isotp_example_can_fd.c

Set the CAN frame data length used to transmit on a link.

Set the CAN frame data length used to transmit on a link.A Classical CAN link uses 8. CAN FD links may use 12, 16, 20, 24, 32, 48, or 64, subject to the compiled ISO_TP_MAX_CAN_FRAME_SIZE.

Parameters

[in,out]	link	Initialised link, or NULL.
[in]	tx_dl	Desired transmit data length.

Return values

ISOTP_RET_OK	The value was applied.
ISOTP_RET_ERROR	The link is NULL, the value is not a legal CAN data length, or it exceeds ISO_TP_MAX_CAN_FRAME_SIZE.
ISOTP_RET_INPROGRESS	A segmented transmission is active; its TX_DL cannot be changed.

Note

RX_DL is learned independently from each incoming First Frame.

 
#include "example_platform.h"
#include "isotp.h"
 
#define EXAMPLE_TX_ID 0x7E0u
 
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, const uint8_t flags, void* arg) {
    ExampleCan* can = (ExampleCan*)arg;
    const bool  fd  = (flags & ISOTP_CAN_FRAME_FLAG_FD) != 0u;
    const bool  brs = (flags & ISOTP_CAN_FRAME_FLAG_BRS) != 0u;
    return example_can_send(can, arbitration_id, data, size, fd, brs);
}
 
uint32_t isotp_user_get_us(void) { return example_get_us(); }
 
void     isotp_user_debug(const char* message, ...) { (void)message; }
 
void     example_can_fd_init(ExampleCan* can) {
    isotp_init_link(&link, EXAMPLE_TX_ID, send_buffer, sizeof(send_buffer), receive_buffer, sizeof(receive_buffer));
    link.user_send_can_arg = can;
}
 
int example_can_fd_use_classical_frames(void) { return isotp_set_tx_dl(&link, ISOTP_CAN_DL_CLASSIC); }