// This function generates and transmits UDS responses
static void transmitResponse(TPUDSCANHandle Channel, byte serverAddr, ref TPUDSMsg UDSRequest)
{
TPUDSStatus Status;
TPUDSMsg Message = new TPUDSMsg();
byte SI = UDSRequest.ServiceID;
ushort lDataIdentifier;
ushort lCount;
ushort lMemorySizeLength;
ushort lMemoryAddressLength;
Random rnd = new Random();
// copy N_AI
Message.NETADDRINFO = UDSRequest.NETADDRINFO;
if (UDSRequest.NETADDRINFO.TA_TYPE == TPUDSAddressingType.PUDS_ADDRESSING_FUNCTIONAL)
{
// response to functional addressing is set to TEST_EQUIPMENT
Message.NETADDRINFO.TA = (byte)TPUDSAddress.PUDS_ISO_15765_4_ADDR_TEST_EQUIPMENT;
}
else
{
Message.NETADDRINFO.TA = UDSRequest.NETADDRINFO.SA;
}
Message.NETADDRINFO.SA = serverAddr;
Message.NETADDRINFO.TA_TYPE = TPUDSAddressingType.PUDS_ADDRESSING_PHYSICAL;
// all responses are positive
Message.DATA = new byte[UDSApi.PUDS_MAX_DATA];
Message.DATA[0] = (byte)(UDSRequest.ServiceID + UDSApi.PUDS_SI_POSITIVE_RESPONSE);
// customize message response based on the UDS Service ID (see ISO 14229-1)
switch ((TPUDSService)SI)
{
case TPUDSService.PUDS_SI_DiagnosticSessionControl:
Message.DATA[1] = UDSRequest.DATA[1];
Message.DATA[2] = 0x00; // P2Can_Server_Max = 0x0010
Message.DATA[3] = 0x10;
Message.DATA[4] = 0x03; // P2*Can_Server_Max = 0x03E8
Message.DATA[5] = 0xE8;
Message.LEN = 6;
break;
case TPUDSService.PUDS_SI_ECUReset:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
if (UDSRequest.DATA[1] == (byte)UDSApi.TPUDSSvcParamER.PUDS_SVC_PARAM_ER_ERPSD)
{
Message.DATA[2] = 0x66; // power down time
Message.LEN = 3;
}
break;
case TPUDSService.PUDS_SI_SecurityAccess:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
if (UDSRequest.DATA[1] >= UDSApi.PUDS_SVC_PARAM_SA_RSD_MIN &&
UDSRequest.DATA[1] <= UDSApi.PUDS_SVC_PARAM_SA_RSD_MAX &&
UDSRequest.DATA[1] % 2 == 1)
{ // Request security seed are Even values
// fill with dummy data
Message.LEN = (ushort)((1 + SI) > UDSApi.PUDS_MAX_DATA ? UDSApi.PUDS_MAX_DATA : (1 + SI));
for (int i = 1; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
}
break;
case TPUDSService.PUDS_SI_CommunicationControl:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
break;
case TPUDSService.PUDS_SI_TesterPresent:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
break;
case TPUDSService.PUDS_SI_SecuredDataTransmission:
// fill with dummy data (check Security-SubLayer record defined in ISO-15764)
Message.LEN = (ushort)(1 + rnd.Next(0, 32767) % 50);
for (int i = 0; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
case TPUDSService.PUDS_SI_ControlDTCSetting:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
break;
case TPUDSService.PUDS_SI_ResponseOnEvent:
Message.DATA[1] = UDSRequest.DATA[1];
if (UDSRequest.DATA[1] == (byte)UDSApi.TPUDSSvcParamROE.PUDS_SVC_PARAM_ROE_RAE)
{
Message.DATA[2] = 0; // # of activated events
Message.LEN = 3;
// EventType and ServiceToRespondTo Records not implemented
}
else
{
Message.DATA[2] = 0; // # of identified events
Message.DATA[3] = UDSRequest.DATA[2]; // # event window time
Message.LEN = 4;
// EventType and ServiceToRespondTo Records not implemented
}
break;
case TPUDSService.PUDS_SI_LinkControl:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
break;
case TPUDSService.PUDS_SI_ReadDataByIdentifier:
lCount = 0;
for (int i = 0; i < UDSRequest.LEN - 1; i += 2)
{
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[i + 1]);
// copy DataIdentifier
Message.DATA[lCount++ + 1] = UDSRequest.DATA[i + 1];
Message.DATA[lCount++ + 1] = UDSRequest.DATA[i + 2];
// DataRecord : fill with dummy data
for (int j = 0; j < 5; j++)
{
Message.DATA[lCount++ + 1] = (byte)(j + 'A');
}
}
Message.LEN = (ushort)(lCount + 1);
break;
case TPUDSService.PUDS_SI_ReadMemoryByAddress:
// read memorySize = bits [7..4]
Message.LEN = (ushort)(1 + ((UDSRequest.DATA[2] >> 4) & 0xF));
// fill with dummy data
for (int i = 0; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
case TPUDSService.PUDS_SI_ReadScalingDataByIdentifier:
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[1]);
// copy DataIdentifier
Message.DATA[1] = UDSRequest.DATA[1];
Message.DATA[2] = UDSRequest.DATA[2];
// create a formula Vehicule Speed = (0.75*x+30) km/h
Message.DATA[3] = (0x0 << 4) | (0x1); // unSignedNumeric of 1 Bytes)
Message.DATA[4] = 0x90; // formula, 0 data bytes
Message.DATA[5] = 0x00; // formulaIdentifier = C0 * x + C1
Message.DATA[6] = 0xE0; // C0 high byte
Message.DATA[7] = 0x4B; // C0 low byte
Message.DATA[8] = 0x00; // C1 high byte
Message.DATA[9] = 0x1E; // C1 low byte
Message.DATA[10] = 0xA0; // unit/format, 0 data bytes
Message.DATA[11] = 0x30; // unit ID, km/h
Message.LEN = 11;
break;
case TPUDSService.PUDS_SI_ReadDataByPeriodicIdentifier:
Message.LEN = 1;
break;
case TPUDSService.PUDS_SI_DynamicallyDefineDataIdentifier:
Message.LEN = 4;
Message.DATA[1] = UDSRequest.DATA[1];
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[1]);
// copy DataIdentifier
Message.DATA[2] = UDSRequest.DATA[2];
Message.DATA[3] = UDSRequest.DATA[3];
break;
case TPUDSService.PUDS_SI_WriteDataByIdentifier:
Message.LEN = 3;
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[1]);
// copy DataIdentifier
Message.DATA[1] = UDSRequest.DATA[1];
Message.DATA[2] = UDSRequest.DATA[2];
break;
case TPUDSService.PUDS_SI_WriteMemoryByAddress:
// read MemorySizeLength & MemoryAddressLength
lMemorySizeLength = (ushort)((UDSRequest.DATA[1] >> 4) & 0xF);
lMemoryAddressLength = (ushort)(UDSRequest.DATA[1] & 0xF);
Message.LEN = (ushort)(2 + lMemorySizeLength + lMemoryAddressLength);
// copy Address and Memory parameters
Message.DATA[1] = UDSRequest.DATA[1];
Array.Copy(UDSRequest.DATA, 2, Message.DATA, 2, lMemoryAddressLength);
Array.Copy(UDSRequest.DATA, 2 + lMemoryAddressLength, Message.DATA, 2 + lMemoryAddressLength, lMemorySizeLength);
break;
case TPUDSService.PUDS_SI_ClearDiagnosticInformation:
Message.LEN = 1;
break;
case TPUDSService.PUDS_SI_InputOutputControlByIdentifier:
Message.LEN = 3;
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[1]);
// copy DataIdentifier
Message.DATA[1] = UDSRequest.DATA[1];
Message.DATA[2] = UDSRequest.DATA[2];
// ControlStatus Record not implemented
break;
case TPUDSService.PUDS_SI_RoutineControl:
Message.LEN = 4;
Message.DATA[1] = UDSRequest.DATA[1];
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[1]);
// copy DataIdentifier
Message.DATA[2] = UDSRequest.DATA[2];
Message.DATA[3] = UDSRequest.DATA[3];
// RoutineStatus Record not implemented
break;
case TPUDSService.PUDS_SI_RequestDownload:
case TPUDSService.PUDS_SI_RequestUpload:
Message.LEN = (ushort)(2 + 1 + rnd.Next(0, 32767) % 50);
Message.DATA[1] = 0xF0; // max number of block length = 0xF
// fill with dummy data
for (int i = 1; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
case TPUDSService.PUDS_SI_TransferData:
Message.LEN = (ushort)((2 + UDSRequest.LEN) > UDSApi.PUDS_MAX_DATA ? UDSApi.PUDS_MAX_DATA : 2 + UDSRequest.LEN);
// custom response to PCUClient example:
// a. service is requested functionally,
// b. 1st response is NRC ResponsePending
// c. wait
// d. send correct response
if (UDSRequest.NETADDRINFO.TA_TYPE == TPUDSAddressingType.PUDS_ADDRESSING_FUNCTIONAL)
{
// Transmit a NRC ResponsePending response
Message.LEN = 3;
Message.DATA[0] = (byte)TPUDSService.PUDS_NR_SI;
Message.DATA[1] = SI;
Message.DATA[2] = UDSApi.PUDS_NRC_EXTENDED_TIMING;
Status = UDSApi.Write(Channel, ref Message);
Console.Write($"\n ...Transmitting a NRC Response Pending message: {Status}\n");
Console.Write($"\n ...simulating computation... (waiting ~{UDSApi.PUDS_P2CAN_ENHANCED_SERVER_MAX}ms)");
Thread.Sleep(UDSApi.PUDS_P2CAN_ENHANCED_SERVER_MAX - 100);
// initialize real service response
Message.LEN = UDSApi.PUDS_MAX_DATA;
Message.DATA[0] = (byte)(UDSRequest.DATA[0] + UDSApi.PUDS_SI_POSITIVE_RESPONSE);
}
Message.DATA[1] = UDSRequest.DATA[1];
// fill with dummy data
for (int i = 1; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
case TPUDSService.PUDS_SI_RequestTransferExit:
Message.LEN = (ushort)(1 + 1 + rnd.Next(0, 32767) % 50);
// fill with dummy data
for (int i = 0; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
default:
// fill with dummy data
Message.LEN = (ushort)((1 + SI) > UDSApi.PUDS_MAX_DATA ? UDSApi.PUDS_MAX_DATA : (1 + SI));
Message.DATA[1] = SI;
for (int i = 1; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
}
// Transmit UDS response
Status = UDSApi.Write(Channel, ref Message);
Console.Write($"\n ...Transmitting response: {Status}\n");
UDSRequest = Message;
}
public static void Main(string[] args)
{
TPUDSStatus Status;
TPUDSCANHandle Channel;
int nbErr = 0;
uint param = 0x0;
byte serverAddr = (byte)TPUDSAddress.PUDS_ISO_15765_4_ADDR_ECU_1;
StringBuilder buff = new StringBuilder();
// Show version information
UDSApi.GetValue(0, TPUDSParameter.PUDS_PARAM_API_VERSION, buff, 50);
Console.Write($"PCAN-UDS API Version : {buff}\n");
// Sets the default PCAN-Channel to use (PCAN-USB Channel 2)
//
Channel = UDSApi.PUDS_USBBUS2;
// Sets server address and channel from application arguments if specified
if (args.Length == 3)
{
Channel = (TPCANHandle)(UDSApi.PUDS_USBBUS1 - 1 + TPCANHandle.Parse(args[1]));
serverAddr = byte.Parse(args[2]);
}
// Initializing of the UDS Communication session
//
Status = UDSApi.Initialize(Channel, TPUDSBaudrate.PUDS_BAUD_250K, 0, 0, 0);
Console.Write($"Initialize UDS: {Status} (chan. 0x{Channel:x2})\n");
// Define server address and filtered address
//
param = serverAddr;
Status = UDSApi.SetValue(Channel, TPUDSParameter.PUDS_PARAM_SERVER_ADDRESS, ref param, (uint)Marshal.SizeOf(param));
Console.Write($"Set ServerAddress: {Status}\n");
Status = UDSApi.GetValue(Channel, TPUDSParameter.PUDS_PARAM_SERVER_ADDRESS, out param, (uint)Marshal.SizeOf(param));
Console.Write($"ServerAddress = 0x{param}\n");
// listen to the standard OBD functional address
param = (uint)TPUDSAddress.PUDS_ISO_15765_4_ADDR_OBD_FUNCTIONAL | UDSApi.PUDS_SERVER_FILTER_LISTEN;
Status = UDSApi.SetValue(Channel, TPUDSParameter.PUDS_PARAM_SERVER_FILTER, ref param, (uint)Marshal.SizeOf(param));
Console.Write($"Set Filtered Address: {Status}\n");
Console.Write("\nNote: press 'c' or 'C' to clear screen,");
Console.Write("\nNote: press 'q', 'Q' or '<Escape>' to quit...\n\n");
// Message Polling
//
TPUDSMsg Message;
bool bStop = false;
while (!bStop)
{
// check message
Status = UDSApi.Read(Channel, out Message);
if (Status == TPUDSStatus.PUDS_ERROR_OK)
{
// display message
displayMessage(ref Message, Message.NETADDRINFO.SA != serverAddr);
// check if an automatic reply should be sent
if (Message.NETADDRINFO.SA != serverAddr && // do not reply to Tx Confirmation from this server
Message.RESULT == TPUDSResult.PUDS_RESULT_N_OK) // and reply if there is no Network error
{
// do not reply if it was requested not to
if (Message.NO_POSITIVE_RESPONSE_MSG == UDSApi.PUDS_SUPPR_POS_RSP_MSG_INDICATION_BIT)
{
Console.Write("\n ...Skipping response...\n");
}
// do not reply to incoming message notification
else if (Message.MSGTYPE != TPUDSMessageType.PUDS_MESSAGE_TYPE_INDICATION)
{
transmitResponse(Channel, serverAddr, ref Message);
}
}
}
Thread.Sleep(1);
// check exit request
if (Console.KeyAvailable)
{
switch (Console.ReadKey().KeyChar)
{
case 'q':
case 'Q':
case (char)27: //Escape
bStop = true;
break;
case 'c':
case 'C':
Console.Clear();
Console.Write($"ServerAddress = 0x{serverAddr:x2}\n");
Console.Write("\nNote: press 'c' or 'C' to clear screen,");
Console.Write("\nNote: press 'q', 'Q' or '<Escape>' to quit...\n\n");
break;
}
}
}
// Display a small report
if (nbErr > 0)
{
Console.Write($"\nERROR : {nbErr} errors occured.\n\n");
Console.Write("\n\nPress <Enter> to quit...");
Console.ReadKey(true);
}
// Release channel
UDSApi.Uninitialize(Channel);
}
