Typedefs

typedef void * csp_memptr_t
 
typedef csp_memptr_t(* csp_memcpy_fnc_t) (csp_memptr_t, const csp_memptr_t, size_t)
 
typedef void(* csp_debug_hook_func_t) (csp_debug_level_t level, const char *format, va_list args)
 Set csp_debug hook function. More...
 

Functions

int csp_init (uint8_t my_node_address)
 csp_init Start up the can-space protocol More...
 
void csp_terminate (void)
 
void csp_set_address (uint8_t addr)
 csp_set_address Set the systems own address More...
 
uint8_t csp_get_address (void)
 csp_get_address Get the systems own address More...
 
void csp_set_hostname (char *hostname)
 csp_set_hostname Set subsystem hostname. More...
 
char * csp_get_hostname (void)
 csp_get_hostname Get current subsystem hostname. More...
 
void csp_set_model (char *model)
 csp_set_model Set subsystem model name. More...
 
char * csp_get_model (void)
 csp_get_model Get current model name. More...
 
void csp_set_revision (char *revision)
 csp_set_revision Set subsystem revision. More...
 
char * csp_get_revision (void)
 csp_get_revision Get subsystem revision. More...
 
csp_socket_tcsp_socket (uint32_t opts)
 csp_socket Create CSP socket endpoint More...
 
csp_conn_tcsp_accept (csp_socket_t *socket, uint32_t timeout)
 Wait for a new connection on a socket created by csp_socket. More...
 
csp_packet_tcsp_read (csp_conn_t *conn, uint32_t timeout)
 Read data from a connection This fuction uses the RX queue of a connection to receive a packet If no packet is available and a timeout has been specified The call will block. More...
 
int csp_send (csp_conn_t *conn, csp_packet_t *packet, uint32_t timeout)
 Send a packet on an already established connection. More...
 
int csp_send_prio (uint8_t prio, csp_conn_t *conn, csp_packet_t *packet, uint32_t timeout)
 Send a packet on an already established connection, and change the default priority of the connection. More...
 
int csp_transaction (uint8_t prio, uint8_t dest, uint8_t port, uint32_t timeout, void *outbuf, int outlen, void *inbuf, int inlen)
 Perform an entire request/reply transaction Copies both input buffer and reply to output buffeer. More...
 
int csp_transaction_persistent (csp_conn_t *conn, uint32_t timeout, void *outbuf, int outlen, void *inbuf, int inlen)
 Use an existing connection to perform a transaction, This is only possible if the next packet is on the same port and destination! More...
 
csp_packet_tcsp_recvfrom (csp_socket_t *socket, uint32_t timeout)
 Read data from a connection-less server socket This fuction uses the socket directly to receive a frame If no packet is available and a timeout has been specified the call will block. More...
 
int csp_sendto (uint8_t prio, uint8_t dest, uint8_t dport, uint8_t src_port, uint32_t opts, csp_packet_t *packet, uint32_t timeout)
 Send a packet without previously opening a connection. More...
 
int csp_sendto_reply (csp_packet_t *request_packet, csp_packet_t *reply_packet, uint32_t opts, uint32_t timeout)
 Send a packet as a direct reply to the source of an incoming packet, but still without holding an entire connection. More...
 
csp_conn_tcsp_connect (uint8_t prio, uint8_t dest, uint8_t dport, uint32_t timeout, uint32_t opts)
 csp_connect Used to establish outgoing connections This function searches the port table for free slots and finds an unused connection from the connection pool There is no handshake in the CSP protocol More...
 
int csp_close (csp_conn_t *conn)
 csp_close Closes a given connection and frees buffers used. More...
 
void csp_close_socket (csp_socket_t *socket)
 Closes a given socket and frees queue used. More...
 
int csp_conn_dport (csp_conn_t *conn)
 
int csp_conn_sport (csp_conn_t *conn)
 
int csp_conn_dst (csp_conn_t *conn)
 
int csp_conn_src (csp_conn_t *conn)
 
int csp_conn_flags (csp_conn_t *conn)
 
int csp_conn_check_alive (csp_conn_t *conn)
 
int csp_listen (csp_socket_t *socket, size_t conn_queue_length)
 Set socket to listen for incoming connections. More...
 
int csp_bind (csp_socket_t *socket, uint8_t port)
 Bind port to socket. More...
 
int csp_route_start_task (unsigned int task_stack_size, unsigned int priority)
 Start the router task. More...
 
void csp_route_end_task ()
 Ends the router task. More...
 
int csp_route_work (uint32_t timeout)
 Call the router worker function manually (without the router task) This must be run inside a loop or called periodically for the csp router to work. More...
 
int csp_bridge_start (unsigned int task_stack_size, unsigned int task_priority, csp_iface_t *_if_a, csp_iface_t *_if_b)
 Start the bridge task. More...
 
int csp_promisc_enable (unsigned int buf_size)
 Enable promiscuous mode packet queue This function is used to enable promiscuous mode for the router. More...
 
void csp_promisc_disable (void)
 Disable promiscuous mode. More...
 
csp_packet_tcsp_promisc_read (uint32_t timeout)
 Get packet from promiscuous mode packet queue Returns the first packet from the promiscuous mode packet queue. More...
 
int csp_sfp_send (csp_conn_t *conn, void *data, int totalsize, int mtu, uint32_t timeout)
 Send multiple packets using the simple fragmentation protocol CSP will add total size and offset to all packets This can be read by the client using the csp_sfp_recv, if the CSP_FFRAG flag is set. More...
 
int csp_sfp_send_own_memcpy (csp_conn_t *conn, void *data, int totalsize, int mtu, uint32_t timeout, void *(*memcpyfcn)(void *, const void *, size_t))
 Same as csp_sfp_send but with option to supply your own memcpy function. More...
 
int csp_sfp_recv (csp_conn_t *conn, void **dataout, int *datasize, uint32_t timeout)
 This is the counterpart to the csp_sfp_send function. More...
 
int csp_sfp_recv_fp (csp_conn_t *conn, void **dataout, int *datasize, uint32_t timeout, csp_packet_t *first_packet)
 This is the counterpart to the csp_sfp_send function. More...
 
void csp_service_handler (csp_conn_t *conn, csp_packet_t *packet)
 If the given packet is a service-request (that is uses one of the csp service ports) it will be handled according to the CSP service handler. More...
 
int csp_ping (uint8_t node, uint32_t timeout, unsigned int size, uint8_t conn_options)
 Send a single ping/echo packet. More...
 
void csp_ping_noreply (uint8_t node)
 Send a single ping/echo packet without waiting for reply. More...
 
void csp_ps (uint8_t node, uint32_t timeout)
 Request process list. More...
 
void csp_memfree (uint8_t node, uint32_t timeout)
 Request amount of free memory. More...
 
void csp_buf_free (uint8_t node, uint32_t timeout)
 Request number of free buffer elements. More...
 
void csp_reboot (uint8_t node)
 Reboot subsystem. More...
 
void csp_shutdown (uint8_t node)
 Shutdown subsystem. More...
 
void csp_uptime (uint8_t node, uint32_t timeout)
 Request subsystem uptime. More...
 
void csp_rdp_set_opt (unsigned int window_size, unsigned int conn_timeout_ms, unsigned int packet_timeout_ms, unsigned int delayed_acks, unsigned int ack_timeout, unsigned int ack_delay_count)
 Set RDP options. More...
 
void csp_rdp_get_opt (unsigned int *window_size, unsigned int *conn_timeout_ms, unsigned int *packet_timeout_ms, unsigned int *delayed_acks, unsigned int *ack_timeout, unsigned int *ack_delay_count)
 Get RDP options. More...
 
int csp_xtea_set_key (char *key, uint32_t keylen)
 Set XTEA key. More...
 
int csp_hmac_set_key (char *key, uint32_t keylen)
 Set HMAC key. More...
 
void csp_conn_print_table (void)
 Print connection table. More...
 
void csp_buffer_print_table (void)
 Print buffer usage table. More...
 
void csp_cmp_set_memcpy (csp_memcpy_fnc_t fnc)
 
void csp_debug_hook_set (csp_debug_hook_func_t f)
 

Typedef Documentation

typedef void(* csp_debug_hook_func_t) (csp_debug_level_t level, const char *format, va_list args)

Set csp_debug hook function.

Parameters
fHook function
typedef csp_memptr_t(* csp_memcpy_fnc_t) (csp_memptr_t, const csp_memptr_t, size_t)
typedef void* csp_memptr_t

Function Documentation

csp_conn_t* csp_accept ( csp_socket_t socket,
uint32_t  timeout 
)

Wait for a new connection on a socket created by csp_socket.

Parameters
socketSocket to accept connections on
timeoutuse CSP_MAX_DELAY for infinite timeout
Returns
Return pointer to csp_conn_t or NULL if timeout was reached
int csp_bind ( csp_socket_t socket,
uint8_t  port 
)

Bind port to socket.

Parameters
socketSocket to bind port to
portPort number to bind
Returns
0 on success, -1 on error.
int csp_bridge_start ( unsigned int  task_stack_size,
unsigned int  task_priority,
csp_iface_t _if_a,
csp_iface_t _if_b 
)

Start the bridge task.

Parameters
task_stack_sizeThe number of portStackType to allocate. This only affects FreeRTOS systems.
priorityThe OS task priority of the router
_if_apointer to first side
_if_bpointer to second side
Returns
CSP_ERR type
void csp_buf_free ( uint8_t  node,
uint32_t  timeout 
)

Request number of free buffer elements.

Parameters
nodenode id
timeouttimeout in ms
void csp_buffer_print_table ( void  )

Print buffer usage table.

int csp_close ( csp_conn_t conn)

csp_close Closes a given connection and frees buffers used.

Parameters
connpointer to connection structure
Returns
CSP_ERR_NONE if connection was closed. Otherwise, an err code is returned.
void csp_close_socket ( csp_socket_t socket)

Closes a given socket and frees queue used.

Parameters
socketpointer to socket structure
void csp_cmp_set_memcpy ( csp_memcpy_fnc_t  fnc)
int csp_conn_check_alive ( csp_conn_t conn)
Parameters
connpointer to connection structure
Returns
CSP_ERR_NONE if connection is still active & valid. Otherwise, an err code is returned.
int csp_conn_dport ( csp_conn_t conn)
Parameters
connpointer to connection structure
Returns
destination port of an incoming connection
int csp_conn_dst ( csp_conn_t conn)
Parameters
connpointer to connection structure
Returns
destination address of an incoming connection
int csp_conn_flags ( csp_conn_t conn)
Parameters
connpointer to connection structure
Returns
flags field of an incoming connection
void csp_conn_print_table ( void  )

Print connection table.

int csp_conn_sport ( csp_conn_t conn)
Parameters
connpointer to connection structure
Returns
source port of an incoming connection
int csp_conn_src ( csp_conn_t conn)
Parameters
connpointer to connection structure
Returns
source address of an incoming connection
csp_conn_t* csp_connect ( uint8_t  prio,
uint8_t  dest,
uint8_t  dport,
uint32_t  timeout,
uint32_t  opts 
)

csp_connect Used to establish outgoing connections This function searches the port table for free slots and finds an unused connection from the connection pool There is no handshake in the CSP protocol

Parameters
prioConnection priority.
destDestination address.
dportDestination port.
timeoutTimeout in ms.
optsConnection options.
Returns
a pointer to a new connection or NULL
void csp_debug_hook_set ( csp_debug_hook_func_t  f)
uint8_t csp_get_address ( void  )

csp_get_address Get the systems own address

Returns
The current address of the system
char* csp_get_hostname ( void  )

csp_get_hostname Get current subsystem hostname.

Returns
Pointer to char array with current hostname.
char* csp_get_model ( void  )

csp_get_model Get current model name.

Returns
Pointer to char array with current model name.
char* csp_get_revision ( void  )

csp_get_revision Get subsystem revision.

Returns
Pointer to char array with software revision.
int csp_hmac_set_key ( char *  key,
uint32_t  keylen 
)

Set HMAC key.

Parameters
keyPointer to key array
keylenLength of key
Returns
0 if key was successfully set, -1 otherwise
int csp_init ( uint8_t  my_node_address)

csp_init Start up the can-space protocol

Parameters
my_node_addressThe CSP node address
int csp_listen ( csp_socket_t socket,
size_t  conn_queue_length 
)

Set socket to listen for incoming connections.

Parameters
socketSocket to enable listening on
conn_queue_lengthLength of backlog connection queue
Returns
0 on success, -1 on error.
void csp_memfree ( uint8_t  node,
uint32_t  timeout 
)

Request amount of free memory.

Parameters
nodenode id
timeouttimeout in ms
int csp_ping ( uint8_t  node,
uint32_t  timeout,
unsigned int  size,
uint8_t  conn_options 
)

Send a single ping/echo packet.

Parameters
nodenode id
timeouttimeout in ms
sizesize of packet to transmit
conn_optionscsp connection options
Returns
>0 = Echo time in ms, -1 = ERR
void csp_ping_noreply ( uint8_t  node)

Send a single ping/echo packet without waiting for reply.

Parameters
nodenode id
void csp_promisc_disable ( void  )

Disable promiscuous mode.

If the queue was initialised prior to this, it can be re-enabled by calling promisc_enable(0)

int csp_promisc_enable ( unsigned int  buf_size)

Enable promiscuous mode packet queue This function is used to enable promiscuous mode for the router.

If enabled, a copy of all incoming packets are placed in a queue that can be read with csp_promisc_get(). Not all interface drivers support promiscuous mode.

Parameters
buf_sizeSize of buffer for incoming packets
csp_packet_t* csp_promisc_read ( uint32_t  timeout)

Get packet from promiscuous mode packet queue Returns the first packet from the promiscuous mode packet queue.

The queue is FIFO, so the returned packet is the oldest one in the queue.

Parameters
timeoutTimeout in ms to wait for a new packet
void csp_ps ( uint8_t  node,
uint32_t  timeout 
)

Request process list.

Note
This is only available for FreeRTOS systems
Parameters
nodenode id
timeouttimeout in ms
void csp_rdp_get_opt ( unsigned int *  window_size,
unsigned int *  conn_timeout_ms,
unsigned int *  packet_timeout_ms,
unsigned int *  delayed_acks,
unsigned int *  ack_timeout,
unsigned int *  ack_delay_count 
)

Get RDP options.

Parameters
window_sizeWindow size
conn_timeout_msConnection timeout in ms
packet_timeout_msPacket timeout in ms
delayed_acksEnable/disable delayed acknowledgements
ack_timeoutAcknowledgement timeout when delayed ACKs is enabled
ack_delay_countSend acknowledgement for every ack_delay_count packets
void csp_rdp_set_opt ( unsigned int  window_size,
unsigned int  conn_timeout_ms,
unsigned int  packet_timeout_ms,
unsigned int  delayed_acks,
unsigned int  ack_timeout,
unsigned int  ack_delay_count 
)

Set RDP options.

Parameters
window_sizeWindow size
conn_timeout_msConnection timeout in ms
packet_timeout_msPacket timeout in ms
delayed_acksEnable/disable delayed acknowledgements
ack_timeoutAcknowledgement timeout when delayed ACKs is enabled
ack_delay_countSend acknowledgement for every ack_delay_count packets
csp_packet_t* csp_read ( csp_conn_t conn,
uint32_t  timeout 
)

Read data from a connection This fuction uses the RX queue of a connection to receive a packet If no packet is available and a timeout has been specified The call will block.

Do NOT call this from ISR

Parameters
connpointer to connection
timeouttimeout in ms, use CSP_MAX_DELAY for infinite blocking time
Returns
Returns pointer to csp_packet_t, which you MUST free yourself, either by calling csp_buffer_free() or reusing the buffer for a new csp_send.
void csp_reboot ( uint8_t  node)

Reboot subsystem.

Parameters
nodenode id
csp_packet_t* csp_recvfrom ( csp_socket_t socket,
uint32_t  timeout 
)

Read data from a connection-less server socket This fuction uses the socket directly to receive a frame If no packet is available and a timeout has been specified the call will block.

Do NOT call this from ISR

Returns
Returns pointer to csp_packet_t, which you MUST free yourself, either by calling csp_buffer_free() or reusing the buffer for a new csp_send.
void csp_route_end_task ( )

Ends the router task.

int csp_route_start_task ( unsigned int  task_stack_size,
unsigned int  priority 
)

Start the router task.

Parameters
task_stack_sizeThe number of portStackType to allocate. This only affects FreeRTOS systems.
priorityThe OS task priority of the router
int csp_route_work ( uint32_t  timeout)

Call the router worker function manually (without the router task) This must be run inside a loop or called periodically for the csp router to work.

Use this function instead of calling and starting the router task.

Parameters
timeoutmax blocking time
Returns
-1 if no packet was processed, 0 otherwise
int csp_send ( csp_conn_t conn,
csp_packet_t packet,
uint32_t  timeout 
)

Send a packet on an already established connection.

Parameters
connpointer to connection
packetpointer to packet,
timeouta timeout to wait for TX to complete. NOTE: not all underlying drivers supports flow-control.
Returns
returns 1 if successful and 0 otherwise. you MUST free the frame yourself if the transmission was not successful.
int csp_send_prio ( uint8_t  prio,
csp_conn_t conn,
csp_packet_t packet,
uint32_t  timeout 
)

Send a packet on an already established connection, and change the default priority of the connection.

Note
When using this function, the priority of the connection will change. If you need to change it back use another call to csp_send_prio, or ensure that all packets sent on a given connection is using send_prio call.
Parameters
priocsp priority
connpointer to connection
packetpointer to packet,
timeouta timeout to wait for TX to complete. NOTE: not all underlying drivers supports flow-control.
Returns
returns 1 if successful and 0 otherwise. you MUST free the frame yourself if the transmission was not successful.
int csp_sendto ( uint8_t  prio,
uint8_t  dest,
uint8_t  dport,
uint8_t  src_port,
uint32_t  opts,
csp_packet_t packet,
uint32_t  timeout 
)

Send a packet without previously opening a connection.

Parameters
prioCSP_PRIO_x
destdestination node
dportdestination port
src_portsource port
optsCSP_O_x
packetpointer to packet
timeouttimeout used by interfaces with blocking send
Returns
-1 if error (you must free packet), 0 if OK (you must discard pointer)
int csp_sendto_reply ( csp_packet_t request_packet,
csp_packet_t reply_packet,
uint32_t  opts,
uint32_t  timeout 
)

Send a packet as a direct reply to the source of an incoming packet, but still without holding an entire connection.

Parameters
request_packetpointer to packet to reply to
reply_packetactual reply data
optsCSP_O_x
timeouttimeout used by interfaces with blocking send
Returns
-1 if error (you must free packet), 0 if OK (you must discard pointer)
void csp_service_handler ( csp_conn_t conn,
csp_packet_t packet 
)

If the given packet is a service-request (that is uses one of the csp service ports) it will be handled according to the CSP service handler.

This function will either use the packet buffer or delete it, so this function is typically called in the last "default" clause of a switch/case statement in a csp_listener task. In order to listen to csp service ports, bind your listener to the CSP_ANY port. This function may only be called from task context.

Parameters
connPointer to the new connection
packetPointer to the first packet, obtained by using csp_read()
void csp_set_address ( uint8_t  addr)

csp_set_address Set the systems own address

Parameters
addrThe new address of the system
void csp_set_hostname ( char *  hostname)

csp_set_hostname Set subsystem hostname.

This function takes a pointer to a string, which should remain static

Parameters
hostnameHostname to set
void csp_set_model ( char *  model)

csp_set_model Set subsystem model name.

This function takes a pointer to a string, which should remain static

Parameters
modelModel name to set
void csp_set_revision ( char *  revision)

csp_set_revision Set subsystem revision.

This can be used to override the CMP revision field. This function takes a pointer to a string, which should remain static

Parameters
revisionRevision name to set
int csp_sfp_recv ( csp_conn_t conn,
void **  dataout,
int *  datasize,
uint32_t  timeout 
)

This is the counterpart to the csp_sfp_send function.

Parameters
connpointer to active conn, on which you expect to receive sfp packed data
dataoutpointer to NULL pointer, whill be overwritten with malloc pointer
datasizeactual size of received data
timeouttimeout in ms to wait for csp_recv()
Returns
0 if OK, -1 if ERR
int csp_sfp_recv_fp ( csp_conn_t conn,
void **  dataout,
int *  datasize,
uint32_t  timeout,
csp_packet_t first_packet 
)

This is the counterpart to the csp_sfp_send function.

Parameters
connpointer to active conn, on which you expect to receive sfp packed data
dataoutpointer to NULL pointer, whill be overwritten with malloc pointer
datasizeactual size of received data
timeouttimeout in ms to wait for csp_recv()
first_packetThis is a pointer to the first SFP packet (previously received with csp_read)
Returns
0 if OK, -1 if ERR
int csp_sfp_send ( csp_conn_t conn,
void *  data,
int  totalsize,
int  mtu,
uint32_t  timeout 
)

Send multiple packets using the simple fragmentation protocol CSP will add total size and offset to all packets This can be read by the client using the csp_sfp_recv, if the CSP_FFRAG flag is set.

Parameters
connpointer to connection
datapointer to data to send
totalsizesize of data to send
mtumaximum transfer unit
timeouttimeout in ms to wait for csp_send()
Returns
0 if OK, -1 if ERR
int csp_sfp_send_own_memcpy ( csp_conn_t conn,
void *  data,
int  totalsize,
int  mtu,
uint32_t  timeout,
void *(*)(void *, const void *, size_t)  memcpyfcn 
)

Same as csp_sfp_send but with option to supply your own memcpy function.

This is usefull if you wish to send data stored in flash memory or another location

Parameters
connpointer to connection
datapointer to data to send
totalsizesize of data to send
mtumaximum transfer unit
timeouttimeout in ms to wait for csp_send()
memcpyfcn,pointerto memcpy function
Returns
0 if OK, -1 if ERR
void csp_shutdown ( uint8_t  node)

Shutdown subsystem.

Parameters
nodenode id
csp_socket_t* csp_socket ( uint32_t  opts)

csp_socket Create CSP socket endpoint

Parameters
optsSocket options
Returns
Pointer to socket on success, NULL on failure
void csp_terminate ( void  )
int csp_transaction ( uint8_t  prio,
uint8_t  dest,
uint8_t  port,
uint32_t  timeout,
void *  outbuf,
int  outlen,
void *  inbuf,
int  inlen 
)

Perform an entire request/reply transaction Copies both input buffer and reply to output buffeer.

Also makes the connection and closes it again

Parameters
prioCSP Prio
destCSP Dest
portCSP Port
timeouttimeout in ms
outbufpointer to outgoing data buffer
outlenlength of request to send
inbufpointer to incoming data buffer
inlenlength of expected reply, -1 for unknown size (note inbuf MUST be large enough)
Returns
Return 1 or reply size if successful, 0 if error or incoming length does not match or -1 if timeout was reached
int csp_transaction_persistent ( csp_conn_t conn,
uint32_t  timeout,
void *  outbuf,
int  outlen,
void *  inbuf,
int  inlen 
)

Use an existing connection to perform a transaction, This is only possible if the next packet is on the same port and destination!

Parameters
connpointer to connection structure
timeouttimeout in ms
outbufpointer to outgoing data buffer
outlenlength of request to send
inbufpointer to incoming data buffer
inlenlength of expected reply, -1 for unknown size (note inbuf MUST be large enough)
Returns
void csp_uptime ( uint8_t  node,
uint32_t  timeout 
)

Request subsystem uptime.

Parameters
nodenode id
timeouttimeout in ms
int csp_xtea_set_key ( char *  key,
uint32_t  keylen 
)

Set XTEA key.

Parameters
keyPointer to key array
keylenLength of key
Returns
0 if key was successfully set, -1 otherwise