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#include <isotp/receive.h>
void isotp_handle_single_frame(IsoTpHandler* handler, IsoTpMessage* message) {
isotp_complete_receive(handler, message);
}
void isotp_complete_receive(IsoTpHandler* handler, IsoTpMessage* message) {
handler->message_received_callback(message);
}
void isotp_receive_can_frame(IsoTpHandler* handler,
const uint16_t arbitration_id, const uint8_t data[],
const uint8_t data_length) {
if(arbitration_id != handler->arbitration_id || data_length < 1) {
return;
}
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);
}
IsoTpMessage message = {
arbitration_id: arbitration_id,
payload: payload,
size: payload_length
};
switch(pci) {
case PCI_SINGLE:
isotp_handle_single_frame(handler, &message);
break;
default:
handler->shims->log("Only single frame messages are supported");
break;
}
}
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