#include <isotp/isotp.h>
-#include <isotp/receive.h>
#include <bitfield/bitfield.h>
-const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT = 100;
-const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS = true;
-
/* void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) { */
/* handler->timeout_ms = timeout_ms; */
/* } */
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,
- completed: false,
- payload: {0},
- size: 0
- };
-
- 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 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;
-}