isotp.h

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/*
 * SPDX-FileCopyrightText: 2016 OTA keys S.A.
 * SPDX-License-Identifier: LGPL-2.1-only
 */
 
#pragma once

 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "can/can.h"
#include "can/common.h"
#include "thread.h"
#include "ztimer.h"
#include "net/gnrc/pktbuf.h"
 
#ifndef CAN_ISOTP_BS
#define CAN_ISOTP_BS        (10)
#endif
 
#ifndef CAN_ISOTP_STMIN
#define CAN_ISOTP_STMIN     (5)
#endif
 
#ifndef CAN_ISOTP_WFTMAX
#define CAN_ISOTP_WFTMAX    (1)
#endif

struct isotp_fc_options {
    uint8_t bs;    

    uint8_t stmin;
 
    uint8_t wftmax; 
};

struct isotp_options {
    canid_t tx_id;           
    canid_t rx_id;           
    uint16_t flags;          
    uint8_t  ext_address;    
    uint8_t  txpad_content;  
    uint8_t  rx_ext_address; 
};

struct tpcon {
    unsigned idx;         
    uint8_t state;        
    uint8_t bs;           
    uint8_t sn;           
    int tx_handle;        
    gnrc_pktsnip_t *snip; 
};

struct isotp {
    struct isotp *next;            
    struct isotp_options opt;      
    struct isotp_fc_options rxfc;  
    struct isotp_fc_options txfc;  
    struct tpcon tx;               
    struct tpcon rx;               
    ztimer_t tx_timer;             
    ztimer_t rx_timer;             
    can_reg_entry_t entry;         
    uint32_t tx_gap;               
    uint8_t tx_wft;                
    void *arg;                     
};

#define CAN_ISOTP_RX_FLAGS_MASK 0x0000FFFF 
#define CAN_ISOTP_LISTEN_MODE   0x0001     
#define CAN_ISOTP_EXTEND_ADDR   0x0002     
#define CAN_ISOTP_TX_PADDING    0x0004     
#define CAN_ISOTP_HALF_DUPLEX   0x0040     
#define CAN_ISOTP_RX_EXT_ADDR   0x0200     
 
#define CAN_ISOTP_TX_FLAGS_MASK 0xFFFF0000 
#define CAN_ISOTP_TX_DONT_WAIT  0x00010000 

#define CAN_ISOTP_DEFAULT_FLAGS         0
#define CAN_ISOTP_DEFAULT_EXT_ADDRESS   0x00
#define CAN_ISOTP_DEFAULT_PAD_CONTENT   0xCC /* prevent bit-stuffing */
#define CAN_ISOTP_DEFAULT_FRAME_TXTIME  0
#define CAN_ISOTP_DEFAULT_RECV_BS       0
#define CAN_ISOTP_DEFAULT_RECV_STMIN    0x00
#define CAN_ISOTP_DEFAULT_RECV_WFTMAX   0

kernel_pid_t isotp_init(char *stack, int stacksize, char priority, const char *name);

int isotp_send(struct isotp *isotp, const void *buf, int len, int flags);

int isotp_bind(struct isotp *isotp, can_reg_entry_t *entry, void *arg,
               struct isotp_fc_options *fc_options);

int isotp_release(struct isotp *isotp);

void isotp_free_rx(can_rx_data_t *rx);
 
#ifdef __cplusplus
}
#endif