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#include <isotp/send.h>
#define PCI_START_BIT 0
#define PCI_WIDTH 4
#define PAYLOAD_LENGTH_START_BIT PCI_START_BIT + PCI_WIDTH
#define PAYLOAD_LENGTH_WIDTH 4
#define PAYLOAD_START_BIT PAYLOAD_LENGTH_START_BIT + PAYLOAD_LENGTH_WIDTH
void isotp_complete_send(IsoTpHandler* handler, IsoTpMessage* message,
bool status) {
handler->message_sent_callback(message, status);
}
bool isotp_send_single_frame(IsoTpHandler* handler, IsoTpMessage* message) {
uint64_t data = 0;
setBitField(&data, PCI_SINGLE, PCI_START_BIT, PCI_WIDTH);
setBitField(&data, message->size, PAYLOAD_LENGTH_START_BIT, PAYLOAD_LENGTH_WIDTH);
// TODO need a better bitfield API to support this - use byte array instead
// of uint64_t and specify desired total width
for(int i = 0; i < message->size; i++) {
setBitField(&data, message->payload[i], PAYLOAD_START_BIT + i * 8, 8);
}
uint8_t data_array[message->size + 1];
for(int i = 0; i < sizeof(data_array); i++) {
// TODO need getByte(x) function
data_array[i] = getBitField(data, i * 8, 8, false);
}
handler->shims->send_can_message(message->arbitration_id, data_array, sizeof(data_array));
isotp_complete_send(handler, message, true);
return true;
}
bool isotp_send_multi_frame(IsoTpHandler* handler, IsoTpMessage* message) {
// TODO make sure to copy payload into a local buffer
handler->shims->log("Only single frame messages are supported");
return false;
}
bool isotp_send(IsoTpHandler* handler, const uint8_t* payload,
uint16_t size) {
// we determine if it's single/multi frame and start the send
IsoTpMessage message = {
arbitration_id: handler->arbitration_id,
payload: payload,
size: size
};
if(size < 8) {
return isotp_send_single_frame(handler, &message);
} else {
return isotp_send_multi_frame(handler, &message);
}
}
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