isotp.h

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/*
 * Copyright (c) 2019 Alexander Wachter
 *
 * SPDX-License-Identifier: Apache-2.0
 */

 
#ifndef ZEPHYR_INCLUDE_CANBUS_ISOTP_H_
#define ZEPHYR_INCLUDE_CANBUS_ISOTP_H_

 
#include <zephyr/drivers/can.h>
#include <zephyr/types.h>
#include <zephyr/net_buf.h>
 
/*
 * Abbreviations
 * BS      Block Size
 * CAN_DL  CAN LL data size
 * CF      Consecutive Frame
 * CTS     Continue to send
 * DLC     Data length code
 * FC      Flow Control
 * FF      First Frame
 * SF      Single Frame
 * FS      Flow Status
 * AE      Address Extension
 * SN      Sequence Number
 * ST      Separation time
 * SA      Source Address
 * TA      Target Address
 * RX_DL   CAN RX LL data size
 * TX_DL   CAN TX LL data size
 * PCI     Process Control Information
 */
 
/*
 * N_Result according to ISO 15765-2:2016
 * ISOTP_ prefix is used to be zephyr conform
 */

#define ISOTP_N_OK              0

#define ISOTP_N_TIMEOUT_A      -1

#define ISOTP_N_TIMEOUT_BS     -2

#define ISOTP_N_TIMEOUT_CR     -3

#define ISOTP_N_WRONG_SN       -4

#define ISOTP_N_INVALID_FS     -5

#define ISOTP_N_UNEXP_PDU      -6

#define ISOTP_N_WFT_OVRN       -7

#define ISOTP_N_BUFFER_OVERFLW -8

#define ISOTP_N_ERROR          -9


#define ISOTP_NO_FREE_FILTER    -10

#define ISOTP_NO_NET_BUF_LEFT   -11

#define ISOTP_NO_BUF_DATA_LEFT  -12

#define ISOTP_NO_CTX_LEFT       -13

#define ISOTP_RECV_TIMEOUT      -14
 
/*
 * CAN ID filtering for ISO-TP fixed addressing according to SAE J1939
 *
 * Format of 29-bit CAN identifier:
 * ------------------------------------------------------
 * | 28 .. 26 | 25  | 24 | 23 .. 16 | 15 .. 8  | 7 .. 0 |
 * ------------------------------------------------------
 * | Priority | EDP | DP | N_TAtype |   N_TA   |  N_SA  |
 * ------------------------------------------------------
 */

#define ISOTP_FIXED_ADDR_SA_POS         (CONFIG_ISOTP_FIXED_ADDR_SA_POS)

#define ISOTP_FIXED_ADDR_SA_MASK        (CONFIG_ISOTP_FIXED_ADDR_SA_MASK)

#define ISOTP_FIXED_ADDR_TA_POS         (CONFIG_ISOTP_FIXED_ADDR_TA_POS)

#define ISOTP_FIXED_ADDR_TA_MASK        (CONFIG_ISOTP_FIXED_ADDR_TA_MASK)

#define ISOTP_FIXED_ADDR_PRIO_POS       (CONFIG_ISOTP_FIXED_ADDR_PRIO_POS)

#define ISOTP_FIXED_ADDR_PRIO_MASK      (CONFIG_ISOTP_FIXED_ADDR_PRIO_MASK)

#define ISOTP_FIXED_ADDR_RX_MASK        (CONFIG_ISOTP_FIXED_ADDR_RX_MASK)
 
#ifdef __cplusplus
extern "C" {
#endif


#define ISOTP_MSG_EXT_ADDR BIT(0)

#define ISOTP_MSG_FIXED_ADDR BIT(1)

#define ISOTP_MSG_IDE BIT(2)

#define ISOTP_MSG_FDF BIT(3)

#define ISOTP_MSG_BRS BIT(4)


struct isotp_msg_id {
        union {
                uint32_t std_id  : 11;
                uint32_t ext_id  : 29;
        };
        uint8_t ext_addr;
        uint8_t dl;
        uint8_t flags;
};
 
/*
 * STmin is split in two valid ranges:
 *   0-127: 0ms-127ms
 * 128-240: Reserved
 * 241-249: 100us-900us (multiples of 100us)
 * 250-   : Reserved
 */

struct isotp_fc_opts {
        uint8_t bs;    
        uint8_t stmin; 
};

typedef void (*isotp_tx_callback_t)(int error_nr, void *arg);
 
struct isotp_send_ctx;
struct isotp_recv_ctx;

int isotp_bind(struct isotp_recv_ctx *rctx, const struct device *can_dev,
               const struct isotp_msg_id *rx_addr,
               const struct isotp_msg_id *tx_addr,
               const struct isotp_fc_opts *opts,
               k_timeout_t timeout);

void isotp_unbind(struct isotp_recv_ctx *rctx);

int isotp_recv(struct isotp_recv_ctx *rctx, uint8_t *data, size_t len, k_timeout_t timeout);

int isotp_recv_net(struct isotp_recv_ctx *rctx, struct net_buf **buffer, k_timeout_t timeout);

int isotp_send(struct isotp_send_ctx *sctx, const struct device *can_dev,
               const uint8_t *data, size_t len,
               const struct isotp_msg_id *tx_addr,
               const struct isotp_msg_id *rx_addr,
               isotp_tx_callback_t complete_cb, void *cb_arg);
 
#ifdef CONFIG_ISOTP_ENABLE_CONTEXT_BUFFERS
int isotp_send_ctx_buf(const struct device *can_dev,
                       const uint8_t *data, size_t len,
                       const struct isotp_msg_id *tx_addr,
                       const struct isotp_msg_id *rx_addr,
                       isotp_tx_callback_t complete_cb, void *cb_arg,
                       k_timeout_t timeout);

int isotp_send_net_ctx_buf(const struct device *can_dev,
                           struct net_buf *data,
                           const struct isotp_msg_id *tx_addr,
                           const struct isotp_msg_id *rx_addr,
                           isotp_tx_callback_t complete_cb, void *cb_arg,
                           k_timeout_t timeout);
 
#endif /*CONFIG_ISOTP_ENABLE_CONTEXT_BUFFERS*/
 
#if defined(CONFIG_ISOTP_USE_TX_BUF) && \
        defined(CONFIG_ISOTP_ENABLE_CONTEXT_BUFFERS)
int isotp_send_buf(const struct device *can_dev,
                   const uint8_t *data, size_t len,
                   const struct isotp_msg_id *tx_addr,
                   const struct isotp_msg_id *rx_addr,
                   isotp_tx_callback_t complete_cb, void *cb_arg,
                   k_timeout_t timeout);
#endif

 
struct isotp_callback {
        isotp_tx_callback_t cb;
        void *arg;
};
 
struct isotp_send_ctx {
        int filter_id;
        uint32_t error_nr;
        const struct device *can_dev;
        union {
                struct net_buf *buf;
                struct {
                        const uint8_t *data;
                        size_t len;
                };
        };
        struct k_work work;
        struct k_timer timer;
        union {
                struct isotp_callback fin_cb;
                struct k_sem fin_sem;
        };
        struct isotp_fc_opts opts;
        uint8_t state;
        uint8_t tx_backlog;
        struct k_sem tx_sem;
        struct isotp_msg_id rx_addr;
        struct isotp_msg_id tx_addr;
        uint8_t wft;
        uint8_t bs;
        uint8_t sn : 4;
        uint8_t is_net_buf  : 1;
        uint8_t is_ctx_slab : 1;
        uint8_t has_callback: 1;
};
 
struct isotp_recv_ctx {
        int filter_id;
        const struct device *can_dev;
        struct net_buf *buf;
        struct net_buf *act_frag;
        /* buffer currently processed in isotp_recv */
        struct net_buf *recv_buf;
        sys_snode_t alloc_node;
        uint32_t length;
        int error_nr;
        struct k_work work;
        struct k_timer timer;
        struct k_fifo fifo;
        struct isotp_msg_id rx_addr;
        struct isotp_msg_id tx_addr;
        struct isotp_fc_opts opts;
        uint8_t state;
        uint8_t bs;
        uint8_t wft;
        uint8_t sn_expected : 4;
};


 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_CANBUS_ISOTP_H_ */