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-rw-r--r--CHANGELOG.mkd5
-rw-r--r--src/isotp/isotp_types.h16
-rw-r--r--src/isotp/receive.c101
-rw-r--r--tests/test_receive.c68
4 files changed, 177 insertions, 13 deletions
diff --git a/CHANGELOG.mkd b/CHANGELOG.mkd
index e7090942..e6fd5cc0 100644
--- a/CHANGELOG.mkd
+++ b/CHANGELOG.mkd
@@ -1,5 +1,10 @@
# ISO 15765-2 Support Library in C
+## v0.2
+
+* Add multi-frame support for diagnostic responses. An IsoTpMessage payload is
+ currently limited to 256 bytes.
+
## v0.1
* Initial release
diff --git a/src/isotp/isotp_types.h b/src/isotp/isotp_types.h
index 9d05980a..6ae3a795 100644
--- a/src/isotp/isotp_types.h
+++ b/src/isotp/isotp_types.h
@@ -9,8 +9,14 @@
#define MAX_ISO_TP_MESSAGE_SIZE 4096
// TODO we want to avoid malloc, and we can't be allocated 4K on the stack for
// each IsoTpMessage, so for now we're setting an artificial max message size
-// here - since we only handle single frame messages, 8 bytes is plenty.
-#define OUR_MAX_ISO_TP_MESSAGE_SIZE 8
+// here - for most multi-frame use cases, 256 bytes is plenty.
+#define OUR_MAX_ISO_TP_MESSAGE_SIZE 256
+
+/* Private: IsoTp nibble specifics for PCI and Payload.
+ */
+#define PCI_NIBBLE_INDEX 0
+#define PAYLOAD_LENGTH_NIBBLE_INDEX 1
+#define PAYLOAD_BYTE_INDEX 1
/* Private: The default timeout to use when waiting for a response during a
* multi-frame send or receive.
@@ -30,8 +36,9 @@ extern "C" {
* 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.
+ * message, this will be false, the multi_frame attribute will be true,
+ * and you should not consider the other data to be valid.
+ * multi_frame - Designates the message is being built with multi-frame.
* arbitration_id - The arbitration ID of the message.
* payload - The optional payload of the message - don't forget to check the
* size!
@@ -42,6 +49,7 @@ typedef struct {
uint8_t payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
uint16_t size;
bool completed;
+ bool multi_frame;
} IsoTpMessage;
/* Public: The type signature for an optional logging function, if the user
diff --git a/src/isotp/receive.c b/src/isotp/receive.c
index 2dc380bc..35b7a2a6 100644
--- a/src/isotp/receive.c
+++ b/src/isotp/receive.c
@@ -1,6 +1,10 @@
#include <isotp/receive.h>
+#include <isotp/send.h>
#include <bitfield/bitfield.h>
#include <string.h>
+#include <stdlib.h>
+
+#define ARBITRATION_ID_OFFSET 0x8
static void isotp_complete_receive(IsoTpReceiveHandle* handle, IsoTpMessage* message) {
if(handle->message_received_callback != NULL) {
@@ -13,6 +17,26 @@ bool isotp_handle_single_frame(IsoTpReceiveHandle* handle, IsoTpMessage* message
return true;
}
+bool isotp_handle_multi_frame(IsoTpReceiveHandle* handle, IsoTpMessage* message) {
+ // call this once all consecutive frames have been received
+ isotp_complete_receive(handle, message);
+ return true;
+}
+
+bool isotp_send_flow_control_frame(IsoTpShims* shims, IsoTpMessage* message) {
+ uint8_t can_data[CAN_MESSAGE_BYTE_SIZE] = {0};
+
+ if(!set_nibble(PCI_NIBBLE_INDEX, PCI_FLOW_CONTROL_FRAME, can_data, sizeof(can_data))) {
+ shims->log("Unable to set PCI in CAN data");
+ return false;
+ }
+
+ shims->send_can_message(message->arbitration_id - ARBITRATION_ID_OFFSET, can_data,
+ shims->frame_padding ? 8 : 1 + message->size);
+ return true;
+}
+
+
IsoTpReceiveHandle isotp_receive(IsoTpShims* shims,
const uint32_t arbitration_id, IsoTpMessageReceivedHandler callback) {
IsoTpReceiveHandle handle = {
@@ -31,6 +55,7 @@ IsoTpMessage isotp_continue_receive(IsoTpShims* shims,
IsoTpMessage message = {
arbitration_id: arbitration_id,
completed: false,
+ multi_frame: false,
payload: {0},
size: 0
};
@@ -53,30 +78,88 @@ IsoTpMessage isotp_continue_receive(IsoTpShims* shims,
IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
get_nibble(data, size, 0);
- uint8_t payload_length = get_nibble(data, size, 1);
- uint8_t payload[payload_length];
- if(payload_length > 0 && size > 0) {
- memcpy(payload, &data[1], payload_length);
- }
-
// TODO this is set up to handle rx a response with a payload, but not to
// handle flow control responses for multi frame messages that we're in the
// process of sending
switch(pci) {
case PCI_SINGLE: {
+ uint8_t payload_length = get_nibble(data, size, 1);
+
if(payload_length > 0) {
- memcpy(message.payload, payload, payload_length);
+ memcpy(message.payload, &data[1], payload_length);
}
+
message.size = payload_length;
message.completed = true;
handle->success = true;
handle->completed = true;
isotp_handle_single_frame(handle, &message);
break;
- }
+ }
+ //If multi-frame, then the payload length is contained in the 12
+ //bits following the first nibble of Byte 0.
+ case PCI_FIRST_FRAME: {
+ uint16_t payload_length = (get_nibble(data, size, 1) << 8) + get_byte(data, size, 1);
+
+ if(payload_length > OUR_MAX_ISO_TP_MESSAGE_SIZE) {
+ shims->log("Multi-frame response too large for receive buffer.");
+ break;
+ }
+
+ //Need to allocate memory for the combination of multi-frame
+ //messages. That way we don't have to allocate 4k of memory
+ //for each multi-frame response.
+ uint8_t* combined_payload = NULL;
+ combined_payload = (uint8_t*)malloc(sizeof(uint8_t)*payload_length);
+
+ if(combined_payload == NULL) {
+ shims->log("Unable to allocate memory for multi-frame response.");
+ break;
+ }
+
+ memcpy(combined_payload, &data[2], CAN_MESSAGE_BYTE_SIZE - 2);
+ handle->receive_buffer = combined_payload;
+ handle->received_buffer_size = CAN_MESSAGE_BYTE_SIZE - 2;
+ handle->incoming_message_size = payload_length;
+
+ message.multi_frame = true;
+ handle->success = false;
+ handle->completed = false;
+ isotp_send_flow_control_frame(shims, &message);
+ break;
+ }
+ case PCI_CONSECUTIVE_FRAME: {
+ uint8_t start_index = handle->received_buffer_size;
+ uint8_t remaining_bytes = handle->incoming_message_size - start_index;
+ message.multi_frame = true;
+
+ if(remaining_bytes > 7) {
+ memcpy(&handle->receive_buffer[start_index], &data[1], CAN_MESSAGE_BYTE_SIZE - 1);
+ handle->received_buffer_size = start_index + 7;
+ } else {
+ memcpy(&handle->receive_buffer[start_index], &data[1], remaining_bytes);
+ handle->received_buffer_size = start_index + remaining_bytes;
+
+ if(handle->received_buffer_size != handle->incoming_message_size){
+ free(handle->receive_buffer);
+ handle->success = false;
+ shims->log("Error capturing all bytes of multi-frame. Freeing memory.");
+ } else {
+ memcpy(message.payload,&handle->receive_buffer[0],handle->incoming_message_size);
+ free(handle->receive_buffer);
+ message.size = handle->incoming_message_size;
+ message.completed = true;
+ shims->log("Successfully captured all of multi-frame. Freeing memory.");
+
+ handle->success = true;
+ handle->completed = true;
+ isotp_handle_multi_frame(handle, &message);
+ }
+ }
+ break;
+ }
default:
- shims->log("Only single frame messages are supported");
break;
}
return message;
diff --git a/tests/test_receive.c b/tests/test_receive.c
index 1452ed3e..3c6a652a 100644
--- a/tests/test_receive.c
+++ b/tests/test_receive.c
@@ -8,6 +8,8 @@
extern IsoTpShims SHIMS;
extern IsoTpReceiveHandle RECEIVE_HANDLE;
+extern void message_sent(const IsoTpMessage* message, const bool success);
+
extern uint16_t last_can_frame_sent_arb_id;
extern uint8_t last_can_payload_sent;
extern uint8_t last_can_payload_size;
@@ -81,6 +83,70 @@ START_TEST (test_receive_single_frame)
}
END_TEST
+START_TEST (test_receive_multi_frame)
+{
+ const uint8_t data0[CAN_MESSAGE_BYTE_SIZE] = {0x10, 0x14, 0x49, 0x02, 0x01, 0x31, 0x46, 0x4d};
+ IsoTpMessage message0 = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data0, 8);
+ fail_unless(!RECEIVE_HANDLE.completed);
+ fail_unless(!message0.completed);
+ fail_unless(!message_was_received);
+ fail_unless(message0.multi_frame);
+ //make sure flow control message has been sent.
+ ck_assert_int_eq(last_can_frame_sent_arb_id, 0x2a - 8);
+ ck_assert_int_eq(last_can_payload_sent, 0x30);
+
+ const uint8_t data1[CAN_MESSAGE_BYTE_SIZE] = {0x21, 0x43, 0x55, 0x39, 0x4a, 0x39, 0x34, 0x48};
+ IsoTpMessage message1 = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data1, 8);
+ fail_unless(!RECEIVE_HANDLE.completed);
+ fail_unless(!message1.completed);
+ fail_unless(!message_was_received);
+ fail_unless(message1.multi_frame);
+
+ const uint8_t data2[CAN_MESSAGE_BYTE_SIZE] = {0x22, 0x55, 0x41, 0x30, 0x34, 0x35, 0x32, 0x34};
+ IsoTpMessage message2 = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data2, 8);
+ fail_unless(RECEIVE_HANDLE.completed);
+ fail_unless(message2.completed);
+ fail_unless(message_was_received);
+ fail_unless(message2.multi_frame);
+
+ ck_assert_int_eq(last_message_received_arb_id, 0x2a);
+ ck_assert_int_eq(last_message_received_payload_size, 0x14);
+ ck_assert_int_eq(last_message_received_payload[0], 0x49);
+ ck_assert_int_eq(last_message_received_payload[1], 0x02);
+ ck_assert_int_eq(last_message_received_payload[2], 0x01);
+ ck_assert_int_eq(last_message_received_payload[3], 0x31);
+ ck_assert_int_eq(last_message_received_payload[4], 0x46);
+ ck_assert_int_eq(last_message_received_payload[5], 0x4d);
+ ck_assert_int_eq(last_message_received_payload[6], 0x43);
+ ck_assert_int_eq(last_message_received_payload[7], 0x55);
+ ck_assert_int_eq(last_message_received_payload[8], 0x39);
+ ck_assert_int_eq(last_message_received_payload[9], 0x4a);
+ ck_assert_int_eq(last_message_received_payload[10], 0x39);
+ ck_assert_int_eq(last_message_received_payload[11], 0x34);
+ ck_assert_int_eq(last_message_received_payload[12], 0x48);
+ ck_assert_int_eq(last_message_received_payload[13], 0x55);
+ ck_assert_int_eq(last_message_received_payload[14], 0x41);
+ ck_assert_int_eq(last_message_received_payload[15], 0x30);
+ ck_assert_int_eq(last_message_received_payload[16], 0x34);
+ ck_assert_int_eq(last_message_received_payload[17], 0x35);
+ ck_assert_int_eq(last_message_received_payload[18], 0x32);
+ ck_assert_int_eq(last_message_received_payload[19], 0x34);
+}
+END_TEST
+
+START_TEST (test_receive_large_multi_frame)
+{
+ const uint8_t data0[CAN_MESSAGE_BYTE_SIZE] = {0x11, 0x01, 0x49, 0x02, 0x01, 0x31, 0x46, 0x4d};
+ IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data0, 8);
+ //Make sure we don't try to receive messages that are too large and don't send flow control.
+ fail_unless(!can_frame_was_sent);
+ fail_unless(!RECEIVE_HANDLE.completed);
+ fail_unless(!message.completed);
+ fail_unless(!message_was_received);
+ fail_unless(!message.multi_frame);
+}
+END_TEST
+
Suite* testSuite(void) {
Suite* s = suite_create("iso15765");
TCase *tc_core = tcase_create("receive");
@@ -90,6 +156,8 @@ Suite* testSuite(void) {
tcase_add_test(tc_core, test_receive_single_frame);
tcase_add_test(tc_core, test_receive_single_frame_empty_payload);
tcase_add_test(tc_core, test_receive_empty_can_message);
+ tcase_add_test(tc_core, test_receive_multi_frame);
+ tcase_add_test(tc_core, test_receive_large_multi_frame);
suite_add_tcase(s, tc_core);
return s;