1 #include <isotp/isotp.h>
2 #include <isotp/receive.h>
3 #include <bitfield/bitfield.h>
5 const uint16_t MAX_ISO_TP_MESSAGE_SIZE = 4096;
6 const uint16_t MAX_CAN_FRAME_SIZE = 8;
7 const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT = 100;
8 const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS = true;
10 /* void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) { */
11 /* handler->timeout_ms = timeout_ms; */
14 IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
15 SetTimerShim set_timer) {
18 send_can_message: send_can_message,
24 void isotp_message_to_string(const IsoTpMessage* message, char* destination,
25 size_t destination_length) {
26 char payload_string[message->size * 2 + 1];
27 for(int i = 0; i < message->size; i++) {
28 // TODO, bah this isn't working because snprintf hits the NULL char that
29 // it wrote the last time and stops cold
30 snprintf(&payload_string[i * 2], 2, "%02x", message->payload[i]);
32 snprintf(destination, destination_length, "ID: 0x%02x, Payload: 0x%s",
33 message->arbitration_id, payload_string);
36 IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
37 const uint16_t arbitration_id, const uint8_t data[],
38 const uint8_t data_length) {
39 IsoTpMessage message = {
40 arbitration_id: arbitration_id,
48 if(handle->type == ISOTP_HANDLE_RECEIVING) {
49 if(handle->receive_handle.arbitration_id != arbitration_id) {
52 } else if(handle->type == ISOTP_HANDLE_SENDING) {
53 if(handle->send_handle.receiving_arbitration_id != arbitration_id) {
57 shims->log("The ISO-TP handle is corrupt");
61 IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
62 get_nibble(data, data_length, 0);
64 uint8_t payload_length = get_nibble(data, data_length, 1);
65 uint8_t payload[payload_length];
66 if(payload_length > 0 && data_length > 0) {
67 memcpy(payload, &data[1], payload_length);
70 // TODO this is set up to handle rx a response with a payload, but not to
71 // handle flow control responses for multi frame messages that we're in the
76 message.payload = payload;
77 message.size = payload_length;
78 message.completed = true;
79 handle->success = true;
80 handle->completed = true;
81 isotp_handle_single_frame(handle, &message);
85 shims->log("Only single frame messages are supported");