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- single public context for send and receive; no more unbinding to send a message - CAN-FD support - only supports ISO-TP fixed addressing at present - broadly async approach, but sync receive supported for familiarity/compatibility - conformance tests ported from existing implementation
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| # folders generated by west | ||
| build | ||
| twister-out* | ||
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| # editors | ||
| .vscode/* | ||
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| /* | ||
| * Copyright (c) 2023 Brill Power | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 | ||
| */ | ||
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| #ifdef CONFIG_ISOTP_FAST | ||
| #include <zephyr/canbus/isotp.h> | ||
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| #ifndef ISOTP_MSG_FDF | ||
| #define ISOTP_MSG_FDF BIT(3) | ||
| #endif | ||
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| /* Represents a sender or a receiver in an ISO-TP fixed addressing scheme */ | ||
| typedef uint8_t isotp_fast_node_id; | ||
| /* ISO-TP message ID, i.e. the CAN ID */ | ||
| typedef uint32_t isotp_fast_msg_id; | ||
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| /** | ||
| * Callback invoked when a message is received. | ||
| * @param buffer Pointer to a @ref net_buf. Call @ref net_buf_frags_len to | ||
| * obtain the length of the buffer, then @ref net_buf_linearize to copy the | ||
| * contents of the buffer into a local buffer. | ||
| * @param rem_len At present, this should always be zero. In future, this | ||
| * callback may be called repeatedly as a message's packets arrive to reduce | ||
| * the need to buffer an entire message in memory before it is dispatched | ||
| * to user code. | ||
| * @param sender_addr The CAN ID of the message that has been received. | ||
| * @param arg The value of @ref recv_cb_arg passed to @ref isotp_fast_bind. | ||
| */ | ||
| typedef void (*isotp_fast_recv_callback_t)(struct net_buf *buffer, int rem_len, | ||
| isotp_fast_msg_id sender_addr, void *arg); | ||
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| /** | ||
| * Callback invoked when an error occurs during message receiption. | ||
| * @param error The error code. | ||
| * @param sender_addr The CAN ID of the sender of the message, if available. | ||
| * @param arg The value of @ref recv_cb_arg passed to @ref isotp_fast_bind. | ||
| */ | ||
| typedef void (*isotp_fast_recv_error_callback_t)(int8_t error, isotp_fast_msg_id sender_addr, | ||
| void *arg); | ||
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| /** | ||
| * Callback invoked when a message has been sent. | ||
| * @param result If non-zero, an error has occurred. | ||
| * @param arg The value of @ref sent_cb_arg passed to @ref isotp_fast_send. | ||
| */ | ||
| typedef void (*isotp_fast_send_callback_t)(int result, void *arg); | ||
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| /** | ||
| * Options pertaining to the bound context. | ||
| */ | ||
| struct isotp_fast_opts | ||
| { | ||
| uint8_t bs; /**< Block size. Number of CF PDUs before next CF is sent */ | ||
| uint8_t stmin; /**< Minimum separation time. Min time between frames */ | ||
| uint8_t flags; | ||
| }; | ||
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| /** | ||
| * General context object. | ||
| */ | ||
| struct isotp_fast_ctx | ||
| { | ||
| /* The CAN device to which the context is bound via @ref isotp_fast_bind */ | ||
| const struct device *can_dev; | ||
| /* Identifies the CAN filter which filters incoming messages */ | ||
| int filter_id; | ||
| /* Pointer to context options described above */ | ||
| const struct isotp_fast_opts *opts; | ||
| /* Callback that is invoked when a message is received */ | ||
| isotp_fast_recv_callback_t recv_callback; | ||
| /* Pointer to user-supplied data to be passed to @ref recv_callback */ | ||
| void *recv_cb_arg; | ||
| /* Callback that is invoked when a receive error occurs */ | ||
| isotp_fast_recv_error_callback_t recv_error_callback; | ||
| /* Callback that is invoked when a message is sent */ | ||
| isotp_fast_send_callback_t sent_callback; | ||
| /* CAN ID of this node, used in both transmission and receipt of messages */ | ||
| isotp_fast_msg_id my_addr; | ||
| #ifdef CONFIG_ISOTP_FAST_BLOCKING_RECEIVE | ||
| sys_slist_t wait_recv_list; | ||
| #endif | ||
| }; | ||
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| /** | ||
| * Binds the supplied ISO-TP context to the supplied CAN device. Messages | ||
| * addressed to the given address (@ref my_addr) will be delivered to user | ||
| * code by invoking the supplied callback, @ref recv_callback. | ||
| * | ||
| * @param ctx A pointer to the general ISO-TP context | ||
| * @param can_dev The CAN device to which the context should be bound | ||
| * @param my_addr The address to listen on for incoming messages or to use | ||
| * when transmitting messages | ||
| * @param opts A pointer to an options structure, @ref isotp_fast_opts | ||
| * @param recv_callback A callback that is invoked when a message is received | ||
| * @param recv_cb_arg A pointer to data to be supplied to @ref recv_callback | ||
| * @param recv_error_callback A callback that is invoked when an error occurs. | ||
| * @param sent_callback A callback that is invoked when a message is sent | ||
| * | ||
| * @returns 0 on success, otherwise an error code < 0. | ||
| */ | ||
| int isotp_fast_bind(struct isotp_fast_ctx *ctx, const struct device *can_dev, | ||
| const isotp_fast_msg_id my_addr, const struct isotp_fast_opts *opts, | ||
| isotp_fast_recv_callback_t recv_callback, void *recv_cb_arg, | ||
| isotp_fast_recv_error_callback_t recv_error_callback, | ||
| isotp_fast_send_callback_t sent_callback); | ||
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| /** | ||
| * Unbinds the supplied ISO-TP context. Removes the CAN filter if it was | ||
| * successfully set. | ||
| * | ||
| * @param ctx A pointer to the context to unbind | ||
| * | ||
| * @returns 0 on success. | ||
| */ | ||
| int isotp_fast_unbind(struct isotp_fast_ctx *ctx); | ||
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| #ifdef CONFIG_ISOTP_FAST_BLOCKING_RECEIVE | ||
| int isotp_fast_recv(struct isotp_fast_ctx *ctx, struct can_filter sender, uint8_t *buf, size_t size, | ||
| k_timeout_t timeout); | ||
| #endif | ||
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| /** | ||
| * Send a message to a given recipient. If the message fits within a | ||
| * CAN frame, it will be sent synchronously. If not, it will be sent | ||
| * asynchronously. | ||
| * | ||
| * @param ctx The bound context on which the message should be sent | ||
| * @param data A pointer to the data containing the message to send | ||
| * @param len The length of the data in @ref data | ||
| * @param their_id The node ID identifying the recipient. This will be | ||
| * combined with the sending address @ref my_addr on @ref ctx to form | ||
| * the CAN ID on the message. | ||
| * @param sent_cb_arg A pointer to data to be supplied to the callback | ||
| * that will be invoked when the message is sent. | ||
| * | ||
| * @returns 0 on success. | ||
| */ | ||
| int isotp_fast_send(struct isotp_fast_ctx *ctx, const uint8_t *data, size_t len, | ||
| const isotp_fast_node_id their_id, void *sent_cb_arg); | ||
| #endif /* CONFIG_ISOTP_FAST */ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| menuconfig ISOTP_FAST | ||
| bool "New ISO-TP context" | ||
| depends on CAN | ||
| depends on ISOTP | ||
| select EVENTS | ||
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| if ISOTP_FAST | ||
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| config ISOTP_FAST_RX_MAX_PACKET_COUNT | ||
| int "Max packets for ISO-TP reception" | ||
| default 8 | ||
| help | ||
| Max number of packets expected in a single ISO-TP message. | ||
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| config ISOTP_FAST_RX_BUF_COUNT | ||
| int "Max number of RX buffers" | ||
| default 4 | ||
| help | ||
| This broadly implies the max number of simultaneous receptions. | ||
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| config ISOTP_FAST_TX_BUF_COUNT | ||
| int "Max number of TX buffers" | ||
| default 4 | ||
| help | ||
| This broadly implies the max number of simultaneous transmissions. | ||
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| config ISOTP_FAST_PER_FRAME_DISPATCH | ||
| bool "Per-frame dispatch" | ||
| default false | ||
| help | ||
| Whether to invoke the receive callback on receipt of every frame | ||
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| config ISOTP_FAST_BLOCKING_RECEIVE | ||
| bool "Blocking receive" | ||
| default false | ||
| depends on !ISOTP_FAST_PER_FRAME_DISPATCH | ||
| help | ||
| Whether to make blocking receive functionality available | ||
| to ease migration from the old API. | ||
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| endif |
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