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 const uint8_t PCI_START_BIT = 0;
11 const uint8_t PCI_WIDTH = 4;
12 const uint8_t PAYLOAD_LENGTH_START_BIT = 4;
13 const uint8_t PAYLOAD_LENGTH_WIDTH = 4;
14 const uint8_t PAYLOAD_START_BIT = 8;
16 void isotp_receive_can_frame(IsoTpHandler* handler,
17 const uint16_t arbitration_id, const uint64_t data,
18 const uint8_t length) {
19 if(arbitration_id != handler->arbitration_id){
23 // TODO use CanMessage struct from canutil library - allocate payload buffer
25 // TODO this function should receive uint64_t...
26 IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
27 getBitField(data, 0, 4, false);
29 // TODO this is messed up! need a better API for grabbing bytes
30 uint8_t payload_length = getBitField(data, 4, 4, false);
31 uint8_t payload[payload_length];
32 uint64_t flipped_data = __builtin_bswap64(data);
33 if(payload_length > 0) {
34 memcpy(payload, &(((uint8_t*)&flipped_data)[1]), payload_length);
39 isotp_handle_single_frame(handler, arbitration_id, payload,
43 handler->shims->log("Only single frame messages are supported");
48 void isotp_complete_send(IsoTpHandler* handler, const uint8_t* payload,
49 uint8_t size, bool status) {
50 handler->message_sent_callback(handler->arbitration_id, payload, size,
54 bool isotp_send_single_frame(IsoTpHandler* handler, const uint8_t* payload,
57 setBitField(&data, PCI_SINGLE, PCI_START_BIT, PCI_WIDTH);
58 setBitField(&data, size, PAYLOAD_LENGTH_START_BIT, PAYLOAD_LENGTH_WIDTH);
59 // TODO this is probably wrong
61 setBitField(&data, *payload, PAYLOAD_START_BIT, size * 8);
63 handler->shims->send_can_message(handler->arbitration_id, payload, size);
64 isotp_complete_send(handler, payload, size, true);
68 bool isotp_send_multi_frame(IsoTpHandler* handler, const uint8_t* payload,
73 bool isotp_send(IsoTpHandler* handler, const uint8_t* payload,
75 // we determine if it's single/multi frame and start the send
77 return isotp_send_single_frame(handler, payload, size);
79 return isotp_send_multi_frame(handler, payload, size);
84 void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) {
85 handler->timeout_ms = timeout_ms;
88 IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
89 SetTimerShim set_timer) {
92 send_can_message: send_can_message,
98 IsoTpHandler isotp_init(IsoTpShims* shims, uint16_t arbitration_id,
99 IsoTpMessageReceivedHandler message_received_callback,
100 IsoTpMessageSentHandler message_sent_callback,
101 IsoTpCanFrameSentHandler can_frame_sent_callback) {
102 IsoTpHandler handler = {
104 arbitration_id: arbitration_id,
105 message_received_callback: message_received_callback,
106 message_sent_callback: message_sent_callback,
107 can_frame_sent_callback: can_frame_sent_callback,
108 timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
109 frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
115 // TODO this would be better as a "isotp_message_to_string"
116 void log_isotp_message(const uint16_t arbitration_id,
117 const uint8_t* payload, const uint16_t size) {
118 debug("ID: 0x%02x", arbitration_id);
121 for(int i = 0; i < size; i++) {
122 debug("0x%x", payload[i]);
125 debug("(no payload)");