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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;
// TODO why isn't this picked up from the header?
extern IsoTpHandle isotp_receive(IsoTpShims* shims, const uint16_t arbitration_id,
IsoTpMessageReceivedHandler callback);
/* 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) {
snprintf(destination, destination_length,"ID: 0x%02x, Payload: 0x%llx",
// TODO the payload may be backwards here
message->arbitration_id, message->payload);
}
void isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
const uint16_t arbitration_id, const uint8_t data[],
const uint8_t data_length) {
if(data_length < 1) {
return;
}
if(handle->type == ISOTP_HANDLE_RECEIVING) {
if(handle->receive_handle.arbitration_id != arbitration_id) {
return;
}
} else if(handle->type == ISOTP_HANDLE_SENDING) {
if(handle->send_handle.receiving_arbitration_id != arbitration_id) {
return;
}
} else {
shims->log("The ISO-TP handle is corrupt");
}
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: {
IsoTpMessage message = {
arbitration_id: arbitration_id,
payload: payload,
size: payload_length
};
isotp_handle_single_frame(handle, &message);
break;
}
default:
shims->log("Only single frame messages are supported");
break;
}
}
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