Add full automotive RTOS project

Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers, middleware (CAN stack, diagnostics, safety), applications, board support, build/test tooling, and documentation.
2026-08-23 03:35:29 -04:00
parent f113bf0a05
commit ca13734bf0
151 changed files with 23945 additions and 0 deletions
@@ -0,0 +1,57 @@
+/**
+ * @file brake_control.h
+ * @brief Brake control module interface
+ */
+
+#ifndef BRAKE_CONTROL_H
+#define BRAKE_CONTROL_H
+
+#include "kernel.h"
+
+/* Brake Control Parameters */
+#define BRAKE_CONTROL_PERIOD_MS     5
+#define ABS_CONTROL_PERIOD_MS       1
+#define WHEEL_SPEED_SENSOR_COUNT    4
+#define MAX_BRAKE_PRESSURE          20000  /* kPa */
+#define ABS_SLIP_THRESHOLD          0.2f
+#define ABS_DECELERATION_THRESHOLD  -10.0f  /* m/s² */
+
+/* Brake States */
+typedef enum {
+    BRAKE_STATE_IDLE = 0,
+    BRAKE_STATE_NORMAL_BRAKING = 1,
+    BRAKE_STATE_ABS_ACTIVE = 2,
+    BRAKE_STATE_EMERGENCY = 3,
+    BRAKE_STATE_FAULT = 4
+} BrakeState_t;
+
+/* Wheel Speed Data */
+typedef struct {
+    float wheel_speed[WHEEL_SPEED_SENSOR_COUNT];  /* km/h */
+    float wheel_acceleration[WHEEL_SPEED_SENSOR_COUNT];  /* m/s² */
+    uint16_t wheel_sensor_raw[WHEEL_SPEED_SENSOR_COUNT];
+    bool sensor_fault[WHEEL_SPEED_SENSOR_COUNT];
+} WheelSpeedData_t;
+
+/* Brake System Data */
+typedef struct {
+    uint16_t brake_pedal_position;
+    uint16_t brake_pressure;
+    float vehicle_speed;
+    float vehicle_deceleration;
+    bool abs_active;
+    bool brake_light;
+    uint8_t abs_fault_code;
+} BrakeSystemData_t;
+
+/* Brake Control Functions */
+KernelStatus_t brake_control_init(void);
+KernelStatus_t brake_control_start(void);
+KernelStatus_t brake_control_stop(void);
+KernelStatus_t brake_control_get_data(BrakeSystemData_t* data);
+KernelStatus_t brake_control_get_wheel_data(WheelSpeedData_t* data);
+BrakeState_t brake_control_get_state(void);
+void brake_control_task(void* parameters);
+void abs_control_task(void* parameters);
+
+#endif /* BRAKE_CONTROL_H */