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 +1,185 @@
+/**
+ * @file port_asm.s
+ * @brief NXP S32K assembly routines
+ */
+
+.syntax unified
+.thumb
+.arch armv7e-m
+
+.section .text
+
+/* Global symbols */
+.global current_task_sp
+.global next_task_sp
+.global port_context_switch
+.global port_start_first_task
+.global port_disable_interrupts
+.global port_enable_interrupts
+
+/* Variables */
+.section .bss
+.align 3
+current_task_sp: .word 0
+next_task_sp: .word 0
+
+.section .text
+.thumb_func
+
+/* Start First Task */
+port_start_first_task:
+    /* Load task stack pointer */
+    ldr r0, =next_task_sp
+    ldr r1, [r0]
+
+    /* Set PSP */
+    msr PSP, r1
+
+    /* Switch to PSP */
+    mov r0, #2
+    msr CONTROL, r0
+    isb
+
+    /* Restore context */
+    ldmia r1!, {r4-r11}
+    msr PSP, r1
+    mov lr, #0xFFFFFFFD
+    bx lr
+
+/* PendSV Handler */
+PendSV_Handler:
+    /* Save context */
+    mrs r0, PSP
+    stmdb r0!, {r4-r11}
+    ldr r1, =current_task_sp
+    str r0, [r1]
+
+    /* Load next context */
+    ldr r0, =next_task_sp
+    ldr r1, [r0]
+    ldmia r1!, {r4-r11}
+    msr PSP, r1
+    bx lr
+
+/* SVC Handler */
+SVC_Handler:
+    tst lr, #4
+    ite eq
+    mrseq r0, MSP
+    mrsne r0, PSP
+    ldr r0, [r0, #24]
+    ldrb r0, [r0, #-2]
+    push {lr}
+    bl svc_handler
+    pop {lr}
+    bx lr
+
+/* Disable Interrupts */
+port_disable_interrupts:
+    cpsid i
+    bx lr
+
+/* Enable Interrupts */
+port_enable_interrupts:
+    cpsie i
+    bx lr
+
+/* LPIT Interrupt Handler */
+LPIT0_IRQHandler:
+    /* Save context */
+    push {r4-r11, lr}
+
+    /* Clear interrupt flag */
+    ldr r0, =0x40037008  /* LPIT0->MSR */
+    movs r1, #1
+    str r1, [r0]
+
+    /* Call kernel tick handler */
+    bl kernel_tick_handler
+
+    /* Service watchdog */
+    ldr r0, =0x40052000  /* WDOG->CNT */
+    ldr r1, =0xB480
+    str r1, [r0]
+    ldr r1, =0x4B80
+    str r1, [r0]
+
+    /* Restore context */
+    pop {r4-r11, lr}
+    bx lr
+
+/* Hard Fault Handler */
+HardFault_Handler:
+    /* Save context */
+    mrs r0, PSP
+    stmdb r0!, {r4-r11}
+
+    /* Get fault status */
+    ldr r2, =0xE000ED2C  /* HFSR */
+    ldr r2, [r2]
+
+    /* Call fault handler */
+    movs r0, #1
+    movs r1, #0
+    bl fault_handler_process
+
+    /* Safe state */
+    b .
+
+/* Memory Management Fault */
+MemManage_Handler:
+    /* Save context */
+    mrs r0, PSP
+    stmdb r0!, {r4-r11}
+
+    /* Get fault information */
+    ldr r1, =0xE000ED34  /* MMFAR */
+    ldr r1, [r1]
+    ldr r2, =0xE000ED28  /* CFSR */
+    ldr r2, [r2]
+
+    /* Call fault handler */
+    movs r0, #2
+    bl fault_handler_process
+
+    /* Safe state */
+    b .
+
+/* Bus Fault Handler */
+BusFault_Handler:
+    /* Save context */
+    mrs r0, PSP
+    stmdb r0!, {r4-r11}
+
+    /* Get fault information */
+    ldr r1, =0xE000ED38  /* BFAR */
+    ldr r1, [r1]
+    ldr r2, =0xE000ED28  /* CFSR */
+    ldr r2, [r2]
+
+    /* Call fault handler */
+    movs r0, #3
+    bl fault_handler_process
+
+    /* Safe state */
+    b .
+
+/* Usage Fault Handler */
+UsageFault_Handler:
+    /* Save context */
+    mrs r0, PSP
+    stmdb r0!, {r4-r11}
+
+    /* Get fault status */
+    ldr r2, =0xE000ED28  /* CFSR */
+    ldr r2, [r2]
+
+    /* Call fault handler */
+    movs r0, #4
+    movs r1, #0
+    bl fault_handler_process
+
+    /* Safe state */
+    b .
+
+.end