automotive-embedded-skills: Скилл для анализа кода авто

--- name: automotive-embedded-skills description: C/C++/CAPL best practices for automotive embedded systems. This skill should be used when writing, reviewing, or refactoring embedded C/C++ code or CAPL scripts targeting automotive ECUs, following MISRA, AUTOSAR, ISO 26262, and ISO 21434 guidelines. Triggers on tasks involving embedded firmware, CAN/CAN FD/LIN/Ethernet communication, TCP/UDP/DoIP/SOME-IP protocols, RTOS programming, safety-critical code, cybersecurity, diagnostics (UDS), CAPL test automation, or calibration toolchain integration. license: MIT metadata: author: automotive-embedded-engineering version: "2.0.0" --- # Automotive Embedded C/C++/CAPL Best Practices Comprehensive coding guidelines for automotive embedded software development in C, C++, and CAPL. Contains 180+ rules across 23 categories, prioritized by safety impact and industry compliance requirements (MISRA C:2012, MISRA C++:2023, AUTOSAR C++14 Classic & Adaptive, ISO 26262, ISO 21434). Covers full automotive communication stack (CAN/LIN/Ethernet/IP/TSN), cybersecurity, diagnostics, CAPL simulation/testing/fault injection, AUTOSAR BSW modules, boot/NVM/power management, compiler toolchains, static analysis tools, and CI/CD integration. ## When to Apply Reference these guidelines when: - Writing new embedded C/C++ modules for automotive ECUs - Implementing or reviewing CAN/LIN/Ethernet communication stacks - Writing CAPL scripts for CANoe/CANalyzer simulation and testing - Refactoring code for MISRA C/C++ or AUTOSAR C++14 compliance - Designing safety-critical software (ASIL A-D per ISO 26262) - Implementing RTOS task management and inter-task communication - Reviewing code for memory safety, timing, and determinism - Working with diagnostic protocols (UDS, OBD-II, DoIP) - Implementing Automotive Ethernet (TCP, UDP, SOME/IP, DoIP, VLAN) - Addressing cybersecurity requirements (ISO 21434, secure boot, TLS) - Integrating with calibration/diagnostic tools (A2L, ODX, XCP) - Optimizing for resource-constrained microcontrollers (RAM, Flash, CPU) ## Rule Categories by Priority | Priority | Category | Impact | Prefix | |----------|----------|--------|--------| | 1 | Memory Safety & Management | CRITICAL | `memory-` | | 2 | MISRA C/C++ Compliance | CRITICAL | `misra-` | | 3 | AUTOSAR C++14 Guidelines (Classic & Adaptive) | CRITICAL | `autosar-` | | 4 | Safety & Functional Safety (ISO 26262) | HIGH | `safety-` | | 5 | Real-Time & Timing Constraints | HIGH | `realtime-` | | 6 | Communication Protocols (CAN/LIN/Ethernet/IP/UDS) | HIGH | `comm-` | | 7 | Concurrency & RTOS Patterns | MEDIUM-HIGH | `rtos-` | | 8 | CAPL Scripting — CANoe | MEDIUM-HIGH | `capl-canoe-` | | 9 | CAPL Scripting — vTESTstudio | MEDIUM-HIGH | `capl-vtest-` | | 10 | Code Organization & Architecture | MEDIUM | `arch-` | | 11 | Performance Optimization | MEDIUM | `perf-` | | 12 | Build, Compilation & Static Analysis | MEDIUM | `build-` | | 13 | Security & Cybersecurity (ISO 21434) | HIGH | `security-` | | 14 | Testing & Verification | MEDIUM | `test-` | | 15 | Tool Integration (A2L/ODX/FIBEX) | MEDIUM | `integration-` | ## Quick Reference ### 1. Memory Safety & Management (CRITICAL) - `memory-stack-over-heap` - Prefer stack allocation over heap in embedded context - `memory-static-allocation` - Use static allocation for deterministic memory usage - `memory-buffer-bounds` - Always validate buffer boundaries before access - `memory-pool-pattern` - Use memory pool patterns for dynamic-like allocation - `memory-no-malloc-in-rt` - Never use malloc/free in real-time critical paths - `memory-raii-cpp` - Use RAII for resource management in C++ embedded code - `memory-volatile-correctness` - Use volatile correctly for hardware registers and shared data - `memory-alignment` - Ensure proper data structure alignment for target architecture - `memory-zero-init` - Always initialize variables, especially in safety-critical code ### 2. MISRA C/C++ Compliance (CRITICAL) - `misra-no-implicit-conversions` - Avoid implicit type conversions - `misra-single-exit-point` - Prefer single function exit point for critical functions - `misra-no-dynamic-memory` - Avoid dynamic memory allocation (Rule 21.3) - `misra-no-recursion` - Avoid recursion in embedded context (Rule 17.2) - `misra-switch-default` - Always include default case in switch statements - `misra-no-goto` - Avoid goto except for error cleanup patterns in C - `misra-boolean-expressions` - Use explicit boolean comparisons - `misra-pointer-arithmetic` - Restrict pointer arithmetic to array indexing - `misra-side-effects` - Avoid side effects in conditional expressions ### 3. AUTOSAR C++14 Guidelines (CRITICAL) - `autosar-smart-pointers` - Use smart pointers instead of raw pointers for ownership - `autosar-no-exceptions-rt` - Avoid exceptions in real-time contexts, use Result types - `autosar-const-correctness` - Apply const-correctness throughout interfaces - `autosar-override-final` - Always use override/final for virtual function overrides - `autosar-enum-class` - Use enum class instead of plain enum - `autosar-no-unions` - Avoid unions, use std::variant when needed - `autosar-braces-init` - Prefer braced initialization to prevent narrowing - `autosar-nodiscard` - Use [[nodiscard]] for functions with important return values ### 4. Safety & Functional Safety - ISO 26262 (HIGH) - `safety-defensive-programming` - Apply defensive programming at module boundaries - `safety-error-detection` - Implement error detection and plausibility checks - `safety-redundant-checks` - Use redundant checks for critical control paths - `safety-watchdog-pattern` - Implement watchdog monitoring patterns - `safety-state-machine-integrity` - Protect state machine transitions from corruption - `safety-crc-validation` - Validate data integrity with CRC for critical data - `safety-safe-state` - Always define and reach safe state on failure - `safety-asil-decomposition` - Follow ASIL decomposition patterns correctly ### 5. Real-Time & Timing Constraints (HIGH) - `realtime-deterministic-execution` - Ensure deterministic execution time in cyclic tasks - `realtime-wcet-awareness` - Design with WCET (Worst-Case Execution Time) in mind - `realtime-no-blocking-isr` - Never block in interrupt service routines - `realtime-priority-inversion` - Prevent priority inversion with proper locking - `realtime-cyclic-scheduling` - Follow cyclic scheduling patterns correctly - `realtime-interrupt-latency` - Minimize interrupt latency and ISR execution time - `realtime-deadline-monitoring` - Implement deadline monitoring for critical tasks ### 6. Communication Protocols (HIGH) **CAN / LIN Bus:** - `comm-can-message-layout` - Follow proper CAN/CAN FD message layout and DBC conventions - `comm-can-error-handling` - Handle CAN bus-off recovery and error frames - `comm-can-fd-handling` - Handle CAN FD extended data length and bit rate switching - `comm-lin-schedule-table` - Implement LIN schedule tables and response handling - `comm-signal-timeout` - Implement signal timeout monitoring with default values - `comm-network-management` - Follow NM (Network Management) state machine correctly **Automotive Ethernet / IP Stack:** - `comm-tcp-socket-lifecycle` - Manage TCP socket lifecycle (connect, keepalive, graceful shutdown) - `comm-udp-datagram-handling` - Handle UDP datagrams for service discovery and streaming - `comm-doip-implementation` - Implement Diagnostics over IP (ISO 13400) activation and routing - `comm-arp-table-management` - Manage ARP tables and static ARP entries for deterministic networks - `comm-icmp-handling` - Handle ICMP for network diagnostics and reachability detection - `comm-vlan-qos-priority` - Configure VLAN tagging and QoS priority mapping (IEEE 802.1Q) - `comm-dhcp-autoip` - Implement IP address assignment (DHCP client, AutoIP fallback) - `comm-someip-serialization` - Use correct SOME/IP serialization for service-oriented communication - `comm-someip-sd` - Implement SOME/IP Service Discovery (offer, find, subscribe) **Diagnostics & Routing:** - `comm-uds-service-handler` - Implement UDS diagnostic services with proper NRC handling - `comm-gateway-routing` - Implement proper message routing in gateway ECUs ### 7. Concurrency & RTOS Patterns (MEDIUM-HIGH) - `rtos-task-design` - Design tasks with single responsibility and proper priority - `rtos-critical-section` - Minimize critical section duration - `rtos-mutex-pattern` - Use mutexes correctly, avoid nested locking - `rtos-message-queue` - Prefer message queues over shared memory for inter-task communication - `rtos-no-priority-inversion` - Use priority inheritance or ceiling protocols - `rtos-isr-to-task` - Defer ISR processing to task context via flags/queues - `rtos-stack-sizing` - Size task stacks correctly with safety margin ### 8. CAPL Scripting — CANoe (MEDIUM-HIGH) - `capl-canoe-message-handler` - Structure message handlers for readability and performance - `capl-canoe-timer-pattern` - Use timer patterns correctly for cyclic and one-shot operations - `capl-canoe-test-structure` - Structure test cases with proper setup/teardown/verification - `capl-canoe-signal-access` - Access signals via database symbols, not raw byte manipulation - `capl-canoe-error-frame-handling` - Handle error frames and bus-off conditions in simulation - `capl-canoe-environment-variables` - Use environment variables for panel interaction correctly - `capl-canoe-diagnostic-testing` - Implement diagnostic request/response testing patterns - `capl-canoe-node-simulation` - Design node simulation with proper state machines - `capl-canoe-multi-channel` - Multi-channel bus simulation (CAN+CAN, CAN+LIN, CAN+ETH) - `capl-canoe-rbs-cyclic` - Cyclic Rest Bus Simulation with counter/CRC generation - `capl-canoe-rbs-reactive` - Reactive RBS with Interaction Layer and state-dependent responses - `capl-canoe-gateway-routing` - Gateway simulation with signal/PDU/cross-protocol routing ### 8b. CAPL — Shared Patterns (MEDIUM-HIGH) - `capl-signal-manipulation` - Reusable signal manipulation library (ramp, sine, noise, step, sequence) ### 8c. CAPL — Fault Injection (HIGH) - `capl-fault-can` - CAN/CAN FD fault injection (error frames, bus-off, signal stuck, timing) - `capl-fault-lin` - LIN fault injection (checksum, no-response, header, timing) - `capl-fault-eth` - Ethernet fault injection (link down, packet loss, latency, corruption) ### 8d. CAPL — External Integration (MEDIUM) - `capl-ext-dll-integration` - CAPL DLL API, data exchange, thread safety, 32/64-bit - `capl-ext-com-python` - CANoe COM automation via Python - `capl-ext-com-csharp` - CANoe COM automation via C# - `capl-ext-ci-cd` - CI/CD integration (Jenkins, GitLab CI, headless execution) ### 9. Code Organization & Architecture (MEDIUM) - `arch-hal-abstraction` - Use Hardware Abstraction Layer for portability - `arch-module-interface` - Design clean module interfaces with information hiding - `arch-state-machine` - Implement state machines with table-driven or state-pattern approach - `arch-callback-pattern` - Use callback patterns for decoupling layers - `arch-config-separation` - Separate configuration from logic (calibration parameters) - `arch-layered-architecture` - Follow layered architecture (MCAL, ECU-AL, BSW, SWC) ### 10. Performance Optimization (MEDIUM) - `perf-loop-optimization` - Optimize loop constructs for embedded targets - `perf-lookup-table` - Use lookup tables instead of runtime computation - `perf-bitwise-operations` - Use bitwise operations for flag and register manipulation - `perf-cache-friendly` - Organize data for CPU cache efficiency - `perf-inline-critical` - Inline small, critical functions - `perf-fixed-point` - Use fixed-point arithmetic instead of floating-point when possible - `perf-dma-usage` - Use DMA for bulk data transfers ### 11. Build, Compilation & Static Analysis (MEDIUM) - `build-warnings-as-errors` - Treat all compiler warnings as errors - `build-static-analysis` - Integrate static analysis (PC-lint, Polyspace, Coverity) - `build-compiler-flags` - Use appropriate compiler flags for safety and optimization - `build-link-time-optimization` - Use LTO for cross-module optimization - `build-reproducible-builds` - Ensure reproducible builds for traceability ### 12. Testing & Verification (MEDIUM) - `test-unit-test-pattern` - Structure unit tests for embedded C/C++ (Unity, Google Test) - `test-mock-hardware` - Mock hardware dependencies for testability - `test-boundary-values` - Test boundary values and edge cases systematically - `test-coverage-targets` - Meet code coverage targets per ASIL level - `test-integration-testing` - Design integration tests for inter-module communication - `test-hil-sil-pattern` - Structure HIL/SIL test patterns for verification ### 13. Security & Cybersecurity — ISO 21434 (HIGH) - `security-secure-boot` - Implement secure boot chain verification - `security-secure-communication` - Use TLS/DTLS for in-vehicle Ethernet communication - `security-key-management` - Handle cryptographic keys with proper storage and rotation - `security-secure-diagnostics` - Implement secure UDS authentication (0x29 service) - `security-input-sanitization` - Sanitize all external inputs (CAN, Ethernet, diagnostic) - `security-secure-update` - Implement secure OTA/reflash with signature verification - `security-access-control` - Enforce access control between security domains - `security-crypto-usage` - Use cryptographic primitives correctly (AES, HMAC, CMAC) ### 14. MISRA Grouped Topics (CRITICAL) - `misra-type-system` - Essential type model, implicit conversions, type casting (Rules 10-11) - `misra-control-flow` - Switch, goto, unreachable code, single exit (Rules 15-16) - `misra-pointer-safety` - Pointer arithmetic, null checks, conversions (Rules 18, 11) - `misra-declarations` - Variable scope, linkage, storage class (Rules 8) - `misra-expressions` - Side effects, precedence, boolean, sizeof (Rules 12-14) - `misra-functions` - Prototypes, parameters, return values, recursion ban (Rules 17) - `misra-preprocessor` - Macro safety, include guards, conditional compilation (Rules 20) - `misra-standard-library` - Banned functions, restricted headers (Rules 21-22) - `misra-initialization` - Variable/array/struct initialization (Rules 9) - `misra-memory-model` - Volatile, atomic access, memory barriers (Rules 19) - `misra-concurrency` - Thread safety, shared data access (Amendment 4) - `misra-deviation-process` - Deviation documentation, approval, common patterns ### 15. AUTOSAR Classic BSW Modules (HIGH) - `autosar-classic-ecum` - EcuM startup/shutdown, sleep/wakeup - `autosar-classic-bswm` - BswM mode arbitration, action lists - `autosar-classic-com` - COM signal packing, transmission modes - `autosar-classic-pdu-router` - PDU Router routing paths, gateway - `autosar-classic-dcm-dem` - Dcm/Dem diagnostics, DTC management - `autosar-classic-nvm` - NvM block configuration, CRC, read/write - `autosar-classic-os` - AUTOSAR OS tasks, ISRs, resources, alarms - `autosar-classic-canif-cantp` - CanIf/CanTp callbacks, flow control ### 16. AUTOSAR Adaptive ara:: APIs (HIGH) - `autosar-adaptive-ara-com` - ara::com proxy/skeleton, service discovery - `autosar-adaptive-ara-core` - ara::core Result<T,E>, ErrorCode, Future - `autosar-adaptive-ara-exec` - ara::exec process lifecycle, function groups - `autosar-adaptive-ara-diag` - ara::diag diagnostic services - `autosar-adaptive-ara-log` - ara::log logging patterns - `autosar-adaptive-ara-phm` - ara::phm health management, supervision - `autosar-adaptive-ara-per` - ara::per persistency, key-value storage ### 17. ECU Boot Sequence (HIGH) - `boot-baremetal-startup` - Bare-metal boot: startup → C runtime → main - `boot-autosar-classic-startup` - Classic AUTOSAR EcuM/BswM boot - `boot-autosar-adaptive-startup` - Adaptive Execution Manager boot - `boot-bootloader-reprogramming` - UDS flash download sequence - `boot-secure-boot-chain` - Secure boot with HSM verification ### 18. NVM Management (HIGH) - `nvm-autosar-block-config` - AUTOSAR NvM blocks, CRC, redundancy - `nvm-fee-ea-abstraction` - Fee/Ea Flash EEPROM Emulation - `nvm-baremetal-flash` - Bare-metal Flash/EEPROM patterns - `nvm-wear-leveling` - Wear leveling strategies for automotive lifetime ### 19. Power Management (MEDIUM) - `power-ecum-sleep-wakeup` - EcuM sleep/wakeup state machine - `power-partial-networking` - Partial networking, selective transceiver wakeup - `power-bswm-shutdown` - BswM ordered shutdown action lists - `power-clock-peripheral` - Clock gating and peripheral power-down - `power-low-power-modes` - MCU low-power modes (SLEEP, STANDBY, STOP) ### 20. Automotive Ethernet Deep-Dive (HIGH) - `eth-tsn-time-sync` - TSN time synchronization (IEEE 802.1AS / gPTP) - `eth-tsn-traffic-shaping` - TSN traffic shaping (IEEE 802.1Qbv) - `eth-tsn-stream-filtering` - TSN stream filtering (IEEE 802.1Qci) - `eth-switch-configuration` - Automotive Ethernet switch configuration - `eth-avb-streaming` - AVB Audio/Video streaming ### 21. Compiler & Static Analysis (HIGH) - `build-gcc-warnings` - GCC warning flags for automotive - `build-clang-analysis` - Clang-Tidy and Clang Static Analyzer - `build-greenhills-safety` - GreenHills safety-qualified compiler - `analysis-pclint-config` - PC-lint MISRA configuration - `analysis-polyspace` - Polyspace Bug Finder / Code Prover - `analysis-coverity` - Coverity embedded checkers - `analysis-cppcheck` - cppcheck with MISRA addon - `analysis-parasoft` - Parasoft C/C++test - `analysis-ldra` - LDRA traceability and coverage ### 22. vTESTstudio CAPL (MEDIUM-HIGH) - `capl-vtest-test-unit` - Test unit/group/fixture structure - `capl-vtest-data-driven` - Data-driven testing with parameters - `capl-vtest-xml-module` - XML test module integration - `capl-vtest-verdict-reporting` - Verdict and reporting patterns - `capl-vtest-stimulus-response` - Stimulus/response timing validation ### 23. Tool Integration (MEDIUM) - `integration-a2l-calibration` - Generate and maintain A2L/ASAP2 calibration descriptions - `integration-odx-diagnostic` - Structure ODX/PDX diagnostic descriptions correctly - `integration-fibex-network` - Maintain FIBEX network description files - `integration-dbc-arxml-sync` - Keep DBC/ARXML and code signal definitions synchronized - `integration-xcp-calibration` - Implement XCP (Universal Measurement and Calibration Protocol) - `integration-autosar-arxml` - Generate and parse AUTOSAR ARXML configuration correctly ## How to Use Read individual rule files for detailed explanations and code examples: ``` rules/memory-stack-over-heap.md rules/misra-no-recursion.md rules/capl-message-handler.md ``` Each rule file contains: - Brief explanation of why it matters in automotive embedded context - Incorrect code example with explanation - Correct code example with explanation - Relevant standard references (MISRA, AUTOSAR, ISO 26262) - Additional context and impact on safety/performance ## Full Compiled Document For the complete guide with all rules expanded: `AGENTS.md`