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