#ifndef __ICSNEOC2MESSAGES_H_ #define __ICSNEOC2MESSAGES_H_ #include #include #ifdef __cplusplus extern "C" { #endif /** * Create CAN message * * @param[out] message Pointer to icsneoc2_message_t to copy the message into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_can_create(icsneoc2_message_t** message); /** * Free message * * @param[in] message The message to free. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. * * @see icsneoc2_message_can_create icsneoc2_device_message_get */ icsneoc2_error_t icsneoc2_message_free(icsneoc2_message_t* message); /** * Get the transmission status of a message. * * When a message is transmitted from the device, it will be returned in the receive buffer. * @see icsneoc2_device_messages_transmit * * @param[in] message The message to check. * @param[out] value Pointer to a bool to copy the transmission status into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_is_transmit(icsneoc2_message_t* message, bool* value); /** * Get the frame error status of a message. * * @param[in] message The message to check. * @param[out] value Pointer to a bool to copy the frame error status into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or * icsneoc2_error_invalid_type otherwise. */ icsneoc2_error_t icsneoc2_message_is_error(icsneoc2_message_t* message, bool* value); /** * Get the Network ID (netid) of a bus message * * @param[in] message The message to check. * @param[out] netid Pointer to a icsneoc2_netid_t to copy the netid into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise. * * @see icsneoc2_netid_t, icsneoc2_netid_name_get */ icsneoc2_error_t icsneoc2_message_netid_get(icsneoc2_message_t* message, icsneoc2_netid_t* netid); /** * Get the netid string for a icsneoc2_netid_t. * * @param[in] netid The network id to get the description of. * @param[out] value Pointer to a buffer to copy the description into. Null terminated. * @param[in,out] value_length Size of the value buffer. Modified with the length of the description. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_netid_name_get(icsneoc2_netid_t netid, char* value, size_t* value_length); /** * Get the network type for a icsneoc2_netid_t. * * @param[in] netid The network id to get the type of. * @param[out] network_type Pointer to a icsneoc2_network_type_t to copy the network type into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. * * @see icsneoc2_network_type_t, icsneoc2_network_type_name_get */ icsneoc2_error_t icsneoc2_netid_network_type_get(icsneoc2_netid_t netid, icsneoc2_network_type_t* network_type); /** * Set the Network ID (netid) of a bus message * * @param[in] device The device to check against. * @param[in] message The message to modify. * @param[in] netid The netid to set. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_netid_set(icsneoc2_message_t* message, icsneoc2_netid_t netid); /** * Set the data bytes of a message * * @param[in] message The message to copy the data into. * @param[in] data Pointer to a uint8_t array to copy from. * @param[in] data_length length of the data. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_data_set(icsneoc2_message_t* message, uint8_t* data, size_t data_length); /** * Get the data bytes of a message * * @param[in] message The message to check. * @param[out] data Pointer to a uint8_t to copy the data bytes into. * @param[in,out] data_length Pointer to a size_t to copy the length of the data into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_data_get(icsneoc2_message_t* message, uint8_t* data, size_t* data_length); #define ICSNEOC2_MESSAGE_CAN_FLAGS_RTR 0x01 // Remote Transmission Request #define ICSNEOC2_MESSAGE_CAN_FLAGS_IDE 0x02 // Identifier Extension #define ICSNEOC2_MESSAGE_CAN_FLAGS_FDF 0x04 // FD Format Indicator #define ICSNEOC2_MESSAGE_CAN_FLAGS_BRS 0x08 // Bit Rate Switch (FD only) #define ICSNEOC2_MESSAGE_CAN_FLAGS_ESI 0x10 // Error State Indicator (FD only) #define ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ABORTED 0x20 // CAN transmit was aborted #define ICSNEOC2_MESSAGE_CAN_FLAGS_TX_LOST_ARB 0x40 // CAN transmit lost arbitration #define ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ERROR 0x80 // CAN transmit reported an error typedef uint64_t icsneoc2_message_can_flags_t; /** * Set the CAN specific properties of a message * * @param[in] message The message to modify. * @param[in] arb_id Pointer to a uint64_t containing the arbitration ID to set. If NULL, it's ignored. * @param[in] flags Pointer to a icsneoc2_message_can_flags_t containing the flags to set. If NULL, it's ignored. See icsneoc2_message_can_flags_t for details. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise. */ icsneoc2_error_t icsneoc2_message_can_props_set(icsneoc2_message_t* message, const uint64_t* arb_id, const icsneoc2_message_can_flags_t* flags); /** * Get the CAN specific properties of a message * * @param[in] message The message to check. * @param[out] arb_id Pointer to a uint64_t to copy the arbitration ID into. If NULL, it's ignored. * @param[out] flags Pointer to a series of flags. If NULL, it's ignored. See icsneoc2_message_can_flags_t for details. * TX status flags are read-only and are only reported for CAN frames received back from the device. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise. */ icsneoc2_error_t icsneoc2_message_can_props_get(icsneoc2_message_t* message, uint64_t* arb_id, icsneoc2_message_can_flags_t* flags); /** * Create Ethernet message * * @param[out] message Pointer to icsneoc2_message_t to copy the message into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_eth_create(icsneoc2_message_t** message); // Standard Ethernet frame flags #define ICSNEOC2_MESSAGE_ETH_FLAGS_FRAME_TOO_SHORT 0x001 #define ICSNEOC2_MESSAGE_ETH_FLAGS_NO_PADDING 0x002 #define ICSNEOC2_MESSAGE_ETH_FLAGS_FCS_VERIFIED 0x004 #define ICSNEOC2_MESSAGE_ETH_FLAGS_TX_ABORTED 0x008 #define ICSNEOC2_MESSAGE_ETH_FLAGS_CRC_ERROR 0x010 #define ICSNEOC2_MESSAGE_ETH_FLAGS_IS_T1S 0x020 #define ICSNEOC2_MESSAGE_ETH_FLAGS_PREEMPTION_ENABLED 0x040 typedef uint64_t icsneoc2_message_eth_flags_t; // T1S-specific Ethernet frame flags #define ICSNEOC2_MESSAGE_ETH_T1S_FLAGS_IS_T1S_SYMBOL 0x002 #define ICSNEOC2_MESSAGE_ETH_T1S_FLAGS_IS_T1S_BURST 0x004 #define ICSNEOC2_MESSAGE_ETH_T1S_FLAGS_TX_COLLISION 0x008 #define ICSNEOC2_MESSAGE_ETH_T1S_FLAGS_IS_T1S_WAKE 0x010 typedef uint64_t icsneoc2_message_eth_t1s_flags_t; /** * Set the Ethernet specific properties of a message * * @param[in] message The message to modify. * @param[in] flags Pointer to a icsneoc2_message_eth_flags_t containing the flags to set. If NULL, flags are not modified. * @param[in] has_fcs Pointer to a bool indicating whether the FCS is present. If NULL, it's ignored. * @param[in] fcs Pointer to a uint32_t containing the FCS value. If NULL, the FCS is not modified. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise. */ icsneoc2_error_t icsneoc2_message_eth_props_set(icsneoc2_message_t* message, const icsneoc2_message_eth_flags_t* flags, const bool* has_fcs, const uint32_t* fcs); /** * Get the Ethernet specific properties of a message * * @param[in] message The message to check. * @param[out] flags Pointer to a icsneoc2_message_eth_flags_t to copy the flags into. If NULL, it's ignored. * @param[out] has_fcs Pointer to a bool indicating whether the FCS is present. If NULL, it's ignored. * @param[out] fcs Pointer to a uint32_t to copy the FCS value into. Only valid if has_fcs is true, set to 0 if FCS is not present. If NULL, it's ignored. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise. */ icsneoc2_error_t icsneoc2_message_eth_props_get(icsneoc2_message_t* message, icsneoc2_message_eth_flags_t* flags, bool* has_fcs, uint32_t* fcs); /** * Get the destination and/or source MAC address from an Ethernet message. * The MAC addresses are extracted from the message data bytes. * * @param[in] message The message to check. * @param[out] dst_mac Pointer to a 6-byte buffer to copy the destination MAC into. If NULL, it's ignored. * @param[out] src_mac Pointer to a 6-byte buffer to copy the source MAC into. If NULL, it's ignored. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise. */ icsneoc2_error_t icsneoc2_message_eth_mac_get(icsneoc2_message_t* message, uint8_t* dst_mac, uint8_t* src_mac); /** * Helper function to get the EtherType field from an Ethernet message payload. * * EtherType is a two-octet field in an Ethernet frame (big-endian). * It is used to indicate which protocol is encapsulated in the payload of the frame * and is used at the receiving end by the data link layer to determine how the payload is processed. * For example, an EtherType of 0x0800 indicates that the payload is an IPv4 packet, while 0x86DD indicates an IPv6 packet. * * @param[in] message The message to check. * @param[out] ether_type Pointer to a uint16_t to copy the EtherType into. * * @note The EtherType is extracted from the message data bytes, so the message must have the data field and it must be * large enough to contain the EtherType (at least 14 bytes). Returned value is host byte order. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters, icsneoc2_error_invalid_type, icsneoc2_error_invalid_data otherwise. */ icsneoc2_error_t icsneoc2_message_eth_ether_type_get(icsneoc2_message_t* message, uint16_t* ether_type); /** * Set the T1S specific properties of an Ethernet message * * @param[in] message The message to modify. * @param[in] flags Pointer to a icsneoc2_message_eth_t1s_flags_t containing the T1S flags to set. If NULL, flags are not modified. * @param[in] node_id Pointer to a uint8_t containing the T1S node ID. If NULL, it's ignored. * @param[in] burst_count Pointer to a uint8_t containing the T1S burst count. If NULL, it's ignored. * @param[in] symbol_type Pointer to a uint8_t containing the T1S symbol type. If NULL, it's ignored. * * @note If all four optional parameters are NULL, the T1S-specific state is cleared. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise. */ icsneoc2_error_t icsneoc2_message_eth_t1s_props_set(icsneoc2_message_t* message, const icsneoc2_message_eth_t1s_flags_t* flags, const uint8_t* node_id, const uint8_t* burst_count, const uint8_t* symbol_type); /** * Get the T1S specific properties of an Ethernet message * * @param[in] message The message to check. * @param[out] flags Pointer to a icsneoc2_message_eth_t1s_flags_t to copy the T1S flags into. If NULL, it's ignored. * @param[out] node_id Pointer to a uint8_t to copy the T1S node ID into. If NULL, it's ignored. * @param[out] burst_count Pointer to a uint8_t to copy the T1S burst count into. If NULL, it's ignored. * @param[out] symbol_type Pointer to a uint8_t to copy the T1S symbol type into. If NULL, it's ignored. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise. */ icsneoc2_error_t icsneoc2_message_eth_t1s_props_get(icsneoc2_message_t* message, icsneoc2_message_eth_t1s_flags_t* flags, uint8_t* node_id, uint8_t* burst_count, uint8_t* symbol_type); /** * Check if a message is an Ethernet message * * @param[in] message The message to check. * @param[out] is_ethernet Pointer to a bool to copy the Ethernet status of the message into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_is_ethernet(icsneoc2_message_t* message, bool* is_ethernet); /** * Check if a message is valid * * @param[in] device The device to check against. * @param[in] message The message to check. * @param[out] is_valid Pointer to a bool to copy the validity of the message into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_is_valid(icsneoc2_message_t* message, bool* is_valid); /** * Check if a message is a raw message (message with data) * * @param[in] device The device to check against. * @param[in] message The message to check. * @param[out] is_raw Pointer to a bool to copy the raw status of the message into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_is_raw(icsneoc2_message_t* message, bool* is_raw); /** * Check if a message is a frame message (message with data) * * @param[in] device The device to check against. * @param[in] message The message to check. * @param[out] is_frame Pointer to a bool to copy the frame status of the message into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_is_frame(icsneoc2_message_t* message, bool* is_frame); /** * Check if a message is a CAN message * * @param[in] device The device to check against. * @param[in] message The message to check. * @param[out] is_can Pointer to a bool to copy the CAN status of the message into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_is_can(icsneoc2_message_t* message, bool* is_can); /** * Check if a message is a LIN message * * @param[in] message The message to check. * @param[out] is_lin Pointer to a bool to copy the LIN status of the message into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_is_lin(icsneoc2_message_t* message, bool* is_lin); // ---- LIN Message Types ---- typedef enum _icsneoc2_lin_msg_type_t { icsneoc2_lin_msg_type_not_set = 0, icsneoc2_lin_msg_type_commander_msg = 1, icsneoc2_lin_msg_type_header_only = 2, icsneoc2_lin_msg_type_break_only = 3, icsneoc2_lin_msg_type_sync_only = 4, icsneoc2_lin_msg_type_update_responder = 5, icsneoc2_lin_msg_type_error = 6, } _icsneoc2_lin_msg_type_t; typedef uint8_t icsneoc2_lin_msg_type_t; // LIN error flags bitmask #define ICSNEOC2_LIN_ERR_RX_BREAK_ONLY 0x0001 #define ICSNEOC2_LIN_ERR_RX_BREAK_SYNC_ONLY 0x0002 #define ICSNEOC2_LIN_ERR_TX_RX_MISMATCH 0x0004 #define ICSNEOC2_LIN_ERR_RX_BREAK_NOT_ZERO 0x0008 #define ICSNEOC2_LIN_ERR_RX_BREAK_TOO_SHORT 0x0010 #define ICSNEOC2_LIN_ERR_RX_SYNC_NOT_55 0x0020 #define ICSNEOC2_LIN_ERR_RX_DATA_LEN_OVER_8 0x0040 #define ICSNEOC2_LIN_ERR_FRAME_SYNC 0x0080 #define ICSNEOC2_LIN_ERR_FRAME_MESSAGE_ID 0x0100 #define ICSNEOC2_LIN_ERR_FRAME_RESPONDER_DATA 0x0200 #define ICSNEOC2_LIN_ERR_CHECKSUM_MATCH 0x0400 typedef uint32_t icsneoc2_lin_err_flags_t; // LIN status flags bitmask #define ICSNEOC2_LIN_STATUS_TX_CHECKSUM_ENHANCED 0x01 #define ICSNEOC2_LIN_STATUS_TX_COMMANDER 0x02 #define ICSNEOC2_LIN_STATUS_TX_RESPONDER 0x04 #define ICSNEOC2_LIN_STATUS_TX_ABORTED 0x08 #define ICSNEOC2_LIN_STATUS_UPDATE_RESPONDER_ONCE 0x10 #define ICSNEOC2_LIN_STATUS_HAS_UPDATED_RESPONDER_ONCE 0x20 #define ICSNEOC2_LIN_STATUS_BUS_RECOVERED 0x40 #define ICSNEOC2_LIN_STATUS_BREAK_ONLY 0x80 typedef uint32_t icsneoc2_lin_status_flags_t; /** * Create a LIN message. * * @param[out] message Pointer to receive the new LIN message handle. * @param[in] id The LIN frame ID (0-63). Bits above 0x3F are masked off. * * @return icsneoc2_error_t icsneoc2_error_success if successful. * * @see icsneoc2_message_free */ icsneoc2_error_t icsneoc2_message_lin_create(icsneoc2_message_t** message, uint8_t id); /** * Get the LIN-specific properties of a message. * * Any output pointer may be NULL to skip that field. * * @param[in] message The message to query (must be a LIN message). * @param[out] id Pointer to receive the LIN frame ID. * @param[out] protected_id Pointer to receive the protected ID (ID with parity bits). * @param[out] checksum Pointer to receive the checksum byte. * @param[out] msg_type Pointer to receive the LIN message type. * @param[out] is_enhanced_checksum Pointer to receive whether enhanced checksum is used. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_type if not a LIN message. */ icsneoc2_error_t icsneoc2_message_lin_props_get(const icsneoc2_message_t* message, uint8_t* id, uint8_t* protected_id, uint8_t* checksum, icsneoc2_lin_msg_type_t* msg_type, bool* is_enhanced_checksum); /** * Set the LIN-specific properties of a message. * * Any input pointer may be NULL to skip that field. Setting the ID also recalculates the protected ID. * * @param[in] message The message to modify (must be a LIN message). * @param[in] id Pointer to the LIN frame ID to set (0-63). NULL to skip. * @param[in] checksum Pointer to the checksum byte to set. NULL to skip. * @param[in] msg_type Pointer to the LIN message type to set. NULL to skip. * @param[in] is_enhanced_checksum Pointer to set enhanced checksum mode. NULL to skip. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_type if not a LIN message. */ icsneoc2_error_t icsneoc2_message_lin_props_set(icsneoc2_message_t* message, const uint8_t* id, const uint8_t* checksum, const icsneoc2_lin_msg_type_t* msg_type, const bool* is_enhanced_checksum); /** * Get the LIN error flags of a message. * * @param[in] message The message to query (must be a LIN message). * @param[out] err_flags Pointer to receive the error flags bitmask. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_type if not a LIN message. * * @see ICSNEOC2_LIN_ERR_* */ icsneoc2_error_t icsneoc2_message_lin_err_flags_get(const icsneoc2_message_t* message, icsneoc2_lin_err_flags_t* err_flags); /** * Get the LIN status flags of a message. * * @param[in] message The message to query (must be a LIN message). * @param[out] status_flags Pointer to receive the status flags bitmask. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_type if not a LIN message. * * @see ICSNEOC2_LIN_STATUS_* */ icsneoc2_error_t icsneoc2_message_lin_status_flags_get(const icsneoc2_message_t* message, icsneoc2_lin_status_flags_t* status_flags); /** * Calculate and set the checksum on a LIN message. * * Uses enhanced or classic checksum based on the isEnhancedChecksum property. * * @param[in] message The LIN message to calculate the checksum for. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_type if not a LIN message. */ icsneoc2_error_t icsneoc2_message_lin_calc_checksum(icsneoc2_message_t* message); /** * Get the network type of a message * * @param[in] message The message to check. * @param[out] network_type Pointer to a icsneoc2_network_type_t to copy the network type into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise. * * @see icsneoc2_network_type_t, icsneoc2_network_type_name_get */ icsneoc2_error_t icsneoc2_message_network_type_get(icsneoc2_message_t* message, icsneoc2_network_type_t* network_type); /** * Check if a message is a CAN error message * * @param[in] message The message to check. * @param[out] is_can_error Pointer to a bool to copy the CAN error status of the message into. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise. */ icsneoc2_error_t icsneoc2_message_is_can_error(icsneoc2_message_t* message, bool* is_can_error); /** * Get the CAN error specific properties of a message * * @param[in] message The message to check. * @param[out] tx_err_count Pointer to a uint8_t to copy the transmit error count into. If NULL, it's ignored. * @param[out] rx_err_count Pointer to a uint8_t to copy the receive error count into. If NULL, it's ignored. * @param[out] error_code Pointer to a icsneoc2_can_error_code_t to copy the error code into. If NULL, it's ignored. * @param[out] data_error_code Pointer to a icsneoc2_can_error_code_t to copy the data phase error code into. If NULL, it's ignored. * @param[out] flags Pointer to a icsneoc2_message_can_error_flags_t to copy the error flags into. If NULL, it's ignored. * See ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_* for controller-error bits. * * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise. */ icsneoc2_error_t icsneoc2_message_can_error_props_get( icsneoc2_message_t *message, uint8_t *tx_err_count, uint8_t *rx_err_count, icsneoc2_can_error_code_t *error_code, icsneoc2_can_error_code_t *data_error_code, icsneoc2_message_can_error_flags_t *flags); #ifdef __cplusplus } #endif #endif // __ICSNEOC2MESSAGES_H_