...
}
-With your shims in place, create an IsoTpShim object to pass them around:
+With your shims in place, create an IsoTpShims object to pass them around:
- IsoTpShim shims = isotp_init_shims(debug, send_can, set_timer);
+ IsoTpShims shims = isotp_init_shims(debug, send_can, set_timer);
### API
extern "C" {
#endif
+/* Public: Initialize an IsoTpShims with the given callback functions.
+ *
+ * If any callbacks are not to be used, set them to NULL. For documentation of
+ * the function type signatures, see isotp_types.h. This struct is a handy
+ * encapsulation used to pass the shims around to the various isotp_* functions.
+ *
+ * Returns a struct with the fields initailized to the callbacks.
+ */
IsoTpShims isotp_init_shims(LogShim log,
SendCanMessageShim send_can_message,
SetTimerShim set_timer);
-void isotp_message_to_string(const IsoTpMessage* message, char* destination,
- size_t destination_length);
-
-/* Public: Change the timeout for waiting on an ISO-TP response frame.
- *
- * If this function is not used, the conventional 100ms is used by default.
+/* Public: Render an IsoTpMessage as a string into the given buffer.
*
- * handler - the ISO-TP handler to modify.
- * timeout - the new timeout in milliseconds.
+ * message - the message to convert to a string, for debug logging.
+ * destination - the target string buffer.
+ * destination_length - the size of the destination buffer, i.e. the max size
+ * for the rendered string.
*/
-// void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms);
-
+void isotp_message_to_string(const IsoTpMessage* message, char* destination,
+ size_t destination_length);
#ifdef __cplusplus
}
extern "C" {
#endif
+/* Private: The default timeout to use when waiting for a response during a
+ * multi-frame send or receive.
+ */
const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
-const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS;
-typedef struct {
- const uint16_t arbitration_id;
- uint8_t payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
- uint16_t size;
- bool completed;
-} IsoTpMessage;
+/* Private: Determines if by default, padding is added to ISO-TP message frames.
+ */
+const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS;
+/* Public: The type signature for an optional logging function, if the user
+ * wishes to provide one. It should print, store or otherwise display the
+ * message.
+ *
+ * message - A format string to log using the given parameters.
+ * ... (vargs) - the parameters for the format string.
+ */
typedef void (*LogShim)(const char* message, ...);
+/* Public: The type signature for a function to send a single CAN message.
+ *
+ * arbitration_id - The arbitration ID of the message.
+ * data - The data payload for the message. NULL is valid if size is also 0.
+ * size - The size of the data payload, in bytes.
+ *
+ * Returns true if the CAN message was sent successfully.
+ */
typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id,
const uint8_t* data, const uint8_t size);
+
+/* Public: The type signature for a... TODO, not used yet.
+ */
typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
-typedef void (*IsoTpMessageReceivedHandler)(const IsoTpMessage* message);
-typedef void (*IsoTpMessageSentHandler)(const IsoTpMessage* message,
+/* Public: The signature for a function to be called when an ISO-TP message has
+ * been completely received.
+ *
+ * message - The received message.
+ */
+typedef void (*IsoTpMessageReceivedHandler)(const struct IsoTpMessage* message);
+
+/* Public: the signature for a function to be called when an ISO-TP message has
+ * been completely sent, or had a fatal error during sending.
+ *
+ * message - The sent message.
+ * success - True if the message was sent successfully.
+ */
+typedef void (*IsoTpMessageSentHandler)(const struct IsoTpMessage* message,
const bool success);
-typedef void (*IsoTpCanFrameSentHandler)(const IsoTpMessage* message);
+/* Public: The signature for a function to be called when a CAN frame has been
+ * sent as as part of sending or receive an ISO-TP message.
+ *
+ * This is really only useful for debugging the library itself.
+ *
+ * message - The ISO-TP message that generated this CAN frame.
+ */
+typedef void (*IsoTpCanFrameSentHandler)(const struct IsoTpMessage* message);
+
+/* Public: A container for a sent or received ISO-TP message.
+ *
+ * completed - An IsoTpMessage is the return value from a few functions - this
+ * attribute will be true if the message is actually completely received.
+ * If the function returns but is only partially through receiving the
+ * message, this will be false and you should not consider the other data
+ * to be valid.
+ * arbitration_id - The arbitration ID of the message.
+ * payload - The optional payload of the message - don't forget to check the
+ * size!
+ * size - The size of the payload. The size will be 0 if there is no payload.
+ */
+typedef struct {
+ const uint16_t arbitration_id;
+ uint8_t payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
+ uint16_t size;
+ bool completed;
+} IsoTpMessage;
+
+/* Public: A container for the 3 shim functions used by the library to interact
+ * with the wider system.
+ *
+ * Use the isotp_init_shims(...) function to create an instance of this struct.
+ */
typedef struct {
LogShim log;
SendCanMessageShim send_can_message;
SetTimerShim set_timer;
} IsoTpShims;
-typedef struct {
- bool success;
- bool completed;
- uint16_t arbitration_id;
- IsoTpMessageReceivedHandler message_received_callback;
-
- // Private
- uint16_t timeout_ms;
- // timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
- bool frame_padding;
- // frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
- uint8_t* receive_buffer;
- uint16_t received_buffer_size;
- uint16_t incoming_message_size;
- // TODO timer callback for multi frame
-} IsoTpReceiveHandle;
-
+/* Private: PCI types, for identifying each frame of an ISO-TP message.
+ */
typedef enum {
PCI_SINGLE = 0x0,
PCI_FIRST_FRAME = 0x1,
PCI_FLOW_CONTROL_FRAME = 0x3
} IsoTpProtocolControlInformation;
+/* Private: PCI flow control identifiers.
+ */
typedef enum {
PCI_FLOW_STATUS_CONTINUE = 0x0,
PCI_FLOW_STATUS_WAIT = 0x1,
extern "C" {
#endif
-void isotp_complete_receive(IsoTpReceiveHandle* handle, IsoTpMessage* message);
+/* Public: A handle for beginning and continuing receiving a single ISO-TP
+ * message - both single and multi-frame.
+ *
+ * Since an ISO-TP message may contain multiple frames, we need to keep a handle
+ * around while waiting for subsequent CAN messages to complete the message.
+ * This struct encapsulates the local state required.
+ *
+ * completed - True if the received message request is completely finished.
+ * success - True if the message request was successful. The value if this field
+ * isn't valid if 'completed' isn't true.
+ */
+typedef struct {
+ bool completed;
+ bool success;
-bool isotp_handle_single_frame(IsoTpReceiveHandle* handle, IsoTpMessage* message);
+ // Private
+ uint16_t arbitration_id;
+ IsoTpMessageReceivedHandler message_received_callback;
+ uint16_t timeout_ms;
+ // timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
+ bool frame_padding;
+ // frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
+ uint8_t* receive_buffer;
+ uint16_t received_buffer_size;
+ uint16_t incoming_message_size;
+ // TODO timer callback for multi frame
+} IsoTpReceiveHandle;
+/* Public: Initiate receiving a single ISO-TP message on a particular
+ * arbitration ID.
+ *
+ * Note that no actual CAN data has been received at this point - this just sets
+ * up a handle to be used when new CAN messages to arrive, so they can be parsed
+ * as potential single or multi-frame ISO-TP messages.
+ *
+ * shims - Low-level shims required to send and receive CAN messages, etc.
+ * arbitration_id - The arbitration ID to receive the message on.
+ * callback - an optional function to be called when the message is completely
+ * received (use NULL if no callback required).
+ *
+ * Returns a handle to be used with isotp_continue_receive when a new CAN frame
+ * arrives. The 'completed' field in the returned IsoTpReceiveHandle will be true
+ * when the message is completely sent.
+ */
IsoTpReceiveHandle isotp_receive(IsoTpShims* shims,
const uint16_t arbitration_id, IsoTpMessageReceivedHandler callback);
+/* Public: Continue to receive a an ISO-TP message, based on a freshly
+ * received CAN message.
+ *
+ * For a multi-frame ISO-TP message, this function must be called
+ * repeatedly whenever a new CAN message is received in order to complete
+ * receipt.
+ *
+ * TODO does this API work for if we wanted to receive an ISO-TP message and
+ * send our own flow control messages back?
+ *
+ * shims - Low-level shims required to send and receive CAN messages, etc.
+ * handle - An IsoTpReceiveHandle previously returned by isotp_receive(...).
+ * arbitration_id - The arbitration_id of the received CAN message.
+ * data - The data of the received CAN message.
+ * size - The size of the data in the received CAN message.
+ *
+ * Returns an IsoTpMessage with the 'completed' field set to true if a message
+ * was completely received. If 'completed' is false, more CAN frames are
+ * required to complete the messages, or the arbitration ID didn't match this
+ * handle. Keep passing the same handle to this function when CAN frames arrive.
+ */
IsoTpMessage isotp_continue_receive(IsoTpShims* shims,
IsoTpReceiveHandle* handle, const uint16_t arbitration_id,
const uint8_t data[], const uint8_t size);
extern "C" {
#endif
+/* Public: A handle for beginning and continuing sending a single ISO-TP
+ * message - both single and multi-frame.
+ *
+ * Since an ISO-TP message may contain multiple frames, we need to keep a handle
+ * around while waiting for flow control messages from the receiver.
+ * This struct encapsulates the local state required.
+ *
+ * completed - True if the message was completely sent, or the send was
+ * otherwise cancelled.
+ * success - True if the message send request was successful. The value if this
+ * field isn't valid if 'completed' isn't true.
+ */
typedef struct {
- bool success;
bool completed;
+ bool success;
+
+ // Private
uint16_t sending_arbitration_id;
uint16_t receiving_arbitration_id;
IsoTpMessageSentHandler message_sent_callback;
// TODO going to need some state here for multi frame messages
} IsoTpSendHandle;
-bool isotp_continue_send(IsoTpShims* shims, IsoTpSendHandle* handle,
- const uint16_t arbitration_id, const uint8_t data[],
- const uint8_t size);
-
+/* Public: Initiate sending a single ISO-TP message.
+ *
+ * If the message fits in a single ISO-TP frame (i.e. the payload isn't more
+ * than 7 bytes) it will be sent immediately and the returned IsoTpSendHandle's
+ * 'completed' flag will be true.
+ *
+ * For multi-frame messages, see isotp_continue_send(...).
+ *
+ * shims - Low-level shims required to send CAN messages, etc.
+ * arbitration_id - The arbitration ID to send the message on.
+ * payload - The payload for the message. If no payload, NULL is valid is size
+ * is also 0.
+ * size - The size of the payload, or 0 if no payload.
+ * callback - an optional function to be called when the message is completely
+ * sent (use NULL if no callback required).
+ *
+ * Returns a handle to be used with isotp_continue_send to continue sending
+ * multi-frame messages. The 'completed' field in the returned IsoTpSendHandle
+ * will be true when the message is completely sent.
+ */
IsoTpSendHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
const uint8_t payload[], uint16_t size,
IsoTpMessageSentHandler callback);
+/* Public: Continue to send a multi-frame ISO-TP message, based on a freshly
+ * received CAN message (potentially from the receiver about flow control).
+ *
+ * For a multi-frame ISO-TP message, this function must be called
+ * repeatedly whenever a new CAN message is received in order to complete the
+ * send. The sender can't just blast everything onto the bus at once - it must
+ * wait for some response from the receiver to know how much to send at once.
+ *
+ * shims - Low-level shims required to send CAN messages, etc.
+ * handle - An IsoTpSendHandle previously returned by isotp_send(...).
+ * arbitration_id - The arbitration_id of the received CAN message.
+ * data - The data of the received CAN message.
+ * size - The size of the data in the received CAN message.
+ *
+ * Returns true if the message was completely sent, or the send was
+ * otherwise cancelled. Check the 'success' field of the handle to see if
+ * it was successful.
+ */
+bool isotp_continue_send(IsoTpShims* shims, IsoTpSendHandle* handle,
+ const uint16_t arbitration_id, const uint8_t data[],
+ const uint8_t size);
+
#ifdef __cplusplus
}
#endif
Code Review / apps / agl-service-can-low-level.git / commitdiff