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;
11 void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) {
12 handler->timeout_ms = timeout_ms;
15 IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
16 SetTimerShim set_timer) {
19 send_can_message: send_can_message,
25 IsoTpHandler isotp_init(IsoTpShims* shims, uint16_t arbitration_id,
26 IsoTpMessageReceivedHandler message_received_callback,
27 IsoTpMessageSentHandler message_sent_callback,
28 IsoTpCanFrameSentHandler can_frame_sent_callback) {
29 IsoTpHandler handler = {
31 arbitration_id: arbitration_id,
32 message_received_callback: message_received_callback,
33 message_sent_callback: message_sent_callback,
34 can_frame_sent_callback: can_frame_sent_callback,
35 timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
36 frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
42 // TODO this would be better as a "isotp_message_to_string"
43 void log_isotp_message(const IsoTpMessage* message) {
44 debug("ID: 0x%02x", message->arbitration_id);
45 if(message->size > 0) {
47 for(int i = 0; i < message->size; i++) {
48 debug("0x%x", message->payload[i]);
51 debug("(no payload)");