Add full automotive RTOS project

Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers, middleware (CAN stack, diagnostics, safety), applications, board support, build/test tooling, and documentation.
2026-08-23 03:35:29 -04:00
parent f113bf0a05
commit ca13734bf0
151 changed files with 23945 additions and 0 deletions
@@ -0,0 +1,388 @@
+/**
+ * @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;
+}