1 #include <isotp/send.h>
3 #define PCI_NIBBLE_INDEX 0
4 #define PAYLOAD_LENGTH_NIBBLE_INDEX 1
5 #define PAYLOAD_BYTE_INDEX 1
7 void isotp_complete_send(IsoTpHandler* handler, IsoTpMessage* message,
9 handler->message_sent_callback(message, status);
12 bool isotp_send_single_frame(IsoTpHandler* handler, IsoTpMessage* message) {
13 uint8_t can_data[CAN_MESSAGE_BYTE_SIZE] = {0};
14 if(!set_nibble(PCI_NIBBLE_INDEX, PCI_SINGLE, can_data, sizeof(can_data))) {
15 handler->shims->log("Unable to set PCI in CAN data");
19 if(!set_nibble(PAYLOAD_LENGTH_NIBBLE_INDEX, message->size, can_data,
21 handler->shims->log("Unable to set payload length in CAN data");
25 if(message->size > 0) {
26 memcpy(&can_data[1], message->payload, message->size);
29 handler->shims->send_can_message(message->arbitration_id, can_data,
31 isotp_complete_send(handler, message, true);
35 bool isotp_send_multi_frame(IsoTpHandler* handler, IsoTpMessage* message) {
36 // TODO make sure to copy payload into a local buffer
37 handler->shims->log("Only single frame messages are supported");
41 bool isotp_send(IsoTpHandler* handler, const uint8_t* payload,
43 // we determine if it's single/multi frame and start the send
44 IsoTpMessage message = {
45 arbitration_id: handler->arbitration_id,
51 return isotp_send_single_frame(handler, &message);
53 return isotp_send_multi_frame(handler, &message);