samples: canbus: isotp: Add sample code for the ISO-TP lib

This commit adds sample-code for the ISO-TP library

Signed-off-by: Alexander Wachter <alexander@wachter.cloud>

samples/subsys/canbus/isotp/CMakeLists.txt

@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.13.1)
+
+include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
+project(ISOTP)
+
+target_sources(app PRIVATE src/main.c)

samples/subsys/canbus/isotp/README.rst

@@ -0,0 +1,48 @@
+.. _isotp-sample:
+
+ISO-TP library
+##############
+
+Overview
+********
+This sample demonstrates how to use the ISO-TP library.
+Messages are exchanged between two boards. A long message, that is sent with
+a block-size (BS) of eight frames, and a short one that has an minimal
+separation-time (STmin) of five milliseconds.
+The send function call for the short message is non-blocking, and the send
+function call for the long message is blocking.
+
+Building and Running
+********************
+Use these instructions with integrated CAN controller like in the NXP TWR-KE18F
+or Nucleo-F746ZG board.
+
+For the NXP TWR-KE18F board:
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/drivers/CAN
+   :board: twr_ke18f
+   :goals: build flash
+
+Requirements
+************
+
+* Two boards with CAN bus support, connected together
+
+Sample output
+=============
+.. code-block:: console
+
+    Start sending data
+    [00:00:00.000,000] <inf> can_driver: Init of CAN_1 done
+    ========================================
+    |   ____  ___  ____       ____  ____   |
+    |  |_  _|/ __||    | ___ |_  _||  _ \  |
+    |   _||_ \__ \| || | ___   ||  | ___/  |
+    |  |____||___/|____|       ||  |_|     |
+    ========================================
+    Got 248 bytes in total
+    This is the sample test for the short payload
+    TX complete cb [0]
+
+.. note:: The values shown above might differ.

samples/subsys/canbus/isotp/prj.conf

@@ -0,0 +1,12 @@
+CONFIG_LOG=y
+
+CONFIG_CAN=y
+CONFIG_CAN_MAX_FILTER=8
+
+CONFIG_ISOTP=y
+CONFIG_ISOTP_RX_BUF_COUNT=2
+#A frame has 7 bytes payload, we are using a BS of 8 and need one char for the
+#string termination (7 * 8 + 1 = 57)
+CONFIG_ISOTP_RX_BUF_SIZE=57
+#We have two receiving contexts that are bound to a single address.
+CONFIG_ISOTP_RX_SF_FF_BUF_COUNT=2

samples/subsys/canbus/isotp/sample.yaml

@@ -0,0 +1,11 @@
+sample:
+  name: ISO-TP lib sample
+tests:
+  sample.subsys.canbus.isotp:
+    tags: CAN
+    depends_on: can
+    harness: console
+    harness_config:
+      type: one_line
+      regex:
+        - "(.*)Got 248 bytes in total"

samples/subsys/canbus/isotp/src/main.c

@@ -0,0 +1,194 @@
+/*
+ * Copyright (c) 2020 Alexander Wachter
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr.h>
+#include <canbus/isotp.h>
+
+
+#define RX_THREAD_STACK_SIZE 512
+#define RX_THREAD_PRIORITY 2
+
+const struct isotp_fc_opts fc_opts_8_0 = {.bs = 8, .stmin = 0};
+const struct isotp_fc_opts fc_opts_0_5 = {.bs = 0, .stmin = 5};
+
+const struct isotp_msg_id rx_addr_8_0 = {
+	.std_id = 0x80,
+	.id_type = CAN_STANDARD_IDENTIFIER,
+	.use_ext_addr = 0
+};
+const struct isotp_msg_id tx_addr_8_0 = {
+	.std_id = 0x180,
+	.id_type = CAN_STANDARD_IDENTIFIER,
+	.use_ext_addr = 0
+};
+const struct isotp_msg_id rx_addr_0_5 = {
+	.std_id = 0x01,
+	.id_type = CAN_STANDARD_IDENTIFIER,
+	.use_ext_addr = 0
+};
+const struct isotp_msg_id tx_addr_0_5 = {
+	.std_id = 0x101,
+	.id_type = CAN_STANDARD_IDENTIFIER,
+	.use_ext_addr = 0
+};
+
+struct device *can_dev;
+struct isotp_recv_ctx recv_ctx_8_0;
+struct isotp_recv_ctx recv_ctx_0_5;
+
+K_THREAD_STACK_DEFINE(rx_8_0_thread_stack, RX_THREAD_STACK_SIZE);
+K_THREAD_STACK_DEFINE(rx_0_5_thread_stack, RX_THREAD_STACK_SIZE);
+struct k_thread rx_8_0_thread_data;
+struct k_thread rx_0_5_thread_data;
+
+const char tx_data_large[] =
+"========================================\n"
+"|   ____  ___  ____       ____  ____   |\n"
+"|  |_  _|/ __||    | ___ |_  _||  _ \\  |\n"
+"|   _||_ \\__ \\| || | ___   ||  | ___/  |\n"
+"|  |____||___/|____|       ||  |_|     |\n"
+"========================================\n";
+
+const char tx_data_small[] = "This is the sample test for the short payload\n";
+
+void rx_8_0_thread(void *arg1, void *arg2, void *arg3)
+{
+	ARG_UNUSED(arg1);
+	ARG_UNUSED(arg2);
+	ARG_UNUSED(arg3);
+	int ret, rem_len, received_len;
+	struct net_buf *buf;
+	static u8_t rx_buffer[7];
+
+
+	ret = isotp_bind(&recv_ctx_8_0, can_dev,
+			 &tx_addr_8_0, &rx_addr_8_0,
+			 &fc_opts_8_0, K_FOREVER);
+	if (ret != ISOTP_N_OK) {
+		printk("Failed to bind to rx ID %d [%d]\n",
+		       rx_addr_8_0.std_id, ret);
+		return;
+	}
+
+	while (1) {
+		received_len = 0;
+		do {
+			rem_len = isotp_recv_net(&recv_ctx_8_0, &buf,
+						 K_MSEC(2000));
+			if (rem_len < 0) {
+				printk("Receiving erreor [%d]\n", rem_len);
+				break;
+			}
+
+			received_len += buf->len;
+			if (net_buf_tailroom(buf) >= 1) {
+				net_buf_add_u8(buf, '\0');
+				printk("%s", buf->data);
+			} else if (buf->len == 6) {
+				/* First frame does not have tailroom.*/
+				memcpy(rx_buffer, buf->data, 6);
+				rx_buffer[6] = '\0';
+				printk("%s", rx_buffer);
+			} else {
+				printk("No tailroom for string termination\n");
+			}
+			net_buf_unref(buf);
+		} while (rem_len);
+		printk("Got %d bytes in total\n", received_len);
+	}
+}
+
+void rx_0_5_thread(void *arg1, void *arg2, void *arg3)
+{
+	ARG_UNUSED(arg1);
+	ARG_UNUSED(arg2);
+	ARG_UNUSED(arg3);
+	int ret, received_len;
+	static u8_t rx_buffer[32];
+
+	ret = isotp_bind(&recv_ctx_0_5, can_dev,
+			 &tx_addr_0_5, &rx_addr_0_5,
+			 &fc_opts_0_5, K_FOREVER);
+	if (ret != ISOTP_N_OK) {
+		printk("Failed to bind to rx ID %d [%d]\n",
+		       rx_addr_0_5.std_id, ret);
+		return;
+	}
+
+	while (1) {
+		received_len = isotp_recv(&recv_ctx_0_5, rx_buffer,
+					  sizeof(rx_buffer)-1U, K_MSEC(2000));
+		if (received_len < 0) {
+			printk("Receiving erreor [%d]\n", received_len);
+			continue;
+		}
+
+		rx_buffer[received_len] = '\0';
+		printk("%s", rx_buffer);
+	}
+}
+
+void send_complette_cb(int error_nr, void *arg)
+{
+	ARG_UNUSED(arg);
+	printk("TX complete cb [%d]\n", error_nr);
+}
+
+/**
+ * @brief Main application entry point.
+ *
+ */
+void main(void)
+{
+	k_tid_t tid;
+	static struct isotp_send_ctx send_ctx_8_0;
+	static struct isotp_send_ctx send_ctx_0_5;
+	int ret = 0;
+
+	can_dev = device_get_binding(DT_ALIAS_CAN_PRIMARY_LABEL);
+	if (!can_dev) {
+		printk("CAN: Device driver not found.\n");
+		return;
+	}
+
+	tid = k_thread_create(&rx_8_0_thread_data, rx_8_0_thread_stack,
+			      K_THREAD_STACK_SIZEOF(rx_8_0_thread_stack),
+			      rx_8_0_thread, NULL, NULL, NULL,
+			      RX_THREAD_PRIORITY, 0, K_NO_WAIT);
+	if (!tid) {
+		printk("ERROR spawning rx thread\n");
+	}
+
+	tid = k_thread_create(&rx_0_5_thread_data, rx_0_5_thread_stack,
+			      K_THREAD_STACK_SIZEOF(rx_0_5_thread_stack),
+			      rx_0_5_thread, NULL, NULL, NULL,
+			      RX_THREAD_PRIORITY, 0, K_NO_WAIT);
+	if (!tid) {
+		printk("ERROR spawning rx thread\n");
+	}
+
+	printk("Start sending data\n");
+
+	while (1) {
+		k_sleep(K_MSEC(1000));
+		ret = isotp_send(&send_ctx_0_5, can_dev,
+				 tx_data_small, sizeof(tx_data_small),
+				 &tx_addr_0_5, &rx_addr_0_5,
+				 send_complette_cb, NULL);
+		if (ret != ISOTP_N_OK) {
+			printk("Error while sending data to ID %d [%d]\n",
+			       tx_addr_0_5.std_id, ret);
+		}
+
+		ret = isotp_send(&send_ctx_8_0, can_dev,
+				 tx_data_large, sizeof(tx_data_large),
+				 &tx_addr_8_0, &rx_addr_8_0, NULL, NULL);
+		if (ret != ISOTP_N_OK) {
+			printk("Error while sending data to ID %d [%d]\n",
+			       tx_addr_8_0.std_id, ret);
+		}
+	}
+}