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
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/**
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* @file board.h
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* @brief NXP S32K144 EVB 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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#include "S32K144.h"
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/* ============================================================================
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* Board Identification
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* ============================================================================ */
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#define BOARD_NAME "S32K144EVB-Q100"
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#define BOARD_MANUFACTURER "NXP Semiconductors"
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#define BOARD_VERSION "1.0"
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#define BOARD_MCU "S32K144"
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/* ============================================================================
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* Clock Configuration
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* ============================================================================ */
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#define SOSC_FREQUENCY 8000000U /* System oscillator */
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#define SPLL_FREQUENCY 160000000U /* System PLL */
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#define FIRC_FREQUENCY 48000000U /* Fast IRC */
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#define SIRC_FREQUENCY 8000000U /* Slow IRC */
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#define SYSTEM_CLOCK 160000000U /* 160 MHz */
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#define BUS_CLOCK 40000000U /* 40 MHz */
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#define FLASH_CLOCK 20000000U /* 20 MHz */
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/* PLL Configuration */
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#define PLL_MULT 20
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#define PLL_DIV 1
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/* ============================================================================
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* LED Definitions
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* ============================================================================ */
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#define LED_COUNT 3
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#define LED_RED_PORT PTC
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#define LED_RED_PIN 0
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#define LED_RED_INDEX 0
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#define LED_GREEN_PORT PTC
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#define LED_GREEN_PIN 1
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#define LED_GREEN_INDEX 1
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#define LED_BLUE_PORT PTC
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#define LED_BLUE_PIN 2
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#define LED_BLUE_INDEX 2
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/* LED Active Level */
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#define LED_ACTIVE_LEVEL 0 /* Active low */
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/* ============================================================================
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* Button Definitions
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* ============================================================================ */
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#define BUTTON_COUNT 2
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#define BUTTON1_PORT PTC
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#define BUTTON1_PIN 3
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#define BUTTON1_INDEX 0
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#define BUTTON2_PORT PTC
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#define BUTTON2_PIN 4
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#define BUTTON2_INDEX 1
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/* Button Active Level */
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#define BUTTON_ACTIVE_LEVEL 0 /* Active low */
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/* ============================================================================
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* UART Definitions
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* ============================================================================ */
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#define UART0_INSTANCE 0
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#define UART0_BAUDRATE 115200
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#define UART0_TX_PORT PTA
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#define UART0_TX_PIN 2
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#define UART0_TX_MUX 2
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#define UART0_RX_PORT PTA
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#define UART0_RX_PIN 3
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#define UART0_RX_MUX 2
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#define UART1_INSTANCE 1
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#define UART1_BAUDRATE 115200
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#define UART1_TX_PORT PTC
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#define UART1_TX_PIN 7
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#define UART1_TX_MUX 2
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#define UART1_RX_PORT PTC
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#define UART1_RX_PIN 6
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#define UART1_RX_MUX 2
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/* ============================================================================
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* CAN Definitions
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* ============================================================================ */
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#define CAN0_INSTANCE 0
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#define CAN0_BAUDRATE 500000
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#define CAN0_TX_PORT PTE
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#define CAN0_TX_PIN 5
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#define CAN0_TX_MUX 5
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#define CAN0_RX_PORT PTE
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#define CAN0_RX_PIN 4
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#define CAN0_RX_MUX 5
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#define CAN1_INSTANCE 1
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#define CAN1_BAUDRATE 500000
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#define CAN1_TX_PORT PTC
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#define CAN1_TX_PIN 17
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#define CAN1_TX_MUX 2
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#define CAN1_RX_PORT PTC
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#define CAN1_RX_PIN 16
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#define CAN1_RX_MUX 2
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/* ============================================================================
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* SPI Definitions
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* ============================================================================ */
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#define SPI0_INSTANCE 0
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#define SPI0_SCK_PORT PTA
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#define SPI0_SCK_PIN 6
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#define SPI0_SCK_MUX 2
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#define SPI0_MISO_PORT PTA
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#define SPI0_MISO_PIN 7
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#define SPI0_MISO_MUX 2
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#define SPI0_MOSI_PORT PTA
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#define SPI0_MOSI_PIN 8
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#define SPI0_MOSI_MUX 2
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/* ============================================================================
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* I2C Definitions
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* ============================================================================ */
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#define I2C0_INSTANCE 0
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#define I2C0_SCL_PORT PTA
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#define I2C0_SCL_PIN 9
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#define I2C0_SCL_MUX 3
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#define I2C0_SDA_PORT PTA
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#define I2C0_SDA_PIN 10
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#define I2C0_SDA_MUX 3
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/* ============================================================================
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* ADC Definitions
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* ============================================================================ */
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#define ADC0_INSTANCE 0
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#define ADC0_CHANNEL_COUNT 8
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#define ADC0_CH0_PORT PTA
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#define ADC0_CH0_PIN 0
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#define ADC0_CH0_MUX 0
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#define ADC0_CH1_PORT PTA
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#define ADC0_CH1_PIN 1
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#define ADC0_CH1_MUX 0
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/* ============================================================================
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* PWM Definitions
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* ============================================================================ */
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#define PWM_INSTANCE 0
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#define PWM_TIMER FTM0
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#define PWM_TIMER_CHANNEL_COUNT 4
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#define PWM_TIMER_FREQUENCY 10000
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#define PWM_TIMER_PRESCALER 4
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#define PWM_CH0_PORT PTC
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#define PWM_CH0_PIN 1
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#define PWM_CH0_MUX 4
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#define PWM_CH1_PORT PTC
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#define PWM_CH1_PIN 2
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#define PWM_CH1_MUX 4
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#define PWM_CH2_PORT PTC
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#define PWM_CH2_PIN 3
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#define PWM_CH2_MUX 4
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#define PWM_CH3_PORT PTC
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#define PWM_CH3_PIN 4
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#define PWM_CH3_MUX 4
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/* ============================================================================
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* Watchdog Configuration
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* ============================================================================ */
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#define WATCHDOG_TIMEOUT_MS 100
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#define WATCHDOG_WINDOW_MS 50
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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 +1,371 @@
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/**
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* @file board_init.c
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* @brief NXP S32K144 EVB 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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/* ============================================================================
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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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/* Configure system PLL */
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SCG->SPLLCSR = 0; /* Reset SPLL */
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SCG->SPLLDIV = SCG_SPLLDIV_SPLLDIV1(1) | SCG_SPLLDIV_SPLLDIV2(1);
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SCG->SPLLCFG = SCG_SPLLCFG_MULT(20); /* 8MHz * 20 = 160MHz */
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/* Enable SPLL */
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SCG->SPLLCSR |= SCG_SPLLCSR_SPLLEN_MASK;
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/* Wait for PLL lock */
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while (!(SCG->SPLLCSR & SCG_SPLLCSR_SPLLVLD_MASK));
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/* Switch to SPLL */
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SCG->RCCR = SCG_RCCR_DIVCORE(1) |
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SCG_RCCR_DIVBUS(4) | /* 160/4 = 40MHz */
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SCG_RCCR_DIVSLOW(8) | /* 160/8 = 20MHz */
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SCG_RCCR_SCS(6); /* SPLL */
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/* Wait for clock switch */
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while ((SCG->CSR & SCG_CSR_SCS_MASK) != SCG_CSR_SCS(6));
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/* Update SystemCoreClock */
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SystemCoreClock = SYSTEM_CLOCK;
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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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/* Enable GPIO clocks */
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PCC->PCCn[PCC_PORTA_INDEX] |= PCC_PCCn_CGC_MASK;
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PCC->PCCn[PCC_PORTB_INDEX] |= PCC_PCCn_CGC_MASK;
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PCC->PCCn[PCC_PORTC_INDEX] |= PCC_PCCn_CGC_MASK;
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PCC->PCCn[PCC_PORTD_INDEX] |= PCC_PCCn_CGC_MASK;
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PCC->PCCn[PCC_PORTE_INDEX] |= PCC_PCCn_CGC_MASK;
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/* Configure 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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led_config.port = 2; /* PTC */
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led_config.pin = 0;
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gpio_init(&led_config);
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led_config.pin = 1;
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gpio_init(&led_config);
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led_config.pin = 2;
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gpio_init(&led_config);
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/* Configure buttons */
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GpioPinConfig_t button_config = {
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.port = 2, /* PTC */
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.pin = 3,
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.mode = GPIO_MODE_INPUT,
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.pull = GPIO_PULL_UP
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};
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gpio_init(&button_config);
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button_config.pin = 4;
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gpio_init(&button_config);
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/* Turn off all LEDs */
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board_led_off(0);
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board_led_off(1);
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board_led_off(2);
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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 UART0 */
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UartConfig_t uart_config = {
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.baudrate = UART0_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(UART0_INSTANCE, &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 CAN0 */
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CanConfig_t can_config = {
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.nominal_baudrate = CAN0_BAUDRATE,
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.data_baudrate = CAN0_BAUDRATE,
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.frame_type = CAN_FRAME_CLASSIC,
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.enable_fd = true, /* S32K144 supports CAN FD */
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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(CAN0_INSTANCE, &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 SPI0 */
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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 = false,
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.enable_hardware_cs = false,
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.cs_polarity = SPI_CS_ACTIVE_LOW,
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.cs_port = 1,
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.cs_pin = 0
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};
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spi_init(SPI0_INSTANCE, &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 I2C0 */
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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(I2C0_INSTANCE, &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 ADC0 */
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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_SOFTWARE,
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.reference = ADC_REFERENCE_VDD,
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.enable_dma = false,
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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_13_5_CYCLES},
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{.channel = 1, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 2, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 3, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 4, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 5, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 6, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 7, .sampling_time = ADC_SAMPLING_13_5_CYCLES}
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}
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};
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adc_init(ADC0_INSTANCE, &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 */
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PwmConfig_t pwm_config = {
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.frequency_hz = PWM_TIMER_FREQUENCY,
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.alignment = PWM_ALIGNMENT_EDGE,
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.period_ticks = 10000,
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.prescaler = PWM_TIMER_PRESCALER,
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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(PWM_INSTANCE, &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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/* Configure WDOG */
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WDOG->CNT = 0x1000; /* Timeout value */
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WDOG->TOVAL = 0x1000;
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WDOG->CS = WDOG_CS_EN_MASK |
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WDOG_CS_CLK(1) |
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WDOG_CS_WIN_MASK |
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WDOG_CS_UPDATE_MASK;
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}
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void board_watchdog_service(void) {
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/* Service WDOG */
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WDOG->CNT = 0xB480;
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WDOG->CNT = 0x4B80;
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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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switch (led) {
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case 0:
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gpio_write(2, 0, false); /* Active low */
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break;
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case 1:
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gpio_write(2, 1, false);
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break;
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case 2:
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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;
|
||||
}
|
||||
@@ -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) }
|
||||
}
|
||||
Reference in New Issue
Block a user