8 #define CAN_MESSAGE_BYTE_SIZE 8
9 #define MAX_ISO_TP_MESSAGE_SIZE 4096
10 // TODO we want to avoid malloc, and we can't be allocated 4K on the stack for
11 // each IsoTpMessage, so for now we're setting an artificial max message size
12 // here - since we only handle single frame messages, 8 bytes is plenty.
13 #define OUR_MAX_ISO_TP_MESSAGE_SIZE 8
19 const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
20 const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS;
23 const uint16_t arbitration_id;
24 uint8_t payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
29 typedef void (*LogShim)(const char* message, ...);
30 typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id,
31 const uint8_t* data, const uint8_t size);
32 typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
34 typedef void (*IsoTpMessageReceivedHandler)(const IsoTpMessage* message);
35 typedef void (*IsoTpMessageSentHandler)(const IsoTpMessage* message,
37 typedef void (*IsoTpCanFrameSentHandler)(const IsoTpMessage* message);
41 SendCanMessageShim send_can_message;
42 SetTimerShim set_timer;
46 uint16_t arbitration_id;
47 IsoTpMessageReceivedHandler message_received_callback;
51 // timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
53 // frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
54 uint8_t* receive_buffer;
55 uint16_t received_buffer_size;
56 uint16_t incoming_message_size;
57 // TODO timer callback
61 uint16_t sending_arbitration_id;
62 uint16_t receiving_arbitration_id;
63 IsoTpMessageSentHandler message_sent_callback;
64 IsoTpCanFrameSentHandler can_frame_sent_callback;
66 // TODO going to need some state here for multi frame messages
71 ISOTP_HANDLE_RECEIVING
78 IsoTpReceiveHandle receive_handle;
79 IsoTpSendHandle send_handle;
85 PCI_FIRST_FRAME = 0x1,
86 PCI_CONSECUTIVE_FRAME = 0x2,
87 PCI_FLOW_CONTROL_FRAME = 0x3
88 } IsoTpProtocolControlInformation;
91 PCI_FLOW_STATUS_CONTINUE = 0x0,
92 PCI_FLOW_STATUS_WAIT = 0x1,
93 PCI_FLOW_STATUS_OVERFLOW = 0x2
96 IsoTpShims isotp_init_shims(LogShim log,
97 SendCanMessageShim send_can_message,
98 SetTimerShim set_timer);
103 IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
104 const uint16_t arbitration_id, const uint8_t data[],
107 // TODO perhaps this makes more sense as 2 functions:
108 // bool isotp_continue_send()
109 // IsoTpMessage isotp_continue_receive()
110 // but both with the same args
112 /* Public: Change the timeout for waiting on an ISO-TP response frame.
114 * If this function is not used, the conventional 100ms is used by default.
116 * handler - the ISO-TP handler to modify.
117 * timeout - the new timeout in milliseconds.
119 // void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms);
121 // void isotp_destroy(IsoTpHandler* handler);
123 void isotp_message_to_string(const IsoTpMessage* message, char* destination,
124 size_t destination_length);
126 IsoTpHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
127 const uint8_t payload[], uint16_t size,
128 IsoTpMessageSentHandler callback);
130 IsoTpHandle isotp_receive(IsoTpShims* shims,
131 const uint16_t arbitration_id, IsoTpMessageReceivedHandler callback);
137 #endif // __ISOTP_H__