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#ifndef __ISOTP_TYPES__
#define __ISOTP_TYPES__
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#define CAN_MESSAGE_BYTE_SIZE 8
#define MAX_ISO_TP_MESSAGE_SIZE 4096
// TODO we want to avoid malloc, and we can't be allocated 4K on the stack for
// each IsoTpMessage, so for now we're setting an artificial max message size
// here - for most multi-frame use cases, 256 bytes is plenty.
#define OUR_MAX_ISO_TP_MESSAGE_SIZE 127
/* Private: IsoTp nibble specifics for PCI and Payload.
*/
#define PCI_NIBBLE_INDEX 0
#define PAYLOAD_LENGTH_NIBBLE_INDEX 1
#define PAYLOAD_BYTE_INDEX 1
/* Private: The default timeout to use when waiting for a response during a
* multi-frame send or receive.
*/
#define ISO_TP_DEFAULT_RESPONSE_TIMEOUT 100
/* Private: Determines if by default, padding is added to ISO-TP message frames.
*/
#define ISO_TP_DEFAULT_FRAME_PADDING_STATUS true
#ifdef __cplusplus
extern "C" {
#endif
/* Public: A container for a sent or received ISO-TP message.
*
* completed - An IsoTpMessage is the return value from a few functions - this
* attribute will be true if the message is actually completely received.
* If the function returns but is only partially through receiving the
* message, this will be false, the multi_frame attribute will be true,
* and you should not consider the other data to be valid.
* multi_frame - Designates the message is being built with multi-frame.
* arbitration_id - The arbitration ID of the message.
* payload - The optional payload of the message - don't forget to check the
* size!
* size - The size of the payload. The size will be 0 if there is no payload.
*/
typedef struct {
const uint32_t arbitration_id;
uint8_t payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
uint16_t size;
bool completed;
bool multi_frame;
} IsoTpMessage;
/* Public: The type signature for an optional logging function, if the user
* wishes to provide one. It should print, store or otherwise display the
* message.
*
* message - A format string to log using the given parameters.
* ... (vargs) - the parameters for the format string.
*/
typedef void (*LogShim)(const char* message, ...);
/* Public: The type signature for a function to send a single CAN message.
*
* arbitration_id - The arbitration ID of the message.
* data - The data payload for the message. NULL is valid if size is also 0.
* size - The size of the data payload, in bytes.
*
* Returns true if the CAN message was sent successfully.
*/
typedef bool (*SendCanMessageShim)(const uint32_t arbitration_id,
const uint8_t* data, const uint8_t size);
/* Public: The type signature for a... TODO, not used yet.
*/
typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
/* Public: The signature for a function to be called when an ISO-TP message has
* been completely received.
*
* message - The received message.
*/
typedef void (*IsoTpMessageReceivedHandler)(const IsoTpMessage* message);
/* Public: the signature for a function to be called when an ISO-TP message has
* been completely sent, or had a fatal error during sending.
*
* message - The sent message.
* success - True if the message was sent successfully.
*/
typedef void (*IsoTpMessageSentHandler)(const IsoTpMessage* message,
const bool success);
/* Public: The signature for a function to be called when a CAN frame has been
* sent as as part of sending or receive an ISO-TP message.
*
* This is really only useful for debugging the library itself.
*
* message - The ISO-TP message that generated this CAN frame.
*/
typedef void (*IsoTpCanFrameSentHandler)(const IsoTpMessage* message);
/* Public: A container for the 3 shim functions used by the library to interact
* with the wider system.
*
* Use the isotp_init_shims(...) function to create an instance of this struct.
*
* By default, all CAN frames sent from this device in the process of an ISO-TP
* message are padded out to a complete 8 byte frame. This is often required by
* ECUs. To disable this feature, change the 'frame_padding' field to false on
* the IsoTpShims object returned from isotp_init_shims(...).
*
* frame_padding - true if outgoing CAN frames should be padded to a full 8
* bytes.
*/
typedef struct {
LogShim log;
SendCanMessageShim send_can_message;
SetTimerShim set_timer;
bool frame_padding;
} IsoTpShims;
/* Private: PCI types, for identifying each frame of an ISO-TP message.
*/
typedef enum {
PCI_SINGLE = 0x0,
PCI_FIRST_FRAME = 0x1,
PCI_CONSECUTIVE_FRAME = 0x2,
PCI_FLOW_CONTROL_FRAME = 0x3
} IsoTpProtocolControlInformation;
/* Private: PCI flow control identifiers.
*/
typedef enum {
PCI_FLOW_STATUS_CONTINUE = 0x0,
PCI_FLOW_STATUS_WAIT = 0x1,
PCI_FLOW_STATUS_OVERFLOW = 0x2
} IsoTpFlowStatus;
#ifdef __cplusplus
}
#endif
#endif // __ISOTP_TYPES__
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