melabidi/RTOS
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add full automotive RTOS project

Browse Source 
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.
This commit is contained in:
root
2026-08-23 03:35:29 -04:00
parent f113bf0a05
commit ca13734bf0
151 changed files with 23945 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
board/custom_ecu/board.h
+67
View File
@@ -0,0 +1,67 @@
/**
* @file board.h
* @brief Custom ECU board definitions
*/
#ifndef BOARD_H
#define BOARD_H
#include <stdint.h>
#include <stdbool.h>
/* ============================================================================
* Board Identification
* ============================================================================ */
#define BOARD_NAME "CustomECU-v1.0"
#define BOARD_MANUFACTURER "Automotive RTOS Team"
#define BOARD_VERSION "1.0"
#define BOARD_MCU "Custom"
/* ============================================================================
* Clock Configuration
* ============================================================================ */
#define SYSTEM_CLOCK 100000000U /* 100 MHz */
#define PERIPHERAL_CLOCK 50000000U /* 50 MHz */
#define TIMER_CLOCK 10000000U /* 10 MHz */
/* ============================================================================
* LED Definitions
* ============================================================================ */
#define LED_COUNT 4
#define LED_STATUS 0
#define LED_ERROR 1
#define LED_CAN_TX 2
#define LED_CAN_RX 3
/* ============================================================================
* Communication Interfaces
* ============================================================================ */
#define CAN_INTERFACE_COUNT 2
#define UART_INTERFACE_COUNT 2
#define SPI_INTERFACE_COUNT 1
#define I2C_INTERFACE_COUNT 1
/* ============================================================================
* Board Functions
* ============================================================================ */
void board_init(void);
void board_clock_init(void);
void board_gpio_init(void);
void board_uart_init(void);
void board_can_init(void);
void board_spi_init(void);
void board_i2c_init(void);
void board_adc_init(void);
void board_pwm_init(void);
void board_watchdog_init(void);
void board_watchdog_service(void);
void board_led_on(uint8_t led);
void board_led_off(uint8_t led);
void board_led_toggle(uint8_t led);
bool board_button_read(uint8_t button);
void board_delay_ms(uint32_t ms);
void board_delay_us(uint32_t us);
float board_get_temperature(void);
float board_get_voltage(void);
#endif /* BOARD_H */
board/custom_ecu/board_init.c
+292
View File
@@ -0,0 +1,292 @@
/**
* @file board_init.c
* @brief Custom ECU board initialization
*/
#include "board.h"
#include "kernel.h"
#include "gpio_driver.h"
#include "uart_driver.h"
#include "can_driver.h"
#include "spi_driver.h"
#include "i2c_driver.h"
#include "adc_driver.h"
#include "pwm_driver.h"
#include <string.h>
static bool board_initialized = false;
/* Board-specific configuration */
typedef struct {
uint32_t can_baudrate;
uint32_t uart_baudrate;
uint8_t node_id;
bool can_fd_enabled;
} BoardConfig_t;
static const BoardConfig_t board_config = {
.can_baudrate = 500000,
.uart_baudrate = 115200,
.node_id = 0x01,
.can_fd_enabled = true
};
/* ============================================================================
* Board Initialization
* ============================================================================ */
void board_init(void) {
if (board_initialized) {
return;
}
/* Initialize clock */
board_clock_init();
/* Initialize GPIO */
board_gpio_init();
/* Initialize UART */
board_uart_init();
/* Initialize CAN */
board_can_init();
/* Initialize SPI */
board_spi_init();
/* Initialize I2C */
board_i2c_init();
/* Initialize ADC */
board_adc_init();
/* Initialize PWM */
board_pwm_init();
/* Initialize watchdog */
board_watchdog_init();
board_initialized = true;
}
/* ============================================================================
* Clock Initialization
* ============================================================================ */
void board_clock_init(void) {
/* Custom clock initialization */
/* This would be implemented for specific hardware */
}
/* ============================================================================
* GPIO Initialization
* ============================================================================ */
void board_gpio_init(void) {
/* Configure status LEDs */
GpioPinConfig_t led_config = {
.mode = GPIO_MODE_OUTPUT,
.output_type = GPIO_OUTPUT_PUSH_PULL,
.pull = GPIO_PULL_NONE,
.speed = GPIO_SPEED_HIGH
};
/* Configure each LED */
for (int i = 0; i < LED_COUNT; i++) {
led_config.port = 0;
led_config.pin = i;
gpio_init(&led_config);
}
/* Turn off all LEDs */
for (int i = 0; i < LED_COUNT; i++) {
board_led_off(i);
}
}
/* ============================================================================
* UART Initialization
* ============================================================================ */
void board_uart_init(void) {
/* Configure debug UART */
UartConfig_t uart_config = {
.baudrate = board_config.uart_baudrate,
.data_bits = UART_DATA_BITS_8,
.stop_bits = UART_STOP_BITS_1,
.parity = UART_PARITY_NONE,
.flow_control = UART_FLOW_CONTROL_NONE,
.enable_rx = true,
.enable_tx = true,
.use_dma = false
};
uart_init(0, &uart_config);
}
/* ============================================================================
* CAN Initialization
* ============================================================================ */
void board_can_init(void) {
/* Configure main CAN interface */
CanConfig_t can_config = {
.nominal_baudrate = board_config.can_baudrate,
.data_baudrate = board_config.can_baudrate,
.frame_type = CAN_FRAME_CLASSIC,
.enable_fd = board_config.can_fd_enabled,
.enable_automatic_retransmission = true,
.filter_count = 0
};
can_init(0, &can_config);
}
/* ============================================================================
* SPI Initialization
* ============================================================================ */
void board_spi_init(void) {
/* Configure SPI for external devices */
SpiConfig_t spi_config = {
.mode = SPI_MODE_0,
.clock_speed = SPI_CLOCK_8MHZ,
.data_order = SPI_DATA_ORDER_MSB_FIRST,
.data_size = 8,
.use_dma = true,
.enable_hardware_cs = false,
.cs_polarity = SPI_CS_ACTIVE_LOW,
.cs_port = 0,
.cs_pin = 10
};
spi_init(0, &spi_config);
}
/* ============================================================================
* I2C Initialization
* ============================================================================ */
void board_i2c_init(void) {
/* Configure I2C for sensors */
I2cConfig_t i2c_config = {
.speed = I2C_SPEED_FAST,
.addressing_mode = I2C_ADDRESSING_7BIT,
.own_address = 0x50,
.enable_general_call = false,
.enable_clock_stretching = true,
.use_dma = false
};
i2c_init(0, &i2c_config);
}
/* ============================================================================
* ADC Initialization
* ============================================================================ */
void board_adc_init(void) {
/* Configure ADC for analog inputs */
AdcConfig_t adc_config = {
.resolution = ADC_RESOLUTION_12BIT,
.mode = ADC_MODE_SCAN,
.trigger_source = ADC_TRIGGER_TIMER,
.reference = ADC_REFERENCE_VDD,
.enable_dma = true,
.conversion_frequency = 1000,
.channel_count = 8,
.channels = {
{.channel = 0, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 1, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 2, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 3, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 4, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 5, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 6, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 7, .sampling_time = ADC_SAMPLING_28_5_CYCLES}
}
};
adc_init(0, &adc_config);
}
/* ============================================================================
* PWM Initialization
* ============================================================================ */
void board_pwm_init(void) {
/* Configure PWM outputs */
PwmConfig_t pwm_config = {
.frequency_hz = 1000,
.alignment = PWM_ALIGNMENT_EDGE,
.period_ticks = 1000,
.prescaler = 100,
.channel_count = 4,
.channels = {
{.channel = 0, .duty_cycle = 0},
{.channel = 1, .duty_cycle = 0},
{.channel = 2, .duty_cycle = 0},
{.channel = 3, .duty_cycle = 0}
},
.enable_fault_protection = true,
.fault_action = PWM_FAULT_DISABLE
};
pwm_init(0, &pwm_config);
}
/* ============================================================================
* Watchdog Initialization
* ============================================================================ */
void board_watchdog_init(void) {
/* Custom watchdog initialization */
}
void board_watchdog_service(void) {
/* Custom watchdog service */
}
/* ============================================================================
* LED Functions
* ============================================================================ */
void board_led_on(uint8_t led) {
if (led < LED_COUNT) {
gpio_write(0, led, true);
}
}
void board_led_off(uint8_t led) {
if (led < LED_COUNT) {
gpio_write(0, led, false);
}
}
void board_led_toggle(uint8_t led) {
if (led < LED_COUNT) {
gpio_toggle(0, led);
}
}
/* ============================================================================
* Button Functions
* ============================================================================ */
bool board_button_read(uint8_t button) {
/* Custom button implementation */
return false;
}
/* ============================================================================
* Delay Functions
* ============================================================================ */
void board_delay_ms(uint32_t ms) {
kernel_delay(ms);
}
void board_delay_us(uint32_t us) {
/* Custom microsecond delay */
}
/* ============================================================================
* Sensor Functions
* ============================================================================ */
float board_get_temperature(void) {
/* Custom temperature sensor reading */
return 25.0f;
}
float board_get_voltage(void) {
/* Custom voltage reading */
return 3.3f;
}
board/custom_ecu/linker_script.ld
+133
View File
@@ -0,0 +1,133 @@
/**
* @file linker_script.ld
* @brief Linker script for Custom ECU
*/
ENTRY(Reset_Handler)
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 2048K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 512K
EEPROM (rw) : ORIGIN = 0x08080000, LENGTH = 16K
}
_estack = ORIGIN(RAM) + LENGTH(RAM);
_min_stack_size = 0x800;
_min_heap_size = 0x400;
SECTIONS
{
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector))
. = ALIGN(4);
} >FLASH
.text :
{
. = ALIGN(4);
*(.text)
*(.text*)
KEEP(*(.init))
KEEP(*(.fini))
. = ALIGN(4);
_etext = .;
} >FLASH
.rodata :
{
. = ALIGN(4);
*(.rodata)
*(.rodata*)
. = ALIGN(4);
} >FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} >FLASH
.ARM :
{
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN(__preinit_array_start = .);
KEEP(*(.preinit_array*))
PROVIDE_HIDDEN(__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN(__init_array_start = .);
KEEP(*(SORT(.init_array.*)))
KEEP(*(.init_array*))
PROVIDE_HIDDEN(__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN(__fini_array_start = .);
KEEP(*(SORT(.fini_array.*)))
KEEP(*(.fini_array*))
PROVIDE_HIDDEN(__fini_array_end = .);
} >FLASH
_sidata = LOADADDR(.data);
.data :
{
. = ALIGN(4);
_sdata = .;
*(.data)
*(.data*)
. = ALIGN(4);
_edata = .;
} >RAM AT> FLASH
.bss :
{
. = ALIGN(4);
_sbss = .;
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .;
__bss_end__ = _ebss;
} >RAM
.eeprom :
{
. = ALIGN(4);
*(.eeprom)
*(.eeprom*)
. = ALIGN(4);
} >EEPROM
._user_heap_stack :
{
. = ALIGN(8);
PROVIDE(end = .);
PROVIDE(_end = .);
. = . + _min_heap_size;
. = . + _min_stack_size;
. = ALIGN(8);
} >RAM
/DISCARD/ :
{
libc.a(*)
libm.a(*)
libgcc.a(*)
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}
board/nxp_s32k144_evb/board.h
+203
View File
@@ -0,0 +1,203 @@
/**
* @file board.h
* @brief NXP S32K144 EVB board definitions
*/
#ifndef BOARD_H
#define BOARD_H
#include <stdint.h>
#include <stdbool.h>
#include "S32K144.h"
/* ============================================================================
* Board Identification
* ============================================================================ */
#define BOARD_NAME "S32K144EVB-Q100"
#define BOARD_MANUFACTURER "NXP Semiconductors"
#define BOARD_VERSION "1.0"
#define BOARD_MCU "S32K144"
/* ============================================================================
* Clock Configuration
* ============================================================================ */
#define SOSC_FREQUENCY 8000000U /* System oscillator */
#define SPLL_FREQUENCY 160000000U /* System PLL */
#define FIRC_FREQUENCY 48000000U /* Fast IRC */
#define SIRC_FREQUENCY 8000000U /* Slow IRC */
#define SYSTEM_CLOCK 160000000U /* 160 MHz */
#define BUS_CLOCK 40000000U /* 40 MHz */
#define FLASH_CLOCK 20000000U /* 20 MHz */
/* PLL Configuration */
#define PLL_MULT 20
#define PLL_DIV 1
/* ============================================================================
* LED Definitions
* ============================================================================ */
#define LED_COUNT 3
#define LED_RED_PORT PTC
#define LED_RED_PIN 0
#define LED_RED_INDEX 0
#define LED_GREEN_PORT PTC
#define LED_GREEN_PIN 1
#define LED_GREEN_INDEX 1
#define LED_BLUE_PORT PTC
#define LED_BLUE_PIN 2
#define LED_BLUE_INDEX 2
/* LED Active Level */
#define LED_ACTIVE_LEVEL 0 /* Active low */
/* ============================================================================
* Button Definitions
* ============================================================================ */
#define BUTTON_COUNT 2
#define BUTTON1_PORT PTC
#define BUTTON1_PIN 3
#define BUTTON1_INDEX 0
#define BUTTON2_PORT PTC
#define BUTTON2_PIN 4
#define BUTTON2_INDEX 1
/* Button Active Level */
#define BUTTON_ACTIVE_LEVEL 0 /* Active low */
/* ============================================================================
* UART Definitions
* ============================================================================ */
#define UART0_INSTANCE 0
#define UART0_BAUDRATE 115200
#define UART0_TX_PORT PTA
#define UART0_TX_PIN 2
#define UART0_TX_MUX 2
#define UART0_RX_PORT PTA
#define UART0_RX_PIN 3
#define UART0_RX_MUX 2
#define UART1_INSTANCE 1
#define UART1_BAUDRATE 115200
#define UART1_TX_PORT PTC
#define UART1_TX_PIN 7
#define UART1_TX_MUX 2
#define UART1_RX_PORT PTC
#define UART1_RX_PIN 6
#define UART1_RX_MUX 2
/* ============================================================================
* CAN Definitions
* ============================================================================ */
#define CAN0_INSTANCE 0
#define CAN0_BAUDRATE 500000
#define CAN0_TX_PORT PTE
#define CAN0_TX_PIN 5
#define CAN0_TX_MUX 5
#define CAN0_RX_PORT PTE
#define CAN0_RX_PIN 4
#define CAN0_RX_MUX 5
#define CAN1_INSTANCE 1
#define CAN1_BAUDRATE 500000
#define CAN1_TX_PORT PTC
#define CAN1_TX_PIN 17
#define CAN1_TX_MUX 2
#define CAN1_RX_PORT PTC
#define CAN1_RX_PIN 16
#define CAN1_RX_MUX 2
/* ============================================================================
* SPI Definitions
* ============================================================================ */
#define SPI0_INSTANCE 0
#define SPI0_SCK_PORT PTA
#define SPI0_SCK_PIN 6
#define SPI0_SCK_MUX 2
#define SPI0_MISO_PORT PTA
#define SPI0_MISO_PIN 7
#define SPI0_MISO_MUX 2
#define SPI0_MOSI_PORT PTA
#define SPI0_MOSI_PIN 8
#define SPI0_MOSI_MUX 2
/* ============================================================================
* I2C Definitions
* ============================================================================ */
#define I2C0_INSTANCE 0
#define I2C0_SCL_PORT PTA
#define I2C0_SCL_PIN 9
#define I2C0_SCL_MUX 3
#define I2C0_SDA_PORT PTA
#define I2C0_SDA_PIN 10
#define I2C0_SDA_MUX 3
/* ============================================================================
* ADC Definitions
* ============================================================================ */
#define ADC0_INSTANCE 0
#define ADC0_CHANNEL_COUNT 8
#define ADC0_CH0_PORT PTA
#define ADC0_CH0_PIN 0
#define ADC0_CH0_MUX 0
#define ADC0_CH1_PORT PTA
#define ADC0_CH1_PIN 1
#define ADC0_CH1_MUX 0
/* ============================================================================
* PWM Definitions
* ============================================================================ */
#define PWM_INSTANCE 0
#define PWM_TIMER FTM0
#define PWM_TIMER_CHANNEL_COUNT 4
#define PWM_TIMER_FREQUENCY 10000
#define PWM_TIMER_PRESCALER 4
#define PWM_CH0_PORT PTC
#define PWM_CH0_PIN 1
#define PWM_CH0_MUX 4
#define PWM_CH1_PORT PTC
#define PWM_CH1_PIN 2
#define PWM_CH1_MUX 4
#define PWM_CH2_PORT PTC
#define PWM_CH2_PIN 3
#define PWM_CH2_MUX 4
#define PWM_CH3_PORT PTC
#define PWM_CH3_PIN 4
#define PWM_CH3_MUX 4
/* ============================================================================
* Watchdog Configuration
* ============================================================================ */
#define WATCHDOG_TIMEOUT_MS 100
#define WATCHDOG_WINDOW_MS 50
/* ============================================================================
* Board Functions
* ============================================================================ */
void board_init(void);
void board_clock_init(void);
void board_gpio_init(void);
void board_uart_init(void);
void board_can_init(void);
void board_spi_init(void);
void board_i2c_init(void);
void board_adc_init(void);
void board_pwm_init(void);
void board_watchdog_init(void);
void board_watchdog_service(void);
void board_led_on(uint8_t led);
void board_led_off(uint8_t led);
void board_led_toggle(uint8_t led);
bool board_button_read(uint8_t button);
void board_delay_ms(uint32_t ms);
void board_delay_us(uint32_t us);
float board_get_temperature(void);
float board_get_voltage(void);
#endif /* BOARD_H */
board/nxp_s32k144_evb/board_init.c
+371
View File
@@ -0,0 +1,371 @@
/**
* @file board_init.c
* @brief NXP S32K144 EVB board initialization
*/
#include "board.h"
#include "kernel.h"
#include "gpio_driver.h"
#include "uart_driver.h"
#include "can_driver.h"
#include "spi_driver.h"
#include "i2c_driver.h"
#include "adc_driver.h"
#include "pwm_driver.h"
#include <string.h>
static bool board_initialized = false;
/* ============================================================================
* Board Initialization
* ============================================================================ */
void board_init(void) {
if (board_initialized) {
return;
}
/* Initialize clock */
board_clock_init();
/* Initialize GPIO */
board_gpio_init();
/* Initialize UART */
board_uart_init();
/* Initialize CAN */
board_can_init();
/* Initialize SPI */
board_spi_init();
/* Initialize I2C */
board_i2c_init();
/* Initialize ADC */
board_adc_init();
/* Initialize PWM */
board_pwm_init();
/* Initialize watchdog */
board_watchdog_init();
board_initialized = true;
}
/* ============================================================================
* Clock Initialization
* ============================================================================ */
void board_clock_init(void) {
/* Configure system PLL */
SCG->SPLLCSR = 0; /* Reset SPLL */
SCG->SPLLDIV = SCG_SPLLDIV_SPLLDIV1(1) | SCG_SPLLDIV_SPLLDIV2(1);
SCG->SPLLCFG = SCG_SPLLCFG_MULT(20); /* 8MHz * 20 = 160MHz */
/* Enable SPLL */
SCG->SPLLCSR |= SCG_SPLLCSR_SPLLEN_MASK;
/* Wait for PLL lock */
while (!(SCG->SPLLCSR & SCG_SPLLCSR_SPLLVLD_MASK));
/* Switch to SPLL */
SCG->RCCR = SCG_RCCR_DIVCORE(1) |
SCG_RCCR_DIVBUS(4) | /* 160/4 = 40MHz */
SCG_RCCR_DIVSLOW(8) | /* 160/8 = 20MHz */
SCG_RCCR_SCS(6); /* SPLL */
/* Wait for clock switch */
while ((SCG->CSR & SCG_CSR_SCS_MASK) != SCG_CSR_SCS(6));
/* Update SystemCoreClock */
SystemCoreClock = SYSTEM_CLOCK;
}
/* ============================================================================
* GPIO Initialization
* ============================================================================ */
void board_gpio_init(void) {
/* Enable GPIO clocks */
PCC->PCCn[PCC_PORTA_INDEX] |= PCC_PCCn_CGC_MASK;
PCC->PCCn[PCC_PORTB_INDEX] |= PCC_PCCn_CGC_MASK;
PCC->PCCn[PCC_PORTC_INDEX] |= PCC_PCCn_CGC_MASK;
PCC->PCCn[PCC_PORTD_INDEX] |= PCC_PCCn_CGC_MASK;
PCC->PCCn[PCC_PORTE_INDEX] |= PCC_PCCn_CGC_MASK;
/* Configure LEDs */
GpioPinConfig_t led_config = {
.mode = GPIO_MODE_OUTPUT,
.output_type = GPIO_OUTPUT_PUSH_PULL,
.pull = GPIO_PULL_NONE,
.speed = GPIO_SPEED_HIGH
};
led_config.port = 2; /* PTC */
led_config.pin = 0;
gpio_init(&led_config);
led_config.pin = 1;
gpio_init(&led_config);
led_config.pin = 2;
gpio_init(&led_config);
/* Configure buttons */
GpioPinConfig_t button_config = {
.port = 2, /* PTC */
.pin = 3,
.mode = GPIO_MODE_INPUT,
.pull = GPIO_PULL_UP
};
gpio_init(&button_config);
button_config.pin = 4;
gpio_init(&button_config);
/* Turn off all LEDs */
board_led_off(0);
board_led_off(1);
board_led_off(2);
}
/* ============================================================================
* UART Initialization
* ============================================================================ */
void board_uart_init(void) {
/* Configure UART0 */
UartConfig_t uart_config = {
.baudrate = UART0_BAUDRATE,
.data_bits = UART_DATA_BITS_8,
.stop_bits = UART_STOP_BITS_1,
.parity = UART_PARITY_NONE,
.flow_control = UART_FLOW_CONTROL_NONE,
.enable_rx = true,
.enable_tx = true,
.use_dma = false
};
uart_init(UART0_INSTANCE, &uart_config);
}
/* ============================================================================
* CAN Initialization
* ============================================================================ */
void board_can_init(void) {
/* Configure CAN0 */
CanConfig_t can_config = {
.nominal_baudrate = CAN0_BAUDRATE,
.data_baudrate = CAN0_BAUDRATE,
.frame_type = CAN_FRAME_CLASSIC,
.enable_fd = true, /* S32K144 supports CAN FD */
.enable_automatic_retransmission = true,
.filter_count = 0
};
can_init(CAN0_INSTANCE, &can_config);
}
/* ============================================================================
* SPI Initialization
* ============================================================================ */
void board_spi_init(void) {
/* Configure SPI0 */
SpiConfig_t spi_config = {
.mode = SPI_MODE_0,
.clock_speed = SPI_CLOCK_8MHZ,
.data_order = SPI_DATA_ORDER_MSB_FIRST,
.data_size = 8,
.use_dma = false,
.enable_hardware_cs = false,
.cs_polarity = SPI_CS_ACTIVE_LOW,
.cs_port = 1,
.cs_pin = 0
};
spi_init(SPI0_INSTANCE, &spi_config);
}
/* ============================================================================
* I2C Initialization
* ============================================================================ */
void board_i2c_init(void) {
/* Configure I2C0 */
I2cConfig_t i2c_config = {
.speed = I2C_SPEED_FAST,
.addressing_mode = I2C_ADDRESSING_7BIT,
.own_address = 0x50,
.enable_general_call = false,
.enable_clock_stretching = true,
.use_dma = false
};
i2c_init(I2C0_INSTANCE, &i2c_config);
}
/* ============================================================================
* ADC Initialization
* ============================================================================ */
void board_adc_init(void) {
/* Configure ADC0 */
AdcConfig_t adc_config = {
.resolution = ADC_RESOLUTION_12BIT,
.mode = ADC_MODE_SCAN,
.trigger_source = ADC_TRIGGER_SOFTWARE,
.reference = ADC_REFERENCE_VDD,
.enable_dma = false,
.conversion_frequency = 1000,
.channel_count = 8,
.channels = {
{.channel = 0, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
{.channel = 1, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
{.channel = 2, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
{.channel = 3, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
{.channel = 4, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
{.channel = 5, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
{.channel = 6, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
{.channel = 7, .sampling_time = ADC_SAMPLING_13_5_CYCLES}
}
};
adc_init(ADC0_INSTANCE, &adc_config);
}
/* ============================================================================
* PWM Initialization
* ============================================================================ */
void board_pwm_init(void) {
/* Configure PWM */
PwmConfig_t pwm_config = {
.frequency_hz = PWM_TIMER_FREQUENCY,
.alignment = PWM_ALIGNMENT_EDGE,
.period_ticks = 10000,
.prescaler = PWM_TIMER_PRESCALER,
.channel_count = 4,
.channels = {
{.channel = 0, .duty_cycle = 0},
{.channel = 1, .duty_cycle = 0},
{.channel = 2, .duty_cycle = 0},
{.channel = 3, .duty_cycle = 0}
},
.enable_fault_protection = true,
.fault_action = PWM_FAULT_DISABLE
};
pwm_init(PWM_INSTANCE, &pwm_config);
}
/* ============================================================================
* Watchdog Initialization
* ============================================================================ */
void board_watchdog_init(void) {
/* Configure WDOG */
WDOG->CNT = 0x1000; /* Timeout value */
WDOG->TOVAL = 0x1000;
WDOG->CS = WDOG_CS_EN_MASK |
WDOG_CS_CLK(1) |
WDOG_CS_WIN_MASK |
WDOG_CS_UPDATE_MASK;
}
void board_watchdog_service(void) {
/* Service WDOG */
WDOG->CNT = 0xB480;
WDOG->CNT = 0x4B80;
}
/* ============================================================================
* LED Functions
* ============================================================================ */
void board_led_on(uint8_t led) {
switch (led) {
case 0:
gpio_write(2, 0, false); /* Active low */
break;
case 1:
gpio_write(2, 1, false);
break;
case 2:
gpio_write(2, 2, false);
break;
}
}
void board_led_off(uint8_t led) {
switch (led) {
case 0:
gpio_write(2, 0, true);
break;
case 1:
gpio_write(2, 1, true);
break;
case 2:
gpio_write(2, 2, true);
break;
}
}
void board_led_toggle(uint8_t led) {
switch (led) {
case 0:
gpio_toggle(2, 0);
break;
case 1:
gpio_toggle(2, 1);
break;
case 2:
gpio_toggle(2, 2);
break;
}
}
/* ============================================================================
* Button Functions
* ============================================================================ */
bool board_button_read(uint8_t button) {
switch (button) {
case 0:
return !gpio_read(2, 3); /* Active low */
case 1:
return !gpio_read(2, 4);
default:
return false;
}
}
/* ============================================================================
* Delay Functions
* ============================================================================ */
void board_delay_ms(uint32_t ms) {
kernel_delay(ms);
}
void board_delay_us(uint32_t us) {
uint32_t count = us * (SystemCoreClock / 1000000) / 5;
while (count--) {
__NOP();
}
}
/* ============================================================================
* Sensor Functions
* ============================================================================ */
float board_get_temperature(void) {
/* Read internal temperature sensor */
uint16_t adc_value = 0;
adc_read_channel(ADC0_INSTANCE, 26, &adc_value, 10); /* Internal temp sensor */
/* Convert to temperature (S32K144 specific formula) */
float voltage = adc_convert_to_voltage(adc_value, ADC_RESOLUTION_12BIT, 3.3f);
float temperature = 25.0f - ((voltage - 0.716f) / 0.00162f);
return temperature;
}
float board_get_voltage(void) {
/* Read bandgap reference */
uint16_t adc_value = 0;
adc_read_channel(ADC0_INSTANCE, 27, &adc_value, 10); /* Bandgap */
float voltage = adc_convert_to_voltage(adc_value, ADC_RESOLUTION_12BIT, 3.3f);
return voltage;
}
board/nxp_s32k144_evb/linker_script.ld
+141
View File
@@ -0,0 +1,141 @@
/**
* @file linker_script.ld
* @brief Linker script for NXP S32K144
*/
ENTRY(Reset_Handler)
MEMORY
{
FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 512K
SRAM_L (rwx) : ORIGIN = 0x1FFF8000, LENGTH = 32K
SRAM_U (rwx) : ORIGIN = 0x20000000, LENGTH = 28K
}
_estack = ORIGIN(SRAM_U) + LENGTH(SRAM_U);
_min_stack_size = 0x400;
_min_heap_size = 0x200;
SECTIONS
{
/* Interrupt Vector Table */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector))
. = ALIGN(4);
} >FLASH
/* Program Code */
.text :
{
. = ALIGN(4);
*(.text)
*(.text*)
*(.glue_7)
*(.glue_7t)
*(.eh_frame)
KEEP(*(.init))
KEEP(*(.fini))
. = ALIGN(4);
_etext = .;
} >FLASH
/* Constant Data */
.rodata :
{
. = ALIGN(4);
*(.rodata)
*(.rodata*)
. = ALIGN(4);
} >FLASH
/* ARM Extensions */
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} >FLASH
.ARM :
{
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
/* Initialization Arrays */
.preinit_array :
{
PROVIDE_HIDDEN(__preinit_array_start = .);
KEEP(*(.preinit_array*))
PROVIDE_HIDDEN(__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN(__init_array_start = .);
KEEP(*(SORT(.init_array.*)))
KEEP(*(.init_array*))
PROVIDE_HIDDEN(__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN(__fini_array_start = .);
KEEP(*(SORT(.fini_array.*)))
KEEP(*(.fini_array*))
PROVIDE_HIDDEN(__fini_array_end = .);
} >FLASH
/* Data Sections */
_sidata = LOADADDR(.data);
.data :
{
. = ALIGN(4);
_sdata = .;
*(.data)
*(.data*)
. = ALIGN(4);
_edata = .;
} >SRAM_L AT> FLASH
/* BSS Section */
.bss :
{
. = ALIGN(4);
_sbss = .;
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .;
__bss_end__ = _ebss;
} >SRAM_L
/* Heap and Stack */
._user_heap_stack :
{
. = ALIGN(8);
PROVIDE(end = .);
PROVIDE(_end = .);
. = . + _min_heap_size;
. = . + _min_stack_size;
. = ALIGN(8);
} >SRAM_U
/* Discard */
/DISCARD/ :
{
libc.a(*)
libm.a(*)
libgcc.a(*)
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}
board/stm32f407_discovery/board.h
+227
View File
@@ -0,0 +1,227 @@
/**
* @file board.h
* @brief STM32F407 Discovery board definitions
*/
#ifndef BOARD_H
#define BOARD_H
#include <stdint.h>
#include <stdbool.h>
#include "stm32f4xx.h"
/* ============================================================================
* Board Identification
* ============================================================================ */
#define BOARD_NAME "STM32F407G-DISC1"
#define BOARD_MANUFACTURER "STMicroelectronics"
#define BOARD_VERSION "1.0"
#define BOARD_MCU "STM32F407VG"
/* ============================================================================
* Clock Configuration
* ============================================================================ */
#define HSE_VALUE 8000000U /* External crystal */
#define HSI_VALUE 16000000U /* Internal oscillator */
#define LSE_VALUE 32768U /* Low speed external */
#define LSI_VALUE 32000U /* Low speed internal */
#define SYSTEM_CLOCK 168000000U /* 168 MHz */
#define AHB_CLOCK 168000000U
#define APB1_CLOCK 42000000U
#define APB2_CLOCK 84000000U
#define USB_CLOCK 48000000U
/* PLL Configuration */
#define PLL_M 8
#define PLL_N 336
#define PLL_P 2
#define PLL_Q 7
/* ============================================================================
* LED Definitions
* ============================================================================ */
#define LED_COUNT 4
#define LED1_PORT GPIOD
#define LED1_PIN GPIO_PIN_12
#define LED1_CLOCK __HAL_RCC_GPIOD_CLK_ENABLE()
#define LED2_PORT GPIOD
#define LED2_PIN GPIO_PIN_13
#define LED2_CLOCK __HAL_RCC_GPIOD_CLK_ENABLE()
#define LED3_PORT GPIOD
#define LED3_PIN GPIO_PIN_14
#define LED3_CLOCK __HAL_RCC_GPIOD_CLK_ENABLE()
#define LED4_PORT GPIOD
#define LED4_PIN GPIO_PIN_15
#define LED4_CLOCK __HAL_RCC_GPIOD_CLK_ENABLE()
/* LED Active Level */
#define LED_ACTIVE_LEVEL GPIO_PIN_SET
/* ============================================================================
* Button Definitions
* ============================================================================ */
#define BUTTON_COUNT 1
#define BUTTON1_PORT GPIOA
#define BUTTON1_PIN GPIO_PIN_0
#define BUTTON1_CLOCK __HAL_RCC_GPIOA_CLK_ENABLE()
#define BUTTON1_EXTI_IRQ EXTI0_IRQn
/* Button Active Level */
#define BUTTON_ACTIVE_LEVEL GPIO_PIN_SET
/* ============================================================================
* UART Definitions
* ============================================================================ */
#define UART1_INSTANCE 0
#define UART1_BAUDRATE 115200
#define UART1_WORDLENGTH UART_WORDLENGTH_8B
#define UART1_STOPBITS UART_STOPBITS_1
#define UART1_PARITY UART_PARITY_NONE
#define UART1_HWFLOWCTL UART_HWCONTROL_NONE
#define UART1_TX_PORT GPIOA
#define UART1_TX_PIN GPIO_PIN_9
#define UART1_TX_AF GPIO_AF7_USART1
#define UART1_RX_PORT GPIOA
#define UART1_RX_PIN GPIO_PIN_10
#define UART1_RX_AF GPIO_AF7_USART1
#define UART1_CLOCK_ENABLE() __HAL_RCC_USART1_CLK_ENABLE()
#define UART1_GPIO_CLOCK_ENABLE() __HAL_RCC_GPIOA_CLK_ENABLE()
#define UART2_INSTANCE 1
#define UART2_BAUDRATE 115200
#define UART2_TX_PORT GPIOA
#define UART2_TX_PIN GPIO_PIN_2
#define UART2_TX_AF GPIO_AF7_USART2
#define UART2_RX_PORT GPIOA
#define UART2_RX_PIN GPIO_PIN_3
#define UART2_RX_AF GPIO_AF7_USART2
#define UART2_CLOCK_ENABLE() __HAL_RCC_USART2_CLK_ENABLE()
/* ============================================================================
* CAN Definitions
* ============================================================================ */
#define CAN1_INSTANCE 0
#define CAN1_BAUDRATE 500000
#define CAN1_TX_PORT GPIOB
#define CAN1_TX_PIN GPIO_PIN_9
#define CAN1_TX_AF GPIO_AF9_CAN1
#define CAN1_RX_PORT GPIOB
#define CAN1_RX_PIN GPIO_PIN_8
#define CAN1_RX_AF GPIO_AF9_CAN1
#define CAN1_CLOCK_ENABLE() __HAL_RCC_CAN1_CLK_ENABLE()
#define CAN1_GPIO_CLOCK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
#define CAN2_INSTANCE 1
#define CAN2_BAUDRATE 500000
#define CAN2_TX_PORT GPIOB
#define CAN2_TX_PIN GPIO_PIN_13
#define CAN2_TX_AF GPIO_AF9_CAN2
#define CAN2_RX_PORT GPIOB
#define CAN2_RX_PIN GPIO_PIN_12
#define CAN2_RX_AF GPIO_AF9_CAN2
#define CAN2_CLOCK_ENABLE() __HAL_RCC_CAN2_CLK_ENABLE()
/* ============================================================================
* SPI Definitions
* ============================================================================ */
#define SPI1_INSTANCE 0
#define SPI1_SCK_PORT GPIOA
#define SPI1_SCK_PIN GPIO_PIN_5
#define SPI1_SCK_AF GPIO_AF5_SPI1
#define SPI1_MISO_PORT GPIOA
#define SPI1_MISO_PIN GPIO_PIN_6
#define SPI1_MISO_AF GPIO_AF5_SPI1
#define SPI1_MOSI_PORT GPIOA
#define SPI1_MOSI_PIN GPIO_PIN_7
#define SPI1_MOSI_AF GPIO_AF5_SPI1
#define SPI1_CLOCK_ENABLE() __HAL_RCC_SPI1_CLK_ENABLE()
/* ============================================================================
* I2C Definitions
* ============================================================================ */
#define I2C1_INSTANCE 0
#define I2C1_SCL_PORT GPIOB
#define I2C1_SCL_PIN GPIO_PIN_6
#define I2C1_SCL_AF GPIO_AF4_I2C1
#define I2C1_SDA_PORT GPIOB
#define I2C1_SDA_PIN GPIO_PIN_7
#define I2C1_SDA_AF GPIO_AF4_I2C1
#define I2C1_CLOCK_ENABLE() __HAL_RCC_I2C1_CLK_ENABLE()
/* ============================================================================
* ADC Definitions
* ============================================================================ */
#define ADC1_INSTANCE 0
#define ADC1_CHANNEL_COUNT 6
#define ADC1_CH0_PORT GPIOA
#define ADC1_CH0_PIN GPIO_PIN_0
#define ADC1_CH1_PORT GPIOA
#define ADC1_CH1_PIN GPIO_PIN_1
#define ADC1_CH2_PORT GPIOA
#define ADC1_CH2_PIN GPIO_PIN_2
#define ADC1_CH3_PORT GPIOA
#define ADC1_CH3_PIN GPIO_PIN_3
#define ADC1_CLOCK_ENABLE() __HAL_RCC_ADC1_CLK_ENABLE()
/* ============================================================================
* PWM/Timer Definitions
* ============================================================================ */
#define PWM_TIMER_INSTANCE 0
#define PWM_TIMER TIM1
#define PWM_TIMER_CLOCK_ENABLE() __HAL_RCC_TIM1_CLK_ENABLE()
#define PWM_TIMER_CHANNEL_COUNT 4
#define PWM_TIMER_PRESCALER 168 /* 1 MHz */
#define PWM_TIMER_PERIOD 1000 /* 1 kHz */
#define PWM_TIMER_IRQ TIM1_UP_TIM10_IRQn
#define PWM_CH1_PORT GPIOA
#define PWM_CH1_PIN GPIO_PIN_8
#define PWM_CH1_AF GPIO_AF1_TIM1
#define PWM_CH2_PORT GPIOA
#define PWM_CH2_PIN GPIO_PIN_9
#define PWM_CH2_AF GPIO_AF1_TIM1
#define PWM_CH3_PORT GPIOA
#define PWM_CH3_PIN GPIO_PIN_10
#define PWM_CH3_AF GPIO_AF1_TIM1
#define PWM_CH4_PORT GPIOA
#define PWM_CH4_PIN GPIO_PIN_11
#define PWM_CH4_AF GPIO_AF1_TIM1
/* ============================================================================
* Watchdog Configuration
* ============================================================================ */
#define WATCHDOG_INSTANCE 0
#define WATCHDOG_TIMEOUT_MS 100
#define WATCHDOG_WINDOW_MS 50
/* ============================================================================
* Board Functions
* ============================================================================ */
void board_init(void);
void board_clock_init(void);
void board_gpio_init(void);
void board_uart_init(void);
void board_can_init(void);
void board_spi_init(void);
void board_i2c_init(void);
void board_adc_init(void);
void board_pwm_init(void);
void board_watchdog_init(void);
void board_watchdog_service(void);
void board_led_on(uint8_t led);
void board_led_off(uint8_t led);
void board_led_toggle(uint8_t led);
bool board_button_read(uint8_t button);
void board_delay_ms(uint32_t ms);
void board_delay_us(uint32_t us);
float board_get_temperature(void);
float board_get_voltage(void);
#endif /* BOARD_H */
board/stm32f407_discovery/board_init.c
+388
View File
@@ -0,0 +1,388 @@
/**
* @file board_init.c
* @brief STM32F407 Discovery board initialization
*/
#include "board.h"
#include "kernel.h"
#include "gpio_driver.h"
#include "uart_driver.h"
#include "can_driver.h"
#include "spi_driver.h"
#include "i2c_driver.h"
#include "adc_driver.h"
#include "pwm_driver.h"
#include <string.h>
/* Board state */
static bool board_initialized = false;
/* ============================================================================
* Board Initialization
* ============================================================================ */
void board_init(void) {
if (board_initialized) {
return;
}
/* Initialize clock */
board_clock_init();
/* Initialize GPIO */
board_gpio_init();
/* Initialize UART */
board_uart_init();
/* Initialize CAN */
board_can_init();
/* Initialize SPI */
board_spi_init();
/* Initialize I2C */
board_i2c_init();
/* Initialize ADC */
board_adc_init();
/* Initialize PWM */
board_pwm_init();
/* Initialize watchdog */
board_watchdog_init();
board_initialized = true;
}
/* ============================================================================
* Clock Initialization
* ============================================================================ */
void board_clock_init(void) {
/* Reset RCC */
RCC->CR |= RCC_CR_HSION;
while (!(RCC->CR & RCC_CR_HSIRDY));
/* Configure PLL */
RCC->PLLCFGR = (PLL_M << RCC_PLLCFGR_PLLM_Pos) |
(PLL_N << RCC_PLLCFGR_PLLN_Pos) |
(((PLL_P >> 1) - 1) << RCC_PLLCFGR_PLLP_Pos) |
(PLL_Q << RCC_PLLCFGR_PLLQ_Pos);
/* Enable PLL */
RCC->CR |= RCC_CR_PLLON;
while (!(RCC->CR & RCC_CR_PLLRDY));
/* Configure flash latency */
FLASH->ACR = FLASH_ACR_LATENCY_5WS | FLASH_ACR_PRFTEN | FLASH_ACR_ICEN | FLASH_ACR_DCEN;
/* Configure AHB, APB1, APB2 prescalers */
RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE1_DIV4 | RCC_CFGR_PPRE2_DIV2;
/* Switch to PLL */
RCC->CFGR |= RCC_CFGR_SW_PLL;
while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
/* Update SystemCoreClock variable */
SystemCoreClockUpdate();
}
/* ============================================================================
* GPIO Initialization
* ============================================================================ */
void board_gpio_init(void) {
/* Enable GPIO clocks */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/* Configure LEDs */
GpioPinConfig_t led_config = {
.mode = GPIO_MODE_OUTPUT,
.output_type = GPIO_OUTPUT_PUSH_PULL,
.pull = GPIO_PULL_NONE,
.speed = GPIO_SPEED_HIGH
};
led_config.port = 3; /* GPIOD */
led_config.pin = 12;
gpio_init(&led_config);
led_config.pin = 13;
gpio_init(&led_config);
led_config.pin = 14;
gpio_init(&led_config);
led_config.pin = 15;
gpio_init(&led_config);
/* Configure button */
GpioPinConfig_t button_config = {
.port = 0, /* GPIOA */
.pin = 0,
.mode = GPIO_MODE_INPUT,
.pull = GPIO_PULL_DOWN
};
gpio_init(&button_config);
/* Turn off all LEDs */
board_led_off(0);
board_led_off(1);
board_led_off(2);
board_led_off(3);
}
/* ============================================================================
* UART Initialization
* ============================================================================ */
void board_uart_init(void) {
/* Configure UART1 */
UartConfig_t uart1_config = {
.baudrate = UART1_BAUDRATE,
.data_bits = UART_DATA_BITS_8,
.stop_bits = UART_STOP_BITS_1,
.parity = UART_PARITY_NONE,
.flow_control = UART_FLOW_CONTROL_NONE,
.enable_rx = true,
.enable_tx = true,
.use_dma = false
};
uart_init(UART1_INSTANCE, &uart1_config);
/* Configure UART2 */
UartConfig_t uart2_config = uart1_config;
uart_init(UART2_INSTANCE, &uart2_config);
}
/* ============================================================================
* CAN Initialization
* ============================================================================ */
void board_can_init(void) {
/* Configure CAN1 */
CanConfig_t can1_config = {
.nominal_baudrate = CAN1_BAUDRATE,
.data_baudrate = CAN1_BAUDRATE,
.frame_type = CAN_FRAME_CLASSIC,
.enable_fd = false,
.enable_automatic_retransmission = true,
.filter_count = 0
};
can_init(&can1_config);
/* Configure CAN2 */
CanConfig_t can2_config = can1_config;
can_init(&can2_config);
}
/* ============================================================================
* SPI Initialization
* ============================================================================ */
void board_spi_init(void) {
/* Configure SPI1 */
SpiConfig_t spi1_config = {
.mode = SPI_MODE_0,
.clock_speed = SPI_CLOCK_8MHZ,
.data_order = SPI_DATA_ORDER_MSB_FIRST,
.data_size = 8,
.use_dma = false,
.enable_hardware_cs = false,
.cs_polarity = SPI_CS_ACTIVE_LOW,
.cs_port = 0,
.cs_pin = 4
};
spi_init(SPI1_INSTANCE, &spi1_config);
}
/* ============================================================================
* I2C Initialization
* ============================================================================ */
void board_i2c_init(void) {
/* Configure I2C1 */
I2cConfig_t i2c1_config = {
.speed = I2C_SPEED_FAST,
.addressing_mode = I2C_ADDRESSING_7BIT,
.own_address = 0x50,
.enable_general_call = false,
.enable_clock_stretching = true,
.use_dma = false
};
i2c_init(I2C1_INSTANCE, &i2c1_config);
}
/* ============================================================================
* ADC Initialization
* ============================================================================ */
void board_adc_init(void) {
/* Configure ADC1 */
AdcConfig_t adc1_config = {
.resolution = ADC_RESOLUTION_12BIT,
.mode = ADC_MODE_SCAN,
.trigger_source = ADC_TRIGGER_TIMER,
.reference = ADC_REFERENCE_VDD,
.enable_dma = false,
.conversion_frequency = 1000,
.channel_count = 6,
.channels = {
{.channel = 0, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 1, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 2, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 3, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 4, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
{.channel = 5, .sampling_time = ADC_SAMPLING_28_5_CYCLES}
}
};
adc_init(ADC1_INSTANCE, &adc1_config);
}
/* ============================================================================
* PWM Initialization
* ============================================================================ */
void board_pwm_init(void) {
/* Configure PWM timer */
PwmConfig_t pwm_config = {
.frequency_hz = 1000,
.alignment = PWM_ALIGNMENT_EDGE,
.period_ticks = 1000,
.prescaler = 168,
.channel_count = 4,
.channels = {
{.channel = 0, .duty_cycle = 0, .polarity = PWM_POLARITY_ACTIVE_HIGH},
{.channel = 1, .duty_cycle = 0, .polarity = PWM_POLARITY_ACTIVE_HIGH},
{.channel = 2, .duty_cycle = 0, .polarity = PWM_POLARITY_ACTIVE_HIGH},
{.channel = 3, .duty_cycle = 0, .polarity = PWM_POLARITY_ACTIVE_HIGH}
},
.enable_fault_protection = true,
.fault_action = PWM_FAULT_DISABLE
};
pwm_init(PWM_TIMER_INSTANCE, &pwm_config);
}
/* ============================================================================
* Watchdog Initialization
* ============================================================================ */
void board_watchdog_init(void) {
/* Enable IWDG */
IWDG->KR = 0x5555; /* Enable write access */
IWDG->PR = 0x06; /* Prescaler: 256 */
IWDG->RLR = 0x0FFF; /* Reload value */
IWDG->KR = 0xCCCC; /* Start watchdog */
}
void board_watchdog_service(void) {
/* Service IWDG */
IWDG->KR = 0xAAAA;
}
/* ============================================================================
* LED Functions
* ============================================================================ */
void board_led_on(uint8_t led) {
switch (led) {
case 0:
gpio_write(3, 12, true);
break;
case 1:
gpio_write(3, 13, true);
break;
case 2:
gpio_write(3, 14, true);
break;
case 3:
gpio_write(3, 15, true);
break;
}
}
void board_led_off(uint8_t led) {
switch (led) {
case 0:
gpio_write(3, 12, false);
break;
case 1:
gpio_write(3, 13, false);
break;
case 2:
gpio_write(3, 14, false);
break;
case 3:
gpio_write(3, 15, false);
break;
}
}
void board_led_toggle(uint8_t led) {
switch (led) {
case 0:
gpio_toggle(3, 12);
break;
case 1:
gpio_toggle(3, 13);
break;
case 2:
gpio_toggle(3, 14);
break;
case 3:
gpio_toggle(3, 15);
break;
}
}
/* ============================================================================
* Button Functions
* ============================================================================ */
bool board_button_read(uint8_t button) {
if (button == 0) {
return gpio_read(0, 0);
}
return false;
}
/* ============================================================================
* Delay Functions
* ============================================================================ */
void board_delay_ms(uint32_t ms) {
kernel_delay(ms);
}
void board_delay_us(uint32_t us) {
/* Simple busy-wait delay */
uint32_t count = us * (SystemCoreClock / 1000000) / 5;
while (count--) {
__NOP();
}
}
/* ============================================================================
* Sensor Functions
* ============================================================================ */
float board_get_temperature(void) {
/* Read internal temperature sensor */
uint16_t adc_value = 0;
adc_read_channel(ADC1_INSTANCE, 16, &adc_value, 10);
/* Convert to temperature */
float voltage = adc_convert_to_voltage(adc_value, ADC_RESOLUTION_12BIT, 3.3f);
float temperature = ((voltage - 0.76f) / 0.0025f) + 25.0f;
return temperature;
}
float board_get_voltage(void) {
/* Read VREFINT */
uint16_t adc_value = 0;
adc_read_channel(ADC1_INSTANCE, 17, &adc_value, 10);
/* Convert to voltage */
float voltage = adc_convert_to_voltage(adc_value, ADC_RESOLUTION_12BIT, 3.3f);
return voltage;
}
board/stm32f407_discovery/linker_script.ld
+160
View File
@@ -0,0 +1,160 @@
/**
* @file linker_script.ld
* @brief Linker script for STM32F407VG
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Memory Map */
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
CCMRAM (rw) : ORIGIN = 0x10000000, LENGTH = 64K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
}
/* Stack Configuration */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* End of RAM */
_min_stack_size = 0x400; /* 1KB minimum stack */
_min_heap_size = 0x200; /* 512B minimum heap */
/* Sections */
SECTIONS
{
/* Interrupt Vector Table */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector))
. = ALIGN(4);
} >FLASH
/* Program Code */
.text :
{
. = ALIGN(4);
*(.text)
*(.text*)
*(.glue_7)
*(.glue_7t)
*(.eh_frame)
KEEP(*(.init))
KEEP(*(.fini))
. = ALIGN(4);
_etext = .;
} >FLASH
/* Constant Data */
.rodata :
{
. = ALIGN(4);
*(.rodata)
*(.rodata*)
. = ALIGN(4);
} >FLASH
/* ARM Extensions */
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} >FLASH
.ARM :
{
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
/* Pre-initialization Array */
.preinit_array :
{
PROVIDE_HIDDEN(__preinit_array_start = .);
KEEP(*(.preinit_array*))
PROVIDE_HIDDEN(__preinit_array_end = .);
} >FLASH
/* Initialization Array */
.init_array :
{
PROVIDE_HIDDEN(__init_array_start = .);
KEEP(*(SORT(.init_array.*)))
KEEP(*(.init_array*))
PROVIDE_HIDDEN(__init_array_end = .);
} >FLASH
/* Finalization Array */
.fini_array :
{
PROVIDE_HIDDEN(__fini_array_start = .);
KEEP(*(SORT(.fini_array.*)))
KEEP(*(.fini_array*))
PROVIDE_HIDDEN(__fini_array_end = .);
} >FLASH
/* Used by startup to initialize data */
_sidata = LOADADDR(.data);
/* Initialized Data */
.data :
{
. = ALIGN(4);
_sdata = .;
*(.data)
*(.data*)
. = ALIGN(4);
_edata = .;
} >RAM AT> FLASH
/* Uninitialized Data */
.bss :
{
. = ALIGN(4);
_sbss = .;
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .;
__bss_end__ = _ebss;
} >RAM
/* CCMRAM Section */
.ccmram :
{
. = ALIGN(4);
_sccmram = .;
*(.ccmram)
*(.ccmram*)
. = ALIGN(4);
_eccmram = .;
} >CCMRAM
/* Heap Section */
._user_heap_stack :
{
. = ALIGN(8);
PROVIDE(end = .);
PROVIDE(_end = .);
. = . + _min_heap_size;
. = . + _min_stack_size;
. = ALIGN(8);
} >RAM
/* Remove information from standard libraries */
/DISCARD/ :
{
libc.a(*)
libm.a(*)
libgcc.a(*)
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}