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 port.c
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* @brief Infineon TriCore TC3xx architecture specific port
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* @note TriCore is widely used in automotive powertrain and safety applications
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*/
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#include "kernel.h"
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#include "task.h"
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#include "scheduler.h"
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#include "portmacro.h"
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#include "Ifx_Types.h"
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#include "IfxCpu.h"
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#include "IfxStm.h"
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#include "IfxScuWdt.h"
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/* Context storage */
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uint32_t* current_task_sp = NULL;
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uint32_t* next_task_sp = NULL;
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/* STM configuration for system tick */
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static IfxStm_CompareConfig stmCompareConfig;
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static volatile uint32_t stmTickCount = 0;
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/* CSA (Context Save Area) management */
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#define MAX_CSA_AREAS 64
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static uint32_t csa_areas[MAX_CSA_AREAS][16] __attribute__((aligned(64)));
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static uint32_t csa_index = 0;
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/* Interrupt priorities */
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#define SYSTICK_PRIORITY 255
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#define PENDSV_PRIORITY 255
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#define SVC_PRIORITY 0
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/* Initialize Architecture Port */
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void port_init(void) {
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/* Initialize CPU configuration */
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IfxCpu_init();
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/* Disable global interrupts during initialization */
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IfxCpu_disableInterrupts();
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/* Initialize CSA areas */
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for (uint32_t i = 0; i < MAX_CSA_AREAS; i++) {
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/* Initialize PCXI register for each CSA */
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uint32_t pcxi_value = ((uint32_t)&csa_areas[i][0]) & 0xFFFFF000;
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pcxi_value |= (i << 16); /* Set previous context pointer */
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csa_areas[i][0] = pcxi_value;
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}
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/* Configure STM for 1ms tick */
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IfxStm_initCompareConfig(&stmCompareConfig);
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stmCompareConfig.triggerPriority = SYSTICK_PRIORITY;
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stmCompareConfig.typeOfService = IfxSrc_Tos_cpu0;
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stmCompareConfig.ticks = IfxStm_getFrequency(&MODULE_STM0) / 1000;
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/* Initialize STM compare */
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IfxStm_initCompare(&MODULE_STM0, &stmCompareConfig);
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/* Enable safety watchdog */
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IfxScuWdt_disableCpuWatchdog(IfxScuWdt_getCpuWatchdogPassword());
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IfxScuWdt_clearCpuEndinit(IfxScuWdt_getCpuWatchdogPassword());
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IfxScuWdt_enableSafetyWatchdog(IfxScuWdt_getSafetyWatchdogPassword(),
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100, 200);
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IfxScuWdt_setCpuEndinit(IfxScuWdt_getCpuWatchdogPassword());
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/* Enable global interrupts */
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IfxCpu_enableInterrupts();
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}
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/* Start First Task */
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void port_start_first_task(void) {
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TaskHandle_t first_task = scheduler_get_current_task();
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if (first_task == NULL) {
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return;
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}
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/* Get task context from CSA */
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uint32_t* context = (uint32_t*)first_task->context;
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uint32_t pcxi = context[0];
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uint32_t pc = context[1];
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uint32_t sp = context[2];
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/* Set up context for first task execution */
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__asm volatile (
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"mov.a %%sp, %0\n" /* Set stack pointer */
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"mov %%a11, %1\n" /* Set return address */
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"mtsv %%pcxi, %2\n" /* Set context */
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"rslcx\n" /* Restore lower context */
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"rfe\n" /* Return from exception */
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:
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: "r" (sp), "r" (pc), "r" (pcxi)
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: "a11", "memory"
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);
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}
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/* Context Switch */
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void port_context_switch(uint32_t* current_context, uint32_t* next_context) {
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current_task_sp = current_context;
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next_task_sp = next_context;
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/* Trigger software interrupt for context switch */
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__asm volatile (
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"syscall 0\n" /* System call for context switch */
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);
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}
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/* Initialize Task Stack */
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uint32_t* port_initialize_task_stack(TaskFunction_t task_function,
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void* parameters,
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uint32_t* stack_top) {
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uint32_t* stack_ptr = stack_top;
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/* Align to 64 bytes */
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stack_ptr = (uint32_t*)((uint32_t)stack_ptr & ~0x3F);
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/* Allocate CSA for task */
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if (csa_index >= MAX_CSA_AREAS) {
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return NULL; /* Out of CSA areas */
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}
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uint32_t* csa = csa_areas[csa_index];
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csa_index++;
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/* Initialize CSA */
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csa[0] = 0; /* PCXI will be set during first context switch */
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csa[1] = (uint32_t)task_function; /* PC */
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csa[2] = (uint32_t)stack_ptr; /* SP */
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csa[3] = (uint32_t)parameters; /* A4 (first argument) */
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/* Initialize upper context registers */
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csa[4] = 0; /* A5 */
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csa[5] = 0; /* A6 */
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csa[6] = 0; /* A7 */
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csa[7] = 0; /* A8 */
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csa[8] = 0; /* A9 */
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csa[9] = 0; /* A10 */
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csa[10] = 0; /* A11 */
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csa[11] = 0; /* A12 */
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csa[12] = 0; /* A13 */
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csa[13] = 0; /* A14 */
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csa[14] = 0; /* A15 */
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csa[15] = 0; /* D8 */
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/* Store CSA pointer in task context */
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TaskHandle_t task = scheduler_get_current_task();
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if (task != NULL) {
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task->context[0] = (uint32_t)csa;
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}
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return stack_ptr;
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}
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/* System Timer Interrupt Handler */
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IFX_INTERRUPT(stm_compare_match_isr, 0, SYSTICK_PRIORITY) {
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/* Clear interrupt flag */
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IfxStm_clearCompareFlag(&MODULE_STM0, stmCompareConfig.comparator);
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/* Update compare value for next interrupt */
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IfxStm_increaseCompare(&MODULE_STM0, stmCompareConfig.comparator,
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IfxStm_getFrequency(&MODULE_STM0) / 1000);
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/* Call kernel tick handler */
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extern void kernel_tick_handler(void);
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kernel_tick_handler();
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/* Refresh watchdog */
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IfxScuWdt_clearSafetyWatchdog(IfxScuWdt_getSafetyWatchdogPassword());
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}
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/* Software Interrupt Handler for Context Switch */
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IFX_INTERRUPT(software_context_switch_isr, 0, PENDSV_PRIORITY) {
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__asm volatile (
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/* Save current context */
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"svlcx\n" /* Save lower context */
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"mov %%d15, %%a11\n" /* Save return address */
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/* Store current stack pointer */
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"mov.a %%a15, %%sp\n"
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"mov.aa %0, %%a15\n"
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/* Load next stack pointer */
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"mov.aa %%a15, %1\n"
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"mov.a %%sp, %%a15\n"
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/* Restore lower context */
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"rslcx\n"
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"mov %%a11, %%d15\n" /* Restore return address */
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"rfe\n" /* Return from exception */
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:
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: "m" (current_task_sp), "m" (next_task_sp)
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: "a15", "d15", "memory"
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);
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}
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/* System Call Handler */
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IFX_INTERRUPT(syscall_handler, 0, SVC_PRIORITY) {
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/* Get system call number */
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uint32_t syscall_number;
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__asm volatile (
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"mov %0, %%d15\n" /* Get syscall number from D15 */
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: "=r" (syscall_number)
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);
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/* Handle system calls */
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switch (syscall_number) {
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case 0: /* Context switch */
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software_context_switch_isr();
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break;
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case 1: /* Yield */
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scheduler_yield();
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break;
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case 2: /* Task exit */
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task_delete(scheduler_get_current_task());
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break;
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default:
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break;
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}
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}
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/* Trap Handlers */
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IFX_INTERRUPT(trap_handler, 0, 0) {
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/* Get trap information */
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uint32_t trap_class;
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uint32_t trap_id;
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__asm volatile (
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"mov %0, %%d15\n" /* Trap class */
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"mov %1, %%d14\n" /* Trap ID */
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: "=r" (trap_class), "=r" (trap_id)
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);
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/* Call fault handler */
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extern void fault_handler_process(uint32_t type, uint32_t address, uint32_t status);
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fault_handler_process(trap_class, trap_id, 0);
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/* Enter safe state */
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while(1) {
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/* Safe state - wait for watchdog */
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IfxScuWdt_clearSafetyWatchdog(IfxScuWdt_getSafetyWatchdogPassword());
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}
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}
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/* Enter Critical Section */
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void port_disable_interrupts(void) {
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IfxCpu_disableInterrupts();
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}
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/* Exit Critical Section */
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void port_enable_interrupts(void) {
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IfxCpu_enableInterrupts();
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}
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/* Get Current Exception Number */
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uint32_t port_get_current_exception(void) {
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uint32_t icr;
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__asm volatile (
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"mfcr %0, $ICR\n" /* Get Interrupt Control Register */
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: "=r" (icr)
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);
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return (icr >> 16) & 0xFF; /* Extract current CPU priority */
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}
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@@ -0,0 +1,105 @@
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/**
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* @file port_asm.s
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* @brief Infineon TriCore TC3xx assembly routines
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*/
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.section .text
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.align 2
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/* Global symbols */
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.global current_task_sp
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.global next_task_sp
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.global port_context_switch
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.global port_start_first_task
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.global port_disable_interrupts
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.global port_enable_interrupts
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/* Variables */
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.section .bss
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.align 2
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current_task_sp: .word 0
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next_task_sp: .word 0
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.section .text
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/* Start First Task */
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port_start_first_task:
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/* Load task context */
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mov.a a15, [next_task_sp]
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ld.a a14, [a15] /* Load CSA pointer */
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/* Set up context */
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mtsv pcxi, a14 /* Set previous context */
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ld.a sp, [a14+8] /* Load stack pointer */
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ld.a a11, [a14+4] /* Load return address */
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/* Restore context and start */
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rslcx /* Restore lower context */
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rfe /* Return from exception */
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/* Context Switch */
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port_context_switch:
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/* Save current context */
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svlcx /* Save lower context */
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/* Store current stack pointer */
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mov.a a15, sp
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mov.aa [current_task_sp], a15
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/* Load next stack pointer */
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mov.aa a15, [next_task_sp]
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mov.a sp, a15
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/* Restore next context */
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rslcx /* Restore lower context */
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rfe /* Return from exception */
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/* Disable Interrupts */
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port_disable_interrupts:
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disable /* Disable interrupts */
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ret
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/* Enable Interrupts */
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port_enable_interrupts:
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enable /* Enable interrupts */
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ret
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/* System Timer Interrupt */
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stm_compare_match_isr:
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/* Save context */
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svlcx
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/* Clear interrupt */
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movh.a a15, 0xF000 /* STM base address */
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lea a15, [a15]0x0010 /* STM interrupt clear register */
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st.w [a15], 0x1 /* Clear compare match flag */
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/* Update compare value */
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movh.a a15, 0xF000
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lea a15, [a15]0x0020 /* STM compare register */
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ld.w d15, [a15]
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movh.a a14, 0xF000
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lea a14, [a14]0x0024 /* STM compare update register */
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add d15, d15, 1000 /* Add 1ms */
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st.w [a14], d15
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/* Call kernel tick handler */
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call kernel_tick_handler
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/* Restore context */
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rslcx
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rfe
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/* Trap Handler */
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trap_handler:
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/* Save trap information */
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mov d15, d15 /* Trap class */
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mov d14, d14 /* Trap ID */
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/* Call fault handler */
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call fault_handler_process
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/* Enter safe state */
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j .
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.end
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@@ -0,0 +1,52 @@
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/**
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* @file portmacro.h
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* @brief Infineon TriCore TC3xx specific macros
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*/
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#ifndef PORTMACRO_H
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#define PORTMACRO_H
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#include <stdint.h>
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#include "Ifx_Types.h"
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#include "IfxCpu.h"
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/* Data Types */
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typedef uint32_t port_stack_type_t;
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typedef uint32_t port_base_type_t;
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/* Architecture Constants */
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#define PORT_STACK_GROWTH_DIRECTION (-1)
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#define PORT_BYTE_ALIGNMENT 64
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/* Critical Section Macros */
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#define portENTER_CRITICAL() IfxCpu_disableInterrupts()
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#define portEXIT_CRITICAL() IfxCpu_enableInterrupts()
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/* Interrupt Control */
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#define portENABLE_INTERRUPTS() IfxCpu_enableInterrupts()
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#define portDISABLE_INTERRUPTS() IfxCpu_disableInterrupts()
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/* Context Switch */
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#define portYIELD() __asm volatile("syscall 0")
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#define portYIELD_FROM_ISR() __asm volatile("syscall 0")
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/* Memory Barriers */
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#define portMEMORY_BARRIER() __asm volatile("dsync")
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#define portSYNC_BARRIER() __asm volatile("dsync")
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#define portINSTRUCTION_BARRIER() __asm volatile("isync")
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/* NOP */
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#define portNOP() __asm volatile("nop")
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/* CSA Management */
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#define portALLOCATE_CSA() __port_allocate_csa()
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#define portFREE_CSA(csa) __port_free_csa(csa)
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/* Safety Features */
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#define portENABLE_SAFETY_WATCHDOG(timeout) \
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IfxScuWdt_enableSafetyWatchdog(IfxScuWdt_getSafetyWatchdogPassword(), timeout, timeout*2)
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#define portSERVICE_WATCHDOG() \
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IfxScuWdt_clearSafetyWatchdog(IfxScuWdt_getSafetyWatchdogPassword())
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#endif /* PORTMACRO_H */
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