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iolinki: Open-Source IO-Link Device Stack

Hardware-Agnostic IO-Link Protocol Stack for Zephyr RTOS and Bare-Metal Embedded Systems

Overview

iolinki is a professional-grade, open-source IO-Link Device Stack (compliant with Spec V1.1.5) designed with complete hardware independence and comprehensive test coverage. Built from the ground up using test-driven development, every component is testable without hardware.

Key Features

  • Hardware-Agnostic: Runs on any platform via clean PHY abstraction
  • Test-Driven: 100% mock-based unit testing from day one
  • Portable: Zephyr-native with bare-metal compatibility
  • Virtual Testing: Conformance verification against virtual IO-Link Master
  • Open Source: Transparent, vendor-agnostic implementation

Licensing

Dual-Licensed: GPLv3 (Evaluation) + Commercial

  • GPLv3 (Evaluation): Free for evaluation in non-production environments for up to 90 days.
  • Commercial: Required for any production or commercial deployment.
    • Single Developer: €1,399 (one-time, royalty-free)
    • Team (5 seats): €4,699 (one-time, royalty-free)
    • Enterprise: Custom pricing
    • Included Support: 12 months of updates and support
    • Integration Assistance: Up to 8 hours included

See LICENSE and LICENSE.COMMERCIAL for full terms, or contact andrii@shylenko.com.

Quick Start

Installation

Ubuntu/Debian

sudo apt-get update
sudo apt-get install -y cmake build-essential libcmocka-dev clang-format cppcheck

macOS

brew install cmake cmocka clang-format cppcheck

Building

cmake -B build
cmake --build build

Running Tests

cd build
ctest --output-on-failure

Development Tools (pre-commit)

To ensure code quality, iolinki uses pre-commit hooks. These hooks run clang-format, cppcheck, ruff, and shellcheck automatically before each commit.

  1. Install pre-commit:

    pip install pre-commit

  2. Install the git hooks:

    pre-commit install

  3. (Optional) Run on all files:

    pre-commit run --all-files

Running Tests

Docker (Primary & Recommended)

Docker is the primary and recommended environment for running all iolinki tests. This ensures a consistent environment with all tools (CMocka, Cppcheck, Doxygen, Clang-Format) pre-configured.

./run_all_tests_docker.sh

Local (Requires Manual Dependencies)

To run tests locally, ensure you have libcmocka-dev installed: -B build -DCMAKE_BUILD_TYPE=Debug cmake --build build cd build && ctest --output-on-failure


### Full Validation Suite (All Platforms + Conformance)
```bash
./test_all.sh

IO-Link V1.1.5 Conformance

iolinki includes 33 automated conformance tests validating compliance with the IO-Link V1.1.5 specification:

  • ✅ State Machine: DLL transitions, fallback behavior (6 tests)
  • ✅ Timing: Cycle times, response delays (4 tests)
  • ✅ ISDU Protocol: All 11 mandatory indices + error handling (12 tests)
  • ✅ Error Injection: Recovery, robustness, edge cases (6 tests)
  • ✅ Performance: Sustained operation, stress testing (5 tests)

Coverage: 100% of mandatory ISDU indices (0x0010-0x0018, 0x001E, 0x0024), state machine transitions, timing requirements, and error handling.

See docs/CONFORMANCE.md for detailed test specifications and coverage matrix.

Building for Bare Metal

cmake -B build_bare -DIOLINK_PLATFORM=BAREMETAL
cmake --build build_bare
./build_bare/examples/bare_metal_app/bare_metal_app

Building for Zephyr

Option 1: Docker (Recommended for testing) If you have Docker installed, you can build the Zephyr example without installing the SDK on your host:

./tools/build_zephyr_docker.sh

Option 2: Local SDK Prerequisite: You must have the Zephyr SDK and tools installed and be running in an initialized Zephyr workspace (or have ZEPHYR_BASE set).

# From your Zephyr workspace root
west build -b native_sim modules/lib/iolinki/examples/zephyr_app

Troubleshooting: If you see west: error: argument <command>: invalid choice: 'build', it means west is installed but the build extensions are not loaded. This happens if you are not in a valid Zephyr workspace.

Building for Bare Metal

cmake -B build_bare -DIOLINK_PLATFORM=BAREMETAL
cmake --build build_bare
./build_bare/examples/bare_metal_app/bare_metal_app

Project Status

Phase 3: Ecosystem & Verification (Current)

The stack is feature-complete for IO-Link V1.1.5, including Process Data, ISDU, Events, and Data Storage. We have achieved 100% core test coverage and established automated IODD generation and strict coding standards (MISRA-oriented).

See ROADMAP.md for detailed development phases.

Documentation

Releases

Official releases are available on GitHub Releases.

Each release includes:

  • Test Results: Complete test suite validation
  • Build Artifacts: Pre-compiled examples and test binaries
  • Documentation: Updated docs and guides

To create a new release:

git tag -a v0.1.0 -m "Release version 0.1.0"
git push origin v0.1.0

Development Philosophy

Test-Driven from Ground Zero: All development is built on mocks and abstractions. Every component is testable without hardware. Conformance verification runs against a virtual IO-Link Master on each release.

License

This project is dual-licensed under GPLv3 (evaluation) and a commercial license. Refer to LICENSE and LICENSE.COMMERCIAL for details.

Contributing

Contributions are welcome! Please see ROADMAP.md for areas where help is needed.