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汽车与基础软件  微信公众号发布 
AUTOSAR&UDS 理论要点及实战说明 
 
目录 
前言 ................................................................................................................................................................................................................................................. 5 
AUTOSAR 诊断模块梳理 ................................................................................................................................................................................................................. 6 
1 UDS 诊断框架说明 ............................................................................................................................................................................................................... 6 
2 DCM 模块 .............................................................................................................................................................................................................................. 6 
3 DEM 模块 .............................................................................................................................................................................................................................. 9 
3.1  故障事件触发 ........................................................................................................................................................................................................... 9 
3.2  故障信息上报 ........................................................................................................................................................................................................... 9 
3.3  故障信息处理 ........................................................................................................................................................................................................... 9 
3.4  故障信息存储 ......................................................................................................................................................................................................... 10 
3.5  故障系统降级 ......................................................................................................................................................................................................... 10 
4 FiM 模块 .............................................................................................................................................................................................................................. 10 
4.1 FiM 模块主要功能 .................................................................................................................................................................................................. 10 
4.2 FiM 模块基本参数 .................................................................................................................................................................................................. 11 
4.3 FiM 模块主要函数调用接口 .................................................................................................................................................................................. 11 
UDS 协议梳理 ................................................................................................................................................................................................................................ 13 
1 DTC（Event）概述 ............................................................................................................................................................................................................. 13 
1.1 DTC 显示码、DTC number 转换方法 .................................................................................................................................................................... 13 
1.2 DTC 状态位 .............................................................................................................................................................................................................. 14 
1.3 DTC 扩展数据 .......................................................................................................................................................................................................... 16 
1.4 DTC 数据快照 .......................................................................................................................................................................................................... 16 
1.5  故障检测使能条件 ................................................................................................................................................................................................ 18 
1.6  操作循环  Operation cycle ..................................................................................................................................................................................... 18 
1.7  防抖策略 ................................................................................................................................................................................................................. 19 
1.8 DTC 相关的高频服务（service） .......................................................................................................................................................................... 21 
1.9  故障老化 ................................................................................................................................................................................................................. 21 
1.10 DTC 严重度 ............................................................................................................................................................................................................ 23 
2 DID 概述 .............................................................................................................................................................................................................................. 24 
3 UDS 协议帧分析 ................................................................................................................................................................................................................. 24 
4  禁止肯定响应位 ................................................................................................................................................................................................................ 26 
5 功能寻址注意事项 ............................................................................................................................................................................................................. 27 
5.1  功能寻址不传输 NRC11, NRC12, NRC31, NRC7E, NRC7F .................................................................................................................................... 27 
5.2  功能寻址仅支持单帧通信 .................................................................................................................................................................................... 28 

汽车与基础软件  微信公众号发布 
6  时间参数 P2Server, P2*Server, S3 梳理及配置 ............................................................................................................................................................... 28 
7  时间参数 DcmTimStrP2ServerAdjust、DcmTimStrP2StarServerAdjust 梳理及配置 .................................................................................................... 31 
8 Response On Event 服务（0x86 service） ........................................................................................................................................................................ 32 
9 PID ........................................................................................................................................................................................................................................ 32 
10 0x10 服务 .......................................................................................................................................................................................................................... 33 
服务相关的配置/代码梳理 .......................................................................................................................................................................................................... 34 
1 0x2A 服务 ............................................................................................................................................................................................................................ 34 
1.1  服务含义 ................................................................................................................................................................................................................. 34 
1.2  服务配置 ................................................................................................................................................................................................................. 35 
2 0x28 服务 ............................................................................................................................................................................................................................ 39 
2.1  服务含义 ................................................................................................................................................................................................................. 39 
2.2  代码分析 ................................................................................................................................................................................................................. 39 
2.3 BswM 模块配置 ....................................................................................................................................................................................................... 42 
3 0x22,0x2E 服务 ................................................................................................................................................................................................................... 43 
3.1  服务含义 ................................................................................................................................................................................................................. 43 
3.2  配置存储到 NvM 的 DID 流程 .............................................................................................................................................................................. 44 
3.3  配置不需要存储到 NvM 的 DID 流程 .................................................................................................................................................................. 47 
3.4  其他说明 ................................................................................................................................................................................................................. 49 
4 0x31 服务 ............................................................................................................................................................................................................................ 49 
4.1  服务含义 ................................................................................................................................................................................................................. 49 
4.2  服务配置 ................................................................................................................................................................................................................. 50 
4.3 0x31 服务如何返回否定响应码 ............................................................................................................................................................................ 52 
4.4 out 参数 ................................................................................................................................................................................................................... 53 
5 0x14, 0x19, 0x85 服务 ........................................................................................................................................................................................................ 54 
5.1  服务含义 ................................................................................................................................................................................................................. 54 
5.2  配置 DTC 流程 ........................................................................................................................................................................................................ 54 
5.3  配置 DTC 扩展数据 ................................................................................................................................................................................................ 58 
5.4  配置 DTC 快照数据 ................................................................................................................................................................................................ 68 
5.5 DTC 相关配置项 ...................................................................................................................................................................................................... 74 
5.6 0x85 服务配置 ......................................................................................................................................................................................................... 95 
5.7 Event 存储位置解析与配置 ................................................................................................................................................................................... 96 
6 0x27 服务 .......................................................................................................................................................................................................................... 100 
6.1  服务含义 ............................................................................................................................................................................................................... 100 
6.2  配置及代码分析................................................................................................................................................................................................... 100 
通用配置/代码梳理 ................................................................................................................................................................................................................... 105 

汽车与基础软件  微信公众号发布 
5.1  配置配置功能寻址不响应/负响应部分服务 ............................................................................................................................................................... 105 
5.1.1  配置功能寻址不响应/负响应部分服务 ............................................................................................................................................................ 105 
5.1.2  配置返回 NRC22 ................................................................................................................................................................................................... 112 
5.2 DCM 相关配置 .................................................................................................................................................................................................................. 113 
5.2.1 DcmDslBufferSize 配置 .......................................................................................................................................................................................... 113 
5.3 APP 跳转 Boot 配置 .......................................................................................................................................................................................................... 113 
5.4 FiM 模块配置 .................................................................................................................................................................................................................... 114 
5.4.1 FID 配置与使用 ..................................................................................................................................................................................................... 114 
5.4.2  配置参数含义 ....................................................................................................................................................................................................... 116 
附录 A  常见配置及调试问题排查 ............................................................................................................................................................................................... 119 
A.1  配置 DemComponent 后调用 Dem 接口程序崩溃 ...................................................................................................................................................... 119 
A.2 DID 包含多个 Signal 时，0x22 服务读取数据错误 ...................................................................................................................................................... 120 
A.3  调用 0x85 服务（02 子功能）无法禁止 DTC 置状态位 ............................................................................................................................................. 123 
A.4 FID 刷新时间较长，延时过大 ........................................................................................................................................................................................ 124 
A.5 DID 属性 TotalByteSize 未自动生成 ................................................................................................................................................................................ 126 
A.6  老化计数器一个周期自加 2 问题排查 ......................................................................................................................................................................... 126 
A.7  配置 DTC 扩展数据问题记录 ......................................................................................................................................................................................... 127 
A.8 0x2A 服务调试记录 ......................................................................................................................................................................................................... 128 
A.9  无法通过 0x28 服务 Disable/Enable CAN 报文收发 .................................................................................................................................................... 128 
A.10 0x11 复位服务调整记录 ............................................................................................................................................................................................... 130 
A.10.1 0x11 复位服务配置 ............................................................................................................................................................................................ 131 
A.11 Event 防抖策略未正确配置导致程序运行崩溃.......................................................................................................................................................... 136 
A.12  调用 19 0A 服务（读取所有支持的 DTC）报 NRC14 ................................................................................................................................................ 138 
附录 B  部分服务测试报文示例 ................................................................................................................................................................................................... 139 
B.1 0x22, 0x2E 服务 ................................................................................................................................................................................................................ 139 
B.2 0x27 服务 .......................................................................................................................................................................................................................... 140 
B.3 0x31 服务 .......................................................................................................................................................................................................................... 140 
B.4 0x19 服务 .......................................................................................................................................................................................................................... 140 
附录 C  重要宏定义 ........................................................................................................................................................................................................................ 141 
C.1  否定响应码宏定义 .......................................................................................................................................................................................................... 141 
C.2 DCM 通信控制类型宏定义 ............................................................................................................................................................................................. 141 
C.3 DemEnableCondition 宏定义 ........................................................................................................................................................................................... 143 
附录 D  配置参数说明 ................................................................................................................................................................................................................... 144 
D.1 DEM 配置参数说明 .......................................................................................................................................................................................................... 144 
D.1.1 DemGeneral ........................................................................................................................................................................................................... 144 