ISO 14229 UDS on Zephyr
and FreeRTOS.

Generate the full stack

python3 tools/codegen.py \
  --config diagnostics_config.yaml \
  --out build/ \
  --safety-wrappers \
  --asil-level B \
  --test-gen \
  --sovd

Output

build/
  uds_server.c / .h      # main UDS dispatcher
  uds_dids.c / .h        # DID read/write handlers
  uds_dtcs.c / .h        # DTC storage and reporting
  uds_sessions.c / .h    # session state machine
  uds_security.c / .h    # AES-128-CMAC SecurityAccess
  uds_safety.c / .h      # ASIL-B 5-step validation chain
  test_uds.py            # pytest suite (all DIDs, DTCs, sessions)
  test_uds.capl          # CAPL test script (CANoe)
  body_controller.arxml  # OpenSOVD 1.0 CDA descriptor

• 14 UDS services — DiagnosticSessionControl, ECUReset, SecurityAccess, CommunicationControl, TesterPresent, ReadDataByIdentifier, WriteDataByIdentifier, ClearDiagnosticInformation, ReadDTCInformation, InputOutputControlByIdentifier, RoutineControl, RequestDownload, TransferData, RequestTransferExit
• ASIL-B 5-step validation chain — DID existence, session permission, security level, access permission, data length. Generated, not hand-written
• CAN and Ethernet — same UDS handlers on both. ISO-TP for CAN, DoIP (ISO 13400-2) for Ethernet
• ARXML import — AUTOSAR 4.x ECU Extract → diagnostics_config.yaml, standard library only, no external dependencies
• AI assistant — generate configs from plain English with eds_ai.py. Explain NRC failures in context
• MCP server — Claude, Cursor, and Copilot read your YAML and understand your ECU
• GUI dashboard — live view of sessions, DIDs, DTCs, and security state
• VS Code extension — YAML schema validation, completions, and hover docs in-editor
• 11 example ECUs — basic, basic_doip, basic_doip_freertos, basic_freertos, ardep, bms, motor_controller, robot_joint_controller, safeboot, sensor, sensor_freertos