isotp_example_callbacks.c

Register or clear the completed-receive callback.

Register or clear the completed-receive callback.The callback runs synchronously from isotp_on_can_message(). Its payload pointer refers to the link's receive buffer and is valid only until the callback returns. Registering it disables delivery through isotp_receive(). Oversized streaming messages are still delivered through isotp_receive_streaming().

Parameters

[in,out]	link	Initialised link. Passing NULL has no effect.
[in]	cb	Callback to register, or NULL to restore polling delivery.
[in]	arg	Application value passed to cb.

 
#include "example_platform.h"
#include "isotp.h"
 
#define EXAMPLE_TX_ID 0x7E0u
#define EXAMPLE_RX_ID 0x7E8u
 
static ExampleCan* example_can;
static IsoTpLink   link;
static uint8_t     send_buffer[4095];
static uint8_t     receive_buffer[4095];
 
int                isotp_user_send_can(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size) {
    return example_can_send(example_can, arbitration_id, data, size, false, false);
}
 
uint32_t    isotp_user_get_us(void) { return example_get_us(); }
 
void        isotp_user_debug(const char* message, ...) { (void)message; }
 
static void transmit_complete(void* completed_link, uint32_t size, void* user_arg) {
    (void)completed_link;
    (void)size;
    (void)user_arg;
}
 
static void receive_complete(void* completed_link, const uint8_t* data, uint32_t size, void* user_arg) {
    (void)completed_link;
    (void)user_arg;
    example_process_message(data, size);
}
 
void example_callbacks_init(ExampleCan* can) {
    example_can = can;
    isotp_init_link(&link, EXAMPLE_TX_ID, send_buffer, sizeof(send_buffer), receive_buffer, sizeof(receive_buffer));
    isotp_set_tx_done_cb(&link, transmit_complete, NULL);
    isotp_set_rx_done_cb(&link, receive_complete, NULL);
}
 
void example_callbacks_process(void) {
    uint32_t arbitration_id;
    uint8_t  frame[ISOTP_CAN_DL_CLASSIC];
    uint8_t  frame_size;
 
    if (example_can_receive(example_can, &arbitration_id, frame, &frame_size) && arbitration_id == EXAMPLE_RX_ID) {
        isotp_on_can_message(&link, frame, frame_size);
    }
 
    isotp_poll(&link);
}