diff options
| -rw-r--r-- | README.mkd | 13 | ||||
| -rw-r--r-- | src/isotp/isotp.c | 55 | ||||
| -rw-r--r-- | src/isotp/isotp.h | 36 | ||||
| -rw-r--r-- | src/isotp/receive.c | 20 | ||||
| -rw-r--r-- | src/isotp/receive.h | 4 | ||||
| -rw-r--r-- | src/isotp/send.c | 16 | ||||
| -rw-r--r-- | tests/common.c | 4 | ||||
| -rw-r--r-- | tests/test_receive.c | 20 | ||||
| -rw-r--r-- | tests/test_send.c | 7 |
9 files changed, 80 insertions, 95 deletions
@@ -58,7 +58,7 @@ With your shims in hand, send an ISO-TP message: // You received the message! Do something with it. } - IsoTpHandle handle = isotp_send(&shims, 0x100, NULL, 0, message_sent); + IsoTpSendHandle handle = isotp_send(&shims, 0x100, NULL, 0, message_sent); if(handle.completed) { if(!handle.success) { @@ -72,7 +72,10 @@ With your shims in hand, send an ISO-TP message: } else { while(true) { // Continue to read from CAN, passing off each message to the handle - bool complete = isotp_receive_can_frame(&shims, &handle, 0x100, data, size); + // this will return true when the message is completely sent (which + // may take more than one call if it was multi frame and we're waiting + // on flow control responses from the receiver) + bool complete = isotp_continue_send(&shims, &handle, 0x100, data, size); if(complete && handle.completed) { if(handle.success) { @@ -90,19 +93,19 @@ Finally, receive an ISO-TP message: // Optional: This is your callback for when a complete ISO-TP message is // received at the arbitration ID you specify. The completed message is - // also returned by isotp_receive_can_frame, which can sometimes be more + // also returned by isotp_continue_receive, which can sometimes be more // useful since you have more context. void message_received(const IsoTpMessage* message) { } - IsoTpHandle handle = isotp_receive(&shims, 0x100, message_received); + IsoTpReceiveHandle handle = isotp_receive(&shims, 0x100, message_received); if(!handle.success) { // something happened and it already failed - possibly we aren't able to // send CAN messages } else { while(true) { // Continue to read from CAN, passing off each message to the handle - IsoTp message = isotp_receive_can_frame(&shims, &handle, 0x100, data, size); + IsoTpMessage message = isotp_continue_receive(&shims, &handle, 0x100, data, size); if(message.completed && handle.completed) { if(handle.success) { diff --git a/src/isotp/isotp.c b/src/isotp/isotp.c index e233d386..6de40c31 100644 --- a/src/isotp/isotp.c +++ b/src/isotp/isotp.c @@ -33,9 +33,9 @@ void isotp_message_to_string(const IsoTpMessage* message, char* destination, message->payload[7]); } -IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle, - const uint16_t arbitration_id, const uint8_t data[], - const uint8_t data_length) { +IsoTpMessage isotp_continue_receive(IsoTpShims* shims, + IsoTpReceiveHandle* handle, const uint16_t arbitration_id, + const uint8_t data[], const uint8_t size) { IsoTpMessage message = { arbitration_id: arbitration_id, completed: false, @@ -43,40 +43,24 @@ IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle, size: 0 }; - if(data_length < 1) { + if(size < 1) { return message; } - if(handle->type == ISOTP_HANDLE_RECEIVING) { - if(handle->receive_handle.arbitration_id != arbitration_id) { - if(shims->log != NULL) { - shims->log("The arb ID 0x%x doesn't match the expected rx ID 0x%x", - arbitration_id, handle->receive_handle.arbitration_id); - } - return message; + if(handle->arbitration_id != arbitration_id) { + if(shims->log != NULL) { + shims->log("The arb ID 0x%x doesn't match the expected rx ID 0x%x", + arbitration_id, handle->arbitration_id); } - } else if(handle->type == ISOTP_HANDLE_SENDING) { - // 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->send_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->send_handle.receiving_arbitration_id); - } - return message; - } - } else { - shims->log("The ISO-TP handle is corrupt"); return message; } IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation) - get_nibble(data, data_length, 0); + get_nibble(data, size, 0); - uint8_t payload_length = get_nibble(data, data_length, 1); + uint8_t payload_length = get_nibble(data, size, 1); uint8_t payload[payload_length]; - if(payload_length > 0 && data_length > 0) { + if(payload_length > 0 && size > 0) { memcpy(payload, &data[1], payload_length); } @@ -102,3 +86,20 @@ IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle, } return message; } + +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; +} + diff --git a/src/isotp/isotp.h b/src/isotp/isotp.h index adf0f247..f4ffa371 100644 --- a/src/isotp/isotp.h +++ b/src/isotp/isotp.h @@ -43,6 +43,8 @@ typedef struct { } IsoTpShims; typedef struct { + bool success; + bool completed; uint16_t arbitration_id; IsoTpMessageReceivedHandler message_received_callback; @@ -54,15 +56,16 @@ typedef struct { uint8_t* receive_buffer; uint16_t received_buffer_size; uint16_t incoming_message_size; - // TODO timer callback + // TODO timer callback for multi frame } IsoTpReceiveHandle; typedef struct { + bool success; + bool completed; uint16_t sending_arbitration_id; uint16_t receiving_arbitration_id; IsoTpMessageSentHandler message_sent_callback; IsoTpCanFrameSentHandler can_frame_sent_callback; - // TODO going to need some state here for multi frame messages } IsoTpSendHandle; @@ -71,15 +74,6 @@ typedef enum { ISOTP_HANDLE_RECEIVING } IsoTpHandleType; -typedef struct { - bool success; - bool completed; - IsoTpHandleType type; - IsoTpReceiveHandle receive_handle; - IsoTpSendHandle send_handle; -} IsoTpHandle; - - typedef enum { PCI_SINGLE = 0x0, PCI_FIRST_FRAME = 0x1, @@ -97,18 +91,14 @@ IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message, SetTimerShim set_timer); -/* Public: - * - */ -IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle, +IsoTpMessage isotp_continue_receive(IsoTpShims* shims, + IsoTpReceiveHandle* handle, const uint16_t arbitration_id, + const uint8_t data[], const uint8_t size); + +bool isotp_continue_send(IsoTpShims* shims, IsoTpSendHandle* handle, const uint16_t arbitration_id, const uint8_t data[], const uint8_t size); -// TODO perhaps this makes more sense as 2 functions: -// bool isotp_continue_send() -// IsoTpMessage isotp_continue_receive() -// but both with the same args - /* 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. @@ -118,16 +108,14 @@ IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle, */ // void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms); -// void isotp_destroy(IsoTpHandler* handler); - void isotp_message_to_string(const IsoTpMessage* message, char* destination, size_t destination_length); -IsoTpHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id, +IsoTpSendHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id, const uint8_t payload[], uint16_t size, IsoTpMessageSentHandler callback); -IsoTpHandle isotp_receive(IsoTpShims* shims, +IsoTpReceiveHandle isotp_receive(IsoTpShims* shims, const uint16_t arbitration_id, IsoTpMessageReceivedHandler callback); #ifdef __cplusplus diff --git a/src/isotp/receive.c b/src/isotp/receive.c index b07950c5..3eba9b53 100644 --- a/src/isotp/receive.c +++ b/src/isotp/receive.c @@ -1,28 +1,24 @@ #include <isotp/receive.h> -bool isotp_handle_single_frame(IsoTpHandle* handle, IsoTpMessage* message) { +bool isotp_handle_single_frame(IsoTpReceiveHandle* handle, IsoTpMessage* message) { isotp_complete_receive(handle, message); return true; } -void isotp_complete_receive(IsoTpHandle* handle, IsoTpMessage* message) { - if(handle->receive_handle.message_received_callback != NULL) { - handle->receive_handle.message_received_callback(message); +void isotp_complete_receive(IsoTpReceiveHandle* handle, IsoTpMessage* message) { + if(handle->message_received_callback != NULL) { + handle->message_received_callback(message); } } -IsoTpHandle isotp_receive(IsoTpShims* shims, +IsoTpReceiveHandle isotp_receive(IsoTpShims* shims, const uint16_t arbitration_id, IsoTpMessageReceivedHandler callback) { - IsoTpReceiveHandle receive_handle = { + IsoTpReceiveHandle handle = { + success: false, + completed: false, arbitration_id: arbitration_id, message_received_callback: callback }; - IsoTpHandle handle = { - success: false, - completed: false, - receive_handle: receive_handle, - type: ISOTP_HANDLE_RECEIVING - }; return handle; } diff --git a/src/isotp/receive.h b/src/isotp/receive.h index b01e12de..f43d32e2 100644 --- a/src/isotp/receive.h +++ b/src/isotp/receive.h @@ -9,9 +9,9 @@ extern "C" { #endif -void isotp_complete_receive(IsoTpHandle* handle, IsoTpMessage* message); +void isotp_complete_receive(IsoTpReceiveHandle* handle, IsoTpMessage* message); -bool isotp_handle_single_frame(IsoTpHandle* handle, IsoTpMessage* message); +bool isotp_handle_single_frame(IsoTpReceiveHandle* handle, IsoTpMessage* message); #ifdef __cplusplus } diff --git a/src/isotp/send.c b/src/isotp/send.c index b87c5602..dfba1df3 100644 --- a/src/isotp/send.c +++ b/src/isotp/send.c @@ -11,12 +11,11 @@ void isotp_complete_send(IsoTpShims* shims, IsoTpMessage* message, } } -IsoTpHandle isotp_send_single_frame(IsoTpShims* shims, IsoTpMessage* message, +IsoTpSendHandle isotp_send_single_frame(IsoTpShims* shims, IsoTpMessage* message, IsoTpMessageSentHandler callback) { - IsoTpHandle handle = { + IsoTpSendHandle handle = { success: false, - completed: true, - type: ISOTP_HANDLE_SENDING + completed: true }; uint8_t can_data[CAN_MESSAGE_BYTE_SIZE] = {0}; @@ -42,21 +41,20 @@ IsoTpHandle isotp_send_single_frame(IsoTpShims* shims, IsoTpMessage* message, return handle; } -IsoTpHandle isotp_send_multi_frame(IsoTpShims* shims, IsoTpMessage* message, +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"); - IsoTpHandle handle = { + IsoTpSendHandle handle = { success: false, - completed: true, - type: ISOTP_HANDLE_SENDING + 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; } -IsoTpHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id, +IsoTpSendHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id, const uint8_t payload[], uint16_t size, IsoTpMessageSentHandler callback) { IsoTpMessage message = { diff --git a/tests/common.c b/tests/common.c index 554293c9..f9898b32 100644 --- a/tests/common.c +++ b/tests/common.c @@ -5,7 +5,7 @@ #include <stdarg.h> IsoTpShims SHIMS; -IsoTpHandle HANDLE; +IsoTpReceiveHandle RECEIVE_HANDLE; uint16_t last_can_frame_sent_arb_id; uint8_t last_can_payload_sent[8]; @@ -81,7 +81,7 @@ void can_frame_sent(const uint16_t arbitration_id, const uint8_t* payload, void setup() { SHIMS = isotp_init_shims(debug, mock_send_can, mock_set_timer); - HANDLE = isotp_receive(&SHIMS, 0x2a, message_received); + RECEIVE_HANDLE = isotp_receive(&SHIMS, 0x2a, message_received); memset(last_message_sent_payload, 0, OUR_MAX_ISO_TP_MESSAGE_SIZE); memset(last_message_received_payload, 0, OUR_MAX_ISO_TP_MESSAGE_SIZE); memset(last_can_payload_sent, 0, sizeof(last_can_payload_sent)); diff --git a/tests/test_receive.c b/tests/test_receive.c index 95afb949..1452ed3e 100644 --- a/tests/test_receive.c +++ b/tests/test_receive.c @@ -6,7 +6,7 @@ #include <stdarg.h> extern IsoTpShims SHIMS; -extern IsoTpHandle HANDLE; +extern IsoTpReceiveHandle RECEIVE_HANDLE; extern uint16_t last_can_frame_sent_arb_id; extern uint8_t last_can_payload_sent; @@ -28,8 +28,8 @@ extern void setup(); START_TEST (test_receive_empty_can_message) { const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0}; - fail_if(HANDLE.completed); - IsoTpMessage message = isotp_receive_can_frame(&SHIMS, &HANDLE, 0x100, data, 0); + fail_if(RECEIVE_HANDLE.completed); + IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x100, data, 0); fail_if(message.completed); fail_if(message_was_received); } @@ -38,8 +38,8 @@ END_TEST START_TEST (test_receive_wrong_id) { const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0}; - fail_if(HANDLE.completed); - IsoTpMessage message = isotp_receive_can_frame(&SHIMS, &HANDLE, 0x100, data, 1); + fail_if(RECEIVE_HANDLE.completed); + IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x100, data, 1); fail_if(message.completed); fail_if(message_was_received); } @@ -49,7 +49,7 @@ START_TEST (test_receive_bad_pci) { // 4 is a reserved number for the PCI field - only 0-3 are allowed const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0x40}; - IsoTpMessage message = isotp_receive_can_frame(&SHIMS, &HANDLE, 0x2a, data, 1); + IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data, 1); fail_if(message.completed); fail_if(message_was_received); } @@ -58,9 +58,9 @@ END_TEST START_TEST (test_receive_single_frame_empty_payload) { const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0x00, 0x12, 0x34}; - fail_if(HANDLE.completed); - IsoTpMessage message = isotp_receive_can_frame(&SHIMS, &HANDLE, 0x2a, data, 3); - fail_unless(HANDLE.completed); + fail_if(RECEIVE_HANDLE.completed); + IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data, 3); + fail_unless(RECEIVE_HANDLE.completed); fail_unless(message.completed); fail_unless(message_was_received); ck_assert_int_eq(last_message_received_arb_id, 0x2a); @@ -71,7 +71,7 @@ END_TEST START_TEST (test_receive_single_frame) { const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0x02, 0x12, 0x34}; - IsoTpMessage message = isotp_receive_can_frame(&SHIMS, &HANDLE, 0x2a, data, 3); + IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data, 3); fail_unless(message.completed); fail_unless(message_was_received); ck_assert_int_eq(last_message_received_arb_id, 0x2a); diff --git a/tests/test_send.c b/tests/test_send.c index ca1842a6..7944e6ff 100644 --- a/tests/test_send.c +++ b/tests/test_send.c @@ -6,7 +6,6 @@ #include <stdarg.h> extern IsoTpShims SHIMS; -extern IsoTpHandle HANDLE; extern void message_sent(const IsoTpMessage* message, const bool success); @@ -30,7 +29,7 @@ extern void setup(); START_TEST (test_send_empty_payload) { uint16_t arbitration_id = 0x2a; - IsoTpHandle handle = isotp_send(&SHIMS, arbitration_id, NULL, 0, message_sent); + IsoTpSendHandle handle = isotp_send(&SHIMS, arbitration_id, NULL, 0, message_sent); fail_unless(handle.success); fail_unless(handle.completed); ck_assert_int_eq(last_message_sent_arb_id, arbitration_id); @@ -49,7 +48,7 @@ START_TEST (test_send_single_frame) { const uint8_t payload[] = {0x12, 0x34}; uint16_t arbitration_id = 0x2a; - IsoTpHandle handle = isotp_send(&SHIMS, arbitration_id, payload, + IsoTpSendHandle handle = isotp_send(&SHIMS, arbitration_id, payload, sizeof(payload), message_sent); ck_assert_int_eq(last_message_sent_arb_id, arbitration_id); fail_unless(last_message_sent_status); @@ -71,7 +70,7 @@ START_TEST (test_send_multi_frame) const uint8_t payload[] = {0x12, 0x34, 0x56, 0x78, 0x90, 0x01, 0x23, 0x45, 0x67, 0x89}; uint16_t arbitration_id = 0x2a; - IsoTpHandle handle = isotp_send(&SHIMS, arbitration_id, payload, sizeof(payload), + IsoTpSendHandle handle = isotp_send(&SHIMS, arbitration_id, payload, sizeof(payload), message_sent); fail_unless(handle.completed); fail_if(handle.success); |