feat: initial uds support for ARDEP

- renamed the current UDS library to `uds_legacy` (including Kconfig options)
- added support for an external UDS-lib as a zephyr module (https://github.com/driftregion/iso14229)
    - Currently, there is a PR open to support the *Read DTC Information (`0x19`)* subFunction (driftregion/iso14229#86).
- added low-level zephyr support via the `iso14229` library
- added new uds library building ontop of the `iso14229` with currently support of the following functions:
    - Diagnostic Session Control (`0x10`)
    - ECU Reset (`0x11`)
    - Read/Write Data by Identifier (`0x22`, `0x2E`)
    - Read/Write Memeory be Address (`0x23`, `0x3D`)
    - Read DTC Information (`0x19`)
- added tests for the *iso14229* and *uds* lib
- added a new uds sample that demonstrates the aforementioned functions
- documentation for the uds sample (rst) and lib (doxygen)
- CI jobs build samples/tests on all supported os types (linux, mac, windows)

Signed-off-by: Tim Schrader <tim.schrader@frickly.systems>

Author: markxoe

.github/workflows/build.yml

@@ -8,29 +8,48 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-22.04
-    container: ghcr.io/zephyrproject-rtos/ci:v0.26.2
-    env:
-      CMAKE_PREFIX_PATH: /opt/toolchains
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-24.04, macos-15, windows-2022]
+    runs-on: ${{ matrix.os }}
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
-          path: zephyr-workspace/ardep
+          path: ardep
 
-      - name: Initialize
-        working-directory: zephyr-workspace/ardep
-        run: |
-          west init -l --mf ./west.yml .
-          west update -o=--depth=1 -n
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.12
+
+      - name: Setup Zephyr project
+        uses: zephyrproject-rtos/action-zephyr-setup@v1
+        with:
+          app-path: ardep
+          toolchains: arm-zephyr-eabi
 
-      - name: Build firmware examples
-        working-directory: zephyr-workspace/ardep
+      - name: Build firmware
+        working-directory: ardep
+        shell: bash
         run: |
-          west twister -T samples -v --inline-logs --integration
+          if [ "${{ runner.os }}" = "Windows" ]; then
+            EXTRA_TWISTER_FLAGS="--short-build-path -O/tmp/twister-out"
+          fi
+          west twister -T samples -v --inline-logs --integration $EXTRA_TWISTER_FLAGS
 
       - name: build bootloader
-        working-directory: zephyr-workspace/ardep
+        working-directory: ardep
         run: |
           pip install -r scripts/requirements.txt
           west ardep build-bootloader
+
+      - name: Twister Tests
+        working-directory: ardep
+        shell: bash
+        run: |
+          if [ "${{ runner.os }}" = "Windows" ]; then
+            EXTRA_TWISTER_FLAGS="--short-build-path -O/tmp/twister-out"
+          fi
+          west twister -T tests -p native_sim -v --inline-logs --integration $EXTRA_TWISTER_FLAGS

.gitignore

@@ -11,6 +11,7 @@
 /twister-out*
 
 __pycache__/
+.mypy_cache/
 
 # documentation build output
 doc/_build/
@@ -19,4 +20,4 @@ doc/samples/
 doc/scripts/
 
 # clangd cache
-.cache
+.cache

boards/mercedes/ardep/Kconfig.uds

@@ -6,10 +6,16 @@
 # enable UDS module per default
 
 config UDS
- 	default y
-config CAN
 	default y
-config ISOTP
+
+config ISO14229
+	default n # Disables minimal UDS support when UDS gets disabled
+
+choice STD_C
+	default STD_C11 # requirement for external iso14229 module
+endchoice
+
+config CAN
 	default y
 
 config FLASH
@@ -26,3 +32,4 @@ config IMG_ERASE_PROGRESSIVELY
 
 config REBOOT
     default y
+

doc/Doxyfile

@@ -2214,15 +2214,15 @@ ENABLE_PREPROCESSING   = YES
 # The default value is: NO.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-MACRO_EXPANSION        = NO
+MACRO_EXPANSION        = YES
 
 # If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
 # the macro expansion is limited to the macros specified with the PREDEFINED and
 # EXPAND_AS_DEFINED tags.
 # The default value is: NO.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-EXPAND_ONLY_PREDEF     = NO
+EXPAND_ONLY_PREDEF     = YES
 
 # If the SEARCH_INCLUDES tag is set to YES, the include files in the
 # INCLUDE_PATH will be searched if a #include is found.
@@ -2254,7 +2254,7 @@ INCLUDE_FILE_PATTERNS  =
 # recursively expanded use the := operator instead of the = operator.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-PREDEFINED             =
+PREDEFINED             = CONFIG_UDS_ENABLE_RESET CONFIG_UDS_USE_DYNAMIC_REGISTRATION
 
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
 # tag can be used to specify a list of macro names that should be expanded. The
@@ -2315,8 +2315,8 @@ ALLEXTERNALS           = NO
 EXTERNAL_GROUPS        = YES
 
 # If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
-# the related pages index. If set to NO, only the current project's pages will
-# be listed.
+# the related pages index. If set to NO, only the current project's pages will be
+# listed.
 # The default value is: YES.
 
 EXTERNAL_PAGES         = YES

include/ardep/iso14229.h

@@ -0,0 +1,104 @@
+/*
+ * Copyright (C) Frickly Systems GmbH
+ * Copyright (C) MBition GmbH
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ARDEP_ISO14229_H
+#define ARDEP_ISO14229_H
+
+#include <zephyr/drivers/can.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/atomic.h>
+
+#include <iso14229.h>
+
+struct iso14229_zephyr_instance;
+
+/**
+ * @brief Callback type for UDS events
+ *
+ * @param inst Pointer to the iso-14229 instance the event occurred on
+ * @param event The event that occurred
+ * @param arg Argument provided by the event source (might be NULL depending on
+ *             the event)
+ * @param user_context User-defined context pointer as passed to \ref uds_init()
+ */
+typedef UDSErr_t (*uds_callback)(struct iso14229_zephyr_instance* inst,
+                                 UDSEvent_t event,
+                                 void* arg,
+                                 void* user_context);
+
+/**
+ * @brief A Zephyr-specific ISO-14229 instance
+ */
+struct iso14229_zephyr_instance {
+  /**
+   * @brief Underlying uds server instance
+   */
+  UDSServer_t server;
+  /**
+   * @brief Underlying isotp instance
+   */
+  UDSISOTpC_t tp;
+
+  struct k_msgq can_phys_msgq;
+  struct k_msgq can_func_msgq;
+
+  char can_phys_buffer[sizeof(struct can_frame) * 25];
+  char can_func_buffer[sizeof(struct can_frame) * 25];
+
+  struct k_mutex event_callback_mutex;
+  uds_callback event_callback;
+
+  void* user_context;
+
+  k_tid_t thread_id;
+  struct k_thread thread_data;
+  K_KERNEL_STACK_MEMBER(thread_stack, 1024);
+  bool thread_running;
+  atomic_t thread_stop_requested;
+  struct k_mutex thread_mutex;
+
+  /**
+   * @brief Set the UDS event callback that gets called when a
+   *        new event is emitted by the server
+   */
+  int (*set_callback)(struct iso14229_zephyr_instance* inst,
+                      uds_callback callback);
+  /**
+   * @brief Handle a single iteration of the UDS server thread
+   *
+   * @note This function must be called periodically when the UDS
+   *       thread is not started by @ref thread_start.
+   */
+  void (*thread_tick)(struct iso14229_zephyr_instance* inst);
+  /**
+   * @brief Start the UDS server thread
+   */
+  int (*thread_start)(struct iso14229_zephyr_instance* inst);
+  /**
+   * @brief Stop the UDS server thread
+   */
+  int (*thread_stop)(struct iso14229_zephyr_instance* inst);
+};
+
+/**
+ * @brief Initialize a Zephyr-specific ISO-14229 instance
+ *
+ * @param inst Pointer to the instance to initialize
+ * @param iso_tp_config ISO-TP configuration
+ * @param can_dev CAN device the UDS Server should use
+ * @param user_context User-defined context pointer that is passed to event
+ *                     callbacks
+ *
+ * @returns 0 on success
+ * @returns <0 on failure
+ */
+int iso14229_zephyr_init(struct iso14229_zephyr_instance* inst,
+                         const UDSISOTpCConfig_t* iso_tp_config,
+                         const struct device* can_dev,
+                         void* user_context);
+
+#endif  // ARDEP_ISO14229_H