src/isotp/isotp.h

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