#include <isotp/receive.h>
#include <bitfield/bitfield.h>
-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;
-}
+/* void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) { */
+ /* handler->timeout_ms = timeout_ms; */
+/* } */
IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
SetTimerShim set_timer) {
return shims;
}
-IsoTpHandler isotp_init(IsoTpShims* shims, uint16_t arbitration_id,
- IsoTpMessageReceivedHandler message_received_callback,
- IsoTpMessageSentHandler message_sent_callback,
- IsoTpCanFrameSentHandler can_frame_sent_callback) {
- IsoTpHandler handler = {
- shims: shims,
+void isotp_message_to_string(const IsoTpMessage* message, char* destination,
+ size_t destination_length) {
+ snprintf(destination, destination_length, "ID: 0x%02x, Payload: 0x%02x%02x%02x%02x%02x%02x%02x%02x",
+ message->arbitration_id,
+ message->payload[0],
+ message->payload[1],
+ message->payload[2],
+ message->payload[3],
+ message->payload[4],
+ message->payload[5],
+ message->payload[6],
+ message->payload[7]);
+}
+
+IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
+ const uint16_t arbitration_id, const uint8_t data[],
+ const uint8_t data_length) {
+ IsoTpMessage message = {
arbitration_id: arbitration_id,
- message_received_callback: message_received_callback,
- message_sent_callback: message_sent_callback,
- can_frame_sent_callback: can_frame_sent_callback,
- timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
- frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
- sending: false
+ completed: false,
+ payload: {0},
+ size: 0
};
- return handler;
-}
-// TODO this would be better as a "isotp_message_to_string"
-void log_isotp_message(const uint16_t arbitration_id,
- const uint8_t* payload, const uint16_t size) {
- debug("ID: 0x%02x", arbitration_id);
- if(size > 0) {
- debug("Payload:");
- for(int i = 0; i < size; i++) {
- debug("0x%x", payload[i]);
+ if(data_length < 1) {
+ return message;
+ }
+
+ if(handle->type == ISOTP_HANDLE_RECEIVING) {
+ if(handle->receive_handle.arbitration_id != arbitration_id) {
+ if(shims->log != NULL) {
+ shims->log("The arb ID 0x%x doesn't match the expected rx ID 0x%x",
+ arbitration_id, handle->receive_handle.arbitration_id);
+ }
+ return message;
}
- } else {
- debug("(no payload)");
+ } else if(handle->type == ISOTP_HANDLE_SENDING) {
+ if(handle->send_handle.receiving_arbitration_id != arbitration_id) {
+ if(shims->log != NULL) {
+ shims->log("The arb ID 0x%x doesn't match the expected tx continuation ID 0x%x",
+ arbitration_id, handle->send_handle.receiving_arbitration_id);
+ }
+ return message;
+ }
+ } else {
+ shims->log("The ISO-TP handle is corrupt");
+ return message;
+ }
+
+ IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
+ get_nibble(data, data_length, 0);
+
+ uint8_t payload_length = get_nibble(data, data_length, 1);
+ uint8_t payload[payload_length];
+ if(payload_length > 0 && data_length > 0) {
+ memcpy(payload, &data[1], payload_length);
+ }
+
+ // TODO this is set up to handle rx a response with a payload, but not to
+ // handle flow control responses for multi frame messages that we're in the
+ // process of sending
+
+ switch(pci) {
+ case PCI_SINGLE: {
+ if(payload_length > 0) {
+ memcpy(message.payload, payload, payload_length);
+ }
+ message.size = payload_length;
+ message.completed = true;
+ handle->success = true;
+ handle->completed = true;
+ isotp_handle_single_frame(handle, &message);
+ break;
+ }
+ default:
+ shims->log("Only single frame messages are supported");
+ break;
}
+ return message;
}
Code Review / apps / low-level-can-service.git / blobdiff