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#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_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,
arbitration_id: arbitration_id,
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 IsoTpMessage* message) {
debug("ID: 0x%02x", message->arbitration_id);
if(message->size > 0) {
debug("Payload:");
for(int i = 0; i < message->size; i++) {
debug("0x%x", message->payload[i]);
}
} else {
debug("(no payload)");
}
}
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