/* * Copyright (c) 2024-2025, ArtInChip Technology Co., Ltd * * SPDX-License-Identifier: Apache-2.0 */ #ifndef _AIC_UDS_DEFINE_H_ #define _AIC_UDS_DEFINE_H_ #include #include #include #include #include #include #define CAN_TX_DEV_NAME "can0" #define CAN_RX_DEV_NAME "can1" #define CAN_FRAME_SIZE 8 // CAN Frame size #define UDS_REQUEST_ID 0x7E0 // REQUEST ID（Tester→ECU） #define UDS_RESPONSE_ID 0x7E8 // RESPONSE ID（ECU→Tester） #define UDS_FUNCTION_ID 0x7DF // Function ID #define UDS_RX_MAX 1024 // The length of RX FIFO, max value is 4095 #define UDS_TX_MAX 1024 // The length of TX FIFO, max value is 4095 #define UDS_DATA_PADDING_VAL 0x00 typedef enum { /* General rejection codes */ NRC_GENERAL_REJECT = 0x10, //General rejection (not supported by protocol) NRC_SERVICE_NOT_SUPPORTED = 0x11, // Service not supported by ECU NRC_SUBFUNCTION_NOT_SUPPORTED = 0x12, // Sub-function not supported NRC_INVALID_MESSAGE_LENGTH_OR_FORMAT = 0x13, // Invalid message length or format /* Condition not correct codes */ NRC_CONDITIONS_NOT_CORRECT = 0x22, // Preconditions not met NRC_REQUEST_SEQUENCE_ERROR = 0x24, // Invalid request sequence /* Request out of range codes */ NRC_REQUEST_OUT_OF_RANGE = 0x31, // Parameter out of range or unsupported data ID /* Security related codes */ NRC_SECURITY_ACCESS_DENIED = 0x33, // Security access denied NRC_INVALID_KEY = 0x35, // Invalid security key NRC_EXCEEDED_NUMBER_OF_ATTEMPTS = 0x36, // Maximum number of attempts exceeded NRC_REQUIRED_TIME_DELAY_NOT_EXPIRED = 0x37, // Required time delay not expired /* Upload/download codes */ NRC_UPLOAD_DOWNLOAD_NOT_ACCEPTED = 0x70, // Upload/download not accepted NRC_TRANSFER_DATA_SUSPENDED = 0x71, // Data transfer suspended NRC_GENERAL_PROGRAMMING_FAILURE = 0x72, // General programming failure NRC_WRONG_BLOCK_SEQUENCE_COUNTER = 0x73, // Invalid block sequence counter /* Busy response codes */ NRC_SERVICE_BUSY = 0x78, // Service request received, response pending /* Session related codes */ // Sub-function not supported in current session NRC_SUBFUNCTION_NOT_SUPPORTED_IN_ACTIVE_SESSION = 0x7E, // Service not supported in current session NRC_SERVICE_NOT_SUPPORTED_IN_ACTIVE_SESSION = 0x7F, /* Vehicle condition codes */ NRC_VOLTAGE_TOO_HIGH = 0x92, // Voltage above threshold NRC_VOLTAGE_TOO_LOW = 0x93 // Voltage below threshold } uds_negative_response_code_t; /* The highest bit (bit 7) of the second byte indicates the positive response suppression bit. * When this bit is set to 1, it indicates that a positive response reply is not required, * and the server only needs to process the service request. */ #define UDS_GET_SUB_FUNCTION_SUPPRESS_POSRSP(byte) ((byte >> 7u) & 0x01u) /* Get Sub-function Number -- The lower 7 bits of the second byte represent the sub-function number, * with a range of 0 to 0x7F.' */ #define UDS_GET_SUB_FUNCTION(byte) (byte & 0x7fu) // positive response, server ID should +0x40 #define POSITIVE_RSP 0x40 #define USD_GET_POSITIVE_RSP(server_id) (POSITIVE_RSP + server_id) // negative response #define NEGATIVE_RSP 0x7F /* Security Access Timeout Period, unit: ms. * If the number of successful security access seed matches reaches two, start this timer. * If a request seed service is received within the TIMEOUT_FSA period, * a response with NRC 37 shall be sent. */ #define TIMEOUT_FSA 10000 /* * S3server timer timeout period. In non-default session mode, if no message is received within * TIMEOUT_S3server period, the system will automatically revert to default session. */ #define TIMEOUT_S3server 5000 #ifndef TRUE #define TRUE (1) #endif #ifndef FALSE #define FALSE (0) #endif #ifndef NULL #define NULL ((void *)0) #endif typedef unsigned char bool_t; typedef enum { UDS_STATE_IDLE, UDS_STATE_ENTER_EXT_SESSION, UDS_STATE_READ_ECU_INFO, UDS_STATE_ENTER_PROG_SESSION, UDS_STATE_SAFE_ACCESS, UDS_STATE_SAFE_ACCESS_SEND_VERIFY, UDS_STATE_ERASE_CODE, UDS_STATE_REQUEST_UPLOAD, UDS_STATE_SEND_UPLOAD, UDS_STATE_REQUEST_UPLOAD_EXIT, UDS_STATE_APP_CHECK, UDS_STATE_CODE_CHECK, UDS_STATE_ECU_RESET, UDS_STATE_ENTER_DEFAULT_SESSION, UDS_STATE_WAIT_DOWNLOAD_RESPONSE, UDS_STATE_WAIT_TRANSFER_RESPONSE, UDS_STATE_ERROR, UDS_STATE_REQUEST_UPLOAD_WAIT, } uds_state_t; extern uds_state_t g_current_state; extern uint32_t g_max_block_size; extern uint32_t g_bytes_per_block; extern struct rt_semaphore g_flow_control_sem; extern uint32_t req_total_len; extern rt_device_t g_can_tx_dev; extern rt_mq_t can_tx_mq; extern rt_sem_t can_tx_sem; extern FILE *transfer_file; extern rt_mutex_t g_uds_state_mutex; extern char uds_output_file_path[256]; typedef enum { UDS_TIMER_FSA = 0, // Security Access timer UDS_TIMER_S3server, // S3server timer UDS_TIMER_CNT // Number of application layer timers } uds_timer_t; typedef enum { UDS_SESSION_STD = 1, // default session UDS_SESSION_PROG, // program session UDS_SESSION_EXT // extended session } uds_session_t; typedef enum { UDS_SA_NON = 0, // Security Access Level: NONE UDS_SA_LV1, // Security Access Level: 1 level UDS_SA_LV2, // Security Access Level: 2 level } uds_sa_lv; typedef struct { uint8_t uds_sid; // server ID void (*uds_service)(const uint8_t *, uint16_t); // service processing function bool_t (*check_len)(const uint8_t *, uint16_t); // check the length is valid or not bool_t std_spt; // whether default session is supported bool_t prog_spt; // whether program session is supported bool_t ext_spt; // whether extended session is supported bool_t fun_spt; // whether addressing function is supported bool_t ssp_spt; // whether positive response supression uds_sa_lv uds_sa; // Security Access Level } uds_service_t; typedef enum _N_TATYPE_T_ { N_TATYPE_NONE = 0, // none N_TATYPE_PHYSICAL, // physical addressing N_TATYPE_FUNCTIONAL // function addressing } n_tatype_t; typedef enum _N_RESULT_ { N_OK = 0, N_TIMEOUT_Bs, // TIMER_N_BS timer timeout N_TIMEOUT_Cr, // TIMER_N_CR timer timeout N_WRONG_SN, // Incorrect sequence number in received consecutive frame N_INVALID_FS, // Invalid flow status in received flow control frame /* Frame type not expected. * For example, receiving a first frame while expecting a consecutive frame */ N_UNEXP_PDU, N_BUFFER_OVFLW, // Overflow status received in flow control frame } n_result_t; /* * Interface functions registered by the upper layer to the TP layer. * After the TP layer completes data processing, * it delivers the data back to the upper layer for further processing through * these interface functions. */ typedef void (*ffindication_func)(n_result_t n_result); typedef void (*indication_func)(uint8_t *msg_buf, uint16_t msg_dlc, n_result_t n_result); typedef void (*confirm_func)(n_result_t n_result); typedef struct _NETWORK_USER_DATA_T_ { ffindication_func ffindication; indication_func indication; confirm_func confirm; } nt_usdata_t; // 0:physical addressing; 1:function addressing extern uint8_t g_tatype; typedef enum { /* N_CR timer. The time interval between consecutive frames received by the receiver * shall not exceed TIMEOUT_N_CR. unit: ms */ TIMER_N_CR = 0, /* N_BS timer. The time between the sender transmitting the first frame * and receiving the flow control frame shall not exceed TIMEOUT_N_BS. unit: ms */ TIMER_N_BS, /* STmin timer. When sending consecutive farmes, the minimum interval between frames is * NT_XMIT_FC_STMIN. unit: ms */ TIMER_STmin, TIMER_CNT // Total number of timers } nt_timer_t; typedef enum { NWL_IDLE = 0, // idle state NWL_XMIT, // transmitting state NWL_RECV, // receive state NWL_CNT // Total number of states } network_layer_st; typedef enum { PCI_SF = 0, // single frame PCI_FF, // first frame PCI_CF, // consecutive frame PCI_FC // flow control frame } network_pci_type_t; typedef enum { FS_CTS = 0, // allow continued transmission FS_WT, // waitting FS_OVFLW, // overflow FS_RESERVED // invalid } network_flow_status_t; /* Padding value. If the transmitted valid data does not fill a complete frame, * the remainder shall be padded with this value. */ // #define PADDING_VAL (0x55) // Set frame type to single frame #define NT_SET_PCI_TYPE_SF(low) (0x00 | (low & 0x0f)) // Set frame type to first frame #define NT_SET_PCI_TYPE_FF(low) (0x10 | (low & 0x0f)) // Set frame type to consecutive frame #define NT_SET_PCI_TYPE_CF(low) (0x20 | (low & 0x0f)) // Set frame type to flow control frame #define NT_SET_PCI_TYPE_FC(low) (0x30 | (low & 0x0f)) // Get frame type #define NT_GET_PCI_TYPE(n_pci) (n_pci >> 4) // Get consecutive frame sequence number #define NT_GET_CF_SN(n_pci) (0x0f & n_pci) // Get flow status #define NT_GET_FC_FS(n_pci) (0x0f & n_pci) /* * The number of consecutive frames allowed to be sent. * If set to 0, it indicates that the sender can continuously transmit consecutive frames * without restriction until all data is sent. If not 0, it means that after the sender has * transmitted NT_XMIT_FC_BS consecutive frames, it must wait for a flow control frame from * the receiver to determine the subsequent transmission behavior. */ #define NT_XMIT_FC_BS (0) // Notify the sender of the minimum time interval between consecutive frames. unit: ms #define NT_XMIT_FC_STMIN (0x0A) /* The time interval between consecutive frames received by the receiver shall * not exceed TIMEOUT_N_CR. unit: ms */ #define TIMEOUT_N_CR (1000) /* The time between the sender completing the transmission of the first frame and * receiving a flow control frame shall not exceed TIMEOUT_N_BS. unit: ms */ #define TIMEOUT_N_BS (1000) void uds_init(void); void uds_1ms_task(void); void print_uds_response(uint32_t id, uint8_t *data, uint8_t len); void uds_recv_frame(uint32_t id, uint8_t *frame_buf, uint8_t frame_dlc); void uds_send_frame(uint32_t response_id, uint8_t *frame_buf, uint8_t frame_dlc, uint8_t expect_response); void uds_timer_start(uds_timer_t num); void uds_negative_rsp(uint8_t sid, uds_negative_response_code_t rsp_nrc); void uds_positive_rsp(uint8_t *data, uint16_t len); int uds_timer_chk(uds_timer_t num); void service_task(void); int service_init(void); void network_task(void); void uds_tp_recv_frame(uint8_t func_addr, uint8_t *frame_buf, uint8_t frame_dlc); int network_send_udsmsg(uint8_t *msg_buf, uint16_t msg_dlc); int network_reg(nt_usdata_t *usdata); void assemble_complete_frame(void); int send_multipleframe(uint8_t *msg_buf, uint16_t msg_dlc); int uds_tester_device_tx_init(void); void nt_timer_start_wv(nt_timer_t num, uint32_t value); void set_feak_mode(void); #endif