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.
This commit is contained in:
root
@@ -0,0 +1,67 @@
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/**
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* @file board.h
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* @brief Custom ECU board definitions
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*/
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#ifndef BOARD_H
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#define BOARD_H
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#include <stdint.h>
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#include <stdbool.h>
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/* ============================================================================
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* Board Identification
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* ============================================================================ */
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#define BOARD_NAME "CustomECU-v1.0"
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#define BOARD_MANUFACTURER "Automotive RTOS Team"
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#define BOARD_VERSION "1.0"
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#define BOARD_MCU "Custom"
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/* ============================================================================
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* Clock Configuration
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* ============================================================================ */
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#define SYSTEM_CLOCK 100000000U /* 100 MHz */
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#define PERIPHERAL_CLOCK 50000000U /* 50 MHz */
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#define TIMER_CLOCK 10000000U /* 10 MHz */
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/* ============================================================================
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* LED Definitions
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* ============================================================================ */
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#define LED_COUNT 4
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#define LED_STATUS 0
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#define LED_ERROR 1
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#define LED_CAN_TX 2
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#define LED_CAN_RX 3
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/* ============================================================================
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* Communication Interfaces
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* ============================================================================ */
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#define CAN_INTERFACE_COUNT 2
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#define UART_INTERFACE_COUNT 2
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#define SPI_INTERFACE_COUNT 1
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#define I2C_INTERFACE_COUNT 1
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/* ============================================================================
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* Board Functions
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* ============================================================================ */
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void board_init(void);
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void board_clock_init(void);
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void board_gpio_init(void);
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void board_uart_init(void);
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void board_can_init(void);
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void board_spi_init(void);
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void board_i2c_init(void);
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void board_adc_init(void);
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void board_pwm_init(void);
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void board_watchdog_init(void);
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void board_watchdog_service(void);
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void board_led_on(uint8_t led);
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void board_led_off(uint8_t led);
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void board_led_toggle(uint8_t led);
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bool board_button_read(uint8_t button);
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void board_delay_ms(uint32_t ms);
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void board_delay_us(uint32_t us);
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float board_get_temperature(void);
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float board_get_voltage(void);
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#endif /* BOARD_H */
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@@ -0,0 +1,292 @@
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/**
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* @file board_init.c
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* @brief Custom ECU board initialization
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*/
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#include "board.h"
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#include "kernel.h"
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#include "gpio_driver.h"
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#include "uart_driver.h"
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#include "can_driver.h"
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#include "spi_driver.h"
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#include "i2c_driver.h"
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#include "adc_driver.h"
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#include "pwm_driver.h"
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#include <string.h>
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static bool board_initialized = false;
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/* Board-specific configuration */
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typedef struct {
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uint32_t can_baudrate;
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uint32_t uart_baudrate;
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uint8_t node_id;
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bool can_fd_enabled;
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} BoardConfig_t;
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static const BoardConfig_t board_config = {
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.can_baudrate = 500000,
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.uart_baudrate = 115200,
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.node_id = 0x01,
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.can_fd_enabled = true
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};
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/* ============================================================================
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* Board Initialization
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* ============================================================================ */
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void board_init(void) {
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if (board_initialized) {
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return;
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}
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/* Initialize clock */
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board_clock_init();
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/* Initialize GPIO */
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board_gpio_init();
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/* Initialize UART */
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board_uart_init();
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/* Initialize CAN */
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board_can_init();
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/* Initialize SPI */
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board_spi_init();
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/* Initialize I2C */
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board_i2c_init();
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/* Initialize ADC */
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board_adc_init();
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/* Initialize PWM */
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board_pwm_init();
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/* Initialize watchdog */
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board_watchdog_init();
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board_initialized = true;
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}
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/* ============================================================================
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* Clock Initialization
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* ============================================================================ */
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void board_clock_init(void) {
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/* Custom clock initialization */
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/* This would be implemented for specific hardware */
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}
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/* ============================================================================
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* GPIO Initialization
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* ============================================================================ */
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void board_gpio_init(void) {
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/* Configure status LEDs */
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GpioPinConfig_t led_config = {
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.mode = GPIO_MODE_OUTPUT,
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.output_type = GPIO_OUTPUT_PUSH_PULL,
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.pull = GPIO_PULL_NONE,
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.speed = GPIO_SPEED_HIGH
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};
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/* Configure each LED */
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for (int i = 0; i < LED_COUNT; i++) {
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led_config.port = 0;
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led_config.pin = i;
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gpio_init(&led_config);
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}
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/* Turn off all LEDs */
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for (int i = 0; i < LED_COUNT; i++) {
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board_led_off(i);
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}
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}
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/* ============================================================================
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* UART Initialization
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* ============================================================================ */
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void board_uart_init(void) {
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/* Configure debug UART */
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UartConfig_t uart_config = {
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.baudrate = board_config.uart_baudrate,
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.data_bits = UART_DATA_BITS_8,
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.stop_bits = UART_STOP_BITS_1,
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.parity = UART_PARITY_NONE,
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.flow_control = UART_FLOW_CONTROL_NONE,
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.enable_rx = true,
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.enable_tx = true,
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.use_dma = false
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};
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uart_init(0, &uart_config);
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}
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/* ============================================================================
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* CAN Initialization
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* ============================================================================ */
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void board_can_init(void) {
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/* Configure main CAN interface */
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CanConfig_t can_config = {
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.nominal_baudrate = board_config.can_baudrate,
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.data_baudrate = board_config.can_baudrate,
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.frame_type = CAN_FRAME_CLASSIC,
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.enable_fd = board_config.can_fd_enabled,
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.enable_automatic_retransmission = true,
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.filter_count = 0
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};
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can_init(0, &can_config);
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}
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/* ============================================================================
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* SPI Initialization
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* ============================================================================ */
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void board_spi_init(void) {
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/* Configure SPI for external devices */
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SpiConfig_t spi_config = {
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.mode = SPI_MODE_0,
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.clock_speed = SPI_CLOCK_8MHZ,
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.data_order = SPI_DATA_ORDER_MSB_FIRST,
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.data_size = 8,
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.use_dma = true,
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.enable_hardware_cs = false,
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.cs_polarity = SPI_CS_ACTIVE_LOW,
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.cs_port = 0,
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.cs_pin = 10
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};
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spi_init(0, &spi_config);
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}
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/* ============================================================================
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* I2C Initialization
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* ============================================================================ */
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void board_i2c_init(void) {
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/* Configure I2C for sensors */
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I2cConfig_t i2c_config = {
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.speed = I2C_SPEED_FAST,
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.addressing_mode = I2C_ADDRESSING_7BIT,
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.own_address = 0x50,
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.enable_general_call = false,
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.enable_clock_stretching = true,
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.use_dma = false
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};
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i2c_init(0, &i2c_config);
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}
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/* ============================================================================
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* ADC Initialization
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* ============================================================================ */
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void board_adc_init(void) {
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/* Configure ADC for analog inputs */
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AdcConfig_t adc_config = {
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.resolution = ADC_RESOLUTION_12BIT,
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.mode = ADC_MODE_SCAN,
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.trigger_source = ADC_TRIGGER_TIMER,
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.reference = ADC_REFERENCE_VDD,
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.enable_dma = true,
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.conversion_frequency = 1000,
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.channel_count = 8,
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.channels = {
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{.channel = 0, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 1, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 2, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 3, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 4, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 5, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 6, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 7, .sampling_time = ADC_SAMPLING_28_5_CYCLES}
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}
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};
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adc_init(0, &adc_config);
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}
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/* ============================================================================
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* PWM Initialization
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* ============================================================================ */
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void board_pwm_init(void) {
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/* Configure PWM outputs */
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PwmConfig_t pwm_config = {
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.frequency_hz = 1000,
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.alignment = PWM_ALIGNMENT_EDGE,
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.period_ticks = 1000,
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.prescaler = 100,
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.channel_count = 4,
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.channels = {
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{.channel = 0, .duty_cycle = 0},
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{.channel = 1, .duty_cycle = 0},
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{.channel = 2, .duty_cycle = 0},
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{.channel = 3, .duty_cycle = 0}
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},
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.enable_fault_protection = true,
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.fault_action = PWM_FAULT_DISABLE
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};
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pwm_init(0, &pwm_config);
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}
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/* ============================================================================
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* Watchdog Initialization
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* ============================================================================ */
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void board_watchdog_init(void) {
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/* Custom watchdog initialization */
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}
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void board_watchdog_service(void) {
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/* Custom watchdog service */
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}
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/* ============================================================================
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* LED Functions
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* ============================================================================ */
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void board_led_on(uint8_t led) {
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if (led < LED_COUNT) {
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gpio_write(0, led, true);
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}
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}
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void board_led_off(uint8_t led) {
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if (led < LED_COUNT) {
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gpio_write(0, led, false);
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}
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}
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void board_led_toggle(uint8_t led) {
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if (led < LED_COUNT) {
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gpio_toggle(0, led);
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}
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}
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/* ============================================================================
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* Button Functions
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* ============================================================================ */
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bool board_button_read(uint8_t button) {
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/* Custom button implementation */
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return false;
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}
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/* ============================================================================
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* Delay Functions
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* ============================================================================ */
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void board_delay_ms(uint32_t ms) {
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kernel_delay(ms);
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}
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void board_delay_us(uint32_t us) {
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/* Custom microsecond delay */
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}
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/* ============================================================================
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* Sensor Functions
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* ============================================================================ */
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float board_get_temperature(void) {
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/* Custom temperature sensor reading */
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return 25.0f;
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}
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float board_get_voltage(void) {
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/* Custom voltage reading */
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return 3.3f;
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}
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@@ -0,0 +1,133 @@
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/**
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* @file linker_script.ld
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* @brief Linker script for Custom ECU
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*/
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ENTRY(Reset_Handler)
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MEMORY
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{
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FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 2048K
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RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 512K
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EEPROM (rw) : ORIGIN = 0x08080000, LENGTH = 16K
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}
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_estack = ORIGIN(RAM) + LENGTH(RAM);
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_min_stack_size = 0x800;
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_min_heap_size = 0x400;
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SECTIONS
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{
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.isr_vector :
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{
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. = ALIGN(4);
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KEEP(*(.isr_vector))
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. = ALIGN(4);
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} >FLASH
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.text :
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{
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. = ALIGN(4);
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*(.text)
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*(.text*)
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KEEP(*(.init))
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KEEP(*(.fini))
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. = ALIGN(4);
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_etext = .;
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} >FLASH
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.rodata :
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{
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. = ALIGN(4);
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*(.rodata)
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*(.rodata*)
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. = ALIGN(4);
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} >FLASH
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.ARM.extab :
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{
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*(.ARM.extab* .gnu.linkonce.armextab.*)
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} >FLASH
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.ARM :
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{
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__exidx_start = .;
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*(.ARM.exidx*)
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__exidx_end = .;
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} >FLASH
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.preinit_array :
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{
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PROVIDE_HIDDEN(__preinit_array_start = .);
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KEEP(*(.preinit_array*))
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PROVIDE_HIDDEN(__preinit_array_end = .);
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} >FLASH
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.init_array :
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{
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PROVIDE_HIDDEN(__init_array_start = .);
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KEEP(*(SORT(.init_array.*)))
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KEEP(*(.init_array*))
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PROVIDE_HIDDEN(__init_array_end = .);
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} >FLASH
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.fini_array :
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{
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PROVIDE_HIDDEN(__fini_array_start = .);
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KEEP(*(SORT(.fini_array.*)))
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KEEP(*(.fini_array*))
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PROVIDE_HIDDEN(__fini_array_end = .);
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} >FLASH
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_sidata = LOADADDR(.data);
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.data :
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{
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. = ALIGN(4);
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_sdata = .;
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*(.data)
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*(.data*)
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. = ALIGN(4);
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_edata = .;
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} >RAM AT> FLASH
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.bss :
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{
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. = ALIGN(4);
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_sbss = .;
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__bss_start__ = _sbss;
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*(.bss)
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*(.bss*)
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*(COMMON)
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. = ALIGN(4);
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_ebss = .;
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__bss_end__ = _ebss;
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} >RAM
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.eeprom :
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{
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. = ALIGN(4);
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*(.eeprom)
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*(.eeprom*)
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. = ALIGN(4);
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} >EEPROM
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._user_heap_stack :
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{
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. = ALIGN(8);
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PROVIDE(end = .);
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PROVIDE(_end = .);
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. = . + _min_heap_size;
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. = . + _min_stack_size;
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. = ALIGN(8);
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} >RAM
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/DISCARD/ :
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{
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libc.a(*)
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libm.a(*)
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libgcc.a(*)
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}
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.ARM.attributes 0 : { *(.ARM.attributes) }
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}
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