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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(IsoTpHandler* handler, IsoTpMessage* message,
bool status) {
handler->message_sent_callback(message, status);
}
bool isotp_send_single_frame(IsoTpHandler* handler, IsoTpMessage* message) {
uint8_t can_data[CAN_MESSAGE_BYTE_SIZE] = {0};
if(!set_nibble(PCI_NIBBLE_INDEX, PCI_SINGLE, can_data, sizeof(can_data))) {
handler->shims->log("Unable to set PCI in CAN data");
return false;
}
if(!set_nibble(PAYLOAD_LENGTH_NIBBLE_INDEX, message->size, can_data,
sizeof(can_data))) {
handler->shims->log("Unable to set payload length in CAN data");
return false;
}
if(message->size > 0) {
memcpy(&can_data[1], message->payload, message->size);
}
handler->shims->send_can_message(message->arbitration_id, can_data,
1 + message->size);
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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