# SAE J1939协议栈

**Repository Path**: Beautiful_Man/sae-j1939-protocol-stack

## Basic Information

- **Project Name**: SAE J1939协议栈
- **Description**: 开源的SAE J1939协议栈
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 4
- **Forks**: 6
- **Created**: 2024-01-12
- **Last Updated**: 2025-08-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# SAE J1939协议栈

SAE J1939 是一种协议，用于以特定方式塑造 CAN 总线消息，适用于拖拉机、机械、卡车等工业车辆。

SAE J1939 是一个非常易于使用的协议，但由于协议文档的成本，缺乏关于 SAE J1939 的信息，无法根据 SAE J1939 协议标准塑造 CAN 总线报文。因此，我正在编写一个 SAE J1939 协议，可在任何嵌入式系统（如 STM32、Arduino、AVR、PIC 等）或 PC 上免费使用。

要学习在此项目的基础上进行构建，您首先需要了解 SAE J1939。我用语言写了这个项目，因为 C 是行业标准。我选择的语言方言是，我在这个库中不使用动态内存分配。因此，它将与标准一起使用。``

使用此库，您可以与阀门、发动机、执行器、机械、硬件和所有其他适用于重工业移动应用的东西进行通信。我已经建立了项目的基本结构，我希望其他用户能够向 SAE J1939 标准发送其代码的拉取请求以获得额外的功能，因为 SAE J1939 是一个巨大的标准。

# 如何使用项目

- 第 1 步：下载此存储库
- 第 2 步：转到并选择您的处理器，如果它不可用，请为其编写代码并向我发送拉取请求`Hardware -> Hardware.h`
- 第 3 步：将文件夹复制到 IDE 中的项目文件夹。例如，重命名为 。这是个好名字。`Src``Src``Open SAE J1939`
- 第 4 步：使用该示例作为 SAE J1939 项目的初始起始代码。`Examples -> Open SAE J1939 -> Main.txt`

```c
/*
 * Main.c
 *
 *  Created on: 16 juli 2021
 *      Author: Daniel Mårtensson
 */

#include <stdio.h>

 /* Include Open SAE J1939 */
#include "Open_SAE_J1939/Open_SAE_J1939.h"

/* Include ISO 11783 */
#include "ISO_11783/ISO_11783-7_Application_Layer/Application_Layer.h"

void Callback_Function_Send(uint32_t ID, uint8_t DLC, uint8_t data[]) {
	/* Apply your transmit layer here, e.g:
	 * uint32_t TxMailbox;
     	 * static CAN_HandleTypeDef can_handler;
	 * This function transmit ID, DLC and data[] as the CAN-message.
	 * HardWareLayerCAN_TX(&can_handler, ID, DLC, data, &TxMailbox);
	 * 
	 * You can use TCP/IP, USB, CAN etc. as hardware layers for SAE J1939
	 */
}

void Callback_Function_Read(uint32_t* ID, uint8_t data[], bool* is_new_data) {
	/* Apply your receive layer here, e.g:
	 * CAN_RxHeaderTypeDef rxHeader = {0};
	 * static CAN_HandleTypeDef can_handler;
	 * This function read CAN RX and give the data to ID and data[] as the CAN-message.
	 * if (HardWareLayerCAN_RX(can_handler, &rxHeader, ID, data) == STATUS_OK){
	 *	*is_new_data = true;
	 * }
	 * 
	 * You can use TCP/IP, USB, CAN etc. as hardware layers for SAE J1939
	 */
}

/* This function reads the CAN traffic */
void Callback_Function_Traffic(uint32_t ID, uint8_t DLC, uint8_t data[], bool is_TX) {
	/* Print if it is TX or RX */
	printf("%s\t", is_TX ? "TX" : "RX");

	/* Print ID as hex */
	printf("%08X\t", ID);

	/* Print the data */
	uint8_t i;
	for (i = 0U; i < DLC; i++) {
		printf("%X\t", data[i]);
	}

	/* Print the non-data */
	for (i = DLC; i < 8U; i++) {
		printf("%X\t", 0U);
	}

	/* New line */
	printf("\n");
}

int main() {

	/* Create our J1939 structure */
	J1939 j1939 = { 0 };

	/*
	 * Callbacks can be used if you want to pass a specific CAN-function into the hardware layer.
	 * All you need to do is to enable INTERNAL_CALLLBACK inside hardware.h
	 * If you don't want to have the traffic callback, just set the argument as NULL.
	 * If you don't want any callback at all, you can write your own hardware layer by selecting a specific procesor choice at hardware.h
	 */
	CAN_Set_Callback_Functions(Callback_Function_Send, Callback_Function_Read, Callback_Function_Traffic);

	/* Load your ECU information */
	Open_SAE_J1939_Startup_ECU(&j1939);

	/* SAE J1939 process */
	bool run = true;
	while (run) {
		/* Read incoming messages */
		Open_SAE_J1939_Listen_For_Messages(&j1939);

		/* Your application code here */

	}

	/* Save your ECU information */
	Open_SAE_J1939_Closedown_ECU(&j1939);

	return 0;
}
```
请参阅如何更改ECU的地址、名称或标识中的示例。`Examples -> SAE J1939`

# 项目结构

![a](https://raw.githubusercontent.com/DanielMartensson/Open-SAE-J1939/main/Src/Documentation/Pictures/Project%20structure.png)

# 功能

 - SAE J1939:21 Transport Layer
 	- Acknowledgement
 	- Request
 	- Transport Protocol Connection Management
 	- Transport Protocol Data Transfer
 - SAE J1939:71 Application Layer
 	- Request Component Identification
 	- Request ECU Identification
 	- Request Software Identification
	- Request Proprietary A
 - SAE J1939:73 Diagnostics Layer
 	- DM1
 	- DM2
 	- DM3
 	- DM14
 	- DM15
 	- DM16
 - SAE J1939:81 Network Management Layer
 	- Address Claimed
 	- Commanded Address
 	- Address Not Claimed
 	- Delete Address

# 额外功能

 - ISO 11783 Tractors And Machinery For Agriculture And Forestry
 	- ISO 11783-7 Implement Messages Application Layer
 		- Auxiliary Valve Command
 		- Auxiliary Valve Estimated Flow
 		- Auxiliary Valve Measured Position
 		- General Purpose Valve Command
 		- General Purpose Valve Estimated Flow

# 问题与解答

 - Q: Can this library be used with `C++`?
 	- A: Yes it can be used with `C++`
 - Q: I want to build on this library, what should I do?
 	- A: First you need to know `ANSI C (C89)` and bitwise operations. Then you need to understand the `SAE J1939:21 Transport Layer` structure. Don't forget to update the PDF with your new functionality.
 - Q: Can I use this on my Arduino?
 	- A: Yes, this `C` code is 100% pure `C` code and only using `C` standard library and also the code does not take account of what hardware you are using.
 - Q: Do I need to install the library for to use the library?
 	- A: No, just copy over the `.c` and `.h` files to your project and compile. I have used this with QT framework.
 - Q: This project is quite old now and not so much updates, is it still worth to use it?
 	- A: Yes, this library only updates when I or other includes more functionality from SAE J1939. The reason why I wrote this in `ANSI C (C89)` is because it's an industry standard and will you will always be able to compile this library and use it on all systems.
 - Q: What is your plan with the library?
 	- A: To make SAE J1939 available for everybody
 - Q: I don't have CAN-bus, but can I use this library anyway with UART, USB, WiFi etc?
 	- A: Yes. This is only a way to shape a message in a specific way.
 - Q: Can I send data with this library, even if I don't have CAN-bus?
 	- A: Yes. There are something called DM14 transmit request, DM15 status response and DM16 binary transfer. Use that if you want to transfer data in an industrial way.
 - Q: Can I send multi package messages from from multiple ECU:s to one ECU at the same time?
 	- A: No. If you starting to send multipackages from multiple ECU:s to another ECU, then that ECU cannot understand the message. Transmit only multipackage messages one at the time if the destination address is the same.
 - Q: I don't want to use 'ANSI C (C89)' with Open SAE J1939. Can I use the latest C standard with Open SAE J1939?
    - Yes, you can use the latest C standard with this library.
 - Q: Is it possible to compile this library onto a Windows MS-DOS or Windows 95 machine?
    - A C89 compatible compiler and an IDE and it should not be any problem
# 问题解决

- I: I cannot compile this library. I'm using `Keil Microvision`.
	- A: `Keil Microvision` cannot handle binary numbers such as `0b010101`. Try `STM32CubeIDE` instead because `Open SAE J1939` is made in `STM32CubeIDE`
- I: Can you provide us with some hardware examples for example `STM32`?
	- A: Yes! There is a STM32 example how to get connection with CAN-bus including an interrupt listener for messages. Go to `Examples -> Hardware` folder at look for `CAN_STM32.txt`. Also there is a `USB` example as well for `QT C++`.

# 来源

[GitHub - DanielMartensson/Open-SAE-J1939: SAE J1939 protocol free to use for embedded systems or PC with CAN-bus](https://github.com/DanielMartensson/Open-SAE-J1939?tab=readme-ov-file)