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 uint64_t data,
  13         const uint8_t length) {
  14     if(arbitration_id != handler->arbitration_id){
  15         return;
  16     }
  17
  18     // TODO use CanMessage struct from canutil library - allocate payload buffer
  19     // on stack, 8 bytes
  20     IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
  21             getBitField(data, 0, 4, false);
  22
  23     IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
  24             getNibble(0, data, 64, LITTE_ENDIAN);
  25
  26     // TODO this is messed up! need a better API for grabbing bytes
  27     uint8_t payload_length = getBitField(data, 4, 4, false);
  28     uint8_t payload[payload_length];
  29     uint64_t flipped_data = __builtin_bswap64(data);
  30     if(payload_length > 0) {
  31         memcpy(payload, &(((uint8_t*)&flipped_data)[1]), payload_length);
  32     }
  33
  34     IsoTpMessage message = {
  35         arbitration_id: arbitration_id,
  36         payload: payload,
  37         size: payload_length
  38     };
  39
  40     switch(pci) {
  41         case PCI_SINGLE:
  42             isotp_handle_single_frame(handler, &message);
  43             break;
  44         default:
  45             handler->shims->log("Only single frame messages are supported");
  46             break;
  47     }
  48 }
  49