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