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 #define PCI_START_BIT 0
12 #define PAYLOAD_LENGTH_START_BIT PCI_START_BIT + PCI_WIDTH
13 #define PAYLOAD_LENGTH_WIDTH 4
14 #define PAYLOAD_START_BIT PAYLOAD_LENGTH_START_BIT + PAYLOAD_LENGTH_WIDTH
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 need a better bitfield API to support this - use byte array instead
60 // of uint64_t and specify desired total width
61 for(int i = 0; i < size; i++) {
62 setBitField(&data, payload[i], PAYLOAD_START_BIT + i * 8, 8);
65 uint8_t data_array[size + 1];
66 for(int i = 0; i < sizeof(data_array); i++) {
67 // TODO need getByte(x) function
68 data_array[i] = getBitField(data, i * 8, 8, false);
70 handler->shims->send_can_message(handler->arbitration_id, data_array, sizeof(data_array));
71 isotp_complete_send(handler, payload, size, true);
75 bool isotp_send_multi_frame(IsoTpHandler* handler, const uint8_t* payload,
80 bool isotp_send(IsoTpHandler* handler, const uint8_t* payload,
82 // we determine if it's single/multi frame and start the send
84 return isotp_send_single_frame(handler, payload, size);
86 return isotp_send_multi_frame(handler, payload, size);
91 void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) {
92 handler->timeout_ms = timeout_ms;
95 IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
96 SetTimerShim set_timer) {
99 send_can_message: send_can_message,
105 IsoTpHandler isotp_init(IsoTpShims* shims, uint16_t arbitration_id,
106 IsoTpMessageReceivedHandler message_received_callback,
107 IsoTpMessageSentHandler message_sent_callback,
108 IsoTpCanFrameSentHandler can_frame_sent_callback) {
109 IsoTpHandler handler = {
111 arbitration_id: arbitration_id,
112 message_received_callback: message_received_callback,
113 message_sent_callback: message_sent_callback,
114 can_frame_sent_callback: can_frame_sent_callback,
115 timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
116 frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
122 // TODO this would be better as a "isotp_message_to_string"
123 void log_isotp_message(const uint16_t arbitration_id,
124 const uint8_t* payload, const uint16_t size) {
125 debug("ID: 0x%02x", arbitration_id);
128 for(int i = 0; i < size; i++) {
129 debug("0x%x", payload[i]);
132 debug("(no payload)");