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_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_t *	csp_socket (uint32_t opts)
	csp_socket Create CSP socket endpoint More...

csp_conn_t *	csp_accept (csp_socket_t *socket, uint32_t timeout)
	Wait for a new connection on a socket created by csp_socket. More...

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. 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_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. 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_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 More...

int	csp_close (csp_conn_t *conn)
	csp_close Closes a given connection and frees buffers 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_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...

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_t *	csp_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

f	Hook 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

socket	Socket to accept connections on
timeout	use 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

socket	Socket to bind port to
port	Port 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_size	The number of portStackType to allocate. This only affects FreeRTOS systems.
priority	The OS task priority of the router
_if_a	pointer to first side
_if_b	pointer to second side

Returns: CSP_ERR type

void csp_buf_free	(	uint8_t	node,
		uint32_t	timeout
	)

Request number of free buffer elements.

Parameters

node	node id
timeout	timeout 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

conn	pointer to connection structure

Returns: CSP_ERR_NONE if connection was closed. Otherwise, an err code is returned.

void csp_cmp_set_memcpy ( csp_memcpy_fnc_t fnc )

int csp_conn_dport ( csp_conn_t * conn )

Parameters

conn	pointer to connection structure

Returns: destination port of an incoming connection

int csp_conn_dst ( csp_conn_t * conn )

Parameters

conn	pointer to connection structure

Returns: destination address of an incoming connection

int csp_conn_flags ( csp_conn_t * conn )

Parameters

conn	pointer 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

conn	pointer to connection structure

Returns: source port of an incoming connection

int csp_conn_src ( csp_conn_t * conn )

Parameters

conn	pointer 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

prio	Connection priority.
dest	Destination address.
dport	Destination port.
timeout	Timeout in ms.
opts	Connection 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

key	Pointer to key array
keylen	Length 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_address The CSP node address

int csp_listen	(	csp_socket_t *	socket,
		size_t	conn_queue_length
	)

Set socket to listen for incoming connections.

Parameters

socket	Socket to enable listening on
conn_queue_length	Lenght 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

node	node id
timeout	timeout 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

node	node id
timeout	timeout in ms
size	size of packet to transmit
conn_options	csp 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

node node 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_size Size 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

timeout Timeout 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

node	node id
timeout	timeout 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_size	Window size
conn_timeout_ms	Connection timeout in ms
packet_timeout_ms	Packet timeout in ms
delayed_acks	Enable/disable delayed acknowledgements
ack_timeout	Acknowledgement timeout when delayed ACKs is enabled
ack_delay_count	Send 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_size	Window size
conn_timeout_ms	Connection timeout in ms
packet_timeout_ms	Packet timeout in ms
delayed_acks	Enable/disable delayed acknowledgements
ack_timeout	Acknowledgement timeout when delayed ACKs is enabled
ack_delay_count	Send 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

conn	pointer to connection
timeout	timeout 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

node node 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.

int csp_route_start_task	(	unsigned int	task_stack_size,
		unsigned int	priority
	)

Start the router task.

Parameters

task_stack_size	The number of portStackType to allocate. This only affects FreeRTOS systems.
priority	The 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

timeout max 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

conn	pointer to connection
packet	pointer to packet,
timeout	a 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

prio	csp priority
conn	pointer to connection
packet	pointer to packet,
timeout	a 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

prio	CSP_PRIO_x
dest	destination node
dport	destination port
src_port	source port
opts	CSP_O_x
packet	pointer to packet
timeout	timeout 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_packet	pointer to packet to reply to
reply_packet	actual reply data
opts	CSP_O_x
timeout	timeout 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

conn	Pointer to the new connection
packet	Pointer 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

addr	The 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

hostname Hostname 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

model Model 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

revision Revision 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

conn	pointer to active conn, on which you expect to receive sfp packed data
dataout	pointer to NULL pointer, whill be overwritten with malloc pointer
datasize	actual size of received data
timeout	timeout 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

conn	pointer to active conn, on which you expect to receive sfp packed data
dataout	pointer to NULL pointer, whill be overwritten with malloc pointer
datasize	actual size of received data
timeout	timeout in ms to wait for csp_recv()
first_packet	This 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

conn	pointer to connection
data	pointer to data to send
totalsize	size of data to send
mtu	maximum transfer unit
timeout	timeout 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

conn	pointer to connection
data	pointer to data to send
totalsize	size of data to send
mtu	maximum transfer unit
timeout	timeout in ms to wait for csp_send()
memcpyfcn,pointer	to memcpy function

Returns: 0 if OK, -1 if ERR

void csp_shutdown ( uint8_t node )

Shutdown subsystem.

Parameters

node node id

csp_socket_t* csp_socket ( uint32_t opts )

csp_socket Create CSP socket endpoint

Parameters

opts	Socket options

Returns: Pointer to socket on success, NULL on failure

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

prio	CSP Prio
dest	CSP Dest
port	CSP Port
timeout	timeout in ms
outbuf	pointer to outgoing data buffer
outlen	length of request to send
inbuf	pointer to incoming data buffer
inlen	length 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

conn	pointer to connection structure
timeout	timeout in ms
outbuf	pointer to outgoing data buffer
outlen	length of request to send
inbuf	pointer to incoming data buffer
inlen	length 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

node	node id
timeout	timeout in ms

int csp_xtea_set_key	(	char *	key,
		uint32_t	keylen
	)

Set XTEA key.

Parameters

key	Pointer to key array
keylen	Length of key

Returns: 0 if key was successfully set, -1 otherwise

Typedefs

Functions

Typedef Documentation

Function Documentation