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
  11 void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) {
  12     handler->timeout_ms = timeout_ms;
  13 }
  14
  15 IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
  16         SetTimerShim set_timer) {
  17     IsoTpShims shims = {
  18         log: log,
  19         send_can_message: send_can_message,
  20         set_timer: set_timer
  21     };
  22     return shims;
  23 }
  24
  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 = {
  30         shims: shims,
  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,
  37         sending: false
  38     };
  39     return handler;
  40 }
  41
  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) {
  46         debug("Payload:");
  47         for(int i = 0; i < message->size; i++) {
  48             debug("0x%x", message->payload[i]);
  49         }
  50     }  else {
  51         debug("(no payload)");
  52     }
  53 }