feat:提交代码 uds

UDS/Diag_ID_Def.h

+/******************************************************************************
+文 件 名：Diag_ID_Def
+功能描述：诊断地址配置文件
+作    者：张暄
+版    本：V1.0
+日    期：2016.9.22
+******************************************************************************/
+#ifndef _DIAG_ID_DEF_H_
+#define _DIAG_ID_DEF_H_
+
+#define DIAG_ID_Tx      0x0725     /*发送ID*/
+#define DIAG_ID_Rx_PHY  0x0705     /*接收ID,物理寻址*/
+#define DIAG_ID_Rx_FUN  0x07DF     /*接收ID,功能寻址*/
+
+#endif

UDS/DoCAN_ISO15765.c

+/******************************************************************************
+文 件 名：DoCAN_ISO15765.c
+功能描述：ISO 15765 规范规定的诊断服务函数库文件
+作    者：张暄
+版    本：V1.0
+日    期：2016.7.18
+******************************************************************************/
+
+#include "DoCAN_ISO15765.h"
+#include "can.h"
+#include "UDS_ISO14229_Server.h"
+#include "UDS_ISO14229_Server.h"
+
+LinkRxFIFOStruct LinkRxFIFO;
+LinkTxCtrlStruct LinkTxCtrl;
+
+volatile TransportDataUnion TransportRxData;
+volatile TransportDataUnion TransportTxData;
+
+N_USDataRxStruct N_USDataRxBuffer;
+N_USDataTxStruct N_USDataTxBuffer;
+
+TransportControlStruct       TpCtrl;
+TransportTimingControlStruct TpTimingCtrl;
+
+uint8_t DiagnosticReceived;
+
+
+/******************************************************************************
+后台服务
+******************************************************************************/
+/******************************************************************************
+函数名：DoCAN_Communication_Service
+功  能：基于CAN总线的诊断通信服务后台控制函数
+参  数：无
+返回值：无
+*******************************************************************************
+注  意：该服务函数必须被实时调用
+******************************************************************************/
+void DoCAN_Communication_Service(void)
+{
+    DoCAN_Update_Timer( );
+    DoCAN_Handle_Time_Out( );
+    UDS_Server_Application_Service( );
+    DoCAN_Receive_And_Assemble_N_USData( );
+    DoCAN_Disassemble_And_Transmit_N_USData( );
+}
+
+/******************************************************************************
+函数名：DoCAN_Timer_Update
+功  能：更新定时器数值,用于时序控制以及STmin计时
+参  数：Interval：定时器两次更新的时间间隔,单位us
+返回值：无
+*******************************************************************************
+注  意：该服务函数必须被嵌入到定时中断中
+******************************************************************************/
+void DoCAN_Timer_Update(uint16_t Interval)
+{
+    TpTimingCtrl.Cnt += Interval;
+}
+
+/******************************************************************************
+Services provided by network layer to higher layers
+******************************************************************************/
+/******************************************************************************
+函数名：DoCAN_N_USData_Request
+功  能：该服务函数用于请求传输数据
+        This service is used to request the transfer of data. If necessary, the
+        network layer segments the data.
+参  数：N_TAtype    ：目标地址类型,发送数据请使用 DIAG_ID_Tx
+        MessageData ：请求传输的数据
+        Length      ：数据长度
+返回值：无
+******************************************************************************/
+void DoCAN_N_USData_Request(uint16_t N_TAtype, uint8_t *MessageData, uint16_t Length)
+{
+    uint8_t i;
+
+    // 非空闲状态下不允许发送
+    if ( TpCtrl.Process != TP_IDLE )
+    {
+        DoCAN_N_USData_Confirm(N_TAtype, N_ERROR);
+        return;
+    }
+
+    if ( (Length == 0) || (Length > N_USDATA_TX_BUFFER_SIZE) )    // 非法的长度
+    {
+        DoCAN_N_USData_Confirm(N_TAtype, N_ERROR);
+        return;
+    }
+
+    // 将数据缓存到发送Buffer中
+    N_USDataTxBuffer.N_TAtype = N_TAtype;
+    N_USDataTxBuffer.Length   = Length;
+
+    for ( i = 0; i < Length; i++ )
+    {
+        N_USDataTxBuffer.MsgData [ i ] = MessageData [ i ];
+    }
+
+    // 更新传输层状态
+    TpCtrl.NonStopMode = 0;
+    TpCtrl.TotalLen    = Length;    // 记录字节总数
+    TpCtrl.BSMax       = 0xFF;      // 初始化BSMax数值
+    TpCtrl.STmin       = 0x7F;
+
+    // 拆分为N_PDU
+    if ( TpCtrl.TotalLen < 8 )    // 数据总长度小于8,采用单帧发送
+    {
+        TpCtrl.BlockSize = 1;                  // 单帧,Block总数为1
+        TpCtrl.Len       = TpCtrl.TotalLen;    // 单帧发出全部的数据
+        TpCtrl.BlockCnt  = 1;                  // 记录已发送Block数
+
+        TransportTxData.N_PDU_SF.N_TAtype    = N_USDataTxBuffer.N_TAtype;
+        TransportTxData.N_PDU_SF.N_PCI.Type  = SINGLE_FRAME;
+        TransportTxData.N_PDU_SF.N_PCI.SF_DL = ( uint8_t )(TpCtrl.TotalLen);
+        TransportTxData.N_PDU_SF.DLC         = ( uint8_t )(TpCtrl.TotalLen) + 1;
+
+        for ( i = 0; i < TpCtrl.TotalLen; i++ )
+            TransportTxData.N_PDU_SF.N_Data [ i ] = N_USDataTxBuffer.MsgData [ i ];
+    }
+    else    // 数据总长度大于等于8,采用多帧发送,首先发送首帧
+    {
+        if ( (Length + 1) % 7 )                     // 计算BlockSize
+            TpCtrl.BlockSize = (Length + 8) / 7;    // 等效于(Length + 1) / 7 + 1
+        else
+            TpCtrl.BlockSize = (Length + 1) / 7;
+        TpCtrl.Len      = 6;    // 首帧发出数据长度为6
+        TpCtrl.BlockCnt = 1;    // 记录已发送Block数
+
+        TransportTxData.N_PDU_FF.N_TAtype      = N_USDataTxBuffer.N_TAtype;
+        TransportTxData.N_PDU_FF.N_PCI.Type    = FIRST_FRAME;
+        TransportTxData.N_PDU_FF.N_PCI.FF_DL_H = ( uint8_t )((TpCtrl.TotalLen >> 8) & 0x000F);
+        TransportTxData.N_PDU_FF.N_PCI.FF_DL_L = ( uint8_t )(TpCtrl.TotalLen & 0x00FF);
+        TransportTxData.N_PDU_FF.DLC           = 8;
+
+        for ( i = 0; i < 6; i++ )
+            TransportTxData.N_PDU_FF.N_Data [ i ] = N_USDataTxBuffer.MsgData [ i ];
+    }
+
+    DoCAN_Start_Timer(TIMING_PARA_N_As);    // 启动N_As计时
+
+    DoCAN_L_Data_Request(TransportTxData.Frame.Identifier, TransportTxData.Frame.DLC, ( uint8_t * )TransportTxData.Frame.Data);
+    TpCtrl.Process = TP_TX_INIT;    // 数据帧已发出,等待发送完成
+    DoCAN_L_Data_Confirm(TransportTxData.Frame.Identifier, COMPLETE);
+}
+
+/******************************************************************************
+函数名：DoCAN_N_USData_Confirm
+功  能：该服务函数由网络层发起,用于确认前一次使用N_USData.request服务向
+        N_TAtype地址发送的数据是否发送完成
+        The N_USData.confirm service is issued by the network layer. The service
+        primitive confirms the completion of an N_USData.request service
+        identified by the address information in N_TAtype.
+参  数：N_TAtype ：N_USData.confirm服务请求的发送地址
+        N_Result ：N_USData.request服务的传输状态
+返回值：无
+******************************************************************************/
+void DoCAN_N_USData_Confirm(uint16_t N_TAtype, N_ResultEnum N_Result)
+{
+    UDS_N_USData_Confirm(N_TAtype, N_Result);
+}
+
+/******************************************************************************
+函数名：DoCAN_N_USData_FF_Indication
+功  能：该服务函数由网络层发起,用于向上层指示地址为N_TAtype的一组多帧数据的首帧
+        的到来
+        The N_USData_FF.indication service is issued by the network layer. The
+        service primitive indicates to the adjacent upper layer the arrival of
+        a FirstFrame (FF) of a segmented message received from a peer protocol
+        entity, identified by the address information N_TAtype.
+参  数：N_TAtype ：新到的多帧数据首帧的地址信息
+        Length   ：新到的多帧数据的总长度
+返回值：无
+******************************************************************************/
+void DoCAN_N_USData_FF_Indication(uint16_t N_TAtype, uint16_t Length)
+{
+    UDS_N_USData_FF_Indication(N_TAtype, Length);
+}
+
+/******************************************************************************
+函数名：DoCAN_N_USData_Indication
+功  能：该服务函数由网络层发起,用于向上层指出由N_TAtype地址发送来的长度为Length
+        的MessageData数据的传送结果N_Result,并同时传递这一数据
+        The N_USData.indication service is issued by the network layer. The
+        service primitive indicates <N_Result> events and delivers
+        <MessageData> with <Length> bytes received from a peer protocol entity
+        identified by the address information in N_TAtype to the adjacent upper
+        layer.
+参  数：N_TAtype    ：接收到的数据地址信息
+        MessageData ：接收到的数据      (仅在N_Result为N_OK时有效)
+        Length      ：接收到的数据长度  (仅在N_Result为N_OK时有效)
+        N_Result    ：数据的接收结果
+返回值：无
+******************************************************************************/
+void DoCAN_N_USData_Indication(uint16_t N_TAtype, uint8_t *MessageData, uint16_t Length, N_ResultEnum N_Result)
+{
+    UDS_N_USData_Indication(N_TAtype, MessageData, Length, N_Result);
+}
+
+/******************************************************************************
+下层接口函数
+******************************************************************************/
+
+/******************************************************************************
+函数名：DoCAN_L_Data_Request
+功  能：该服务原语请求向<Identifier>传输特定格式的<Data>数据
+        The service primitive requests transmission of <Data> that shall be
+        mapped within specific attributes of the data link protocol data unit
+        selected by means of <Identifier>.
+参  数：Identifier ：报文ID
+        dlc        ：数据长度
+        Data       ：数据<Data>于数据链路层的存放地址
+返回值：无
+******************************************************************************/
+
+void DoCAN_L_Data_Request(uint16_t Identifier, uint8_t dlc, uint8_t *Data)
+{
+    uint8_t i;
+    CanTxRxMsg msg_diag_tx;
+    LinkTxCtrl.Identifier = Identifier;
+
+    for (i = 0; i < dlc; i++)
+    {
+        LinkTxCtrl.Data[i] = Data[i];
+    }
+
+    for (i = dlc; i < 8; i++)
+    {
+        LinkTxCtrl.Data[i] = FILLER_BYTE;
+    }
+
+    msg_diag_tx.Id = LinkTxCtrl.Identifier;
+    msg_diag_tx.DLC = 8;
+    msg_diag_tx.RTR = 0;
+    msg_diag_tx.IDE = 0;
+    msg_diag_tx.CacheType = CAN_CacheType_Tx;
+    for (i = 0; i < 8; i++)
+    {
+        msg_diag_tx.Data[i] = LinkTxCtrl.Data[i];
+    }
+
+    CAN_Transmit(CAN0MSG00, &msg_diag_tx);
+    // Can_Write(&msg);
+    // CANFD_Ch1_L_Data_Request(LinkTxCtrl.Identifier,8,LinkTxCtrl.Data);
+    LinkTxCtrl.Busy = 1;
+}
+
+/******************************************************************************
+函数名：DoCAN_L_Data_Confirm
+功  能：该服务原语用于确认具有特定<Identifier>的报文是否发送完成。
+        <TransferStatus>参数用于传递发送完成与否的状态。
+        The service primitive confirms the completion of an L_Data.request
+        service for a specific <Identifier>.The parameter <TransferStatus>
+        provides the status of the service request.
+参  数：Identifier     ：报文ID
+        TransferStatus ：Not_Complete - 未完成
+                         Complete     - 已发送完成
+返回值：无
+******************************************************************************/
+void DoCAN_L_Data_Confirm(uint16_t Identifier, uint8_t TransferStatus)
+{
+    // 如果数据发送成功,收发状态相应改变
+    if ( (LinkTxCtrl.Identifier == Identifier) && (TransferStatus == COMPLETE) )
+    {
+        switch ( TpCtrl.Process )
+        {
+            case TP_TX_INIT:
+                if ( TpCtrl.BlockSize == 1 )    // BlockSize为1,单帧发送成功
+                {
+                    TpCtrl.Process = TP_IDLE;    // 所有数据发送完毕,回到空闲状态
+                    DoCAN_Stop_Timer( );         // 停止计时
+                    DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_OK);
+                }
+                else    // BlockSize不为1,首帧发送成功
+                {
+                    DoCAN_Start_Timer(TIMING_PARA_N_Bs);    // 启动N_Bs计时
+                    TpCtrl.Process = TP_TX_RTS;             // 等待接收机许可多帧发送
+                }
+                break;
+
+            case TP_TX_CTS:
+                if ( TpCtrl.BlockCnt == TpCtrl.BlockSize )    // 最后一帧发送完成
+                {
+                    TpCtrl.Process = TP_IDLE;    // 所有数据发送完毕,回到空闲状态
+                    DoCAN_Stop_Timer( );         // 停止计时
+                    // DoCAN_Start_Timer(TIMING_PARA_N_Bs);
+                    DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_OK);
+                }
+                else
+                {
+                    // DoCAN_Start_Timer ( TIMING_PARA_N_Bs ); //启动/重启N_Bs计时
+                    if ( TpCtrl.BSMax )    // 还可以继续发送数据帧,则启动STmin计时
+                    {
+                        DoCAN_Stop_Timer( );
+                        DoCAN_Start_STmin_Timer(TpCtrl.STmin);
+                    }
+                    else
+                    {
+                        DoCAN_Start_Timer(TIMING_PARA_N_Bs);
+                    }
+                }
+                break;
+
+            case TP_RX_RTS:
+                DoCAN_Start_Timer(TIMING_PARA_N_Cr);    // 启动N_Cr计时
+                TpCtrl.Process = TP_RX_CTS;
+                break;
+
+            case TP_RX_WAIT:
+                DoCAN_Start_Timer(TIMING_PARA_N_Cr);    // 启动N_Cr计时
+                TpCtrl.Process = TP_RX_CTS;
+                break;
+
+            case TP_RX_OVFL:
+                TpCtrl.Process = TP_IDLE;    // 停止接收过程
+                DoCAN_Stop_Timer( );         // 停止计时
+                DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
+                                          N_USDataRxBuffer.Length, N_ERROR);
+                break;
+
+            default:
+                break;
+        }
+    }
+}
+
+/******************************************************************************
+函数名：DoCAN_L_Data_Indication
+功  能：该服务原语标示一个数据链路层事件到相邻上层并根据<Identifier>传送<Data>
+        The service primitive indicates a data link layer event to the adjacent
+        upper layer and delivers <Data> identified by <Identifier>
+参  数：Identifier ：报文ID
+        dlc        ：数据长度
+        pData      ：数据<Data>于数据链路层的存放地址
+返回值：无
+******************************************************************************/
+void DoCAN_L_Data_Indication(uint16_t Identifier, uint32_t dlc, uint8_t *pData)
+{
+    uint8_t i;
+
+    if ( LinkRxFIFO.Depth >= LINK_RX_FIFO_MAX_DEPTH )    // FIFO未满时装入报文,否则抛弃报文
+    {
+#if DOCAN_DEBUG_EN
+        LINK_RX_FIFO_OVERFLOW_INDICATOR( );
+#endif
+        return;
+    }
+
+    LinkRxFIFO.LinkData [ LinkRxFIFO.IPtr ].Identifier = Identifier;    // 装入报文ID
+    for ( i = 0; i < dlc; i++ )                                         // 拷贝报文
+        LinkRxFIFO.LinkData [ LinkRxFIFO.IPtr ].Data [ i ] = *(pData + i);
+    LinkRxFIFO.LinkData [ LinkRxFIFO.IPtr ].DLC = (uint8_t)dlc;    // 保存报文长度
+
+    LinkRxFIFO.Depth++;    // 新报文装入,深度+1
+    LinkRxFIFO.IPtr++;     // 输入指针+1
+    if ( LinkRxFIFO.IPtr >= LINK_RX_FIFO_MAX_DEPTH )
+        LinkRxFIFO.IPtr = 0;
+}
+
+/******************************************************************************
+传输层协议解析
+******************************************************************************/
+
+/******************************************************************************
+函数名：DoCAN_Receive_And_Assemble_N_USData();
+功  能：接收N_PDU并重组数据
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Receive_And_Assemble_N_USData(void)
+{
+    DoCAN_Get_N_PDU( );
+
+    if ( TransportRxData.N_PDU.New )
+    {
+        switch ( TransportRxData.N_PDU.N_PCI.Type )
+        {
+            case SINGLE_FRAME:
+                DoCAN_Receive_Single_Frame_N_Data( );
+                break;
+
+            case FIRST_FRAME:
+                DoCAN_Receive_First_Frame_N_Data( );
+                DoCAN_Transmit_Flow_Control( );    // 首帧发送完毕后必须发送流控帧
+                break;
+
+            case CONSECUTIVE_FRAME:
+                DoCAN_Receive_Consecutive_Frame_N_Data( );
+                DoCAN_Transmit_Flow_Control( );    // 当接收满一个BlockSize时,需要发送流控帧
+                break;
+
+            case FLOW_CONTROL:
+                DoCAN_Receive_Flow_Control( );
+                break;
+
+            default:
+                DoCAN_Handle_Unknown_N_PDU( );
+                break;
+        }
+        TransportRxData.N_PDU_FC.New = 0;
+    }
+}
+
+/******************************************************************************
+函数名：DoCAN_Get_N_PDU
+功  能：从数据链路层获取N_PDU(network protocol data unit)
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Get_N_PDU(void)
+{
+    uint8_t i;
+
+    if ( LinkRxFIFO.Depth )    // FIFO中有数据
+    {
+        TransportRxData.Frame.Identifier = LinkRxFIFO.LinkData [ LinkRxFIFO.OPtr ].Identifier;    // 取出ID
+        for ( i = 0; i < 8; i++ )                                                                 // 拷贝报文
+            TransportRxData.Frame.Data [ i ] = LinkRxFIFO.LinkData [ LinkRxFIFO.OPtr ].Data [ i ];
+        TransportRxData.Frame.DLC = LinkRxFIFO.LinkData [ LinkRxFIFO.OPtr ].DLC;    // 取出报文长度
+        TransportRxData.Frame.New = 1;
+
+        LinkRxFIFO.Depth--;    // 报文已取出,深度-1
+        LinkRxFIFO.OPtr++;     // 输出指针+1
+        if ( LinkRxFIFO.OPtr >= LINK_RX_FIFO_MAX_DEPTH )
+            LinkRxFIFO.OPtr = 0;
+    }
+}
+
+/******************************************************************************
+函数名：DoCAN_Receive_Single_Frame_N_Data
+功  能：单帧数据接收
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Receive_Single_Frame_N_Data(void)
+{
+    uint8_t i;
+
+    if ( (TpCtrl.Process & TP_DIR_MASK) == TP_TX )    // 发送中不接收
+        return;
+
+    /*---------------------------------------------------------------------------
+    Whether the interleaving Tester Present messages would lead to a loss of CF
+    or termination of the reception of an ongoing multiple frame request
+    2018.11.29
+    ---------------------------------------------------------------------------*/
+    if ( (TpCtrl.Process != TP_IDLE) && (TransportRxData.N_PDU_SF.N_TAtype != DIAG_ID_Rx_PHY) )
+        return;
+
+    /*---------------------------------------------------------------------------
+    Tester sends a Single frame with a CAN-DLC shorter and equal to the transport
+    protocol data length field. ECU must not send a response.
+    2018.11.28添加长度还要等于8
+    ---------------------------------------------------------------------------*/
+    if ( (TransportRxData.N_PDU_SF.DLC <= TransportRxData.N_PDU_SF.N_PCI.SF_DL) || (TransportRxData.N_PDU_SF.DLC != 8) )
+        return;
+
+    /*---------------------------------------------------------------------------
+    Tester sends a Single frame with a data length that is not allowed by the
+    protocol. ECU must not send a response.
+    ---------------------------------------------------------------------------*/
+    if ( (TransportRxData.N_PDU_SF.N_PCI.SF_DL == 0) || (TransportRxData.N_PDU_SF.N_PCI.SF_DL > 7) )
+        return;
+
+    N_USDataRxBuffer.N_TAtype = TransportRxData.N_PDU_SF.N_TAtype;
+    N_USDataRxBuffer.Length   = TransportRxData.N_PDU_SF.N_PCI.SF_DL;
+    for ( i = 0; i < N_USDataRxBuffer.Length; i++ )
+        N_USDataRxBuffer.MsgData [ i ] = TransportRxData.N_PDU_SF.N_Data [ i ];
+
+    TpCtrl.Process = TP_IDLE;    // 接收完成,回到IDLE状态
+    DoCAN_Stop_Timer( );
+    DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
+                              N_USDataRxBuffer.Length, N_OK);
+}
+
+/******************************************************************************
+函数名：DoCAN_Receive_First_Frame_N_Data
+功  能：接收首帧数据并初始化多帧数据接收
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Receive_First_Frame_N_Data(void)
+{
+    uint8_t  i;
+    uint16_t Len;
+
+    if ( (TpCtrl.Process & TP_DIR_MASK) == TP_TX )    // 发送中不接收
+        return;
+
+    /*-----------------------------------------------------------------------------
+    Tester sends a functional addressed First frame. ECU must not send a response.
+    -----------------------------------------------------------------------------*/
+    if ( TransportRxData.N_PDU_FF.N_TAtype != DIAG_ID_Rx_PHY )
+        return;
+
+    /*---------------------------------------------------------------------------
+    (8.3) A FirstFrame protocol data unit (FF N_PDU), containing the first six
+    data bytes
+    ---------------------------------------------------------------------------*/
+    if ( TransportRxData.N_PDU_FF.DLC != 8 )    // 首帧总长(N_PCI + N_Data)应为8
+        return;
+
+    /*---------------------------------------------------------------------------
+    Tester sends a First frame with Data length set to 0. ECU must not send a
+    response.
+    -----------------------------------------------------------------------------
+    (8.5.3.3) If the network layer receives an FF with an FF_DL that is less than
+    eight when using normal addressing, then the network layer shall ignore the
+    received FF N_PDU and not transmit an FC N_PDU.
+    ---------------------------------------------------------------------------*/
+    Len = ( uint16_t )(TransportRxData.N_PDU_FF.N_PCI.FF_DL_H);
+    Len <<= 8;
+    Len |= ( uint16_t )(TransportRxData.N_PDU_FF.N_PCI.FF_DL_L);
+
+    if ( Len < 8 )
+        return;
+
+        /*---------------------------------------------------------------------------
+        Tester sends a First frame of a segmented request. After the receipt of the
+        ECU Flow Control the Tester sends another segmented request. The ECU must
+        send a response for the second request.
+        ---------------------------------------------------------------------------*/
+#if ( N_MAX_BS )
+    TpCtrl.NonStopMode = 0;
+#else
+    TpCtrl.NonStopMode = 1;
+#endif
+
+    TpCtrl.Len      = 6;           // 首帧接收6字节
+    TpCtrl.TotalLen = Len;         // 记录字节总数
+    TpCtrl.BlockCnt = 1;           // 首帧接收1个block
+    TpCtrl.BSMax    = N_MAX_BS;    // 装入最大的BS数
+    TpCtrl.WFTCnt   = N_WFTmax;    // 装入最大等待次数
+
+    // 首帧含6字节数据,连续帧含7字节数据,根据字节数计算Block总数
+    if ( (TpCtrl.TotalLen + 1) % 7 )
+        TpCtrl.BlockSize = (TpCtrl.TotalLen + 8) / 7;    // 等效于(TpCtrl.TotalLen + 1) / 7 + 1
+    else
+        TpCtrl.BlockSize = (TpCtrl.TotalLen + 1) / 7;
+
+    // 开始接收首帧数据
+    N_USDataRxBuffer.N_TAtype = TransportRxData.N_PDU_FF.N_TAtype;
+    N_USDataRxBuffer.Length   = Len;
+    for ( i = 0; i < 6; i++ )
+        N_USDataRxBuffer.MsgData [ i ] = TransportRxData.N_PDU_FF.N_Data [ i ];
+
+    DoCAN_Start_Timer(TIMING_PARA_N_Br);    // 启动N_Br计时
+    TpCtrl.Process = TP_RX_INIT;
+    DoCAN_N_USData_FF_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.Length);
+}
+
+/******************************************************************************
+函数名：DoCAN_Receive_Consecutive_Frame_N_Data
+功  能：接收连接帧数据
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Receive_Consecutive_Frame_N_Data(void)
+{
+    uint8_t i;
+
+    /*---------------------------------------------------------------------------
+    Tester sends a request with a response that is longer than one frame. After
+    the Flow control the Tester sends a Consecutive frame. ECU must send a
+    diagnostic response for the first request. ECU must not send a response
+    for the Consecutive frame.
+    -----------------------------------------------------------------------------
+    Tester sends a single Consecutive frame. The ECU must not send a response.
+    ---------------------------------------------------------------------------*/
+    if ( TpCtrl.Process != TP_RX_CTS )
+        return;
+
+    if ( TransportRxData.N_PDU_CF.N_TAtype != DIAG_ID_Rx_PHY )
+        return;
+
+    /*---------------------------------------------------------------------------
+    Send a request which requires more than 4 frames. Drop the third consecutive
+    frame (CF). The ECU should not respond.
+    -----------------------------------------------------------------------------
+    Send a multi frame message to the ECU. Send the first consecutive frame (CF)
+    twice. No response is expected.
+    ---------------------------------------------------------------------------*/
+    if ( TransportRxData.N_PDU_CF.N_PCI.SN != ( uint8_t )(TpCtrl.BlockCnt & 0x000F) )
+    {
+        TpCtrl.Process = TP_IDLE;    // 停止接收过程
+        DoCAN_Stop_Timer( );         // 停止计时
+        DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
+                                  N_USDataRxBuffer.Length, N_WRONG_SN);
+        return;
+    }
+
+    TpCtrl.BlockCnt++;    // 接收到1个Block
+    TpCtrl.BSMax--;
+
+    if ( TpCtrl.BlockCnt < TpCtrl.BlockSize )    // 此次接收不是最后一帧
+    {
+        if ( TransportRxData.N_PDU_CF.DLC != 8 )    // 此时连续帧总长(N_PCI + N_Data)应为8
+            return;
+
+        for ( i = 0; i < 7; i++ )
+        {
+            N_USDataRxBuffer.MsgData [ TpCtrl.Len ] = TransportRxData.N_PDU_CF.N_Data [ i ];
+            TpCtrl.Len++;
+        }
+
+        DoCAN_Start_Timer(TIMING_PARA_N_Cr);    // 重启N_Cr计时
+    }
+    else    // 此次接收是最后一帧
+    {
+        /*-------------------------------------------------------------------------
+        In a segmented request the Tester sends a Consecutive frame with a CAN-DLC
+        shorter or equal to transport protocol data length field. ECU must not send
+        a response.
+        -------------------------------------------------------------------------*/
+        if ( (TransportRxData.N_PDU_CF.DLC <= TpCtrl.TotalLen - TpCtrl.Len) || (TransportRxData.N_PDU_CF.DLC != 8) )    // 此时连续帧总长应不小于剩余数据长度
+            return;
+
+        i = 0;
+        while ( TpCtrl.Len < TpCtrl.TotalLen )
+        {
+            N_USDataRxBuffer.MsgData [ TpCtrl.Len ] = TransportRxData.N_PDU_CF.N_Data [ i ];
+            i++;
+            TpCtrl.Len++;
+        }
+
+        TpCtrl.Process = TP_IDLE;    // 接收完成,回到IDLE状态
+        DoCAN_Stop_Timer( );
+        DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
+                                  N_USDataRxBuffer.Length, N_OK);
+    }
+}
+
+/******************************************************************************
+函数名：DoCAN_Receive_Flow_Control
+功  能：接收流控帧数据
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Receive_Flow_Control(void)
+{
+    /*--------------------------------------------------------------------------
+    Tester sends a segmented request interrupted by a Flow control after the ECU
+    Flow control. After that the Tester sends the remaining consecutive frames.
+    ECU should send a diagnostic response for the request.
+    -----------------------------------------------------------------------------
+    Tester sends a single Flow Control. The ECU must not send a response.
+    ---------------------------------------------------------------------------*/
+    if ( (TpCtrl.Process != TP_TX_RTS) && (TpCtrl.Process != TP_TX_CTS) && (TpCtrl.Process != TP_TX_WAIT) )
+        return;
+
+    /*---------------------------------------------------------------------------
+    Tester sends a request with a response that is longer than one frame. After
+    the First frame is received the Tester sends a functional addressed Flow
+    control. ECU must abort sending of the response.
+    ---------------------------------------------------------------------------*/
+    if ( TransportRxData.N_PDU_FC.N_TAtype != DIAG_ID_Rx_PHY )
+    {
+        DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_ERROR);
+        DoCAN_Stop_Timer( );         // 停止计时
+        TpCtrl.Process = TP_IDLE;    // 中止数据发送,回到空闲状态
+        return;
+    }
+
+    /*---------------------------------------------------------------------------
+    Tester sends a Flow control with a too short CAN-DLC for a response that is
+    longer than one frame. ECU must not send Consecutive frames. After that the
+    tester sends a new request. ECU must send a response for the last request.
+    ---------------------------------------------------------------------------*/
+    if ( TransportRxData.N_PDU_FC.DLC != 8 )
+    {
+        DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_ERROR);
+        DoCAN_Stop_Timer( );         // 停止计时
+        TpCtrl.Process = TP_IDLE;    // 中止数据发送,回到空闲状态
+        return;
+    }
+
+    switch ( TransportRxData.N_PDU_FC.N_PCI.FS )
+    {
+        case FC_FS_CTS:
+            if ( TpCtrl.NonStopMode )
+                break;
+
+            /*-------------------------------------------------------
+            Tester sends a Flow control with Blocksize 0 for a
+            response that is longer than one frame. ECU must send the
+            complete response.
+            ---------------------------------------------------------
+            Tester sends a Flow control with Blocksize 0 for a
+            response that is longer than one frame. ECU must send the
+            complete response without waiting for another Flow
+            control. Tester verifies that every Consecutive frame is
+            received within TimeoutCr.
+            -------------------------------------------------------*/
+            if ( TransportRxData.N_PDU_FC.N_PCI.BS == 0 )
+                TpCtrl.NonStopMode = 1;
+
+            /*-------------------------------------------------------
+            Tester sends a Flow control with a special Blocksize for
+            a response that is longer than one frame. ECU must send
+            the number of Consecutive frames that matches the
+            blocksize. Blocksize 1, 8 and 20 is checked if the
+            response is long enough.
+            -------------------------------------------------------*/
+            else
+                TpCtrl.BSMax = TransportRxData.N_PDU_FC.N_PCI.BS;
+
+            /*-------------------------------------------------------
+            Tester sends a Flow control for a response that is longer
+            than one frame. ECU must send the complete response.
+            Tester verifies that the time between the Consecutive
+            Frames is not below STMin time. This is tested for STMin
+            values 1,10,20,30,40,50 and 60.
+            -------------------------------------------------------*/
+            if ( TpCtrl.Process != TP_TX_CTS )
+            {
+                if(TransportRxData.N_PDU_FC.N_PCI.STmin == 0)
+                {
+                    TpCtrl.STmin = 1;
+                }
+                else
+                {
+                    TpCtrl.STmin = TransportRxData.N_PDU_FC.N_PCI.STmin;
+                }
+            }
+
+            /*-------------------------------------------------------
+            Request a service where the response requires more than
+            one response frame. Tester sends two Flow Controls (FC)
+            instead of one. A response from the ECU is expected.
+            -------------------------------------------------------*/
+            TpCtrl.Process = TP_TX_CTS;    // 发送机被许可发送
+            DoCAN_Stop_Timer( );
+            DoCAN_Start_STmin_Timer(TpCtrl.STmin);    // 启动STmin计时
+            break;
+
+        case FC_FS_WAIT:
+            if ( TpCtrl.NonStopMode )
+                break;
+
+            /*-------------------------------------------------------
+            Tester sends a Flow control with Status value wait (WT)
+            for a response that is longer than one frame. ECU must
+            not send Consecutive frames. After the N_Bs Timeout the
+            Tester sends another Flow control with status continue to
+            send (CTS). Then the tester sends a new request. ECU must
+            send a response for the last request.
+            -------------------------------------------------------*/
+            TpCtrl.Process = TP_TX_WAIT;            // 接收机请求发送机等待
+            DoCAN_Start_Timer(TIMING_PARA_N_Bs);    // 启动/重启N_Bs计时
+            break;
+
+        case FC_FS_OVFL:
+            if ( TpCtrl.NonStopMode )
+                break;
+
+            /*-------------------------------------------------------
+            Tester sends a Flow control with status overflow for a
+            response that is longer than one frame. ECU must not send
+            Consecutive frame(s).
+            ---------------------------------------------------------
+            Tester sends a request with a response that is longer
+            than one frame. After sending the Flow control the Tester
+            receives the first Consecutive frame and sends another
+            Flow control with status overflow (OVFLW). ECU must send
+            a diagnostic response for the first request. ECU must not
+            send a response for the Flow control.
+            -------------------------------------------------------*/
+            if ( TpCtrl.Process == TP_TX_RTS )
+            {
+                DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_BUFFER_OVFLW);
+                DoCAN_Stop_Timer( );         // 停止计时
+                TpCtrl.Process = TP_IDLE;    // 中止数据发送,回到空闲状态
+            }
+            break;
+
+        default: /*-------------------------------------------------------
+             Tester sends a Flow control with an invalid Status value
+             (3-15) for a response that is longer than one frame. ECU
+             must not send a response.
+             -------------------------------------------------------*/
+            DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_INVALID_FS);
+            DoCAN_Stop_Timer( );         // 停止计时
+            TpCtrl.Process = TP_IDLE;    // 中止数据发送,回到空闲状态
+            break;
+    }
+}
+
+/******************************************************************************
+函数名：DoCAN_Transmit_Flow_Control
+功  能：根据当前的接收机状态发送流控帧
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Transmit_Flow_Control(void)
+{
+    if ( TpCtrl.Process == TP_RX_INIT )
+    {
+        /*-------------------------------------------------------------------------
+        (8.5.3.3) If the network layer receives an FF with an FF_DL that is greater
+        than the available receiver buffer size, then this shall be considered as
+        an error condition. The network layer shall abort the message reception and
+        send an FC N_PDU with the parameter FlowStatus = Overflow.
+        -------------------------------------------------------------------------*/
+        if ( N_USDataRxBuffer.Length > N_USDATA_RX_BUFFER_SIZE )
+        {
+            TransportTxData.N_PDU_FC.N_PCI.FS = FC_FS_OVFL;
+            TpCtrl.Process                    = TP_RX_OVFL;
+        }
+        else
+        {
+            TransportTxData.N_PDU_FC.N_PCI.FS = FC_FS_CTS;
+            TpCtrl.Process                    = TP_RX_RTS;
+        }
+    }
+    else if ( TpCtrl.Process == TP_RX_CTS )
+    {
+        if ( TpCtrl.BSMax )    // 仍然没有接收满一个BS的N_PDU
+            return;
+
+        if ( TpCtrl.NonStopMode )    // 如果是连续接收模式(BS本来就是0)
+            return;
+
+        /*
+        if (0)                        //如果满足等待条件,则发送等待FC帧
+        {
+          if(TpCtrl.WFTCnt == 0)
+          {
+            TpCtrl.Process = TP_IDLE;
+            DoCAN_Stop_Timer();
+            DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData, \
+                                      N_USDataRxBuffer.Length, N_WFT_OVRN);
+            return;
+          }
+
+          TpCtrl.WFTCnt--;
+          TransportTxData.N_PDU_FC.N_PCI.FS = FC_FS_WAIT;
+        }*/
+
+        TpCtrl.BSMax                      = N_MAX_BS;    // 重新装入最大的BS数
+        TransportTxData.N_PDU_FC.N_PCI.FS = FC_FS_CTS;
+        TpCtrl.Process                    = TP_RX_RTS;    // 等待RTS发送完成
+    }
+    else
+        return;
+
+    TransportTxData.N_PDU_FC.N_TAtype   = DIAG_ID_Tx;
+    TransportTxData.N_PDU_FC.N_PCI.Type = FLOW_CONTROL;
+    TransportTxData.N_PDU_FC.N_PCI.BS   = 0;
+    /*---------------------------------------------------------------------------
+    Tester sends a segmented request to check for a valid STMin time in the ECU
+    Flow control. The STMin time value must be within 0x01-0x7F or 0xF1-0xF9.
+    ---------------------------------------------------------------------------*/
+    TransportTxData.N_PDU_FC.N_PCI.STmin = N_STmin;
+    TransportTxData.N_PDU_FC.DLC         = 3;
+
+    DoCAN_Start_Timer(TIMING_PARA_N_Ar);    // 启动N_Ar计时
+    DoCAN_L_Data_Request(TransportTxData.Frame.Identifier, TransportTxData.Frame.DLC, ( uint8_t * )TransportTxData.Frame.Data);
+    DoCAN_L_Data_Confirm(TransportTxData.Frame.Identifier, COMPLETE);
+}
+
+/******************************************************************************
+函数名：DoCAN_Handle_Unknown_N_PDU
+功  能：处理接收到的未知类型的N_PDU
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Handle_Unknown_N_PDU(void)
+{
+}
+
+/******************************************************************************
+函数名：DoCAN_Disassemble_And_Transmit_N_USData
+功  能：将数据拆分为连续帧(CF)并发送出去
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Disassemble_And_Transmit_N_USData(void)
+{
+    uint8_t i;
+    uint8_t Len;
+
+    if ( TpCtrl.Process != TP_TX_CTS )    // 未被许可时不可以发送连续帧
+        return;
+
+    // 仅在STmin计时时间到后发送一次
+    if ( DoCAN_Get_STmin_Timer_Status( ) == STmin_TIME_UP )
+    {
+        TransportTxData.N_PDU_CF.N_TAtype   = N_USDataTxBuffer.N_TAtype;
+        TransportTxData.N_PDU_CF.N_PCI.Type = CONSECUTIVE_FRAME;
+        TransportTxData.N_PDU_CF.N_PCI.SN   = ( uint8_t )(TpCtrl.BlockCnt & 0x000F);
+
+        // 当BSMax减小到0时,链路层数据发送完毕后,将不会再启动STmin计数器(详情见DoCAN_L_Data_Confirm函数）
+        // 因此STmin_TIME_UP状态将不会再出现,从而停止了连续帧的发送
+        // 直到有新的CF帧到来给BSMax赋予新值,或N_Bs计时超时
+        TpCtrl.BSMax--;
+        TpCtrl.BlockCnt++;
+
+        if ( TpCtrl.BlockCnt < TpCtrl.BlockSize )    // 将要发送的不是最后一帧
+        {
+            TransportTxData.N_PDU_CF.DLC = 8;
+            for ( i = 0; i < 7; i++ )
+            {
+                TransportTxData.N_PDU_CF.N_Data [ i ] = N_USDataTxBuffer.MsgData [ TpCtrl.Len ];
+                TpCtrl.Len++;
+            }
+        }
+        else if ( TpCtrl.BlockCnt == TpCtrl.BlockSize )    // 将要发送最后一帧
+        {
+            Len = ( uint8_t )(TpCtrl.TotalLen - TpCtrl.Len);
+
+            TransportTxData.N_PDU_CF.DLC = Len + 1;
+            for ( i = 0; i < Len; i++ )
+            {
+                TransportTxData.N_PDU_CF.N_Data [ i ] = N_USDataTxBuffer.MsgData [ TpCtrl.Len ];
+                TpCtrl.Len++;
+            }
+        }
+        else    // 已发送帧数不可能大于帧总数,除非有错误发生
+        {
+            DoCAN_Stop_Timer( );         // 停止计时
+            TpCtrl.Process = TP_IDLE;    // 中止数据发送,回到空闲状态
+            DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_ERROR);
+            return;
+        }
+
+        DoCAN_Start_Timer(TIMING_PARA_N_As);    // 启动N_As计时
+        DoCAN_L_Data_Request(TransportTxData.Frame.Identifier, TransportTxData.Frame.DLC, ( uint8_t * )TransportTxData.Frame.Data);
+        DoCAN_L_Data_Confirm(TransportTxData.Frame.Identifier, COMPLETE);
+    }
+}
+
+/******************************************************************************
+传输层时序管理
+******************************************************************************/
+/******************************************************************************
+函数名：DoCAN_Update_Timer
+功  能：定时器更新函数
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Update_Timer(void)
+{
+    uint16_t CurrentCnt;
+    uint16_t Dec;
+
+    CurrentCnt = TpTimingCtrl.Cnt;
+    if ( CurrentCnt != TpTimingCtrl.LastCnt )    // 定时器计数值有更新
+    {
+        if ( CurrentCnt > TpTimingCtrl.LastCnt )
+            Dec = CurrentCnt - TpTimingCtrl.LastCnt;
+        else
+            Dec = 65535 - TpTimingCtrl.LastCnt + 1 + CurrentCnt;
+
+        TpTimingCtrl.LastCnt = CurrentCnt;
+
+        if ( TpTimingCtrl.Type != TIMING_PARA_NONE )
+        {
+            if ( TpTimingCtrl.NTimer )
+            {
+                if ( TpTimingCtrl.NTimer > ( uint32_t )Dec )
+                    TpTimingCtrl.NTimer -= Dec;
+                else
+                    TpTimingCtrl.NTimer = 0;
+            }
+        }
+
+        if ( TpTimingCtrl.STminStatus == STmin_TIMING )
+        {
+            if ( TpTimingCtrl.STimer )
+            {
+                if ( TpTimingCtrl.STimer > ( uint32_t )Dec )
+                    TpTimingCtrl.STimer -= Dec;
+                else
+                    TpTimingCtrl.STimer = 0;
+            }
+
+            if ( TpTimingCtrl.STimer == 0 )
+                TpTimingCtrl.STminStatus = STmin_TIME_UP;
+        }
+    }
+}
+
+/******************************************************************************
+函数名：DoCAN_Handle_Time_Out
+功  能：超时处理
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Handle_Time_Out(void)
+{
+    if ( TpTimingCtrl.NTimer == 0 )    // 计时超时
+    {
+        switch ( TpTimingCtrl.Type )
+        {
+            case TIMING_PARA_N_As:
+                if ( TpCtrl.Process != TP_IDLE )
+                {
+                    TpCtrl.Process = TP_IDLE;    // 中止数据收发,回到空闲状态
+                    DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_TIMEOUT_A);
+                }
+                break;
+
+            case TIMING_PARA_N_Ar:
+                if ( TpCtrl.Process != TP_IDLE )
+                {
+                    TpCtrl.Process = TP_IDLE;    // 中止数据收发,回到空闲状态
+                    DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
+                                              N_USDataRxBuffer.Length, N_TIMEOUT_A);
+                }
+                break;
+
+            case TIMING_PARA_N_Bs:
+                if ( TpCtrl.Process != TP_IDLE )
+                {
+                    TpCtrl.Process = TP_IDLE;    // 中止数据发送,回到空闲状态
+                    DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_TIMEOUT_Bs);
+                }
+                break;
+
+            case TIMING_PARA_N_Br:
+                if ( TpCtrl.Process != TP_IDLE )
+                {
+                    TpCtrl.Process = TP_IDLE;    // 中止数据收发,回到空闲状态
+                    DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
+                                              N_USDataRxBuffer.Length, N_ERROR);
+                }
+                break;
+
+            case TIMING_PARA_N_Cs:
+                if ( TpCtrl.Process != TP_IDLE )
+                {
+                    TpCtrl.Process = TP_IDLE;    // 中止数据收发,回到空闲状态
+                    DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_ERROR);
+                }
+                break;
+
+            case TIMING_PARA_N_Cr:
+                if ( TpCtrl.Process != TP_IDLE )
+                {
+                    TpCtrl.Process = TP_IDLE;    // 中止数据接收,回到空闲状态
+                    DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
+                                              N_USDataRxBuffer.Length, N_TIMEOUT_Cr);
+                }
+                break;
+
+            default:
+                break;
+        }
+
+        DoCAN_Stop_Timer( );    // 停止计时
+    }
+}
+
+/******************************************************************************
+函数名：DoCAN_Start_Timer
+功  能：启动时序定时器
+参  数：TimingParameter ：时序参数,可以是下列参数中的一种
+                          TIMING_PARA_N_As
+                          TIMING_PARA_N_Ar
+                          TIMING_PARA_N_Bs
+                          TIMING_PARA_N_Br
+                          TIMING_PARA_N_Cs
+                          TIMING_PARA_N_Cr
+返回值：无
+******************************************************************************/
+void DoCAN_Start_Timer(uint8_t TimingParameter)
+{
+    switch ( TimingParameter )
+    {
+        case TIMING_PARA_N_As:
+            TpTimingCtrl.Type   = TIMING_PARA_N_As;
+            TpTimingCtrl.NTimer = N_As * 1000;
+            break;
+
+        case TIMING_PARA_N_Ar:
+            TpTimingCtrl.Type   = TIMING_PARA_N_Ar;
+            TpTimingCtrl.NTimer = N_Ar * 1000;
+            break;
+
+        case TIMING_PARA_N_Bs:
+            TpTimingCtrl.Type   = TIMING_PARA_N_Bs;
+            TpTimingCtrl.NTimer = N_Bs * 1000;
+            break;
+
+        case TIMING_PARA_N_Br:
+            TpTimingCtrl.Type   = TIMING_PARA_N_Br;
+            TpTimingCtrl.NTimer = N_Br * 1000;
+            break;
+
+        case TIMING_PARA_N_Cs:
+            TpTimingCtrl.Type   = TIMING_PARA_N_Cs;
+            TpTimingCtrl.NTimer = N_Cs * 1000;
+            break;
+
+        case TIMING_PARA_N_Cr:
+            TpTimingCtrl.Type   = TIMING_PARA_N_Cr;
+            TpTimingCtrl.NTimer = N_Cr * 1000;
+            break;
+
+        default:
+            TpTimingCtrl.Type   = TIMING_PARA_NONE;
+            TpTimingCtrl.NTimer = 0;
+            break;
+    }
+}
+
+/******************************************************************************
+函数名：DoCAN_Stop_Timer
+功  能：停止时序定时器
+参  数：无
+返回值：无
+******************************************************************************/
+void DoCAN_Stop_Timer(void)
+{
+    TpTimingCtrl.Type = TIMING_PARA_NONE;
+}
+
+/******************************************************************************
+函数名：DoCAN_Start_STmin_Timer
+功  能：启动STmin定时器
+参  数：STminTime：STmin时间
+返回值：无
+******************************************************************************/
+void DoCAN_Start_STmin_Timer(uint8_t STminTime)
+{
+    if ( STminTime <= 0x7F )    // 0x00 - 0x7F：0ms - 127ms
+        TpTimingCtrl.STimer = ( uint32_t )STminTime * 1000;
+    else if ( (STminTime >= 0xF1) && (STminTime <= 0xF9) )    // 0xF1 - 0xF9：100us - 900us
+        TpTimingCtrl.STimer = ( uint32_t )(STminTime & 0x0F) * 100;
+    else    // Reserved   ：127ms
+        TpTimingCtrl.STimer = 127000;
+
+    TpTimingCtrl.STminStatus = STmin_TIMING;    // STmin开始计时
+}
+
+/******************************************************************************
+函数名：DoCAN_Get_STmin_Timer_Status
+功  能：获取当前STmin定时器的状态
+参  数：无
+返回值：STmin_TIMER_IDLE：STmin定时器空闲
+        STmin_TIME_UP   ：STmin定时时间到
+        STmin_TIMING    ：STmin定时器计时中
+******************************************************************************/
+uint8_t DoCAN_Get_STmin_Timer_Status(void)
+{
+    uint8_t Status;
+
+    Status = TpTimingCtrl.STminStatus;
+
+    if ( Status == STmin_TIME_UP )
+        TpTimingCtrl.STminStatus = STmin_TIMER_IDLE;
+
+    return Status;
+}

UDS/DoCAN_ISO15765.h

+/******************************************************************************
+文 件 名：DoCAN_ISO15765.h
+功能描述：ISO 15765 规范规定的诊断服务函数头文件
+作    者：张暄
+版    本：V1.0
+日    期：2016.7.18
+******************************************************************************/
+
+/******************************************************************************
+                         诊断服务的OSI模型映射
+===============================================================================
+  *     NO.     OSI Layer        Diagnostics services
+-------------------------------------------------------------------------------
+         7      Application      ISO 14229-1 ISO 14229-3
+         6      Presentation     -
+         5      Session          ISO 14229-2
+  *      4      Transport        ISO 15765-2
+  *      3      Network          ISO 15765-2
+         2      Data Link        ISO 11898
+         1      Physical         ISO 11898
+===============================================================================
+******************************************************************************/
+
+#ifndef _DOCAN_ISO15765_H_
+#define _DOCAN_ISO15765_H_
+
+#include "stdint.h"
+#include "DoCAN_ISO15765_Config.h"
+
+/*-----------------------------------------------------------------------------
+Transfer_Status
+-----------------------------------------------------------------------------*/
+#ifndef COMPLETE
+    #define COMPLETE 0x00
+#endif
+
+#ifndef NOT_COMPLETE
+    #define NOT_COMPLETE (! COMPLETE)
+#endif
+
+/*-----------------------------------------------------------------------------
+N_PDU 名称
+-----------------------------------------------------------------------------*/
+#define SINGLE_FRAME      0x00
+#define FIRST_FRAME       0x01
+#define CONSECUTIVE_FRAME 0x02
+#define FLOW_CONTROL      0x03
+
+/*-----------------------------------------------------------------------------
+流控帧类型
+-----------------------------------------------------------------------------*/
+#define FC_FS_CTS  0x00
+#define FC_FS_WAIT 0x01
+#define FC_FS_OVFL 0x02
+
+/*-----------------------------------------------------------------------------
+时序参数名称
+-----------------------------------------------------------------------------*/
+#define TIMING_PARA_NONE 0X00
+#define TIMING_PARA_N_As 0X01
+#define TIMING_PARA_N_Ar 0X02
+#define TIMING_PARA_N_Bs 0X03
+#define TIMING_PARA_N_Br 0X04
+#define TIMING_PARA_N_Cs 0X05
+#define TIMING_PARA_N_Cr 0X06
+
+/*-----------------------------------------------------------------------------
+STmin计时状态
+-----------------------------------------------------------------------------*/
+#define STmin_TIMER_IDLE 0X00    // STmin定时器空闲
+#define STmin_TIME_UP    0X01    // STmin定时时间到
+#define STmin_TIMING     0X02    // STmin定时器计时中
+
+/*-----------------------------------------------------------------------------
+传输层收发控制
+-----------------------------------------------------------------------------*/
+#define TP_DIR_MASK 0x80    // 收发标志位
+#define TP_RX       0x00    // 传输层接收状态
+#define TP_TX       0x80    // 传输层发送状态
+
+#define TP_IDLE 0x00    // Rx：空闲状态
+// Tx：空闲状态
+#define TP_ERR 0x01    // Rx：接收系统错误
+// Tx：发送系统错误
+
+#define TP_RX_INIT 0x10    // Rx：已接收到首帧,初始化多帧接收
+#define TP_TX_INIT 0x90    // Tx：发送初始化完成,正在发送首帧或单帧(注意单帧也使用此标志)
+#define TP_RX_CTS  0x11    // Rx：接收机允许发送机发送连续帧(Clear To Send)
+#define TP_TX_CTS  0x91    // Tx：发送机被许可发送连续帧(Clear To Send)
+
+#define TP_RX_RTS  0x20    // Rx：请求继续发送多帧(Request To Send)
+#define TP_TX_RTS  0xA0    // Tx：等待接收机许可多帧发送(Request To Send)
+#define TP_RX_WAIT 0x21    // Rx：请求发送机暂停发送
+#define TP_TX_WAIT 0xA1    // Tx：接收机请求等待
+#define TP_RX_OVFL 0x22    // Rx：接收机接收溢出
+#define TP_TX_OVFL 0xA2    // Tx：接收机接收溢出
+
+/******************************************************************************
+结构体声明
+******************************************************************************/
+
+/*** 链路层数据帧结构 ***/
+typedef struct
+{
+    uint16_t Identifier;    // 帧ID
+    uint8_t  Data [ 8 ];    // 帧数据
+    uint8_t  DLC;           // 帧长度
+} LinkDataStruct;
+
+/*** 链路层接收FIFO结构 ***/
+typedef struct
+{
+    LinkDataStruct LinkData [ LINK_RX_FIFO_MAX_DEPTH ];
+    uint8_t        Depth;    // FIFO深度
+    uint8_t        IPtr;     // 输入指针
+    uint8_t        OPtr;     // 输出指针
+} LinkRxFIFOStruct;
+
+/*** 链路层发送控制结构 ***/
+typedef struct
+{
+    uint16_t Identifier;    // 帧ID
+    uint8_t  Data [ 8 ];    // 帧数据
+    uint8_t  Busy;          // 发送器忙标志
+} LinkTxCtrlStruct;
+
+/*---------------------------------------------------------------------------*/
+
+/*** 传输层数据帧结构 ***/
+typedef struct
+{
+    uint16_t Identifier;
+    uint8_t  Data [ 8 ];
+    uint8_t  DLC;
+    uint8_t  New;
+} TP_Data_Struct;
+
+/*** 通用N_PCI解析结构 ***/
+typedef struct
+{
+    uint8_t Rsvd : 4;
+    uint8_t Type : 4;
+} TP_N_PCI_Struct;
+
+/*** 通用N_PDU解析结构 ***/
+typedef struct
+{
+    uint16_t        N_TAtype;
+    TP_N_PCI_Struct N_PCI;
+    uint8_t         N_Data [ 7 ];
+    uint8_t         DLC;
+    uint8_t         New;
+} TP_N_PDU_Struct;
+
+/*** 单帧N_PCI解析结构 ***/
+typedef struct
+{
+    uint8_t SF_DL : 4;
+    uint8_t Type  : 4;
+} TP_SF_N_PCI_Struct;
+
+/*** 单帧N_PDU解析结构 ***/
+typedef struct
+{
+    uint16_t           N_TAtype;
+    TP_SF_N_PCI_Struct N_PCI;
+    uint8_t            N_Data [ 7 ];
+    uint8_t            DLC;
+    uint8_t            New;
+} TP_N_PDU_SF_Struct;
+
+/*** 首帧N_PCI解析结构 ***/
+typedef struct
+{
+    uint8_t  FF_DL_H : 4;
+    uint8_t  Type    : 4;
+    uint16_t FF_DL_L : 8;
+} TP_FF_N_PCI_Struct;
+
+/*** 首帧N_PDU解析结构 ***/
+typedef struct
+{
+    uint16_t           N_TAtype;
+    TP_FF_N_PCI_Struct N_PCI;
+    uint8_t            N_Data [ 6 ];
+    uint8_t            DLC;
+    uint8_t            New;
+} TP_N_PDU_FF_Struct;
+
+/*** 连续帧N_PCI解析结构 ***/
+typedef struct
+{
+    uint8_t SN   : 4;
+    uint8_t Type : 4;
+} TP_CF_N_PCI_Struct;
+
+/*** 连续帧N_PDU解析结构 ***/
+typedef struct
+{
+    uint16_t           N_TAtype;
+    TP_CF_N_PCI_Struct N_PCI;
+    uint8_t            N_Data [ 7 ];
+    uint8_t            DLC;
+    uint8_t            New;
+} TP_N_PDU_CF_Struct;
+
+/*** 流控帧N_PCI解析结构 ***/
+typedef struct
+{
+    uint8_t FS    : 4;
+    uint8_t Type  : 4;
+    uint8_t BS    : 8;
+    uint8_t STmin : 8;
+} TP_FC_N_PCI_Struct;
+
+/*** 流控帧N_PDU解析结构 ***/
+typedef struct
+{
+    uint16_t           N_TAtype;
+    TP_FC_N_PCI_Struct N_PCI;
+    uint8_t            N_Data [ 5 ];
+    uint8_t            DLC;
+    uint8_t            New;
+} TP_N_PDU_FC_Struct;
+
+/*** 传输层数据解析联合体 ***/
+typedef union
+{
+    TP_Data_Struct     Frame;
+    TP_N_PDU_Struct    N_PDU;
+    TP_N_PDU_SF_Struct N_PDU_SF;
+    TP_N_PDU_FF_Struct N_PDU_FF;
+    TP_N_PDU_CF_Struct N_PDU_CF;
+    TP_N_PDU_FC_Struct N_PDU_FC;
+} TransportDataUnion;
+
+/*** 传输层收发控制结构 ***/
+typedef struct
+{
+    uint8_t  Process;        // 当前收发进程
+    uint8_t  NonStopMode;    // 不间断收发模式(不再理会后续的FC帧)
+    uint16_t Len;            // 已接收到或已发送出的数据长度
+    uint16_t TotalLen;       // 数据总长
+    uint16_t BlockSize;      // Block总数
+    uint16_t BlockCnt;       // 已接收到或已发送出的Block数
+    uint8_t  BSMax;          // 当前接收机剩余的最大Block数
+    uint8_t  WFTCnt;         //[仅接收用]等待次数计数
+    uint8_t  STmin;          //[仅发送用]当前接收机要求的最小间隔时间
+} TransportControlStruct;
+
+/*** 时序控制结构 ***/
+typedef struct
+{
+    uint16_t Cnt;            // 滚动计数器
+    uint16_t LastCnt;        // 上次更新时的滚动计数器
+    uint32_t NTimer;         // 时序定时器,单位：us
+    uint32_t STimer;         // 最小间隔时间(STmin)定时器,单位：us
+    uint8_t  Type;           // 当前定时器计时参数名称
+    uint8_t  STminStatus;    // STmin计时状态
+} TransportTimingControlStruct;
+
+/*---------------------------------------------------------------------------*/
+
+/*** 数据收发结果N_Result枚举 ***/
+typedef enum
+{
+    N_OK = 0,
+    N_TIMEOUT_A,
+    N_TIMEOUT_Bs,
+    N_TIMEOUT_Cr,
+    N_WRONG_SN,
+    N_INVALID_FS,
+    N_UNEXP_PDU,
+    N_WFT_OVRN,
+    N_BUFFER_OVFLW,
+    N_ERROR,
+} N_ResultEnum;
+
+/*** 接收用N_USData数据结构 ***/
+typedef struct
+{
+    uint16_t N_TAtype;
+    uint16_t Length;
+    uint8_t  MsgData [ N_USDATA_RX_BUFFER_SIZE ];
+} N_USDataRxStruct;
+
+/*** 发送用N_USData数据结构 ***/
+typedef struct
+{
+    uint16_t N_TAtype;
+    uint16_t Length;
+    uint8_t  MsgData [ N_USDATA_TX_BUFFER_SIZE ];
+} N_USDataTxStruct;
+
+/******************************************************************************
+函数声明
+******************************************************************************/
+
+/*-- 外部接口函数 -----------------------------------------------------------*/
+
+/*** 后台服务函数 ***/
+extern void DoCAN_Communication_Service(void);
+extern void DoCAN_Timer_Update(uint16_t Interval);
+
+/*** 网络层上层接口函数 ***/
+void DoCAN_N_USData_Request(uint16_t N_TAtype, uint8_t *MessageData, uint16_t Length);
+void DoCAN_N_USData_Confirm(uint16_t N_TAtype, N_ResultEnum N_Result);
+void DoCAN_N_USData_FF_Indication(uint16_t N_TAtype, uint16_t Length);
+void DoCAN_N_USData_Indication(uint16_t N_TAtype, uint8_t *MessageData, uint16_t Length, N_ResultEnum N_Result);
+
+/*** 链路层下层接口函数 ***/
+void        DoCAN_L_Data_Request(uint16_t Identifier, uint8_t dlc, uint8_t *Data);
+void        DoCAN_L_Data_Confirm(uint16_t Identifier, uint8_t TransferStatus);
+extern void DoCAN_L_Data_Indication(uint16_t Identifier, uint32_t dlc, uint8_t *pData);
+
+extern void CAN_LLC_Ch5_Data_Request(uint32_t Identifier, uint16_t idx, uint8_t DLC, uint8_t *Data);
+
+/*-- 内部函数 ---------------------------------------------------------------*/
+
+/*** 传输层协议解析 ***/
+void DoCAN_Receive_And_Assemble_N_USData(void);    // 接收主函数
+void DoCAN_Get_N_PDU(void);
+void DoCAN_Receive_Single_Frame_N_Data(void);
+void DoCAN_Receive_First_Frame_N_Data(void);
+void DoCAN_Receive_Consecutive_Frame_N_Data(void);
+void DoCAN_Receive_Flow_Control(void);
+void DoCAN_Transmit_Flow_Control(void);
+void DoCAN_Handle_Unknown_N_PDU(void);
+void DoCAN_Disassemble_And_Transmit_N_USData(void);    // 发送主函数
+
+/*** 时序管理 ***/
+void    DoCAN_Update_Timer(void);
+void    DoCAN_Handle_Time_Out(void);
+void    DoCAN_Start_Timer(uint8_t TimingParameter);
+void    DoCAN_Stop_Timer(void);
+void    DoCAN_Start_STmin_Timer(uint8_t STminTime);
+uint8_t DoCAN_Get_STmin_Timer_Status(void);
+
+#endif

UDS/DoCAN_ISO15765_Config.h

+/******************************************************************************
+文 件 名：DoCAN_ISO15765_Config.h
+功能描述：ISO 15765 规范规定的诊断服务配置文件
+作    者：张暄
+版    本：V1.0
+日    期：2016.7.18
+******************************************************************************/
+
+/******************************************************************************
+      Diagnostic/Programming Specifications Applicable to the OSI Layers
+===============================================================================
+  *     NO.     OSI Layer        Diagnostics services
+-------------------------------------------------------------------------------
+         7      Application      ISO 14229-1 ISO 14229-3
+         6      Presentation     -
+         5      Session          ISO 14229-2
+  *      4      Transport        ISO 15765-2
+  *      3      Network          ISO 15765-2
+         2      Data Link        ISO 11898
+         1      Physical         ISO 11898
+===============================================================================
+******************************************************************************/
+
+#ifndef _DOCAN_ISO15765_CONFIG_H_
+#define _DOCAN_ISO15765_CONFIG_H_
+
+#include "Diag_ID_Def.h"
+/*-----------------------------------------------------------------------------
+If CAN frame data padding is used, the DLC is always set to 8, even if the
+N_PDU to be transmitted is shorter than 8 bytes. The sender has to pad any
+unused bytes in the frame. In particular, this can be the case for an SF, FC
+frame or the last CF of a segmented message.
+-----------------------------------------------------------------------------*/
+#define FILLER_BYTE_HANDLING 1
+#define FILLER_BYTE          0xAA
+
+/*-----------------------------------------------------------------------------
+Link layer Rx FIFO depth
+-----------------------------------------------------------------------------*/
+#define LINK_RX_FIFO_MAX_DEPTH 2
+
+/*-----------------------------------------------------------------------------
+Network layer buffer size
+-----------------------------------------------------------------------------*/
+#define N_USDATA_RX_BUFFER_SIZE 96
+#define N_USDATA_TX_BUFFER_SIZE 96
+
+/******************************************************************************
+The FlowControl mechanism allows the receiver to inform the sender about the
+receiver’s capabilities. Since different nodes may have different capabilities,
+the FlowControl sent by the receiver informs the sender about its capabilities.
+The sender shall conform to the receiver’s capabilities.
+These capabilities are defined as follows.
+******************************************************************************/
+/*-----------------------------------------------------------------------------
+— BlockSize (BS): The maximum number of N_PDUs the receiver allows the sender
+to send, before waiting for an authorization to continue transmission of the
+following N_PDUs.
+-----------------------------------------------------------------------------*/
+#define N_MAX_BS 8
+
+/*-----------------------------------------------------------------------------
+— SeparationTime minimum (STmin): The minimum time the sender is to wait
+between transmission of two CF N_PDUs. (Unit: ms)
+-----------------------------------------------------------------------------*/
+#define N_STmin 20
+
+/*-----------------------------------------------------------------------------
+— N_WFTmax: Upper limit to the number of FC.WAIT a receiver is allowed to send
+            in a row. This parameter is a system design constant and is not
+            transmitted in the first FC N_PDU.
+-----------------------------------------------------------------------------*/
+#define N_WFTmax 0
+
+/******************************************************************************
+Timing parameters
+******************************************************************************/
+/*-----------------------------------------------------------------------------
+- Timing Parametera       : N_As
+- Description             : Time for transmission of the CAN frame (any N_PDU)
+                            on the sender side
+- Start                   : L_Data.request
+- End                     : L_Data.confirm
+- Timeout(Max)            : 1,000 ms
+- Performance Requirement :
+-----------------------------------------------------------------------------*/
+#define N_As (( uint32_t )25)
+
+/*-----------------------------------------------------------------------------
+- Timing Parametera       : N_Ar
+- Description             : Time for transmission of the CAN frame (any N_PDU)
+                            on the receiver side
+- Start                   : L_Data.request
+- End                     : L_Data.confirm
+- Timeout(Max)            : 1,000 ms
+- Performance Requirement :
+-----------------------------------------------------------------------------*/
+#define N_Ar (( uint32_t )25)
+
+/*-----------------------------------------------------------------------------
+- Timing Parametera       : N_Bs
+- Description             : Time until reception of the next FlowControl N_PDU
+- Start                   : L_Data.confirm (FF) / L_Data.confirm (CF) /
+                            L_Data.indication (FC)
+- End                     : L_Data.indication (FC)
+- Timeout(Max)            : 1,000 ms
+- Performance Requirement :
+-----------------------------------------------------------------------------*/
+#define N_Bs (( uint32_t )75)
+
+/*-----------------------------------------------------------------------------
+- Timing Parametera       : N_Br
+- Description             : Time until transmission of the next FlowControl
+                            N_PDU
+- Start                   : L_Data.indication (FF) / L_Data.indication (CF)
+                            L_Data.confirm (FC)
+- End                     : L_Data.request (FC)
+- Timeout(Max)            : N/A
+- Performance Requirement : (N_Br + N_Ar) < (0.9 × N_Bs timeout)
+-----------------------------------------------------------------------------*/
+#define N_Br (( uint32_t )9)
+
+/*-----------------------------------------------------------------------------
+- Timing Parametera       : N_Cs
+- Description             : Time until transmission of the next
+                            ConsecutiveFrame N_PDU
+- Start                   : L_Data.indication (FC) / L_Data.confirm (CF)
+- End                     : L_Data.request (CF)
+- Timeout(Max)            : N/A
+- Performance Requirement : (N_Cs + N_As) < (0.9 × N_Cr timeout)
+-----------------------------------------------------------------------------*/
+#define N_Cs (( uint32_t )0)
+
+/*-----------------------------------------------------------------------------
+- Timing Parametera       : N_Cr
+- Description             : Time until reception of the next Consecutive Frame
+                            N_PDU
+- Start                   : L_Data.confirm (FC) / L_Data.indication (CF)
+- End                     : L_Data.indication (CF)
+- Timeout(Max)            : 1,000 ms
+- Performance Requirement :
+-----------------------------------------------------------------------------*/
+#define N_Cr (( uint32_t )150)
+
+/******************************************************************************
+For debug purpose
+******************************************************************************/
+/*-----------------------------------------------------------------------------
+Global debug switch
+-----------------------------------------------------------------------------*/
+#define DOCAN_DEBUG_EN 0
+
+/*-----------------------------------------------------------------------------
+Bug indicator functions
+-----------------------------------------------------------------------------*/
+#if DOCAN_DEBUG_EN
+    #define LINK_RX_FIFO_OVERFLOW_INDICATOR( )
+#endif
+
+#endif

UDS/UDS_ISO14229_Server.c

+/******************************************************************************
+文 件 名：UDS_ISO14229_Server.c
+功能描述：ISO 14229 规范规定的诊断服务服务器端函数库文件
+作    者：张暄
+版    本：V1.0
+日    期：2016.11.1
+******************************************************************************/
+#include "UDS_ISO14229_Server.h"
+
+UDS_APP_RX_Union     UDS_APP_RX;
+UDS_APP_TX_Union     UDS_APP_TX;
+UDS_APP_TX_NEG_Union UDS_APP_TX_NEG;
+
+extern DiagSendDataNeg NegRes;
+extern uint8_t         CAN_Current_state;
+
+/******************************************************************************
+后台服务
+******************************************************************************/
+/******************************************************************************
+函数名：UDS_Server_Application_Service
+功  能：UDS服务器应用层控制服务
+参  数：无
+返回值：无
+*******************************************************************************
+注  意：该服务函数必须被实时调用
+******************************************************************************/
+void UDS_Server_Application_Service(void)
+{
+    UDS_Process_Service_Request( );
+    /*
+        if ( IsNMTimerOut ( NM_Tdiag_Timer ) )
+        {
+            NMStopTimer ( NM_Tdiag_Timer );
+            CanNm_NetworkRelease ( NM_REQ_DIAG_TIMEOUT );
+        }
+        */
+}
+
+/******************************************************************************
+会话层下层接口及计时功能实现
+******************************************************************************/
+
+/******************************************************************************
+函数名：UDS_N_USData_Request
+功  能：该服务函数用于请求传输数据
+        This service is used to request the transfer of data. If necessary, the
+        network layer segments the data.
+参  数：N_TAtype    ：目标地址类型,发送数据请使用 DIAG_ID_Tx
+        MessageData ：请求传输的数据
+        Length      ：数据长度
+返回值：无
+******************************************************************************/
+void UDS_N_USData_Request(uint16_t N_TAtype, uint8_t *MessageData, uint16_t Length)
+{
+    DoCAN_N_USData_Request(N_TAtype, MessageData, Length);
+
+    // 计时
+}
+
+/******************************************************************************
+函数名：UDS_N_USData_Confirm
+功  能：该服务函数由网络层发起,用于确认前一次使用N_USData.request服务向
+        N_TAtype地址发送的数据是否发送完成
+        The N_USData.confirm service is issued by the network layer. The service
+        primitive confirms the completion of an N_USData.request service
+        identified by the address information in N_TAtype.
+参  数：N_TAtype ：N_USData.confirm服务请求的发送地址
+        N_Result ：N_USData.request服务的传输状态
+返回值：无
+******************************************************************************/
+extern void UDS_N_USData_Confirm(uint16_t N_TAtype, uint8_t N_Result)
+{
+    if ( N_Result == N_OK )
+        UDS_S_Data_Confirm(N_TAtype, S_OK);
+    else
+        UDS_S_Data_Confirm(N_TAtype, S_NOK);
+
+    // 计时
+}
+
+/******************************************************************************
+函数名：UDS_N_USData_FF_Indication
+功  能：该服务函数由网络层发起,用于向上层指示地址为N_TAtype的一组多帧数据的首帧
+        的到来
+        The N_USData_FF.indication service is issued by the network layer. The
+        service primitive indicates to the adjacent upper layer the arrival of
+        a FirstFrame (FF) of a segmented message received from a peer protocol
+        entity, identified by the address information N_TAtype.
+参  数：N_TAtype ：新到的多帧数据首帧的地址信息
+        Length   ：新到的多帧数据的总长度
+返回值：无
+******************************************************************************/
+extern void UDS_N_USData_FF_Indication(uint16_t N_TAtype, uint16_t Length)
+{
+
+    // 计时
+}
+
+/******************************************************************************
+函数名：UDS_N_USData_Indication
+功  能：该服务函数由网络层发起,用于向上层指出由N_TAtype地址发送来的长度为Length
+        的MessageData数据的传送结果N_Result,并同时传递这一数据
+        The N_USData.indication service is issued by the network layer. The
+        service primitive indicates <N_Result> events and delivers
+        <MessageData> with <Length> bytes received from a peer protocol entity
+        identified by the address information in N_TAtype to the adjacent upper
+        layer.
+参  数：N_TAtype    ：接收到的数据地址信息
+        MessageData ：接收到的数据      (仅在N_Result为N_OK时有效)
+        Length      ：接收到的数据长度  (仅在N_Result为N_OK时有效)
+        N_Result    ：数据的接收结果
+返回值：无
+******************************************************************************/
+extern void UDS_N_USData_Indication(uint16_t N_TAtype, uint8_t *MessageData, uint16_t Length, uint8_t N_Result)
+{
+    if ( N_Result == N_OK )
+        UDS_S_Data_Indication(N_TAtype, MessageData, Length, S_OK);
+    else
+        UDS_S_Data_Indication(N_TAtype, MessageData, Length, S_NOK);
+
+    // 计时
+}
+
+/******************************************************************************
+会话层上层接口
+******************************************************************************/
+
+/******************************************************************************
+函数名：UDS_S_Data_Request
+功  能：该服务用于请求向目标地址S_TAtype发送长度为S_Length的S_Data.
+        The service primitive requests transmission of S_Data with S_Length
+        number of bytes from the sender to the receiver peer entities
+        identified by the address information in S_TAtype.
+参  数：S_TAtype ：发送数据的目标地址
+        S_Data   ：发送的数据
+        S_Length ：数据的长度
+返回值：无
+******************************************************************************/
+void UDS_S_Data_Request(uint16_t S_TAtype, uint8_t *S_Data, uint16_t S_Length)
+{
+    UDS_N_USData_Request(S_TAtype, S_Data, S_Length);
+}
+
+/******************************************************************************
+函数名：UDS_S_Data_Request
+功  能：该服务由会话层发起,用于指出以S_TAtype为目标地址的S_Data.request发送请求
+        是否完成
+        The S_Data.confirm service is issued by the session layer. The service
+        primitive confirms the completion of an S_Data.request service
+        identified by the address information in S_TAtype.
+参  数：S_TAtype ：发送数据的目标地址
+        S_Result ：数据的发送结果
+返回值：无
+******************************************************************************/
+void UDS_S_Data_Confirm(uint16_t S_TAtype, S_Result_Enum S_Result)
+{
+}
+
+/******************************************************************************
+函数名：UDS_S_Data_Request
+功  能：该服务由会话层发起,用于向上层指出S_Result接收状态以及传递从S_TAtype地址
+        接收到的S_Length长度的S_Data数据
+
+        The S_Data.indication service is issued by the session layer. The
+        service primitive indicates S_Result events and delivers S_Data with
+        S_Length bytes received from a peer protocol entity identified by the
+        address information in S_TAtype to the adjacent upper layer.
+参  数：S_TAtype ：接收到的数据地址信息
+        S_Data   ：接收到的数据      (仅在S_Result为S_OK时有效)
+        S_Length ：接收到的数据长度  (仅在S_Result为S_OK时有效)
+        S_Result ：数据的接收结果
+返回值：无
+******************************************************************************/
+void UDS_S_Data_Indication(uint16_t S_TAtype, uint8_t *S_Data, uint16_t S_Length, S_Result_Enum S_Result)
+{
+    uint16_t i;
+
+    if ( S_Result == S_OK )
+    {
+        UDS_APP_RX.Data.New     = 1;
+        UDS_APP_RX.Data.TA_type = S_TAtype;
+        UDS_APP_RX.Data.Length  = S_Length - 1;
+
+        for ( i = 0; i < S_Length; i++ )
+        {
+            UDS_APP_RX.Data.A_Data [ i ] = S_Data[i];
+        }
+    }
+}
+
+/******************************************************************************
+应用层服务控制
+******************************************************************************/
+
+/******************************************************************************
+函数名：UDS_Process_Service_Request
+功  能：该函数用于处理来自客户端的服务请求,当有新的服务请求到达时,根据SI选择相
+        应的服务实现函数执行服务
+参  数：无
+返回值：无  SYSC0_RUNPLL2CNTR
+******************************************************************************/
+extern uint8_t S3_Server_refresh;
+void UDS_Process_Service_Request(void)
+{
+    if (UDS_APP_RX.A_PDU.New)
+    {
+        S3_Server_refresh = 1;
+        switch (UDS_APP_RX.A_PDU.A_PCI.SI)
+        {
+        case 0x10: UDS_Service_10_Indication(UDS_APP_RX.A_PDU.TA_type, UDS_APP_RX.A_PDU.Length, UDS_APP_RX.A_PDU.Data);
+            break;
+        case 0x22: UDS_Service_22_Indication(UDS_APP_RX.A_PDU.TA_type, UDS_APP_RX.A_PDU.Length, UDS_APP_RX.A_PDU.Data);
+            break;
+        case 0x27: UDS_Service_27_Indication(UDS_APP_RX.A_PDU.TA_type, UDS_APP_RX.A_PDU.Length, UDS_APP_RX.A_PDU.Data);
+            break;
+        case 0x28: UDS_Service_28_Indication(UDS_APP_RX.A_PDU.TA_type, UDS_APP_RX.A_PDU.Length, UDS_APP_RX.A_PDU.Data);
+            break;
+        case 0x85: UDS_Service_85_Indication(UDS_APP_RX.A_PDU.TA_type, UDS_APP_RX.A_PDU.Length, UDS_APP_RX.A_PDU.Data);
+            break; 
+        case 0x11: UDS_Service_11_Indication(UDS_APP_RX.A_PDU.TA_type, UDS_APP_RX.A_PDU.Length, UDS_APP_RX.A_PDU.Data);
+            break;
+        case 0x3E: UDS_Service_3E_Indication(UDS_APP_RX.A_PDU.TA_type, UDS_APP_RX.A_PDU.Length, UDS_APP_RX.A_PDU.Data);
+            break;
+        default:
+            if (UDS_APP_RX.A_PDU.TA_type != DIAG_ID_Rx_FUN)
+            {
+                NegRes.code = serviceNotSupported;
+                UDS_Service_Response(UDS_APP_RX.A_PDU.A_PCI.SI, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+            }
+            break;
+        }
+        UDS_APP_RX.A_PDU.New = 0;
+    }
+}
+
+/******************************************************************************
+函数名：UDS_Service_Response
+功  能：该函数根据反馈类型生成相应的反馈数据传递给客户端,通用于各个服务的反馈
+参  数：si        ：服务ID
+        RspType   ：反馈类型  POSITIVE_RSP 正反馈
+                              NEGATIVE_RSP 负反馈
+        A_TA_type ：目标地址类型
+        A_Length  ：随反馈携带的数据的长度(仅是数据A_Data的长度)
+        A_Data    ：随反馈携带的数据
+返回值：无
+******************************************************************************/
+extern void UDS_Service_Response(uint8_t si, uint8_t RspType, uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data)
+{
+    uint16_t i;
+
+    if ( RspType )
+    {
+        UDS_APP_TX_NEG.A_PDU.TA_type     = A_TA_type;
+        UDS_APP_TX_NEG.A_PDU.A_PCI.NR_SI = 0x7F;
+        UDS_APP_TX_NEG.A_PDU.A_PCI.SI    = si;
+        UDS_APP_TX_NEG.A_PDU.Length      = A_Length;
+
+        for ( i = 0; i < UDS_APP_TX_NEG.A_PDU.Length; i++ )
+        {
+            UDS_APP_TX_NEG.A_PDU.Data [ i ] = A_Data[i];
+        }
+
+        UDS_S_Data_Request(UDS_APP_TX_NEG.Data.TA_type, UDS_APP_TX_NEG.Data.A_Data, UDS_APP_TX_NEG.Data.Length + 2);
+    }
+    else
+    {
+        UDS_APP_TX.A_PDU.TA_type  = A_TA_type;
+        UDS_APP_TX.A_PDU.A_PCI.SI = si | 0x40;
+        UDS_APP_TX.A_PDU.Length   = A_Length;
+
+        for ( i = 0; i < UDS_APP_TX.A_PDU.Length; i++ )
+        {
+            UDS_APP_TX.A_PDU.Data [ i ] = A_Data[i];
+        }
+
+        UDS_S_Data_Request(UDS_APP_TX.Data.TA_type, UDS_APP_TX.Data.A_Data, UDS_APP_TX.Data.Length + 1);
+    }
+}

UDS/UDS_ISO14229_Server.h

+/******************************************************************************
+文 件 名：UDS_ISO14229_Server.h
+功能描述：ISO 14229 规范规定的诊断服务服务器端函数头文件
+作    者：张暄
+版    本：V1.0
+日    期：2016.11.1
+******************************************************************************/
+
+/******************************************************************************
+                         诊断服务的OSI模型映射
+===============================================================================
+  *     NO.     OSI Layer        Diagnostics services
+-------------------------------------------------------------------------------
+  *      7      Application      ISO 14229-1 ISO 14229-3
+         6      Presentation     -
+  *      5      Session          ISO 14229-2
+         4      Transport        ISO 15765-2
+         3      Network          ISO 15765-2
+         2      Data Link        ISO 11898
+         1      Physical         ISO 11898
+===============================================================================
+******************************************************************************/
+#ifndef _UDS_ISO14229_SERVER_H_
+#define _UDS_ISO14229_SERVER_H_
+#include "DoCAN_ISO15765.h"
+#include "DoCAN_ISO15765_Config.h"
+#include "UDS_ISO14229_Services.h"
+
+/******************************************************************************
+结构体声明
+******************************************************************************/
+
+/*** 会话层数据发送结果枚举 ***/
+typedef enum
+{
+    S_OK = 0,
+    S_NOK,
+} S_Result_Enum;
+
+/*---------------------------------------------------------------------------*/
+
+/*** A_PCI解析结构(非负反馈) ***/
+typedef struct
+{
+    uint8_t SI;
+} UDS_A_PCI_Struct;
+
+/*** A_PCI解析结构(负反馈) ***/
+typedef struct
+{
+    uint8_t NR_SI;
+    uint8_t SI;
+} UDS_NEG_A_PCI_Struct;
+
+/*** 应用层接收数据解析结构 ***/
+typedef struct
+{
+    uint16_t TA_type;
+    uint8_t  A_Data [ A_DATA_RX_BUFFER_SIZE ];
+    uint16_t Length;    // 有效数据长度(不含A_PCI)
+    uint8_t  New;       // 新收到的数据
+} UDS_RX_App_Data_Struct;
+
+/*** 应用层接收A_PDU解析结构 ***/
+typedef struct
+{
+    uint16_t         TA_type;
+    UDS_A_PCI_Struct A_PCI;
+    uint8_t          Data [ A_DATA_RX_BUFFER_SIZE - 1 ];
+    uint16_t         Length;    // 有效数据长度(不含A_PCI)
+    uint8_t          New;       // 新收到的数据
+} UDS_RX_A_PDU_Struct;
+
+/*** 应用层发送数据解析结构 ***/
+typedef struct
+{
+    uint16_t TA_type;
+    uint8_t  A_Data [ A_DATA_TX_BUFFER_SIZE ];
+    uint16_t Length;    // 有效数据长度(不含A_PCI)
+} UDS_TX_App_Data_Struct;
+
+/*** 应用层发送正反馈A_PDU解析结构 ***/
+typedef struct
+{
+    uint16_t         TA_type;
+    UDS_A_PCI_Struct A_PCI;
+    uint8_t          Data [ A_DATA_TX_BUFFER_SIZE - 1 ];
+    uint16_t         Length;    // 有效数据长度(不含A_PCI)
+} UDS_TX_A_PDU_Struct;
+
+/*** 应用层发送负反馈A_PDU解析结构 ***/
+typedef struct
+{
+    uint16_t             TA_type;
+    UDS_NEG_A_PCI_Struct A_PCI;
+    uint8_t              Data [ A_DATA_TX_BUFFER_SIZE - 2 ];
+    uint16_t             Length;    // 有效数据长度(不含A_PCI)
+} UDS_TX_NEG_A_PDU_Struct;
+
+/*** 应用层接收数据解析联合体 ***/
+typedef union
+{
+    UDS_RX_App_Data_Struct Data;
+    UDS_RX_A_PDU_Struct    A_PDU;
+} UDS_APP_RX_Union;
+
+/*** 应用层发送正反馈数据解析联合体 ***/
+typedef union
+{
+    UDS_TX_App_Data_Struct Data;
+    UDS_TX_A_PDU_Struct    A_PDU;
+} UDS_APP_TX_Union;
+
+/*** 应用层发送负反馈数据解析联合体 ***/
+typedef union
+{
+    UDS_TX_App_Data_Struct  Data;
+    UDS_TX_NEG_A_PDU_Struct A_PDU;
+} UDS_APP_TX_NEG_Union;
+
+/*  全局变量 变更为局部变量
+uint8_t Service10DiagDataLength;
+uint8_t Service11DiagDataLength;
+uint8_t Service14DiagDataLength;
+uint8_t Service19DiagDataLength;
+uint8_t Service22DiagDataLength;
+uint8_t Service27DiagDataLength;
+uint8_t Service28DiagDataLength;
+uint8_t Service2EDiagDataLength;
+uint8_t Service2FDiagDataLength;
+uint8_t Service31DiagDataLength;
+uint8_t Service34DiagDataLength;
+uint8_t Service36DiagDataLength;
+uint8_t Service37DiagDataLength;
+uint8_t Service3EDiagDataLength;
+uint8_t Service85DiagDataLength;
+*/
+
+/******************************************************************************
+函数声明
+******************************************************************************/
+
+/*-- 外部接口函数 -----------------------------------------------------------*/
+
+/*** 后台服务函数 ***/
+void UDS_Server_Application_Service(void);
+
+/*** 传输层/网络层下层接口函数 ***/
+void UDS_N_USData_Request(uint16_t N_TAtype, uint8_t *MessageData, uint16_t Length);
+void UDS_N_USData_Confirm(uint16_t N_TAtype, uint8_t N_Result);
+void UDS_N_USData_FF_Indication(uint16_t N_TAtype, uint16_t Length);
+void UDS_N_USData_Indication(uint16_t N_TAtype, uint8_t *MessageData, uint16_t Length, uint8_t N_Result);
+
+/*-- 内部函数 ---------------------------------------------------------------*/
+
+/*** 会话层数据接口函数 ***/
+void UDS_S_Data_Request(uint16_t S_TAtype, uint8_t *S_Data, uint16_t S_Length);
+void UDS_S_Data_Confirm(uint16_t S_TAtype, S_Result_Enum S_Result);
+void UDS_S_Data_Indication(uint16_t S_TAtype, uint8_t *S_Data, uint16_t S_Length, S_Result_Enum S_Result);
+
+/*** 会话层时序控制函数 ***/
+
+/*** 应用层服务控制函数 ***/
+void        UDS_Process_Service_Request(void);
+extern void UDS_Service_Response(uint8_t si, uint8_t RspType, uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data);
+
+#endif

UDS/UDS_ISO14229_Server_Config.h

+/******************************************************************************
+文 件 名：UDS_ISO14229_Server_Config.h
+功能描述：ISO 14229 规范规定的诊断服务服务器端配置文件
+作    者：张暄
+版    本：V1.0
+日    期：2016.11.1
+******************************************************************************/
+
+/******************************************************************************
+                         诊断服务的OSI模型映射
+===============================================================================
+  *     NO.     OSI Layer        Diagnostics services
+-------------------------------------------------------------------------------
+  *      7      Application      ISO 14229-1 ISO 14229-3
+         6      Presentation     -
+  *      5      Session          ISO 14229-2
+         4      Transport        ISO 15765-2
+         3      Network          ISO 15765-2
+         2      Data Link        ISO 11898
+         1      Physical         ISO 11898
+===============================================================================
+******************************************************************************/
+#ifndef _UDS_ISO14229_SERVER_CONFIG_H_
+#define _UDS_ISO14229_SERVER_CONFIG_H_
+
+#include "stdint.h"
+#include "Diag_ID_Def.h"
+
+#define A_DATA_RX_BUFFER_SIZE N_USDATA_RX_BUFFER_SIZE
+#define A_DATA_TX_BUFFER_SIZE N_USDATA_TX_BUFFER_SIZE
+
+#define P2_SERVER       (uint16_t)50    /*P2Server*/
+#define P2_AST_SERVER   (uint16_t)200   /*P2*Server*/
+#define S3_SERVER       (uint8_t)50     /*S3Server 50 00ms*/
+
+#endif

UDS/UDS_ISO14229_Services.c

+/******************************************************************************
+ �� �� ��;UDS_ISO14229_Services.c
+ ��������;ISO 14229 �淶�涨����Ϸ���������˷���ʵ�ֺ������ļ�
+ ��    ��;����
+ ��    ��;V1.0
+ ��    ��;2016.11.1
+ ******************************************************************************/
+#include "UDS_ISO14229_Services.h"
+#include "flash.h"
+#include  "CAN_CH0_CAN_Communication_Matrix.h"
+#include <string.h>
+typedef struct
+{
+    uint8_t ProjecName[16]; // 项目名
+    uint8_t PartNumber[16]; // 零件号
+    uint8_t PlatForm[16];   // 平台
+    struct 
+    {
+      uint8_t type[16];     //标准*
+      uint8_t ch[16];       //通道*
+      uint8_t baudrate[16]; //速率*
+      uint32_t diagID[4];   //诊断ID*
+    }DiagCanCfg[1];         //(诊断CAN)通道配置*
+} ProjectInfoStruct;
+
+extern void UDS_Service_Response(uint8_t si, uint8_t RspType, uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data);
+
+/*诊断使用, 判断App一致性, 禁止修改（内部版本号除外）*/
+extern const ProjectInfoStruct ProjectInfo __attribute__((section(".ARM.__at_0x0000C200"))) =
+{
+    {"BENDA_V1000"},    // 凯威易行T06
+    {"44W00.471420"},
+    {"BAT32G179GM64FB"}, // 中微芯片
+    {
+        "CAN_Ext",
+        "CAN_CH_0",
+        "CAN_500Kbps",
+        {DIAG_ID_Tx, DIAG_ID_Rx_PHY, DIAG_ID_Rx_FUN, 0}
+    },
+};
+
+DiagSendDataNeg NegRes;
+uint8_t UDS_ISO14229_Transfer[250];
+
+DiagDFlashData DiagDataForDFlash;
+DiagFlag DiagDataForFlag;
+Ser27_FlowCtrlCntUnion Ser27_FlowCtrlCnt;
+uint8_t                FlashDriverCheckSum = 0;
+uint8_t                BlocKCnt            = 0;
+/****************S3Timer********************/
+uint8_t S3_ServerEN       = 0;
+uint8_t S3_ServerCnt      = 0;
+uint8_t S3_Server_refresh = 0;
+/****************DiagnosticSession*****************/
+uint8_t SessionType = 0x01;
+/****************Ser28*********************/
+uint8_t ControlType;
+uint8_t CommunicationType;
+/****************Ser27*********************/
+uint8_t  wait10cnt    = 0;
+uint8_t  Wait10sFlag  = 0;
+uint8_t  DiagLockFlag = 0;
+uint8_t  Seed [ 4 ];
+uint32_t ValidSeedKey;
+uint8_t  Services27_01_Requested;
+/******************************************************************************
+ The service access point of the diagnostics application layer provides a number
+ of services that all have the same general structure. For each service, three
+ service primitives are specified:
+
+ - a service indication primitive, used by the diagnostics application layer, to
+ pass data to the server function of the ECU diagnostic application;
+
+ - a service response primitive, used by the server function in the ECU
+ diagnostic application, to pass response data provided by the requested
+ diagnostic service to the diagnostics application layer;
+
+ - a service response-confirmation primitive, used by the server function in the
+ ECU diagnostic application, to indicate that the data passed in the service
+ response primitive is successfully sent on the vehicle communication bus the
+ ECU received the diagnostic request on;
+ ******************************************************************************/
+
+//软件版本号 F195
+uint8_t MCU_SWversion[6] = {'S', 'V', (uint8_t)((SWV >> 8u) & 0x0Fu) + 0x30u, '.', (uint8_t)((SWV >> 4u) & 0x0Fu) + 0x30u, (uint8_t)(SWV & 0x0Fu) + 0x30u};
+
+//硬件版本号 F193
+uint8_t MCU_HWversion[6] = {'H', 'V', (uint8_t)((HWV >> 8u) & 0x0Fu) + 0x30u, '.', (uint8_t)((HWV >> 4u) & 0x0Fu) + 0x30u, (uint8_t)(HWV & 0x0Fu) + 0x30u};
+
+//引导程序版本信息 F180
+uint8_t MCU_FBLversion[6] = {'B', 'V', (uint8_t)((BTV >> 8u) & 0x0Fu) + 0x30u, '.', (uint8_t)((BTV >> 4u) & 0x0Fu) + 0x30u, (uint8_t)(BTV & 0x0Fu) + 0x30u};
+
+//零件号信息 F187
+uint8_t MCU_PartNumber[12] = {'4', '4', 'W', '0', '0', '.', '4', '7', '1', '4', '2', '0'};
+void Data_Set_DiagPara(void)
+{
+    uint8_t i;
+
+    //获取DID的值，等待写入DFlash
+    for(i = 0; i < 6; i++)
+    {
+        DiagDataForDFlash.DID_F180[i] = MCU_FBLversion[i];
+    }
+    for(i = 0; i < 12; i++)
+    {
+        DiagDataForDFlash.DID_F187[i] = MCU_PartNumber[i];
+    }
+    for(i = 0; i < 6; i++)
+    {
+        DiagDataForDFlash.DID_F193[i] = MCU_HWversion[i];
+    }
+    for(i = 0; i < 6; i++)
+    {
+        DiagDataForDFlash.DID_F195[i] = MCU_SWversion[i];
+    }
+    for(i = 0; i < 2; i++)
+    {
+        DiagDataForDFlash.Filldata[i] = 0u;
+    }
+}
+
+/*写App有效性标志*/
+void Write_App_InValid(uint32_t m32)
+{
+	//设置App状态值
+    DiagDataForFlag.Flag = 0xA77A5AA5u;
+    DiagDataForFlag.APP_STATUS = m32;
+    //擦除扇区
+	EraseSector (APP_STATUS_ADDR);
+    //App程序状态和22服务数据全写进去
+    ProgramPage (APP_STATUS_ADDR, 8U, (uint8_t *)(&DiagDataForFlag));
+}
+
+/*写22服务数据*/
+void DFlash_init(void)
+{
+
+    
+}
+void Data_Read_DiagPara(void)
+{
+    uint8_t i;
+    DiagDFlashData* ReadDiagDataForDFlash =(DiagDFlashData*)APP_DATA_INFO; 
+
+    if( (ReadDiagDataForDFlash->Flag != 0x5AA5A77Au)||
+    (0!=memcmp(ReadDiagDataForDFlash->DID_F180 , MCU_FBLversion,sizeof(MCU_FBLversion)))||
+    (0!=memcmp(ReadDiagDataForDFlash->DID_F187 , MCU_PartNumber,sizeof(MCU_PartNumber)))||
+    (0!=memcmp(ReadDiagDataForDFlash->DID_F193 , MCU_HWversion ,sizeof(MCU_HWversion )))||
+    (0!=memcmp(ReadDiagDataForDFlash->DID_F195 , MCU_SWversion ,sizeof(MCU_SWversion )))
+    )
+    {
+        Data_Set_DiagPara();
+        DiagDataForDFlash.Flag = 0x5AA5A77Au;
+        //擦除扇区
+        EraseSector (APP_DATA_INFO);
+        //App程序状态和22服务数据全写进去
+        ProgramPage (APP_DATA_INFO, sizeof(DiagDataForDFlash), (uint8_t *)(&DiagDataForDFlash));
+    }
+    else
+    {
+        memcpy((uint8_t *)&DiagDataForDFlash,(uint8_t *)&ReadDiagDataForDFlash,sizeof(DiagDFlashData));
+    }
+
+}
+void S3_ServerCNTT(void)
+{
+    if ( Wait10sFlag == 1 )
+    {
+        if ( wait10cnt >= 100 )
+        {
+            Ser27_FlowCtrlCnt.RequestSeedCnt = 2;
+            Ser27_FlowCtrlCnt.Attemptcnt     = 2;
+            // WriteDFlashData(0x02u, ( uint32_t * )&Ser27_FlowCtrlCnt.Flag, sizeof(Ser27_FlowCtrlCnt) / 4u, NoNeedWait);
+            wait10cnt   = 0;
+            Wait10sFlag = 0;
+        }
+        else
+        {
+            ++wait10cnt;
+        }
+    }
+
+    if ( S3_ServerEN == 1 )
+    {
+        if ( S3_Server_refresh == 1 )
+        {
+            S3_Server_refresh = 0;
+            S3_ServerCnt      = 0;
+        }
+
+        if ( S3_ServerCnt >= S3_SERVER )
+        {
+            DIAG_InitParameter( );
+            CAN_RX_SetEnable(&CAN_CH0_CanMsgOp, CAN_N_RX_Enable);
+            CAN_TX_SetEnable(&CAN_CH0_CanMsgTxOp, CAN_N_TX_Enable);//S3超时解除
+        }
+        else
+        {
+            ++S3_ServerCnt;
+        }
+    }
+}
+
+uint32_t RANDOM = 0xA77A;
+void Randomcnt(void)
+{
+    RANDOM++;
+    if (RANDOM >= 0xFF0F00F0)
+    {
+        RANDOM = 0x363;
+    }
+}
+
+uint8_t SerXXNRC12Filter(uint8_t insub, const uint8_t *supportsub, uint8_t size, uint8_t *index)
+{
+    uint8_t sub     = insub;
+    uint8_t i       = 0;
+    uint8_t nrccode = 0;
+
+    if ( size > 0 )
+    {
+        nrccode = subFunctionNotSupported;
+        while ( i < size )
+        {
+            if ( supportsub [ i ] == sub )
+            {
+                nrccode = 0;
+                *index  = i;
+                break;
+            }
+            i++;
+        }
+    }
+    else
+    {
+        *index = 0;
+    }
+
+    return nrccode;
+}
+
+uint8_t SerXXNRC13Filter(uint8_t type, uint16_t serlength, const uint8_t *length, uint8_t index)
+{
+    uint8_t nrccode;
+    nrccode = incorrectMessageLength;
+
+    if ( 0 == type )
+    {
+        if ( length != 0 )
+        {
+            if ( length [ 0 ] <= serlength )
+            {
+                nrccode = 0;
+            }
+        }
+        else
+        {
+            nrccode = incorrectMessageLength;
+        }
+    }
+    else
+    {
+        if ( length != 0 )
+        {
+            if ( length [ index ] == serlength )
+            {
+                nrccode = 0;
+            }
+        }
+        else
+        {
+            nrccode = incorrectMessageLength;
+        }
+    }
+    return nrccode;
+}
+
+uint8_t SerXXNRC22Filter(void)
+{
+    uint8_t nrccode = 0;
+    nrccode         = 0;
+
+    return nrccode;
+}
+
+uint8_t SerXXNRC31DIDFilter(uint16_t inDID, const uint16_t *DIDList, uint8_t size, uint8_t *index)
+{
+    uint8_t nrccode = 0;
+    uint8_t i       = 0;
+
+    if ( size > 0 )
+    {
+        nrccode = requestOutOfRange;
+        while ( i < size )
+        {
+            if ( inDID == DIDList [ i ] )
+            {
+                nrccode = 0;
+                *index  = i;
+                break;
+            }
+            else
+            {
+                ++i;
+            }
+        }
+    }
+    return nrccode;
+}
+
+uint8_t SerXXNRC33Filter(const uint8_t *levelList, uint8_t index)
+{
+    uint8_t nrccode;
+    nrccode = 0;
+
+    if ( NoNeed != levelList [ index ] )
+    {
+        if ( DiagLockFlag != levelList [ index ] )
+        {
+            nrccode = securityAccessDenied;
+        }
+    }
+    return nrccode;
+}
+
+uint8_t SerXXNRC7EFilter(const uint8_t *SubSupportSession, uint8_t index)
+{
+    uint8_t nrccode;
+    nrccode = 0;
+
+    if ( 0 == (GetCurrentSession( ) & SubSupportSession [ index ]) )
+    {
+        nrccode = subfunctionNotSupportinActiveSession;
+    }
+    return nrccode;
+}
+
+uint8_t SerXXNRC7FFilter(uint8_t SupportSession)
+{
+    uint8_t nrccode;
+    nrccode = 0;
+
+    if ( 0 == (GetCurrentSession( ) & SupportSession) )
+    {
+        nrccode = serviceNotSupportedInActiveSession;
+    }
+    return nrccode;
+}
+
+uint8_t GetCurrentSession(void)
+{
+    uint8_t SessionMode;
+    if ( DefaultSession == SessionType )
+    {
+        SessionMode = DefaultMode;
+    }
+    else if ( ProgrammingSession == SessionType )
+    {
+        SessionMode = ProgrammingMode;
+    }
+    else if ( ExtendedDiagnosticSession == SessionType )
+    {
+        SessionMode = ExtendedDiagnosticMode;
+    }
+    else
+    {
+        SessionType = DefaultSession;
+        SessionMode = DefaultMode;
+    }
+    return SessionMode;
+}
+
+/******************************************************************************
+ 10# - DiagnosticSessionControl
+ ******************************************************************************/
+static const uint8_t Ser10BanResponse          = AbleResponseType;
+static const uint8_t Ser10Sub []               = {DefaultSession, ProgrammingSession, ExtendedDiagnosticSession};
+static const uint8_t Ser10MinLen []            = {1};
+static const uint8_t Ser10SubLen []            = {1, 1, 1};
+static const uint8_t Ser10UnlockLevel []       = {NoNeed, NoNeed, NoNeed};
+static const uint8_t Ser10SupportSession       = DefaultMode | ProgrammingMode | ExtendedDiagnosticMode;
+static const uint8_t Ser10SubSupportSession [] = {DefaultMode | ProgrammingMode | ExtendedDiagnosticMode, ProgrammingMode | ExtendedDiagnosticMode,
+                                                  DefaultMode | ExtendedDiagnosticMode};
+void UDS_Service_10_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data)
+{
+    uint8_t i;
+    uint8_t si = DiagnosticSessionControl;
+    uint8_t NrcCode = 0;
+    uint8_t Index = 0;
+    uint8_t SubFunction = 0;
+    uint16_t Service10DiagDataLength = A_Length;
+    uint16_t FunorPhy = A_TA_type;
+
+    for (i = 0; i < Service10DiagDataLength; ++i)
+    {
+        UDS_ISO14229_Transfer[i] = *(A_Data + i);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC7FFilter(Ser10SupportSession);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC13Filter(MinLengthType, Service10DiagDataLength, Ser10MinLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        if (Ser10BanResponse == AbleResponseType)
+        {
+            SubFunction = UDS_ISO14229_Transfer[0] & 0x7F;
+        }
+        else
+        {
+            SubFunction = UDS_ISO14229_Transfer[0];
+        }
+        NrcCode = SerXXNRC12Filter(SubFunction, Ser10Sub, sizeof(Ser10Sub), &Index);
+    }
+
+    if ((0 == NrcCode) && (DIAG_ID_Rx_FUN == FunorPhy))
+    {
+        if(Index < 3)
+        {
+            if(ProgrammingSession == Ser10Sub[Index])
+            {
+                NrcCode = subFunctionNotSupported;
+            }
+        }
+        
+    }
+
+    if (0 == NrcCode && Index < sizeof(Ser10UnlockLevel))
+    {
+        NrcCode = SerXXNRC33Filter(Ser10UnlockLevel, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser10SubSupportSession)))
+    {
+        NrcCode = SerXXNRC7EFilter(Ser10SubSupportSession, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser10SubLen)))
+    {
+        NrcCode = SerXXNRC13Filter(SubLengthType, Service10DiagDataLength, Ser10SubLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC22Filter();
+    }
+
+    if (0 == NrcCode)
+    {
+        UDS_ISO14229_Transfer[1] = 0;
+        UDS_ISO14229_Transfer[2] = 50;
+        UDS_ISO14229_Transfer[3] = 0;
+        UDS_ISO14229_Transfer[4] = 200;
+        if (DefaultSession == SubFunction)
+        {
+            S3_ServerEN = 0;
+            SessionType = DefaultSession;
+            DIAG_InitParameter();
+            CAN_RX_SetEnable(&CAN_CH0_CanMsgOp, CAN_N_RX_Enable);
+            CAN_TX_SetEnable(&CAN_CH0_CanMsgTxOp, CAN_N_TX_Enable);//切会话解除
+
+
+            if (AbleResponseType == Ser10BanResponse)
+            {
+                if (bit_is_clear(UDS_ISO14229_Transfer[0], 7))
+                {
+                    UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 5, UDS_ISO14229_Transfer);
+                }
+            }
+            else
+            {
+                UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 5, UDS_ISO14229_Transfer);
+            }
+        }
+        else if (ProgrammingSession == SubFunction)
+        {
+            S3_ServerEN = 1;
+            S3_Server_refresh = 1;
+            SessionType = ProgrammingSession;
+            Services27_01_Requested = 0;
+            DiagLockFlag = 0;
+
+            if (AbleResponseType == Ser10BanResponse)
+            {
+                if (bit_is_clear(UDS_ISO14229_Transfer[0], 7))
+                {
+                    NegRes.code = requestCorrectlyReceivedResponsePending;
+                    UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+
+                    Write_App_InValid(Jump_To_Boot_Need_Answer);
+
+                    for (i = 0; i < 250; ++i)
+                    {
+                        __NOP();
+                    }
+                    __NVIC_SystemReset();
+                }
+                else
+                {
+                    Write_App_InValid(Jump_To_Boot_No_Answer);
+                    for (i = 0; i < 250; ++i)
+                    {
+                        __NOP();
+                    }
+                    __NVIC_SystemReset();
+                }
+            }
+            else
+            {
+                NegRes.code = requestCorrectlyReceivedResponsePending;
+                UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+                Write_App_InValid(Jump_To_Boot_Need_Answer);
+                for (i = 0; i < 250; ++i)
+                {
+                    __NOP();
+                }
+                __NVIC_SystemReset();
+            }
+        }
+        else if (ExtendedDiagnosticSession == SubFunction)
+        {
+            S3_ServerEN = 1;
+            S3_Server_refresh = 1;
+            SessionType = ExtendedDiagnosticSession;
+            Services27_01_Requested = 0;
+            DiagLockFlag = 0;
+
+            if (AbleResponseType == Ser10BanResponse)
+            {
+                if (bit_is_clear(UDS_ISO14229_Transfer[0], 7))
+                {
+                    UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 5, UDS_ISO14229_Transfer);
+                }
+            }
+            else
+            {
+                UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 5, UDS_ISO14229_Transfer);
+            }
+        }
+    }
+    else
+    {
+        if (DIAG_ID_Rx_FUN == FunorPhy)
+        {
+            if ((NrcCode != 0x11) && (NrcCode != 0x12) && (NrcCode != 0x13) && (NrcCode != 0x7E) && (NrcCode != 0x7F) && (NrcCode != 0x31))
+            {
+                NegRes.code = NrcCode;
+                UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+                return;
+            }
+        }
+        else
+        {
+            NegRes.code = NrcCode;
+            UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+            return;
+        }
+    }
+}
+
+/******************************************************************************
+ 11# - ECUReset
+ ******************************************************************************/
+static const uint8_t Ser11BanResponse          = AbleResponseType;
+static const uint8_t Ser11Sub []               = {HardReset};
+static const uint8_t Ser11MinLen []            = {1};
+static const uint8_t Ser11SubLen []            = {1};
+static const uint8_t Ser11UnlockLevel []       = {NoNeed};
+static const uint8_t Ser11SupportSession       = ProgrammingMode | ExtendedDiagnosticMode;
+static const uint8_t Ser11SubSupportSession [] = {ProgrammingMode | ExtendedDiagnosticMode};
+void UDS_Service_11_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data)
+{
+    uint8_t si = ECUReset;
+    uint8_t NrcCode = 0;
+    uint8_t Index = 0;
+    uint8_t SubFunction = 0;
+    uint16_t i;
+    uint16_t Service11DiagDataLength = A_Length;
+    uint16_t FunorPhy = A_TA_type;
+
+    for (i = 0; i < Service11DiagDataLength; ++i)
+    {
+        UDS_ISO14229_Transfer[i] = *(A_Data + i);
+    }
+
+    if ((0 == NrcCode) && (DIAG_ID_Rx_FUN == FunorPhy))
+    {
+        NrcCode = serviceNotSupported;
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC7FFilter(Ser11SupportSession);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC13Filter(MinLengthType, Service11DiagDataLength, Ser11MinLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        if (AbleResponseType == Ser11BanResponse)
+        {
+            SubFunction = UDS_ISO14229_Transfer[0] & 0x7F;
+        }
+        else
+        {
+            SubFunction = UDS_ISO14229_Transfer[0];
+        }
+        NrcCode = SerXXNRC12Filter(SubFunction, Ser11Sub, sizeof(Ser11Sub), &Index);
+    }
+
+    if (0 == NrcCode && Index < sizeof(Ser11UnlockLevel))
+    {
+        NrcCode = SerXXNRC33Filter(Ser11UnlockLevel, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser11SubSupportSession)))
+    {
+        NrcCode = SerXXNRC7EFilter(Ser11SubSupportSession, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser11SubLen)))
+    {
+        NrcCode = SerXXNRC13Filter(SubLengthType, Service11DiagDataLength, Ser11SubLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC22Filter();
+    }
+
+    if (0 == NrcCode)
+    {
+        if (HardReset == SubFunction)
+        {
+            if (AbleResponseType == Ser11BanResponse)
+            {
+                if (bit_is_clear(UDS_ISO14229_Transfer[0], 7))
+                {
+                    UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 1, UDS_ISO14229_Transfer);
+                }
+            }
+            else
+            {
+                UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 1, UDS_ISO14229_Transfer);
+            }
+            i = 900;
+            while (--i)
+            {
+                __NOP();
+            }
+            __NVIC_SystemReset();
+        }
+    }
+    else
+    {
+        if (DIAG_ID_Rx_FUN == FunorPhy)
+        {
+            if ((NrcCode != 0x11) && (NrcCode != 0x12) && (NrcCode != 0x7E) && (NrcCode != 0x7F) && (NrcCode != 0x31))
+            {
+                NegRes.code = NrcCode;
+                UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+                return;
+            }
+        }
+        else
+        {
+            NegRes.code = NrcCode;
+            UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+            return;
+        }
+    }
+}
+
+/******************************************************************************
+ 22# - ReadDataByIdentifier
+ ******************************************************************************/
+static const uint8_t Ser22BanResponse = DisableResponseType;
+static const uint8_t Ser22Sub []      = {0xFF};
+static const uint8_t Ser22MinLen []   = {2};
+static const uint8_t Ser22SubLen []   = {2};
+static const uint16_t Ser22DIDList [] = {0xF195, 0xF193, 0xF180, 0xF187, 0x1024, 0x1028, 0xF184, 0x2001, 0x2002, 0x2003, 0x2004, 0x2005, 0x2006};
+static const uint8_t Ser22UnlockLevel []       = {NoNeed};
+static const uint8_t Ser22SupportSession       = DefaultMode | ProgrammingMode | ExtendedDiagnosticMode;
+static const uint8_t Ser22SubSupportSession [] = {DefaultMode | ProgrammingMode | ExtendedDiagnosticMode};
+void UDS_Service_22_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data)
+{
+    uint8_t i;
+    uint8_t si = ReadDataByIdentifier;
+    uint8_t NrcCode = 0;
+    uint8_t Index = 0;
+    uint8_t SubFunction = 0;
+    uint16_t DID;
+    uint16_t Service22DiagDataLength = A_Length;
+    uint16_t FunorPhy = A_TA_type;
+
+    for (i = 0; i < Service22DiagDataLength; ++i)
+    {
+        UDS_ISO14229_Transfer[i] = *(A_Data + i);
+    }
+
+    if ((0 == NrcCode) && (DIAG_ID_Rx_FUN == FunorPhy))
+    {
+        NrcCode = serviceNotSupported;
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC7FFilter(Ser22SupportSession);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC13Filter(MinLengthType, Service22DiagDataLength, Ser22MinLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        if (AbleResponseType == Ser22BanResponse)
+        {
+            SubFunction = UDS_ISO14229_Transfer[0] & 0x7F;
+        }
+        else
+        {
+            SubFunction = UDS_ISO14229_Transfer[0];
+        }
+        NrcCode = SerXXNRC12Filter(SubFunction, Ser22Sub, 0, &Index);
+    }
+
+    if (0 == NrcCode && Index < sizeof(Ser22UnlockLevel))
+    {
+        NrcCode = SerXXNRC33Filter(Ser22UnlockLevel, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser22SubSupportSession)))
+    {
+        NrcCode = SerXXNRC7EFilter(Ser22SubSupportSession, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser22SubLen)))
+    {
+        NrcCode = SerXXNRC13Filter(SubLengthType, Service22DiagDataLength, Ser22SubLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC22Filter();
+    }
+
+    if (0 == NrcCode)
+    {
+        DID = ((uint16_t)UDS_ISO14229_Transfer[0] << 8) | UDS_ISO14229_Transfer[1];
+        NrcCode = SerXXNRC31DIDFilter(DID, Ser22DIDList, (uint8_t)(sizeof(Ser22DIDList) / 2), &Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        switch (DID)
+        {
+        case 0xF195: // 读软件版本号
+            for (i = 0; i < 6; i++)
+            {
+                UDS_ISO14229_Transfer[i + 2] = MCU_SWversion[i];
+            }
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 6, UDS_ISO14229_Transfer);
+            break;
+
+        case 0xF193: // 读硬件版本号
+            for (i = 0; i < 6; i++)
+            {
+                UDS_ISO14229_Transfer[i + 2] = MCU_HWversion[i];
+            }
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 6, UDS_ISO14229_Transfer);
+            break;
+        case 0xF180: // 读硬件版本号
+            for (i = 0; i < 6; i++)
+            {
+                UDS_ISO14229_Transfer[i + 2] = MCU_FBLversion[i];
+            }
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 6, UDS_ISO14229_Transfer);
+            break;
+
+        case 0xF187: // 读零件号
+            for (i = 0; i < 12; i++)
+            {
+                UDS_ISO14229_Transfer[i + 2] = MCU_PartNumber[i];
+            }
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 12, UDS_ISO14229_Transfer);
+            break;
+
+        case 0x1024: // 读内部版本号
+            UDS_ISO14229_Transfer[0] = 0x10u;
+            UDS_ISO14229_Transfer[1] = 0x24u;
+            UDS_ISO14229_Transfer[2] = 'A';
+            UDS_ISO14229_Transfer[3] = '_';
+            UDS_ISO14229_Transfer[4] = 'V';
+            UDS_ISO14229_Transfer[5] = (uint8_t)((INTLV >> 8u) & 0x0Fu) + 0x30u;
+            UDS_ISO14229_Transfer[6] = '.';
+            UDS_ISO14229_Transfer[7] = (uint8_t)((INTLV >> 4u) & 0x0Fu) + 0x30u;
+            UDS_ISO14229_Transfer[8] = (uint8_t)(INTLV & 0x0Fu) + 0x30u;
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 7, UDS_ISO14229_Transfer);
+            break;
+
+        case 0x1028: // 读内部版本号
+            UDS_ISO14229_Transfer[0] = 0x10u;
+            UDS_ISO14229_Transfer[1] = 0x28u;
+            UDS_ISO14229_Transfer[2] = '2';
+            UDS_ISO14229_Transfer[3] = '0';
+            UDS_ISO14229_Transfer[4] = (uint8_t)((PROG_Y >> 4u) & 0x0Fu) + 0x30u;
+            UDS_ISO14229_Transfer[5] = (uint8_t)(PROG_Y & 0x0Fu) + 0x30u;
+            UDS_ISO14229_Transfer[6] = (uint8_t)((PROG_M >> 4u) & 0x0Fu) + 0x30u;
+            UDS_ISO14229_Transfer[7] = (uint8_t)(PROG_M & 0x0Fu) + 0x30u;
+            UDS_ISO14229_Transfer[8] = (uint8_t)((PROG_D >> 4u) & 0x0Fu) + 0x30u;
+            UDS_ISO14229_Transfer[9] = (uint8_t)(PROG_D & 0x0Fu) + 0x30u;
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 8, UDS_ISO14229_Transfer);
+            break;
+        case 0x2001: // 读AmtLdrVer版本号
+            UDS_ISO14229_Transfer[0] = 0x20u;
+            UDS_ISO14229_Transfer[1] = 0x01u;
+            UDS_ISO14229_Transfer[2] = 'A';
+            UDS_ISO14229_Transfer[3] = 'm';
+            UDS_ISO14229_Transfer[4] = 't';
+            UDS_ISO14229_Transfer[5] = 'L';
+            UDS_ISO14229_Transfer[6] = 'd';
+            UDS_ISO14229_Transfer[7] = 'r';
+            UDS_ISO14229_Transfer[8] = 'V';
+            UDS_ISO14229_Transfer[9] = 'e';
+            UDS_ISO14229_Transfer[10] = 'r';
+            UDS_ISO14229_Transfer[11] = ':';
+            UDS_ISO14229_Transfer[12] = amt630Version.AmtLdrVer[0];
+            UDS_ISO14229_Transfer[13] = amt630Version.AmtLdrVer[1];
+            UDS_ISO14229_Transfer[14] = amt630Version.AmtLdrVer[2];
+            UDS_ISO14229_Transfer[15] = amt630Version.AmtLdrVer[3];
+            UDS_ISO14229_Transfer[16] = amt630Version.AmtLdrVer[4];
+            UDS_ISO14229_Transfer[17] = amt630Version.AmtLdrVer[5];
+            UDS_ISO14229_Transfer[18] = amt630Version.AmtLdrVer[6];
+            UDS_ISO14229_Transfer[19] = amt630Version.AmtLdrVer[7];
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 18, UDS_ISO14229_Transfer);
+            break;
+        case 0x2002: // 读StepLdrVer版本号
+            UDS_ISO14229_Transfer[0] = 0x20u;
+            UDS_ISO14229_Transfer[1] = 0x02u;
+            UDS_ISO14229_Transfer[2] = 'S';
+            UDS_ISO14229_Transfer[3] = 't';
+            UDS_ISO14229_Transfer[4] = 'e';
+            UDS_ISO14229_Transfer[5] = 'p';
+            UDS_ISO14229_Transfer[6] = 'L';
+            UDS_ISO14229_Transfer[7] = 'd';
+            UDS_ISO14229_Transfer[8] = 'r';
+            UDS_ISO14229_Transfer[9] = 'V';
+            UDS_ISO14229_Transfer[10] = 'e';
+            UDS_ISO14229_Transfer[11] = 'r';
+            UDS_ISO14229_Transfer[12] = ':';
+            UDS_ISO14229_Transfer[13] = amt630Version.StepLdrVer[0];
+            UDS_ISO14229_Transfer[14] = amt630Version.StepLdrVer[1];
+            UDS_ISO14229_Transfer[15] = amt630Version.StepLdrVer[2];
+            UDS_ISO14229_Transfer[16] = amt630Version.StepLdrVer[3];
+            UDS_ISO14229_Transfer[17] = amt630Version.StepLdrVer[4];
+            UDS_ISO14229_Transfer[18] = amt630Version.StepLdrVer[5];
+            UDS_ISO14229_Transfer[19] = amt630Version.StepLdrVer[6];
+            UDS_ISO14229_Transfer[20] = amt630Version.StepLdrVer[7];
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 19, UDS_ISO14229_Transfer);
+            break;
+        case 0x2003: // 读AmtAppVer版本号
+            UDS_ISO14229_Transfer[0] = 0x20u;
+            UDS_ISO14229_Transfer[1] = 0x03u;
+            UDS_ISO14229_Transfer[2] = 'A';
+            UDS_ISO14229_Transfer[3] = 'm';
+            UDS_ISO14229_Transfer[4] = 't';
+            UDS_ISO14229_Transfer[5] = 'A';
+            UDS_ISO14229_Transfer[6] = 'P';
+            UDS_ISO14229_Transfer[7] = 'P';
+            UDS_ISO14229_Transfer[8] = 'V';
+            UDS_ISO14229_Transfer[9] = 'e';
+            UDS_ISO14229_Transfer[10] = 'r';
+            UDS_ISO14229_Transfer[11] = ':';
+            UDS_ISO14229_Transfer[12] = amt630Version.AmtAppVer[0];
+            UDS_ISO14229_Transfer[13] = amt630Version.AmtAppVer[1];
+            UDS_ISO14229_Transfer[14] = amt630Version.AmtAppVer[2];
+            UDS_ISO14229_Transfer[15] = amt630Version.AmtAppVer[3];
+            UDS_ISO14229_Transfer[16] = amt630Version.AmtAppVer[4];
+            UDS_ISO14229_Transfer[17] = amt630Version.AmtAppVer[5];
+            UDS_ISO14229_Transfer[18] = amt630Version.AmtAppVer[6];
+            UDS_ISO14229_Transfer[19] = amt630Version.AmtAppVer[7];
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 18, UDS_ISO14229_Transfer);
+            break;
+        case 0x2004: // 读UiVer版本号
+            UDS_ISO14229_Transfer[0] = 0x20u;
+            UDS_ISO14229_Transfer[1] = 0x04u;
+            UDS_ISO14229_Transfer[2] = 'U';
+            UDS_ISO14229_Transfer[3] = 'i';
+            UDS_ISO14229_Transfer[4] = 'V';
+            UDS_ISO14229_Transfer[5] = 'e';
+            UDS_ISO14229_Transfer[6] = 'r';
+            UDS_ISO14229_Transfer[7] = ':';
+            UDS_ISO14229_Transfer[8] = amt630Version.UiVer[0];
+            UDS_ISO14229_Transfer[9] = amt630Version.UiVer[1];
+            UDS_ISO14229_Transfer[10] = amt630Version.UiVer[2];
+            UDS_ISO14229_Transfer[11] = amt630Version.UiVer[3];
+            UDS_ISO14229_Transfer[12] = amt630Version.UiVer[4];
+            UDS_ISO14229_Transfer[13] = amt630Version.UiVer[5];
+            UDS_ISO14229_Transfer[14] = amt630Version.UiVer[6];
+            UDS_ISO14229_Transfer[15] = amt630Version.UiVer[7];
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 14, UDS_ISO14229_Transfer);
+            break;
+        case 0x2005: // 读SoundVer版本号
+            UDS_ISO14229_Transfer[0] = 0x20u;
+            UDS_ISO14229_Transfer[1] = 0x05u;
+            UDS_ISO14229_Transfer[2] = 'S';
+            UDS_ISO14229_Transfer[3] = 'o';
+            UDS_ISO14229_Transfer[4] = 'u';
+            UDS_ISO14229_Transfer[5] = 'n';
+            UDS_ISO14229_Transfer[6] = 'd';
+            UDS_ISO14229_Transfer[7] = 'V';
+            UDS_ISO14229_Transfer[8] = 'e';
+            UDS_ISO14229_Transfer[9] = 'r';
+            UDS_ISO14229_Transfer[10] = ':';
+            UDS_ISO14229_Transfer[11] = amt630Version.SoundVer[0];
+            UDS_ISO14229_Transfer[12] = amt630Version.SoundVer[1];
+            UDS_ISO14229_Transfer[13] = amt630Version.SoundVer[2];
+            UDS_ISO14229_Transfer[14] = amt630Version.SoundVer[3];
+            UDS_ISO14229_Transfer[15] = amt630Version.SoundVer[4];
+            UDS_ISO14229_Transfer[16] = amt630Version.SoundVer[5];
+            UDS_ISO14229_Transfer[17] = amt630Version.SoundVer[6];
+            UDS_ISO14229_Transfer[18] = amt630Version.SoundVer[7];
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 17, UDS_ISO14229_Transfer);
+            break;
+        case 0x2006: // 读FontVer版本号
+            UDS_ISO14229_Transfer[0] = 0x20u;
+            UDS_ISO14229_Transfer[1] = 0x06u;
+            UDS_ISO14229_Transfer[2] = 'F';
+            UDS_ISO14229_Transfer[3] = 'o';
+            UDS_ISO14229_Transfer[4] = 'n';
+            UDS_ISO14229_Transfer[5] = 't';
+            UDS_ISO14229_Transfer[6] = 'V';
+            UDS_ISO14229_Transfer[7] = 'e';
+            UDS_ISO14229_Transfer[8] = 'r';
+            UDS_ISO14229_Transfer[9] = ':';
+            UDS_ISO14229_Transfer[10] = amt630Version.FontVer[0];
+            UDS_ISO14229_Transfer[11] = amt630Version.FontVer[1];
+            UDS_ISO14229_Transfer[12] = amt630Version.FontVer[2];
+            UDS_ISO14229_Transfer[13] = amt630Version.FontVer[3];
+            UDS_ISO14229_Transfer[14] = amt630Version.FontVer[4];
+            UDS_ISO14229_Transfer[15] = amt630Version.FontVer[5];
+            UDS_ISO14229_Transfer[16] = amt630Version.FontVer[6];
+            UDS_ISO14229_Transfer[17] = amt630Version.FontVer[7];
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 2 + 16, UDS_ISO14229_Transfer);
+            break;
+
+        default:
+            // if (FunorPhy == DIAG_ID_Rx_FUN)
+            // {
+            //     return;
+            // }
+            NegRes.code = requestOutOfRange;
+            UDS_Service_Response ( 0x22, NEGATIVE_RSP, DIAG_ID_Tx, 1, ( uint8_t * ) ( &NegRes.code ) );
+            break;
+        }
+    }
+    else
+    {
+        if (DIAG_ID_Rx_FUN == FunorPhy)
+        {
+            if ((NrcCode != 0x11) && (NrcCode != 0x12) && (NrcCode != 0x7E) && (NrcCode != 0x7F) && (NrcCode != 0x31))
+            {
+                NegRes.code = NrcCode;
+                UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+                return;
+            }
+        }
+        else
+        {
+            NegRes.code = NrcCode;
+            UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+            return;
+        }
+    }
+}
+
+void GetSeed(void)
+{
+    uint8_t SeedHigh;
+    uint8_t SeedLow;
+    uint16_t tempbuffer;
+
+    tempbuffer = (uint16_t)(RANDOM);
+    SeedHigh = (uint8_t)(tempbuffer >> 8);
+    SeedLow = (uint8_t)(tempbuffer & 0xff);
+    Seed[0] = 0x31 + ~SeedHigh;
+    Seed[1] = 0x23 + ~SeedLow;
+    Seed[2] = 0x56 + SeedHigh;
+    Seed[3] = 0x71 + SeedLow;
+}
+
+const uint32_t KeyK = 0x00000201;
+void CalculateKey(void)
+{
+    uint32_t SaccSeed;
+    uint32_t KeyResult;
+
+    SaccSeed = ((uint32_t)Seed[0]) << 24 | ((uint32_t)Seed[1]) << 16 | ((uint32_t)Seed[2]) << 8 | ((uint32_t)Seed[3]);
+
+    KeyResult = (((SaccSeed >> 1) ^ SaccSeed) << 3) ^ (SaccSeed >> 2);
+    KeyResult = KeyResult ^ KeyK;
+
+    ValidSeedKey = KeyResult;
+}
+
+void CalculateKeyLv11(void)
+{
+    uint32_t SaccSeed;
+    uint32_t KeyResult;
+
+    SaccSeed = (( uint32_t )Seed [ 0 ]) << 24 | (( uint32_t )Seed [ 1 ]) << 16 | (( uint32_t )Seed [ 2 ]) << 8 | (( uint32_t )Seed [ 3 ]);
+
+    KeyResult = (((SaccSeed >> 1) ^ SaccSeed) << 3) ^ (SaccSeed >> 2);
+    KeyResult = KeyResult ^ KeyK;
+
+    ValidSeedKey = KeyResult;
+}
+
+/******************************************************************************
+ 27# - SecurityAccess
+ ******************************************************************************/
+static const uint8_t Ser27BanResponse          = DisableResponseType;
+static const uint8_t Ser27Sub []               = {requestSeed_LV1, sendKey_LV1};
+static const uint8_t Ser27MinLen []            = {1};
+static const uint8_t Ser27SubLen []            = {1, 5};
+static const uint8_t Ser27UnlockLevel []       = {NoNeed, NoNeed};
+static const uint8_t Ser27SupportSession       = ProgrammingMode | ExtendedDiagnosticMode;
+static const uint8_t Ser27SubSupportSession [] = {ProgrammingMode | ExtendedDiagnosticMode, ProgrammingMode | ExtendedDiagnosticMode};
+void UDS_Service_27_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data)
+{
+    uint8_t i;
+    uint8_t si = SecurityAccess;
+    uint8_t NrcCode = 0;
+    uint8_t Index = 0;
+    uint8_t SubFunction = 0;
+    uint16_t FunorPhy = A_TA_type;
+    uint16_t Service27DiagDataLength = A_Length;
+    uint32_t KeyReceive;
+
+    for (i = 0; i < Service27DiagDataLength; ++i)
+    {
+        UDS_ISO14229_Transfer[i] = *(A_Data + i);
+    }
+
+    if ((0 == NrcCode) && (DIAG_ID_Rx_FUN == FunorPhy))
+    {
+        NrcCode = serviceNotSupported;
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC7FFilter(Ser27SupportSession);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC13Filter(MinLengthType, Service27DiagDataLength, Ser27MinLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        if (AbleResponseType == Ser27BanResponse)
+        {
+            SubFunction = UDS_ISO14229_Transfer[0] & 0x7F;
+        }
+        else
+        {
+            SubFunction = UDS_ISO14229_Transfer[0];
+        }
+        NrcCode = SerXXNRC12Filter(SubFunction, Ser27Sub, sizeof(Ser27Sub), &Index);
+    }
+
+    if (0 == NrcCode && Index < sizeof(Ser27UnlockLevel))
+    {
+        NrcCode = SerXXNRC33Filter(Ser27UnlockLevel, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser27SubSupportSession)))
+    {
+        NrcCode = SerXXNRC7EFilter(Ser27SubSupportSession, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser27SubLen)))
+    {
+        NrcCode = SerXXNRC13Filter(SubLengthType, Service27DiagDataLength, Ser27SubLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC22Filter();
+    }
+
+    if (0 == NrcCode)
+    {
+        if (1 == Wait10sFlag)
+        {
+            NrcCode = requiredTimeDelayNotExpired;
+        }
+    }
+
+    if (0 == NrcCode)
+    {
+        if (0 == Services27_01_Requested && sendKey_LV1 == SubFunction)
+        {
+            NrcCode = requestSequenceError;
+        }
+    }
+
+    if (0 == NrcCode)
+    {
+        KeyReceive = ((uint32_t)UDS_ISO14229_Transfer[1] << 24) | ((uint32_t)UDS_ISO14229_Transfer[2] << 16) | ((uint16_t)UDS_ISO14229_Transfer[3] << 8) | UDS_ISO14229_Transfer[4];
+        if (sendKey_LV1 == SubFunction && (KeyReceive == 0x00000000 || KeyReceive == 0xFFFFFFFF))
+        {
+            NrcCode = requestOutOfRange;
+        }
+    }
+
+    if (0 == NrcCode)
+    {
+        if (sendKey_LV1 == SubFunction && KeyReceive != ValidSeedKey)
+        {
+            Services27_01_Requested = 0;
+            Ser27_FlowCtrlCnt.Attemptcnt++;
+            // WriteDFlashData(0x02u, (uint32_t *)&Ser27_FlowCtrlCnt.Flag, sizeof(Ser27_FlowCtrlCnt) / 4u, NeedWait);
+            NrcCode = invalidKey;
+        }
+    }
+
+    if (0 == NrcCode || invalidKey == NrcCode)
+    {
+        if (sendKey_LV1 == SubFunction)
+        {
+            if (AttemptMaxCnt <= Ser27_FlowCtrlCnt.Attemptcnt)
+            {
+                Wait10sFlag = 1;
+                NrcCode = exceedNumberOfAttempts;
+            }
+        }
+        if (requestSeed_LV1 == SubFunction)
+        {
+            Ser27_FlowCtrlCnt.Attemptcnt = Ser27_FlowCtrlCnt.RequestSeedCnt;
+            Ser27_FlowCtrlCnt.RequestSeedCnt++;
+            // WriteDFlashData(0x02u, (uint32_t *)&Ser27_FlowCtrlCnt.Flag, sizeof(Ser27_FlowCtrlCnt) / 4u, NeedWait);
+            if (RequestSeedMaxCnt <= Ser27_FlowCtrlCnt.RequestSeedCnt)
+            {
+                Wait10sFlag = 1;
+                NrcCode = exceedNumberOfAttempts;
+            }
+        }
+    }
+
+    if (0 == NrcCode)
+    {
+        if (requestSeed_LV1 == SubFunction)
+        {
+            if (NormalKeyLock == DiagLockFlag)
+            {
+                Services27_01_Requested = 1;
+                // do
+                // {
+                    GetSeed();
+                // } while (Seed[0] == 0 && Seed[1] == 0 && Seed[2] == 0 && Seed[3] == 0);
+                UDS_ISO14229_Transfer[1] = Seed[0];
+                UDS_ISO14229_Transfer[2] = Seed[1];
+                UDS_ISO14229_Transfer[3] = Seed[2];
+                UDS_ISO14229_Transfer[4] = Seed[3];
+                if (AbleResponseType == Ser27BanResponse)
+                {
+                    if (bit_is_clear(UDS_ISO14229_Transfer[0], 7))
+                    {
+                        UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 5, UDS_ISO14229_Transfer);
+                    }
+                }
+                else
+                {
+                    UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 5, UDS_ISO14229_Transfer);
+                }
+                CalculateKey();
+            }
+            else if (NormalKeyUnlock == DiagLockFlag)
+            {
+                UDS_ISO14229_Transfer[1] = 0;
+                UDS_ISO14229_Transfer[2] = 0;
+                UDS_ISO14229_Transfer[3] = 0;
+                UDS_ISO14229_Transfer[4] = 0;
+                if (AbleResponseType == Ser27BanResponse)
+                {
+                    if (bit_is_clear(UDS_ISO14229_Transfer[0], 7))
+                    {
+                        UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 5, UDS_ISO14229_Transfer);
+                    }
+                }
+                else
+                {
+                    UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 5, UDS_ISO14229_Transfer);
+                }
+            }
+        }
+        else if (sendKey_LV1 == SubFunction)
+        {
+            Services27_01_Requested = 0;
+            Ser27_FlowCtrlCnt.RequestSeedCnt = 0;
+            Ser27_FlowCtrlCnt.Attemptcnt = 0;
+            DiagLockFlag = NormalKeyUnlock;
+            if (AbleResponseType == Ser27BanResponse)
+            {
+                if (bit_is_clear(UDS_ISO14229_Transfer[0], 7))
+                {
+                    UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 1, UDS_ISO14229_Transfer);
+                }
+            }
+            else
+            {
+                UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 1, UDS_ISO14229_Transfer);
+            }
+            // WriteDFlashData(0x02u, (uint32_t *)&Ser27_FlowCtrlCnt.Flag, sizeof(Ser27_FlowCtrlCnt) / 4u, NeedWait);
+        }
+    }
+    else
+    {
+        if (DIAG_ID_Rx_FUN == FunorPhy)
+        {
+            if ((NrcCode != 0x11) && (NrcCode != 0x12) && (NrcCode != 0x7E) && (NrcCode != 0x7F) && (NrcCode != 0x31))
+            {
+                NegRes.code = NrcCode;
+                UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+                return;
+            }
+        }
+        else
+        {
+            NegRes.code = NrcCode;
+            UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+            return;
+        }
+    }
+}
+
+/******************************************************************************
+ 28# - CommunicationControl
+ ******************************************************************************/
+static const uint8_t Ser28BanResponse          = AbleResponseType;
+static const uint8_t Ser28Sub []               = {enableRxAndTx,/*enableRxAndDisableTx, disableRxAndEnableTx, */disableRxAndTx};
+static const uint8_t Ser28MinLen []            = {2};
+static const uint8_t Ser28SubLen []            = {2, /*2, 2,*/ 2};
+static const uint8_t Ser28UnlockLevel []       = {NoNeed, NoNeed, NoNeed, NoNeed};
+static const uint8_t Ser28SupportSession       = ProgrammingMode | ExtendedDiagnosticMode;
+static const uint8_t Ser28SubSupportSession [] = {ProgrammingMode | ExtendedDiagnosticMode, ProgrammingMode | ExtendedDiagnosticMode, ProgrammingMode | ExtendedDiagnosticMode, ProgrammingMode | ExtendedDiagnosticMode};
+void UDS_Service_28_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data)
+{
+    uint8_t i;
+    uint8_t si = CommunicationControl;
+    uint8_t NrcCode = 0;
+    uint8_t Index = 0;
+    uint8_t SubFunction = 0;
+    uint16_t FunorPhy = A_TA_type;
+    uint16_t Service28DiagDataLength = A_Length;
+
+    for (i = 0; i < Service28DiagDataLength; ++i)
+    {
+        UDS_ISO14229_Transfer[i] = *(A_Data + i);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC7FFilter(Ser28SupportSession);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC13Filter(MinLengthType, Service28DiagDataLength, Ser28MinLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        if (AbleResponseType == Ser28BanResponse)
+        {
+            SubFunction = UDS_ISO14229_Transfer[0] & 0x7F;
+        }
+        else
+        {
+            SubFunction = UDS_ISO14229_Transfer[0];
+        }
+        NrcCode = SerXXNRC12Filter(SubFunction, Ser28Sub, sizeof(Ser28Sub), &Index);
+    }
+
+    if (0 == NrcCode && Index < sizeof(Ser28UnlockLevel))
+    {
+        NrcCode = SerXXNRC33Filter(Ser28UnlockLevel, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser28SubSupportSession)))
+    {
+        NrcCode = SerXXNRC7EFilter(Ser28SubSupportSession, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser28SubLen)))
+    {
+        NrcCode = SerXXNRC13Filter(SubLengthType, Service28DiagDataLength, Ser28SubLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC22Filter();
+    }
+
+    // if (0 == NrcCode)
+    // {
+    //     if (normalCommunicationMessages != UDS_ISO14229_Transfer[1])
+    //     {
+    //         NrcCode = requestOutOfRange;
+    //     }
+    // }
+
+    if (0 == NrcCode)
+    {
+        if (enableRxAndTx == SubFunction)
+        {
+            if (UDS_ISO14229_Transfer[1] & normalCommunicationMessages)
+            {
+                CAN_RX_SetEnable(&CAN_CH0_CanMsgOp, CAN_N_RX_Enable);
+                CAN_TX_SetEnable(&CAN_CH0_CanMsgTxOp, CAN_N_TX_Enable);
+            }
+            if (UDS_ISO14229_Transfer[1] & networkManagementCommunicationMessages)
+            {
+            }
+        }
+        else if (disableRxAndTx == SubFunction)
+        {
+            if (UDS_ISO14229_Transfer[1] & normalCommunicationMessages)
+            {
+                CAN_RX_SetEnable(&CAN_CH0_CanMsgOp, CAN_N_RX_Disable);
+                CAN_TX_SetEnable(&CAN_CH0_CanMsgTxOp, CAN_N_TX_Disable);
+            }
+            if (UDS_ISO14229_Transfer[1] & networkManagementCommunicationMessages)
+            {
+            }
+            if (UDS_ISO14229_Transfer[1] & networkManagementCommunicationMessagesnormalCommunicationMessages)
+            {
+            }
+        }
+
+        if (AbleResponseType == Ser28BanResponse)
+        {
+            if (bit_is_clear(UDS_ISO14229_Transfer[0], 7))
+            {
+                UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 1, UDS_ISO14229_Transfer);
+            }
+        }
+        else
+        {
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 1, UDS_ISO14229_Transfer);
+        }
+    }
+    else
+    {
+        if (DIAG_ID_Rx_FUN == FunorPhy)
+        {
+            if ((NrcCode != 0x11) && (NrcCode != 0x12) && (NrcCode != 0x13) && (NrcCode != 0x7E) && (NrcCode != 0x7F) && (NrcCode != 0x31))
+            {
+                NegRes.code = NrcCode;
+                UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+                return;
+            }
+        }
+        else
+        {
+            NegRes.code = NrcCode;
+            UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+            return;
+        }
+    }
+}
+
+/******************************************************************************
+ 3E# - TesterPresent
+ ******************************************************************************/
+static const uint8_t Ser3EBanResponse          = AbleResponseType;
+static const uint8_t Ser3ESub []               = {0x00};
+static const uint8_t Ser3EMinLen []            = {1};
+static const uint8_t Ser3ESubLen []            = {1};
+static const uint8_t Ser3EUnlockLevel []       = {NoNeed};
+static const uint8_t Ser3ESupportSession       = DefaultMode | ProgrammingMode | ExtendedDiagnosticMode;
+static const uint8_t Ser3ESubSupportSession [] = {DefaultMode | ProgrammingMode | ExtendedDiagnosticMode};
+void UDS_Service_3E_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data)
+{
+    uint8_t i;
+    uint8_t si = TesterPresent;
+    uint8_t NrcCode = 0;
+    uint8_t Index = 0;
+    uint8_t SubFunction = 0;
+    uint16_t Service3EDiagDataLength = A_Length;
+    uint16_t FunorPhy = A_TA_type;
+
+    for (i = 0; i < Service3EDiagDataLength; ++i)
+    {
+        UDS_ISO14229_Transfer[i] = *(A_Data + i);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC7FFilter(Ser3ESupportSession);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC13Filter(MinLengthType, Service3EDiagDataLength, Ser3EMinLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        if (AbleResponseType == Ser3EBanResponse)
+        {
+            SubFunction = UDS_ISO14229_Transfer[0] & 0x7F;
+        }
+        else
+        {
+            SubFunction = UDS_ISO14229_Transfer[0];
+        }
+        NrcCode = SerXXNRC12Filter(SubFunction, Ser3ESub, sizeof(Ser3ESub), &Index);
+    }
+
+    if (0 == NrcCode && Index < sizeof(Ser3EUnlockLevel))
+    {
+        NrcCode = SerXXNRC33Filter(Ser3EUnlockLevel, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser3ESubSupportSession)))
+    {
+        NrcCode = SerXXNRC7EFilter(Ser3ESubSupportSession, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser3ESubLen)))
+    {
+        NrcCode = SerXXNRC13Filter(SubLengthType, Service3EDiagDataLength, Ser3ESubLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC22Filter();
+    }
+
+    if (0 == NrcCode)
+    {
+        if (0x00 == SubFunction)
+        {
+            S3_Server_refresh = 1;
+            if (AbleResponseType == Ser3EBanResponse)
+            {
+                if (bit_is_clear(UDS_ISO14229_Transfer[0], 7))
+                {
+                    UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 1, UDS_ISO14229_Transfer);
+                }
+            }
+            else
+            {
+                UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 1, UDS_ISO14229_Transfer);
+            }
+        }
+    }
+    else
+    {
+        if (DIAG_ID_Rx_FUN == FunorPhy)
+        {
+            if ((NrcCode != 0x11) && (NrcCode != 0x12) && (NrcCode != 0x13) && (NrcCode != 0x7E) && (NrcCode != 0x7F) && (NrcCode != 0x31))
+            {
+                NegRes.code = NrcCode;
+                UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+                return;
+            }
+        }
+        else
+        {
+            NegRes.code = NrcCode;
+            UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+            return;
+        }
+    }
+}
+
+/******************************************************************************
+ 85# - ControlDTCSetting
+ ******************************************************************************/
+static const uint8_t Ser85BanResponse          = AbleResponseType;
+static const uint8_t Ser85Sub []               = {DTCSettingOn, DTCSettingOff};
+static const uint8_t Ser85MinLen []            = {1};
+static const uint8_t Ser85SubLen []            = {1, 1};
+static const uint8_t Ser85UnlockLevel []       = {NoNeed, NoNeed};
+static const uint8_t Ser85SupportSession       = ProgrammingMode | ExtendedDiagnosticMode;
+static const uint8_t Ser85SubSupportSession [] = {ProgrammingMode | ExtendedDiagnosticMode};
+void UDS_Service_85_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data)
+{
+    uint8_t i;
+    uint8_t si = ControlDTCSetting;
+    uint8_t NrcCode = 0;
+    uint8_t Index = 0;
+    uint8_t SubFunction = 0;
+    uint16_t Service85DiagDataLength = A_Length;
+    uint16_t FunorPhy = A_TA_type;
+
+    for (i = 0; i < Service85DiagDataLength; ++i)
+    {
+        UDS_ISO14229_Transfer[i] = *(A_Data + i);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC7FFilter(Ser85SupportSession);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC13Filter(MinLengthType, Service85DiagDataLength, Ser85MinLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        if (AbleResponseType == Ser85BanResponse)
+        {
+            SubFunction = UDS_ISO14229_Transfer[0] & 0x7F;
+        }
+        else
+        {
+            SubFunction = UDS_ISO14229_Transfer[0];
+        }
+        NrcCode = SerXXNRC12Filter(SubFunction, Ser85Sub, sizeof(Ser85Sub), &Index);
+    }
+
+    if (0 == NrcCode && Index < sizeof(Ser85UnlockLevel))
+    {
+        NrcCode = SerXXNRC33Filter(Ser85UnlockLevel, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser85SubSupportSession)))
+    {
+        NrcCode = SerXXNRC7EFilter(Ser85SubSupportSession, Index);
+    }
+
+    if (0 == NrcCode && (Index < sizeof(Ser85SubLen)))
+    {
+        NrcCode = SerXXNRC13Filter(SubLengthType, Service85DiagDataLength, Ser85SubLen, Index);
+    }
+
+    if (0 == NrcCode)
+    {
+        NrcCode = SerXXNRC22Filter();
+    }
+
+    if (0 == NrcCode)
+    {
+        if (DTCSettingOn == SubFunction)
+        {
+            // CAN_DTC_OFF = 0;
+        }
+        else if (DTCSettingOff == SubFunction)
+        {
+            // CAN_DTC_OFF = 1;
+        }
+
+        if (AbleResponseType == Ser85BanResponse)
+        {
+            if (bit_is_clear(UDS_ISO14229_Transfer[0], 7))
+            {
+                UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 1, UDS_ISO14229_Transfer);
+            }
+        }
+        else
+        {
+            UDS_Service_Response(si, POSITIVE_RSP, DIAG_ID_Tx, 1, UDS_ISO14229_Transfer);
+        }
+    }
+    else
+    {
+        if (DIAG_ID_Rx_FUN == FunorPhy)
+        {
+            if ((NrcCode != 0x11) && (NrcCode != 0x12) && (NrcCode != 0x13) && (NrcCode != 0x7E) && (NrcCode != 0x7F) && (NrcCode != 0x31))
+            {
+                NegRes.code = NrcCode;
+                UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+                return;
+            }
+        }
+        else
+        {
+            NegRes.code = NrcCode;
+            UDS_Service_Response(si, NEGATIVE_RSP, DIAG_ID_Tx, 1, (uint8_t *)(&NegRes.code));
+            return;
+        }
+    }
+}
+
+/*************IGN on,S3 Timeout****************/
+void DIAG_InitParameter(void)
+{
+    S3_ServerCnt = 0;
+    S3_ServerEN  = 0;
+    SessionType  = DefaultSession;
+
+    DiagLockFlag            = 0;
+    RANDOM                  = 1573;
+    Services27_01_Requested = 0;
+}

UDS/UDS_ISO14229_Services.h

+/******************************************************************************
+ �� �� ����UDS_ISO14229_Services.h
+ ����������ISO 14229 �淶�涨����Ϸ���������˷���ʵ�ֺ���ͷ�ļ�
+ ��    �ߣ�����
+ ��    ����V1.0
+ ��    �ڣ�2016.11.1
+ ******************************************************************************/
+
+/******************************************************************************
+ ��Ϸ����OSIģ��ӳ��
+ ===============================================================================
+ *     NO.     OSI Layer        Diagnostics services
+ -------------------------------------------------------------------------------
+ *      7      Application      ISO 14229-1 ISO 14229-3
+ 6      Presentation     -
+ *      5      Session          ISO 14229-2
+ 4      Transport        ISO 15765-2
+ 3      Network          ISO 15765-2
+ 2      Data Link        ISO 11898
+ 1      Physical         ISO 11898
+ ===============================================================================
+ ******************************************************************************/
+
+#ifndef _UDS_ISO14229_SERVICES_H_
+#define _UDS_ISO14229_SERVICES_H_
+
+#include "UDS_ISO14229_Server_Config.h"
+
+/**
+ *DFlash
+ */
+#define NoNeedWait 0x00u
+#define NeedWait   0x01u
+#define APP_STATUS_ADDR   (0x501000)
+#define APP_DATA_INFO     (0x501400)
+#define APP_DATA_WRITE    (0x501800)
+#define UP_DATA_WRITE     (0x502200)
+
+
+#define Data_Flash_Addr_BootValid_OFFSET   0x00000000
+#define Data_Flash_Addr_DiagReceive_OFFSET 0x00002000
+#define Data_Flash_Addr_Diag2E_OFFSET      0x00004000
+#define Data_Flash_Addr_DiagDTC_OFFSET     0x00006000
+#define Data_Flash_Addr_GHdata_OFFSET      0x0000A000    // ��������
+#define Jump_To_Boot_Need_Answer           0xA77A3AA3
+#define Jump_To_Boot_No_Answer             0xA77A8AA8
+#define Flag_App_OTAStatus                 0x3663B88B    // ����Boot��ԭ������ΪOTA
+
+#define EnableInterrupts \
+    {                    \
+        __asm CLI;       \
+    }
+#define DisableInterrupts \
+    {                     \
+        __asm SEI;        \
+    }
+
+/*-----------------------------------------------------------------------------
+ Response
+ -----------------------------------------------------------------------------*/
+#define POSITIVE_RSP 0x00
+#define NEGATIVE_RSP (! POSITIVE_RSP)
+/*-----------------------------------------------------------------------------
+ SPRMB
+ -----------------------------------------------------------------------------*/
+#define AbleResponseType    0x00
+#define DisableResponseType (! AbleResponseType)
+/*-----------------------------------------------------------------------------
+ NRC13 check type
+ -----------------------------------------------------------------------------*/
+#define MinLengthType 0x00
+#define SubLengthType (! MinLengthType)
+/*-----------------------------------------------------------------------------
+ Session mode
+ -----------------------------------------------------------------------------*/
+#define DefaultMode            0x01
+#define ProgrammingMode        0x02
+#define ExtendedDiagnosticMode 0x04
+/*----------------------------------------------- ------------------------------
+ Security level
+ -----------------------------------------------------------------------------*/
+#define NoNeed     0x00
+#define NeedLevel1 0x01
+#define NeedLevel2 0x02
+/******************************************************************************
+ Function and subFunction
+ Diagnostic Session
+ *******************************************************************************/
+#define DiagnosticSessionControl  0x10
+#define DefaultSession            0x01
+#define ProgrammingSession        0x02
+#define ExtendedDiagnosticSession 0x03
+
+/******************************************************************************
+ Function and subFunction
+ ECUReset
+ ********************************************************************************/
+#define ECUReset  0x11
+#define HardReset 0x01
+#define SoftReset 0x03
+
+/******************************************************************************
+ Function and subFunction
+ ClearDiagnosticInformation
+ ********************************************************************************/
+#define ClearDiagnosticInformation 0x14
+
+/******************************************************************************
+ Function and subFunction
+ ReadDTCInformation
+ ********************************************************************************/
+#define ReadDTCInformation 0x19
+#define Error              0x09
+#define NoError            0x08
+
+#define OTA_None  0x00
+#define OTA_Reqed 0x01
+#define OTA_Quit  0x02
+
+// typedef void (*pfuMsgLost)(void);
+// typedef void (*pfuMsgOk)(void);
+
+// typedef struct
+// {
+//     const uint16_t     Msg_ID;
+//     volatile uint16_t *DTC_NodeLostCnt;
+//     volatile uint8_t  *DTC_NodeLostFlag;
+//     const uint16_t     DTC_LostPeriod;
+//     pfuMsgLost         pfuLostHandleCBK;
+//     pfuMsgOk           pfuOkHandleCBK;
+// } DTC_NodeLostType;
+#define _CLRBIT(p, b)     p &= ~(1 << b)
+#define _SETBIT(p, b)     p |= (1 << b)
+#define _bit_is_set(p, b) p & (1 << b)
+
+#define CLRBIT(p, b)     p &= ~(1 << b)
+#define SETBIT(p, b)     p |= (1 << b)
+#define bit_is_set(p, b) p & (1 << b)
+
+#define bit_is_clear(p, b) ! (p & (1 << b))
+
+#define bit_2_set(p, b) ((p >> b) & 0x03)
+#define bit_3_set(p, b) ((p >> b) & 0x07)
+#define bit_4_set(p, b) ((p >> b) & 0x0F)
+#define bit_5_set(p, b) ((p >> b) & 0x1F)
+#define bit_6_set(p, b) ((p >> b) & 0x3F)
+#define bit_7_set(p, b) ((p >> b) & 0x7F)
+
+/******************************************************************************
+ Function and subFunction
+ ReadDataByIdentifier
+ ********************************************************************************/
+#define ReadDataByIdentifier 0x22
+/******************************************************************************
+ Function and subFunction
+ SecurityAccess
+ ********************************************************************************/
+#define SecurityAccess    0x27
+#define requestSeed_LV1   0x01
+#define sendKey_LV1       0x02
+// #define requestSeed_LV3   0x03
+// #define sendKey_LV3       0x04
+// #define requestSeed_LV5   0x05
+// #define sendKey_LV5       0x06
+// #define requestSeed_LV11  0x11
+// #define sendKey_LV11      0x12
+#define NormalKeyUnlock   0x01
+#define NormalKeyLock     0x00
+#define BootKeyUnlock     0x02
+#define BootKeyLock       0x00
+#define RequestSeedMaxCnt 0x04
+#define AttemptMaxCnt     0x03
+
+#define FLASH_SECTOR_SIZE 0x400
+/******************************************************************************
+ Function and subFunction and type
+ CommunicationControl
+ ********************************************************************************/
+#define CommunicationControl                                              0x28
+#define enableRxAndTx                                                     0x00
+#define enableRxAndDisableTx                                              0x01
+#define disableRxAndEnableTx                                              0x02
+#define disableRxAndTx                                                    0x03
+#define normalCommunicationMessages                                       0x01
+#define networkManagementCommunicationMessages                            0x02
+#define networkManagementCommunicationMessagesnormalCommunicationMessages 0x03
+
+/************************28SerStart*********************/
+#define DIAG_COM_NOR_TX 0x01
+#define DIAG_COM_NOR_RX 0x02
+#define DIAG_COM_NW_TX  0x04
+#define DIAG_COM_NW_RX  0x08
+
+#define DIAG_SET_COM_DISABLE(Var, BitField, Type) ((Var) |= ( Type )(BitField))
+#define DIAG_SET_COM_ENABLE(Var, BitField, Type)  ((Var) &= (Type) ~( Type )(BitField))
+#define DIAG_TST_BIT_SET(Var, BitField, Type)     (0U != ((Var) & ( Type )(BitField)))
+#define DIAG_TST_BIT_RESET(Var, BitField, Type)   (0U == ((Var) & ( Type )(BitField)))
+/************************28SerEnd***********************/
+
+/******************************************************************************
+ Function and subFunction
+ WriteDataByIdentifier
+ ********************************************************************************/
+#define WriteDataByIdentifier 0x2E
+
+/******************************************************************************
+ Function and subFunction
+ InputOutputControlByIdentifier
+ ********************************************************************************/
+#define InputOutputControlByIdentifier 0x2F
+#define WhiteColor                     0x01
+#define BlackColor                     0x02
+#define RedColor                       0x03
+#define GreenColor                     0x04
+#define BlueColor                      0x05
+#define GaugeSpeed                     0x01
+#define GaugeTacho                     0x02
+#define GaugeFuel                      0x03
+#define GaugeEngCoolantTemp            0x04
+#define ZeroPosition                   0x00
+#define HalfPosition                   0x01
+#define FullPosition                   0x02
+
+#define Clear  0x08
+#define Contrl 0x03
+#define Resume 0x00
+
+/******************************************************************************
+ Function and subFunction
+ RoutineControl
+ ********************************************************************************/
+#define RoutineControl                 0x31
+#define startRoutine                   0x01
+#define stopRoutine                    0x02
+#define requestRoutineResults          0x03
+#define MaintenanceReset               0X62F1
+#define CheckMemory                    0x0202
+#define UpdateConditionCheck           0x0203
+#define ECU_selftest                   0xDFF0
+#define EraseMemory                    0xFF00
+#define CheckProgrammingDependencies   0xFF01
+#define RoutineCompletedSuccessfully   0x00
+#define RoutineCompletedUnsuccessfully 0x05
+
+/******************************************************************************
+ Function and subFunction
+ RequestDownload
+ ********************************************************************************/
+#define RequestDownload        0X34
+#define LengthFormatIdentifier 0x20
+#define Download               0x01
+
+/******************************************************************************
+ Function and subFunction
+ TransferDataf
+ ********************************************************************************/
+#define TransferData 0x36
+
+/******************************************************************************
+ Function and subFunction
+ RequestTransferExit
+ ********************************************************************************/
+#define RequestTransferExit 0x37
+
+/******************************************************************************
+ Function and subFunction
+ TesterPresent
+ ********************************************************************************/
+#define TesterPresent 0x3E
+
+/******************************************************************************
+ Function and subFunction
+ ControlDTCSetting
+ ********************************************************************************/
+#define ControlDTCSetting 0x85
+#define DTCSettingOn      0x01
+#define DTCSettingOff     0x02
+
+/******************************************************************************
+ Supported negative response codes
+ *******************************************************************************/
+#define positiveResponse                        0x00
+#define serviceNotSupported                     0x11
+#define subFunctionNotSupported                 0x12
+#define incorrectMessageLength                  0x13
+#define responseTooLong                         0x14
+#define conditionsNotCorrect                    0x22
+#define requestSequenceError                    0x24
+#define requestOutOfRange                       0x31
+#define securityAccessDenied                    0x33
+#define invalidKey                              0x35
+#define exceedNumberOfAttempts                  0x36
+#define requiredTimeDelayNotExpired             0x37
+#define uploadDownloadNotAccepted               0x70
+#define transferDataSuspended                   0x71
+#define generalProgrammingFailure               0x72
+#define wrongBlockSequenceCounter               0x73
+#define requestCorrectlyReceivedResponsePending 0x78
+#define subfunctionNotSupportinActiveSession    0x7E
+#define serviceNotSupportedInActiveSession      0x7F
+#define engineIsRunning                         0x83
+#define engineIsNotRunning                      0x84
+#define engineRunTimeTooLow                     0x85
+#define voltageTooHigh                          0x92
+#define voltageTooLow                           0x93
+
+#define noErr             0
+#define SRecRangeError    1
+#define SRecOddError      2    // S-Record Size Must Be Even
+#define FlashProgramError 3    // Flash Programming Error
+#define FlashEraseError   4    // Flash Erase Error
+#define BadHexData        5    // Bad Hex Data
+#define SRecTooLong       6    // S-Record Too Long
+#define CheckSumErr       7    // Checksum Error
+#define UnknownPartID     8    // Unknown Part ID
+
+#define SWV 0x125// 0x100 = 1.00 software version 软件版本号
+#define HWV 0x116 // 0x100 = 1.00 hardware version 硬件版本号
+#define BTV 0x103 // 0x100 = 1.00 bootloader version boot程序版本号
+#define INTLV 0x125 // 0x100 = 1.00 internal version 内部版本号
+#define PROG_Y 0x25 // 0x24 = 2024年, program year
+#define PROG_M 0x05 // 0x03 = 3月, program month
+#define PROG_D 0x20 // 0x19 = 19日, program day
+
+typedef struct
+{
+    uint32_t Flag;
+    uint8_t  Attemptcnt;
+    uint8_t  RequestSeedCnt;
+    uint8_t  AttemptIIcnt;
+    uint8_t  RequestSeedIICnt;
+} Ser27_FlowCtrlCntUnion;
+
+typedef struct
+{
+    uint32_t Flag;
+    uint8_t DID_F180[6];
+    uint8_t DID_F187[12];
+    uint8_t DID_F193[6];
+    uint8_t DID_F195[6];
+    uint8_t Filldata[2];
+}DiagDFlashData;
+extern DiagDFlashData DiagDataForDFlash;
+
+typedef struct
+{
+    uint32_t Flag;
+    uint32_t APP_STATUS;
+}DiagFlag;
+extern DiagFlag DiagDataForFlag;
+
+typedef struct
+{
+    uint8_t Para;
+    uint8_t code;
+    uint8_t OpCode;
+} DiagSendDataNeg;
+
+void UDS_Service_10_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data);
+void UDS_Service_11_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data);
+void UDS_Service_22_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data);
+void UDS_Service_2E_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data);
+void UDS_Service_27_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data);
+void UDS_Service_28_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data);
+void UDS_Service_3E_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data);
+void UDS_Service_85_Indication(uint16_t A_TA_type, uint16_t A_Length, uint8_t *A_Data);
+void S3_ServerCNTT(void);
+void Randomcnt(void);
+extern void DIAG_InitParameter(void);
+
+void GetSeed(void);
+void CalculateKey(void);
+void CalculateKeyLv11(void);
+
+typedef void (*InitFunction)(void);
+
+/***********Local Functin*************/
+uint8_t GetCurrentSession(void);
+uint8_t SerXXNRC12Filter(uint8_t insub, const uint8_t *supportsub, uint8_t size, uint8_t *index);
+uint8_t SerXXNRC13Filter(uint8_t type, uint16_t serlength, const uint8_t *length, uint8_t index);
+uint8_t SerXXNRC22Filter(void);
+uint8_t SerXXNRC31DIDFilter(uint16_t inDID, const uint16_t *DIDList, uint8_t size, uint8_t *index);
+uint8_t SerXXNRC33Filter(const uint8_t *levelList, uint8_t index);
+uint8_t SerXXNRC7EFilter(const uint8_t *SubSupportSession, uint8_t index);
+uint8_t SerXXNRC7FFilter(uint8_t SupportSession);
+extern void Data_Set_DiagPara(void);
+void Write_App_InValid(uint32_t m32);
+void Data_Read_DiagPara(void);
+void DFlash_init(void);
+
+#endif