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     uint8_t* payload;
  22     uint16_t size;
  23     bool completed;
  24 } IsoTpMessage;
  25
  26 typedef void (*LogShim)(const char* message, ...);
  27 typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id,
  28         const uint8_t* data, const uint8_t size);
  29 typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
  30
  31 typedef void (*IsoTpMessageReceivedHandler)(const IsoTpMessage* message);
  32 typedef void (*IsoTpMessageSentHandler)(const IsoTpMessage* message,
  33         const bool success);
  34 typedef void (*IsoTpCanFrameSentHandler)(const IsoTpMessage* message);
  35
  36 typedef struct {
  37     LogShim log;
  38     SendCanMessageShim send_can_message;
  39     SetTimerShim set_timer;
  40 } IsoTpShims;
  41
  42 typedef struct {
  43     uint16_t arbitration_id;
  44     IsoTpMessageReceivedHandler message_received_callback;
  45
  46     // Private
  47     uint16_t timeout_ms;
  48     // timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
  49     bool frame_padding;
  50     // frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
  51     uint8_t* receive_buffer;
  52     uint16_t received_buffer_size;
  53     uint16_t incoming_message_size;
  54     // TODO timer callback
  55 } IsoTpReceiveHandle;
  56
  57 typedef struct {
  58     uint16_t sending_arbitration_id;
  59     uint16_t receiving_arbitration_id;
  60     IsoTpMessageSentHandler message_sent_callback;
  61     IsoTpCanFrameSentHandler can_frame_sent_callback;
  62
  63     // TODO going to need some state here for multi frame messages
  64 } IsoTpSendHandle;
  65
  66 typedef enum {
  67     ISOTP_HANDLE_SENDING,
  68     ISOTP_HANDLE_RECEIVING
  69 } IsoTpHandleType;
  70
  71 typedef struct {
  72     bool success;
  73     bool completed;
  74     IsoTpHandleType type;
  75     IsoTpReceiveHandle receive_handle;
  76     IsoTpSendHandle send_handle;
  77 } IsoTpHandle;
  78
  79
  80 typedef enum {
  81     PCI_SINGLE = 0x0,
  82     PCI_FIRST_FRAME = 0x1,
  83     PCI_CONSECUTIVE_FRAME = 0x2,
  84     PCI_FLOW_CONTROL_FRAME = 0x3
  85 } IsoTpProtocolControlInformation;
  86
  87 typedef enum {
  88     PCI_FLOW_STATUS_CONTINUE = 0x0,
  89     PCI_FLOW_STATUS_WAIT = 0x1,
  90     PCI_FLOW_STATUS_OVERFLOW = 0x2
  91 } IsoTpFlowStatus;
  92
  93 IsoTpShims isotp_init_shims(LogShim log,
  94         SendCanMessageShim send_can_message,
  95         SetTimerShim set_timer);
  96
  97 /* Public:
  98  *
  99  */
 100 IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
 101         const uint16_t arbitration_id, const uint8_t data[],
 102         const uint8_t size);
 103
 104 // TODO perhaps this makes more sense as 2 functions:
 105 // bool isotp_continue_send()
 106 // IsoTpMessage isotp_continue_receive()
 107 // but both with the same args
 108
 109 /* Public: Change the timeout for waiting on an ISO-TP response frame.
 110  *
 111  * If this function is not used, the conventional 100ms is used by default.
 112  *
 113  * handler - the ISO-TP handler to modify.
 114  * timeout - the new timeout in milliseconds.
 115  */
 116 // void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms);
 117
 118 // void isotp_destroy(IsoTpHandler* handler);
 119
 120 void isotp_message_to_string(const IsoTpMessage* message, char* destination,
 121         size_t destination_length);
 122
 123 IsoTpHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
 124         const uint8_t* payload, uint16_t size,
 125         IsoTpMessageSentHandler callback);
 126
 127 IsoTpHandle isotp_receive(IsoTpShims* shims,
 128         const uint16_t arbitration_id, IsoTpMessageReceivedHandler callback);
 129
 130 #ifdef __cplusplus
 131 }
 132 #endif
 133
 134 #endif // __ISOTP_H__