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#ifndef __ISOTP_H__
#define __ISOTP_H__
#include <stdint.h>
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
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 arbitration_id;
IsoTpMessageReceivedHandler message_received_callback;
IsoTpMessageSentHandler message_sent_callback;
IsoTpCanFrameSentHandler can_frame_sent_callback;
// Private
uint16_t timeout_ms;
bool frame_padding;
uint8_t* receive_buffer;
uint16_t received_buffer_size;
uint16_t incoming_message_size;
bool sending;
// TODO timer callback
} IsoTpHandler;
typedef enum {
PCI_SINGLE = 0x0,
PCI_FIRST_FRAME = 0x1,
PCI_CONSECUTIVE_FRAME = 0x2,
PCI_FLOW_CONTROL_FRAME = 0x3
} IsoTpProtocolControlInformation;
typedef enum {
PCI_FLOW_STATUS_CONTINUE = 0x0,
PCI_FLOW_STATUS_WAIT = 0x1,
PCI_FLOW_STATUS_OVERFLOW = 0x2
} IsoTpFlowStatus;
IsoTpShims isotp_init_shims(LogShim log,
SendCanMessageShim send_can_message,
SetTimerShim set_timer);
IsoTpHandler isotp_init(IsoTpShims* shims,
uint16_t arbitration_id,
IsoTpMessageReceivedHandler message_received_callback,
IsoTpMessageSentHandler message_sent_callback,
IsoTpCanFrameSentHandler can_frame_sent_callback);
/* 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
bool isotp_send(const uint8_t* payload, uint16_t payload_size);
void isotp_receive_can_frame(IsoTpHandler* handler,
const uint16_t arbitration_id, const uint64_t data,
const uint8_t length);
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
#endif // __ISOTP_H__
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