can.h

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/*
 * Copyright (c) 2019 Alexander Wachter
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef ZEPHYR_INCLUDE_NET_CAN_H_
#define ZEPHYR_INCLUDE_NET_CAN_H_
 
#include <zephyr/types.h>
#include <net/net_ip.h>
#include <net/net_if.h>
#include <drivers/can.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
/*
 * Abbreviations
 * BS      Block Size
 * CAN_DL  CAN LL data size
 * CF      Consecutive Frame
 * CTS     Continue to send
 * DLC     Data length code
 * FC      Flow Control
 * FF      First Frame
 * FS      Flow Status
 */
 
#define NET_CAN_DL 8
#define NET_CAN_MTU 0x0FFF
 
/* 0x3DFF - bit 4 to 10 must not be zero. Also prevent stuffing bit*/
#define NET_CAN_MULTICAST_ADDR      0x3DFF
#define NET_CAN_DAD_ADDR            0x3DFE
#define NET_CAN_ETH_TRANSLATOR_ADDR 0x3DF0
#define NET_CAN_MAX_ADDR            0x3DEF
#define NET_CAN_MIN_ADDR            0x0100
 
#define CAN_NET_IF_ADDR_MASK       0x3FFF
#define CAN_NET_IF_ADDR_BYTE_LEN   2U
#define CAN_NET_IF_ADDR_DEST_POS   14U
#define CAN_NET_IF_ADDR_DEST_MASK  (CAN_NET_IF_ADDR_MASK << CAN_NET_IF_ADDR_DEST_POS)
#define CAN_NET_IF_ADDR_SRC_POS    0U
#define CAN_NET_IF_ADDR_SRC_MASK   (CAN_NET_IF_ADDR_MASK << CAN_NET_IF_ADDR_SRC_POS)
#define CAN_NET_IF_ADDR_MCAST_POS  28U
#define CAN_NET_IF_ADDR_MCAST_MASK (1UL << CAN_NET_IF_ADDR_MCAST_POS)
 
#define CAN_NET_IF_IS_MCAST_BIT    (1U << 14)
 
#define CAN_NET_FILTER_NOT_SET -1
 
/*
 *             +-----------+           +-----------+
 *             |           |           |           |
 *             |   IPv6    |           |   IPv6    |
 *             |  6LoCAN   |           |  6LoCAN   |
 *             |           |           |           |
 *             +----+-+----+           +----+-+----+
 *                  | |                     | |                   +---+
 *  +----+          | |                     | |                  /     \   +-+
 *  |    |          | |                     | |          +--+   /       \_/   \
 * +++   +---+   +--+----+   +-------+   +--+----+   +--/    \_/               \
 * | |        \ /     |   \ /         \ /     |   \ /  /                       |
 * | |         X      |    X    CAN    X      |    X  |         Internet       |
 * | |        / \     |   / \         / \     |   / \  \                       /
 * +++   +---+   +----+--+   +-------+   +----+--+   +--+                     /
 *  |    |                                               +-------------------+
 *  +----+
 */
struct net_can_api {
        struct net_if_api iface_api;
 
        int (*send)(const struct device *dev, const struct zcan_frame *frame,
                    can_tx_callback_t cb, void *cb_arg, k_timeout_t timeout);
        int (*attach_filter)(const struct device *dev, can_rx_callback_t cb,
                             void *cb_arg, const struct zcan_filter *filter);
        void (*detach_filter)(const struct device *dev, int filter_id);
        int (*enable)(const struct device *dev, bool enable);
};
 
/* Make sure that the network interface API is properly setup inside
 * net_can_api struct (it is the first one).
 */
BUILD_ASSERT(offsetof(struct net_can_api, iface_api) == 0);
 
#define CANBUS_L2_CTX_TYPE      struct net_canbus_context *
 
struct canbus_net_ctx {
        int dad_filter_id;
        struct k_work dad_work;
        struct net_if *iface;
        uint16_t ll_addr;
        struct k_fifo tx_queue;
        struct k_fifo rx_err_queue;
        struct k_thread queue_handler;
        K_KERNEL_STACK_MEMBER(queue_stack, 512);
};
 
struct net_canbus_lladdr {
        uint16_t addr : 14;
};
 
struct canbus_fc_opts {
        uint8_t bs;
        uint8_t stmin;
};
 
struct canbus_isotp_tx_ctx {
        struct net_pkt *pkt;
        struct _timeout timeout;
        struct canbus_fc_opts opts;
        struct net_canbus_lladdr dest_addr;
        uint16_t rem_len;
        int8_t tx_backlog;
        uint8_t state;
        uint8_t act_block_nr;
        uint8_t wft;
        uint8_t sn : 4;
        uint8_t is_mcast : 1;
};
 
struct canbus_isotp_rx_ctx {
        struct net_pkt *pkt;
        struct _timeout timeout;
        uint16_t rem_len;
        uint8_t state;
        uint8_t act_block_nr;
        uint8_t wft;
        uint8_t sn : 4;
};
 
void net_6locan_init(struct net_if *iface);
 
enum net_verdict net_canbus_translate_eth_frame(struct net_if *iface,
                                                struct net_pkt *pkt);
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_NET_CAN_H_ */