Update deps.

[apps/low-level-can-service.git] / src / isotp / receive.c

diff --git a/src/isotp/receive.c b/src/isotp/receive.c
index 9add9d5..bd94e7a 100644 (file)
--- a/src/isotp/receive.c
+++ b/src/isotp/receive.c
@@ -1,7 +1,42 @@
 #include <isotp/receive.h>
 
-void isotp_handle_single_frame(IsoTpHandler* handler,
-        const uint16_t arbitration_id, const uint8_t* data,
-        const uint8_t length) {
-    handler->message_received_callback(arbitration_id, data, length);
+void isotp_handle_single_frame(IsoTpHandler* handler, IsoTpMessage* message) {
+    isotp_complete_receive(handler, message);
 }
+
+void isotp_complete_receive(IsoTpHandler* handler, IsoTpMessage* message) {
+    handler->message_received_callback(message);
+}
+
+void isotp_receive_can_frame(IsoTpHandler* handler,
+        const uint16_t arbitration_id, const uint8_t data[],
+        const uint8_t data_length) {
+    if(arbitration_id != handler->arbitration_id || data_length < 1) {
+        return;
+    }
+
+    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);
+    }
+
+    IsoTpMessage message = {
+        arbitration_id: arbitration_id,
+        payload: payload,
+        size: payload_length
+    };
+
+    switch(pci) {
+        case PCI_SINGLE:
+            isotp_handle_single_frame(handler, &message);
+            break;
+        default:
+            handler->shims->log("Only single frame messages are supported");
+            break;
+    }
+}
+