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iso14229

iso14229 is an implementation of UDS (ISO14229) targeting embedded systems. It is tested with isotp-c as well as linux kernel ISO15765-2 (ISO-TP) transport layer implementations.

API status: not yet stable.

Using this library

1. Download iso14229.zip from the releases page, copy iso14229.c and iso14229.h into your source tree and build.
2. Look at the examples

Build Systems

iso14229 is designed to build on any platform.

Preprocessor Defines

Features

• entirely static memory allocation. (no malloc, calloc, ...)
• highly portable and tested
  • architectures: arm, x86-64, ppc, ppc64, risc
  • systems: linux, Windows, esp32, Arduino, NXP s32k
  • transports: isotp-c, linux isotp sockets

supported functions (server and client )

Running Tests

See test_all.sh and test/README.md

Documentation

Server Events

see enum UDSServerEvent in src/uds.h

UDS_SRV_EVT_DiagSessCtrl (0x10)

Arguments

typedef struct {
    const enum UDSDiagnosticSessionType type; /**< requested session type */
    uint16_t p2_ms;                           /**< optional return value: p2 timing override */
    uint32_t p2_star_ms;                      /**< optional return value: p2* timing override */
} UDSDiagSessCtrlArgs_t;

Supported Responses

UDS_SRV_EVT_ECUReset (0x11)

Arguments

typedef struct {
    const enum UDSECUResetType type; /**< reset type requested by client */
    uint8_t powerDownTime; /**< Optional response: notify client of time until shutdown (0-254) 255
                              indicates that a time is not available. */
} UDSECUResetArgs_t;

Supported Responses

UDS_SRV_EVT_ReadDataByIdent (0x22)

Arguments

typedef struct {
    const uint16_t dataId; /*! data identifier */
    /*! function for copying to the server send buffer. Returns `kPositiveResponse` on success and `kResponseTooLong` if the length of the data to be copied exceeds that of the server send buffer */
    const uint8_t (*copy)(UDSServer_t *srv, const void *src,
                    uint16_t count); 
} UDSRDBIArgs_t;

Supported Responses

UDS_SRV_EVT_SecAccessRequestSeed, UDS_SRV_EVT_SecAccessValidateKey (0x27)

Arguments

typedef struct {
    const uint8_t level;             /*! requested security level */
    const uint8_t *const dataRecord; /*! pointer to request data */
    const uint16_t len;              /*! size of request data */
    /*! function for copying to the server send buffer. Returns `kPositiveResponse` on success and `kResponseTooLong` if the length of the data to be copied exceeds that of the server send buffer */
    uint8_t (*copySeed)(UDSServer_t *srv, const void *src,
                        uint16_t len);
} UDSSecAccessRequestSeedArgs_t;

typedef struct {
    const uint8_t level;      /*! security level to be validated */
    const uint8_t *const key; /*! key sent by client */
    const uint16_t len;       /*! length of key */
} UDSSecAccessValidateKeyArgs_t;

Supported Responses

UDS_SRV_EVT_CommCtrl (0x28)

Arguments

typedef struct {
    enum UDSCommunicationControlType ctrlType; 
    enum UDSCommunicationType commType;
} UDSCommCtrlArgs_t;

Supported Responses

UDS_SRV_EVT_WriteDataByIdent (0x2E)

Arguments

typedef struct {
    const uint16_t dataId;     /*! WDBI Data Identifier */
    const uint8_t *const data; /*! pointer to data */
    const uint16_t len;        /*! length of data */
} UDSWDBIArgs_t;

Supported Responses

UDS_SRV_EVT_RoutineCtrl (0x31)

Arguments

typedef struct {
    const uint8_t ctrlType;      /*! routineControlType */
    const uint16_t id;           /*! routineIdentifier */
    const uint8_t *optionRecord; /*! optional data */
    const uint16_t len;          /*! length of optional data */
    /*! function for copying to the server send buffer. Returns `kPositiveResponse` on success and `kResponseTooLong` if the length of the data to be copied exceeds that of the server send buffer */
    uint8_t (*copyStatusRecord)(UDSServer_t *srv, const void *src,
                                uint16_t len);
} UDSRoutineCtrlArgs_t;

Supported Responses

UDS_SRV_EVT_RequestDownload (0x34)

Arguments

typedef struct {
    const void *addr;                   /*! requested address */
    const size_t size;                  /*! requested download size */
    const uint8_t dataFormatIdentifier; /*! optional specifier for format of data */
    uint16_t maxNumberOfBlockLength; /*! response: inform client how many data bytes to send in each
                                        `TransferData` request */
} UDSRequestDownloadArgs_t;

Supported Responses

UDS_SRV_EVT_TransferData (0x36)

Arguments

typedef struct {
    const uint8_t *const data; /*! transfer data */
    const uint16_t len;        /*! transfer data length */
    /*! function for copying to the server send buffer. Returns `kPositiveResponse` on success and `kResponseTooLong` if the length of the data to be copied exceeds that of the server send buffer */
    uint8_t (*copyResponse)(
        UDSServer_t *srv, const void *src,
        uint16_t len);
} UDSTransferDataArgs_t;

Supported Responses

UDS_SRV_EVT_RequestTransferExit (0x37)

Arguments

typedef struct {
    const uint8_t *const data; /*! request data */
    const uint16_t len;        /*! request data length */
    /*! function for copying to the server send buffer. Returns `kPositiveResponse` on success and `kResponseTooLong` if the length of the data to be copied exceeds that of the server send buffer */
    uint8_t (*copyResponse)(UDSServer_t *srv, const void *src,
                            uint16_t len);
} UDSRequestTransferExitArgs_t;

Supported Responses

Examples

examples/README.md

Running Tests

make test

Contributing

contributions are welcome

Acknowledgements

• isotp-c which this project embeds

Changelog

0.7.1

• amalgamated sources into iso14229.c and iso14229.h to ease integration

0.7.0

• test refactoring. theme: test invariance across different transports and processor architectures
• breaking API changes:
  • overhauled transport layer implementation
  • simplified client and server init
  • UDS_ARCH_ renamed to UDS_SYS_

0.6.0

• breaking API changes:
  • UDSClientErr_t merged into UDSErr_t
  • TP_SEND_INPROGRESS renamed to UDS_TP_SEND_IN_PROGRESS
  • refactored UDSTpHandle_t to encourage struct inheritance
  • UDS_TP_LINUX_SOCKET renamed to UDS_TP_ISOTP_SOCKET
• added server fuzz test and qemu tests
• cleaned up example tests, added isotp-c on socketcan to examples
• added UDS_SRV_EVT_DoScheduledReset
• improve client error handling

0.5.0

• usability: refactored into a single .c/.h module
• usability: default transport layer configs are now built-in
• API cleanup: use UDS prefix on all exported functions
• API cleanup: use a single callback function for all server events

0.4.0

• refactor RDBIHandler to pass a function pointer that implements safe memmove rather than requiring the user to keep valid data around for an indefinite time or risking a buffer overflow.
• Prefer fixed-width. Avoid using enum types as return types and in structures.
• Transport layer is now pluggable and supports the linux kernel ISO-TP driver in addition to isotp-c. See examples.

0.3.0

• added iso14229ClientRunSequenceBlocking(...)
• added server and client examples
• simplified test flow, deleted opaque macros and switch statements
• flattened client and server main structs
• simplified usage by moving isotp-c initialization parameters into server/client config structs
• remove redundant buffers in server

0.2.0

• removed all instances of __attribute__((packed))
• refactored server download functional unit API to simplify testing
• refactored tests
  • ordered by service
  • documented macros
• removed middleware
• simplified server routine control API
• removed redundant function iso14229ServerEnableService
• updated example

0.1.0

• Add client
• Add server SID 0x27 SecurityAccess
• API changes

0.0.0

• initial release