#include <isotp/send.h>
+#include <bitfield/bitfield.h>
+#include <string.h>
-#define PCI_START_BIT 0
-#define PCI_WIDTH 4
-#define PAYLOAD_LENGTH_START_BIT PCI_START_BIT + PCI_WIDTH
-#define PAYLOAD_LENGTH_WIDTH 4
-#define PAYLOAD_START_BIT PAYLOAD_LENGTH_START_BIT + PAYLOAD_LENGTH_WIDTH
+#define PCI_NIBBLE_INDEX 0
+#define PAYLOAD_LENGTH_NIBBLE_INDEX 1
+#define PAYLOAD_BYTE_INDEX 1
-void isotp_complete_send(IsoTpHandler* handler, IsoTpMessage* message,
- bool status) {
- handler->message_sent_callback(message, status);
+void isotp_complete_send(IsoTpShims* shims, IsoTpMessage* message,
+ bool status, IsoTpMessageSentHandler callback) {
+ if(callback != NULL) {
+ callback(message, status);
+ }
}
-bool isotp_send_single_frame(IsoTpHandler* handler, IsoTpMessage* message) {
- uint64_t data = 0;
- setBitField(&data, PCI_SINGLE, PCI_START_BIT, PCI_WIDTH);
- setBitField(&data, message->size, PAYLOAD_LENGTH_START_BIT, PAYLOAD_LENGTH_WIDTH);
- // TODO need a better bitfield API to support this - use byte array instead
- // of uint64_t and specify desired total width
- for(int i = 0; i < message->size; i++) {
- setBitField(&data, message->payload[i], PAYLOAD_START_BIT + i * 8, 8);
+IsoTpSendHandle isotp_send_single_frame(IsoTpShims* shims, IsoTpMessage* message,
+ IsoTpMessageSentHandler callback) {
+ IsoTpSendHandle handle = {
+ success: false,
+ completed: true
+ };
+
+ uint8_t can_data[CAN_MESSAGE_BYTE_SIZE] = {0};
+ if(!set_nibble(PCI_NIBBLE_INDEX, PCI_SINGLE, can_data, sizeof(can_data))) {
+ shims->log("Unable to set PCI in CAN data");
+ return handle;
}
- uint8_t data_array[message->size + 1];
- for(int i = 0; i < sizeof(data_array); i++) {
- // TODO need getByte(x) function
- data_array[i] = getBitField(data, i * 8, 8, false);
+ if(!set_nibble(PAYLOAD_LENGTH_NIBBLE_INDEX, message->size, can_data,
+ sizeof(can_data))) {
+ shims->log("Unable to set payload length in CAN data");
+ return handle;
}
- handler->shims->send_can_message(message->arbitration_id, data_array, sizeof(data_array));
- isotp_complete_send(handler, message, true);
- return true;
+
+ if(message->size > 0) {
+ memcpy(&can_data[1], message->payload, message->size);
+ }
+
+ shims->send_can_message(message->arbitration_id, can_data,
+ shims->frame_padding ? 8 : 1 + message->size);
+ handle.success = true;
+ isotp_complete_send(shims, message, true, callback);
+ return handle;
}
-bool isotp_send_multi_frame(IsoTpHandler* handler, IsoTpMessage* message) {
- // TODO make sure to copy payload into a local buffer
- handler->shims->log("Only single frame messages are supported");
- return false;
+IsoTpSendHandle isotp_send_multi_frame(IsoTpShims* shims, IsoTpMessage* message,
+ IsoTpMessageSentHandler callback) {
+ // TODO make sure to copy message into a local buffer
+ shims->log("Only single frame messages are supported");
+ IsoTpSendHandle handle = {
+ success: false,
+ completed: true
+ };
+ // TODO need to set sending and receiving arbitration IDs separately if we
+ // can't always just add 0x8 (and I think we can't)
+ return handle;
}
-bool isotp_send(IsoTpHandler* handler, const uint8_t* payload,
- uint16_t size) {
- // we determine if it's single/multi frame and start the send
+IsoTpSendHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
+ const uint8_t payload[], uint16_t size,
+ IsoTpMessageSentHandler callback) {
IsoTpMessage message = {
- arbitration_id: handler->arbitration_id,
- payload: payload,
+ arbitration_id: arbitration_id,
size: size
};
+ memcpy(message.payload, payload, size);
if(size < 8) {
- return isotp_send_single_frame(handler, &message);
+ return isotp_send_single_frame(shims, &message, callback);
} else {
- return isotp_send_multi_frame(handler, &message);
+ return isotp_send_multi_frame(shims, &message, callback);
+ }
+}
+
+bool isotp_continue_send(IsoTpShims* shims, IsoTpSendHandle* handle,
+ const uint16_t arbitration_id, const uint8_t data[],
+ const uint8_t size) {
+ // TODO this will need to be tested when we add multi-frame support,
+ // which is when it'll be necessary to pass in CAN messages to SENDING
+ // handles.
+ if(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->receiving_arbitration_id);
+ }
+ return false;
}
+ return false;
}