基于CAN总线的汽车诊断协议UDS(上位机开发网络层及错误代码解析)

     UDS协议栈的开发和测试对于刚刚接触UDS协议的开发人员来说，不但需要阅读大量的标准文档，短时间内很难理解透彻，标准协议栈代码的编写更加困难，刚入门又没有快捷简单的测试工具帮助加快理解和验证，使得UDS诊断开发对于一般的初创公司或者小型企业来说，是一个比较难跨越的门槛。一般的企业通过购买专业的软件工具和专业的培训服务来获取UDS诊断开发和测试的技术。本文的目的是通过简单快捷的UDS上位机软件测试界面，有助于帮助开发者加快UDS协议栈的理解和开发测试，能够帮助开发者快速的掌握UDS开发和测试的一般过程和方法。

         

首先贴出网络层协议源码：

namespace Uds

{

    public class uds_trans

    {

        public enum AddressingModes

        {

            Physical_Addressing,

            Functional_Addressing,

        }

 

        private int id;

        /// <summary>

        /// UDS默认填充字节

        /// </summary>

        public byte fill_byte = 0x55;

 

        public int tx_id;

        public int rx_id;

        public int test_id;

        /*

        ** Frame types arranged in numericalorder for efficient switch statement

        ** jump tables.

        */

        private enum FrameType

        {

            TX_SF = 0, /* Single Frame */

            TX_FF = 1, /* First Frame */

            TX_CF = 2, /* Consecutive Frame */

            TX_FC = 3  /* Flow Control Frame */

        };

 

        /*

        ** Masks for the PCI(Protcol ControlInformation) byte.

        ** The MS bit contains the frame type.

        ** The LS bit is mapped differently,depending on frame type, as follows:

        ** SF: DL (number of diagnostic bytes NOT including the PCI byte; only the

        **      3 LS bits are used).

        ** FF: XDL (extended data length; always be 0.)

        ** CF: Sequence number,4 bits, max value:15.

        ** FC: Flow Status. The value of FS shall be set to zero that means that

        **     the tester is ready to receive a maximum number of CF.

        */

        private enum PCI /* Don't change thesevalues, these must be  */

        {

            /* MS bits -  Frame Type */

            FRAME_TYPE_MASK = 0xF0,

            SF_TPDU = 0x00,             /* Single frame                 */

            FF_TPDU = 0x10,             /* First frame                  */

            CF_TPDU = 0x20,             /* Consecutive frame            */

            FC_TPDU = 0x30,             /* Flow control frame           */

            FC_OVFL_PDU = 0x32,         /* Flow control frame           */

 

            /* LS bits - SF_DL */

            SF_DL_MAX_BYTES = 0x07,     /* SF Max Data Length */

            SF_DL_MASK = 0x07,          /* number diagnostic data bytes */

            SF_DL_MASK_LONG = 0x0F,     /* change to check the 4 bits for testing,number diagnostic data bytes */

 

            /* LS bits - FF_DL */

            FF_EX_DL_MASK = 0x0F,       /*Extended data length         */

 

            /* LS bits - CF_SN */

            CF_SN_MASK = 0x0F,          /* Sequence number mask         */

            CF_SN_MAX_VALUE = 0x0F,     /* Max value of sequence number */

 

            /* LS bits - FC Saatus */

            FC_STATUS_CONTINUE = 0x00,  /* Flow control frame, CONTINUE */

            FC_STATUS_WAIT = 0x01,      /* Flow control frame, WAIT */

            FC_STATUS_OVERFLOW = 0x02,  /* Flow control frame, OVERFLOW */

            FC_STATUS_MASK = 0x0F,

        };

 

        private int N_As = 25;

        private int N_Ar = 25;

 

        private int N_Bs = 75;

        private int N_Br;

 

        private int N_Cr = 150;

        private int N_Cs;

 

        private int FC_BS_MAX_VALUE = 0;

        private int FC_ST_MIN_VALUE = 5;

 

        private int CF_SN_MAX_VALUE = 15;

        private int SF_DL_MAX_BYTES = 7;

 

        /*

        ** Time to wait for the tester to senda FC frame in response

        ** to a FF(wait for flow control frametime out).

        ** N_As + N_Bs = 25 +75 = 100ms

        */

        private int FC_WAIT_TIMEOUT;//N_As +N_Bs + 50;

 

        /*

        ** wait for Consecutive frame time out

        ** N_Cr < 150ms

        */

        private int CF_WAIT_TIMEOUT;//N_Cr; //(N_Cr- 10))

 

        private int RX_MAX_TP_BYTES = 0xFFF;

 

 

        public uds_trans()

        {

            can_rx_info.frame = new byte[8];

            can_tx_info.frame = new byte[8];

 

            FC_WAIT_TIMEOUT = N_As + N_Bs + 50;/* N_As + N_Bs + 50 */

            CF_WAIT_TIMEOUT = N_Cr;             /* (N_Cr - 10)) */

        }

 

        private readonly intbeginning_seq_number = 1;

        private readonly int TPCI_Byte = 0;

        private readonly int DL_Byte = 1;

        private readonly int BS_Byte = 1;

        private readonly int STminByte = 2;

 

        private class tx_info

        {

            public bool tx_rx_idle = false;

            public bool tx_fc_tpdu = false;

            public bool tx_last_frame_error = false;

            public bool tx_wait_fc = false;

            public bool tx_in_progress = false;

 

            public int tx_block_size = 0;           /* BS(Block Size) in a flow ControlFrame */

            public int tx_stmin_time = 20;

            public int tx_cf_stmin_wait_time =20;   /* STmin Time in Flow Control Frame*/

            public int tx_fc_wait_time =0;         /* Wait for FC when has sentFF */

 

            public int lenght;

            public int offset;

            public int next_seq_num;

            public byte[] buffer;

            public byte[] frame;

        }

 

        private class rx_info

        {

            public bool rx_in_progress = false;

 

            public bool rx_msg_rcvd =false;        /* if the message has neverbeen received to be used by application level software */

            public bool tx_aborted = false;

 

            public int rx_cf_wait_time = 0;

            public boolrx_fc_wait_timeout_disable = false;

            public bool rx_overflow = false;

 

            public int lenght;

            public int offset;

            public int next_seq_num;

            public byte[] buffer;

            public byte[] frame;

        }

 

        private tx_info can_tx_info = newtx_info();

        private rx_info can_rx_info = newrx_info();

 

        #region Event

 

        public class FarmsEventArgs : EventArgs

        {

            public int id = 0;

            public int dlc = 0;

            public byte[] dat = new byte[8];

            public long time = 0;

            public override string ToString()

            {

                time %= 1000000;

                returnid.ToString("X3") + " "

                           +dlc.ToString("X1") + " "

                           + dat.HexToStrings("") + " "

                           + (time /1000).ToString() + "." + (time % 1000).ToString("d3");

            }

        }

 

        public class RxMsgEventArgs : EventArgs

        {

            public int id = 0;

            public byte[] dat;

            public long time = 0;

            public RxMsgEventArgs(int lenght)

            {

                dat = new byte[lenght];

            }