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#include <isotp/send.h>
#define PCI_NIBBLE_INDEX 0
#define PAYLOAD_LENGTH_NIBBLE_INDEX 1
#define PAYLOAD_BYTE_INDEX 1
void isotp_complete_send(IsoTpShims* shims, IsoTpMessage* message,
bool status, IsoTpMessageSentHandler callback) {
if(callback != NULL) {
callback(message, status);
}
}
IsoTpSendHandle isotp_send_single_frame(IsoTpShims* shims, IsoTpMessage* message,
IsoTpMessageSentHandler callback) {
IsoTpSendHandle handle = {
success: false,
completed: true
};
uint8_t can_data[CAN_MESSAGE_BYTE_SIZE] = {0};
if(!set_nibble(PCI_NIBBLE_INDEX, PCI_SINGLE, can_data, sizeof(can_data))) {
shims->log("Unable to set PCI in CAN data");
return handle;
}
if(!set_nibble(PAYLOAD_LENGTH_NIBBLE_INDEX, message->size, can_data,
sizeof(can_data))) {
shims->log("Unable to set payload length in CAN data");
return handle;
}
if(message->size > 0) {
memcpy(&can_data[1], message->payload, message->size);
}
shims->send_can_message(message->arbitration_id, can_data,
1 + message->size);
handle.success = true;
isotp_complete_send(shims, message, true, callback);
return handle;
}
IsoTpSendHandle isotp_send_multi_frame(IsoTpShims* shims, IsoTpMessage* message,
IsoTpMessageSentHandler callback) {
// TODO make sure to copy message into a local buffer
shims->log("Only single frame messages are supported");
IsoTpSendHandle handle = {
success: false,
completed: true
};
// TODO need to set sending and receiving arbitration IDs separately if we
// can't always just add 0x8 (and I think we can't)
return handle;
}
IsoTpSendHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
const uint8_t payload[], uint16_t size,
IsoTpMessageSentHandler callback) {
IsoTpMessage message = {
arbitration_id: arbitration_id,
size: size
};
memcpy(message.payload, payload, size);
if(size < 8) {
return isotp_send_single_frame(shims, &message, callback);
} else {
return isotp_send_multi_frame(shims, &message, callback);
}
}
bool isotp_continue_send(IsoTpShims* shims, IsoTpSendHandle* handle,
const uint16_t arbitration_id, const uint8_t data[],
const uint8_t size) {
// TODO this will need to be tested when we add multi-frame support,
// which is when it'll be necessary to pass in CAN messages to SENDING
// handles.
if(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->receiving_arbitration_id);
}
return false;
}
return false;
}
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