RIOT CAN stack. More...
RIOT CAN stack.
This module is a full CAN stack integrated to RIOT. It includes a low-level interface, a data link layer, an ISO-TP layer and a user interface.
The low-level interface, candev, must be implemented by controler drivers. The optional transceiver support can also be activated. Transceiver drivers must then implement the trx_can interface.
The data link layer is built around a device thread (one thread per CAN device), and a common part. The common part is composed of the dll interface, for low-level calls (from the device) and the raw interface for upper-level calls. Internally it also uses the pkt module to allocate frames and the router module to manage CAN filters.
The ISO-TP layer uses the data link layer to send and receive CAN frames.
Finally, the connection layer is the user interface to send and receive raw CAN frames or ISO-TP datagrams.
|CAN stack common definitions. |
|conn interface for CAN stack |
|Data Link Layer|
|CAN Data Link Layer. |
|ISO transport protocol over CAN|
|ISO transport protocol over CAN (ISO15765) |