can: isotp: Add ISO-TP library
This commit adds a ISO-TP (ISO15765-2) library. The library makes use of net buffers and spawns a workqueue thread. The CAN device that is passed to bind and send can be used concurrently beside this library. Signed-off-by: Alexander Wachter <alexander.wachter@student.tugraz.at>
This commit is contained in:
Alexander Wachter
Jukka Rissanen
parent
07ecb817ff
commit
55baaf0365
7 changed files with 1924 additions and 0 deletions
393
include/canbus/isotp.h
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393
include/canbus/isotp.h
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/*
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* Copyright (c) 2019 Alexander Wachter
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/**
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* @file
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* @brief Public API for ISO-TP (ISO 15765-2:2016)
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*
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* ISO-TP is a transport protocol for CAN (Controller Area Network)
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*/
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#ifndef ZEPHYR_INCLUDE_ISOTP_H_
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#define ZEPHYR_INCLUDE_ISOTP_H_
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/**
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* @brief CAN ISO-TP Interf
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* @defgroup can_isotp CAN ISO-TP Interface
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* @ingroup CAN
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* @{
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*/
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#include <drivers/can.h>
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#include <zephyr/types.h>
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#include <net/buf.h>
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/*
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* Abbreviations
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* BS Block Size
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* CAN_DL CAN LL data size
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* CF Consecutive Frame
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* CTS Continue to send
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* DLC Data length code
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* FC Flow Control
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* FF First Frame
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* FS Flow Status
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* AE Adders Extension
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*/
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/*
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* N_Result according to ISO 15765-2:2016
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* ISOTP_ prefix is used to be zephyr conform
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*/
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/** Completed successfully */
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#define ISOTP_N_OK 0
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/** Ar/As has timed out */
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#define ISOTP_N_TIMEOUT_A -1
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/** Reception of next FC has timed out */
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#define ISOTP_N_TIMEOUT_BS -2
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/** Cr has timed out */
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#define ISOTP_N_TIMEOUT_CR -3
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/** Unexpected sequence number */
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#define ISOTP_N_WRONG_SN -4
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/** Invalid flow status received*/
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#define ISOTP_N_INVALID_FS -5
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/** Unexpected PDU received */
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#define ISOTP_N_UNEXP_PDU -6
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/** Maximum number of WAIT flowStatus PDUs exceeded */
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#define ISOTP_N_WFT_OVRN -7
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/** FlowStatus OVFLW PDU was received */
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#define ISOTP_N_BUFFER_OVERFLW -8
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/** General error */
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#define ISOTP_N_ERROR -9
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/** Implementation specific errors */
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/** Can't bind or send because the CAN device has no filter left*/
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#define ISOTP_NO_FREE_FILTER -10
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/** No net buffer left to allocate */
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#define ISOTP_NO_NET_BUF_LEFT -11
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/** Not sufficient space in the buffer left for the data */
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#define ISOTP_NO_BUF_DATA_LEFT -12
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/** No context buffer left to allocate */
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#define ISOTP_NO_CTX_LEFT -13
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/** Timeout for recv */
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#define ISOTP_RECV_TIMEOUT -14
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief ISO-TP message id struct
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*
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* Used to pass addresses to the bind and send functions.
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*/
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struct isotp_msg_id {
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/** Message identifier*/
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union {
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u32_t std_id : 11;
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u32_t ext_id : 29;
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};
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/** extended address */
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u8_t ext_addr;
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/** Indicates the identifier type (standard or extended) */
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u8_t id_type : 1;
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/** Indicates if extended addressing is used */
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u8_t use_ext_addr : 1;
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};
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/*
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* STmin is split in two valid ranges:
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* 0-127: 0ms-127ms
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* 128-240: Reserved
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* 241-249: 100us-900us (multiples of 100us)
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* 250- : Reserved
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*/
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/**
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* @brief ISO-TP frame control options struct
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*
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* Used to pass the options to the bind and send functions.
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*/
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struct isotp_fc_opts {
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u8_t bs; /**< Block size. Number of CF PDUs before next CF is sent */
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u8_t stmin; /**< Minimum separation time. Min time between frames */
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};
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typedef void (*isotp_tx_callback_t)(int error_nr, void *arg);
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struct isotp_send_ctx;
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struct isotp_recv_ctx;
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/**
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* @brief Bind an address to a receiving context.
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*
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* This function binds an RX and TX address combination to an RX context.
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* When data arrives from the specified address, it is buffered and can be read
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* by calling isotp_recv.
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* When calling this routine, a filter is applied in the CAN device, and the
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* context is initialized. The context must be valid until calling unbind.
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*
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* @param ctx Context to store the internal states.
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* @param can_dev The CAN device to be used for sending and receiving.
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* @param rx_addr Identifier for incoming data.
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* @param tx_addr Identifier for FC frames.
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* @param opts Flow control options.
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* @param timeout Timeout for FF SF buffer allocation.
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*
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* @retval ISOTP_N_OK on success
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* @retval ISOTP_NO_FREE_FILTER if CAN device has no filters left.
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*/
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int isotp_bind(struct isotp_recv_ctx *ctx, struct device *can_dev,
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const struct isotp_msg_id *rx_addr,
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const struct isotp_msg_id *tx_addr,
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const struct isotp_fc_opts *opts,
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s32_t timeout);
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/**
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* @brief Unbind a context from the interface
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*
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* This function removes the binding from isotp_bind.
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* The filter is detached from the CAN device, and if a transmission is ongoing,
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* buffers are freed.
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* The context can be discarded safely after calling this function.
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*
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* @param ctx Context that should be unbound.
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*/
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void isotp_unbind(struct isotp_recv_ctx *ctx);
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/**
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* @brief Read out received data from fifo.
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*
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* This function reads the data from the receive FIFO of the context.
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* It blocks if the FIFO is empty.
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* If an error occurs, the function returns a negative number and leaves the
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* data buffer unchanged.
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*
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* @param ctx Context that is already bound.
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* @param data Pointer to a buffer where the data is copied to.
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* @param len Size of the buffer.
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* @param timeout Timeout for incoming data.
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*
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* @retval Number of bytes copied on success
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* @retval ISOTP_WAIT_TIMEOUT when "timeout" timed out
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* @retval ISOTP_N_* on error
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*/
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int isotp_recv(struct isotp_recv_ctx *ctx, u8_t *data, size_t len,
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s32_t timeout);
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/**
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* @brief Get the net buffer on data reception
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*
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* This function reads incoming data into net-buffers.
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* It blocks until the entire packet is received, BS is reached, or an error
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* occurred. If BS was zero, the data is in a single net_buf. Otherwise,
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* the data is fragmented in chunks of BS size.
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* The net-buffers are referenced and must be freed with net_buf_unref after the
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* data is processed.
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*
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* @param ctx Context that is already bound.
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* @param buffer Pointer where the net_buf pointer is written to.
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* @param timeout Timeout for incoming data.
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*
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* @retval Remaining data length for this transfer if BS > 0, 0 for BS = 0
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* @retval ISOTP_WAIT_TIMEOUT when "timeout" timed out
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* @retval ISOTP_N_* on error
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*/
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int isotp_recv_net(struct isotp_recv_ctx *ctx, struct net_buf **buffer,
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s32_t timeout);
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/**
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* @brief Send data
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*
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* This function is used to send data to a peer that listens to the tx_addr.
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* An internal work-queue is used to transfer the segmented data.
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* Data and context must be valid until the transmission has finished.
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* If a complete_cb is given, this function is non-blocking, and the callback
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* is called on completion with the return value as a parameter.
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*
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* @param ctx Context to store the internal states.
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* @param can_dev The CAN device to be used for sending and receiving.
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* @param data Data to be sent.
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* @param len Length of the data to be sent.
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* @param rx_addr Identifier for FC frames.
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* @param tx_addr Identifier for outgoing frames the receiver listens on.
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* @param complete_cb Function called on completion or NULL.
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* @param cb_arg Argument passed to the complete callback.
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*
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* @retval ISOTP_N_OK on success
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* @retval ISOTP_N_* on error
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*/
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int isotp_send(struct isotp_send_ctx *ctx, struct device *can_dev,
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const u8_t *data, size_t len,
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const struct isotp_msg_id *tx_addr,
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const struct isotp_msg_id *rx_addr,
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isotp_tx_callback_t complete_cb, void *cb_arg);
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#ifdef CONFIG_ISOTP_ENABLE_CONTEXT_BUFFERS
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/**
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* @brief Send data with buffered context
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*
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* This function is similar to isotp_send, but the context is automatically
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* allocated from an internal pool.
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*
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* @param can_dev The CAN device to be used for sending and receiving.
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* @param data Data to be sent.
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* @param len Length of the data to be sent.
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* @param rx_addr Identifier for FC frames.
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* @param tx_addr Identifier for outgoing frames the receiver listens on.
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* @param complete_cb Function called on completion or NULL.
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* @param cb_arg Argument passed to the complete callback.
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* @param timeout Timeout for buffer allocation.
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*
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* @retval ISOTP_N_OK on success
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* @retval ISOTP_N_* on error
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*/
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int isotp_send_ctx_buf(struct device *can_dev,
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const u8_t *data, size_t len,
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const struct isotp_msg_id *tx_addr,
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const struct isotp_msg_id *rx_addr,
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isotp_tx_callback_t complete_cb, void *cb_arg,
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s32_t timeout);
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/**
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* @brief Send data with buffered context
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*
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* This function is similar to isotp_send_ctx_buf, but the data is carried in
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* a net_buf. net_buf_unref is called on the net_buf when sending is completed.
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*
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* @param can_dev The CAN device to be used for sending and receiving.
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* @param data Data to be sent.
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* @param len Length of the data to be sent.
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* @param rx_addr Identifier for FC frames.
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* @param tx_addr Identifier for outgoing frames the receiver listens on.
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* @param complete_cb Function called on completion or NULL.
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* @param cb_arg Argument passed to the complete callback.
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* @param timeout Timeout for buffer allocation.
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*
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* @retval ISOTP_N_OK on success
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* @retval ISOTP_* on error
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*/
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int isotp_send_net_ctx_buf(struct device *can_dev,
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struct net_buf *data,
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const struct isotp_msg_id *tx_addr,
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const struct isotp_msg_id *rx_addr,
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isotp_tx_callback_t complete_cb, void *cb_arg,
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s32_t timeout);
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#endif /*CONFIG_ISOTP_ENABLE_CONTEXT_BUFFERS*/
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#if defined(CONFIG_ISOTP_USE_TX_BUF) && \
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defined(CONFIG_ISOTP_ENABLE_CONTEXT_BUFFERS)
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/**
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* @brief Send data with buffered context
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*
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* This function is similar to isotp_send, but the context is automatically
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* allocated from an internal pool and the data to be send is buffered in an
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* internal net_buff.
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*
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* @param can_dev The CAN device to be used for sending and receiving.
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* @param data Data to be sent.
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* @param len Length of the data to be sent.
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* @param rx_addr Identifier for FC frames.
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* @param tx_addr Identifier for outgoing frames the receiver listens on.
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* @param complete_cb Function called on completion or NULL.
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* @param cb_arg Argument passed to the complete callback.
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* @param timeout Timeout for buffer allocation.
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*
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* @retval ISOTP_N_OK on success
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* @retval ISOTP_* on error
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*/
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int isotp_send_buf(struct device *can_dev,
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const u8_t *data, size_t len,
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const struct isotp_msg_id *tx_addr,
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const struct isotp_msg_id *rx_addr,
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isotp_tx_callback_t complete_cb, void *cb_arg,
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s32_t timeout);
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#endif
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/** @cond INTERNAL_HIDDEN */
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struct isotp_callback {
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isotp_tx_callback_t cb;
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void *arg;
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};
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struct isotp_send_ctx {
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int filter_id;
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u32_t error_nr;
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struct device *can_dev;
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union {
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struct net_buf *buf;
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struct {
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const u8_t *data;
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size_t len;
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};
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};
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struct k_work work;
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struct _timeout timeout;
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union {
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struct isotp_callback fin_cb;
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struct k_sem fin_sem;
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};
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struct isotp_fc_opts opts;
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u8_t state;
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u8_t tx_backlog;
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struct isotp_msg_id rx_addr;
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struct isotp_msg_id tx_addr;
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u8_t wft;
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u8_t bs;
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u8_t sn : 4;
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u8_t is_net_buf : 1;
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u8_t is_ctx_slab : 1;
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u8_t has_callback: 1;
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};
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struct isotp_recv_ctx {
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int filter_id;
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struct device *can_dev;
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struct net_buf *buf;
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struct net_buf *act_frag;
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sys_snode_t alloc_node;
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u32_t length;
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int error_nr;
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struct k_work work;
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struct _timeout timeout;
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struct k_fifo fifo;
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struct isotp_msg_id rx_addr;
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struct isotp_msg_id tx_addr;
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struct isotp_fc_opts opts;
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u8_t state;
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u8_t bs;
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u8_t wft;
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u8_t sn_expected : 4;
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};
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/** @endcond */
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/**
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* @}
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*/
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#ifdef __cplusplus
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}
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#endif
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#endif /* ZEPHYR_INCLUDE_ISOTP_H_ */
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