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ISO-TP (ISO 15765-2) Support Library in C
================================
## API
First, set up some shim functions to your lower level system:
void debug(const char* format, ...) {
...
}
void send_can(const uint16_t arbitration_id, const uint8_t* data,
const uint8_t size) {
...
}
void set_timer(uint16_t time_ms, void (*callback)) {
...
}
Then, set up a callback and send an ISO-TP message:
// this is your callback for when the message is completely sent - it's
// optional
void message_sent(const IsoTpMessage* message, const bool success) {
// You received the message! Do something with it.
}
IsoTpShim shims = isotp_init_shims(debug, send_can, set_timer);
IsoTpHandle handle = isotp_send(&shims, 0x100, NULL, 0, message_sent);
if(handle.completed) {
if(!handle.success) {
// something happened and it already failed - possibly we aren't able to
// send CAN messages
return;
} else {
// If the message fit in a single frame, it's already been sent and
you're done
}
} else {
while(true) {
// Continue to read from CAN, passing off each message to the handle
bool complete = isotp_receive_can_frame(&shims, &handle, 0x100, data, size);
if(complete && handle.completed) {
if(handle.success) {
// All frames of the message have now been sent, following
// whatever flow control feedback it got from the receiver
} else {
// the message was unable to be sent and we bailed - fatal
// error!
}
}
}
}
Finally, receive an ISO-TP message:
// This is your callback for when a complete ISO-TP message is received at
// the arbitration ID you specify - it's optional. The completed message is
// also returned by isotp_receive_can_frame
void message_received(const IsoTpMessage* message) {
}
IsoTpHandle handle = isotp_receive(&shims, 0x100, message_received);
if(!handle.success) {
// something happened and it already failed - possibly we aren't able to
// send CAN messages
} else {
while(true) {
// Continue to read from CAN, passing off each message to the handle
IsoTp message = isotp_receive_can_frame(&shims, &handle, 0x100, data, size);
if(message.completed && handle.completed) {
if(handle.success) {
// A message has been received successfully
} else {
// Fatal error - we weren't able to receive a message and
// gave up trying. A message using flow control may have
// timed out.
}
}
}
}
// TODO add an optional dispatcher to handle multiple open requests
## Testing
The library includes a test suite that uses the `check` C unit test library.
$ make test
You can also see the test coverage if you have `lcov` installed and the
`BROWSER` environment variable set to your choice of web browsers:
$ BROWSER=google-chrome-stable make coverage
## Authors
Chris Peplin cpeplin@ford.com
## License
Copyright (c) 2013 Ford Motor Company
Licensed under the BSD license.
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