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#include <ctype.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <linux/can.h>
#include "vag-bap.h"
struct BAP_Frame* vag_bap_handle_can_frame(struct BAP_RXer *bap, struct can_frame *frame)
{
struct BAP_Frame *bap_frame = NULL;
unsigned short header;
unsigned this_len;
//printf("Received BAP frame from CAN ID %03x\n", frame->can_id);
if (frame->can_dlc < 2) {
VAG_DEBUG("Error: Frame too short\n");
}
if (frame->data[0] & 0x80) {
/* This is a multi-frame BAP message */
int mfchannel = (frame->data[0] >> 4) & 0x3;
if (!(frame->data[0] & 0x40)) {
/* Start frame */
unsigned short header;
unsigned this_len;
if (frame->can_dlc < 4) {
VAG_DEBUG("Error: Frame too short\n");
}
if (bap->mfchannel[mfchannel]) {
VAG_DEBUG("bap_handle_can_frame: new start frame for open channel\n");
}
bap->mfchannel[mfchannel] = NULL;
bap_frame = vag_bap_frame_alloc();
if (!bap_frame) {
VAG_DEBUG("bap_handle_can_frame: Failed to allocate new frame\n");
return NULL;
}
bap_frame->is_multiframe = 1;
header = (frame->data[2] << 8) | frame->data[3];
bap_frame->opcode = (header >> 12) & 0x7;
bap_frame->node = (header >> 6) & 0x3F;
bap_frame->port = (header >> 0) & 0x3F;
bap_frame->len = ((frame->data[0] & 0xF) << 8) | frame->data[1];
this_len = frame->can_dlc - 4;
if (this_len > bap_frame->len) {
VAG_DEBUG("bap_handle_can_frame: this_len > len\n");
free(bap_frame);
bap->mfchannel[mfchannel] = NULL;
return NULL;
}
memcpy(&bap_frame->data[0], &frame->data[frame->can_dlc - this_len], this_len);
bap->len_done[mfchannel] = this_len;
if (bap->len_done[mfchannel] == bap_frame->len) {
/* Frame is complete, remove from buffer */
bap->mfchannel[mfchannel] = NULL;
return bap_frame;
} else {
/* Frame is incomplete, don't emit it yet */
bap->mfchannel[mfchannel] = bap_frame;
return NULL;
}
} else {
/* Continuation frame */
bap_frame = bap->mfchannel[mfchannel];
if (!bap_frame) {
VAG_DEBUG("bap_handle_can_frame: continuation frame for unknown mf channel %d\n",
mfchannel);
}
this_len = frame->can_dlc - 1;
if ((bap->len_done[mfchannel] + this_len) > bap_frame->len) {
VAG_DEBUG("bap_handle_can_frame: len_done + this_len > len\n");
free(bap_frame);
bap->mfchannel[mfchannel] = NULL;
return NULL;
}
memcpy(&bap_frame->data[bap->len_done[mfchannel]],
&frame->data[frame->can_dlc - this_len],
this_len);
bap->len_done[mfchannel] += this_len;
if (bap->len_done[mfchannel] == bap_frame->len) {
/* Frame is complete, remove from buffer */
bap->mfchannel[mfchannel] = NULL;
return bap_frame;
} else {
/* Frame is incomplete, don't emit it yet */
return NULL;
}
}
} else {
/* Single-frame BAP message */
bap_frame = calloc(1, sizeof(struct BAP_Frame));
if (!bap_frame) {
VAG_DEBUG("bap_handle_can_frame: Failed to allocate new frame\n");
return NULL;
}
bap_frame->is_multiframe = 0;
header = (frame->data[0] << 8) | frame->data[1];
bap_frame->opcode = (header >> 12) & 0x7;
bap_frame->node = (header >> 6) & 0x3F;
bap_frame->port = (header >> 0) & 0x3F;
this_len = frame->can_dlc - 2;
bap_frame->len = this_len;
memcpy(&bap_frame->data[0], &frame->data[frame->can_dlc - this_len], this_len);
return bap_frame;
}
}
struct BAP_RXer* vag_bap_rxer_alloc()
{
struct BAP_RXer *bap;
bap = calloc(1, sizeof(*bap));
if (!bap) {
return NULL;
}
return bap;
}
void vag_bap_rxer_free(struct BAP_RXer *bap)
{
int i;
for (i = 0; i < 8; i++) {
if (bap->mfchannel[i]) {
vag_bap_frame_free(bap->mfchannel[i]);
}
}
free(bap);
}
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