ISO-TP (ISO 15765-2) Support Library in C ================================ ## API First, set up some shim functions to your lower level system: void debug(const char* format, ...) { ... } void send_can(const uint16_t arbitration_id, const uint8_t* data, const uint8_t size) { ... } void set_timer(uint16_t time_ms, void (*callback)) { ... } Then, set up a callback and send an ISO-TP message: // this is your callback for when the message is completely sent - it's // optional void message_sent(const IsoTpMessage* message, const bool success) { // You received the message! Do something with it. } IsoTpShim shims = isotp_init_shims(debug, send_can, set_timer); IsoTpHandle handle = isotp_send(&shims, 0x100, NULL, 0, message_sent); if(handle.completed) { if(!handle.success) { // something happened and it already failed - possibly we aren't able to // send CAN messages return; } else { // If the message fit in a single frame, it's already been sent and you're done } } else { while(true) { // Continue to read from CAN, passing off each message to the handle bool complete = isotp_receive_can_frame(&shims, &handle, 0x100, data, size); if(complete && handle.completed) { if(handle.success) { // All frames of the message have now been sent, following // whatever flow control feedback it got from the receiver } else { // the message was unable to be sent and we bailed - fatal // error! } } } } Finally, receive an ISO-TP message: // This is your callback for when a complete ISO-TP message is received at // the arbitration ID you specify - it's optional. The completed message is // also returned by isotp_receive_can_frame void message_received(const IsoTpMessage* message) { } IsoTpHandle handle = isotp_receive(&shims, 0x100, message_received); if(!handle.success) { // something happened and it already failed - possibly we aren't able to // send CAN messages } else { while(true) { // Continue to read from CAN, passing off each message to the handle IsoTp message = isotp_receive_can_frame(&shims, &handle, 0x100, data, size); if(message.completed && handle.completed) { if(handle.success) { // A message has been received successfully } else { // Fatal error - we weren't able to receive a message and // gave up trying. A message using flow control may have // timed out. } } } } // TODO add an optional dispatcher to handle multiple open requests ## Testing The library includes a test suite that uses the `check` C unit test library. $ make test ## Authors Chris Peplin cpeplin@ford.com ## License Copyright (c) 2013 Ford Motor Company Licensed under the BSD license.