├── .gitattributes ├── keywords.txt ├── .gitignore ├── Readme.MD ├── example └── send_receive │ └── send_receive.ino ├── iso-tp.h ├── iso-tp.cpp └── License /.gitattributes: -------------------------------------------------------------------------------- 1 | # Auto detect text files and perform LF normalization 2 | * text=auto 3 | 4 | # Custom for Visual Studio 5 | *.cs diff=csharp 6 | 7 | # Standard to msysgit 8 | *.doc diff=astextplain 9 | *.DOC diff=astextplain 10 | *.docx diff=astextplain 11 | *.DOCX diff=astextplain 12 | *.dot diff=astextplain 13 | *.DOT diff=astextplain 14 | *.pdf diff=astextplain 15 | *.PDF diff=astextplain 16 | *.rtf diff=astextplain 17 | *.RTF diff=astextplain 18 | -------------------------------------------------------------------------------- /keywords.txt: -------------------------------------------------------------------------------- 1 | ####################################### 2 | # Syntax Coloring Map For CmdArduino 3 | ####################################### 4 | 5 | ####################################### 6 | # Datatypes (KEYWORD1) 7 | ####################################### 8 | 9 | ####################################### 10 | # Methods and Functions (KEYWORD2) 11 | ####################################### 12 | send KEYWORD2 13 | receive KEYWORD2 14 | 15 | ####################################### 16 | # Constants (LITERAL1) 17 | ####################################### 18 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Windows image file caches 2 | Thumbs.db 3 | ehthumbs.db 4 | 5 | # Folder config file 6 | Desktop.ini 7 | 8 | # Recycle Bin used on file shares 9 | $RECYCLE.BIN/ 10 | 11 | # Windows Installer files 12 | *.cab 13 | *.msi 14 | *.msm 15 | *.msp 16 | 17 | # Windows shortcuts 18 | *.lnk 19 | 20 | # ========================= 21 | # Operating System Files 22 | # ========================= 23 | 24 | # OSX 25 | # ========================= 26 | 27 | .DS_Store 28 | .AppleDouble 29 | .LSOverride 30 | 31 | # Thumbnails 32 | ._* 33 | 34 | # Files that might appear in the root of a volume 35 | .DocumentRevisions-V100 36 | .fseventsd 37 | .Spotlight-V100 38 | .TemporaryItems 39 | .Trashes 40 | .VolumeIcon.icns 41 | 42 | # Directories potentially created on remote AFP share 43 | .AppleDB 44 | .AppleDesktop 45 | Network Trash Folder 46 | Temporary Items 47 | .apdisk 48 | -------------------------------------------------------------------------------- /Readme.MD: -------------------------------------------------------------------------------- 1 | ISO 15765-2 ISO-TP protocol implementation for Arduino 2 | 3 | This implementation requires MCP_CAN_lib from 4 | 5 | https://github.com/coryjfowler/MCP_CAN_lib with debug output disabled. 6 | 7 | Currently implemented: 8 | 9 | * 11 bit standard CAN messages 10 | * Send ISO-TP single frame messages 11 | * Send ISO-TP multi frame messages using first and consecutive frames 12 | * Evaluate flow controll and honour minimum separation time + block size during send 13 | * Receive ISO-TP single frame messages 14 | * Receive ISO-TP multi frame messages 15 | * Send flow controll as configured in message (minimum separation time + block size) 16 | * Session timeout 17 | * FC timeout 18 | * CF timeout 19 | * Timeout after too many FC Wait messages 20 | * some error handling 21 | * simple frame padding with 0x00 22 | 23 | See usage example in example/send_receive/send_receive.ino 24 | -------------------------------------------------------------------------------- /example/send_receive/send_receive.ino: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | 6 | #define MCP_CS 5 // GPIO5 = VSPI CS0 7 | #define MCP_INT 16 // GPIO16 8 | 9 | MCP_CAN CAN0(MCP_CS); 10 | IsoTp isotp(&CAN0, MCP_INT); 11 | 12 | struct Message_t txMsg, rxMsg; 13 | uint8_t sf_test[] = { 0x00, 0x01 }; 14 | uint8_t mf_test[] = { 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, \ 15 | 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F }; 16 | INT32U tx_can_id = 0x7E0; 17 | INT32U rx_can_id = 0x7E8; 18 | 19 | void setup() 20 | { 21 | // serial 22 | Serial.begin(115200); 23 | // interrupt 24 | pinMode(MCP_INT, INPUT); 25 | // CAN 26 | CAN0.begin(MCP_ANY, CAN_500KBPS, MCP_8MHZ); 27 | CAN0.setMode(MCP_NORMAL); 28 | // buffers 29 | txMsg.Buffer = (uint8_t *)calloc(MAX_MSGBUF, sizeof(uint8_t)); 30 | rxMsg.Buffer = (uint8_t *)calloc(MAX_MSGBUF, sizeof(uint8_t)); 31 | } 32 | 33 | void loop() 34 | { 35 | // send 36 | txMsg.len = sizeof(sf_test); 37 | txMsg.tx_id = tx_can_id; 38 | txMsg.rx_id = rx_can_id; 39 | memcpy(txMsg.Buffer,sf_test,sizeof(sf_test)); 40 | Serial.println(F("Send...")); 41 | isotp.send(&txMsg); 42 | // receive 43 | rxMsg.tx_id = tx_can_id; 44 | rxMsg.rx_id = rx_can_id; 45 | Serial.println(F("Receive...")); 46 | isotp.receive(&rxMsg); 47 | isotp.print_buffer(rxMsg.rx_id, rxMsg.Buffer, rxMsg.len); 48 | } 49 | -------------------------------------------------------------------------------- /iso-tp.h: -------------------------------------------------------------------------------- 1 | #ifndef _ISOTP_H 2 | #define _ISOTP_H 3 | 4 | #include 5 | 6 | //#define ISO_TP_DEBUG 7 | 8 | typedef enum { 9 | ISOTP_IDLE = 0, 10 | ISOTP_SEND, 11 | ISOTP_SEND_FF, 12 | ISOTP_SEND_CF, 13 | ISOTP_WAIT_FIRST_FC, 14 | ISOTP_WAIT_FC, 15 | ISOTP_WAIT_DATA, 16 | ISOTP_FINISHED, 17 | ISOTP_ERROR 18 | } isotp_states_t; 19 | 20 | #define CAN_MAX_DLEN 8 //Not extended CAN 21 | 22 | /* N_PCI type values in bits 7-4 of N_PCI bytes */ 23 | #define N_PCI_SF 0x00 /* single frame */ 24 | #define N_PCI_FF 0x10 /* first frame */ 25 | #define N_PCI_CF 0x20 /* consecutive frame */ 26 | #define N_PCI_FC 0x30 /* flow control */ 27 | 28 | #define FC_CONTENT_SZ 3 /* flow control content size in byte (FS/BS/STmin) */ 29 | 30 | /* Flow Status given in FC frame */ 31 | #define ISOTP_FC_CTS 0 /* clear to send */ 32 | #define ISOTP_FC_WT 1 /* wait */ 33 | #define ISOTP_FC_OVFLW 2 /* overflow */ 34 | 35 | /* Timeout values */ 36 | #define TIMEOUT_SESSION 500 /* Timeout between successfull send and receive */ 37 | #define TIMEOUT_FC 250 /* Timeout between FF and FC or Block CF and FC */ 38 | #define TIMEOUT_CF 250 /* Timeout between CFs */ 39 | #define MAX_FCWAIT_FRAME 10 40 | 41 | #define MAX_MSGBUF 128 /* Received Message Buffer. Depends on uC ressources! 42 | Should be enough for our needs */ 43 | struct Message_t 44 | { 45 | uint16_t len=0; 46 | isotp_states_t tp_state=ISOTP_IDLE; 47 | uint16_t seq_id=1; 48 | uint8_t fc_status=ISOTP_FC_CTS; 49 | uint8_t blocksize=0; 50 | uint8_t min_sep_time=0; 51 | INT32U tx_id=0; 52 | INT32U rx_id=0; 53 | uint8_t *Buffer; 54 | }; 55 | 56 | class IsoTp 57 | { 58 | public: 59 | IsoTp(MCP_CAN* bus, uint8_t mcp_int); 60 | uint8_t send(Message_t* msg); 61 | uint8_t receive(Message_t* msg); 62 | void print_buffer(INT32U id, uint8_t *buffer, uint16_t len); 63 | private: 64 | MCP_CAN* _bus; 65 | uint8_t _mcp_int; 66 | INT32U rxId; 67 | uint8_t rxLen; 68 | uint8_t rxBuffer[8]; 69 | uint16_t rest; 70 | uint8_t fc_wait_frames=0; 71 | INT32U wait_fc=0; 72 | INT32U wait_cf=0; 73 | INT32U wait_session=0; 74 | uint8_t can_send(INT32U id, uint8_t len, uint8_t *data); 75 | uint8_t can_receive(void); 76 | uint8_t send_fc(struct Message_t* msg); 77 | uint8_t send_sf(struct Message_t* msg); 78 | uint8_t send_ff(struct Message_t* msg); 79 | uint8_t send_cf(struct Message_t* msg); 80 | uint8_t rcv_sf(struct Message_t* msg); 81 | uint8_t rcv_ff(struct Message_t* msg); 82 | uint8_t rcv_cf(struct Message_t* msg); 83 | uint8_t rcv_fc(struct Message_t* msg); 84 | void fc_delay(uint8_t sep_time); 85 | }; 86 | 87 | #endif 88 | -------------------------------------------------------------------------------- /iso-tp.cpp: -------------------------------------------------------------------------------- 1 | #include "Arduino.h" 2 | #include "iso-tp.h" 3 | #include 4 | #include 5 | #include 6 | 7 | IsoTp::IsoTp(MCP_CAN* bus, uint8_t mcp_int) 8 | { 9 | _mcp_int = mcp_int; 10 | _bus = bus; 11 | } 12 | 13 | void IsoTp::print_buffer(INT32U id, uint8_t *buffer, uint16_t len) 14 | { 15 | uint16_t i=0; 16 | 17 | Serial.print(F("Buffer: ")); 18 | Serial.print(id,HEX); Serial.print(F(" [")); 19 | Serial.print(len); Serial.print(F("] ")); 20 | for(i=0;isendMsgBuf(id, 0, len, data); 36 | } 37 | 38 | uint8_t IsoTp::can_receive(void) 39 | { 40 | bool msgReceived; 41 | 42 | if (_mcp_int) 43 | msgReceived = (!digitalRead(_mcp_int)); // IRQ: if pin is low, read receive buffer 44 | else 45 | msgReceived = (_bus->checkReceive() == CAN_MSGAVAIL); // No IRQ: poll receive buffer 46 | 47 | if (msgReceived) 48 | { 49 | memset(rxBuffer,0,sizeof(rxBuffer)); // Cleanup Buffer 50 | _bus->readMsgBuf(&rxId, &rxLen, rxBuffer); // Read data: buf = data byte(s) 51 | #ifdef ISO_TP_DEBUG 52 | Serial.println(F("Received CAN RAW Data:")); 53 | print_buffer(rxId, rxBuffer, rxLen); 54 | #endif 55 | return true; 56 | } 57 | else return false; 58 | } 59 | 60 | uint8_t IsoTp::send_fc(struct Message_t *msg) 61 | { 62 | uint8_t TxBuf[8]={0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; 63 | // FC message high nibble = 0x3 , low nibble = FC Status 64 | TxBuf[0]=(N_PCI_FC | msg->fc_status); 65 | TxBuf[1]=msg->blocksize; 66 | /* fix wrong separation time values according spec */ 67 | if ((msg->min_sep_time > 0x7F) && ((msg->min_sep_time < 0xF1) 68 | || (msg->min_sep_time > 0xF9))) msg->min_sep_time = 0x7F; 69 | TxBuf[2]=msg->min_sep_time; 70 | return can_send(msg->tx_id,8,TxBuf); 71 | } 72 | 73 | uint8_t IsoTp::send_sf(struct Message_t *msg) //Send SF Message 74 | { 75 | uint8_t TxBuf[8]={0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; 76 | // SF message high nibble = 0x0 , low nibble = Length 77 | TxBuf[0]=(N_PCI_SF | msg->len); 78 | memcpy(TxBuf+1,msg->Buffer,msg->len); 79 | // return can_send(msg->tx_id,msg->len+1,TxBuf);// Add PCI length 80 | return can_send(msg->tx_id,8,TxBuf);// Always send full frame 81 | } 82 | 83 | uint8_t IsoTp::send_ff(struct Message_t *msg) // Send FF 84 | { 85 | uint8_t TxBuf[8]={0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; 86 | msg->seq_id=1; 87 | 88 | TxBuf[0]=(N_PCI_FF | ((msg->len&0x0F00) >> 8)); 89 | TxBuf[1]=(msg->len&0x00FF); 90 | memcpy(TxBuf+2,msg->Buffer,6); // Skip 2 Bytes PCI 91 | return can_send(msg->tx_id,8,TxBuf); // First Frame has full length 92 | } 93 | 94 | uint8_t IsoTp::send_cf(struct Message_t *msg) // Send SF Message 95 | { 96 | uint8_t TxBuf[8]={0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; 97 | uint16_t len=7; 98 | 99 | TxBuf[0]=(N_PCI_CF | (msg->seq_id & 0x0F)); 100 | if(msg->len>7) len=7; else len=msg->len; 101 | memcpy(TxBuf+1,msg->Buffer,len); // Skip 1 Byte PCI 102 | //return can_send(msg->tx_id,len+1,TxBuf); // Last frame is probably shorter 103 | // than 8 -> Signals last CF Frame 104 | return can_send(msg->tx_id,8,TxBuf); // Last frame is probably shorter 105 | // than 8, pad with 00 106 | } 107 | 108 | void IsoTp::fc_delay(uint8_t sep_time) 109 | { 110 | /* 111 | * 0x00 - 0x7F: 0 - 127ms 112 | * 0x80 - 0xF0: reserved 113 | * 0xF1 - 0xF9: 100us - 900us 114 | * 0xFA - 0xFF: reserved 115 | * default 0x7F, 127ms 116 | */ 117 | if(sep_time <= 0x7F) 118 | delay(sep_time); 119 | else if ((sep_time >= 0xF1) && (sep_time <= 0xF9)) 120 | delayMicroseconds((sep_time-0xF0)*100); 121 | else 122 | delay(0x7F); 123 | } 124 | 125 | uint8_t IsoTp::rcv_sf(struct Message_t* msg) 126 | { 127 | /* get the SF_DL from the N_PCI byte */ 128 | msg->len = rxBuffer[0] & 0x0F; 129 | /* copy the received data bytes */ 130 | memcpy(msg->Buffer,rxBuffer+1,msg->len); // Skip PCI, SF uses len bytes 131 | msg->tp_state=ISOTP_FINISHED; 132 | 133 | return 0; 134 | } 135 | 136 | uint8_t IsoTp::rcv_ff(struct Message_t* msg) 137 | { 138 | msg->seq_id=1; 139 | 140 | /* get the FF_DL */ 141 | msg->len = (rxBuffer[0] & 0x0F) << 8; 142 | msg->len += rxBuffer[1]; 143 | rest=msg->len; 144 | 145 | /* copy the first received data bytes */ 146 | memcpy(msg->Buffer,rxBuffer+2,6); // Skip 2 bytes PCI, FF must have 6 bytes! 147 | rest-=6; // Restlength 148 | 149 | msg->tp_state = ISOTP_WAIT_DATA; 150 | 151 | #ifdef ISO_TP_DEBUG 152 | Serial.print(F("First frame received with message length: ")); 153 | Serial.println(rest); 154 | Serial.println(F("Send flow controll.")); 155 | Serial.print(F("ISO-TP state: ")); Serial.println(msg->tp_state); 156 | #endif 157 | 158 | /* send our first FC frame with Target Address*/ 159 | struct Message_t fc; 160 | fc.tx_id=msg->tx_id; 161 | fc.fc_status=ISOTP_FC_CTS; 162 | fc.blocksize=0; 163 | fc.min_sep_time=0; 164 | return send_fc(&fc); 165 | } 166 | 167 | uint8_t IsoTp::rcv_cf(struct Message_t* msg) 168 | { 169 | //Handle Timeout 170 | //If no Frame within 250ms change State to ISOTP_IDLE 171 | INT32U delta=millis()-wait_cf; 172 | 173 | if((delta >= TIMEOUT_FC) && msg->seq_id>1) 174 | { 175 | #ifdef ISO_TP_DEBUG 176 | Serial.println(F("CF frame timeout during receive wait_cf=")); 177 | Serial.print(wait_cf); Serial.print(F(" delta=")); 178 | Serial.println(delta); 179 | #endif 180 | msg->tp_state = ISOTP_IDLE; 181 | return 1; 182 | } 183 | wait_cf=millis(); 184 | 185 | #ifdef ISO_TP_DEBUG 186 | Serial.print(F("ISO-TP state: ")); Serial.println(msg->tp_state); 187 | Serial.print(F("CF received with message rest length: ")); 188 | Serial.println(rest); 189 | #endif 190 | 191 | if (msg->tp_state != ISOTP_WAIT_DATA) return 0; 192 | 193 | if ((rxBuffer[0] & 0x0F) != (msg->seq_id & 0x0F)) 194 | { 195 | #ifdef ISO_TP_DEBUG 196 | Serial.print(F("Got sequence ID: ")); Serial.print(rxBuffer[0] & 0x0F); 197 | Serial.print(F(" Expected: ")); Serial.println(msg->seq_id & 0x0F); 198 | #endif 199 | msg->tp_state = ISOTP_IDLE; 200 | msg->seq_id = 1; 201 | return 1; 202 | } 203 | 204 | if(rest<=7) // Last Frame 205 | { 206 | memcpy(msg->Buffer+6+7*(msg->seq_id-1),rxBuffer+1,rest);// 6 Bytes in FF +7 207 | msg->tp_state=ISOTP_FINISHED; // per CF skip PCI 208 | #ifdef ISO_TP_DEBUG 209 | Serial.print(F("Last CF received with seq. ID: ")); 210 | Serial.println(msg->seq_id); 211 | #endif 212 | } 213 | else 214 | { 215 | #ifdef ISO_TP_DEBUG 216 | Serial.print(F("CF received with seq. ID: ")); 217 | Serial.println(msg->seq_id); 218 | #endif 219 | memcpy(msg->Buffer+6+7*(msg->seq_id-1),rxBuffer+1,7); // 6 Bytes in FF +7 220 | // per CF 221 | rest-=7; // Got another 7 Bytes of Data; 222 | } 223 | 224 | msg->seq_id++; 225 | 226 | return 0; 227 | } 228 | 229 | uint8_t IsoTp::rcv_fc(struct Message_t* msg) 230 | { 231 | uint8_t retval=0; 232 | 233 | if (msg->tp_state != ISOTP_WAIT_FC && msg->tp_state != ISOTP_WAIT_FIRST_FC) 234 | return 0; 235 | 236 | /* get communication parameters only from the first FC frame */ 237 | if (msg->tp_state == ISOTP_WAIT_FIRST_FC) 238 | { 239 | msg->blocksize = rxBuffer[1]; 240 | msg->min_sep_time = rxBuffer[2]; 241 | 242 | /* fix wrong separation time values according spec */ 243 | if ((msg->min_sep_time > 0x7F) && ((msg->min_sep_time < 0xF1) 244 | || (msg->min_sep_time > 0xF9))) msg->min_sep_time = 0x7F; 245 | } 246 | 247 | #ifdef ISO_TP_DEBUG 248 | Serial.print(F("FC frame: FS ")); 249 | Serial.print(rxBuffer[0]&0x0F); 250 | Serial.print(F(", Blocksize ")); 251 | Serial.print(msg->blocksize); 252 | Serial.print(F(", Min. separation Time ")); 253 | Serial.println(msg->min_sep_time); 254 | #endif 255 | 256 | switch (rxBuffer[0] & 0x0F) 257 | { 258 | case ISOTP_FC_CTS: 259 | msg->tp_state = ISOTP_SEND_CF; 260 | break; 261 | case ISOTP_FC_WT: 262 | fc_wait_frames++; 263 | if(fc_wait_frames >= MAX_FCWAIT_FRAME) 264 | { 265 | #ifdef ISO_TP_DEBUG 266 | Serial.println(F("FC wait frames exceeded.")); 267 | #endif 268 | fc_wait_frames=0; 269 | msg->tp_state = ISOTP_IDLE; 270 | retval=1; 271 | } 272 | #ifdef ISO_TP_DEBUG 273 | Serial.println(F("Start waiting for next FC")); 274 | #endif 275 | break; 276 | case ISOTP_FC_OVFLW: 277 | #ifdef ISO_TP_DEBUG 278 | Serial.println(F("Overflow in receiver side")); 279 | #endif 280 | default: 281 | msg->tp_state = ISOTP_IDLE; 282 | retval=1; 283 | } 284 | return retval; 285 | } 286 | 287 | uint8_t IsoTp::send(Message_t* msg) 288 | { 289 | uint8_t* origBuffer = msg->Buffer; 290 | uint16_t origLen = msg->len; 291 | 292 | uint8_t bs=false; 293 | INT32U delta=0; 294 | uint8_t retval=0; 295 | 296 | msg->tp_state=ISOTP_SEND; 297 | 298 | while(msg->tp_state!=ISOTP_IDLE && msg->tp_state!=ISOTP_ERROR) 299 | { 300 | bs=false; 301 | 302 | #ifdef ISO_TP_DEBUG 303 | Serial.print(F("ISO-TP State: ")); Serial.println(msg->tp_state); 304 | Serial.print(F("Length : ")); Serial.println(msg->len); 305 | #endif 306 | 307 | switch(msg->tp_state) 308 | { 309 | case ISOTP_IDLE : break; 310 | case ISOTP_SEND : 311 | if(msg->len<=7) 312 | { 313 | #ifdef ISO_TP_DEBUG 314 | Serial.println(F("Send SF")); 315 | #endif 316 | retval=send_sf(msg); 317 | msg->tp_state=ISOTP_IDLE; 318 | } 319 | else 320 | { 321 | #ifdef ISO_TP_DEBUG 322 | Serial.println(F("Send FF")); 323 | #endif 324 | if(!(retval=send_ff(msg))) // FF complete 325 | { 326 | msg->Buffer+=6; 327 | msg->len-=6; 328 | msg->tp_state=ISOTP_WAIT_FIRST_FC; 329 | fc_wait_frames=0; 330 | wait_fc=millis(); 331 | } 332 | } 333 | break; 334 | case ISOTP_WAIT_FIRST_FC: 335 | #ifdef ISO_TP_DEBUG 336 | Serial.println(F("Wait first FC")); 337 | #endif 338 | delta=millis()-wait_fc; 339 | if(delta >= TIMEOUT_FC) 340 | { 341 | #ifdef ISO_TP_DEBUG 342 | Serial.print(F("FC timeout during receive")); 343 | Serial.print(F(" wait_fc=")); 344 | Serial.print(wait_fc); 345 | Serial.print(F(" delta=")); 346 | Serial.println(delta); 347 | #endif 348 | msg->tp_state = ISOTP_IDLE; 349 | retval=1; 350 | } 351 | break; 352 | case ISOTP_WAIT_FC : 353 | #ifdef ISO_TP_DEBUG 354 | Serial.println(F("Wait FC")); 355 | #endif 356 | break; 357 | case ISOTP_SEND_CF : 358 | #ifdef ISO_TP_DEBUG 359 | Serial.println(F("Send CF")); 360 | #endif 361 | while(msg->len>7 && !bs) 362 | { 363 | fc_delay(msg->min_sep_time); 364 | if(!(retval=send_cf(msg))) 365 | { 366 | #ifdef ISO_TP_DEBUG 367 | Serial.print(F("Send Seq ")); 368 | Serial.println(msg->seq_id); 369 | #endif 370 | if(msg->blocksize > 0) 371 | { 372 | #ifdef ISO_TP_DEBUG 373 | Serial.print(F("Blocksize trigger ")); 374 | Serial.print(msg->seq_id % 375 | msg->blocksize); 376 | #endif 377 | if(!(msg->seq_id % msg->blocksize)) 378 | { 379 | bs=true; 380 | msg->tp_state=ISOTP_WAIT_FC; 381 | #ifdef ISO_TP_DEBUG 382 | Serial.println(F(" yes")); 383 | #endif 384 | } 385 | #ifdef ISO_TP_DEBUG 386 | else Serial.println(F(" no")); 387 | #endif 388 | } 389 | msg->seq_id++; 390 | if (msg->blocksize < 16) 391 | msg->seq_id %= 16; 392 | else 393 | msg->seq_id %= msg->blocksize; 394 | msg->Buffer+=7; 395 | msg->len-=7; 396 | #ifdef ISO_TP_DEBUG 397 | Serial.print(F("Length : ")); 398 | Serial.println(msg->len); 399 | #endif 400 | } 401 | } 402 | if(!bs) 403 | { 404 | fc_delay(msg->min_sep_time); 405 | #ifdef ISO_TP_DEBUG 406 | Serial.print(F("Send last Seq ")); 407 | Serial.println(msg->seq_id); 408 | #endif 409 | retval=send_cf(msg); 410 | msg->tp_state=ISOTP_IDLE; 411 | } 412 | break; 413 | default : break; 414 | } 415 | 416 | 417 | if(msg->tp_state==ISOTP_WAIT_FIRST_FC || 418 | msg->tp_state==ISOTP_WAIT_FC) 419 | { 420 | if(can_receive()) 421 | { 422 | #ifdef ISO_TP_DEBUG 423 | Serial.println(F("Send branch:")); 424 | #endif 425 | if(rxId==msg->rx_id) 426 | { 427 | retval=rcv_fc(msg); 428 | memset(rxBuffer,0,sizeof(rxBuffer)); 429 | #ifdef ISO_TP_DEBUG 430 | Serial.println(F("rxId OK!")); 431 | #endif 432 | } 433 | } 434 | } 435 | } 436 | msg->Buffer = origBuffer; 437 | msg->len = origLen; 438 | 439 | return retval; 440 | } 441 | 442 | uint8_t IsoTp::receive(Message_t* msg) 443 | { 444 | uint8_t n_pci_type=0; 445 | INT32U delta=0; 446 | 447 | wait_session=millis(); 448 | #ifdef ISO_TP_DEBUG 449 | Serial.println(F("Start receive...")); 450 | #endif 451 | msg->tp_state=ISOTP_IDLE; 452 | 453 | while(msg->tp_state!=ISOTP_FINISHED && msg->tp_state!=ISOTP_ERROR) 454 | { 455 | delta=millis()-wait_session; 456 | if(delta >= TIMEOUT_SESSION) 457 | { 458 | #ifdef ISO_TP_DEBUG 459 | Serial.print(F("ISO-TP Session timeout wait_session=")); 460 | Serial.print(wait_session); Serial.print(F(" delta=")); 461 | Serial.println(delta); 462 | #endif 463 | return 1; 464 | } 465 | 466 | if(can_receive()) 467 | { 468 | if(rxId==msg->rx_id) 469 | { 470 | #ifdef ISO_TP_DEBUG 471 | Serial.println(F("rxId OK!")); 472 | #endif 473 | n_pci_type=rxBuffer[0] & 0xF0; 474 | 475 | switch (n_pci_type) 476 | { 477 | case N_PCI_FC: 478 | #ifdef ISO_TP_DEBUG 479 | Serial.println(F("FC")); 480 | #endif 481 | /* tx path: fc frame */ 482 | rcv_fc(msg); 483 | break; 484 | 485 | case N_PCI_SF: 486 | #ifdef ISO_TP_DEBUG 487 | Serial.println(F("SF")); 488 | #endif 489 | /* rx path: single frame */ 490 | rcv_sf(msg); 491 | // msg->tp_state=ISOTP_FINISHED; 492 | break; 493 | 494 | case N_PCI_FF: 495 | #ifdef ISO_TP_DEBUG 496 | Serial.println(F("FF")); 497 | #endif 498 | /* rx path: first frame */ 499 | rcv_ff(msg); 500 | // msg->tp_state=ISOTP_WAIT_DATA; 501 | break; 502 | break; 503 | 504 | case N_PCI_CF: 505 | #ifdef ISO_TP_DEBUG 506 | Serial.println(F("CF")); 507 | #endif 508 | /* rx path: consecutive frame */ 509 | rcv_cf(msg); 510 | break; 511 | } 512 | memset(rxBuffer,0,sizeof(rxBuffer)); 513 | } 514 | } 515 | } 516 | #ifdef ISO_TP_DEBUG 517 | Serial.println(F("ISO-TP message received:")); 518 | print_buffer(msg->rx_id, msg->Buffer, msg->len); 519 | #endif 520 | 521 | return 0; 522 | } 523 | -------------------------------------------------------------------------------- /License: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------