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     IsoTpShims* shims;
  43     uint16_t arbitration_id;
  44     IsoTpMessageReceivedHandler message_received_callback;
  45     IsoTpMessageSentHandler message_sent_callback;
  46     IsoTpCanFrameSentHandler can_frame_sent_callback;
  47
  48     // Private
  49     uint16_t timeout_ms;
  50     bool frame_padding;
  51     uint8_t* receive_buffer;
  52     uint16_t received_buffer_size;
  53     uint16_t incoming_message_size;
  54     bool sending;
  55     // TODO timer callback
  56 } IsoTpHandler;
  57
  58 typedef enum {
  59     PCI_SINGLE = 0x0,
  60     PCI_FIRST_FRAME = 0x1,
  61     PCI_CONSECUTIVE_FRAME = 0x2,
  62     PCI_FLOW_CONTROL_FRAME = 0x3
  63 } IsoTpProtocolControlInformation;
  64
  65 typedef enum {
  66     PCI_FLOW_STATUS_CONTINUE = 0x0,
  67     PCI_FLOW_STATUS_WAIT = 0x1,
  68     PCI_FLOW_STATUS_OVERFLOW = 0x2
  69 } IsoTpFlowStatus;
  70
  71 IsoTpShims isotp_init_shims(LogShim log,
  72         SendCanMessageShim send_can_message,
  73         SetTimerShim set_timer);
  74
  75 IsoTpHandler isotp_init(IsoTpShims* shims,
  76         uint16_t arbitration_id,
  77         IsoTpMessageReceivedHandler message_received_callback,
  78         IsoTpMessageSentHandler message_sent_callback,
  79         IsoTpCanFrameSentHandler can_frame_sent_callback);
  80
  81 /* Public: Change the timeout for waiting on an ISO-TP response frame.
  82  *
  83  * If this function is not used, the conventional 100ms is used by default.
  84  *
  85  * handler - the ISO-TP handler to modify.
  86  * timeout - the new timeout in milliseconds.
  87  */
  88 void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms);
  89
  90 void isotp_destroy(IsoTpHandler* handler);
  91
  92 void isotp_message_to_string(const IsoTpMessage* message, char* destination,
  93         size_t destination_length);
  94
  95 #ifdef __cplusplus
  96 }
  97 #endif
  98
  99 #endif // __ISOTP_H__