Split up functions in send/receive files for clarity.

src/isotp/isotp.c

@@ -1,5 +1,4 @@
 #include <isotp/isotp.h>
-#include <isotp/receive.h>
 #include <bitfield/bitfield.h>
 
 const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT = 100;
@@ -32,74 +31,3 @@ void isotp_message_to_string(const IsoTpMessage* message, char* destination,
             message->payload[6],
             message->payload[7]);
 }
-
-IsoTpMessage isotp_continue_receive(IsoTpShims* shims,
-        IsoTpReceiveHandle* handle, const uint16_t arbitration_id,
-        const uint8_t data[], const uint8_t size) {
-    IsoTpMessage message = {
-        arbitration_id: arbitration_id,
-        completed: false,
-        payload: {0},
-        size: 0
-    };
-
-    if(size < 1) {
-        return message;
-    }
-
-    if(handle->arbitration_id != arbitration_id) {
-        if(shims->log != NULL)  {
-            shims->log("The arb ID 0x%x doesn't match the expected rx ID 0x%x",
-                    arbitration_id, handle->arbitration_id);
-        }
-        return message;
-    }
-
-    IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
-            get_nibble(data, size, 0);
-
-    uint8_t payload_length = get_nibble(data, size, 1);
-    uint8_t payload[payload_length];
-    if(payload_length > 0 && size > 0) {
-        memcpy(payload, &data[1], payload_length);
-    }
-
-    // TODO this is set up to handle rx a response with a payload, but not to
-    // handle flow control responses for multi frame messages that we're in the
-    // process of sending
-
-    switch(pci) {
-        case PCI_SINGLE: {
-            if(payload_length > 0) {
-                memcpy(message.payload, payload, payload_length);
-            }
-            message.size = payload_length;
-            message.completed = true;
-            handle->success = true;
-            handle->completed = true;
-            isotp_handle_single_frame(handle, &message);
-            break;
-         }
-        default:
-            shims->log("Only single frame messages are supported");
-            break;
-    }
-    return message;
-}
-
-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;
-}
-

src/isotp/isotp.h

@@ -1,103 +1,23 @@
 #ifndef __ISOTP_H__
 #define __ISOTP_H__
 
+#include <isotp/isotp_types.h>
+#include <isotp/send.h>
+#include <isotp/receive.h>
 #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 - since we only handle single frame messages, 8 bytes is plenty.
-#define OUR_MAX_ISO_TP_MESSAGE_SIZE 8
-
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
-const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS;
-
-typedef struct {
-    const uint16_t arbitration_id;
-    uint8_t payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
-    uint16_t size;
-    bool completed;
-} IsoTpMessage;
-
-typedef void (*LogShim)(const char* message, ...);
-typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id,
-        const uint8_t* data, const uint8_t size);
-typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
-
-typedef void (*IsoTpMessageReceivedHandler)(const IsoTpMessage* message);
-typedef void (*IsoTpMessageSentHandler)(const IsoTpMessage* message,
-        const bool success);
-typedef void (*IsoTpCanFrameSentHandler)(const IsoTpMessage* message);
-
-typedef struct {
-    LogShim log;
-    SendCanMessageShim send_can_message;
-    SetTimerShim set_timer;
-} IsoTpShims;
-
-typedef struct {
-    bool success;
-    bool completed;
-    uint16_t arbitration_id;
-    IsoTpMessageReceivedHandler message_received_callback;
-
-    // Private
-    uint16_t timeout_ms;
-    // timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
-    bool frame_padding;
-    // frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
-    uint8_t* receive_buffer;
-    uint16_t received_buffer_size;
-    uint16_t incoming_message_size;
-    // TODO timer callback for multi frame
-} IsoTpReceiveHandle;
-
-typedef struct {
-    bool success;
-    bool completed;
-    uint16_t sending_arbitration_id;
-    uint16_t receiving_arbitration_id;
-    IsoTpMessageSentHandler message_sent_callback;
-    IsoTpCanFrameSentHandler can_frame_sent_callback;
-    // TODO going to need some state here for multi frame messages
-} IsoTpSendHandle;
-
-typedef enum {
-    ISOTP_HANDLE_SENDING,
-    ISOTP_HANDLE_RECEIVING
-} IsoTpHandleType;
-
-typedef enum {
-    PCI_SINGLE = 0x0,
-    PCI_FIRST_FRAME = 0x1,
-    PCI_CONSECUTIVE_FRAME = 0x2,
-    PCI_FLOW_CONTROL_FRAME = 0x3
-} IsoTpProtocolControlInformation;
-
-typedef enum {
-    PCI_FLOW_STATUS_CONTINUE = 0x0,
-    PCI_FLOW_STATUS_WAIT = 0x1,
-    PCI_FLOW_STATUS_OVERFLOW = 0x2
-} IsoTpFlowStatus;
-
 IsoTpShims isotp_init_shims(LogShim log,
         SendCanMessageShim send_can_message,
         SetTimerShim set_timer);
 
-IsoTpMessage isotp_continue_receive(IsoTpShims* shims,
+void isotp_message_to_string(const IsoTpMessage* message, char* destination,
-        IsoTpReceiveHandle* handle, const uint16_t arbitration_id,
+        size_t destination_length);
-        const uint8_t data[], const uint8_t size);
-
-bool isotp_continue_send(IsoTpShims* shims, IsoTpSendHandle* handle,
-        const uint16_t arbitration_id, const uint8_t data[],
-        const uint8_t size);
 
 /* Public: Change the timeout for waiting on an ISO-TP response frame.
  *
@@ -108,15 +28,6 @@ bool isotp_continue_send(IsoTpShims* shims, IsoTpSendHandle* handle,
  */
 // void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms);
 
-void isotp_message_to_string(const IsoTpMessage* message, char* destination,
-        size_t destination_length);
-
-IsoTpSendHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
-        const uint8_t payload[], uint16_t size,
-        IsoTpMessageSentHandler callback);
-
-IsoTpReceiveHandle isotp_receive(IsoTpShims* shims,
-        const uint16_t arbitration_id, IsoTpMessageReceivedHandler callback);
 
 #ifdef __cplusplus
 }

src/isotp/isotp_types.h

@@ -0,0 +1,79 @@
+#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 - since we only handle single frame messages, 8 bytes is plenty.
+#define OUR_MAX_ISO_TP_MESSAGE_SIZE 8
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
+const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS;
+
+typedef struct {
+    const uint16_t arbitration_id;
+    uint8_t payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
+    uint16_t size;
+    bool completed;
+} IsoTpMessage;
+
+typedef void (*LogShim)(const char* message, ...);
+typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id,
+        const uint8_t* data, const uint8_t size);
+typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
+
+typedef void (*IsoTpMessageReceivedHandler)(const IsoTpMessage* message);
+typedef void (*IsoTpMessageSentHandler)(const IsoTpMessage* message,
+        const bool success);
+typedef void (*IsoTpCanFrameSentHandler)(const IsoTpMessage* message);
+
+typedef struct {
+    LogShim log;
+    SendCanMessageShim send_can_message;
+    SetTimerShim set_timer;
+} IsoTpShims;
+
+typedef struct {
+    bool success;
+    bool completed;
+    uint16_t arbitration_id;
+    IsoTpMessageReceivedHandler message_received_callback;
+
+    // Private
+    uint16_t timeout_ms;
+    // timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
+    bool frame_padding;
+    // frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
+    uint8_t* receive_buffer;
+    uint16_t received_buffer_size;
+    uint16_t incoming_message_size;
+    // TODO timer callback for multi frame
+} IsoTpReceiveHandle;
+
+typedef enum {
+    PCI_SINGLE = 0x0,
+    PCI_FIRST_FRAME = 0x1,
+    PCI_CONSECUTIVE_FRAME = 0x2,
+    PCI_FLOW_CONTROL_FRAME = 0x3
+} IsoTpProtocolControlInformation;
+
+typedef enum {
+    PCI_FLOW_STATUS_CONTINUE = 0x0,
+    PCI_FLOW_STATUS_WAIT = 0x1,
+    PCI_FLOW_STATUS_OVERFLOW = 0x2
+} IsoTpFlowStatus;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __ISOTP_TYPES__

src/isotp/receive.c

@@ -22,3 +22,57 @@ IsoTpReceiveHandle isotp_receive(IsoTpShims* shims,
 
     return handle;
 }
+
+IsoTpMessage isotp_continue_receive(IsoTpShims* shims,
+        IsoTpReceiveHandle* handle, const uint16_t arbitration_id,
+        const uint8_t data[], const uint8_t size) {
+    IsoTpMessage message = {
+        arbitration_id: arbitration_id,
+        completed: false,
+        payload: {0},
+        size: 0
+    };
+
+    if(size < 1) {
+        return message;
+    }
+
+    if(handle->arbitration_id != arbitration_id) {
+        if(shims->log != NULL)  {
+            shims->log("The arb ID 0x%x doesn't match the expected rx ID 0x%x",
+                    arbitration_id, handle->arbitration_id);
+        }
+        return message;
+    }
+
+    IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
+            get_nibble(data, size, 0);
+
+    uint8_t payload_length = get_nibble(data, size, 1);
+    uint8_t payload[payload_length];
+    if(payload_length > 0 && size > 0) {
+        memcpy(payload, &data[1], payload_length);
+    }
+
+    // TODO this is set up to handle rx a response with a payload, but not to
+    // handle flow control responses for multi frame messages that we're in the
+    // process of sending
+
+    switch(pci) {
+        case PCI_SINGLE: {
+            if(payload_length > 0) {
+                memcpy(message.payload, payload, payload_length);
+            }
+            message.size = payload_length;
+            message.completed = true;
+            handle->success = true;
+            handle->completed = true;
+            isotp_handle_single_frame(handle, &message);
+            break;
+         }
+        default:
+            shims->log("Only single frame messages are supported");
+            break;
+    }
+    return message;
+}

src/isotp/receive.h

@@ -13,6 +13,13 @@ void isotp_complete_receive(IsoTpReceiveHandle* handle, IsoTpMessage* message);
 
 bool isotp_handle_single_frame(IsoTpReceiveHandle* handle, IsoTpMessage* message);
 
+IsoTpReceiveHandle isotp_receive(IsoTpShims* shims,
+        const uint16_t arbitration_id, IsoTpMessageReceivedHandler callback);
+
+IsoTpMessage isotp_continue_receive(IsoTpShims* shims,
+        IsoTpReceiveHandle* handle, const uint16_t arbitration_id,
+        const uint8_t data[], const uint8_t size);
+
 #ifdef __cplusplus
 }
 #endif

src/isotp/send.c

@@ -69,3 +69,19 @@ IsoTpSendHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
         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;
+}

src/isotp/send.h

@@ -9,6 +9,23 @@
 extern "C" {
 #endif
 
+typedef struct {
+    bool success;
+    bool completed;
+    uint16_t sending_arbitration_id;
+    uint16_t receiving_arbitration_id;
+    IsoTpMessageSentHandler message_sent_callback;
+    IsoTpCanFrameSentHandler can_frame_sent_callback;
+    // TODO going to need some state here for multi frame messages
+} IsoTpSendHandle;
+
+bool isotp_continue_send(IsoTpShims* shims, IsoTpSendHandle* handle,
+        const uint16_t arbitration_id, const uint8_t data[],
+        const uint8_t size);
+
+IsoTpSendHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
+        const uint8_t payload[], uint16_t size,
+        IsoTpMessageSentHandler callback);
 
 #ifdef __cplusplus
 }