src/isotp/receive.c

   1 #include <isotp/receive.h>
   2
   3 void isotp_handle_single_frame(IsoTpHandler* handler, IsoTpMessage* message) {
   4     isotp_complete_receive(handler, message);
   5 }
   6
   7 void isotp_complete_receive(IsoTpHandler* handler, IsoTpMessage* message) {
   8     handler->message_received_callback(message);
   9 }
  10
  11 void isotp_receive_can_frame(IsoTpHandler* handler,
  12         const uint16_t arbitration_id, const uint8_t data[],
  13         const uint8_t data_length) {
  14     if(arbitration_id != handler->arbitration_id || data_length < 1) {
  15         return;
  16     }
  17
  18     IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
  19             get_nibble(data, data_length, 0);
  20
  21     uint8_t payload_length = get_nibble(data, data_length, 1);
  22     uint8_t payload[payload_length];
  23     if(payload_length > 0 && data_length > 0) {
  24         memcpy(payload, &data[1], payload_length);
  25     }
  26
  27     IsoTpMessage message = {
  28         arbitration_id: arbitration_id,
  29         payload: payload,
  30         size: payload_length
  31     };
  32
  33     switch(pci) {
  34         case PCI_SINGLE:
  35             isotp_handle_single_frame(handler, &message);
  36             break;
  37         default:
  38             handler->shims->log("Only single frame messages are supported");
  39             break;
  40     }
  41 }
  42