diff options
Diffstat (limited to 'CAN-binder/libs/isotp-c/src/isotp/receive.c')
| -rw-r--r-- | CAN-binder/libs/isotp-c/src/isotp/receive.c | 166 |
1 files changed, 0 insertions, 166 deletions
diff --git a/CAN-binder/libs/isotp-c/src/isotp/receive.c b/CAN-binder/libs/isotp-c/src/isotp/receive.c deleted file mode 100644 index 35b7a2a6..00000000 --- a/CAN-binder/libs/isotp-c/src/isotp/receive.c +++ /dev/null @@ -1,166 +0,0 @@ -#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) { - handle->message_received_callback(message); - } -} - -bool isotp_handle_single_frame(IsoTpReceiveHandle* handle, IsoTpMessage* message) { - isotp_complete_receive(handle, 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 = { - success: false, - completed: false, - arbitration_id: arbitration_id, - message_received_callback: callback - }; - - return handle; -} - -IsoTpMessage isotp_continue_receive(IsoTpShims* shims, - IsoTpReceiveHandle* handle, const uint32_t arbitration_id, - const uint8_t data[], const uint8_t size) { - IsoTpMessage message = { - arbitration_id: arbitration_id, - completed: false, - multi_frame: false, - payload: {0}, - size: 0 - }; - - if(size < 1) { - return message; - } - - if(handle->arbitration_id != arbitration_id) { - if(shims->log != NULL) { - // You may turn this on for debugging, but in normal operation it's - // very noisy if you are passing all received CAN messages to this - // handler. - /* shims->log("The arb ID 0x%x doesn't match the expected rx ID 0x%x", */ - /* arbitration_id, handle->arbitration_id); */ - } - return message; - } - - IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation) - get_nibble(data, size, 0); - - // 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, &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: - break; - } - return message; -} |