Skip to content

norxs-tech/autosar-soa-gateway

BranchesTags

Repository files navigation

norxs SOA Gateway

SOME/IP & DDS Integration for NXP S32G — ASIL-D Reference Implementation

norxs Technology LLC | Safety Engineering, Built from the Ground Up.

CI License Standard Safety Security OpenChain NIST CSF

What This Is

A production-grade C++ reference implementation of a Safety-Oriented Architecture (SOA) Gateway running on the NXP S32G SoC. It acts as the secure middleware bridge between high-performance AI perception domains (e.g., NVIDIA Orin) and an ASIL-D Cortex-M7 Safety Supervisor, enforcing functional safety, cybersecurity, and communication quality requirements from a single coherent codebase.

This is the software we build for our clients — shown here as a reference.

System Architecture

┌─────────────────────────────────────────────────────┐
│        AI Domain  (e.g., NVIDIA Orin)               │
│        ADAS Perception · Planning · ROS2/DDS        │
└────────────────────────┬────────────────────────────┘
                         │  Automotive Ethernet (1000BASE-T1)
                         │  SOME/IP over UDP  |  DDS over RTPS
                         ▼
┌─────────────────────────────────────────────────────┐
│   NXP S32G SoC — Cortex-A53 Cluster (QNX 8.0)      │
│                                                     │
│   ┌───────────────┐     ┌───────────────────────┐   │
│   │NetworkAdapter │────▶│  RateLimiter          │   │
│   │(SOME/IP·DDS)  │     │  (Token Bucket,       │   │
│   └───────────────┘     │   20 burst, 5tok/ms)  │   │
│                         └──────────┬────────────┘   │
│   ┌───────────────┐                │                │
│   │  HseAdapter   │     ┌──────────▼────────────┐   │
│   │  (AES-CMAC,   │────▶│IamSecurityController  │   │
│   │   X.509,TRNG) │     │(RBAC, UN R155 audit)  │   │
│   └───────────────┘     └──────────┬────────────┘   │
│                                    │ authorised      │
│   ┌───────────────┐     ┌──────────▼────────────┐   │
│   │DdsQosEnforcer │     │  SoaServiceManager    │   │
│   │(Reliability,  │────▶│  (SD lifecycle,       │   │
│   │ Deadline,     │     │   SPSC Pub/Sub,       │   │
│   │ History)      │     │   lock-free dispatch) │   │
│   └───────────────┘     └──────────┬────────────┘   │
│                                    │ SoaEvent        │
│   ┌───────────────┐     ┌──────────▼────────────┐   │
│   │DeadSubscriber │     │  SafetyArbitrator     │   │
│   │Monitor        │     │  (ASIL-D state mach., │   │
│   │(heartbeat TTL,│     │   degradation matrix, │   │
│   │ 2000ms evict) │     │   50ms ISO 26262)     │   │
│   └───────────────┘     └──────────┬────────────┘   │
│                                    │ SafeStateCmd    │
│                         ┌──────────▼────────────┐   │
│                         │     IpcBridge         │   │
│                         │  (SPSC ring, E2E P5,  │   │
│                         │   seq_cst barriers)   │   │
│                         └──────────┬────────────┘   │
└────────────────────────────────────┼────────────────┘
                                     │
              Shared SRAM  ──────────┘  (Cache-Inhibited, MPU-protected)
              IpcRingBuffer: 32 slots × 148 bytes
              E2E Profile 5: CRC-16/ARC + Sequence Counter
                                     │
┌────────────────────────────────────▼────────────────┐
│   NXP S32G SoC — Cortex-M7 Cluster (AUTOSAR R25-11) │
│   ASIL-D Safety Supervisor                          │
│   WdgM · ComM · Dem · FiM                           │
└─────────────────────────────────────────────────────┘

Module Inventory

Module File(s) Purpose Standard
SoaServiceManager SoaServiceManager.hpp/cpp SOME/IP SD lifecycle, lock-free SPSC Pub/Sub event dispatch AUTOSAR AP SOME/IP
NetworkAdapter NetworkAdapter.hpp Pure abstract interface for SOME/IP & DDS protocol adapters SOME/IP TR
IamSecurityController IamSecurityController.hpp/cpp RBAC firewall, wildcard policy, UN R155 audit log (128 entries) UN R155 §7.3.2
IpcBridge IpcBridge.hpp/cpp Cross-core SPSC ring (32 slots), AUTOSAR E2E Profile 5 CRC-16/ARC + seq counter AUTOSAR SWS_E2ELibrary §7.6
HseAdapter HseAdapter.hpp/cpp NXP S32G HSE MU driver: AES-128-CMAC, X.509 cert verify, TRNG NXP HSE FW Ref §4.2
RateLimiter RateLimiter.hpp/cpp Token Bucket per-source anti-DDoS, lock-free CAS, fail-secure table-full UN R155 §7.3.3
DdsQosPolicy DdsQosPolicy.hpp/cpp DDS QoS profiles: Reliability, Deadline, Latency Budget, History OMG DDS 1.4
DeadSubscriberMonitor DeadSubscriberMonitor.hpp/cpp Heartbeat TTL 2000ms, ScanAndEvict(), on-death callback AUTOSAR AP
SafetyArbitrator SafetyArbitrator.hpp/cpp ASIL-D degradation matrix (8 states), 50ms transition deadline, physical envelope ROM invariants, E-stop latch ISO 26262 Part 3/4/6

Safety Degradation Matrix (ISO 26262 Part 4 §6.4.6)

Fault Condition Safe State Speed Cap Transition
All nominal kFullOperation 130 kph —
LiDAR failed kRadarCameraFallback 100 kph ≤ 50 ms
Radar failed kLidarCameraFallback 100 kph ≤ 50 ms
Camera failed kLidarRadarFallback 30 kph ≤ 50 ms
GNSS failed kDeadReckoningMode 30 kph ≤ 50 ms
IMU failed kReducedDynamics 30 kph ≤ 50 ms
LiDAR + Radar kMinimalRiskCondition 20 kph → pull over 10s ≤ 50 ms
ASIL-D / E2E violation kEmergencyStop ⚠ 0 kph (latch) Immediate

Compliance Summary

Phase 1 — System & Hardware Isolation ✅

  • IpcBridge: memset + dual seq_cst fence before magic write = cache coherency guarantee
  • IpcRingBuffer* injected via linker-script address; A53 holds write-only access to IPC SRAM
  • Zero std::mutex on any data path; all cross-thread state via std::atomic<T>

Phase 2 — ISO 26262 ASIL-D ✅

  • SafetyArbitrator: 8-level degradation matrix, 50ms bounded transition, ISO 26262 §7.4.2 audit trail
  • E2eProfile5Header: CRC-16/ARC (256-entry constexpr table) + sequence counter [0..255]
  • Physical invariants (kMaxSteeringAngleDeg, kMaxFrictionCoeff, etc.) in .rodata

Phase 3 — UN R155 / ISO 21434 ✅

  • IamSecurityController: principal × service × method RBAC, default-deny, 128-entry audit log
  • HseAdapter: AES-128-CMAC SecOC, RSA/ECDSA X.509 chain, TRNG — all via NXP HSE MU
  • RateLimiter: Token Bucket, lock-free CAS, fail-secure on table exhaustion (32 sources max)

Phase 4 — Middleware & SOA ✅

  • SoaServiceManager: SD offer/stop with Down→Available→Stopping→Down state machine
  • Zero-copy pipeline: stack-allocated SoaEvent → IpcSlot, no heap on hot path
  • DdsQosEnforcer: per-topic Reliability, Deadline, LatencyBudget, History enforcement
  • DeadSubscriberMonitor: heartbeat TTL 2000ms, ScanAndEvict(), on-death callback

Phase 5 — Software Engineering ✅

Check Result
try/catch/throw 0 (all production files)
std::mutex 0
new / malloc 0
std::vector / std::map 0
Doxygen headers 17 / 17 files
Include guards 9 / 9 headers
static_assert on IPC structs 6 assertions
Unit test cases 118 / 118 passed (GoogleTest, MC/DC)
Line / function / branch coverage (host) 80.0 % / 86.7 % / 70.8 % (gcovr)
cppcheck (warning · performance · portability) 0 findings
GCC -Wall -Wextra -Wpedantic -Wshadow -Wconversion 0 warnings

Performance (NXP S32G EVB, Cortex-A53 @ 1.0 GHz, QNX 8.0, -O2)

Operation Measured Budget
IpcBridge::Send() full path with E2E < 15 μs < 50 μs
IamSecurityController::Authorise() (64 policies) < 2 μs < 10 μs
SafetyArbitrator::Arbitrate() (8 domains) < 800 μs < 2 ms
SafetyArbitrator::ExecuteTransition() < 5 ms < 50 ms (ISO 26262)
RateLimiter::Admit() CAS fast path < 200 ns < 1 μs
E2E CRC-16/ARC (148 bytes) < 3 μs < 10 μs

Build Instructions

Requirements

  • CMake ≥ 3.16
  • GCC ≥ 11 or Clang ≥ 14 (host build)
  • QNX SDP 8.0 (target build, see cmake/Toolchain-QNX.cmake)
  • GoogleTest (for tests)
  • lcov + genhtml (for coverage reports)
  • cppcheck (for static analysis)

Library only

mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j$(nproc)

With unit tests (GCC)

cmake .. -DBUILD_TESTS=ON -DCMAKE_BUILD_TYPE=Debug
make -j$(nproc)
./soa_gateway_tests --gtest_output=xml:test_core.xml
./safety_arbitrator_tests --gtest_output=xml:test_arbitrator.xml

With MC/DC coverage report

cmake .. -DBUILD_TESTS=ON -DENABLE_COVERAGE=ON
make -j$(nproc)
./soa_gateway_tests && ./safety_arbitrator_tests
make coverage
# Open: build/coverage_html/index.html

Static analysis (AUTOSAR/MISRA)

make analyze
# Report: build/cppcheck_report.xml  (zero errors required)

QNX cross-compilation (NXP S32G target)

source /path/to/qnx800/qnxsdp-env.sh
cmake .. \
  -DCMAKE_TOOLCHAIN_FILE=cmake/Toolchain-QNX.cmake \
  -DCMAKE_BUILD_TYPE=Release
make -j$(nproc)

Cortex-M7 bare-metal reference (AUTOSAR R25-11)

cmake .. \
  -DCMAKE_TOOLCHAIN_FILE=cmake/Toolchain-S32G-M7.cmake \
  -DGCC_ARM_PATH=/path/to/arm-gnu-toolchain-13 \
  -DCMAKE_BUILD_TYPE=Release
make -j$(nproc)

Repository Structure

soa_gateway/
├── include/                    Production header files
│   ├── SoaServiceManager.hpp   Core: SD lifecycle, SPSC dispatch
│   ├── NetworkAdapter.hpp      Abstract: SOME/IP & DDS interface
│   ├── IamSecurityController.hpp  Security: RBAC + audit log
│   ├── IpcBridge.hpp           IPC: shared SRAM + E2E Profile 5
│   ├── HseAdapter.hpp          Security: NXP HSE MU driver
│   ├── RateLimiter.hpp         Security: Token Bucket anti-DDoS
│   ├── DdsQosPolicy.hpp        Middleware: DDS QoS enforcement
│   ├── DeadSubscriberMonitor.hpp  Middleware: heartbeat TTL
│   └── SafetyArbitrator.hpp    Safety: ASIL-D state machine
├── src/                        Production source files (8 modules)
├── tests/
│   ├── test_soa_gateway.cpp    Core module tests (64 cases)
│   └── test_safety_arbitrator.cpp  ASIL-D MC/DC tests (54 cases)
├── cmake/
│   ├── Toolchain-QNX.cmake     QNX SDP 8.0 cross-compilation
│   └── Toolchain-S32G-M7.cmake ARM bare-metal (Cortex-M7)
├── docs/
│   ├── architecture.md         Full architecture deep dive
│   ├── verification-report.md  Test · coverage · static-analysis evidence
│   └── compliance/
│       ├── openchain-iso5230.md   OpenChain ISO/IEC 5230 mapping
│       ├── openchain-iso18974.md  OpenChain ISO/IEC 18974 mapping
│       └── nist-csf.md            NIST CSF 2.0 mapping
├── sbom/
│   └── norxs-soa-gateway.spdx.json   SPDX 2.3 SBOM (per-file SHA-1)
├── .github/
│   ├── workflows/ci.yml        Build · Test · Analyze · Compliance · Supply-Chain CI
│   ├── ISSUE_TEMPLATE/         Bug report template
│   └── PULL_REQUEST_TEMPLATE.md
├── CMakeLists.txt
├── LICENSE                     norxs Reference Implementation License v1.0
├── NOTICE.md                   Third-party attributions (ISO 5230)
├── SECURITY.md                 Vulnerability disclosure policy (ISO 18974)
├── CHANGELOG.md                Full version history
├── CONTRIBUTING.md             Coding standards & contribution guide
└── README.md                   This file

Documentation

  • Architecture Deep Dive — System context, data flow, concurrency model, E2E protocol, memory layout, performance figures, standards traceability
  • Verification Report — Executed test results (118/118), coverage, static analysis, compliance scan evidence
  • CHANGELOG — Complete version history
  • CONTRIBUTING — Coding standards, AUTOSAR compliance checklist, PR process
  • LICENSE — norxs Reference Implementation License v1.0

Compliance & Security Posture

Program Artifact
OpenChain ISO/IEC 5230:2020 (OSS license compliance) docs/compliance/openchain-iso5230.md · NOTICE.md · SPDX SBOM
OpenChain ISO/IEC 18974:2023 (security assurance) docs/compliance/openchain-iso18974.md · SECURITY.md
NIST CSF 2.0 docs/compliance/nist-csf.md
  • SBOM: SPDX 2.3, per-file SHA-1, regenerated each release; CI fails on SBOM ↔ source drift.
  • Vulnerability disclosure: private reporting via contact@norxs.com ([SECURITY]) or GitHub Private Vulnerability Reporting — see SECURITY.md for CVD timelines.
  • Zero third-party runtime dependencies in the production library.

Commercial Licensing & Services

This reference implementation is published under the norxs Reference Implementation License v1.0. Commercial use requires a separate license agreement.

norxs Technology LLC offers:

  • Full production source rights for ASIL-D deployment
  • ISO 26262 safety evidence package (FMEA, FTA, DFA)
  • UN R155 / ISO 21434 cybersecurity artifact package
  • ASPICE process documentation
  • Long-term engineering support and maintenance

Contact: https://norxs.com

Namespace

All symbols reside in norxs::soa.

Standards

ISO 26262 · ISO/SAE 21434 · UN R155 · UN R156 · ASPICE · AUTOSAR C++14 · POSIX

(c) 2026 norxs Technology LLC. All rights reserved.

About

ASIL-D SOA Gateway for NXP S32G — SOME/IP & DDS middleware bridging AI perception domains to safety-critical Cortex-M7 supervisors. ISO 26262 · UN R155 · AUTOSAR E2E Profile 5 · QNX

Resources

Readme

License

View license

Contributing

Contributing

Security policy

Security policy
Activity
Custom properties

Stars

0 stars

Watchers

0 watching

Forks

0 forks
Report repository

Releases

No releases published

Packages

 
 
 

Contributors

Languages