ISO14229-1 (UDS) library. More...

#include "iso14229.h"
#include <stdint.h>
#include <stdio.h>
#include <stdarg.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <stdbool.h>
#include <stdlib.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <errno.h>
#include <string.h>
#include <linux/can/isotp.h>
#include <poll.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <assert.h>
#include <stddef.h>

Include dependency graph for iso14229.c:

Go to the source code of this file.

Classes
struct	Msg

Macros
#define	STATE_IDLE 0

#define	STATE_SENDING 1

#define	STATE_AWAIT_SEND_COMPLETE 2

#define	STATE_AWAIT_RESPONSE 3

#define	MAX_NUM_TP 16

#define	NUM_MSGS 8

Typedefs
typedef UDSErr_t(*	UDSService) (UDSServer_t srv, UDSReq_t r)

Functions
UDSErr_t	UDSClientInit (UDSClient_t *client)

UDSErr_t	UDSSendBytes (UDSClient_t client, const uint8_t data, uint16_t size)

UDSErr_t	UDSSendECUReset (UDSClient_t *client, uint8_t type)

UDSErr_t	UDSSendDiagSessCtrl (UDSClient_t *client, uint8_t mode)

UDSErr_t	UDSSendCommCtrl (UDSClient_t *client, uint8_t ctrl, uint8_t comm)

UDSErr_t	UDSSendTesterPresent (UDSClient_t *client)

UDSErr_t	UDSSendRDBI (UDSClient_t client, const uint16_t didList, const uint16_t numDataIdentifiers)

UDSErr_t	UDSSendWDBI (UDSClient_t client, uint16_t dataIdentifier, const uint8_t data, uint16_t size)

UDSErr_t	UDSSendRoutineCtrl (UDSClient_t client, uint8_t type, uint16_t routineIdentifier, const uint8_t data, uint16_t size)

UDSErr_t	UDSSendRequestDownload (UDSClient_t *client, uint8_t dataFormatIdentifier, uint8_t addressAndLengthFormatIdentifier, size_t memoryAddress, size_t memorySize)

UDSErr_t	UDSSendRequestUpload (UDSClient_t *client, uint8_t dataFormatIdentifier, uint8_t addressAndLengthFormatIdentifier, size_t memoryAddress, size_t memorySize)

UDSErr_t	UDSSendTransferData (UDSClient_t client, uint8_t blockSequenceCounter, const uint16_t blockLength, const uint8_t data, uint16_t size)

UDSErr_t	UDSSendTransferDataStream (UDSClient_t client, uint8_t blockSequenceCounter, const uint16_t blockLength, FILE fd)

UDSErr_t	UDSSendRequestTransferExit (UDSClient_t *client)

UDSErr_t	UDSSendRequestFileTransfer (UDSClient_t client, uint8_t mode, const char filePath, uint8_t dataFormatIdentifier, uint8_t fileSizeParameterLength, size_t fileSizeUncompressed, size_t fileSizeCompressed)

UDSErr_t	UDSCtrlDTCSetting (UDSClient_t client, uint8_t dtcSettingType, uint8_t data, uint16_t size)

UDSErr_t	UDSSendSecurityAccess (UDSClient_t client, uint8_t level, uint8_t data, uint16_t size)

UDSErr_t	UDSUnpackSecurityAccessResponse (const UDSClient_t client, struct SecurityAccessResponse resp)

UDSErr_t	UDSUnpackRoutineControlResponse (const UDSClient_t client, struct RoutineControlResponse resp)

UDSErr_t	UDSUnpackRequestDownloadResponse (const UDSClient_t client, struct RequestDownloadResponse resp)

UDSErr_t	UDSClientPoll (UDSClient_t *client)

UDSErr_t	UDSUnpackRDBIResponse (UDSClient_t client, UDSRDBIVar_t vars, uint16_t numVars)

UDSErr_t	UDSServerInit (UDSServer_t *srv)

void	UDSServerPoll (UDSServer_t *srv)

ssize_t	UDSTpSend (struct UDSTp hdl, const uint8_t buf, ssize_t len, UDSSDU_t *info)

ssize_t	UDSTpRecv (struct UDSTp hdl, uint8_t buf, size_t bufsize, UDSSDU_t *info)

UDSTpStatus_t	UDSTpPoll (struct UDSTp *hdl)

uint32_t	UDSMillis (void)
	Get time in milliseconds.

bool	UDSSecurityAccessLevelIsReserved (uint8_t subFunction)
	Check if a security level is reserved per ISO14229-1:2020 Table 42.

const char *	UDSErrToStr (UDSErr_t err)

const char *	UDSEventToStr (UDSEvent_t evt)

bool	UDSErrIsNRC (UDSErr_t err)

UDSErr_t	UDSISOTpCInit (UDSISOTpC_t tp, const UDSISOTpCConfig_t cfg)

uint32_t	isotp_user_get_us (void)
	user implemented, gets the amount of time passed since the last call in microseconds

	__attribute__ ((format(printf, 1, 2)))

int	isotp_user_send_can (const uint32_t arbitration_id, const uint8_t data, const uint8_t size, void user_data)
	user implemented, send can message. should return ISOTP_RET_OK when success.

UDSErr_t	UDSTpISOTpCInit (UDSTpISOTpC_t tp, const char ifname, uint32_t source_addr, uint32_t target_addr, uint32_t source_addr_func, uint32_t target_addr_func)

void	UDSTpISOTpCDeinit (UDSTpISOTpC_t *tp)

UDSErr_t	UDSTpIsoTpSockInitServer (UDSTpIsoTpSock_t tp, const char ifname, uint32_t source_addr, uint32_t target_addr, uint32_t source_addr_func)

UDSErr_t	UDSTpIsoTpSockInitClient (UDSTpIsoTpSock_t tp, const char ifname, uint32_t source_addr, uint32_t target_addr, uint32_t target_addr_func)

void	UDSTpIsoTpSockDeinit (UDSTpIsoTpSock_t *tp)

UDSTp_t *	ISOTPMockNew (const char name, ISOTPMockArgs_t args)
	Create a mock transport. It is connected by default to a broadcast network of all other mock transports in the same process.

void	ISOTPMockConnect (UDSTp_t tp1, UDSTp_t tp2)

void	ISOTPMockLogToFile (const char *filename)
	write all messages to a file

void	ISOTPMockLogToStdout (void)

void	ISOTPMockReset (void)
	clear all transports and close the log file

void	ISOTPMockFree (UDSTp_t *tp)

int	isotp_send (IsoTpLink *link, const uint8_t payload[], uint16_t size)
	PUBLIC FUNCTIONS ///.

int	isotp_send_with_id (IsoTpLink *link, uint32_t id, const uint8_t payload[], uint16_t size)
	See isotp_send, with the exception that this function is used only for functional addressing.

void	isotp_on_can_message (IsoTpLink link, const uint8_t data, uint8_t len)
	Handles incoming CAN messages. Determines whether an incoming message is a valid ISO-TP frame or not and handles it accordingly.

int	isotp_receive (IsoTpLink link, uint8_t payload, const uint16_t payload_size, uint16_t *out_size)
	Receives and parses the received data and copies the parsed data in to the internal buffer.

void	isotp_init_link (IsoTpLink link, uint32_t sendid, uint8_t sendbuf, uint16_t sendbufsize, uint8_t *recvbuf, uint16_t recvbufsize)
	Initialises the ISO-TP library.

void	isotp_poll (IsoTpLink *link)
	Polling function; call this function periodically to handle timeouts, send consecutive frames, etc.

Detailed Description

ISO14229-1 (UDS) library.

Copyright: Copyright (c) Nick Kirkby

See also: https://github.com/driftregion/iso14229

Definition in file iso14229.c.

Macro Definition Documentation

◆ MAX_NUM_TP

#define MAX_NUM_TP 16

Definition at line 3505 of file iso14229.c.

◆ NUM_MSGS

#define NUM_MSGS 8

Definition at line 3506 of file iso14229.c.

◆ STATE_AWAIT_RESPONSE

#define STATE_AWAIT_RESPONSE 3

Definition at line 18 of file iso14229.c.

◆ STATE_AWAIT_SEND_COMPLETE

#define STATE_AWAIT_SEND_COMPLETE 2

Definition at line 17 of file iso14229.c.

◆ STATE_IDLE

#define STATE_IDLE 0

Definition at line 15 of file iso14229.c.

◆ STATE_SENDING

#define STATE_SENDING 1

Definition at line 16 of file iso14229.c.

Typedef Documentation

◆ UDSService

typedef UDSErr_t(* UDSService) (UDSServer_t *srv, UDSReq_t *r)

Definition at line 2219 of file iso14229.c.

Function Documentation

◆ attribute()

__attribute__ ( (format(printf, 1, 2)) )

Definition at line 3031 of file iso14229.c.

◆ isotp_init_link()

void isotp_init_link	(	IsoTpLink *	link,
		uint32_t	sendid,
		uint8_t *	sendbuf,
		uint16_t	sendbufsize,
		uint8_t *	recvbuf,
		uint16_t	recvbufsize
	)

Initialises the ISO-TP library.

Parameters

link	The IsoTpLink IsoTpLink Struct containing the data for linking an application to a CAN instance. The data stored in this stru... Definition iso14229.h:1504 instance used for transceiving data.
sendid	The ID used to send data to other CAN nodes.
sendbuf	A pointer to an area in memory which can be used as a buffer for data to be sent.
sendbufsize	The size of the buffer area.
recvbuf	A pointer to an area in memory which can be used as a buffer for data to be received.
recvbufsize	The size of the buffer area.

Definition at line 4205 of file iso14229.c.

◆ isotp_on_can_message()

void isotp_on_can_message	(	IsoTpLink *	link,
		const uint8_t *	data,
		uint8_t	len
	)

Handles incoming CAN messages. Determines whether an incoming message is a valid ISO-TP frame or not and handles it accordingly.

Parameters

link	The IsoTpLink instance used for transceiving data.
data	The data received via CAN.
len	The length of the data received.

Definition at line 4036 of file iso14229.c.

◆ isotp_poll()

void isotp_poll ( IsoTpLink * link )

Polling function; call this function periodically to handle timeouts, send consecutive frames, etc.

Parameters

link	The IsoTpLink instance used.

Definition at line 4218 of file iso14229.c.

◆ isotp_receive()

int isotp_receive	(	IsoTpLink *	link,
		uint8_t *	payload,
		const uint16_t	payload_size,
		uint16_t *	out_size
	)

Receives and parses the received data and copies the parsed data in to the internal buffer.

Parameters

link	The IsoTpLink instance used to transceive data.
payload	A pointer to an area in memory where the raw data is copied from.
payload_size	The size of the received (raw) CAN data.
out_size	A reference to a variable which will contain the size of the actual (parsed) data.

Returns

Possible return values:

ISOTP_RET_OK
ISOTP_RET_NO_DATA

Definition at line 4185 of file iso14229.c.

◆ isotp_send()

int isotp_send	(	IsoTpLink *	link,
		const uint8_t	payload[],
		uint16_t	size
	)

PUBLIC FUNCTIONS ///.

Sends ISO-TP frames via CAN, using the ID set in the initialising function.

Definition at line 3979 of file iso14229.c.

◆ isotp_send_with_id()

int isotp_send_with_id	(	IsoTpLink *	link,
		uint32_t	id,
		const uint8_t	payload[],
		uint16_t	size
	)

See isotp_send, with the exception that this function is used only for functional addressing.

Definition at line 3983 of file iso14229.c.

◆ isotp_user_get_us()

uint32_t isotp_user_get_us ( void )

user implemented, gets the amount of time passed since the last call in microseconds

Definition at line 3029 of file iso14229.c.

◆ isotp_user_send_can()

int isotp_user_send_can	(	const uint32_t	arbitration_id,
		const uint8_t *	data,
		const uint8_t	size,
		void *	arg
	)

user implemented, send can message. should return ISOTP_RET_OK when success.

Returns: may return ISOTP_RET_NOSPACE if the CAN transfer should be retried later or ISOTP_RET_ERROR if transmission couldn't be completed

Definition at line 3041 of file iso14229.c.

◆ ISOTPMockFree()

void ISOTPMockFree ( UDSTp_t * tp )

Definition at line 3711 of file iso14229.c.

◆ ISOTPMockLogToFile()

void ISOTPMockLogToFile ( const char * filename )

write all messages to a file

Note: uses UDSMillis() to get the current time

Parameters

filename log file name (will be overwritten)

Definition at line 3680 of file iso14229.c.

◆ ISOTPMockLogToStdout()

void ISOTPMockLogToStdout ( void )

Definition at line 3697 of file iso14229.c.

◆ ISOTPMockNew()

UDSTp_t * ISOTPMockNew	(	const char *	name,
		ISOTPMockArgs_t *	args
	)

Create a mock transport. It is connected by default to a broadcast network of all other mock transports in the same process.

Parameters

name	optional name of the transport (can be NULL)

Returns: UDSTp_t*

Definition at line 3660 of file iso14229.c.

◆ ISOTPMockReset()

void ISOTPMockReset ( void )

clear all transports and close the log file

Definition at line 3704 of file iso14229.c.

◆ UDSClientInit()

UDSErr_t UDSClientInit ( UDSClient_t * client )

Definition at line 20 of file iso14229.c.

◆ UDSClientPoll()

UDSErr_t UDSClientPoll ( UDSClient_t * client )

Definition at line 827 of file iso14229.c.

◆ UDSCtrlDTCSetting()

UDSErr_t UDSCtrlDTCSetting	(	UDSClient_t *	client,
		uint8_t	dtcSettingType,
		uint8_t *	data,
		uint16_t	size
	)

Definition at line 667 of file iso14229.c.

◆ UDSErrIsNRC()

bool UDSErrIsNRC ( UDSErr_t err )

Definition at line 2777 of file iso14229.c.

◆ UDSErrToStr()

const char * UDSErrToStr ( UDSErr_t err )

Definition at line 2574 of file iso14229.c.

◆ UDSEventToStr()

const char * UDSEventToStr ( UDSEvent_t evt )

Definition at line 2723 of file iso14229.c.

◆ UDSISOTpCInit()

UDSErr_t UDSISOTpCInit	(	UDSISOTpC_t *	tp,
		const UDSISOTpCConfig_t *	cfg
	)

Definition at line 2962 of file iso14229.c.

◆ UDSMillis()

uint32_t UDSMillis ( void )

Get time in milliseconds.

Returns: current time in milliseconds

Definition at line 2532 of file iso14229.c.

◆ UDSSecurityAccessLevelIsReserved()

bool UDSSecurityAccessLevelIsReserved ( uint8_t subFunction )

Check if a security level is reserved per ISO14229-1:2020 Table 42.

Parameters

securityLevel

Returns: true; false

Definition at line 2560 of file iso14229.c.

◆ UDSSendBytes()

UDSErr_t UDSSendBytes	(	UDSClient_t *	client,
		const uint8_t *	data,
		uint16_t	size
	)

Definition at line 306 of file iso14229.c.

◆ UDSSendCommCtrl()

UDSErr_t UDSSendCommCtrl	(	UDSClient_t *	client,
		uint8_t	ctrl,
		uint8_t	comm
	)

Definition at line 341 of file iso14229.c.

◆ UDSSendDiagSessCtrl()

UDSErr_t UDSSendDiagSessCtrl	(	UDSClient_t *	client,
		uint8_t	mode
	)

Definition at line 330 of file iso14229.c.

◆ UDSSendECUReset()

UDSErr_t UDSSendECUReset	(	UDSClient_t *	client,
		uint8_t	type
	)

Definition at line 319 of file iso14229.c.

◆ UDSSendRDBI()

UDSErr_t UDSSendRDBI	(	UDSClient_t *	client,
		const uint16_t *	didList,
		const uint16_t	numDataIdentifiers
	)

Definition at line 364 of file iso14229.c.

◆ UDSSendRequestDownload()

UDSErr_t UDSSendRequestDownload	(	UDSClient_t *	client,
		uint8_t	dataFormatIdentifier,
		uint8_t	addressAndLengthFormatIdentifier,
		size_t	memoryAddress,
		size_t	memorySize
	)

Definition at line 456 of file iso14229.c.

◆ UDSSendRequestFileTransfer()

UDSErr_t UDSSendRequestFileTransfer	(	UDSClient_t *	client,
		uint8_t	mode,
		const char *	filePath,
		uint8_t	dataFormatIdentifier,
		uint8_t	fileSizeParameterLength,
		size_t	fileSizeUncompressed,
		size_t	fileSizeCompressed
	)

Definition at line 599 of file iso14229.c.

◆ UDSSendRequestTransferExit()

UDSErr_t UDSSendRequestTransferExit ( UDSClient_t * client )

Definition at line 589 of file iso14229.c.

◆ UDSSendRequestUpload()

UDSErr_t UDSSendRequestUpload	(	UDSClient_t *	client,
		uint8_t	dataFormatIdentifier,
		uint8_t	addressAndLengthFormatIdentifier,
		size_t	memoryAddress,
		size_t	memorySize
	)

Definition at line 497 of file iso14229.c.

◆ UDSSendRoutineCtrl()

UDSErr_t UDSSendRoutineCtrl	(	UDSClient_t *	client,
		uint8_t	type,
		uint16_t	routineIdentifier,
		const uint8_t *	data,
		uint16_t	size
	)

Definition at line 418 of file iso14229.c.

◆ UDSSendSecurityAccess()

UDSErr_t UDSSendSecurityAccess	(	UDSClient_t *	client,
		uint8_t	level,
		uint8_t *	data,
		uint16_t	size
	)

Definition at line 710 of file iso14229.c.

◆ UDSSendTesterPresent()

UDSErr_t UDSSendTesterPresent ( UDSClient_t * client )

Definition at line 353 of file iso14229.c.

◆ UDSSendTransferData()

UDSErr_t UDSSendTransferData	(	UDSClient_t *	client,
		uint8_t	blockSequenceCounter,
		const uint16_t	blockLength,
		const uint8_t *	data,
		uint16_t	size
	)

Definition at line 537 of file iso14229.c.

◆ UDSSendTransferDataStream()

UDSErr_t UDSSendTransferDataStream	(	UDSClient_t *	client,
		uint8_t	blockSequenceCounter,
		const uint16_t	blockLength,
		FILE *	fd
	)

Definition at line 561 of file iso14229.c.

◆ UDSSendWDBI()

UDSErr_t UDSSendWDBI	(	UDSClient_t *	client,
		uint16_t	dataIdentifier,
		const uint8_t *	data,
		uint16_t	size
	)

Definition at line 387 of file iso14229.c.

◆ UDSServerInit()

UDSErr_t UDSServerInit ( UDSServer_t * srv )

Definition at line 2404 of file iso14229.c.

◆ UDSServerPoll()

void UDSServerPoll ( UDSServer_t * srv )

Definition at line 2421 of file iso14229.c.

◆ UDSTpISOTpCDeinit()

void UDSTpISOTpCDeinit ( UDSTpISOTpC_t * tp )

Definition at line 3205 of file iso14229.c.

◆ UDSTpISOTpCInit()

UDSErr_t UDSTpISOTpCInit	(	UDSTpISOTpC_t *	tp,
		const char *	ifname,
		uint32_t	source_addr,
		uint32_t	target_addr,
		uint32_t	source_addr_func,
		uint32_t	target_addr_func
	)

Definition at line 3180 of file iso14229.c.

◆ UDSTpIsoTpSockDeinit()

void UDSTpIsoTpSockDeinit ( UDSTpIsoTpSock_t * tp )

Definition at line 3480 of file iso14229.c.

◆ UDSTpIsoTpSockInitClient()

UDSErr_t UDSTpIsoTpSockInitClient	(	UDSTpIsoTpSock_t *	tp,
		const char *	ifname,
		uint32_t	source_addr,
		uint32_t	target_addr,
		uint32_t	target_addr_func
	)

Definition at line 3454 of file iso14229.c.

◆ UDSTpIsoTpSockInitServer()

UDSErr_t UDSTpIsoTpSockInitServer	(	UDSTpIsoTpSock_t *	tp,
		const char *	ifname,
		uint32_t	source_addr,
		uint32_t	target_addr,
		uint32_t	source_addr_func
	)

Definition at line 3428 of file iso14229.c.

◆ UDSTpPoll()

UDSTpStatus_t UDSTpPoll ( struct UDSTp * hdl )

Definition at line 2520 of file iso14229.c.

◆ UDSTpRecv()

ssize_t UDSTpRecv	(	struct UDSTp *	hdl,
		uint8_t *	buf,
		size_t	bufsize,
		UDSSDU_t *	info
	)

Definition at line 2514 of file iso14229.c.

◆ UDSTpSend()

ssize_t UDSTpSend	(	struct UDSTp *	hdl,
		const uint8_t *	buf,
		ssize_t	len,
		UDSSDU_t *	info
	)

Definition at line 2508 of file iso14229.c.

◆ UDSUnpackRDBIResponse()

UDSErr_t UDSUnpackRDBIResponse	(	UDSClient_t *	client,
		UDSRDBIVar_t *	vars,
		uint16_t	numVars
	)

Definition at line 845 of file iso14229.c.

◆ UDSUnpackRequestDownloadResponse()

UDSErr_t UDSUnpackRequestDownloadResponse	(	const UDSClient_t *	client,
		struct RequestDownloadResponse *	resp
	)

Definition at line 801 of file iso14229.c.

◆ UDSUnpackRoutineControlResponse()

UDSErr_t UDSUnpackRoutineControlResponse	(	const UDSClient_t *	client,
		struct RoutineControlResponse *	resp
	)

Definition at line 773 of file iso14229.c.

◆ UDSUnpackSecurityAccessResponse()

UDSErr_t UDSUnpackSecurityAccessResponse	(	const UDSClient_t *	client,
		struct SecurityAccessResponse *	resp
	)

Definition at line 748 of file iso14229.c.

Classes

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

◆ MAX_NUM_TP

◆ NUM_MSGS

◆ STATE_AWAIT_RESPONSE

◆ STATE_AWAIT_SEND_COMPLETE

◆ STATE_IDLE

◆ STATE_SENDING

Typedef Documentation

◆ UDSService

Function Documentation

◆ __attribute__()

◆ isotp_init_link()

◆ isotp_on_can_message()

◆ isotp_poll()

◆ isotp_receive()

◆ isotp_send()

◆ isotp_send_with_id()

◆ isotp_user_get_us()

◆ isotp_user_send_can()

◆ ISOTPMockFree()

◆ ISOTPMockLogToFile()

◆ ISOTPMockLogToStdout()

◆ ISOTPMockNew()

◆ ISOTPMockReset()

◆ UDSClientInit()

◆ UDSClientPoll()

◆ UDSCtrlDTCSetting()

◆ UDSErrIsNRC()

◆ UDSErrToStr()

◆ UDSEventToStr()

◆ UDSISOTpCInit()

◆ UDSMillis()

◆ UDSSecurityAccessLevelIsReserved()

◆ UDSSendBytes()

◆ UDSSendCommCtrl()

◆ UDSSendDiagSessCtrl()

◆ UDSSendECUReset()

◆ UDSSendRDBI()

◆ UDSSendRequestDownload()

◆ UDSSendRequestFileTransfer()

◆ UDSSendRequestTransferExit()

◆ UDSSendRequestUpload()

◆ UDSSendRoutineCtrl()

◆ UDSSendSecurityAccess()

◆ UDSSendTesterPresent()

◆ UDSSendTransferData()

◆ UDSSendTransferDataStream()

◆ UDSSendWDBI()

◆ UDSServerInit()

◆ UDSServerPoll()

◆ UDSTpISOTpCDeinit()

◆ UDSTpISOTpCInit()

◆ UDSTpIsoTpSockDeinit()

◆ UDSTpIsoTpSockInitClient()

◆ UDSTpIsoTpSockInitServer()

◆ UDSTpPoll()

◆ UDSTpRecv()

◆ UDSTpSend()

◆ UDSUnpackRDBIResponse()

◆ UDSUnpackRequestDownloadResponse()

◆ UDSUnpackRoutineControlResponse()

◆ UDSUnpackSecurityAccessResponse()

◆ attribute()