i am trying to build UDS protocol over XL-driver library for building an diagnostic application, don't know from where is should start.
How to implement the UDS protocol over xl-driver library for sending Diagnostics?
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The whole stack of librairies exists in Python. Look at the UdsOnCAN package that will handle the application layer. You can use it with can-isotp and python-can for the underlying protocols. python-can support Vector hardware.
This example shows how to setup the three packages with a Vector interface.