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Implement system functions as callbacks #22

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4317251
implement system functions as callbacks #14
driftregion Feb 17, 2022
59dc573
update README.mkd
driftregion Feb 17, 2022
2737949
add user_data argument to send_can
driftregion Nov 20, 2023
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15 changes: 12 additions & 3 deletions README.mkd
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,10 @@ You can use isotp-c in the following way:
/* Initialize link, 0x7TT is the CAN ID you send with */
isotp_init_link(&g_link, 0x7TT,
g_isotpSendBuf, sizeof(g_isotpSendBuf),
g_isotpRecvBuf, sizeof(g_isotpRecvBuf));
g_isotpRecvBuf, sizeof(g_isotpRecvBuf),
isotp_user_get_ms,
isotp_user_send_can,
isotp_user_debug);

while(1) {

Expand Down Expand Up @@ -128,10 +131,16 @@ If you need handle functional addressing, you must use two separate links, one f
/* Initialize link, 0x7TT is the CAN ID you send with */
isotp_init_link(&g_phylink, 0x7TT,
g_isotpPhySendBuf, sizeof(g_isotpPhySendBuf),
g_isotpPhyRecvBuf, sizeof(g_isotpPhyRecvBuf));
g_isotpPhyRecvBuf, sizeof(g_isotpPhyRecvBuf),
isotp_user_get_ms,
isotp_user_send_can,
isotp_user_debug);
isotp_init_link(&g_funclink, 0x7TT,
g_isotpFuncSendBuf, sizeof(g_isotpFuncSendBuf),
g_isotpFuncRecvBuf, sizeof(g_isotpFuncRecvBuf));
g_isotpFuncRecvBuf, sizeof(g_isotpFuncRecvBuf),
isotp_user_get_ms,
isotp_user_send_can,
isotp_user_debug);

while(1) {

Expand Down
71 changes: 43 additions & 28 deletions isotp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -47,9 +47,9 @@ static int isotp_send_flow_control(IsoTpLink* link, uint8_t flow_status, uint8_t
/* send message */
#ifdef ISO_TP_FRAME_PADDING
(void) memset(message.as.flow_control.reserve, 0, sizeof(message.as.flow_control.reserve));
ret = isotp_user_send_can(link->send_arbitration_id, message.as.data_array.ptr, sizeof(message));
ret = link->isotp_user_send_can(link->send_arbitration_id, message.as.data_array.ptr, sizeof(message), link->user_data);
#else
ret = isotp_user_send_can(link->send_arbitration_id,
ret = link->isotp_user_send_can(link->send_arbitration_id,
message.as.data_array.ptr,
3);
#endif
Expand All @@ -73,9 +73,9 @@ static int isotp_send_single_frame(IsoTpLink* link, uint32_t id) {
/* send message */
#ifdef ISO_TP_FRAME_PADDING
(void) memset(message.as.single_frame.data + link->send_size, 0, sizeof(message.as.single_frame.data) - link->send_size);
ret = isotp_user_send_can(id, message.as.data_array.ptr, sizeof(message));
ret = link->isotp_user_send_can(id, message.as.data_array.ptr, sizeof(message), link->user_data);
#else
ret = isotp_user_send_can(id,
ret = link->isotp_user_send_can(id,
message.as.data_array.ptr,
link->send_size + 1);
#endif
Expand All @@ -98,7 +98,7 @@ static int isotp_send_first_frame(IsoTpLink* link, uint32_t id) {
(void) memcpy(message.as.first_frame.data, link->send_buffer, sizeof(message.as.first_frame.data));

/* send message */
ret = isotp_user_send_can(id, message.as.data_array.ptr, sizeof(message));
ret = link->isotp_user_send_can(id, message.as.data_array.ptr, sizeof(message), link->user_data);
if (ISOTP_RET_OK == ret) {
link->send_offset += sizeof(message.as.first_frame.data);
link->send_sn = 1;
Expand Down Expand Up @@ -128,9 +128,9 @@ static int isotp_send_consecutive_frame(IsoTpLink* link) {
/* send message */
#ifdef ISO_TP_FRAME_PADDING
(void) memset(message.as.consecutive_frame.data + data_length, 0, sizeof(message.as.consecutive_frame.data) - data_length);
ret = isotp_user_send_can(link->send_arbitration_id, message.as.data_array.ptr, sizeof(message));
ret = link->isotp_user_send_can(link->send_arbitration_id, message.as.data_array.ptr, sizeof(message), link->user_data);
#else
ret = isotp_user_send_can(link->send_arbitration_id,
ret = link->isotp_user_send_can(link->send_arbitration_id,
message.as.data_array.ptr,
data_length + 1);
#endif
Expand All @@ -147,7 +147,7 @@ static int isotp_send_consecutive_frame(IsoTpLink* link) {
static int isotp_receive_single_frame(IsoTpLink *link, IsoTpCanMessage *message, uint8_t len) {
/* check data length */
if ((0 == message->as.single_frame.SF_DL) || (message->as.single_frame.SF_DL > (len - 1))) {
isotp_user_debug("Single-frame length too small.");
link->isotp_user_debug("Single-frame length too small.");
return ISOTP_RET_LENGTH;
}

Expand All @@ -162,7 +162,7 @@ static int isotp_receive_first_frame(IsoTpLink *link, IsoTpCanMessage *message,
uint16_t payload_length;

if (8 != len) {
isotp_user_debug("First frame should be 8 bytes in length.");
link->isotp_user_debug("First frame should be 8 bytes in length.");
return ISOTP_RET_LENGTH;
}

Expand All @@ -172,12 +172,12 @@ static int isotp_receive_first_frame(IsoTpLink *link, IsoTpCanMessage *message,

/* should not use multiple frame transmition */
if (payload_length <= 7) {
isotp_user_debug("Should not use multiple frame transmission.");
link->isotp_user_debug("Should not use multiple frame transmission.");
return ISOTP_RET_LENGTH;
}

if (payload_length > link->receive_buf_size) {
isotp_user_debug("Multi-frame response too large for receiving buffer.");
link->isotp_user_debug("Multi-frame response too large for receiving buffer.");
return ISOTP_RET_OVERFLOW;
}

Expand All @@ -204,7 +204,7 @@ static int isotp_receive_consecutive_frame(IsoTpLink *link, IsoTpCanMessage *mes
remaining_bytes = sizeof(message->as.consecutive_frame.data);
}
if (remaining_bytes > len - 1) {
isotp_user_debug("Consecutive frame too short.");
link->isotp_user_debug("Consecutive frame too short.");
return ISOTP_RET_LENGTH;
}

Expand All @@ -222,7 +222,7 @@ static int isotp_receive_consecutive_frame(IsoTpLink *link, IsoTpCanMessage *mes
static int isotp_receive_flow_control_frame(IsoTpLink *link, IsoTpCanMessage *message, uint8_t len) {
/* check message length */
if (len < 3) {
isotp_user_debug("Flow control frame too short.");
link->isotp_user_debug("Flow control frame too short.");
return ISOTP_RET_LENGTH;
}

Expand All @@ -241,19 +241,19 @@ int isotp_send_with_id(IsoTpLink *link, uint32_t id, const uint8_t payload[], ui
int ret;

if (link == 0x0) {
isotp_user_debug("Link is null!");
link->isotp_user_debug("Link is null!");
return ISOTP_RET_ERROR;
}

if (size > link->send_buf_size) {
isotp_user_debug("Message size too large. Increase ISO_TP_MAX_MESSAGE_SIZE to set a larger buffer\n");
link->isotp_user_debug("Message size too large. Increase ISO_TP_MAX_MESSAGE_SIZE to set a larger buffer\n");
char message[128];
sprintf(&message[0], "Attempted to send %d bytes; max size is %d!\n", size, link->send_buf_size);
return ISOTP_RET_OVERFLOW;
}

if (ISOTP_SEND_STATUS_INPROGRESS == link->send_status) {
isotp_user_debug("Abort previous message, transmission in progress.\n");
link->isotp_user_debug("Abort previous message, transmission in progress.\n");
return ISOTP_RET_INPROGRESS;
}

Expand All @@ -274,8 +274,8 @@ int isotp_send_with_id(IsoTpLink *link, uint32_t id, const uint8_t payload[], ui
link->send_bs_remain = 0;
link->send_st_min = 0;
link->send_wtf_count = 0;
link->send_timer_st = isotp_user_get_ms();
link->send_timer_bs = isotp_user_get_ms() + ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
link->send_timer_st = link->isotp_user_get_ms();
link->send_timer_bs = link->isotp_user_get_ms() + ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
link->send_protocol_result = ISOTP_PROTOCOL_RESULT_OK;
link->send_status = ISOTP_SEND_STATUS_INPROGRESS;
}
Expand Down Expand Up @@ -343,7 +343,7 @@ void isotp_on_can_message(IsoTpLink *link, uint8_t *data, uint8_t len) {
link->receive_bs_count = ISO_TP_DEFAULT_BLOCK_SIZE;
isotp_send_flow_control(link, PCI_FLOW_STATUS_CONTINUE, link->receive_bs_count, ISO_TP_DEFAULT_ST_MIN);
/* refresh timer cs */
link->receive_timer_cr = isotp_user_get_ms() + ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
link->receive_timer_cr = link->isotp_user_get_ms() + ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
}

break;
Expand All @@ -368,7 +368,7 @@ void isotp_on_can_message(IsoTpLink *link, uint8_t *data, uint8_t len) {
/* if success */
if (ISOTP_RET_OK == ret) {
/* refresh timer cs */
link->receive_timer_cr = isotp_user_get_ms() + ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
link->receive_timer_cr = link->isotp_user_get_ms() + ISO_TP_DEFAULT_RESPONSE_TIMEOUT;

/* receive finished */
if (link->receive_offset >= link->receive_size) {
Expand All @@ -395,7 +395,7 @@ void isotp_on_can_message(IsoTpLink *link, uint8_t *data, uint8_t len) {

if (ISOTP_RET_OK == ret) {
/* refresh bs timer */
link->send_timer_bs = isotp_user_get_ms() + ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
link->send_timer_bs = link->isotp_user_get_ms() + ISO_TP_DEFAULT_RESPONSE_TIMEOUT;

/* overflow */
if (PCI_FLOW_STATUS_OVERFLOW == message.as.flow_control.FS) {
Expand Down Expand Up @@ -452,7 +452,18 @@ int isotp_receive(IsoTpLink *link, uint8_t *payload, const uint16_t payload_size
return ISOTP_RET_OK;
}

void isotp_init_link(IsoTpLink *link, uint32_t sendid, uint8_t *sendbuf, uint16_t sendbufsize, uint8_t *recvbuf, uint16_t recvbufsize) {
void isotp_init_link(
IsoTpLink *link,
uint32_t sendid,
uint8_t *sendbuf,
uint16_t sendbufsize,
uint8_t *recvbuf,
uint16_t recvbufsize,
uint32_t (*isotp_user_get_ms)(void),
int (*isotp_user_send_can)(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size, void *user_data),
void (*isotp_user_debug)(const char* message, ...),
void *user_data
) {
memset(link, 0, sizeof(*link));
link->receive_status = ISOTP_RECEIVE_STATUS_IDLE;
link->send_status = ISOTP_SEND_STATUS_IDLE;
Expand All @@ -461,7 +472,11 @@ void isotp_init_link(IsoTpLink *link, uint32_t sendid, uint8_t *sendbuf, uint16_
link->send_buf_size = sendbufsize;
link->receive_buffer = recvbuf;
link->receive_buf_size = recvbufsize;

link->isotp_user_get_ms = isotp_user_get_ms;
link->isotp_user_send_can = isotp_user_send_can;
link->isotp_user_debug = isotp_user_debug;
link->user_data = user_data;

return;
}

Expand All @@ -475,15 +490,15 @@ void isotp_poll(IsoTpLink *link) {
if (/* send data if bs_remain is invalid or bs_remain large than zero */
(ISOTP_INVALID_BS == link->send_bs_remain || link->send_bs_remain > 0) &&
/* and if st_min is zero or go beyond interval time */
(0 == link->send_st_min || (0 != link->send_st_min && IsoTpTimeAfter(isotp_user_get_ms(), link->send_timer_st)))) {
(0 == link->send_st_min || (0 != link->send_st_min && IsoTpTimeAfter(link->isotp_user_get_ms(), link->send_timer_st)))) {

ret = isotp_send_consecutive_frame(link);
if (ISOTP_RET_OK == ret) {
if (ISOTP_INVALID_BS != link->send_bs_remain) {
link->send_bs_remain -= 1;
}
link->send_timer_bs = isotp_user_get_ms() + ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
link->send_timer_st = isotp_user_get_ms() + link->send_st_min;
link->send_timer_bs = link->isotp_user_get_ms() + ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
link->send_timer_st = link->isotp_user_get_ms() + link->send_st_min;

/* check if send finish */
if (link->send_offset >= link->send_size) {
Expand All @@ -495,7 +510,7 @@ void isotp_poll(IsoTpLink *link) {
}

/* check timeout */
if (IsoTpTimeAfter(isotp_user_get_ms(), link->send_timer_bs)) {
if (IsoTpTimeAfter(link->isotp_user_get_ms(), link->send_timer_bs)) {
link->send_protocol_result = ISOTP_PROTOCOL_RESULT_TIMEOUT_BS;
link->send_status = ISOTP_SEND_STATUS_ERROR;
}
Expand All @@ -505,7 +520,7 @@ void isotp_poll(IsoTpLink *link) {
if (ISOTP_RECEIVE_STATUS_INPROGRESS == link->receive_status) {

/* check timeout */
if (IsoTpTimeAfter(isotp_user_get_ms(), link->receive_timer_cr)) {
if (IsoTpTimeAfter(link->isotp_user_get_ms(), link->receive_timer_cr)) {
link->receive_protocol_result = ISOTP_PROTOCOL_RESULT_TIMEOUT_CR;
link->receive_status = ISOTP_RECEIVE_STATUS_IDLE;
}
Expand Down
27 changes: 23 additions & 4 deletions isotp.h
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Expand Up @@ -12,7 +12,6 @@ extern "C" {

#include "isotp_defines.h"
#include "isotp_config.h"
#include "isotp_user.h"

/**
* @brief Struct containing the data for linking an application to a CAN instance.
Expand Down Expand Up @@ -54,6 +53,13 @@ typedef struct IsoTpLink {
end at receive FC */
int receive_protocol_result;
uint8_t receive_status;

/* user implemented callback functions */
uint32_t (*isotp_user_get_ms)(void); /* get millisecond */
int (*isotp_user_send_can)(const uint32_t arbitration_id,
const uint8_t* data, const uint8_t size, void *user_data); /* send can message. should return ISOTP_RET_OK when success. */
void (*isotp_user_debug)(const char* message, ...); /* print debug message */
void* user_data; /* user data */
} IsoTpLink;

/**
Expand All @@ -65,10 +71,23 @@ typedef struct IsoTpLink {
* @param sendbufsize The size of the buffer area.
* @param recvbuf A pointer to an area in memory which can be used as a buffer for data to be received.
* @param recvbufsize The size of the buffer area.
* @param isotp_user_get_ms A pointer to a function which returns the current time as milliseconds.
* @param isotp_user_send_can A pointer to a function which sends a can message. should return ISOTP_RET_OK when success.
* @param isotp_user_debug A pointer to a function which prints a debug message.
* @param isotp_user_debug A pointer to user data passed to the user implemented callback functions.
*/
void isotp_init_link(IsoTpLink *link, uint32_t sendid,
uint8_t *sendbuf, uint16_t sendbufsize,
uint8_t *recvbuf, uint16_t recvbufsize);
void isotp_init_link(
IsoTpLink *link,
uint32_t sendid,
uint8_t *sendbuf,
uint16_t sendbufsize,
uint8_t *recvbuf,
uint16_t recvbufsize,
uint32_t (*isotp_user_get_ms)(void),
int (*isotp_user_send_can)(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size, void *user_data),
void (*isotp_user_debug)(const char* message, ...),
void *user_data
);

/**
* @brief Polling function; call this function periodically to handle timeouts, send consecutive frames, etc.
Expand Down
16 changes: 0 additions & 16 deletions isotp_user.h
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