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Roadmap

For current implemented service coverage, see SERVICE_COMPLIANCE.md.

Phase 1: Core Architecture (Complete)

  • Basic Service Dispatcher (SID 0x10).
  • Dependency Injection Architecture.
  • ISO-TP Fallback Layer.
  • Symmetric Client/Server API.
  • Transport Abstraction (Native vs Fallback).
  • Host Simulation Harness (UDP Virtual CAN).
  • Automated Integration Testing.

Phase 2: Platform Integration (Complete)

  • Zephyr OS: Module structure, CMake, Kconfig.
  • Shared Transport: Wrapper for native subsys/canbus/isotp.
  • Validation: Integrated driftregion/iso14229 and py-uds.
  • Testing: Full CMocka unit test suite.

Phase 3: Industrial Hardening (Complete)

  • Modular Services: Table-driven dispatcher.
  • Compliance: Strict ISO-14229-1 NRC priorities and session management.
  • Data Services: High-level handlers for 0x22/0x2E.
  • Persistence: Hooks for saving session/security state (fn_nvm).
  • Safety Gates: Callback (fn_is_safe) for destructive services.
  • Thread Safety: OSAL mutex abstractions.

Phase 4: Cybersecurity (Complete)

  • Authentication (0x29): ISO 21434 certificate exchange support.
  • Security Levels: Multi-level state machine.

Phase 5: Flash & Memory (Complete)

  • Transfer Services: 0x34, 0x36, 0x37 for firmware updates.
  • Memory Services: 0x23, 0x3D with bounds checking.
  • Routine Control: 0x31 framework.

Phase 6: Tooling (Complete)

  • ODX-to-C: Generator for DID tables from ODX.
  • Test Generator: Python integration test scaffolding.

Phase 7: Test Coverage & Robustness (Complete)

  • Transport Layer: ISO-TP segmentation/reassembly validation.
  • Dispatcher: Negative testing (NRCs) and fuzzing.
  • NVM Persistence: Core implementation and loopback verification.
  • Integration Suite: Full stack lifecycle tests (Dockerized).
  • Safety: Gate callback verification.

Phase 8: Asynchronous Architecture & Hardening (Complete)

  • Async Services: Support UDS_PENDING return code for non-blocking handlers.
  • Service 0x28: Enhanced Communication Control with app callbacks.
  • Concurrency: Multi-threaded validation suite.
  • Fuzzing: LibFuzzer integration for deep packet inspection.

Phase 9: Full ISO 14229-1 Compliance Alignment (Complete)

  • ISO-TP (ISO 15765-2): STmin & Block Size (BS) enforcement timers.
  • ISO-TP (ISO 15765-2): Wait Frame (FS=WT) & Overflow handling.
  • ISO-TP (ISO 15765-2): CAN-FD Support (Frames > 8 bytes, Up to 64 bytes).
  • Core (ISO 14229-1): Aligned NRC priorities with Figure 10 (Subfunction check priority).
  • Concurrency: Explicit request blocking (NRC 0x21) even during UDS_PENDING.
  • Service Hardening: 0x3D echoing, 0x22 multi-read overflow protection.
  • Security: Non-deterministic hook-based seed/key exchange.

Phase 10: Deep Inspection & Ecosystem (Planned)

  • Fuzzing: Integrated LibFuzzer/AFL harness for SDU parsing robustness.
  • Advanced Security: Support for SID 0x29 (Authentication) state persistence.
  • More OS Ports: Native support for QNX and PikeOS.
  • Python ODX-to-C V2: Enhanced routine/DID parameter generator.

Phase 10: High-Priority Service Expansion (ISO 14229-1 Compliance)

Target: Achieve 80%+ service coverage with critical diagnostic features.

  • Service 0x2A (ReadDataByPeriodicIdentifier): Periodic data streaming.

    • Sub-functions: sendAtSlowRate (0x01), sendAtMediumRate (0x02), sendAtFastRate (0x03), stopSending (0x04)
    • Periodic scheduler in uds_process() with configurable transmission rates
    • Active periodic identifier registry with automatic cleanup on session timeout
    • Conflict resolution with synchronous services

  • Service 0x2F (InputOutputControlByIdentifier): Actuator control and testing.

    • Sub-functions: returnControlToECU (0x00), resetToDefault (0x01), freezeCurrentState (0x02), shortTermAdjustment (0x03)
    • IO control state machine per identifier
    • Application callback for actuator control (fn_io_control)
    • Safety gate integration for dangerous actuator states
    • Timeout-based automatic return to ECU control

  • Enhanced NRC Coverage: Add missing negative response codes.

    • 0x14: Response Too Long
    • 0x21: Busy Repeat Request
    • 0x24: Request Sequence Error
    • 0x31: Request Out Of Range
    • 0x72: General Programming Failure
    • 0x92-0x99: Voltage/temperature condition NRCs

  • Security Enhancements: Improve 0x27 robustness.

    • Multiple security levels (0x01-0x7F) support
    • Attempt counter and lockout mechanism
    • Delay timer after failed attempts

  • Protocol Hardening (Compliance Fixes):

    • C-01/C-02: Fix Session 0x10 state machine (invalid sessions, Programming session)
    • C-03: Fix 0x11 Reset to support SuppressBit
    • C-04/C-05: Fix Core Dispatcher (Security vs Length priority, missing NRCs)
    • C-06: Fix Security Reset on session transition
    • C-07: Implement RCRRP limit for NRC 0x78
    • C-08/C-09: Fix Memory Services (0x34 len, 0x23/0x3D ALFID check)
    • C-10: Fix 0x19 API (add DTCStatusMask support)
    • C-11: Fix 0x28 Min Length (reject len < 3)
    • C-12: Fix 0x22 Buffer Overflow (add bounds check)
    • C-13: Fix 0x36 Sequence Check (verify rollover)
    • C-14: Fix 0x27 Delay Timer (implement lockout)
    • C-15: Implement Addressing Mode checks (Functional vs Physical)
    • C-16: Fix 0x85 Group Filtering (parse optional data)
    • C-17: Fix Async Race Condition (busy handling)
    • C-18: Implement usage Granularity for DIDs (Security/Session per DID)
    • C-19: Fix 0x10 Timing Response (use config values)
    • C-20: Fix 0x3D Response Echo (echo Addr/Size)

Phase 11: Medium-Priority Service Expansion

Target: Achieve 90%+ service coverage with advanced diagnostic capabilities.

  • Service 0x24 (ReadScalingDataByIdentifier): Scaling/unit metadata retrieval.

    • Extend uds_did_entry_t with optional scaling metadata
    • Scaling formula encoding (linear, rational, tabular)
    • Unit identifiers (ISO 14229-1 Annex C)

  • Service 0x2C (DynamicallyDefineDataIdentifier): Runtime DID composition.

    • Sub-functions: defineByIdentifier (0x01), defineByMemoryAddress (0x02), clearDynamicallyDefinedDataIdentifier (0x03)
    • Dynamic DID registry (separate from static DID table)
    • Composite DID construction from multiple sources
    • Memory allocation for dynamic definitions

  • Service 0x35 (RequestUpload): ECU-to-tester data upload.

    • Mirror of 0x34 (RequestDownload) for upload direction
    • Upload state machine with 0x36/0x37 integration
    • Application callback for data source (fn_upload_read)

  • Service 0x86 (ResponseOnEvent): Event-driven diagnostic responses.

    • Sub-functions: stopResponseOnEvent (0x00), onDTCStatusChange (0x01), onTimerInterrupt (0x02), onChangeOfDataIdentifier (0x03), reportActivatedEvents (0x04)
    • Event registry and monitoring framework
    • Background evaluation in uds_process()
    • Service-to-respond-to execution engine

  • Enhanced Service 0x19 (ReadDTCInformation): Additional sub-functions.

    • 0x06: reportDTCExtDataRecordByDTCNumber
    • 0x10: reportMirrorMemoryDTCByStatusMask
    • 0x13: reportMirrorMemoryDTCExtDataRecordByDTCNumber

Phase 11b: Embedded ECU Update Workflow (Planned)

Target: Provide a reference-grade, production-friendly flashing workflow on top of 0x31/0x34/0x36/0x37.

  • Transfer Integrity: Rolling checksum/CRC across 0x36 blocks.

    • CRC32 accumulator updated per received block
    • Optional final verification step on 0x37 (or a dedicated 0x31 routine)

  • Block Handling: Robust 0x36 block sequence counter (BSC) policy.

    • Accept exact expected BSC; optionally accept last-BSC replay for retransmissions
    • Consistent NRC mapping (e.g., 0x73 for wrong BSC, 0x72 for programming failure)
    • Optional config flag to ACK a repeated last-BSC without re-processing data (interoperability)

  • Block Size Strategy (CAN-FD): Optimize transfer payload sizes for CAN-FD (up to 64-byte frames).

    • Default “large block” streaming mode for fast links
    • Configurable max block size to match flash page/buffer constraints

  • Memory Region Policy: First-class support for multiple programmable regions (e.g., boot/app/staging).

    • Region allowlist with bounds checks
    • Region-specific erase/write alignment requirements

  • Update Lifecycle: Optional “verify + activate” flow.

    • Store update flags/state in app-provided NVM
    • Post-download checksum verification
    • Optional A/B activation and reboot policy hooks

  • Embedded Super-Loop Profile: Reference integration for a 1ms tick loop.

    • Guidance for calling uds_process() and transport processing from a periodic tick
    • Recommended strategy for feeding frames from ISR → queue → UDS task/loop

Phase 12: Advanced & Niche Features

Target: Full ISO 14229-1 compliance (100% service coverage).

  • Service 0x83 (AccessTimingParameter): Runtime P2/P2* adjustment.

    • Read/write current timing parameters
    • Validation of timing parameter ranges
    • Persistence across sessions (optional)

  • Service 0x87 (LinkControl): Diagnostic link management.

    • Sub-functions: verifyBaudrateTransitionWithFixedBaudrate (0x01), verifyBaudrateTransitionWithSpecificBaudrate (0x02), transitionBaudrate (0x03)
    • Baud rate transition state machine
    • Transport layer reconfiguration hooks

  • Service 0x84 (SecuredDataTransmission): Encrypted diagnostic payloads.

    • Crypto library integration (mbedTLS or similar)
    • Encrypted request/response wrapper
    • Key management hooks

  • Service 0x38 (RequestFileTransfer): File system operations.

    • Sub-functions: addFile (0x01), deleteFile (0x02), replaceFile (0x03), readFile (0x04), readDir (0x05)
    • File system abstraction layer
    • Application callback for file operations

  • Additional Session Types: Expand session support.

    • Safety System Session (0x04) for ISO 26262
    • Manufacturer-specific sessions (0x40-0x5F) framework

Phase 13: Parity with Commercial Stacks (Active)

Target: Implement missing services identified

  • Service 0x2F (InputOutputControlByIdentifier): Actuator control.
  • Service 0x35 (RequestUpload): Symmetrical data provider flow.
  • Service 0x2A (ReadDataByPeriodicIdentifier): Core scheduler integration.

Future Goals

  • Interoperability: Automated testing against major commercial stacks.
  • Certification: Preparation for ISO 26262 and ASPICE compliance.
  • Service Coverage: 26/26 services (100% ISO 14229-1 compliance).