feat(isotp): add non-blocking send function with customizable TWAI ID

Author: eternal-echo

esp_isotp/inc/esp_isotp.h

@@ -78,6 +78,28 @@ esp_err_t esp_isotp_new_transport(twai_node_handle_t twai_node, const esp_isotp_
  */
 esp_err_t esp_isotp_send(esp_isotp_handle_t handle, const uint8_t *data, uint32_t size);
 
+/**
+ * @brief Send data over an ISO-TP link with specified TWAI ID (non-blocking)
+ *
+ * Similar to esp_isotp_send(), but allows specifying a different TWAI ID for transmission.
+ * This function is primarily used for functional addressing where multiple nodes
+ * may respond to the same request.
+ *
+ * @param handle ISO-TP handle
+ * @param id TWAI identifier to use for transmission (overrides configured tx_id)
+ * @param data Data to send
+ * @param size Data length in bytes
+ * @return
+ *     - ESP_OK: Send initiated successfully
+ *     - ESP_ERR_NOT_FINISHED: Previous send still in progress
+ *     - ESP_ERR_NO_MEM: Data too large for buffer or no space available
+ *     - ESP_ERR_INVALID_SIZE: Invalid data size
+ *     - ESP_ERR_TIMEOUT: Send operation timed out
+ *     - ESP_ERR_INVALID_ARG: Invalid parameters
+ *     - ESP_FAIL: Other send errors
+ */
+esp_err_t esp_isotp_send_with_id(esp_isotp_handle_t handle, uint32_t id, const uint8_t *data, uint32_t size);
+
 /**
  * @brief Extract a complete received message (non-blocking)
  *

esp_isotp/src/esp_isotp.c

@@ -213,6 +213,34 @@ esp_err_t esp_isotp_send(esp_isotp_handle_t handle, const uint8_t *data, uint32_
     }
 }
 
+esp_err_t esp_isotp_send_with_id(esp_isotp_handle_t handle, uint32_t id, const uint8_t *data, uint32_t size)
+{
+    ESP_RETURN_ON_FALSE(handle && data && size, ESP_ERR_INVALID_ARG, TAG, "Invalid parameters");
+
+    // Validate ID range based on configured format
+    uint32_t mask = handle->use_extended_id ? TWAI_EXT_ID_MASK : TWAI_STD_ID_MASK;
+    ESP_RETURN_ON_FALSE((id & ~mask) == 0, ESP_ERR_INVALID_ARG, TAG, "ID exceeds mask for selected format");
+
+    int ret = isotp_send_with_id(&handle->link, id, data, size);
+    switch (ret) {
+    case ISOTP_RET_OK:
+        return ESP_OK;
+    case ISOTP_RET_INPROGRESS:
+        return ESP_ERR_NOT_FINISHED;
+    case ISOTP_RET_OVERFLOW:
+    case ISOTP_RET_NOSPACE:
+        return ESP_ERR_NO_MEM;
+    case ISOTP_RET_LENGTH:
+        return ESP_ERR_INVALID_SIZE;
+    case ISOTP_RET_TIMEOUT:
+        return ESP_ERR_TIMEOUT;
+    case ISOTP_RET_ERROR:
+    default:
+        ESP_LOGE(TAG, "ISO-TP send with ID failed with error code: %d", ret);
+        return ESP_FAIL;
+    }
+}
+
 esp_err_t esp_isotp_receive(esp_isotp_handle_t handle, uint8_t *data, uint32_t size, uint32_t *received_size)
 {
     ESP_RETURN_ON_FALSE(handle && data && size && received_size, ESP_ERR_INVALID_ARG, TAG, "Invalid parameters");