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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|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* ZEPHYR_INCLUDE_ISOTP_H_ */
|
||||||
|
|
@ -1,3 +1,4 @@
|
||||||
# SPDX-License-Identifier: Apache-2.0
|
# SPDX-License-Identifier: Apache-2.0
|
||||||
|
|
||||||
add_subdirectory_if_kconfig(canopen)
|
add_subdirectory_if_kconfig(canopen)
|
||||||
|
add_subdirectory_if_kconfig(isotp)
|
||||||
|
|
|
||||||
|
|
@ -6,5 +6,6 @@
|
||||||
menu "Controller Area Network (CAN) bus subsystem"
|
menu "Controller Area Network (CAN) bus subsystem"
|
||||||
|
|
||||||
source "subsys/canbus/canopen/Kconfig"
|
source "subsys/canbus/canopen/Kconfig"
|
||||||
|
source "subsys/canbus/isotp/Kconfig"
|
||||||
|
|
||||||
endmenu
|
endmenu
|
||||||
|
|
|
||||||
4
subsys/canbus/isotp/CMakeLists.txt
Normal file
4
subsys/canbus/isotp/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,4 @@
|
||||||
|
# SPDX-License-Identifier: Apache-2.0
|
||||||
|
|
||||||
|
zephyr_library()
|
||||||
|
zephyr_library_sources_if_kconfig(isotp.c)
|
||||||
133
subsys/canbus/isotp/Kconfig
Normal file
133
subsys/canbus/isotp/Kconfig
Normal file
|
|
@ -0,0 +1,133 @@
|
||||||
|
# ISO-TP configuration options
|
||||||
|
|
||||||
|
# Copyright (c) 2019 Alexander Wachter
|
||||||
|
# SPDX-License-Identifier: Apache-2.0
|
||||||
|
|
||||||
|
menuconfig ISOTP
|
||||||
|
bool "ISO-TP Transport [EXPERIMENTAL]"
|
||||||
|
select NET_BUF
|
||||||
|
select POLL
|
||||||
|
help
|
||||||
|
Enable ISO TP support for CAN
|
||||||
|
|
||||||
|
if ISOTP
|
||||||
|
|
||||||
|
module = ISOTP
|
||||||
|
module-str = ISOTP
|
||||||
|
source "subsys/logging/Kconfig.template.log_config"
|
||||||
|
|
||||||
|
config ISOTP_WFTMAX
|
||||||
|
int "WFTmax (Max WAIT frames before aborting)."
|
||||||
|
default 10
|
||||||
|
range 0 254
|
||||||
|
help
|
||||||
|
This value defines the maximum number of WAIT frames before the transmission
|
||||||
|
is aborted.
|
||||||
|
|
||||||
|
config ISOTP_BS_TIMEOUT
|
||||||
|
int "Bs timeout [ms] (timeout for receiving the frame control)"
|
||||||
|
default 1000
|
||||||
|
range 200 10000
|
||||||
|
help
|
||||||
|
Timeout for the reception of the next FC frame. ISO 15765-2: 1000ms
|
||||||
|
|
||||||
|
config ISOTP_A_TIMEOUT
|
||||||
|
int "Ar and As timeout [ms] (sending and receiving timeout)"
|
||||||
|
default 1000
|
||||||
|
range 200 10000
|
||||||
|
help
|
||||||
|
As (sender transmit timeout) and Ar (receiver transmit timeout).
|
||||||
|
ISO 15765-2: 1000ms
|
||||||
|
|
||||||
|
config ISOTP_CR_TIMEOUT
|
||||||
|
int "Cr timeout [ms] (timeout for consecutive frames)"
|
||||||
|
default 1000
|
||||||
|
range 200 10000
|
||||||
|
help
|
||||||
|
Cr (receiver consecutive frame) timeout.
|
||||||
|
ISO 15765-2: 1000ms
|
||||||
|
|
||||||
|
config ISOTP_WORKQUEUE_PRIO
|
||||||
|
int "Priority level of the RX and TX work queue"
|
||||||
|
default 2
|
||||||
|
help
|
||||||
|
This value defines the priority level of the work queue thread that
|
||||||
|
handles flow control, consecutive sending, receiving and callbacks.
|
||||||
|
|
||||||
|
config ISOTP_WORKQ_STACK_SIZE
|
||||||
|
int "Work queue stack size"
|
||||||
|
default 256
|
||||||
|
help
|
||||||
|
This value defines the stack size of the work queue thread that
|
||||||
|
handles flow control, consecutive sending, receiving and callbacks.
|
||||||
|
|
||||||
|
config ISOTP_RX_BUF_COUNT
|
||||||
|
int "Number of data buffers for receiving data"
|
||||||
|
default 4
|
||||||
|
help
|
||||||
|
Each data buffer will occupy ISOTP_RX_BUF_SIZE + smallish
|
||||||
|
header (sizeof(struct net_buf)) amount of data.
|
||||||
|
|
||||||
|
config ISOTP_RX_BUF_SIZE
|
||||||
|
int "Size of one buffer data block"
|
||||||
|
default 56
|
||||||
|
help
|
||||||
|
This value defines the size of a single block in the pool. The number of
|
||||||
|
blocks is given by ISOTP_RX_BUF_COUNT. To be efficient use a multiple of
|
||||||
|
CAN_DL - 1 (for classic can : 8 - 1 = 7).
|
||||||
|
|
||||||
|
config ISOTP_RX_SF_FF_BUF_COUNT
|
||||||
|
int "Number of SF and FF data buffers for receiving data"
|
||||||
|
default 4
|
||||||
|
help
|
||||||
|
This buffer is used for first and single frames. It is extra because the
|
||||||
|
buffer has to be ready for the first reception in isr context and therefor
|
||||||
|
is allocated when binding.
|
||||||
|
Each buffer will occupy CAN_DL - 1 byte + header (sizeof(struct net_buf))
|
||||||
|
amount of data.
|
||||||
|
|
||||||
|
config ISOTP_USE_TX_BUF
|
||||||
|
bool "Buffer tx writes"
|
||||||
|
default n
|
||||||
|
help
|
||||||
|
Copy the outgoing data to a net buffer so that the calling function
|
||||||
|
can discard the data.
|
||||||
|
|
||||||
|
if ISOTP_USE_TX_BUF
|
||||||
|
|
||||||
|
config ISOTP_TX_BUF_COUNT
|
||||||
|
int "Number of data buffers for sending data"
|
||||||
|
default 4
|
||||||
|
help
|
||||||
|
Each data buffer will occupy CONFIG_NET_BUF_DATA_SIZE + smallish
|
||||||
|
header (sizeof(struct net_buf)) amount of data. If context buffers
|
||||||
|
are used, use the same size here.
|
||||||
|
|
||||||
|
config ISOTP_BUF_TX_DATA_POOL_SIZE
|
||||||
|
int "Size of the memory pool where buffers are allocated from"
|
||||||
|
default 256
|
||||||
|
help
|
||||||
|
This value defines the size of the memory pool where the buffers
|
||||||
|
for sending are allocated from.
|
||||||
|
|
||||||
|
endif # ISOTP_USE_TX_BUF
|
||||||
|
|
||||||
|
config ISOTP_ENABLE_CONTEXT_BUFFERS
|
||||||
|
bool "Enable buffered tx contexts"
|
||||||
|
default y
|
||||||
|
help
|
||||||
|
This option enables buffered sending contexts. This makes send and
|
||||||
|
forget possible. A memory slab is used to buffer the context.
|
||||||
|
|
||||||
|
if ISOTP_ENABLE_CONTEXT_BUFFERS
|
||||||
|
|
||||||
|
config ISOTP_TX_CONTEXT_BUF_COUNT
|
||||||
|
int "Amount of context buffers for sending data"
|
||||||
|
default 4
|
||||||
|
help
|
||||||
|
This defines the size of the memory slab where the buffers are
|
||||||
|
allocated from.
|
||||||
|
|
||||||
|
endif # ISOTP_ENABLE_CONTEXT_BUFFERS
|
||||||
|
|
||||||
|
endif # ISOTP
|
||||||
1268
subsys/canbus/isotp/isotp.c
Normal file
1268
subsys/canbus/isotp/isotp.c
Normal file
File diff suppressed because it is too large
Load diff
124
subsys/canbus/isotp/isotp_internal.h
Normal file
124
subsys/canbus/isotp/isotp_internal.h
Normal file
|
|
@ -0,0 +1,124 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2019 Alexander Wachter
|
||||||
|
*
|
||||||
|
* SPDX-License-Identifier: Apache-2.0
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef ZEPHYR_SUBSYS_NET_CAN_ISOTP_INTERNAL_H_
|
||||||
|
#define ZEPHYR_SUBSYS_NET_CAN_ISOTP_INTERNAL_H_
|
||||||
|
|
||||||
|
|
||||||
|
#include <canbus/isotp.h>
|
||||||
|
#include <sys/slist.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 Adders Extension
|
||||||
|
* SN Sequence Number
|
||||||
|
* ST Separation time
|
||||||
|
* PCI Process Control Information
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* This is for future use when we have CAN-FD */
|
||||||
|
#ifdef ISOTP_USE_CAN_FD
|
||||||
|
/* #define ISOTP_CAN_DL CONFIG_ISOTP_TX_DL* */
|
||||||
|
#define ISOTP_CAN_DL 8
|
||||||
|
#else
|
||||||
|
#define ISOTP_CAN_DL 8
|
||||||
|
#endif/*ISOTP_USE_CAN_FD*/
|
||||||
|
|
||||||
|
/* Protocol control information*/
|
||||||
|
#define ISOTP_PCI_SF 0x00 /* Single frame*/
|
||||||
|
#define ISOTP_PCI_FF 0x01 /* First frame */
|
||||||
|
#define ISOTP_PCI_CF 0x02 /* Consecutive frame */
|
||||||
|
#define ISOTP_PCI_FC 0x03 /* Flow control frame */
|
||||||
|
|
||||||
|
#define ISOTP_PCI_TYPE_BYTE 0
|
||||||
|
#define ISOTP_PCI_TYPE_POS 4
|
||||||
|
#define ISOTP_PCI_TYPE_MASK 0xF0
|
||||||
|
#define ISOTP_PCI_TYPE_SF (ISOTP_PCI_SF << ISOTP_PCI_TYPE_POS)
|
||||||
|
#define ISOTP_PCI_TYPE_FF (ISOTP_PCI_FF << ISOTP_PCI_TYPE_POS)
|
||||||
|
#define ISOTP_PCI_TYPE_CF (ISOTP_PCI_CF << ISOTP_PCI_TYPE_POS)
|
||||||
|
#define ISOTP_PCI_TYPE_FC (ISOTP_PCI_FC << ISOTP_PCI_TYPE_POS)
|
||||||
|
|
||||||
|
#define ISOTP_PCI_SF_DL_MASK 0x0F
|
||||||
|
|
||||||
|
#define ISOTP_PCI_FF_DL_UPPER_BYTE 0
|
||||||
|
#define ISOTP_PCI_FF_DL_UPPER_MASK 0x0F
|
||||||
|
#define ISOTP_PCI_FF_DL_LOWER_BYTE 1
|
||||||
|
|
||||||
|
#define ISOTP_PCI_FS_BYTE 0
|
||||||
|
#define ISOTP_PCI_FS_MASK 0x0F
|
||||||
|
#define ISOTP_PCI_BS_BYTE 1
|
||||||
|
#define ISOTP_PCI_ST_MIN_BYTE 2
|
||||||
|
|
||||||
|
#define ISOTP_PCI_FS_CTS 0x0
|
||||||
|
#define ISOTP_PCI_FS_WAIT 0x1
|
||||||
|
#define ISOTP_PCI_FS_OVFLW 0x2
|
||||||
|
|
||||||
|
#define ISOTP_PCI_SN_MASK 0x0F
|
||||||
|
|
||||||
|
#define ISOTP_FF_DL_MIN (ISOTP_CAN_DL)
|
||||||
|
|
||||||
|
#define ISOTP_STMIN_MAX 0xFA
|
||||||
|
#define ISOTP_STMIN_MS_MAX 0x7F
|
||||||
|
#define ISOTP_STMIN_US_BEGIN 0xF1
|
||||||
|
#define ISOTP_STMIN_US_END 0xF9
|
||||||
|
|
||||||
|
#define ISOTP_WFT_FIRST 0xFF
|
||||||
|
|
||||||
|
#define ISOTP_BS K_MSEC(CONFIG_ISOTP_BS_TIMEOUT)
|
||||||
|
#define ISOTP_A K_MSEC(CONFIG_ISOTP_A_TIMEOUT)
|
||||||
|
#define ISOTP_CR K_MSEC(CONFIG_ISOTP_CR_TIMEOUT)
|
||||||
|
|
||||||
|
/* Just before the sender would time out*/
|
||||||
|
#define ISOTP_ALLOC_TIMEOUT K_MSEC(CONFIG_ISOTP_A_TIMEOUT - 100)
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
enum isotp_rx_state {
|
||||||
|
ISOTP_RX_STATE_WAIT_FF_SF,
|
||||||
|
ISOTP_RX_STATE_PROCESS_SF,
|
||||||
|
ISOTP_RX_STATE_PROCESS_FF,
|
||||||
|
ISOTP_RX_STATE_TRY_ALLOC,
|
||||||
|
ISOTP_RX_STATE_SEND_FC,
|
||||||
|
ISOTP_RX_STATE_WAIT_CF,
|
||||||
|
ISOTP_RX_STATE_SEND_WAIT,
|
||||||
|
ISOTP_RX_STATE_ERR,
|
||||||
|
ISOTP_RX_STATE_RECYCLE,
|
||||||
|
ISOTP_RX_STATE_UNBOUND
|
||||||
|
};
|
||||||
|
|
||||||
|
enum isotp_tx_state {
|
||||||
|
ISOTP_TX_STATE_RESET,
|
||||||
|
ISOTP_TX_SEND_SF,
|
||||||
|
ISOTP_TX_SEND_FF,
|
||||||
|
ISOTP_TX_WAIT_FC,
|
||||||
|
ISOTP_TX_SEND_CF,
|
||||||
|
ISOTP_TX_WAIT_ST,
|
||||||
|
ISOTP_TX_WAIT_BACKLOG,
|
||||||
|
ISOTP_TX_WAIT_FIN,
|
||||||
|
ISOTP_TX_ERR
|
||||||
|
};
|
||||||
|
|
||||||
|
struct isotp_global_ctx {
|
||||||
|
sys_slist_t alloc_list;
|
||||||
|
sys_slist_t ff_sf_alloc_list;
|
||||||
|
};
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* ZEPHYR_SUBSYS_NET_CAN_ISOTP_INTERNAL_H_ */
|
||||||
Loading…
Add table
Add a link
Reference in a new issue