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

Define	Description	Valid values
-DUDS_TP_ISOTP_C	build the isotp-c transport layer (recommended for bare-metal systems)	on/off
-DUDS_TP_ISOTP_SOCK	build the isotp socket transport layer (recommended for linux)	on/off
-DUDS_TP_ISOTP_C_SOCKETCAN	build the isotp-c transport layer with socketcan support (linux-only)	on/off
UDS_...	Additional configuration options	see src/config.h
UDS_SYS	Selects target system	see src/sys.h

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 )

SID	name	supported
0x10	diagnostic session control	✅
0x11	ECU reset	✅
0x14	clear diagnostic information	❌
0x19	read DTC information	❌
0x22	read data by identifier	✅
0x23	read memory by address	❌
0x24	read scaling data by identifier	❌
0x27	security access	✅
0x28	communication control	✅
0x2A	read periodic data by identifier	❌
0x2C	dynamically define data identifier	❌
0x2E	write data by identifier	✅
0x2F	input control by identifier	❌
0x31	routine control	✅
0x34	request download	✅
0x35	request upload	✅
0x36	transfer data	✅
0x37	request transfer exit	✅
0x38	request file transfer	❌
0x3D	write memory by address	❌
0x3E	tester present	✅
0x83	access timing parameter	❌
0x84	secured data transmission	❌
0x85	control DTC setting	✅
0x86	response on event	❌

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

Value	enum	Meaning
0x00	kPositiveResponse	Request to change diagnostic level accepted.
0x12	kSubFunctionNotSupported	The server doesn't support this diagnostic level
0x22	kConditionsNotCorrect	The server can't/won't transition to the specified diagnostic level at this time

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

Value	enum	Meaning
0x00	kPositiveResponse	Request to reset ECU accepted.
0x12	kSubFunctionNotSupported	The server doesn't support the specified type of ECU reset
0x22	kConditionsNotCorrect	The server can't reset now
0x33	kSecurityAccessDenied	The current level of security access doesn't permit this type of ECU reset

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

Value	enum	Meaning
0x00	kPositiveResponse	Request to read data accepted (be sure to call copy(...))
0x14	kResponseTooLong	The total length of the response message exceeds the transport buffer size
0x31	kRequestOutOfRange	The requested data identifer isn't supported
0x33	kSecurityAccessDenied	The current level of security access doesn't permit reading the requested data identifier

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

Value	enum	Meaning
0x00	kPositiveResponse	Request accepted
0x12	kSubFunctionNotSupported	The requested security level is not supported
0x22	kConditionsNotCorrect	The server can't handle the request right now
0x31	kRequestOutOfRange	The dataRecord contains invalid data
0x35	kInvalidKey	The key doesn't match
0x36	kExceededNumberOfAttempts	False attempt limit reached
0x37	kRequiredTimeDelayNotExpired	RequestSeed request received and delay timer is still active

UDS_SRV_EVT_CommCtrl (0x28)

Arguments

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

Supported Responses

Value	enum	Meaning
0x00	kPositiveResponse	Request accepted
0x12	kSubFunctionNotSupported	The requested control type is not supported
0x22	kConditionsNotCorrect	The server can't enable/disable the selected communication type now
0x31	kRequestOutOfRange	The requested control type or communication type is erroneous

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

Value	enum	Meaning
0x00	kPositiveResponse	Request to write data accepted
0x22	kConditionsNotCorrect	The server can't write this data now
0x31	kRequestOutOfRange	The requested data identifer isn't supported or the data is invalid
0x33	kSecurityAccessDenied	The current level of security access doesn't permit writing to the requested data identifier
0x72	kGeneralProgrammingFailure	Memory write failed

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

Value	enum	Meaning
0x00	kPositiveResponse	Request accepted
0x22	kConditionsNotCorrect	The server can't perform this operation now
0x24	kRequestSequenceError	Stop requested but routine hasn't started. Start requested but routine has already started (optional). Results are not available becuase routine has never started.
0x31	kRequestOutOfRange	The requested routine identifer isn't supported or the optionRecord is invalid
0x33	kSecurityAccessDenied	The current level of security access doesn't permit this operation
0x72	kGeneralProgrammingFailure	internal memory operation failed (e.g. erasing flash)

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

Value	enum	Meaning
0x00	kPositiveResponse	Request accepted
0x22	kConditionsNotCorrect	The server can't perform this operation now
0x31	kRequestOutOfRange	dataFormatIdentifier invalid, addr or size invalid
0x33	kSecurityAccessDenied	The current level of security access doesn't permit this operation
0x34	kAuthenticationRequired	Client rights insufficient
0x70	kUploadDownloadNotAccepted	download cannot be accomplished due to fault

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

Value	enum	Meaning
0x00	kPositiveResponse	Request accepted
0x31	kRequestOutOfRange	data contents invalid, length incorrect
0x72	kGeneralProgrammingFailure	Memory write failed
0x92	kVoltageTooHigh	Can't write flash: voltage too high
0x93	kVoltageTooLow	Can't write flash: voltage too low

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

Value	enum	Meaning
0x00	kPositiveResponse	Request accepted
0x31	kRequestOutOfRange	data contents invalid, length incorrect
0x72	kGeneralProgrammingFailure	finalizing the data transfer failed

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