src/isotp/isotp.h

   1 #ifndef __ISOTP_H__
   2 #define __ISOTP_H__
   3
   4 #include <stdint.h>
   5 #include <stdbool.h>
   6 #include <stdio.h>
   7
   8 #define CAN_MESSAGE_BYTE_SIZE 8
   9
  10 #ifdef __cplusplus
  11 extern "C" {
  12 #endif
  13
  14 const uint16_t MAX_ISO_TP_MESSAGE_SIZE;
  15 const uint16_t MAX_CAN_FRAME_SIZE;
  16 const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
  17 const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS;
  18
  19 typedef struct {
  20     const uint16_t arbitration_id;
  21     const uint8_t* payload;
  22     const uint16_t size;
  23 } IsoTpMessage;
  24
  25 typedef void (*LogShim)(const char* message, ...);
  26 typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id,
  27         const uint8_t* data, const uint8_t size);
  28 typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
  29
  30 typedef void (*IsoTpMessageReceivedHandler)(const IsoTpMessage* message);
  31 typedef void (*IsoTpMessageSentHandler)(const IsoTpMessage* message,
  32         const bool success);
  33 typedef void (*IsoTpCanFrameSentHandler)(const IsoTpMessage* message);
  34
  35 typedef struct {
  36     LogShim log;
  37     SendCanMessageShim send_can_message;
  38     SetTimerShim set_timer;
  39 } IsoTpShims;
  40
  41 typedef struct {
  42     uint16_t arbitration_id;
  43     IsoTpMessageReceivedHandler message_received_callback;
  44
  45     // Private
  46     uint16_t timeout_ms;
  47     // timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
  48     bool frame_padding;
  49     // frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
  50     uint8_t* receive_buffer;
  51     uint16_t received_buffer_size;
  52     uint16_t incoming_message_size;
  53     // TODO timer callback
  54 } IsoTpReceiveHandle;
  55
  56 typedef struct {
  57     uint16_t sending_arbitration_id;
  58     uint16_t receiving_arbitration_id;
  59     IsoTpMessageSentHandler message_sent_callback;
  60     IsoTpCanFrameSentHandler can_frame_sent_callback;
  61
  62     // TODO going to need some state here for multi frame messages
  63 } IsoTpSendHandle;
  64
  65 typedef enum {
  66     ISOTP_HANDLE_SENDING,
  67     ISOTP_HANDLE_RECEIVING
  68 } IsoTpHandleType;
  69
  70 typedef struct {
  71     bool success;
  72     bool completed;
  73     IsoTpHandleType type;
  74     IsoTpReceiveHandle receive_handle;
  75     IsoTpSendHandle send_handle;
  76 } IsoTpHandle;
  77
  78
  79 typedef enum {
  80     PCI_SINGLE = 0x0,
  81     PCI_FIRST_FRAME = 0x1,
  82     PCI_CONSECUTIVE_FRAME = 0x2,
  83     PCI_FLOW_CONTROL_FRAME = 0x3
  84 } IsoTpProtocolControlInformation;
  85
  86 typedef enum {
  87     PCI_FLOW_STATUS_CONTINUE = 0x0,
  88     PCI_FLOW_STATUS_WAIT = 0x1,
  89     PCI_FLOW_STATUS_OVERFLOW = 0x2
  90 } IsoTpFlowStatus;
  91
  92 IsoTpShims isotp_init_shims(LogShim log,
  93         SendCanMessageShim send_can_message,
  94         SetTimerShim set_timer);
  95
  96 /* Public:
  97  *
  98  * Returns true if a complete ISO-TP message was sent or received as of
  99  * processing this CAN frame. Check the 'success' and 'completed' flag on the
 100  * handle to make sure.
 101  */
 102 bool isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
 103         const uint16_t arbitration_id, const uint8_t data[],
 104         const uint8_t size);
 105
 106 /* Public: Change the timeout for waiting on an ISO-TP response frame.
 107  *
 108  * If this function is not used, the conventional 100ms is used by default.
 109  *
 110  * handler - the ISO-TP handler to modify.
 111  * timeout - the new timeout in milliseconds.
 112  */
 113 // void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms);
 114
 115 // void isotp_destroy(IsoTpHandler* handler);
 116
 117 void isotp_message_to_string(const IsoTpMessage* message, char* destination,
 118         size_t destination_length);
 119
 120 IsoTpHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
 121         const uint8_t* payload, uint16_t size,
 122         IsoTpMessageSentHandler callback);
 123
 124 IsoTpHandle isotp_receive(IsoTpShims* shims, const uint16_t arbitration_id,
 125         IsoTpMessageReceivedHandler callback);
 126
 127 #ifdef __cplusplus
 128 }
 129 #endif
 130
 131 #endif // __ISOTP_H__