diff options
| -rw-r--r-- | Makefile | 3 | ||||
| -rw-r--r-- | src/isotp/isotp.c | 28 | ||||
| -rw-r--r-- | src/isotp/isotp.h | 19 | ||||
| -rw-r--r-- | src/isotp/receive.c | 7 | ||||
| -rw-r--r-- | src/isotp/receive.h | 19 | ||||
| -rw-r--r-- | tests/common.c | 3 | ||||
| -rw-r--r-- | tests/test_receive.c | 6 |
7 files changed, 65 insertions, 20 deletions
@@ -16,10 +16,9 @@ ifneq ($(OSTYPE),Darwin) endif SRC = $(wildcard src/**/*.c) -SRC += $(wildcard deps/**/*.c) +SRC += $(wildcard deps/canutil/src/**/*.c) OBJS = $(SRC:.c=.o) TEST_SRC = $(wildcard $(TEST_DIR)/test_*.c) -TEST_OBJS = $(TEST_SRC:.c=.o) TESTS=$(patsubst %.c,%.bin,$(TEST_SRC)) TEST_SUPPORT_SRC = $(TEST_DIR)/common.c TEST_SUPPORT_OBJS = $(TEST_SUPPORT_SRC:.c=.o) diff --git a/src/isotp/isotp.c b/src/isotp/isotp.c index da7fa29d..597ffe9d 100644 --- a/src/isotp/isotp.c +++ b/src/isotp/isotp.c @@ -1,15 +1,32 @@ #include <isotp/isotp.h> +#include <isotp/receive.h> +#include <bitfield/bitfield.h> const uint16_t MAX_ISO_TP_MESSAGE_SIZE = 4096; const uint16_t MAX_CAN_FRAME_SIZE = 8; const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT = 100; const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS = true; -void isotp_receive_can_frame(const uint16_t arbitration_id, const uint8_t* data, - const uint8_t length) { - //match with any request we made - //handle flow control if necessary - //call callback if message completed +void isotp_receive_can_frame(IsoTpHandler* handler, + const uint16_t arbitration_id, const uint8_t* data, const uint8_t length) { + if(arbitration_id != handler->arbitration_id){ + return; + } + + // TODO use CanMessage struct from canutil library - allocate payload buffer + // on stack, 8 bytes + // TODO this function should receive uint64_t... + IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation) + getBitField((uint64_t)data, 0, 2, false); + + switch(pci) { + case PCI_SINGLE: + isotp_handle_single_frame(handler, arbitration_id, data, length); + break; + default: + handler->shims->log("Only single frame messages are supported"); + break; + } } bool isotp_send(const uint8_t* payload, uint16_t payload_size) { @@ -36,6 +53,7 @@ IsoTpHandler isotp_init(IsoTpShims* shims, uint16_t arbitration_id, IsoTpCanFrameSentHandler can_frame_sent_callback) { IsoTpHandler handler = { shims: shims, + arbitration_id: arbitration_id, message_received_callback: message_received_callback, message_sent_callback: message_sent_callback, can_frame_sent_callback: can_frame_sent_callback, diff --git a/src/isotp/isotp.h b/src/isotp/isotp.h index c500f6e3..089ecbc0 100644 --- a/src/isotp/isotp.h +++ b/src/isotp/isotp.h @@ -42,7 +42,7 @@ typedef struct { typedef struct { IsoTpShims* shims; - uint16_t arb_id; + uint16_t arbitration_id; IsoTpMessageReceivedHandler message_received_callback; IsoTpMessageSentHandler message_sent_callback; IsoTpCanFrameSentHandler can_frame_sent_callback; @@ -58,16 +58,16 @@ typedef struct { } IsoTpHandler; typedef enum { - PCI_SINGLE, - PCI_FIRST_FRAME, - PCI_CONSECUTIVE_FRAME, - PCI_FLOW_CONTROL_FRAME + PCI_SINGLE = 0x0, + PCI_FIRST_FRAME = 0x1, + PCI_CONSECUTIVE_FRAME = 0x2, + PCI_FLOW_CONTROL_FRAME = 0x3 } IsoTpProtocolControlInformation; typedef enum { - PCI_FLOW_STATUS_CONTINUE, - PCI_FLOW_STATUS_WAIT, - PCI_FLOW_STATUS_OVERFLOW + PCI_FLOW_STATUS_CONTINUE = 0x0, + PCI_FLOW_STATUS_WAIT = 0x1, + PCI_FLOW_STATUS_OVERFLOW = 0x2 } IsoTpFlowStatus; IsoTpShims isotp_init_shims(LogShim log, @@ -93,7 +93,8 @@ void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms); // frame, the soure could go out of scope bool isotp_send(const uint8_t* payload, uint16_t payload_size); -void isotp_receive_can_frame(const uint16_t arbitration_id, const uint8_t* data, +void isotp_receive_can_frame(IsoTpHandler* handler, + const uint16_t arbitration_id, const uint8_t* data, const uint8_t length); void isotp_destroy(IsoTpHandler* handler); diff --git a/src/isotp/receive.c b/src/isotp/receive.c new file mode 100644 index 00000000..9add9d5f --- /dev/null +++ b/src/isotp/receive.c @@ -0,0 +1,7 @@ +#include <isotp/receive.h> + +void isotp_handle_single_frame(IsoTpHandler* handler, + const uint16_t arbitration_id, const uint8_t* data, + const uint8_t length) { + handler->message_received_callback(arbitration_id, data, length); +} diff --git a/src/isotp/receive.h b/src/isotp/receive.h new file mode 100644 index 00000000..f7d6c61f --- /dev/null +++ b/src/isotp/receive.h @@ -0,0 +1,19 @@ +#ifndef __ISOTP_RECEIVE_H__ +#define __ISOTP_RECEIVE_H__ + +#include <isotp/isotp.h> +#include <stdint.h> +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +void isotp_handle_single_frame(IsoTpHandler* handler, const uint16_t arbitration_id, + const uint8_t* data, const uint8_t length); + +#ifdef __cplusplus +} +#endif + +#endif // __ISOTP_RECEIVE_H__ diff --git a/tests/common.c b/tests/common.c index fb26c4af..9aff39a1 100644 --- a/tests/common.c +++ b/tests/common.c @@ -26,6 +26,7 @@ void debug(const char* format, ...) { va_list args; va_start(args, format); vprintf(format, args); + printf("\r\n"); va_end(args); } @@ -39,6 +40,7 @@ void mock_set_timer(uint16_t time_ms, void (*callback)) { void message_received(const uint16_t arbitration_id, const uint8_t* payload, const uint16_t size) { debug("Received ISO-TP message:"); + message_was_received = true; log_isotp_message(arbitration_id, payload, size); last_message_received_arb_id = arbitration_id; last_message_received_payload_size = size; @@ -54,7 +56,6 @@ void message_sent(const bool success, const uint16_t arbitration_id, } log_isotp_message(arbitration_id, payload, size); - message_was_received = true; last_message_sent_arb_id = arbitration_id; last_message_sent_payload_size = size; memcpy(last_message_sent_payload, payload, size); diff --git a/tests/test_receive.c b/tests/test_receive.c index 4134cfd6..2da2e897 100644 --- a/tests/test_receive.c +++ b/tests/test_receive.c @@ -28,7 +28,7 @@ extern void setup(); START_TEST (test_receive_wrong_id) { const uint8_t data[8] = {0}; - isotp_receive_can_frame(0x100, data, sizeof(data)); + isotp_receive_can_frame(&ISOTP_HANDLER, 0x100, data, sizeof(data)); fail_if(message_was_received); } END_TEST @@ -37,7 +37,7 @@ START_TEST (test_receive_bad_pci) { // 4 is a reserved number for the PCI field - only 0-3 are allowed const uint8_t data[8] = {0x40}; - isotp_receive_can_frame(0x2a, data, sizeof(data)); + isotp_receive_can_frame(&ISOTP_HANDLER, 0x2a, data, sizeof(data)); fail_if(message_was_received); } END_TEST @@ -45,7 +45,7 @@ END_TEST START_TEST (test_receive_single_frame) { const uint8_t data[8] = {0x0, 0x12, 0x34}; - isotp_receive_can_frame(0x2a, data, sizeof(data)); + isotp_receive_can_frame(&ISOTP_HANDLER, 0x2a, data, sizeof(data)); 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); |