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-rw-r--r--README.mkd7
-rw-r--r--src/isotp/isotp.c28
-rw-r--r--src/isotp/isotp.h14
-rw-r--r--src/isotp/receive.c1
-rw-r--r--src/isotp/send.c2
-rw-r--r--src/isotp/send.h3
-rw-r--r--tests/test_receive.c12
7 files changed, 34 insertions, 33 deletions
diff --git a/README.mkd b/README.mkd
index ba09d28a..f2c0874a 100644
--- a/README.mkd
+++ b/README.mkd
@@ -58,7 +58,8 @@ Then, set up a callback and send an ISO-TP message:
Finally, receive an ISO-TP message:
// This is your callback for when a complete ISO-TP message is received at
- // the arbitration ID you specify
+ // the arbitration ID you specify - it's optional. The completed message is
+ // also returned by isotp_receive_can_frame
void message_received(const IsoTpMessage* message) {
}
@@ -69,9 +70,9 @@ Finally, receive 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);
+ IsoTp message = isotp_receive_can_frame(&shims, &handle, 0x100, data, size);
- if(complete && handle.completed) {
+ if(message.completed && handle.completed) {
if(handle.success) {
// A message has been received successfully
} else {
diff --git a/src/isotp/isotp.c b/src/isotp/isotp.c
index f7189d2b..9aa051bc 100644
--- a/src/isotp/isotp.c
+++ b/src/isotp/isotp.c
@@ -33,26 +33,29 @@ void isotp_message_to_string(const IsoTpMessage* message, char* destination,
message->arbitration_id, payload_string);
}
-bool isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
+IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
const uint16_t arbitration_id, const uint8_t data[],
const uint8_t data_length) {
- bool message_completed = false;
+ IsoTpMessage message = {
+ arbitration_id: arbitration_id,
+ completed: false
+ };
if(data_length < 1) {
- return message_completed;
+ return message;
}
if(handle->type == ISOTP_HANDLE_RECEIVING) {
if(handle->receive_handle.arbitration_id != arbitration_id) {
- return message_completed;
+ return message;
}
} else if(handle->type == ISOTP_HANDLE_SENDING) {
if(handle->send_handle.receiving_arbitration_id != arbitration_id) {
- return message_completed;
+ return message;
}
} else {
shims->log("The ISO-TP handle is corrupt");
- return message_completed;
+ return message;
}
IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
@@ -70,18 +73,15 @@ bool isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
switch(pci) {
case PCI_SINGLE: {
- IsoTpMessage message = {
- arbitration_id: arbitration_id,
- payload: payload,
- size: payload_length
- };
-
- message_completed = isotp_handle_single_frame(handle, &message);
+ message.payload = payload;
+ message.size = payload_length;
+ message.completed = true;
+ isotp_handle_single_frame(handle, &message);
break;
}
default:
shims->log("Only single frame messages are supported");
break;
}
- return message_completed;
+ return message;
}
diff --git a/src/isotp/isotp.h b/src/isotp/isotp.h
index 4f58dac4..103c402d 100644
--- a/src/isotp/isotp.h
+++ b/src/isotp/isotp.h
@@ -18,8 +18,9 @@ const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS;
typedef struct {
const uint16_t arbitration_id;
- const uint8_t* payload;
- const uint16_t size;
+ uint8_t* payload;
+ uint16_t size;
+ bool completed;
} IsoTpMessage;
typedef void (*LogShim)(const char* message, ...);
@@ -95,11 +96,8 @@ IsoTpShims isotp_init_shims(LogShim log,
/* Public:
*
- * Returns true if a complete ISO-TP message was sent or received as of
- * processing this CAN frame. Check the 'success' and 'completed' flag on the
- * handle to make sure.
*/
-bool isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
+IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
const uint16_t arbitration_id, const uint8_t data[],
const uint8_t size);
@@ -121,8 +119,8 @@ IsoTpHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
const uint8_t* payload, uint16_t size,
IsoTpMessageSentHandler callback);
-IsoTpHandle isotp_receive(IsoTpShims* shims, const uint16_t arbitration_id,
- IsoTpMessageReceivedHandler callback);
+IsoTpHandle 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 e69c59b7..fa96156d 100644
--- a/src/isotp/receive.c
+++ b/src/isotp/receive.c
@@ -24,4 +24,3 @@ IsoTpHandle isotp_receive(IsoTpShims* shims,
};
return handle;
}
-
diff --git a/src/isotp/send.c b/src/isotp/send.c
index 67703cae..6cce5c92 100644
--- a/src/isotp/send.c
+++ b/src/isotp/send.c
@@ -49,6 +49,8 @@ IsoTpHandle isotp_send_multi_frame(IsoTpShims* shims, IsoTpMessage* message,
completed: true,
type: ISOTP_HANDLE_SENDING
};
+ // 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;
}
diff --git a/src/isotp/send.h b/src/isotp/send.h
index 937e5320..8f707b29 100644
--- a/src/isotp/send.h
+++ b/src/isotp/send.h
@@ -9,9 +9,6 @@
extern "C" {
#endif
-IsoTpHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
- const uint8_t* payload, uint16_t size,
- IsoTpMessageSentHandler callback);
#ifdef __cplusplus
}
diff --git a/tests/test_receive.c b/tests/test_receive.c
index 0559c065..2ce3feff 100644
--- a/tests/test_receive.c
+++ b/tests/test_receive.c
@@ -28,7 +28,8 @@ extern void setup();
START_TEST (test_receive_wrong_id)
{
const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0};
- fail_if(isotp_receive_can_frame(&SHIMS, &HANDLE, 0x100, data, 1));
+ IsoTpMessage message = isotp_receive_can_frame(&SHIMS, &HANDLE, 0x100, data, 1);
+ fail_if(message.completed);
fail_if(message_was_received);
}
END_TEST
@@ -37,7 +38,8 @@ 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};
- fail_if(isotp_receive_can_frame(&SHIMS, &HANDLE, 0x2a, data, 1));
+ IsoTpMessage message = isotp_receive_can_frame(&SHIMS, &HANDLE, 0x2a, data, 1);
+ fail_if(message.completed);
fail_if(message_was_received);
}
END_TEST
@@ -45,7 +47,8 @@ END_TEST
START_TEST (test_receive_single_frame_empty_payload)
{
const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0x00, 0x12, 0x34};
- fail_unless(isotp_receive_can_frame(&SHIMS, &HANDLE, 0x2a, data, 3));
+ IsoTpMessage message = isotp_receive_can_frame(&SHIMS, &HANDLE, 0x2a, data, 3);
+ fail_unless(message.completed);
fail_unless(message_was_received);
ck_assert_int_eq(last_message_received_arb_id, 0x2a);
ck_assert_int_eq(last_message_received_payload_size, 0);
@@ -55,7 +58,8 @@ END_TEST
START_TEST (test_receive_single_frame)
{
const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0x02, 0x12, 0x34};
- fail_unless(isotp_receive_can_frame(&SHIMS, &HANDLE, 0x2a, data, 3));
+ IsoTpMessage message = isotp_receive_can_frame(&SHIMS, &HANDLE, 0x2a, data, 3);
+ fail_unless(message.completed);
fail_unless(message_was_received);
ck_assert_int_eq(last_message_received_arb_id, 0x2a);
ck_assert_int_eq(last_message_received_payload_size, 2);