From 34a7c0ca08683eb83d6b6b3d5a6a8fb2f7d5b918 Mon Sep 17 00:00:00 2001 From: Christopher Peplin Date: Fri, 27 Dec 2013 18:28:03 -0500 Subject: Add skeleton tests for receiving and sending ISO-TP messages. --- src/isotp/isotp.c | 44 +++++++++++++++++++++++++++++- src/isotp/isotp.h | 81 +++++++++++++++++++++++++++++++++++++++++++------------ 2 files changed, 107 insertions(+), 18 deletions(-) (limited to 'src/isotp') diff --git a/src/isotp/isotp.c b/src/isotp/isotp.c index 1b7f398b..da7fa29d 100644 --- a/src/isotp/isotp.c +++ b/src/isotp/isotp.c @@ -1,3 +1,9 @@ +#include + +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) { @@ -10,5 +16,41 @@ bool isotp_send(const uint8_t* payload, uint16_t payload_size) { // we determine if it's single/multi frame and start the send } -void isotp_set_timeout(uint16_t timeout) { +void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) { + handler->timeout_ms = timeout_ms; +} + +IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message, + SetTimerShim set_timer) { + IsoTpShims shims = { + log: log, + send_can_message: send_can_message, + set_timer: set_timer + }; + return shims; +} + +IsoTpHandler isotp_init(IsoTpShims* shims, uint16_t arbitration_id, + IsoTpMessageReceivedHandler message_received_callback, + IsoTpMessageSentHandler message_sent_callback, + IsoTpCanFrameSentHandler can_frame_sent_callback) { + IsoTpHandler handler = { + shims: shims, + message_received_callback: message_received_callback, + message_sent_callback: message_sent_callback, + can_frame_sent_callback: can_frame_sent_callback, + timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT, + frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS, + sending: false + }; + return handler; +} + +// TODO this would be better as a "isotp_message_to_string" +void log_isotp_message(const uint16_t arbitration_id, + const uint8_t* payload, const uint16_t size) { + debug("ID: 0x%02x, Payload:", arbitration_id); + for(int i = 0; i < size; i++) { + debug("0x%x", payload[i]); + } } diff --git a/src/isotp/isotp.h b/src/isotp/isotp.h index 923d5926..c500f6e3 100644 --- a/src/isotp/isotp.h +++ b/src/isotp/isotp.h @@ -1,50 +1,93 @@ #ifndef __ISOTP_H__ #define __ISOTP_H__ +#include +#include + #ifdef __cplusplus extern "C" { #endif -struct { +const uint16_t MAX_ISO_TP_MESSAGE_SIZE; +const uint16_t MAX_CAN_FRAME_SIZE; +const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT; +const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS; + +typedef void (*LogShim)(const char* message); +typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id, const uint8_t* data, + const uint8_t size); +typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback)); + +typedef void (*IsoTpMessageReceivedHandler)(const uint16_t arbitration_id, + const uint8_t* payload, const uint16_t size); +typedef void (*IsoTpMessageSentHandler)(const bool success, + const uint16_t arbitration_id, const uint8_t* payload, + const uint16_t size); +typedef void (*IsoTpCanFrameSentHandler)(const uint16_t arbitration_id, + const uint8_t* payload, const uint8_t size); + +// TODO this is really necessary and it would leak this library into the user's +// code +// typedef struct { + // const uint16_t arbitration_id; + // const uint8_t* payload; + // const uint16_t size; +// } IsoTpMessage; + +typedef struct { + LogShim log; + SendCanMessageShim send_can_message; + SetTimerShim set_timer; +} IsoTpShims; + +typedef struct { + IsoTpShims* shims; uint16_t arb_id; - void* message_received_callback; - void* message_sent_callback; - void* can_frame_sent_callback; + IsoTpMessageReceivedHandler message_received_callback; + IsoTpMessageSentHandler message_sent_callback; + IsoTpCanFrameSentHandler can_frame_sent_callback; // Private uint16_t timeout_ms; - bool framePadding; + bool frame_padding; uint8_t* receive_buffer; uint16_t received_buffer_size; uint16_t incoming_message_size; bool sending; - // TODO timer + // TODO timer callback } IsoTpHandler; -enum { +typedef enum { PCI_SINGLE, PCI_FIRST_FRAME, PCI_CONSECUTIVE_FRAME, PCI_FLOW_CONTROL_FRAME } IsoTpProtocolControlInformation; -enum { +typedef enum { PCI_FLOW_STATUS_CONTINUE, PCI_FLOW_STATUS_WAIT, PCI_FLOW_STATUS_OVERFLOW } IsoTpFlowStatus; -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; +IsoTpShims isotp_init_shims(LogShim log, + SendCanMessageShim send_can_message, + SetTimerShim set_timer); -IsoTpHandler isotp_init(uint16_t arbitration_id, - IsoTpMessageReceivedHandler* message_received_callback, - IsoTpMessageSentHandler* message_sent_callback, - IsoTpCanFrameSentHandler* can_frame_sent_callback); +IsoTpHandler isotp_init(IsoTpShims* shims, + uint16_t arbitration_id, + IsoTpMessageReceivedHandler message_received_callback, + IsoTpMessageSentHandler message_sent_callback, + IsoTpCanFrameSentHandler can_frame_sent_callback); -void isotp_set_timeout(uint16_t timeout); +/* Public: Change the timeout for waiting on an ISO-TP response frame. + * + * If this function is not used, the conventional 100ms is used by default. + * + * handler - the ISO-TP handler to modify. + * timeout - the new timeout in milliseconds. + */ +void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms); // TODO we have to make sure to copy the payload internall if it's more than 1 // frame, the soure could go out of scope @@ -55,6 +98,10 @@ void isotp_receive_can_frame(const uint16_t arbitration_id, const uint8_t* data, void isotp_destroy(IsoTpHandler* handler); +void log_isotp_message(const uint16_t arbitration_id, const uint8_t* payload, + const uint16_t size); + + #ifdef __cplusplus } #endif -- cgit 1.2.3-korg