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) {
}
}
-bool isotp_send(const uint8_t* payload, uint16_t size) {
+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;
}
const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS;
typedef void (*LogShim)(const char* message);
-typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id, const uint8_t* data,
- const uint8_t size);
+typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id,
+ const uint8_t* data, const uint8_t size);
typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
typedef void (*IsoTpMessageReceivedHandler)(const uint16_t arbitration_id,
const uint8_t* payload, const uint16_t size);
-typedef void (*IsoTpMessageSentHandler)(const bool success,
- const uint16_t arbitration_id, const uint8_t* payload,
- const uint16_t size);
+typedef void (*IsoTpMessageSentHandler)(const uint16_t arbitration_id,
+ const uint8_t* payload, const uint16_t size, const bool success);
typedef void (*IsoTpCanFrameSentHandler)(const uint16_t arbitration_id,
const uint8_t* payload, const uint8_t size);
// TODO we have to make sure to copy the payload internall if it's more than 1
// frame, the soure could go out of scope
-bool isotp_send(const uint8_t* payload, uint16_t payload_size);
+bool isotp_send(IsoTpHandler* handler, const uint8_t* payload,
+ uint16_t payload_size);
void isotp_receive_can_frame(IsoTpHandler* handler,
const uint16_t arbitration_id, const uint64_t data,
log_isotp_message(arbitration_id, payload, size);
last_message_received_arb_id = arbitration_id;
last_message_received_payload_size = size;
- memcpy(last_message_received_payload, payload, size);
+ if(size > 0) {
+ memcpy(last_message_received_payload, payload, size);
+ }
}
-void message_sent(const bool success, const uint16_t arbitration_id,
- const uint8_t* payload, const uint16_t size) {
+void message_sent(const uint16_t arbitration_id, const uint8_t* payload,
+ const uint16_t size, const bool success) {
if(success) {
debug("Sent ISO-TP message:");
} else {
last_message_sent_arb_id = arbitration_id;
last_message_sent_payload_size = size;
- memcpy(last_message_sent_payload, payload, size);
+ last_message_sent_status = success;
+ if(size > 0) {
+ memcpy(last_message_sent_payload, payload, size);
+ }
}
void can_frame_sent(const uint16_t arbitration_id,
can_frame_was_sent = true;
last_can_frame_sent_arb_id = arbitration_id;
last_can_payload_sent = size;
- memcpy(last_can_payload_sent, payload, size);
+ if(size > 0) {
+ memcpy(last_can_payload_sent, payload, size);
+ }
}
void setup() {
SHIMS = isotp_init_shims(debug, mock_send_can, mock_set_timer);
ISOTP_HANDLER = isotp_init(&SHIMS, 0x2a, message_received, message_sent,
can_frame_sent);
+ last_message_sent_payload = malloc(MAX_ISO_TP_MESSAGE_SIZE);
last_message_received_payload = malloc(MAX_ISO_TP_MESSAGE_SIZE);
last_message_sent_status = false;
message_was_received = false;
extern void setup();
+START_TEST (test_send_empty_payload)
+{
+ fail_unless(isotp_send(&ISOTP_HANDLER, NULL, 0));
+ ck_assert_int_eq(last_message_sent_arb_id, ISOTP_HANDLER.arbitration_id);
+ fail_unless(last_message_sent_status);
+ ck_assert_int_eq(last_message_sent_payload[0], NULL);
+ ck_assert_int_eq(last_message_sent_payload_size, 0);
+}
+END_TEST
+
START_TEST (test_send_single_frame)
{
- fail_if(true);
+ const uint8_t payload[] = {0x12, 0x34};
+ fail_unless(isotp_send(&ISOTP_HANDLER, &payload, sizeof(payload)));
+ ck_assert_int_eq(last_message_sent_arb_id, ISOTP_HANDLER.arbitration_id);
+ fail_unless(last_message_sent_status);
+ ck_assert_int_eq(last_message_sent_payload[0], 0x12);
+ ck_assert_int_eq(last_message_sent_payload[1], 0x34);
+ ck_assert_int_eq(last_message_sent_payload_size, 2);
}
END_TEST
START_TEST (test_send_multi_frame)
{
- fail_if(true);
+ const uint8_t payload[] = {0x12, 0x34, 0x56, 0x78, 0x90, 0x01, 0x23,
+ 0x45, 0x67, 0x89};
+ bool status = isotp_send(&ISOTP_HANDLER, &payload, sizeof(payload));
+ fail_if(status);
}
END_TEST
Suite* s = suite_create("iso15765");
TCase *tc_core = tcase_create("send");
tcase_add_checked_fixture(tc_core, setup, NULL);
+ tcase_add_test(tc_core, test_send_empty_payload);
tcase_add_test(tc_core, test_send_single_frame);
tcase_add_test(tc_core, test_send_multi_frame);
suite_add_tcase(s, tc_core);