UDS Sample

This sample demonstrates comprehensive UDS (Unified Diagnostic Services) functionality using the default UDS instance.

Overview

The sample uses uds_default_instance provided by the UDS library, which automatically handles:

• UDS instance initialization

• CAN interface setup and configuration

• Thread startup

• Common handler registration (session control, ECU reset, link control)

The application only needs to:

1. Implement service-specific handlers

2. Optionally provide custom user context via uds_default_instance_user_context()

Test with virtual CAN on posix

1. Add virtual can

   sudo ip link add dev vcan0 type vcan
   sudo ip link set vcan0 mtu 72
   sudo ip link set up vcan0
   sudo ip link property add dev vcan0 altname zcan0
   

2. Build for native sim and run

   west build\
       --pristine always\
       --board native_sim/native/64\
       samples/uds
   
   ./build/zephyr/zephyr.exe
   

3. Run test client in another terminal

   python samples/uds/client.py
   

Test with board

1. Enable can interface

   sudo ip link set can0 type can bitrate 500000
   sudo ip link set up can0
   

2. Run test client with can0 interface

   python samples/uds/client.py --can can0
   

   Note

   If you want to remove the error output, you can redirect stderr to /dev/null by appending 2&> /dev/null to the python command.

Test Link Control functionality with board

This sample only runs on a linux host as it requires updating the hosts can settings on the fly. This is also the reason why root privileges are required to run the client (See the set_can_bitrate function).

1. Enable can interface

   sudo ip link set can0 type can bitrate 500000
   sudo ip link set up can0
   

2. Run test client with can0 interface with root privileges. Make sure to source the python virtual environment again after elevating privileges so the clients dependencies are still available.

   sudo -s
   source <path_to_your_venv>/bin/activate
   python samples/uds/client_link_control.py --can can0
   

If you get a series of message errors (e.g. on Wireshark), then you should:

• Stop the client

• Disconnect the board

• Reconfigure the can interface

  sudo ip link set down can0
  sudo ip link set can0 type can bitrate 500000
  sudo ip link set up can0