src/isotp/isotp.c

   1 #include <isotp/isotp.h>
   2 #include <isotp/receive.h>
   3 #include <bitfield/bitfield.h>
   4
   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;
   9
  10 void isotp_receive_can_frame(IsoTpHandler* handler,
  11         const uint16_t arbitration_id, const uint8_t* data, const uint8_t length) {
  12     if(arbitration_id != handler->arbitration_id){
  13         return;
  14     }
  15
  16     // TODO use CanMessage struct from canutil library - allocate payload buffer
  17     // on stack, 8 bytes
  18     // TODO  this function should receive uint64_t...
  19     IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
  20             getBitField((uint64_t)data, 0, 2, false);
  21
  22     switch(pci) {
  23         case PCI_SINGLE:
  24             isotp_handle_single_frame(handler, arbitration_id, data, length);
  25             break;
  26         default:
  27             handler->shims->log("Only single frame messages are supported");
  28             break;
  29     }
  30 }
  31
  32 bool isotp_send(const uint8_t* payload, uint16_t payload_size) {
  33      // we determine if it's single/multi frame and start the send
  34 }
  35
  36 void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) {
  37     handler->timeout_ms = timeout_ms;
  38 }
  39
  40 IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
  41         SetTimerShim set_timer) {
  42     IsoTpShims shims = {
  43         log: log,
  44         send_can_message: send_can_message,
  45         set_timer: set_timer
  46     };
  47     return shims;
  48 }
  49
  50 IsoTpHandler isotp_init(IsoTpShims* shims, uint16_t arbitration_id,
  51         IsoTpMessageReceivedHandler message_received_callback,
  52         IsoTpMessageSentHandler message_sent_callback,
  53         IsoTpCanFrameSentHandler can_frame_sent_callback) {
  54     IsoTpHandler handler = {
  55         shims: shims,
  56         arbitration_id: arbitration_id,
  57         message_received_callback: message_received_callback,
  58         message_sent_callback: message_sent_callback,
  59         can_frame_sent_callback: can_frame_sent_callback,
  60         timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
  61         frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
  62         sending: false
  63     };
  64     return handler;
  65 }
  66
  67 // TODO this would be better as a "isotp_message_to_string"
  68 void log_isotp_message(const uint16_t arbitration_id,
  69         const uint8_t* payload, const uint16_t size) {
  70     debug("ID: 0x%02x, Payload:", arbitration_id);
  71     for(int i = 0; i < size; i++) {
  72         debug("0x%x", payload[i]);
  73     }
  74 }