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, const uint8_t* data,
  18             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 bool success,
  24         const uint16_t arbitration_id, const uint8_t* payload,
  25         const uint16_t size);
  26 typedef void (*IsoTpCanFrameSentHandler)(const uint16_t arbitration_id,
  27         const uint8_t* payload, const uint8_t size);
  28
  29 // TODO this is really necessary and it would leak this library into the user's
  30 // code
  31 // typedef struct {
  32     // const uint16_t arbitration_id;
  33     // const uint8_t* payload;
  34     // const uint16_t size;
  35 // } IsoTpMessage;
  36
  37 typedef struct {
  38     LogShim log;
  39     SendCanMessageShim send_can_message;
  40     SetTimerShim set_timer;
  41 } IsoTpShims;
  42
  43 typedef struct {
  44     IsoTpShims* shims;
  45     uint16_t arbitration_id;
  46     IsoTpMessageReceivedHandler message_received_callback;
  47     IsoTpMessageSentHandler message_sent_callback;
  48     IsoTpCanFrameSentHandler can_frame_sent_callback;
  49
  50     // Private
  51     uint16_t timeout_ms;
  52     bool frame_padding;
  53     uint8_t* receive_buffer;
  54     uint16_t received_buffer_size;
  55     uint16_t incoming_message_size;
  56     bool sending;
  57     // TODO timer callback
  58 } IsoTpHandler;
  59
  60 typedef enum {
  61     PCI_SINGLE = 0x0,
  62     PCI_FIRST_FRAME = 0x1,
  63     PCI_CONSECUTIVE_FRAME = 0x2,
  64     PCI_FLOW_CONTROL_FRAME = 0x3
  65 } IsoTpProtocolControlInformation;
  66
  67 typedef enum {
  68     PCI_FLOW_STATUS_CONTINUE = 0x0,
  69     PCI_FLOW_STATUS_WAIT = 0x1,
  70     PCI_FLOW_STATUS_OVERFLOW = 0x2
  71 } IsoTpFlowStatus;
  72
  73 IsoTpShims isotp_init_shims(LogShim log,
  74         SendCanMessageShim send_can_message,
  75         SetTimerShim set_timer);
  76
  77 IsoTpHandler isotp_init(IsoTpShims* shims,
  78         uint16_t arbitration_id,
  79         IsoTpMessageReceivedHandler message_received_callback,
  80         IsoTpMessageSentHandler message_sent_callback,
  81         IsoTpCanFrameSentHandler can_frame_sent_callback);
  82
  83 /* Public: Change the timeout for waiting on an ISO-TP response frame.
  84  *
  85  * If this function is not used, the conventional 100ms is used by default.
  86  *
  87  * handler - the ISO-TP handler to modify.
  88  * timeout - the new timeout in milliseconds.
  89  */
  90 void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms);
  91
  92 // TODO we have to make sure to copy the payload internall if it's more than 1
  93 // frame, the soure could go out of scope
  94 bool isotp_send(const uint8_t* payload, uint16_t payload_size);
  95
  96 void isotp_receive_can_frame(IsoTpHandler* handler,
  97         const uint16_t arbitration_id, const uint8_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__