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feat: add rt-thread sever exmples
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‎.github/workflows/unit_tests.yml‎

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@@ -77,3 +77,78 @@ jobs:
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esp_idf_version: v5.2
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target: esp32
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path: 'examples/esp32_server'
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rt-thread-qemu:
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runs-on: ubuntu-22.04
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name: Build RT-Thread QEMU
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steps:
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- name: checkout
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uses: actions/checkout@v4
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- name: Install Tools
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run: |
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sudo apt-get update
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sudo apt-get install -y scons qemu-system libncurses5-dev git
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pip install kconfiglib requests
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- name: Install Arm ToolChains
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run: |
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wget -q https://github.com/RT-Thread/toolchains-ci/releases/download/v1.3/gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2
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sudo tar xjf gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2 -C /opt
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- name: Checkout RT-Thread Source
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uses: actions/checkout@v4
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with:
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repository: RT-Thread/rt-thread
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path: rt-thread
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ref: master
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- name: Build and Verify
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shell: bash
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run: |
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export RTT_CC=gcc
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export RTT_EXEC_PATH=/opt/gcc-arm-none-eabi-10-2020-q4-major/bin
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export RTT_ROOT=${{ github.workspace }}/rt-thread
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BSP_PATH=$RTT_ROOT/bsp/qemu-vexpress-a9
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USER_SCONSCRIPT=${{ github.workspace }}/examples/rtt_server/SConscript
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cd $BSP_PATH
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sed -i "/DoBuilding/i objs += SConscript('$USER_SCONSCRIPT')" SConstruct
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scons --pyconfig-silent
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echo "Injecting ISO14229 Configurations..."
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echo "#define PKG_USING_ISO14229 1" >> rtconfig.h
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echo "#define UDS_USING_EXAMPLE 1" >> rtconfig.h
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echo "#define RT_USING_ULOG 1" >> rtconfig.h
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echo "#define UDS_RTTHREAD_ULOG_ENABLED 1" >> rtconfig.h
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echo "#define UDS_LOG_LEVEL 3" >> rtconfig.h
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echo "#define UDS_EXAMPLE_ENABLE_DEBUG_LOG 1" >> rtconfig.h
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echo "#define UDS_EXAMPLE_CAN_DEVICE_NAME \"can1\"" >> rtconfig.h
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echo "#define UDS_EXAMPLE_THREAD_PRIO 10" >> rtconfig.h
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echo "#define UDS_EXAMPLE_THREAD_STACK_SIZE 4096" >> rtconfig.h
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echo "#define UDS_EXAMPLE_LED_CTRL_DID 0x0001" >> rtconfig.h
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echo "#define UDS_EXAMPLE_PIN_LED_R -1" >> rtconfig.h
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echo "#define UDS_EXAMPLE_PIN_LED_G -1" >> rtconfig.h
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echo "#define UDS_EXAMPLE_PIN_LED_B -1" >> rtconfig.h
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echo "#define RT_USING_CAN" >> rtconfig.h
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echo "#define BSP_USING_CAN" >> rtconfig.h
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echo "#define RT_USING_FILTER" >> rtconfig.h
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echo "Start Compiling..."
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scons -j$(nproc)
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echo "Verifying symbols..."
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if /opt/gcc-arm-none-eabi-10-2020-q4-major/bin/arm-none-eabi-nm rtthread.elf | grep -i "uds"; then
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echo "✅ Verification Passed: UDS/ISO14229 symbols found in binary!"
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else
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echo "❌ Verification Failed: No UDS/ISO14229 symbols found!"
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exit 1
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fi

‎Doxyfile‎

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@@ -126,6 +126,7 @@ INPUT = docs/mainpage.md \
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iso14229.c \
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examples/arduino_server/README.md \
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examples/esp32_server/README.md \
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examples/rtt_server/README.md \
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examples/linux_server/README.md \
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examples/linux_rdbi_wdbi/README.md \
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examples/linux_server_0x27/README.md \

‎README.md‎

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@@ -21,9 +21,9 @@ API status: Major version zero (0.y.z) **(not yet stable)**. Anything MAY change
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- static memory allocation. (no `malloc`, `calloc`, ...)
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- highly portable and tested
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- architectures: arm, x86-64, ppc, ppc64, risc
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- systems: linux, Windows, esp32, Arduino, NXP s32k
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- systems: linux, Windows, esp32, RT-Thread, Arduino, NXP s32k
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- multiple transports supported: isotp-c, linux isotp sockets
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- examples for esp32, Arduino, NXP S32K144
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- examples for esp32, RT-Thread, Arduino, NXP S32K144
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# Documentation
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‎docs/mainpage.md‎

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| \ref examples/linux_server_0x27/README.md "linux_server_0x27" | Security Access (0x27) |
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| \ref examples/arduino_server/README.md "arduino_server" | Arduino server |
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| \ref examples/esp32_server/README.md "esp32_server" | ESP32 server |
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| \ref examples/rtt_server/README.md "rtt_server" | RTT server |
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| \ref examples/s32k144_server/README.md "s32k144_server" | NXP S32K144 server |
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---
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|-----------|--------|-------------|-------------|------------|
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| **isotp_sock** | `-DUDS_TP_ISOTP_SOCK` | Linux kernel ISO-TP socket | Linux newer than 5.10 | \ref examples/linux_server_0x27/README.md "linux_server_0x27" |
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| **isotp_c_socketcan** | `-DUDS_TP_ISOTP_C_SOCKETCAN` | isotp-c over SocketCAN | Linux newer than 2.6.25 | \ref examples/linux_server_0x27/README.md "linux_server_0x27" |
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| **isotp_c** | `-DUDS_TP_ISOTP_C` | Software ISO-TP | Everything else | \ref examples/arduino_server/README.md "arduino_server" \ref examples/esp32_server/README.md "esp32_server" \ref examples/s32k144_server/README.md "s32k144_server" |
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| **isotp_c** | `-DUDS_TP_ISOTP_C` | Software ISO-TP | Everything else | \ref examples/arduino_server/README.md "arduino_server" \ref examples/esp32_server/README.md "esp32_server" \ref examples/rtt_server/README.md "rtt_server" \ref examples/s32k144_server/README.md "s32k144_server" |
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| **isotp_mock** | `-DUDS_TP_ISOTP_MOCK` | In-memory transport for testing | platform-independent unit tests | see unit tests |
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### System Selection Override
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| Define | Values |
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|--------|--------|
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| `-DUDS_SYS=` | `UDS_SYS_UNIX`, `UDS_SYS_WINDOWS`, `UDS_SYS_ARDUINO`, `UDS_SYS_ESP32`, `UDS_SYS_CUSTOM` |
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| `-DUDS_SYS=` | `UDS_SYS_UNIX`, `UDS_SYS_WINDOWS`, `UDS_SYS_ARDUINO`, `UDS_SYS_ESP32`, `UDS_SYS_RTT` `UDS_SYS_CUSTOM` |
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For examples of `UDS_SYS_CUSTOM`, see \ref examples/arduino_server/README.md "arduino_server", \ref examples/esp32_server/README.md "esp32_server", \ref examples/s32k144_server/README.md "s32k144_server".
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For examples of `UDS_SYS_CUSTOM`, see \ref examples/arduino_server/README.md "arduino_server", \ref examples/esp32_server/README.md "esp32_server", \ref examples/rtt_server/README.md "rtt_server", \ref examples/s32k144_server/README.md "s32k144_server".
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### Logging
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‎examples/rtt_server/Kconfig‎

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menuconfig PKG_USING_ISO14229
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bool "Enable iso14229 (UDS) library"
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default n
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help
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ISO14229-1 (UDS) library for RT-Thread.
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This library provides a platform-agnostic UDS client and server implementation.
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if PKG_USING_ISO14229
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menu "Logging Configuration"
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config UDS_LOG_LEVEL
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int "Log level"
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range 0 5
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default 3
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help
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Set the log level for the UDS library.
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0: No log output
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1: Errors only
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2: Warnings and errors
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3: Info, warnings, and errors
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4: Debug, info, warnings, and errors
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5: Verbose, debug, info, warnings, and errors
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config UDS_RTTHREAD_ULOG_ENABLED
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bool "Use ULOG for logging"
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default y
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depends on RT_USING_ULOG
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help
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If enabled, the library will use RT-Thread's ULOG component.
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Otherwise, it will fall back to rt_kprintf.
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config UDS_CONFIG_LOG_COLORS
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bool "Enable colorized log output (when not using ULOG)"
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default y
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depends on !UDS_RTTHREAD_ULOG_ENABLED
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help
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Enables ANSI color codes in the log output.
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This option is only effective when ULOG is disabled, as ULOG
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has its own color configuration (ULOG_OUTPUT_COLOR).
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config UDS_RTTHREAD_LOG_BUFFER_SIZE
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int "Buffer size for a single log message (if not using ULOG)"
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default 256
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depends on !UDS_RTTHREAD_ULOG_ENABLED
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help
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Specifies the size of the temporary buffer used to format
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a single log message before printing. This is only active
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when ULOG is disabled.
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endmenu
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config UDS_USING_EXAMPLE
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bool "Enable UDS server example with Finsh/MSH commands"
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default n
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help
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This option compiles the rtt_uds_example.c file, which provides
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'uds_example start' and 'uds_example stop' commands in the shell.
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Disable this if you only need the core library and want to write
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your own application logic.
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if UDS_USING_EXAMPLE
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menu "UDS Server Example Configuration"
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config UDS_EXAMPLE_CAN_DEVICE_NAME
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string "CAN device name for the example"
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default "can1"
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help
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Specify the name of the CAN device to be used by the UDS server example.
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config UDS_EXAMPLE_THREAD_PRIO
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int "UDS task thread priority"
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default 10
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help
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Priority for the main UDS processing thread.
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config UDS_EXAMPLE_THREAD_STACK_SIZE
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int "UDS task thread stack size (in bytes)"
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default 4096
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config UDS_EXAMPLE_ENABLE_DEBUG_LOG
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bool "Enable debug logs in the example"
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default y
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help
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Enable verbose logging like CAN frame hex dumps in the
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uds_rtt_port.c example file.
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config UDS_EXAMPLE_LED_CTRL_DID
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hex "DID for LED control"
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default 0x0001
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help
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The Data Identifier (DID) used in the example to control LEDs.
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config UDS_EXAMPLE_PIN_LED_R
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int "GPIO Pin for Red LED"
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default -1
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help
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Set the GPIO pin number for the Red LED. -1 to disable.
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config UDS_EXAMPLE_PIN_LED_G
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int "GPIO Pin for Green LED"
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default -1
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help
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Set the GPIO pin number for the Green LED. -1 to disable.
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config UDS_EXAMPLE_PIN_LED_B
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int "GPIO Pin for Blue LED"
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default -1
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help
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Set the GPIO pin number for the Blue LED. -1 to disable.
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endmenu
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endif
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endif

‎examples/rtt_server/Makefile‎

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SRCS += main/iso14229.c
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HDRS += main/iso14229.h
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TARGETS = client
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CFLAGS = -DUDS_TP_ISOTP_SOCK -DUDS_LINES -DUDS_LOG_LEVEL=UDS_LOG_INFO -g -Imain
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all: $(TARGETS)
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client: $(SRCS) $(HDRS) client.c Makefile
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$(CC) $(CFLAGS) $(SRCS) client.c -o client
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clean:
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rm -f $(TARGETS)

‎examples/rtt_server/README.md‎

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# UDS Server Example for RT-Thread
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UDS server example for RT-Thread platform.
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## Overview
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This example demonstrates a UDS (ISO 14229) server running on an RT-Thread based embedded system. It uses the RT-Thread CAN device driver for communication.
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Also included is a Linux-based client example that can be run from a host computer to test the server. This setup allows for diagnostics and interaction with the embedded device over a CAN bus.
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## Required Hardware
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#### Server (Embedded Device)
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* Any development board running the RT-Thread operating system.
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* A CAN transceiver connected to the board's CAN peripheral (e.g., a board with an integrated SN65HVD230).
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#### Client (Host Machine)
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* A Linux computer (or a virtual machine).
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* A SocketCAN-compatible adapter (e.g., USB-to-CAN adapter) connected to the host and the embedded device's CAN bus.
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## Setup: Server (RT-Thread Device)
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1. **Integrate the Library**: Add the UDS library source code to your RT-Thread project.
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2. **Configure the Port**: Ensure the `rtt_uds_example.c` file is correctly configured for your target board, especially the CAN device name (`UDS_EXAMPLE_CAN_DEVICE_NAME`) and any GPIOs used in the example.
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3. **Compile and Flash**: Build and flash the RT-Thread project to your target hardware using your standard toolchain (e.g., SCons).
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4. **Run the Example**: Connect to the device's serial console (e.g., via MSH/Finsh) and start the UDS server example.
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```sh
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# Connect to the RT-Thread serial console
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msh />
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msh />uds_example start
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11-14 19:53:09 isotp.rtt: UDS example started on can1.
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```
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## Setup: Client (Linux Host)
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1. **Configure SocketCAN**: Bring up the CAN interface on your Linux machine.
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```sh
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# Example for a device at 1Mbit/s
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sudo ip link set can0 up type can bitrate 1000000
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```
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2. **Compile and Run**: Navigate to the client example directory, compile it, and run the executable.
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```sh
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# Assuming the client source files are in the current directory
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make && ./client
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```
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## Example Interaction Log
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This section shows a typical interaction between the Linux client and the RT-Thread server, along with the corresponding CAN traffic dump.
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### Server Output (RT-Thread MSH/Finsh Console)
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After starting the server with `uds_example start`, the device begins listening for CAN messages. When the client sends `WriteDataByIdentifier` requests, the server processes them and prints log messages.
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```sh
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msh />uds_example start
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11-14 19:53:09 isotp.rtt: UDS example started on can1.
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# Client sends a request to write 0x01 to DID 0x0001
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11-14 19:53:10 isotp.rtt: CAN RX ID:0x7E0 [5 bytes]: 04 2E 00 01 01
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11-14 19:53:10 UDS.core: I (6703) ./iso14229.c: phys link received 4 bytes
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11-14 19:53:10 isotp.rtt: Server Event: UDS_EVT_WriteDataByIdent (0xA)
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11-14 19:53:10 isotp.rtt: --> WDBI DID:0x0001 Data [1 bytes]: 01
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11-14 19:53:10 isotp.rtt: Controlling LEDs with value: 0x01
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11-14 19:53:10 isotp.rtt: [TX] ID: 0x7E8 [4 bytes]: 03 6E 00 01
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# Client sends a request to write 0x02 to DID 0x0001
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11-14 19:53:10 isotp.rtt: CAN RX ID:0x7E0 [5 bytes]: 04 2E 00 01 02
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11-14 19:53:10 UDS.core: I (6762) ./iso14229.c: phys link received 4 bytes
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11-14 19:53:10 isotp.rtt: Server Event: UDS_EVT_WriteDataByIdent (0xA)
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11-14 19:53:10 isotp.rtt: --> WDBI DID:0x0001 Data [1 bytes]: 02
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11-14 19:53:10 isotp.rtt: Controlling LEDs with value: 0x02
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11-14 19:53:10 isotp.rtt: [TX] ID: 0x7E8 [4 bytes]: 03 6E 00 01
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# ... and so on ...
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```
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### Client Output (Linux Console)
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The client application shows the state transitions and events as it sends requests and receives responses from the server.
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```sh
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root@root:/Debug# ./client
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I (2431038538) src/tp/isotp_sock.c: client initialized phys link (fd 3) rx 0x7e8 tx 0x7e0 func link (fd 4) rx 0x7e8 tx 0x7df
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I (2431038538) client.c: polling
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I (2431038538) src/client.c: client state: Idle (0) -> Sending (1)
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I (2431038538) src/client.c: client state: Sending (1) -> AwaitSendComplete (2)
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I (2431038538) client.c: UDS_EVT_SendComplete (26)
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I (2431038538) src/client.c: client state: AwaitSendComplete (2) -> AwaitResponse (3)
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I (2431038559) src/client.c: received 3 bytes. Processing...
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I (2431038559) client.c: UDS_EVT_ResponseReceived (27)
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I (2431038559) client.c: WDBI response received
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I (2431038559) src/client.c: client state: AwaitResponse (3) -> Idle (0)
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I (2431038559) client.c: UDS_EVT_Idle (28)
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# ... loop continues, sending next request ...
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```
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### CAN Bus Traffic (`candump`)
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Using the `candump` utility on the Linux host shows the raw CAN frames exchanged between the client and the server.
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* `7E0`: Client (tester) sending a request to the server (ECU).
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* `7E8`: Server (ECU) sending a response back to the client.
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```sh
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candump can0
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# Request: Write Data (0x2E) to DID 0x0001 with value 0x01
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can0 7E0 [5] 04 2E 00 01 01
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# Response: Positive Response (0x6E) for service 0x2E, DID 0x0001
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can0 7E8 [4] 03 6E 00 01
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# Request: Write Data (0x2E) to DID 0x0001 with value 0x02
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can0 7E0 [5] 04 2E 00 01 02
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# Response: Positive Response
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can0 7E8 [4] 03 6E 00 01
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# Request: Write Data (0x2E) to DID 0x0001 with value 0x03
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can0 7E0 [5] 04 2E 00 01 03
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# Response: Positive Response
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can0 7E8 [4] 03 6E 00 01
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# ... and so on ...
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```
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### **⚠️ Important Note**
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The code and installation instructions here are merely presented as a simple example to demonstrate the basic integration and functionality. For the complete application and detailed functional code, please refer to the code repository:
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**[iso14229 rtt software](https://github.com/wdfk-prog/can_uds)**

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