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ca13734bf0
Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers, middleware (CAN stack, diagnostics, safety), applications, board support, build/test tooling, and documentation.
116 lines
3.5 KiB
C
116 lines
3.5 KiB
C
/**
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* @file can_tp.h
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* @brief CAN Transport Protocol (ISO 15765-2) implementation
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*/
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#ifndef CAN_TP_H
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#define CAN_TP_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "kernel.h"
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#include "can_driver.h"
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/* CAN TP Configuration */
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#define CAN_TP_MAX_CONNECTIONS 8
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#define CAN_TP_MAX_PAYLOAD_SIZE 4096
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#define CAN_TP_DEFAULT_TIMEOUT_MS 1000
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#define CAN_TP_STMIN_DEFAULT 10 /* Minimum separation time in ms */
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#define CAN_TP_BS_DEFAULT 8 /* Block size */
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/* CAN TP Addressing Formats */
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typedef enum {
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CAN_TP_ADDRESSING_NORMAL = 0, /* Standard 11-bit or 29-bit */
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CAN_TP_ADDRESSING_NORMAL_FIXED = 1, /* Fixed addressing */
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CAN_TP_ADDRESSING_EXTENDED = 2, /* Extended addressing */
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CAN_TP_ADDRESSING_MIXED = 3 /* Mixed addressing */
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} CanTpAddressingFormat_t;
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/* CAN TP Frame Types */
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typedef enum {
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CAN_TP_FRAME_SINGLE = 0, /* Single Frame */
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CAN_TP_FRAME_FIRST = 1, /* First Frame */
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CAN_TP_FRAME_CONSECUTIVE = 2, /* Consecutive Frame */
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CAN_TP_FRAME_FLOW_CONTROL = 3 /* Flow Control */
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} CanTpFrameType_t;
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/* CAN TP Flow Control Status */
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typedef enum {
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CAN_TP_FC_CONTINUE = 0, /* Continue to send */
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CAN_TP_FC_WAIT = 1, /* Wait */
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CAN_TP_FC_OVERFLOW = 2 /* Overflow/Abort */
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} CanTpFlowControlStatus_t;
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/* CAN TP States */
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typedef enum {
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CAN_TP_IDLE = 0,
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CAN_TP_SEND_IN_PROGRESS = 1,
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CAN_TP_RECEIVE_IN_PROGRESS = 2,
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CAN_TP_WAIT_FLOW_CONTROL = 3,
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CAN_TP_WAIT_CONSECUTIVE = 4,
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CAN_TP_TIMEOUT = 5,
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CAN_TP_ERROR = 6
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} CanTpState_t;
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/* CAN TP Message Structure */
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typedef struct {
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uint32_t message_id;
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uint8_t* data;
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uint16_t length;
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uint8_t addressing_format;
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uint32_t source_address;
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uint32_t target_address;
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} CanTpMessage_t;
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/* CAN TP Connection */
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typedef struct {
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uint8_t connection_id;
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CanTpState_t state;
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CanTpMessage_t current_message;
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uint16_t current_index;
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uint8_t sequence_number;
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uint8_t block_counter;
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uint32_t timeout_timer;
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uint8_t stmin;
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uint8_t block_size;
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bool is_sender;
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Semaphore_t flow_control_semaphore;
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Semaphore_t complete_semaphore;
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Mutex_t connection_mutex;
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} CanTpConnection_t;
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/* CAN TP Configuration */
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typedef struct {
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CanTpAddressingFormat_t addressing_format;
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uint32_t source_address;
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uint32_t target_address;
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uint32_t timeout_ms;
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uint8_t stmin;
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uint8_t block_size;
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bool padding_enabled;
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uint8_t padding_byte;
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} CanTpConfig_t;
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/* CAN TP Callbacks */
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typedef void (*CanTpMessageReceivedCallback_t)(const CanTpMessage_t* message);
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typedef void (*CanTpMessageSentCallback_t)(uint8_t connection_id, bool success);
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typedef void (*CanTpErrorCallback_t)(uint8_t connection_id, uint32_t error_code);
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/* CAN TP Functions */
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KernelStatus_t can_tp_init(const CanTpConfig_t* config);
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KernelStatus_t can_tp_deinit(void);
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KernelStatus_t can_tp_send_message(const CanTpMessage_t* message,
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uint32_t timeout_ms);
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KernelStatus_t can_tp_receive_message(CanTpMessage_t* message,
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uint32_t timeout_ms);
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KernelStatus_t can_tp_register_callbacks(
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CanTpMessageReceivedCallback_t rx_callback,
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CanTpMessageSentCallback_t tx_callback,
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CanTpErrorCallback_t error_callback);
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void can_tp_process_rx_indication(const CanMessage_t* can_message);
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void can_tp_process_tx_confirmation(uint8_t mailbox);
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void can_tp_main_function(void); /* Periodic processing */
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CanTpState_t can_tp_get_state(uint8_t connection_id);
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#endif /* CAN_TP_H */
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