feat: add unified SET protocol v2

c/set-protocol/include/set_can.h

@@ -0,0 +1,89 @@
+#ifndef SET_CAN_H
+#define SET_CAN_H
+
+#include "set_protocol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define SETP_CAN_ID_PREFIX            0x12U
+#define SETP_CAN_ID_PREFIX_MASK       0x1F000000UL
+#define SETP_CAN_ID_MASK              0x1FFFFFFFUL
+
+#define SETP_CAN_PCI_FIRST            0x10U
+#define SETP_CAN_PCI_CONSECUTIVE      0x20U
+#define SETP_CAN_PCI_FLOW_CONTROL     0x30U
+#define SETP_CAN_PCI_TYPE_MASK        0xF0U
+#define SETP_CAN_PCI_VALUE_MASK       0x0FU
+
+#define SETP_CAN_FC_CONTINUE          0x00U
+#define SETP_CAN_FC_WAIT              0x01U
+#define SETP_CAN_FC_OVERFLOW          0x02U
+
+#define SETP_CAN_FIRST_DATA           5U
+#define SETP_CAN_CONSECUTIVE_DATA     7U
+
+#ifndef SETP_CAN_REASSEMBLY_TIMEOUT_MS
+#define SETP_CAN_REASSEMBLY_TIMEOUT_MS 500U
+#endif
+
+typedef struct {
+    uint32_t id;
+    uint8_t length;
+    uint8_t data[8];
+} setp_can_frame_t;
+
+typedef struct {
+    uint8_t source;
+    uint8_t destination;
+    uint8_t priority;
+    uint8_t channel;
+} setp_can_id_t;
+
+typedef enum {
+    SETP_CAN_RX_NONE = 0,
+    SETP_CAN_RX_COMPLETE = 1,
+    SETP_CAN_RX_FORMAT_ERROR = 2,
+    SETP_CAN_RX_SEQUENCE_ERROR = 3,
+    SETP_CAN_RX_TIMEOUT = 4
+} setp_can_rx_result_t;
+
+typedef struct {
+    uint8_t buffer[SETP_FRAME_MAX];
+    uint16_t expected_length;
+    uint16_t received_length;
+    uint32_t can_id;
+    uint32_t deadline_ms;
+    uint8_t next_sequence;
+    uint8_t active;
+} setp_can_rx_t;
+
+typedef struct {
+    const uint8_t *data;
+    uint16_t length;
+    uint32_t can_id;
+} setp_can_packet_t;
+
+typedef bool (*setp_can_send_fn)(const setp_can_frame_t *frame, void *user);
+
+uint32_t setp_can_id_pack(const setp_can_id_t *value);
+bool setp_can_id_unpack(uint32_t raw, setp_can_id_t *out);
+
+/** Segment one complete SETP frame. Flow-control pacing belongs to the port. */
+bool setp_can_segment(const uint8_t *packet, uint16_t length, uint32_t can_id,
+                      setp_can_send_fn send, void *user);
+
+void setp_can_rx_init(setp_can_rx_t *state);
+setp_can_rx_result_t setp_can_rx_feed(setp_can_rx_t *state,
+                                      const setp_can_frame_t *frame,
+                                      uint32_t now_ms, setp_can_packet_t *out);
+
+bool setp_can_flow_control(setp_can_frame_t *out, uint32_t can_id,
+                           uint8_t status, uint8_t block_size, uint8_t st_min_ms);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SET_CAN_H */