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#include <isotp/isotp.h>
#include <isotp/receive.h>
#include <bitfield/bitfield.h>
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;
}
void isotp_message_to_string(const IsoTpMessage* message, char* destination,
size_t destination_length) {
// TODO why is this still not printing the entire payload?
snprintf(destination, destination_length, "ID: 0x%02x, Payload: 0x%02x%02x%02x%02x%02x%02x%02x%02x%02x",
message->arbitration_id,
message->payload[0],
message->payload[1],
message->payload[2],
message->payload[3],
message->payload[4],
message->payload[5],
message->payload[6],
message->payload[7]);
}
IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
const uint16_t arbitration_id, const uint8_t data[],
const uint8_t data_length) {
IsoTpMessage message = {
arbitration_id: arbitration_id,
completed: false,
payload: {0},
size: 0
};
if(data_length < 1) {
return message;
}
if(handle->type == ISOTP_HANDLE_RECEIVING) {
if(handle->receive_handle.arbitration_id != arbitration_id) {
if(shims->log != NULL) {
shims->log("The arb ID 0x%x doesn't match the expected rx ID 0x%x",
arbitration_id, handle->receive_handle.arbitration_id);
}
return message;
}
} else if(handle->type == ISOTP_HANDLE_SENDING) {
if(handle->send_handle.receiving_arbitration_id != arbitration_id) {
if(shims->log != NULL) {
shims->log("The arb ID 0x%x doesn't match the expected tx continuation ID 0x%x",
arbitration_id, handle->send_handle.receiving_arbitration_id);
}
return message;
}
} else {
shims->log("The ISO-TP handle is corrupt");
return message;
}
IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
get_nibble(data, data_length, 0);
uint8_t payload_length = get_nibble(data, data_length, 1);
uint8_t payload[payload_length];
if(payload_length > 0 && data_length > 0) {
memcpy(payload, &data[1], payload_length);
}
// 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: {
if(payload_length > 0) {
memcpy(message.payload, payload, payload_length);
}
message.size = payload_length;
message.completed = true;
handle->success = true;
handle->completed = true;
isotp_handle_single_frame(handle, &message);
break;
}
default:
shims->log("Only single frame messages are supported");
break;
}
return message;
}
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