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uds.h
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#pragma once
typedef enum UDSEvent {
// Common Event ----------------- Argument Type
UDS_EVT_Err, // UDSErr_t *
// Server Event ----------------- Argument Type
UDS_EVT_DiagSessCtrl, // UDSDiagSessCtrlArgs_t *
UDS_EVT_EcuReset, // UDSECUResetArgs_t *
UDS_EVT_ReadDataByIdent, // UDSRDBIArgs_t *
UDS_EVT_ReadMemByAddr, // UDSReadMemByAddrArgs_t *
UDS_EVT_CommCtrl, // UDSCommCtrlArgs_t *
UDS_EVT_SecAccessRequestSeed, // UDSSecAccessRequestSeedArgs_t *
UDS_EVT_SecAccessValidateKey, // UDSSecAccessValidateKeyArgs_t *
UDS_EVT_WriteDataByIdent, // UDSWDBIArgs_t *
UDS_EVT_RoutineCtrl, // UDSRoutineCtrlArgs_t*
UDS_EVT_RequestDownload, // UDSRequestDownloadArgs_t*
UDS_EVT_RequestUpload, // UDSRequestUploadArgs_t *
UDS_EVT_TransferData, // UDSTransferDataArgs_t *
UDS_EVT_RequestTransferExit, // UDSRequestTransferExitArgs_t *
UDS_EVT_SessionTimeout, // NULL
UDS_EVT_DoScheduledReset, // uint8_t *
UDS_EVT_RequestFileTransfer, // UDSRequestFileTransferArgs_t *
UDS_EVT_Custom, // UDSCustomArgs_t *
// Client Event
UDS_EVT_Poll, // NULL
UDS_EVT_SendComplete, //
UDS_EVT_ResponseReceived, //
UDS_EVT_Idle, // NULL
UDS_EVT_MAX, // unused
} UDSEvent_t;
typedef enum {
UDS_FAIL = -1, // 通用错误
UDS_OK = 0, // 成功
// Negative Response Codes (NRCs) as defined in ISO14229-1:2020 Table A.1 - Negative Response
// Code (NRC) definition and values
UDS_PositiveResponse = 0,
// 0x01 to 0x0F are reserved by ISO14229-1:2020
UDS_NRC_GeneralReject = 0x10,
UDS_NRC_ServiceNotSupported = 0x11,
UDS_NRC_SubFunctionNotSupported = 0x12,
UDS_NRC_IncorrectMessageLengthOrInvalidFormat = 0x13,
UDS_NRC_ResponseTooLong = 0x14,
// 0x15 to 0x20 are reserved by ISO14229-1:2020
UDS_NRC_BusyRepeatRequest = 0x21,
UDS_NRC_ConditionsNotCorrect = 0x22,
UDS_NRC_RequestSequenceError = 0x24,
UDS_NRC_NoResponseFromSubnetComponent = 0x25,
UDS_NRC_FailurePreventsExecutionOfRequestedAction = 0x26,
// 0x27 to 0x30 are reserved by ISO14229-1:2020
UDS_NRC_RequestOutOfRange = 0x31,
// 0x32 is reserved by ISO14229-1:2020
UDS_NRC_SecurityAccessDenied = 0x33,
UDS_NRC_AuthenticationRequired = 0x34,
UDS_NRC_InvalidKey = 0x35,
UDS_NRC_ExceedNumberOfAttempts = 0x36,
UDS_NRC_RequiredTimeDelayNotExpired = 0x37,
UDS_NRC_SecureDataTransmissionRequired = 0x38,
UDS_NRC_SecureDataTransmissionNotAllowed = 0x39,
UDS_NRC_SecureDataVerificationFailed = 0x3A,
// 0x3B to 0x4F are reserved by ISO14229-1:2020
UDS_NRC_CertficateVerificationFailedInvalidTimePeriod = 0x50,
UDS_NRC_CertficateVerificationFailedInvalidSignature = 0x51,
UDS_NRC_CertficateVerificationFailedInvalidChainOfTrust = 0x52,
UDS_NRC_CertficateVerificationFailedInvalidType = 0x53,
UDS_NRC_CertficateVerificationFailedInvalidFormat = 0x54,
UDS_NRC_CertficateVerificationFailedInvalidContent = 0x55,
UDS_NRC_CertficateVerificationFailedInvalidScope = 0x56,
UDS_NRC_CertficateVerificationFailedInvalidCertificate = 0x57,
UDS_NRC_OwnershipVerificationFailed = 0x58,
UDS_NRC_ChallengeCalculationFailed = 0x59,
UDS_NRC_SettingAccessRightsFailed = 0x5A,
UDS_NRC_SessionKeyCreationOrDerivationFailed = 0x5B,
UDS_NRC_ConfigurationDataUsageFailed = 0x5C,
UDS_NRC_DeAuthenticationFailed = 0x5D,
// 0x5E to 0x6F are reserved by ISO14229-1:2020
UDS_NRC_UploadDownloadNotAccepted = 0x70,
UDS_NRC_TransferDataSuspended = 0x71,
UDS_NRC_GeneralProgrammingFailure = 0x72,
UDS_NRC_WrongBlockSequenceCounter = 0x73,
// 0x74 to 0x77 are reserved by ISO14229-1:2020
UDS_NRC_RequestCorrectlyReceived_ResponsePending = 0x78,
// 0x79 to 0x7D are reserved by ISO14229-1:2020
UDS_NRC_SubFunctionNotSupportedInActiveSession = 0x7E,
UDS_NRC_ServiceNotSupportedInActiveSession = 0x7F,
// 0x80 is reserved by ISO14229-1:2020
UDS_NRC_RpmTooHigh = 0x81,
UDS_NRC_RpmTooLow = 0x82,
UDS_NRC_EngineIsRunning = 0x83,
UDS_NRC_EngineIsNotRunning = 0x84,
UDS_NRC_EngineRunTimeTooLow = 0x85,
UDS_NRC_TemperatureTooHigh = 0x86,
UDS_NRC_TemperatureTooLow = 0x87,
UDS_NRC_VehicleSpeedTooHigh = 0x88,
UDS_NRC_VehicleSpeedTooLow = 0x89,
UDS_NRC_ThrottlePedalTooHigh = 0x8A,
UDS_NRC_ThrottlePedalTooLow = 0x8B,
UDS_NRC_TransmissionRangeNotInNeutral = 0x8C,
UDS_NRC_TransmissionRangeNotInGear = 0x8D,
// 0x8E is reserved by ISO14229-1:2020
UDS_NRC_BrakeSwitchNotClosed = 0x8F,
UDS_NRC_ShifterLeverNotInPark = 0x90,
UDS_NRC_TorqueConverterClutchLocked = 0x91,
UDS_NRC_VoltageTooHigh = 0x92,
UDS_NRC_VoltageTooLow = 0x93,
UDS_NRC_ResourceTemporarilyNotAvailable = 0x94,
/* 0x95 to 0xEF are reservedForSpecificConditionsNotCorrect */
/* 0xF0 to 0xFE are vehicleManufacturerSpecificConditionsNotCorrect */
/* 0xFF is ISOSAEReserved */
// The following values are not defined in ISO14229-1:2020
UDS_ERR_TIMEOUT = 0x100, // A request has timed out
UDS_ERR_DID_MISMATCH, // The response DID does not match the request DID
UDS_ERR_SID_MISMATCH, // The response SID does not match the request SID
UDS_ERR_SUBFUNCTION_MISMATCH, // The response SubFunction does not match the request SubFunction
UDS_ERR_TPORT, // Transport error. Check the transport layer for more information
UDS_ERR_RESP_TOO_SHORT, // The response is too short
UDS_ERR_BUFSIZ, // The buffer is not large enough
UDS_ERR_INVALID_ARG, // The function has been called with invalid arguments
UDS_ERR_BUSY, // The client is busy and cannot process the request
UDS_ERR_MISUSE, // The library is used incorrectly
} UDSErr_t;
// ISO14229-1:2020 Table 25
// UDS Level Diagnostic Session
#define UDS_LEV_DS_DS 01 // Default Session
#define UDS_LEV_DS_PRGS 02 // Programming Session
#define UDS_LEV_DS_EXTDS 03 // Extended Diagnostic Session
#define UDS_LEV_DS_SSDS 04 // Safety System Diagnostic Session
/**
* @brief 0x11 ECU Reset SubFunction = [resetType]
* ISO14229-1:2020 Table 34
* UDS Level Reset Type
*/
#define UDS_LEV_RT_HR 01 // Hard Reset
#define UDS_LEV_RT_KOFFONR 02 // Key Off On Reset
#define UDS_LEV_RT_SR 03 // Soft Reset
#define UDS_LEV_RT_ERPSD 04 // Enable Rapid Power Shut Down
#define UDS_LEV_RT_DRPSD 05 // Disable Rapid Power Shut Down
/**
* @brief 0x28 Communication Control SubFunction = [controlType]
* ISO14229-1:2020 Table 54
* UDS Level Control Type
*/
#define UDS_LEV_CTRLTP_ERXTX 0 // EnableRxAndTx
#define UDS_LEV_CTRLTP_ERXDTX 1 // EnableRxAndDisableTx
#define UDS_LEV_CTRLTP_DRXETX 2 // DisableRxAndEnableTx
#define UDS_LEV_CTRLTP_DRXTX 3 // DisableRxAndTx
/**
* @brief 0x28 Communication Control communicationType
* ISO14229-1:2020 Table B.1
*/
#define UDS_CTP_NCM 1 // NormalCommunicationMessages
#define UDS_CTP_NWMCM 2 // NetworkManagementCommunicationMessages
#define UDS_CTP_NWMCM_NCM 3 // NetworkManagementCommunicationMessagesAndNormalCommunicationMessages
/**
* @brief 0x31 RoutineControl SubFunction = [routineControlType]
* ISO14229-1:2020 Table 426
*/
#define UDS_LEV_RCTP_STR 1 // StartRoutine
#define UDS_LEV_RCTP_STPR 2 // StopRoutine
#define UDS_LEV_RCTP_RRR 3 // RequestRoutineResults
/**
* @brief modeOfOperation parameter used in 0x38 RequestFileTransfer
* ISO14229-1:2020 Table G.1
*/
#define UDS_MOOP_ADDFILE 1 // AddFile
#define UDS_MOOP_DELFILE 2 // DeleteFile
#define UDS_MOOP_REPLFILE 3 // ReplaceFile
#define UDS_MOOP_RDFILE 4 // ReadFile
#define UDS_MOOP_RDDIR 5 // ReadDirectory
#define UDS_MOOP_RSFILE 6 // ResumeFile
/**
* @brief 0x85 ControlDTCSetting SubFunction = [dtcSettingType]
* ISO14229-1:2020 Table 128
*/
#define LEV_DTCSTP_ON 1
#define LEV_DTCSTP_OFF 2
// ISO-14229-1:2013 Table 2
#define UDS_MAX_DIAGNOSTIC_SERVICES 0x7F
#define UDS_RESPONSE_SID_OF(request_sid) ((request_sid) + 0x40)
#define UDS_REQUEST_SID_OF(response_sid) ((response_sid) - 0x40)
#define UDS_NEG_RESP_LEN 3U
#define UDS_0X10_REQ_LEN 2U
#define UDS_0X10_RESP_LEN 6U
#define UDS_0X11_REQ_MIN_LEN 2U
#define UDS_0X11_RESP_BASE_LEN 2U
#define UDS_0X23_REQ_MIN_LEN 4U
#define UDS_0X23_RESP_BASE_LEN 1U
#define UDS_0X22_RESP_BASE_LEN 1U
#define UDS_0X27_REQ_BASE_LEN 2U
#define UDS_0X27_RESP_BASE_LEN 2U
#define UDS_0X28_REQ_BASE_LEN 3U
#define UDS_0X28_RESP_LEN 2U
#define UDS_0X2E_REQ_BASE_LEN 3U
#define UDS_0X2E_REQ_MIN_LEN 4U
#define UDS_0X2E_RESP_LEN 3U
#define UDS_0X31_REQ_MIN_LEN 4U
#define UDS_0X31_RESP_MIN_LEN 4U
#define UDS_0X34_REQ_BASE_LEN 3U
#define UDS_0X34_RESP_BASE_LEN 2U
#define UDS_0X35_REQ_BASE_LEN 3U
#define UDS_0X35_RESP_BASE_LEN 2U
#define UDS_0X36_REQ_BASE_LEN 2U
#define UDS_0X36_RESP_BASE_LEN 2U
#define UDS_0X37_REQ_BASE_LEN 1U
#define UDS_0X37_RESP_BASE_LEN 1U
#define UDS_0X38_REQ_BASE_LEN 4U
#define UDS_0X38_RESP_BASE_LEN 3U
#define UDS_0X3E_REQ_MIN_LEN 2U
#define UDS_0X3E_REQ_MAX_LEN 2U
#define UDS_0X3E_RESP_LEN 2U
#define UDS_0X85_REQ_BASE_LEN 2U
#define UDS_0X85_RESP_LEN 2U
enum UDSDiagnosticServiceId {
kSID_DIAGNOSTIC_SESSION_CONTROL = 0x10,
kSID_ECU_RESET = 0x11,
kSID_CLEAR_DIAGNOSTIC_INFORMATION = 0x14,
kSID_READ_DTC_INFORMATION = 0x19,
kSID_READ_DATA_BY_IDENTIFIER = 0x22,
kSID_READ_MEMORY_BY_ADDRESS = 0x23,
kSID_READ_SCALING_DATA_BY_IDENTIFIER = 0x24,
kSID_SECURITY_ACCESS = 0x27,
kSID_COMMUNICATION_CONTROL = 0x28,
kSID_READ_PERIODIC_DATA_BY_IDENTIFIER = 0x2A,
kSID_DYNAMICALLY_DEFINE_DATA_IDENTIFIER = 0x2C,
kSID_WRITE_DATA_BY_IDENTIFIER = 0x2E,
kSID_INPUT_CONTROL_BY_IDENTIFIER = 0x2F,
kSID_ROUTINE_CONTROL = 0x31,
kSID_REQUEST_DOWNLOAD = 0x34,
kSID_REQUEST_UPLOAD = 0x35,
kSID_TRANSFER_DATA = 0x36,
kSID_REQUEST_TRANSFER_EXIT = 0x37,
kSID_REQUEST_FILE_TRANSFER = 0x38,
kSID_WRITE_MEMORY_BY_ADDRESS = 0x3D,
kSID_TESTER_PRESENT = 0x3E,
kSID_ACCESS_TIMING_PARAMETER = 0x83,
kSID_SECURED_DATA_TRANSMISSION = 0x84,
kSID_CONTROL_DTC_SETTING = 0x85,
kSID_RESPONSE_ON_EVENT = 0x86,
};