Add full automotive RTOS project

Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers, middleware (CAN stack, diagnostics, safety), applications, board support, build/test tooling, and documentation.
2026-08-23 03:35:29 -04:00
parent f113bf0a05
commit ca13734bf0
151 changed files with 23945 additions and 0 deletions
@@ -0,0 +1,134 @@
+/**
+ * @file uds.h
+ * @brief Unified Diagnostic Services (ISO 14229) implementation
+ */
+
+#ifndef UDS_H
+#define UDS_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "kernel.h"
+#include "can_tp.h"
+
+/* UDS Configuration */
+#define UDS_MAX_SESSIONS            8
+#define UDS_MAX_SECURITY_LEVELS     5
+#define UDS_MAX_DTCS                50
+#define UDS_MAX_DATA_SIZE           4096
+
+/* UDS Service IDs */
+typedef enum {
+    UDS_SID_DIAGNOSTIC_SESSION_CONTROL = 0x10,
+    UDS_SID_ECU_RESET = 0x11,
+    UDS_SID_SECURITY_ACCESS = 0x27,
+    UDS_SID_COMMUNICATION_CONTROL = 0x28,
+    UDS_SID_READ_DATA_BY_IDENTIFIER = 0x22,
+    UDS_SID_WRITE_DATA_BY_IDENTIFIER = 0x2E,
+    UDS_SID_IO_CONTROL_BY_IDENTIFIER = 0x2F,
+    UDS_SID_ROUTINE_CONTROL = 0x31,
+    UDS_SID_REQUEST_DOWNLOAD = 0x34,
+    UDS_SID_REQUEST_UPLOAD = 0x35,
+    UDS_SID_TRANSFER_DATA = 0x36,
+    UDS_SID_REQUEST_TRANSFER_EXIT = 0x37,
+    UDS_SID_READ_DTC_INFORMATION = 0x19,
+    UDS_SID_CLEAR_DTC_INFORMATION = 0x14,
+    UDS_SID_READ_DATA_BY_PERIODIC_IDENTIFIER = 0x2A,
+    UDS_SID_DYNAMICALLY_DEFINE_DATA_IDENTIFIER = 0x2C,
+    UDS_SID_TESTER_PRESENT = 0x3E,
+    UDS_SID_CONTROL_DTC_SETTING = 0x85
+} UdsServiceId_t;
+
+/* UDS Response Codes */
+typedef enum {
+    UDS_RESPONSE_POSITIVE = 0x00,
+    UDS_RESPONSE_GENERAL_REJECT = 0x10,
+    UDS_RESPONSE_SERVICE_NOT_SUPPORTED = 0x11,
+    UDS_RESPONSE_SUBFUNCTION_NOT_SUPPORTED = 0x12,
+    UDS_RESPONSE_INCORRECT_MESSAGE_LENGTH = 0x13,
+    UDS_RESPONSE_CONDITIONS_NOT_CORRECT = 0x22,
+    UDS_RESPONSE_REQUEST_SEQUENCE_ERROR = 0x24,
+    UDS_RESPONSE_REQUEST_OUT_OF_RANGE = 0x31,
+    UDS_RESPONSE_SECURITY_ACCESS_DENIED = 0x33,
+    UDS_RESPONSE_INVALID_KEY = 0x35,
+    UDS_RESPONSE_EXCEED_NUMBER_OF_ATTEMPTS = 0x36,
+    UDS_RESPONSE_REQUIRED_TIME_DELAY_NOT_EXPIRED = 0x37,
+    UDS_RESPONSE_UPLOAD_DOWNLOAD_NOT_ACCEPTED = 0x70,
+    UDS_RESPONSE_TRANSFER_DATA_SUSPENDED = 0x71,
+    UDS_RESPONSE_GENERAL_PROGRAMMING_FAILURE = 0x72,
+    UDS_RESPONSE_WRONG_BLOCK_SEQUENCE_COUNTER = 0x73,
+    UDS_RESPONSE_RESPONSE_PENDING = 0x78,
+    UDS_RESPONSE_SUBFUNCTION_NOT_SUPPORTED_IN_ACTIVE_SESSION = 0x7E,
+    UDS_RESPONSE_SERVICE_NOT_SUPPORTED_IN_ACTIVE_SESSION = 0x7F
+} UdsResponseCode_t;
+
+/* UDS Sessions */
+typedef enum {
+    UDS_SESSION_DEFAULT = 0x01,
+    UDS_SESSION_PROGRAMMING = 0x02,
+    UDS_SESSION_EXTENDED = 0x03,
+    UDS_SESSION_SAFETY_SYSTEM = 0x04
+} UdsSessionType_t;
+
+/* UDS Security Levels */
+typedef enum {
+    UDS_SECURITY_LOCKED = 0x00,
+    UDS_SECURITY_LEVEL_1 = 0x01,
+    UDS_SECURITY_LEVEL_2 = 0x02,
+    UDS_SECURITY_LEVEL_3 = 0x03,
+    UDS_SECURITY_LEVEL_4 = 0x04,
+    UDS_SECURITY_LEVEL_5 = 0x05
+} UdsSecurityLevel_t;
+
+/* UDS Message Structure */
+typedef struct {
+    uint8_t service_id;
+    uint8_t sub_function;
+    uint8_t* data;
+    uint16_t length;
+    uint32_t data_identifier;
+    UdsSessionType_t session_type;
+    UdsSecurityLevel_t security_level;
+} UdsMessage_t;
+
+/* UDS Configuration */
+typedef struct {
+    uint32_t source_address;
+    uint32_t target_address;
+    uint32_t timeout_ms;
+    UdsSessionType_t current_session;
+    UdsSecurityLevel_t current_security_level;
+    bool security_access_enabled;
+    uint32_t p2_server_max_ms;
+    uint32_t p2_star_server_max_ms;
+} UdsConfig_t;
+
+/* UDS Callbacks */
+typedef void (*UdsServiceCallback_t)(const UdsMessage_t* request,
+                                     UdsMessage_t* response);
+typedef void (*UdsSecurityAccessCallback_t)(uint8_t security_level,
+                                            const uint8_t* seed,
+                                            uint8_t* key,
+                                            uint8_t length,
+                                            bool* access_granted);
+typedef void (*UdsSessionChangedCallback_t)(UdsSessionType_t old_session,
+                                            UdsSessionType_t new_session);
+
+/* UDS Functions */
+KernelStatus_t uds_init(const UdsConfig_t* config);
+KernelStatus_t uds_deinit(void);
+KernelStatus_t uds_process_message(const UdsMessage_t* request,
+                                   UdsMessage_t* response);
+KernelStatus_t uds_register_service_callback(UdsServiceId_t service_id,
+                                             UdsServiceCallback_t callback);
+KernelStatus_t uds_register_security_callback(
+    UdsSecurityAccessCallback_t callback);
+KernelStatus_t uds_register_session_callback(
+    UdsSessionChangedCallback_t callback);
+KernelStatus_t uds_set_session(UdsSessionType_t session);
+UdsSessionType_t uds_get_session(void);
+KernelStatus_t uds_set_security_level(UdsSecurityLevel_t level);
+UdsSecurityLevel_t uds_get_security_level(void);
+void uds_main_function(void);  /* Periodic processing */
+
+#endif /* UDS_H */