1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
|
#include <isotp/isotp.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
IsoTpShims SHIMS;
IsoTpReceiveHandle RECEIVE_HANDLE;
uint16_t last_can_frame_sent_arb_id;
uint8_t last_can_payload_sent[8];
uint8_t last_can_payload_size;
bool can_frame_was_sent;
bool message_was_received;
uint16_t last_message_received_arb_id;
uint8_t last_message_received_payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
uint8_t last_message_received_payload_size;
uint16_t last_message_sent_arb_id;
bool last_message_sent_status;
uint8_t last_message_sent_payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
uint8_t last_message_sent_payload_size;
void debug(const char* format, ...) {
va_list args;
va_start(args, format);
vprintf(format, args);
printf("\r\n");
va_end(args);
}
bool mock_send_can(const uint16_t arbitration_id, const uint8_t* data,
const uint8_t size) {
can_frame_was_sent = true;
last_can_frame_sent_arb_id = arbitration_id;
last_can_payload_size = size;
if(size > 0) {
memcpy(last_can_payload_sent, data, size);
}
return true;
}
void message_received(const IsoTpMessage* message) {
debug("Received ISO-TP message:");
message_was_received = true;
char str_message[48] = {0};
isotp_message_to_string(message, str_message, sizeof(str_message));
debug("%s", str_message);
last_message_received_arb_id = message->arbitration_id;
last_message_received_payload_size = message->size;
if(message->size > 0) {
memcpy(last_message_received_payload, message->payload, message->size);
}
}
void message_sent(const IsoTpMessage* message, const bool success) {
if(success) {
debug("Sent ISO-TP message:");
} else {
debug("Unable to send ISO-TP message:");
}
char str_message[48] = {0};
isotp_message_to_string(message, str_message, sizeof(str_message));
debug("%s", str_message);
last_message_sent_arb_id = message->arbitration_id;
last_message_sent_payload_size = message->size;
last_message_sent_status = success;
if(message->size > 0) {
memcpy(last_message_sent_payload, message->payload, message->size);
}
}
void can_frame_sent(const uint16_t arbitration_id, const uint8_t* payload,
const uint8_t size) {
debug("Sent CAN Frame with arb ID 0x%x and %d bytes", arbitration_id, size);
}
void setup() {
SHIMS = isotp_init_shims(debug, mock_send_can, NULL);
RECEIVE_HANDLE = isotp_receive(&SHIMS, 0x2a, message_received);
memset(last_message_sent_payload, 0, OUR_MAX_ISO_TP_MESSAGE_SIZE);
memset(last_message_received_payload, 0, OUR_MAX_ISO_TP_MESSAGE_SIZE);
memset(last_can_payload_sent, 0, sizeof(last_can_payload_sent));
last_message_sent_status = false;
message_was_received = false;
can_frame_was_sent = false;
}
|
