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ISO 14229 (UDS) server and client for embedded systems

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driftregion/iso14229

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

API status: Major version zero (0.y.z)(not yet stable). Anything MAY change at any time.

Using this library

  1. Downloadiso14229.zip from thereleases page, copyiso14229.c andiso14229.h into your project.
  2. Select a transport layer using the table below and enable it by defining thecopt in your project's build configuration.
Transport LayercoptSuitable for
ISO-TP sockets-DUDS_TP_ISOTP_SOCKLinux socketcan
isotp-c on socketcan-DUDS_TP_ISOTP_C_SOCKETCANLinux socketcan
isotp-c (bring your own CAN)-DUDS_TP_ISOTP_Cembedded systems, Windows, Linux non-socketcan, ...
  1. Refer to theexamples andtests for usage.

Compile-Time Features

The following features are configured with preprocessor defines:

DefineDescriptionValid values
-DUDS_TP_ISOTP_Cbuild the isotp-c transport layer (recommended for bare-metal systems)defined or not
-DUDS_TP_ISOTP_SOCKbuild the isotp socket transport layer (recommended for linux)defined or not
-DUDS_TP_ISOTP_C_SOCKETCANbuild the isotp-c transport layer with socketcan support (linux-only)defined or not
-DUDS_LOG_LEVEL=...Sets the logging level. Internal log messages are useful for bringup and unit tests. This defaults toUDS_LOG_LEVEL=UDS_LOG_NONE which completely disables logging, ensuring that no logging-related code goes in to the binary.UDS_LOG_NONE, UDS_LOG_ERROR, UDS_LOG_WARN, UDS_LOG_INFO, UDS_LOG_DEBUG, UDS_LOG_VERBOSE
-DUDS_SERVER_...server configuration optionsseesrc/config.h
-DUDS_CLIENT_...client configuration optionsseesrc/config.h
-DUDS_SYS=Selects target system. Seesrc/sys.hUDS_SYS_CUSTOM,UDS_SYS_UNIX,UDS_SYS_WINDOWS,UDS_SYS_ARDUINO,UDS_SYS_ESP32

Deprecated Compile-Time Features

DefineReason for deprecationmitigation
-DUDS_ENABLE_ASSERTredundantUse the standard-DNDEBUG to disable assertions.
-DUDS_ENABLE_DEBUG_PRINTreplaced byUDS_LOGUse-DUDS_LOG_LEVEL= to set or disable logging.

Features

  • entirely static memory allocation. (nomalloc,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 )

SIDnamesupported
0x10diagnostic session control✅
0x11ECU reset✅
0x14clear diagnostic information❌
0x19read DTC information❌
0x22read data by identifier✅
0x23read memory by address❌
0x24read scaling data by identifier❌
0x27security access✅
0x28communication control✅
0x2Aread periodic data by identifier❌
0x2Cdynamically define data identifier❌
0x2Ewrite data by identifier✅
0x2Finput control by identifier❌
0x31routine control✅
0x34request download✅
0x35request upload✅
0x36transfer data✅
0x37request transfer exit✅
0x38request file transfer✅
0x3Dwrite memory by address❌
0x3Etester present✅
0x83access timing parameter❌
0x84secured data transmission❌
0x85control DTC setting✅
0x86response on event❌

Documentation: Server

Server Events

seeenum UDSEvent insrc/uds.h

UDS_EVT_DiagSessCtrl (0x10)

Arguments

typedefstruct {constuint8_ttype;/**< requested session type */uint16_tp2_ms;/**< optional return value: p2 timing override */uint32_tp2_star_ms;/**< optional return value: p2* timing override */}UDSDiagSessCtrlArgs_t;

Supported Responses

ValueenumMeaning
0x00UDS_PositiveResponseRequest to change diagnostic level accepted.
0x12UDS_NRC_SubFunctionNotSupportedThe server doesn't support this diagnostic level
0x22UDS_NRC_ConditionsNotCorrectThe server can't/won't transition to the specified diagnostic level at this time

UDS_EVT_ECUReset (0x11)

Arguments

typedefstruct {constuint8_ttype;/**< reset type requested by client */uint8_tpowerDownTime;/**< Optional response: notify client of time until shutdown (0-254) 255                              indicates that a time is not available. */}UDSECUResetArgs_t;

Supported Responses

ValueenumMeaning
0x00UDS_PositiveResponseRequest to reset ECU accepted.
0x12UDS_NRC_SubFunctionNotSupportedThe server doesn't support the specified type of ECU reset
0x22UDS_NRC_ConditionsNotCorrectThe server can't reset now
0x33UDS_NRC_SecurityAccessDeniedThe current level of security access doesn't permit this type of ECU reset

UDS_EVT_ReadDataByIdent (0x22)

Arguments

typedefstruct {constuint16_tdataId;/*! data identifier *//*! function for copying to the server send buffer. Returns `UDS_PositiveResponse` on success and `UDS_NRC_ResponseTooLong` if the length of the data to be copied exceeds that of the server send buffer */constuint8_t (*copy)(UDSServer_t*srv,constvoid*src,uint16_tcount); }UDSRDBIArgs_t;

Supported Responses

ValueenumMeaning
0x00UDS_PositiveResponseRequest to read data accepted (be sure to callcopy(...))
0x14UDS_NRC_ResponseTooLongThe total length of the response message exceeds the transport buffer size
0x31UDS_NRC_RequestOutOfRangeThe requested data identifer isn't supported
0x33UDS_NRC_SecurityAccessDeniedThe current level of security access doesn't permit reading the requested data identifier

UDS_EVT_SecAccessRequestSeed,UDS_EVT_SecAccessValidateKey (0x27)

Arguments

typedefstruct {constuint8_tlevel;/*! requested security level */constuint8_t*constdataRecord;/*! pointer to request data */constuint16_tlen;/*! size of request data *//*! function for copying to the server send buffer. Returns `UDS_PositiveResponse` on success and `UDS_NRC_ResponseTooLong` if the length of the data to be copied exceeds that of the server send buffer */uint8_t (*copySeed)(UDSServer_t*srv,constvoid*src,uint16_tlen);}UDSSecAccessRequestSeedArgs_t;typedefstruct {constuint8_tlevel;/*! security level to be validated */constuint8_t*constkey;/*! key sent by client */constuint16_tlen;/*! length of key */}UDSSecAccessValidateKeyArgs_t;

Supported Responses

ValueenumMeaning
0x00UDS_PositiveResponseRequest accepted
0x12UDS_NRC_SubFunctionNotSupportedThe requested security level is not supported
0x22UDS_NRC_ConditionsNotCorrectThe server can't handle the request right now
0x31UDS_NRC_RequestOutOfRangeThedataRecord contains invalid data
0x35UDS_NRC_InvalidKeyThe key doesn't match
0x36UDS_NRC_ExceededNumberOfAttemptsFalse attempt limit reached
0x37UDS_NRC_RequiredTimeDelayNotExpiredRequestSeed request received and delay timer is still active

UDS_EVT_CommCtrl (0x28)

Arguments

typedefstruct {uint8_tctrlType;uint8_tcommType;}UDSCommCtrlArgs_t;

Supported Responses

ValueenumMeaning
0x00UDS_PositiveResponseRequest accepted
0x12UDS_NRC_SubFunctionNotSupportedThe requested control type is not supported
0x22UDS_NRC_ConditionsNotCorrectThe server can't enable/disable the selected communication type now
0x31UDS_NRC_RequestOutOfRangeThe requested control type or communication type is erroneous

UDS_EVT_WriteDataByIdent (0x2E)

Arguments

typedefstruct {constuint16_tdataId;/*! WDBI Data Identifier */constuint8_t*constdata;/*! pointer to data */constuint16_tlen;/*! length of data */}UDSWDBIArgs_t;

Supported Responses

ValueenumMeaning
0x00UDS_PositiveResponseRequest to write data accepted
0x22UDS_NRC_ConditionsNotCorrectThe server can't write this data now
0x31UDS_NRC_RequestOutOfRangeThe requested data identifer isn't supported or the data is invalid
0x33UDS_NRC_SecurityAccessDeniedThe current level of security access doesn't permit writing to the requested data identifier
0x72UDS_NRC_GeneralProgrammingFailureMemory write failed

UDS_EVT_RoutineCtrl (0x31)

Arguments

typedefstruct {constuint8_tctrlType;/*! routineControlType */constuint16_tid;/*! routineIdentifier */constuint8_t*optionRecord;/*! optional data */constuint16_tlen;/*! length of optional data *//*! function for copying to the server send buffer. Returns `UDS_PositiveResponse` on success and `UDS_NRC_ResponseTooLong` if the length of the data to be copied exceeds that of the server send buffer */uint8_t (*copyStatusRecord)(UDSServer_t*srv,constvoid*src,uint16_tlen);}UDSRoutineCtrlArgs_t;

Supported Responses

ValueenumMeaning
0x00UDS_PositiveResponseRequest accepted
0x22UDS_NRC_ConditionsNotCorrectThe server can't perform this operation now
0x24UDS_NRC_RequestSequenceErrorStop requested but routine hasn't started. Start requested but routine has already started (optional). Results are not available becuase routine has never started.
0x31UDS_NRC_RequestOutOfRangeThe requested routine identifer isn't supported or theoptionRecord is invalid
0x33UDS_NRC_SecurityAccessDeniedThe current level of security access doesn't permit this operation
0x72UDS_NRC_GeneralProgrammingFailureinternal memory operation failed (e.g. erasing flash)

UDS_EVT_RequestDownload (0x34)

Arguments

typedefstruct {constvoid*addr;/*! requested address */constsize_tsize;/*! requested download size */constuint8_tdataFormatIdentifier;/*! optional specifier for format of data */uint16_tmaxNumberOfBlockLength;/*! response: inform client how many data bytes to send in each                                        `TransferData` request */}UDSRequestDownloadArgs_t;

Supported Responses

ValueenumMeaning
0x00UDS_PositiveResponseRequest accepted
0x22UDS_NRC_ConditionsNotCorrectThe server can't perform this operation now
0x31UDS_NRC_RequestOutOfRangedataFormatIdentifier invalid,addr orsize invalid
0x33UDS_NRC_SecurityAccessDeniedThe current level of security access doesn't permit this operation
0x34UDS_NRC_AuthenticationRequiredClient rights insufficient
0x70UDS_NRC_UploadDownloadNotAccepteddownload cannot be accomplished due to fault

UDS_EVT_TransferData (0x36)

Arguments

typedefstruct {constuint8_t*constdata;/*! transfer data */constuint16_tlen;/*! transfer data length *//*! function for copying to the server send buffer. Returns `UDS_PositiveResponse` on success and `UDS_NRC_ResponseTooLong` if the length of the data to be copied exceeds that of the server send buffer */uint8_t (*copyResponse)(UDSServer_t*srv,constvoid*src,uint16_tlen);}UDSTransferDataArgs_t;

Supported Responses

ValueenumMeaning
0x00UDS_PositiveResponseRequest accepted
0x31UDS_NRC_RequestOutOfRangedata contents invalid, length incorrect
0x72UDS_NRC_GeneralProgrammingFailureMemory write failed
0x92UDS_NRC_VoltageTooHighCan't write flash: voltage too high
0x93UDS_NRC_VoltageTooLowCan't write flash: voltage too low

UDS_EVT_RequestTransferExit (0x37)

Arguments

typedefstruct {constuint8_t*constdata;/*! request data */constuint16_tlen;/*! request data length *//*! function for copying to the server send buffer. Returns `UDS_PositiveResponse` on success and `UDS_NRC_ResponseTooLong` if the length of the data to be copied exceeds that of the server send buffer */uint8_t (*copyResponse)(UDSServer_t*srv,constvoid*src,uint16_tlen);}UDSRequestTransferExitArgs_t;

Supported Responses

ValueenumMeaning
0x00UDS_PositiveResponseRequest accepted
0x31UDS_NRC_RequestOutOfRangedata contents invalid, length incorrect
0x72UDS_NRC_GeneralProgrammingFailurefinalizing the data transfer failed

UDS_SRV_EVT_RequestFileTransfer (0x38)

Arguments

typedefstruct {constuint8_tmodeOfOperation;/*! requested specifier for operation mode */constuint16_tfilePathLen;/*! request data length */constuint8_t*filePath;/*! requested file path and name */constuint8_tdataFormatIdentifier;/*! optional specifier for format of data */constsize_tfileSizeUnCompressed;/*! optional file size */constsize_tfileSizeCompressed;/*! optional file size */uint16_tmaxNumberOfBlockLength;/*! optional response: inform client how many data bytes to                                           send in each    `TransferData` request */}UDSRequestFileTransferArgs_t;

Supported Responses

ValueenumMeaning
0x00UDS_PositiveResponseRequest accepted
0x13UDS_NRC_IncorrectMessageLengthOrInvalidFormatLength of the message is wrong
0x22UDS_NRC_ConditionsNotCorrectDownloading or uploading data is ongoing or other conditions to be able to execute this service are not met
0x31UDS_NRC_RequestOutOfRangedata contents invalid, length incorrect
0x33UDS_NRC_SecurityAccessDeniedThe server is secure
0x70UDS_NRC_UploadDownloadNotAcceptedAn attempt to download to a server's memory cannot be accomplished due to some fault conditions

Documentation: Client

See the examples directory

Contributing

contributions are welcome

Reporting Issues

When reporting issues, please state what you expected to happen.

Running Tests

bazeltest //...

Seetest/README.md

Release

bazel build //:release

Release Checklist

  • be sure branch is rebased on main
  • run all tests locally (including vcan and examples) withbazel test //...
  • push branch, check all tests are passing in CI
  • update release notes in README.md
  • increment version insrc/version.h and commit changes
  • git tag with version, e.g.git tag v0.8.0 (the current implementation of.github/workflows/release.yml grabs the release triple from the git tag)

Acknowledgements

Changelog

0.9.0

  • breaking API changes:
    • converted subfunction enums to #defines with standard-consistent naming
    • simplified transport API

0.8.0

  • breaking API changes:
    • event enum consolidatedUDS_SRV_EVT_... ->UDS_EVT
    • UDSClient refactored into event-based API
    • negative server response now raises a client error by default.
    • server NRCs prefixed withUDS_NRC_
    • NRCs merged intoUDS_Err enum.
  • added more examples of client usage

0.7.2

  • runtime safety:
    1. turn off assertions by default, enable by-DUDS_ENABLE_ASSERT
    2. preferreturn UDS_ERR_INVALID_ARG; over assertion in public functions
  • use SimonCahill fork of isotp-c

0.7.1

  • amalgamated sources intoiso14229.c andiso14229.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 toUDS_SYS_

0.6.0

  • breaking API changes:
    • UDSClientErr_t merged intoUDSErr_t
    • TP_SEND_INPROGRESS renamed toUDS_TP_SEND_IN_PROGRESS
    • refactoredUDSTp_t to encourage struct inheritance
    • UDS_TP_LINUX_SOCKET renamed toUDS_TP_ISOTP_SOCKET
  • added server fuzz test and qemu tests
  • cleaned up example tests, added isotp-c on socketcan to examples
  • addedUDS_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: useUDS 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 usingenum types as return types and in structures.
  • Transport layer is now pluggable and supports the linux kernel ISO-TP driver in addition toisotp-c. Seeexamples.

0.3.0

  • addediso14229ClientRunSequenceBlocking(...)
  • 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 functioniso14229ServerEnableService
  • updated example

0.1.0

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

0.0.0

  • initial release
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