src/isotp/isotp.h

   1 #ifndef __ISOTP_H__
   2 #define __ISOTP_H__
   3
   4 #include <stdint.h>
   5 #include <stdbool.h>
   6
   7 #ifdef __cplusplus
   8 extern "C" {
   9 #endif
  10
  11 const uint16_t MAX_ISO_TP_MESSAGE_SIZE;
  12 const uint16_t MAX_CAN_FRAME_SIZE;
  13 const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
  14 const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS;
  15
  16 typedef void (*LogShim)(const char* message);
  17 typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id,
  18         const uint8_t* data, const uint8_t size);
  19 typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
  20
  21 typedef void (*IsoTpMessageReceivedHandler)(const uint16_t arbitration_id,
  22         const uint8_t* payload, const uint16_t size);
  23 typedef void (*IsoTpMessageSentHandler)(const uint16_t arbitration_id,
  24         const uint8_t* payload, const uint16_t size, const bool success);
  25 typedef void (*IsoTpCanFrameSentHandler)(const uint16_t arbitration_id,
  26         const uint8_t* payload, const uint8_t size);
  27
  28 // TODO this is really necessary and it would leak this library into the user's
  29 // code
  30 // typedef struct {
  31     // const uint16_t arbitration_id;
  32     // const uint8_t* payload;
  33     // const uint16_t size;
  34 // } IsoTpMessage;
  35
  36 typedef struct {
  37     LogShim log;
  38     SendCanMessageShim send_can_message;
  39     SetTimerShim set_timer;
  40 } IsoTpShims;
  41
  42 typedef struct {
  43     IsoTpShims* shims;
  44     uint16_t arbitration_id;
  45     IsoTpMessageReceivedHandler message_received_callback;
  46     IsoTpMessageSentHandler message_sent_callback;
  47     IsoTpCanFrameSentHandler can_frame_sent_callback;
  48
  49     // Private
  50     uint16_t timeout_ms;
  51     bool frame_padding;
  52     uint8_t* receive_buffer;
  53     uint16_t received_buffer_size;
  54     uint16_t incoming_message_size;
  55     bool sending;
  56     // TODO timer callback
  57 } IsoTpHandler;
  58
  59 typedef enum {
  60     PCI_SINGLE = 0x0,
  61     PCI_FIRST_FRAME = 0x1,
  62     PCI_CONSECUTIVE_FRAME = 0x2,
  63     PCI_FLOW_CONTROL_FRAME = 0x3
  64 } IsoTpProtocolControlInformation;
  65
  66 typedef enum {
  67     PCI_FLOW_STATUS_CONTINUE = 0x0,
  68     PCI_FLOW_STATUS_WAIT = 0x1,
  69     PCI_FLOW_STATUS_OVERFLOW = 0x2
  70 } IsoTpFlowStatus;
  71
  72 IsoTpShims isotp_init_shims(LogShim log,
  73         SendCanMessageShim send_can_message,
  74         SetTimerShim set_timer);
  75
  76 IsoTpHandler isotp_init(IsoTpShims* shims,
  77         uint16_t arbitration_id,
  78         IsoTpMessageReceivedHandler message_received_callback,
  79         IsoTpMessageSentHandler message_sent_callback,
  80         IsoTpCanFrameSentHandler can_frame_sent_callback);
  81
  82 /* Public: Change the timeout for waiting on an ISO-TP response frame.
  83  *
  84  * If this function is not used, the conventional 100ms is used by default.
  85  *
  86  * handler - the ISO-TP handler to modify.
  87  * timeout - the new timeout in milliseconds.
  88  */
  89 void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms);
  90
  91 // TODO we have to make sure to copy the payload internall if it's more than 1
  92 // frame, the soure could go out of scope
  93 bool isotp_send(IsoTpHandler* handler, const uint8_t* payload,
  94         uint16_t payload_size);
  95
  96 void isotp_receive_can_frame(IsoTpHandler* handler,
  97         const uint16_t arbitration_id, const uint64_t data,
  98         const uint8_t length);
  99
 100 void isotp_destroy(IsoTpHandler* handler);
 101
 102 void log_isotp_message(const uint16_t arbitration_id, const uint8_t* payload,
 103         const uint16_t size);
 104
 105
 106 #ifdef __cplusplus
 107 }
 108 #endif
 109
 110 #endif // __ISOTP_H__