-const uint16_t MAX_ISO_TP_MESSAGE_SIZE = 4096;
-const uint16_t MAX_CAN_FRAME_SIZE = 8;
-const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT = 100;
-const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS = true;
-
-const uint8_t PCI_START_BIT = 0;
-const uint8_t PCI_WIDTH = 4;
-const uint8_t PAYLOAD_LENGTH_START_BIT = 4;
-const uint8_t PAYLOAD_LENGTH_WIDTH = 4;
-const uint8_t PAYLOAD_START_BIT = 8;
-
-void isotp_receive_can_frame(IsoTpHandler* handler,
- const uint16_t arbitration_id, const uint64_t data,
- const uint8_t length) {
- if(arbitration_id != handler->arbitration_id){
- return;
- }
-
- // TODO use CanMessage struct from canutil library - allocate payload buffer
- // on stack, 8 bytes
- // TODO this function should receive uint64_t...
- IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
- getBitField(data, 0, 4, false);
-
- // TODO this is messed up! need a better API for grabbing bytes
- uint8_t payload_length = getBitField(data, 4, 4, false);
- uint8_t payload[payload_length];
- uint64_t flipped_data = __builtin_bswap64(data);
- if(payload_length > 0) {
- memcpy(payload, &(((uint8_t*)&flipped_data)[1]), payload_length);
- }
-
- switch(pci) {
- case PCI_SINGLE:
- isotp_handle_single_frame(handler, arbitration_id, payload,
- payload_length);
- break;
- default:
- handler->shims->log("Only single frame messages are supported");
- break;
- }
-}
-
-void isotp_complete_send(IsoTpHandler* handler, const uint8_t* payload,
- uint8_t size, bool status) {
- handler->message_sent_callback(handler->arbitration_id, payload, size,
- status);
-}
-
-bool isotp_send_single_frame(IsoTpHandler* handler, const uint8_t* payload,
- uint8_t size) {
- uint64_t data;
- setBitField(&data, PCI_SINGLE, PCI_START_BIT, PCI_WIDTH);
- setBitField(&data, size, PAYLOAD_LENGTH_START_BIT, PAYLOAD_LENGTH_WIDTH);
- // TODO this is probably wrong
- if(size > 0) {
- setBitField(&data, *payload, PAYLOAD_START_BIT, size * 8);
- }
- handler->shims->send_can_message(handler->arbitration_id, payload, size);
- isotp_complete_send(handler, payload, size, true);
- return true;
-}
-
-bool isotp_send_multi_frame(IsoTpHandler* handler, const uint8_t* payload,
- uint16_t size) {
- return false;
-}
-
-bool isotp_send(IsoTpHandler* handler, const uint8_t* payload,
- uint16_t size) {
- // we determine if it's single/multi frame and start the send
- if(size < 8) {
- return isotp_send_single_frame(handler, payload, size);
- } else {
- return isotp_send_multi_frame(handler, payload, size);
- }
-}
-
-
-void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) {
- handler->timeout_ms = timeout_ms;
-}