automotive-embedded-skills

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Automotive Embedded C/C++/CAPL Best Practices

汽车嵌入式系统C/C++/CAPL最佳实践

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.

本指南是针对汽车嵌入式软件开发的C、C++和CAPL全面编码规范，涵盖23个类别下的180+条规则，根据安全影响和行业合规要求（MISRA C:2012、MISRA C++:2023、AUTOSAR C++14经典版与自适应版、ISO 26262、ISO 21434）划分优先级。内容覆盖完整的汽车通信栈（CAN/LIN/Ethernet/IP/TSN）、网络安全、诊断、CAPL仿真/测试/故障注入、AUTOSAR BSW模块、启动/非易失性存储器(NVM)/电源管理、编译器工具链、静态分析工具以及CI/CD集成。

When to Apply

适用场景

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)

在以下场景中可参考本指南：

为汽车ECU编写新的嵌入式C/C++模块
实现或评审CAN/LIN/Ethernet通信栈
为CANoe/CANalyzer仿真与测试编写CAPL脚本
重构代码以符合MISRA C/C++或AUTOSAR C++14规范
设计安全关键软件（符合ISO 26262的ASIL A-D等级）
实现RTOS任务管理与任务间通信
评审代码的内存安全性、时序性与确定性
处理诊断协议（UDS、OBD-II、DoIP）
实现汽车以太网（TCP、UDP、SOME/IP、DoIP、VLAN）
满足网络安全要求（ISO 21434、安全启动、TLS）
与校准/诊断工具集成（A2L、ODX、XCP）
针对资源受限的微控制器优化代码（RAM、Flash、CPU）

Rule Categories by Priority

按优先级划分的规则类别


memory-
misra-
autosar-
safety-
realtime-
comm-
rtos-
capl-canoe-
capl-vtest-
arch-
perf-
build-
security-
test-
integration-

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-`


memory-
misra-
autosar-
safety-
realtime-
comm-
rtos-
capl-canoe-
capl-vtest-
arch-
perf-
build-
security-
test-
integration-

优先级	类别	影响程度	前缀
1	内存安全与管理	关键	`memory-`
2	MISRA C/C++合规	关键	`misra-`
3	AUTOSAR C++14准则（经典版与自适应版）	关键	`autosar-`
4	安全与功能安全（ISO 26262）	高	`safety-`
5	实时性与时序约束	高	`realtime-`
6	通信协议（CAN/LIN/Ethernet/IP/UDS）	高	`comm-`
7	并发与RTOS模式	中高	`rtos-`
8	CAPL脚本编写 — CANoe	中高	`capl-canoe-`
9	CAPL脚本编写 — vTESTstudio	中高	`capl-vtest-`
10	代码组织与架构	中	`arch-`
11	性能优化	中	`perf-`
12	构建、编译与静态分析	中	`build-`
13	安全与网络安全（ISO 21434）	高	`security-`
14	测试与验证	中	`test-`
15	工具集成（A2L/ODX/FIBEX）	中	`integration-`

Quick Reference

快速参考

1. Memory Safety & Management (CRITICAL)

1. 内存安全与管理（关键）

```
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

```
memory-stack-over-heap
```
- 嵌入式场景下优先使用栈分配而非堆分配
```
memory-static-allocation
```
- 使用静态分配以确保内存使用的确定性
```
memory-buffer-bounds
```
- 访问缓冲区前始终验证边界
```
memory-pool-pattern
```
- 使用内存池模式实现类动态分配
```
memory-no-malloc-in-rt
```
- 绝不在实时关键路径中使用malloc/free
```
memory-raii-cpp
```
- 在嵌入式C++代码中使用RAII进行资源管理
```
memory-volatile-correctness
```
- 正确使用volatile访问硬件寄存器与共享数据
```
memory-alignment
```
- 确保数据结构与目标架构的对齐要求一致
```
memory-zero-init
```
- 始终初始化变量，尤其是在安全关键代码中

2. MISRA C/C++ Compliance (CRITICAL)

2. MISRA C/C++合规（关键）

```
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

```
misra-no-implicit-conversions
```
- 避免隐式类型转换
```
misra-single-exit-point
```
- 关键函数优先使用单一出口点
```
misra-no-dynamic-memory
```
- 避免动态内存分配（规则21.3）
```
misra-no-recursion
```
- 嵌入式场景下避免递归（规则17.2）
```
misra-switch-default
```
- switch语句中始终包含default分支
```
misra-no-goto
```
- C语言中避免使用goto，除非用于错误清理模式
```
misra-boolean-expressions
```
- 使用显式布尔比较
```
misra-pointer-arithmetic
```
- 指针运算仅限于数组索引
```
misra-side-effects
```
- 避免在条件表达式中产生副作用

3. AUTOSAR C++14 Guidelines (CRITICAL)

3. AUTOSAR C++14准则（关键）

```
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

```
autosar-smart-pointers
```
- 使用智能指针而非裸指针管理所有权
```
autosar-no-exceptions-rt
```
- 实时场景下避免使用异常，改用Result类型
```
autosar-const-correctness
```
- 在接口中全面应用const正确性
```
autosar-override-final
```
- 重写虚函数时始终使用override/final
```
autosar-enum-class
```
- 使用enum class而非普通enum
```
autosar-no-unions
```
- 避免使用联合体，必要时使用std::variant
```
autosar-braces-init
```
- 优先使用大括号初始化以防止窄化转换
```
autosar-nodiscard
```
- 对具有重要返回值的函数使用[[nodiscard]]

4. Safety & Functional Safety - ISO 26262 (HIGH)

4. 安全与功能安全 - ISO 26262（高）

```
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

```
safety-defensive-programming
```
- 在模块边界应用防御式编程
```
safety-error-detection
```
- 实现错误检测与合理性检查
```
safety-redundant-checks
```
- 对关键控制路径使用冗余检查
```
safety-watchdog-pattern
```
- 实现看门狗监控模式
```
safety-state-machine-integrity
```
- 保护状态机转换免受损坏
```
safety-crc-validation
```
- 使用CRC验证关键数据的完整性
```
safety-safe-state
```
- 故障发生时始终定义并进入安全状态
```
safety-asil-decomposition
```
- 正确遵循ASIL分解模式

5. Real-Time & Timing Constraints (HIGH)

5. 实时性与时序约束（高）

```
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

```
realtime-deterministic-execution
```
- 确保循环任务的执行时间具有确定性
```
realtime-wcet-awareness
```
- 设计时考虑最坏情况执行时间（WCET）
```
realtime-no-blocking-isr
```
- 绝不在中断服务程序中阻塞
```
realtime-priority-inversion
```
- 使用适当的锁机制防止优先级反转
```
realtime-cyclic-scheduling
```
- 正确遵循循环调度模式
```
realtime-interrupt-latency
```
- 最小化中断延迟与ISR执行时间
```
realtime-deadline-monitoring
```
- 为关键任务实现截止时间监控

6. Communication Protocols (HIGH)

6. 通信协议（高）

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

CAN / LIN总线：

```
comm-can-message-layout
```
- 遵循规范的CAN/CAN FD消息格式与DBC约定
```
comm-can-error-handling
```
- 处理CAN总线离线恢复与错误帧
```
comm-can-fd-handling
```
- 处理CAN FD扩展数据长度与比特率切换
```
comm-lin-schedule-table
```
- 实现LIN调度表与响应处理
```
comm-signal-timeout
```
- 实现信号超时监控并设置默认值
```
comm-network-management
```
- 正确遵循网络管理（NM）状态机

汽车以太网 / IP栈：

```
comm-tcp-socket-lifecycle
```
- 管理TCP套接字生命周期（连接、保活、优雅关闭）
```
comm-udp-datagram-handling
```
- 处理用于服务发现与流传输的UDP数据报
```
comm-doip-implementation
```
- 实现基于IP的诊断（ISO 13400）激活与路由
```
comm-arp-table-management
```
- 管理ARP表与静态ARP条目以确保网络确定性
```
comm-icmp-handling
```
- 处理ICMP用于网络诊断与可达性检测
```
comm-vlan-qos-priority
```
- 配置VLAN标记与QoS优先级映射（IEEE 802.1Q）
```
comm-dhcp-autoip
```
- 实现IP地址分配（DHCP客户端、AutoIP fallback）
```
comm-someip-serialization
```
- 针对面向服务的通信使用正确的SOME/IP序列化方式
```
comm-someip-sd
```
- 实现SOME/IP服务发现（提供、查找、订阅）

诊断与路由：

```
comm-uds-service-handler
```
- 实现UDS诊断服务并正确处理NRC
```
comm-gateway-routing
```
- 在网关ECU中实现正确的消息路由

7. Concurrency & RTOS Patterns (MEDIUM-HIGH)

7. 并发与RTOS模式（中高）

```
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

```
rtos-task-design
```
- 设计具有单一职责与适当优先级的任务
```
rtos-critical-section
```
- 最小化临界区持续时间
```
rtos-mutex-pattern
```
- 正确使用互斥锁，避免嵌套锁定
```
rtos-message-queue
```
- 优先使用消息队列而非共享内存进行任务间通信
```
rtos-no-priority-inversion
```
- 使用优先级继承或天花板协议
```
rtos-isr-to-task
```
- 通过标志/队列将ISR处理延迟到任务上下文
```
rtos-stack-sizing
```
- 为任务栈设置正确的大小并预留安全余量

8. CAPL Scripting — CANoe (MEDIUM-HIGH)

8. CAPL脚本编写 — CANoe（中高）

```
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

```
capl-canoe-message-handler
```
- 结构化消息处理程序以提升可读性与性能
```
capl-canoe-timer-pattern
```
- 正确使用定时器模式实现循环与一次性操作
```
capl-canoe-test-structure
```
- 结构化测试用例，包含适当的设置/清理/验证步骤
```
capl-canoe-signal-access
```
- 通过数据库符号访问信号，而非直接操作原始字节
```
capl-canoe-error-frame-handling
```
- 在仿真中处理错误帧与总线离线情况
```
capl-canoe-environment-variables
```
- 正确使用环境变量实现面板交互
```
capl-canoe-diagnostic-testing
```
- 实现诊断请求/响应测试模式
```
capl-canoe-node-simulation
```
- 设计带有适当状态机的节点仿真
```
capl-canoe-multi-channel
```
- 多通道总线仿真（CAN+CAN、CAN+LIN、CAN+ETH）
```
capl-canoe-rbs-cyclic
```
- 循环式剩余总线仿真（RBS），包含计数器/CRC生成
```
capl-canoe-rbs-reactive
```
- 响应式RBS，包含交互层与基于状态的响应
```
capl-canoe-gateway-routing
```
- 网关仿真，包含信号/PDU/跨协议路由

8b. CAPL — Shared Patterns (MEDIUM-HIGH)

8b. CAPL — 通用模式（中高）

```
capl-signal-manipulation
```
- Reusable signal manipulation library (ramp, sine, noise, step, sequence)

```
capl-signal-manipulation
```
- �可复用的信号操作库（斜坡、正弦、噪声、阶跃、序列）

8c. CAPL — Fault Injection (HIGH)

8c. CAPL — 故障注入（高）

```
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)

```
capl-fault-can
```
- CAN/CAN FD故障注入（错误帧、总线离线、信号卡滞、时序异常）
```
capl-fault-lin
```
- LIN故障注入（校验和错误、无响应、头错误、时序异常）
```
capl-fault-eth
```
- 以太网故障注入（链路断开、丢包、延迟、数据损坏）

8d. CAPL — External Integration (MEDIUM)

8d. CAPL — 外部集成（中）

```
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)

```
capl-ext-dll-integration
```
- CAPL DLL API、数据交换、线程安全、32/64位适配
```
capl-ext-com-python
```
- 通过Python实现CANoe COM自动化
```
capl-ext-com-csharp
```
- 通过C#实现CANoe COM自动化
```
capl-ext-ci-cd
```
- CI/CD集成（Jenkins、GitLab CI、无头执行）

9. Code Organization & Architecture (MEDIUM)

9. 代码组织与架构（中）

```
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)

```
arch-hal-abstraction
```
- 使用硬件抽象层（HAL）提升可移植性
```
arch-module-interface
```
- 设计清晰的模块接口并实现信息隐藏
```
arch-state-machine
```
- 使用表驱动或状态模式实现状态机
```
arch-callback-pattern
```
- 使用回调模式实现层间解耦
```
arch-config-separation
```
- 将配置与逻辑分离（校准参数）
```
arch-layered-architecture
```
- 遵循分层架构（MCAL、ECU-AL、BSW、SWC）

10. Performance Optimization (MEDIUM)

10. 性能优化（中）

```
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

```
perf-loop-optimization
```
- 针对嵌入式目标优化循环结构
```
perf-lookup-table
```
- 使用查找表替代运行时计算
```
perf-bitwise-operations
```
- 使用位操作处理标志与寄存器
```
perf-cache-friendly
```
- 组织数据以提升CPU缓存效率
```
perf-inline-critical
```
- 内联小型关键函数
```
perf-fixed-point
```
- 尽可能使用定点运算而非浮点运算
```
perf-dma-usage
```
- 使用DMA进行批量数据传输

11. Build, Compilation & Static Analysis (MEDIUM)

11. 构建、编译与静态分析（中）

```
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

```
build-warnings-as-errors
```
- 将所有编译器警告视为错误
```
build-static-analysis
```
- 集成静态分析工具（PC-lint、Polyspace、Coverity）
```
build-compiler-flags
```
- 使用适合安全与优化要求的编译器标志
```
build-link-time-optimization
```
- 使用LTO实现跨模块优化
```
build-reproducible-builds
```
- 确保构建可复用以满足可追溯性要求

12. Testing & Verification (MEDIUM)

12. 测试与验证（中）

```
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

```
test-unit-test-pattern
```
- 结构化嵌入式C/C++单元测试（Unity、Google Test）
```
test-mock-hardware
```
- 模拟硬件依赖以提升可测试性
```
test-boundary-values
```
- 系统地测试边界值与边缘情况
```
test-coverage-targets
```
- 满足对应ASIL等级的代码覆盖率要求
```
test-integration-testing
```
- 设计模块间通信的集成测试
```
test-hil-sil-pattern
```
- 结构化硬件在环（HIL）/软件在环（SIL）测试模式

13. Security & Cybersecurity — ISO 21434 (HIGH)

13. 安全与网络安全 — ISO 21434（高）

```
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)

```
security-secure-boot
```
- 实现安全启动链验证
```
security-secure-communication
```
- 在车载以太网通信中使用TLS/DTLS
```
security-key-management
```
- 正确处理加密密钥的存储与轮换
```
security-secure-diagnostics
```
- 实现安全UDS认证（0x29服务）
```
security-input-sanitization
```
- 对所有外部输入（CAN、以太网、诊断）进行清理
```
security-secure-update
```
- 实现带有签名验证的安全OTA/重刷
```
security-access-control
```
- 强制安全域间的访问控制
```
security-crypto-usage
```
- 正确使用加密原语（AES、HMAC、CMAC）

14. MISRA Grouped Topics (CRITICAL)

14. MISRA分组主题（关键）

```
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

```
misra-type-system
```
- 基础类型模型、隐式转换、类型转换（规则10-11）
```
misra-control-flow
```
- 分支、goto、不可达代码、单一出口（规则15-16）
```
misra-pointer-safety
```
- 指针运算、空检查、转换（规则18、11）
```
misra-declarations
```
- 变量作用域、链接、存储类（规则8）
```
misra-expressions
```
- 副作用、优先级、布尔运算、sizeof（规则12-14）
```
misra-functions
```
- 原型、参数、返回值、递归禁用（规则17）
```
misra-preprocessor
```
- 宏安全、包含保护、条件编译（规则20）
```
misra-standard-library
```
- 禁用函数、受限头文件（规则21-22）
```
misra-initialization
```
- 变量/数组/结构体初始化（规则9）
```
misra-memory-model
```
- Volatile、原子访问、内存屏障（规则19）
```
misra-concurrency
```
- 线程安全、共享数据访问（修正案4）
```
misra-deviation-process
```
- 偏差文档、审批、常见模式

15. AUTOSAR Classic BSW Modules (HIGH)

15. AUTOSAR经典版BSW模块（高）

```
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

```
autosar-classic-ecum
```
- EcuM启动/关闭、睡眠/唤醒
```
autosar-classic-bswm
```
- BswM模式仲裁、动作列表
```
autosar-classic-com
```
- COM信号打包、传输模式
```
autosar-classic-pdu-router
```
- PDU路由器路径、网关
```
autosar-classic-dcm-dem
```
- Dcm/Dem诊断、DTC管理
```
autosar-classic-nvm
```
- NvM块配置、CRC、读/写
```
autosar-classic-os
```
- AUTOSAR OS任务、ISR、资源、警报
```
autosar-classic-canif-cantp
```
- CanIf/CanTp回调、流控制

16. AUTOSAR Adaptive ara:: APIs (HIGH)

16. AUTOSAR自适应版ara:: APIs（高）

```
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

```
autosar-adaptive-ara-com
```
- ara::com代理/骨架、服务发现
```
autosar-adaptive-ara-core
```
- ara::core Result<T,E>、ErrorCode、Future
```
autosar-adaptive-ara-exec
```
- ara::exec进程生命周期、功能组
```
autosar-adaptive-ara-diag
```
- ara::diag诊断服务
```
autosar-adaptive-ara-log
```
- ara::log日志模式
```
autosar-adaptive-ara-phm
```
- ara::phm健康管理、监控
```
autosar-adaptive-ara-per
```
- ara::per持久化、键值存储

17. ECU Boot Sequence (HIGH)

17. ECU启动序列（高）

```
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

```
boot-baremetal-startup
```
- 裸机启动：启动程序 → C运行时 → main
```
boot-autosar-classic-startup
```
- 经典版AUTOSAR EcuM/BswM启动
```
boot-autosar-adaptive-startup
```
- 自适应版执行管理器启动
```
boot-bootloader-reprogramming
```
- UDS闪存下载序列
```
boot-secure-boot-chain
```
- 带有HSM验证的安全启动

18. NVM Management (HIGH)

18. NVM管理（高）

```
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

```
nvm-autosar-block-config
```
- AUTOSAR NvM块、CRC、冗余
```
nvm-fee-ea-abstraction
```
- Fee/Ea Flash EEPROM仿真
```
nvm-baremetal-flash
```
- 裸机Flash/EEPROM模式
```
nvm-wear-leveling
```
- 满足汽车生命周期要求的损耗均衡策略

19. Power Management (MEDIUM)

19. 电源管理（中）

```
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)

```
power-ecum-sleep-wakeup
```
- EcuM睡眠/唤醒状态机
```
power-partial-networking
```
- 部分网络、选择性收发器唤醒
```
power-bswm-shutdown
```
- BswM有序关闭动作列表
```
power-clock-peripheral
```
- 时钟门控与外设断电
```
power-low-power-modes
```
- MCU低功耗模式（SLEEP、STANDBY、STOP）

20. Automotive Ethernet Deep-Dive (HIGH)

20. 汽车以太网深度解析（高）

```
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

```
eth-tsn-time-sync
```
- TSN时间同步（IEEE 802.1AS / gPTP）
```
eth-tsn-traffic-shaping
```
- TSN流量整形（IEEE 802.1Qbv）
```
eth-tsn-stream-filtering
```
- TSN流过滤（IEEE 802.1Qci）
```
eth-switch-configuration
```
- 汽车以太网交换机配置
```
eth-avb-streaming
```
- AVB音频/视频流

21. Compiler & Static Analysis (HIGH)

21. 编译器与静态分析（高）

```
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

```
build-gcc-warnings
```
- 适用于汽车领域的GCC警告标志
```
build-clang-analysis
```
- Clang-Tidy与Clang静态分析器
```
build-greenhills-safety
```
- GreenHills安全认证编译器
```
analysis-pclint-config
```
- PC-lint MISRA配置
```
analysis-polyspace
```
- Polyspace Bug Finder / Code Prover
```
analysis-coverity
```
- Coverity嵌入式检查器
```
analysis-cppcheck
```
- 带有MISRA插件的cppcheck
```
analysis-parasoft
```
- Parasoft C/C++test
```
analysis-ldra
```
- LDRA可追溯性与覆盖率

22. vTESTstudio CAPL (MEDIUM-HIGH)

22. vTESTstudio CAPL（中高）

```
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

```
capl-vtest-test-unit
```
- 测试单元/组/夹具结构
```
capl-vtest-data-driven
```
- 带参数的数据驱动测试
```
capl-vtest-xml-module
```
- XML测试模块集成
```
capl-vtest-verdict-reporting
```
- verdict与报告模式
```
capl-vtest-stimulus-response
```
- 刺激/响应时序验证

23. Tool Integration (MEDIUM)

23. 工具集成（中）

```
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

```
integration-a2l-calibration
```
- 生成与维护A2L/ASAP2校准描述
```
integration-odx-diagnostic
```
- 正确结构化ODX/PDX诊断描述
```
integration-fibex-network
```
- 维护FIBEX网络描述文件
```
integration-dbc-arxml-sync
```
- 保持DBC/ARXML与代码信号定义同步
```
integration-xcp-calibration
```
- 实现XCP（通用测量与校准协议）
```
integration-autosar-arxml
```
- 正确生成与解析AUTOSAR ARXML配置

How to Use

使用方法

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

阅读单个规则文件获取详细说明与代码示例：

rules/memory-stack-over-heap.md
rules/misra-no-recursion.md
rules/capl-message-handler.md

每个规则文件包含：

该规则在汽车嵌入式场景中重要性的简要说明
错误代码示例及解释
正确代码示例及解释
相关标准参考（MISRA、AUTOSAR、ISO 26262）
额外上下文信息及对安全/性能的影响

Full Compiled Document

完整编译文档

For the complete guide with all rules expanded:

AGENTS.md

包含所有扩展规则的完整指南：

AGENTS.md