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 // TODO why isn't this picked up from the header?
11 extern IsoTpHandle isotp_receive(IsoTpShims* shims, const uint16_t arbitration_id,
12 IsoTpMessageReceivedHandler callback);
15 /* void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) { */
16 /* handler->timeout_ms = timeout_ms; */
19 IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
20 SetTimerShim set_timer) {
23 send_can_message: send_can_message,
29 void isotp_message_to_string(const IsoTpMessage* message, char* destination,
30 size_t destination_length) {
31 snprintf(destination, destination_length,"ID: 0x%02x, Payload: 0x%llx",
32 // TODO the payload may be backwards here
33 message->arbitration_id, message->payload);
36 void isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
37 const uint16_t arbitration_id, const uint8_t data[],
38 const uint8_t data_length) {
43 if(handle->type == ISOTP_HANDLE_RECEIVING) {
44 if(handle->receive_handle.arbitration_id != arbitration_id) {
47 } else if(handle->type == ISOTP_HANDLE_SENDING) {
48 if(handle->send_handle.receiving_arbitration_id != arbitration_id) {
52 shims->log("The ISO-TP handle is corrupt");
55 IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
56 get_nibble(data, data_length, 0);
58 uint8_t payload_length = get_nibble(data, data_length, 1);
59 uint8_t payload[payload_length];
60 if(payload_length > 0 && data_length > 0) {
61 memcpy(payload, &data[1], payload_length);
64 // TODO this is set up to handle rx a response with a payload, but not to
65 // handle flow control responses for multi frame messages that we're in the
70 IsoTpMessage message = {
71 arbitration_id: arbitration_id,
76 isotp_handle_single_frame(handle, &message);
80 shims->log("Only single frame messages are supported");