File syn_isotp.h¶

File List > proto > syn_isotp.h
#ifndef SYN_ISOTP_H
#define SYN_ISOTP_H

#include "../common/syn_defs.h"
#include "../drivers/syn_can.h"

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

#if !defined(_SSIZE_T_DEFINED_) && !defined(_SSIZE_T_DECLARED) && !defined(__ssize_t_defined) && \
    !defined(_SSIZE_T_) && !defined(_SSIZE_T) && !defined(_SSIZE_T_DEFINED)
typedef intptr_t ssize_t;
#define _SSIZE_T_DEFINED_
#define _SSIZE_T_DECLARED
#define __ssize_t_defined
#define _SSIZE_T_
#define _SSIZE_T
#define _SSIZE_T_DEFINED
#endif

#ifdef __cplusplus
extern "C" {
#endif

#if defined(SYN_USE_CAN_FD) && SYN_USE_CAN_FD
#define SYN_ISOTP_MAX_PAYLOAD 0xFFFFFFFFU 
#else
#define SYN_ISOTP_MAX_PAYLOAD 4095U 
#endif

#define SYN_ISOTP_PCI_SF 0x00U 
#define SYN_ISOTP_PCI_FF 0x10U 
#define SYN_ISOTP_PCI_CF 0x20U 
#define SYN_ISOTP_PCI_FC 0x30U 
#define SYN_ISOTP_DEFAULT_N_BS_MS 1000U 
#define SYN_ISOTP_DEFAULT_N_CR_MS 1000U 
#define SYN_ISOTP_FC_CTS 0x00U      
#define SYN_ISOTP_FC_WAIT 0x01U     
#define SYN_ISOTP_FC_OVERFLOW 0x02U 
typedef enum {
    SYN_ISOTP_TX_IDLE = 0,
    SYN_ISOTP_TX_SEND_SF,
    SYN_ISOTP_TX_SEND_FF,
    SYN_ISOTP_TX_WAIT_FC,
    SYN_ISOTP_TX_SEND_CF,
} SYN_ISOTP_TxState;

typedef enum {
    SYN_ISOTP_RX_IDLE = 0,
    SYN_ISOTP_RX_WAIT_CF,
    SYN_ISOTP_RX_COMPLETE,
} SYN_ISOTP_RxState;

typedef struct {
    /* Addressing & Mode */
    uint32_t rx_id; 
    uint32_t tx_id; 
#if defined(SYN_USE_CAN_FD) && SYN_USE_CAN_FD
    bool is_fd; 
#endif

    /* Tx Channel */
    uint8_t *tx_buf;              
    size_t tx_buf_size;           
    size_t tx_len;                
    size_t tx_offset;             
    uint8_t tx_seq;               
    SYN_ISOTP_TxState tx_state;   
    uint8_t tx_bs;                
    uint8_t tx_bs_count;          
    uint8_t tx_st_min;            
    uint32_t tx_st_timer_us;      
    uint32_t n_bs_timeout_us;     
    uint32_t tx_timeout_timer_us; 
    /* Rx Channel */
    uint8_t *rx_buf;              
    size_t rx_buf_size;           
    size_t rx_len;                
    size_t rx_expected;           
    uint8_t rx_seq;               
    SYN_ISOTP_RxState rx_state;   
    bool rx_fc_pending;           
    uint8_t rx_fc_status;         
    uint32_t n_cr_timeout_us;     
    uint32_t rx_timeout_timer_us; 
} SYN_ISOTP_Link;

void syn_isotp_set_timeouts(SYN_ISOTP_Link *link, uint32_t n_bs_ms, uint32_t n_cr_ms);

void syn_isotp_init(SYN_ISOTP_Link *link, uint32_t rx_id, uint32_t tx_id, uint8_t *rx_buf,
                    size_t rx_buf_size, uint8_t *tx_buf, size_t tx_buf_size);

#if defined(SYN_USE_CAN_FD) && SYN_USE_CAN_FD
void syn_isotp_init_fd(SYN_ISOTP_Link *link, uint32_t rx_id, uint32_t tx_id, uint8_t *rx_buf,
                       size_t rx_buf_size, uint8_t *tx_buf, size_t tx_buf_size, bool is_fd);
#endif

SYN_Status syn_isotp_send(SYN_ISOTP_Link *link, const uint8_t *payload, size_t payload_len);

bool syn_isotp_get_tx_frame(SYN_ISOTP_Link *link, SYN_CAN_Frame *frame);

void syn_isotp_process_rx_frame(SYN_ISOTP_Link *link, const SYN_CAN_Frame *frame);

ssize_t syn_isotp_receive(SYN_ISOTP_Link *link, uint8_t *out_buf, size_t max_len);

void syn_isotp_step(SYN_ISOTP_Link *link, uint32_t dt_ms);

void syn_isotp_step_us(SYN_ISOTP_Link *link, uint32_t dt_us);

#ifdef __cplusplus
}
#endif

#endif /* SYN_ISOTP_H */