Update isotp.rs

imxrt1060-hal/src/can/isotp.rs

@@ -1,40 +1,93 @@
-use super::CAN;
-
-use crate::ccm;
-use crate::iomuxc::consts::{Unsigned, U1, U2};
-use crate::ral;
-
-use core::cmp::Ord;
-use core::convert::Infallible;
-use core::marker::PhantomData;
+use super::{Frame, Id, CAN};
 
+use crate::iomuxc::consts::Unsigned;
 
 /// A CAN ISO-TP builder that can build a CAN peripheral
-pub struct IsoTPBuilder<M> {
+pub struct IsoTPBuilder<M, F, G>
+where
+    M: Unsigned,
+    F: Fn(u32) -> (),
+    G: Fn(u32) -> (),
+{
     can: CAN<M>,
+    delay_ms: F,
+    delay_us: G,
 }
 
-impl<M> IsoTPBuilder<M>
+impl<M, F, G> IsoTPBuilder<M, F, G>
 where
     M: Unsigned,
+    F: Fn(u32) -> (),
+    G: Fn(u32) -> (),
 {
-    pub fn new(can: CAN<M>) -> Self {
+    pub fn new(can: CAN<M>, delay_ms: F, delay_us: G) -> Self {
         IsoTPBuilder {
             can,
+            delay_ms,
+            delay_us,
         }
     }
 
-    pub fn build(self) -> IsoTP<M> {
-        IsoTP::new(self.can)
+    pub fn build(self) -> IsoTP<M, F, G> {
+        IsoTP::new(self.can, self.delay_ms, self.delay_us)
     }
 }
 
-pub struct IsoTP<M> {
+pub enum FlowControlType {
+    ClearToSend = 0,
+    Wait = 1,
+    Abort = 2,
+}
+
+pub struct IsoTPConfig {
+    pub id: Id,
+    pub use_padding: bool,
+    pub separation_us: bool,
+    pub len: u16,
+    pub block_size: u16,
+    pub flow_control_type: FlowControlType,
+    pub separation_time: u16,
+    pub padding_value: u8,
+}
+
+const RX_BUFFER_LENGTH: usize = 1024;
+
+pub struct IsoTP<M, F, G>
+where
+    M: Unsigned,
+    F: Fn(u32) -> (),
+    G: Fn(u32) -> (),
+{
     pub can: CAN<M>,
+    delay_ms: F,
+    delay_us: G,
+    rx_buffer: [u8; RX_BUFFER_LENGTH],
 }
 
-impl<M> IsoTP<M> {
-    pub fn new(can: CAN<M>) -> Self {
-        Self { can }
+impl<M, F, G> IsoTP<M, F, G>
+where
+    M: Unsigned,
+    F: Fn(u32) -> (),
+    G: Fn(u32) -> (),
+{
+    pub fn new(can: CAN<M>, delay_ms: F, delay_us: G) -> Self {
+        Self {
+            can,
+            rx_buffer: [0x00; RX_BUFFER_LENGTH],
+            delay_ms,
+            delay_us,
+        }
     }
-}
+
+    pub fn write(&mut self, config: &IsoTPConfig, buf: &[u8], size: u16) {
+        let mut data: [u8; 8] = [config.padding_value; 8];
+        data[0] = ((1 << 4) | size >> 8) as u8;
+        data[1] = size as u8;
+        data[2..8].copy_from_slice(&buf[0..6]);
+        let mut msg: Frame = Frame::new_data(config.id, data);
+
+        self.can.transmit(&msg);
+
+        // let now =
+    }
+}