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 +1,105 @@
+/**
+ * @file pwm_driver.h
+ * @brief PWM driver interface
+ */
+
+#ifndef PWM_DRIVER_H
+#define PWM_DRIVER_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "kernel.h"
+
+/* PWM Configuration Constants */
+#define PWM_MAX_INSTANCES       8
+#define PWM_MAX_CHANNELS        4
+#define PWM_MAX_DUTY_CYCLE      10000  /* 100.00% in 0.01% steps */
+
+/* PWM Alignment Modes */
+typedef enum {
+    PWM_ALIGNMENT_EDGE = 0,
+    PWM_ALIGNMENT_CENTER = 1
+} PwmAlignment_t;
+
+/* PWM Polarity */
+typedef enum {
+    PWM_POLARITY_ACTIVE_HIGH = 0,
+    PWM_POLARITY_ACTIVE_LOW = 1
+} PwmPolarity_t;
+
+/* PWM Modes */
+typedef enum {
+    PWM_MODE_NORMAL = 0,
+    PWM_MODE_COMPLEMENTARY = 1,
+    PWM_MODE_COMBINED = 2
+} PwmMode_t;
+
+/* PWM Dead Time */
+typedef struct {
+    uint16_t rising_edge_delay_ns;
+    uint16_t falling_edge_delay_ns;
+} PwmDeadTime_t;
+
+/* PWM Fault Actions */
+typedef enum {
+    PWM_FAULT_DISABLE = 0,
+    PWM_FAULT_ENABLE = 1,
+    PWM_FAULT_HIGH_Z = 2
+} PwmFaultAction_t;
+
+/* PWM Callbacks */
+typedef void (*PwmPeriodElapsedCallback_t)(uint8_t instance);
+typedef void (*PwmFaultCallback_t)(uint8_t instance, uint32_t fault_flags);
+
+/* PWM Channel Configuration */
+typedef struct {
+    uint8_t channel;
+    uint32_t duty_cycle;  /* 0 to PWM_MAX_DUTY_CYCLE */
+    PwmPolarity_t polarity;
+    PwmMode_t mode;
+    PwmDeadTime_t dead_time;
+} PwmChannelConfig_t;
+
+/* PWM Configuration */
+typedef struct {
+    uint32_t frequency_hz;
+    PwmAlignment_t alignment;
+    uint32_t period_ticks;
+    uint8_t prescaler;
+    PwmChannelConfig_t channels[PWM_MAX_CHANNELS];
+    uint8_t channel_count;
+    bool enable_fault_protection;
+    PwmFaultAction_t fault_action;
+    PwmPeriodElapsedCallback_t period_elapsed_callback;
+    PwmFaultCallback_t fault_callback;
+} PwmConfig_t;
+
+/* PWM Statistics */
+typedef struct {
+    uint32_t period_elapsed_count;
+    uint32_t fault_events;
+    uint32_t duty_cycle_updates;
+    uint32_t overcurrent_events;
+    uint32_t overvoltage_events;
+} PwmStatistics_t;
+
+/* PWM Driver Interface */
+KernelStatus_t pwm_init(uint8_t instance, PwmConfig_t* config);
+KernelStatus_t pwm_deinit(uint8_t instance);
+KernelStatus_t pwm_start(uint8_t instance);
+KernelStatus_t pwm_stop(uint8_t instance);
+KernelStatus_t pwm_set_duty_cycle(uint8_t instance, uint8_t channel, uint32_t duty_cycle);
+KernelStatus_t pwm_set_frequency(uint8_t instance, uint32_t frequency_hz);
+KernelStatus_t pwm_set_period(uint8_t instance, uint32_t period_ticks);
+KernelStatus_t pwm_set_dead_time(uint8_t instance, uint8_t channel,
+                                 const PwmDeadTime_t* dead_time);
+KernelStatus_t pwm_enable_channel(uint8_t instance, uint8_t channel);
+KernelStatus_t pwm_disable_channel(uint8_t instance, uint8_t channel);
+KernelStatus_t pwm_configure_fault(uint8_t instance, PwmFaultAction_t action);
+KernelStatus_t pwm_clear_fault(uint8_t instance);
+KernelStatus_t pwm_get_statistics(uint8_t instance, PwmStatistics_t* stats);
+uint32_t pwm_get_duty_cycle(uint8_t instance, uint8_t channel);
+uint32_t pwm_get_frequency(uint8_t instance);
+void pwm_process_interrupt(uint8_t instance);
+
+#endif /* PWM_DRIVER_H */