can控制器 uds诊断完整代码（c写的keil项目）遵循iso sae J1939标准（stm32 N32 系列MCU可用）
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Single Frame（SF）- 单帧；First Frame (FF)-第一帧；Consecutive Frame (CF)-连续帧；Flow Control (FC)-流控帧；N_PDU type-网络层协议控制单元类型；N_PCI-网络层协议控制信息；SF_DL-单帧 数据长度；FF_DL-首帧数据长度；SN-连续帧序列号；FS-流控状态；BS-块大小；STmin-连续帧最小时间间隔。
UDS（Unified Diagnostic Services，统一诊断服务）是一种用于汽车行业的标准化诊断协议，基于CAN总线进行通信。UDS服务是诊断服务的规范化标准，规定了读取DTC（故障码）的指令、读诊断数据流的指令等。它允许维修人员使用诊断设备通过CAN总线与汽车电子控制单元（ECU）进行通信，执行各种诊断任务，如读取故障码、控制ECU的功能、以及更新ECU的软件等。
整个项目完整代码已经在前装车载设备上使用：
/***************************************************************************//** \author \mail \version 0.03 - CANoe Test Passed \date 2024-09-24 \description uds network code, base on ISO 15765 *******************************************************************************/ #include "network_layer_private.h" #include "network_layer.h" #include "uds_api.h" /******************************************************************************* Type Definition *******************************************************************************/ /******************************************************************************* Global Varaibles *******************************************************************************/ static network_layer_st nwl_st = NWL_IDLE; static bool_t g_wait_cf = FALSE; static bool_t g_wait_fc = FALSE; static uint32_t nt_timer[TIMER_CNT] = {0}; static uint8_t g_rfc_stmin = 0; /* received flowcontrol SeparationTime */ static uint8_t g_rfc_bs = 0; /* received flowcontrol block size */ static uint8_t g_xcf_bc = 0; /* transmit consecutive frame block counter */ static uint8_t g_xcf_sn = 0; /* transmit consecutive frame SequenceNumber */ static uint8_t g_rcf_bc = 0; /* received frame block counter */ static uint8_t g_rcf_sn = 0; /* received consecutive frame SequenceNumber */ /* transmit buffer */ static uint8_t remain_buf[UDS_FF_DL_MAX]; static uint16_t remain_len = 0; static uint16_t remain_pos = 0; /* recieve buffer */ static uint8_t recv_buf[UDS_FF_DL_MAX]; static uint16_t recv_len = 0; static uint16_t recv_fdl = 0; /* frame data len */ //OS_EVENT *UdsMutex; /******************************************************************************* Function declaration *******************************************************************************/ static void send_flowcontrol (uint8_t flow_st); //static indication_func uds_indication = NULL; //static confirm_func uds_confirm = NULL; static nt_usdata_t N_USData = {NULL, NULL, NULL}; /******************************************************************************* Function Definition - common *******************************************************************************/ /** * nt_timer_start - start network timer * * void : * * returns: * void */ static void nt_timer_start (uint8_t num) { if (num >= TIMER_CNT) return; if (num == TIMER_N_CR) nt_timer[TIMER_N_CR] = TIMEOUT_N_CR; if (num == TIMER_N_BS) nt_timer[TIMER_N_BS] = TIMEOUT_N_BS; if (num == TIMER_STmin) nt_timer[TIMER_STmin] = g_rfc_stmin; } static void nt_timer_start_wv (uint8_t num, uint32_t value) { if (num >= TIMER_CNT) return; if (num == TIMER_N_CR) nt_timer[TIMER_N_CR] = value; if (num == TIMER_N_BS) nt_timer[TIMER_N_BS] = value; if (num == TIMER_STmin) nt_timer[TIMER_STmin] = value; } static void nt_timer_stop (uint8_t num) { if (num >= TIMER_CNT) return; nt_timer[num] = 0; } /** * nt_timer_run - run a network timer, should be invoked per 1ms * * void : * * returns: * 0 - timer is not running, 1 - timer is running, -1 - a timeout occur */ static int nt_timer_run (uint8_t num) { if (num >= TIMER_CNT) return 0; if (nt_timer[num] == 0) { return 0; } else if (nt_timer[num] == 1) { nt_timer[num] = 0; return -1; } else { /* if (nt_timer[num] > 1) */ nt_timer[num]--; return 1; } } /** * nt_timer_chk - check a network timer and stop it * * num : * * returns: * 0 - timer is not running, 1 - timer is running, */ static int nt_timer_chk (uint8_t num) { if (num >= TIMER_CNT) return 0; if (nt_timer[num] > 0) { nt_timer[num] = 0; /* stop timer */ return 1; } else { nt_timer[num] = 0; /* stop timer */ return 0; } } /** * clear_network - clear network status * * void : * * returns: * void */ static void clear_network (void) { uint8_t num; nwl_st = NWL_IDLE; g_wait_cf = FALSE; g_wait_fc = FALSE; g_xcf_bc = 0; g_xcf_sn = 0; g_rcf_bc = 0; g_rcf_sn = 0; for (num = 0; num < TIMER_CNT; num++) nt_timer_stop (num); } /******************************************************************************* Function Definition - recieve *******************************************************************************/ /** * recv_singleframe - recieved a single frame from CAN * * @frame_buf : uds can frame data buffer * @frame_dlc : uds can frame length * * returns: * void */ static void recv_singleframe (uint8_t frame_buf[], uint8_t frame_dlc) { uint16_t i, uds_dlc; // uint8_t service_id; uds_dlc = NT_GET_SF_DL (frame_buf[0]); // service_id = frame_buf[1]; /************************************/ #ifdef UDS_CAN_ID_STD if (uds_dlc > 7 || uds_dlc == 0) return; #else if (uds_dlc > 6 || uds_dlc == 0) return; #endif recv_fdl = uds_dlc; for (i = 0; i < frame_dlc - 1; i++) recv_buf[i] = frame_buf[1+i]; recv_len = frame_dlc - 1; N_USData.indication (recv_buf, recv_fdl, N_OK); } /** * recv_firstframe - recieved a firt frame from CAN * * service : L_Data.indication (FF) * @frame_buf : uds can frame data buffer * @frame_dlc : uds can frame length * * returns: * 0 - recv a right frame, other - err */ static int recv_firstframe (uint8_t frame_buf[], uint8_t frame_dlc) { uint16_t i; // uint8_t service_id; uint16_t uds_dlc; uds_dlc = ((uint16_t)(frame_buf[0]&0x0f)) << 8; uds_dlc |= frame_buf[1]; // service_id = frame_buf[2]; /************************************/ #ifdef UDS_CAN_ID_STD if (uds_dlc < 8) return -1; #else if (uds_dlc < 7) return -1; #endif /** * if FF_DL is greater than the available receiver buffer size * abort the message reception and send * an FC N_PDU with Overflow. */ if (uds_dlc >= UDS_FF_DL_MAX) { send_flowcontrol (FS_OVFLW); return -2; } recv_fdl = uds_dlc; for (i = 0; i < frame_dlc - 2; i++) recv_buf[i] = frame_buf[2+i]; recv_len = frame_dlc - 2; /** * after received first frame, * send flowcontrol frame and wait consecutive frame, */ send_flowcontrol (FS_CTS); g_rcf_bc = 0; g_wait_cf = TRUE; nt_timer_start(TIMER_N_CR); /* claer the consecutive frane0 sn */ g_rcf_sn = 0; N_USData.ffindication (uds_dlc); return 1; } /** * recv_consecutiveframe - recieved a consecutive frame from CAN * * service: L_Data.indication (CF) * @frame_buf : uds can frame data buffer * @frame_dlc : uds can frame length * * returns: * 0 - recv end, 1 - recv continue, other - err */ static int recv_consecutiveframe (uint8_t frame_buf[], uint8_t frame_dlc) { uint8_t cf_sn; uint16_t i; cf_sn = NT_GET_CF_SN (frame_buf[0]); /* if N_Cr timeout, Abort message transmission and issue N_TIMEOUT_Cr */ if(nt_timer_chk (TIMER_N_CR) <= 0) return -1; g_rcf_sn++; if (g_rcf_sn > 0x0f) g_rcf_sn = 0; if (g_rcf_sn != cf_sn) { N_USData.indication (recv_buf, recv_len, N_WRONG_SN); return -2; } for(i = 0; i < UDS_CF_DL_COM; i++) { recv_buf[recv_len+i] = frame_buf[1+i]; } recv_len += UDS_CF_DL_COM; if (recv_len >= recv_fdl) { g_wait_cf = FALSE; N_USData.indication (recv_buf, recv_fdl, N_OK); return 0; } else { if (NT_XMIT_FC_BS > 0) { g_rcf_bc++; if (g_rcf_bc >= NT_XMIT_FC_BS) { /** * after NT_XMIT_FC_BS consecutive frames, * send flowcontrol frame and wait consecutive frame, */ send_flowcontrol (FS_CTS); g_rcf_bc = 0; } } g_wait_cf = TRUE; nt_timer_start(TIMER_N_CR); return 1; } } /** * recv_flowcontrolframe - process uds flowc control frame * * service: L_Data.indication (FC) * @frame_buf : uds can frame data buffer * @frame_dlc : uds can frame length * * returns: * 0 - recv CTS, 1 - recv WT, other - err */ static int recv_flowcontrolframe (uint8_t frame_buf[], uint8_t frame_dlc) { uint8_t fc_fs; fc_fs = NT_GET_FC_FS (frame_buf[0]); /** * if N_Bs timeout, * Abort message transmission and issue N_TIMEOUT_Bs, * if not timeout, stop the timer. */ if(nt_timer_chk (TIMER_N_BS) <= 0) return -1; /** * Got from CANoe Test: * After the First frame is received the Tester sends a functional * adressed Flow control. ECU must abort sending of the response */ //if (g_tatype == N_TATYPE_FUNCTIONAL) return -1; g_wait_fc = FALSE; if (fc_fs >= FS_RESERVED) { N_USData.confirm (N_INVALID_FS); return -2; } if (fc_fs == FS_OVFLW) { N_USData.confirm (N_BUFFER_OVFLW); return -3; } if (fc_fs == FS_WT) { g_wait_fc = TRUE; nt_timer_start (TIMER_N_BS); return 1; } /** * get the fc block size and stmin */ g_rfc_bs = frame_buf[1]; if (frame_buf[2] <= 0x7f) g_rfc_stmin = frame_buf[2]+1; else g_rfc_stmin = 0x7f; /* 127 ms */ /* start to transmit consecutive frame */ g_xcf_bc = 0; nt_timer_start_wv (TIMER_STmin, 1); return 0; } /******************************************************************************* Function Definition - send *******************************************************************************/ /** * send_flowcontrol - send flowcontrol frame * * service: L_Data.confirm (FC) * @flow_st : flow status * * returns: * void */ static void send_flowcontrol (uint8_t flow_st) { uint8_t send_buf[UDS_VALID_FRAME_LEN] = {0}; memset(send_buf, 0xcc, UDS_VALID_FRAME_LEN); send_buf[0] = NT_SET_PCI_TYPE_FC (flow_st); send_buf[1] = NT_XMIT_FC_BS; send_buf[2] = NT_XMIT_FC_STMIN; ZTai_UDS_Send (send_buf, UDS_VALID_FRAME_LEN); } /** * send_singleframe - send a single frame msg * * @msg_buf : uds msg data buffer * @msg_dlc : uds msg length * * returns: * void */ static void send_singleframe (uint8_t msg_buf[], uint16_t msg_dlc) { uint16_t i; uint8_t send_buf[UDS_VALID_FRAME_LEN] = {0}; memset(send_buf, 0xcc, UDS_VALID_FRAME_LEN); if (msg_dlc == 0 || msg_dlc > UDS_SF_DL_MAX) return; send_buf[0] = NT_SET_PCI_TYPE_SF ((uint8_t)msg_dlc); for (i = 0; i < msg_dlc; i++) send_buf[1+i] = msg_buf[i]; ZTai_UDS_Send (send_buf, UDS_VALID_FRAME_LEN); } /** * send_firstframe - send a first frame data * * service : L_Data.confirm (FF) * @msg_buf : uds msg data buffer * @msg_dlc : uds msg length * * returns: * int */ static int send_firstframe (uint8_t msg_buf[], uint16_t msg_dlc) { uint16_t i; uint8_t send_buf[UDS_VALID_FRAME_LEN] = {0}; memset(send_buf, 0xcc, UDS_VALID_FRAME_LEN); if (msg_dlc < UDS_FF_DL_MIN || msg_dlc > UDS_FF_DL_MAX) return 0; send_buf[0] = NT_SET_PCI_TYPE_FF ((uint8_t)(msg_dlc >> 8)); send_buf[1] = (uint8_t)(msg_dlc & 0x00ff); for (i = 0; i < UDS_VALID_FRAME_LEN-2; i++) send_buf[2+i] = msg_buf[i]; ZTai_UDS_Send (send_buf, UDS_VALID_FRAME_LEN); /** * start N_Bs and wait for a fc. */ g_wait_fc = TRUE; nt_timer_start (TIMER_N_BS); return UDS_VALID_FRAME_LEN-2; } /** * send_consecutiveframe - send consecutive frame data * * service : L_Data.confirm (CF) * @msg_buf : uds msg data buffer * @msg_dlc : uds msg length * * returns: * int */ static int send_consecutiveframe (uint8_t msg_buf[], uint16_t msg_dlc, uint8_t frame_sn) { uint16_t i; uint8_t send_buf[UDS_VALID_FRAME_LEN] = {0}; memset(send_buf, 0xcc, UDS_VALID_FRAME_LEN); send_buf[0] = NT_SET_PCI_TYPE_CF (frame_sn); for (i = 0; i < msg_dlc && i < UDS_CF_DL_COM; i++) send_buf[1+i] = msg_buf[i]; for (; i < UDS_CF_DL_COM; i++) send_buf[1+i] = 0; ZTai_UDS_Send (send_buf, UDS_VALID_FRAME_LEN); if (msg_dlc > UDS_CF_DL_COM) return UDS_CF_DL_COM; else return msg_dlc; } /** * send_multipleframe - send a multiple frame msg * * @msg_buf : uds msg data buffer * @msg_dlc : uds msg length * * returns: * void */ static void send_multipleframe (uint8_t msg_buf[], uint16_t msg_dlc) { uint16_t i; uint8_t send_len; if (msg_dlc < UDS_FF_DL_MIN || msg_dlc > UDS_FF_DL_MAX) return; for (i = 0; i < msg_dlc; i++) remain_buf[i] = msg_buf[i]; g_xcf_sn = 0; send_len = send_firstframe (msg_buf, msg_dlc); remain_pos = send_len; remain_len = msg_dlc - send_len; } /******************************************************************************* Function Definition - external API *******************************************************************************/ /** * network_main - network main task, should be schedule every one ms * * @void * * returns: * void */ extern void network_main (void) { uint8_t send_len; // uint8_t err; if (nt_timer_run (TIMER_N_CR) < 0) { clear_network (); N_USData.indication (recv_buf, recv_len, N_TIMEOUT_Cr); } if (nt_timer_run (TIMER_N_BS) < 0) { clear_network (); N_USData.confirm (N_TIMEOUT_Bs); } if (nt_timer_run (TIMER_STmin) < 0) { g_xcf_sn++; if (g_xcf_sn > 0x0f) g_xcf_sn = 0; // OSMutexPend(UdsMutex,0,&err); send_len = send_consecutiveframe (&remain_buf[remain_pos], remain_len, g_xcf_sn); remain_pos += send_len; remain_len -= send_len; if (remain_len > 0) { if (g_rfc_bs > 0) { g_xcf_bc++; if (g_xcf_bc < g_rfc_bs) { nt_timer_start (TIMER_STmin); } else { /** * start N_Bs and wait for a fc. */ g_wait_fc = TRUE; nt_timer_start (TIMER_N_BS); } } else { nt_timer_start (TIMER_STmin); } } else { clear_network (); } // OSMutexPost(UdsMutex); } } /** * network_recv_frame - recieved uds network can frame * * @func_addr : 0 - physical addr, 1 - functional addr * @frame_buf : uds can frame data buffer * @frame_dlc : uds can frame length * * returns: * void */ extern void network_recv_frame (uint8_t func_addr, uint8_t frame_buf[], uint8_t frame_dlc) { // uint8_t err; uint8_t pci_type; /* protocol control information type */ /** * The reception of a CAN frame with a DLC value * smaller than expected shall be ignored by the * network layer without any further action */ if(frame_dlc != UDS_VALID_FRAME_LEN) return; if (func_addr == 0) g_tatype = N_TATYPE_PHYSICAL; else g_tatype = N_TATYPE_FUNCTIONAL; // OSMutexPend(UdsMutex,0,&err); pci_type = NT_GET_PCI_TYPE (frame_buf[0]); switch(pci_type) { case PCI_SF: if (nwl_st == NWL_RECV || nwl_st == NWL_IDLE) { clear_network (); if (nwl_st == NWL_RECV) N_USData.indication (recv_buf, recv_len, N_UNEXP_PDU); recv_singleframe (frame_buf, frame_dlc); } break; case PCI_FF: if (nwl_st == NWL_RECV || nwl_st == NWL_IDLE) { clear_network (); if (nwl_st == NWL_RECV) N_USData.indication (recv_buf, recv_len, N_UNEXP_PDU); if (recv_firstframe (frame_buf, frame_dlc) > 0) nwl_st = NWL_RECV; else nwl_st = NWL_IDLE; } break; case PCI_CF: if (nwl_st == NWL_RECV && g_wait_cf == TRUE) { if (recv_consecutiveframe (frame_buf, frame_dlc) <= 0) { clear_network (); nwl_st = NWL_IDLE; } } break; case PCI_FC: if (nwl_st == NWL_XMIT && g_wait_fc == TRUE) if (recv_flowcontrolframe (frame_buf, frame_dlc) < 0) { clear_network (); nwl_st = NWL_IDLE; } break; default: break; } // OSMutexPost(UdsMutex); } /** * network_send_udsmsg - send a uds msg by can * * @msg_buf : uds msg data buffer * @msg_dlc : uds msg length * * returns: * void */ extern void network_send_udsmsg (uint8_t msg_buf[], uint16_t msg_dlc) { if (msg_dlc == 0 || msg_dlc > UDS_FF_DL_MAX) return; if (msg_dlc <= UDS_SF_DL_MAX) { send_singleframe (msg_buf, msg_dlc); } else { nwl_st = NWL_XMIT; send_multipleframe (msg_buf, msg_dlc); } } /** * network_reg_usdata - reg usdata Function * * @usdata : uds msg data Function struct * * returns: * 0 - ok, other - err */ extern int network_reg_usdata (nt_usdata_t usdata) { // uint8_t err; if (usdata.ffindication == NULL || usdata.indication == NULL || usdata.confirm == NULL) return -1; N_USData = usdata; // UdsMutex = OSMutexCreate(5, &err); return 0; } /****************EOF****************/
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