diff options
Diffstat (limited to 'src/isotp/isotp.c')
| -rw-r--r-- | src/isotp/isotp.c | 28 |
1 files changed, 23 insertions, 5 deletions
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, |