30#include "thread.h"
31#include "ztimer.h"
32#include "net/gnrc/pktbuf.h"
33
34#ifndef CAN_ISOTP_BS
38#define CAN_ISOTP_BS (10)
39#endif
40
41#ifndef CAN_ISOTP_STMIN
45#define CAN_ISOTP_STMIN (5)
46#endif
47
48#ifndef CAN_ISOTP_WFTMAX
52#define CAN_ISOTP_WFTMAX (1)
53#endif
54
61 uint8_t bs;
68 uint8_t stmin;
69
70 uint8_t wftmax;
71};
72
86
92struct tpcon {
93 unsigned idx;
94 uint8_t state;
95 uint8_t bs;
96 uint8_t sn;
99};
100
120
125#define CAN_ISOTP_RX_FLAGS_MASK 0x0000FFFF
126#define CAN_ISOTP_LISTEN_MODE 0x0001
127#define CAN_ISOTP_EXTEND_ADDR 0x0002
128#define CAN_ISOTP_TX_PADDING 0x0004
129#define CAN_ISOTP_HALF_DUPLEX 0x0040
130#define CAN_ISOTP_RX_EXT_ADDR 0x0200
132#define CAN_ISOTP_TX_FLAGS_MASK 0xFFFF0000
133#define CAN_ISOTP_TX_DONT_WAIT 0x00010000
140#define CAN_ISOTP_DEFAULT_FLAGS 0
141#define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00
142#define CAN_ISOTP_DEFAULT_PAD_CONTENT 0xCC /* prevent bit-stuffing */
143#define CAN_ISOTP_DEFAULT_FRAME_TXTIME 0
144#define CAN_ISOTP_DEFAULT_RECV_BS 0
145#define CAN_ISOTP_DEFAULT_RECV_STMIN 0x00
146#define CAN_ISOTP_DEFAULT_RECV_WFTMAX 0
159kernel_pid_t isotp_init(char *stack, int stacksize, char priority, const char *name);
160
172int isotp_send(struct isotp *isotp, const void *buf, int len, int flags);
173
189int isotp_bind(struct isotp *isotp, can_reg_entry_t *entry, void *arg,
190 struct isotp_fc_options *fc_options);
191
203
212
213#ifdef __cplusplus
214}
215#endif
216
217#endif /* CAN_ISOTP_H */
int16_t kernel_pid_t
Unique process identifier.
Definition sched.h:139
uint32_t canid_t
Controller Area Network Identifier structure.
Definition can.h:83
int isotp_release(struct isotp *isotp)
Release a bound isotp channel.
int isotp_send(struct isotp *isotp, const void *buf, int len, int flags)
Send data through an isotp channel.
kernel_pid_t isotp_init(char *stack, int stacksize, char priority, const char *name)
Initialize the isotp layer.
void isotp_free_rx(can_rx_data_t *rx)
Free a received buffer.
int isotp_bind(struct isotp *isotp, can_reg_entry_t *entry, void *arg, struct isotp_fc_options *fc_options)
Bind an isotp channel.
Interface definition for the global network buffer.
registry entry
Definition common.h:143
Received data structure.
Definition common.h:122
Type to represent parts (either headers or payload) of a packet, called snips.
Definition pkt.h:108
The isotp_fc_options struct.
Definition isotp.h:60
uint8_t wftmax
max.
Definition isotp.h:70
uint8_t bs
blocksize provided in FC frame, 0 = off
Definition isotp.h:61
uint8_t stmin
separation time provided in FC frame 0x00 - 0x7F : 0 - 127 ms 0x80 - 0xF0 : reserved 0xF1 - 0xF9 : 10...
Definition isotp.h:68
The isotp_options struct.
Definition isotp.h:78
uint8_t txpad_content
set content of padding byte (tx)
Definition isotp.h:83
uint8_t rx_ext_address
set address for extended addressing
Definition isotp.h:84
canid_t rx_id
Receive CAN ID.
Definition isotp.h:80
uint8_t ext_address
set address for extended addressing
Definition isotp.h:82
uint16_t flags
set flags for isotp behaviour.
Definition isotp.h:81
canid_t tx_id
transmit CAN ID
Definition isotp.h:79
The isotp struct.
Definition isotp.h:106
struct isotp_options opt
channel options
Definition isotp.h:108
uint8_t tx_wft
transmit wait counter
Definition isotp.h:117
void * arg
upper layer private arg
Definition isotp.h:118
struct isotp_fc_options rxfc
rx flow control options (defined locally)
Definition isotp.h:109
struct isotp * next
next bound channel
Definition isotp.h:107
ztimer_t rx_timer
timer for rx operations
Definition isotp.h:114
struct isotp_fc_options txfc
tx flow control options (defined remotely)
Definition isotp.h:110
ztimer_t tx_timer
timer for tx operations
Definition isotp.h:113
struct tpcon rx
receive state
Definition isotp.h:112
uint32_t tx_gap
transmit gap from fc (in us)
Definition isotp.h:116
struct tpcon tx
transmit state
Definition isotp.h:111
can_reg_entry_t entry
entry containing ifnum and upper layer msg system
Definition isotp.h:115
The tpcon struct.
Definition isotp.h:92
unsigned idx
current index in buf
Definition isotp.h:93
gnrc_pktsnip_t * snip
allocated snip containing data buffer
Definition isotp.h:98
uint8_t sn
current sequence number
Definition isotp.h:96
uint8_t state
the protocol state
Definition isotp.h:94
uint8_t bs
block size
Definition isotp.h:95
int tx_handle
handle of the last sent frame
Definition isotp.h:97
ztimer structure
Definition ztimer.h:318
Definitions high-level CAN interface.
Definitions of high-level CAN interface.
ztimer API