+#include <isotp/isotp.h>
+#include <isotp/receive.h>
+#include <bitfield/bitfield.h>
-void isotp_receive_can_frame(const uint16_t arbitration_id, const uint8_t* data,
- const uint8_t length) {
- //match with any request we made
- //handle flow control if necessary
- //call callback if message completed
+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;
+
+// TODO why isn't this picked up from the header?
+extern IsoTpHandle isotp_receive(IsoTpShims* shims, const uint16_t arbitration_id,
+ IsoTpMessageReceivedHandler callback);
+
+
+/* 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) {
+ IsoTpShims shims = {
+ log: log,
+ send_can_message: send_can_message,
+ set_timer: set_timer
+ };
+ return shims;
}
-bool isotp_send(const uint8_t* payload, uint16_t payload_size) {
- // we determine if it's single/multi frame and start the send
+void isotp_message_to_string(const IsoTpMessage* message, char* destination,
+ size_t destination_length) {
+ snprintf(destination, destination_length,"ID: 0x%02x, Payload: 0x%llx",
+ // TODO the payload may be backwards here
+ message->arbitration_id, message->payload);
}
-void isotp_set_timeout(uint16_t timeout) {
+void isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
+ const uint16_t arbitration_id, const uint8_t data[],
+ const uint8_t data_length) {
+ if(data_length < 1) {
+ return;
+ }
+
+ if(handle->type == ISOTP_HANDLE_RECEIVING) {
+ if(handle->receive_handle.arbitration_id != arbitration_id) {
+ return;
+ }
+ } else if(handle->type == ISOTP_HANDLE_SENDING) {
+ if(handle->send_handle.receiving_arbitration_id != arbitration_id) {
+ return;
+ }
+ } else {
+ shims->log("The ISO-TP handle is corrupt");
+ }
+
+ 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: {
+ IsoTpMessage message = {
+ arbitration_id: arbitration_id,
+ payload: payload,
+ size: payload_length
+ };
+
+ isotp_handle_single_frame(handle, &message);
+ break;
+ }
+ default:
+ shims->log("Only single frame messages are supported");
+ break;
+ }
}