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 +1,115 @@
+/**
+ * @file can_tp.h
+ * @brief CAN Transport Protocol (ISO 15765-2) implementation
+ */
+
+#ifndef CAN_TP_H
+#define CAN_TP_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "kernel.h"
+#include "can_driver.h"
+
+/* CAN TP Configuration */
+#define CAN_TP_MAX_CONNECTIONS      8
+#define CAN_TP_MAX_PAYLOAD_SIZE     4096
+#define CAN_TP_DEFAULT_TIMEOUT_MS   1000
+#define CAN_TP_STMIN_DEFAULT        10  /* Minimum separation time in ms */
+#define CAN_TP_BS_DEFAULT           8   /* Block size */
+
+/* CAN TP Addressing Formats */
+typedef enum {
+    CAN_TP_ADDRESSING_NORMAL = 0,      /* Standard 11-bit or 29-bit */
+    CAN_TP_ADDRESSING_NORMAL_FIXED = 1, /* Fixed addressing */
+    CAN_TP_ADDRESSING_EXTENDED = 2,     /* Extended addressing */
+    CAN_TP_ADDRESSING_MIXED = 3         /* Mixed addressing */
+} CanTpAddressingFormat_t;
+
+/* CAN TP Frame Types */
+typedef enum {
+    CAN_TP_FRAME_SINGLE = 0,           /* Single Frame */
+    CAN_TP_FRAME_FIRST = 1,            /* First Frame */
+    CAN_TP_FRAME_CONSECUTIVE = 2,      /* Consecutive Frame */
+    CAN_TP_FRAME_FLOW_CONTROL = 3      /* Flow Control */
+} CanTpFrameType_t;
+
+/* CAN TP Flow Control Status */
+typedef enum {
+    CAN_TP_FC_CONTINUE = 0,            /* Continue to send */
+    CAN_TP_FC_WAIT = 1,                /* Wait */
+    CAN_TP_FC_OVERFLOW = 2             /* Overflow/Abort */
+} CanTpFlowControlStatus_t;
+
+/* CAN TP States */
+typedef enum {
+    CAN_TP_IDLE = 0,
+    CAN_TP_SEND_IN_PROGRESS = 1,
+    CAN_TP_RECEIVE_IN_PROGRESS = 2,
+    CAN_TP_WAIT_FLOW_CONTROL = 3,
+    CAN_TP_WAIT_CONSECUTIVE = 4,
+    CAN_TP_TIMEOUT = 5,
+    CAN_TP_ERROR = 6
+} CanTpState_t;
+
+/* CAN TP Message Structure */
+typedef struct {
+    uint32_t message_id;
+    uint8_t* data;
+    uint16_t length;
+    uint8_t addressing_format;
+    uint32_t source_address;
+    uint32_t target_address;
+} CanTpMessage_t;
+
+/* CAN TP Connection */
+typedef struct {
+    uint8_t connection_id;
+    CanTpState_t state;
+    CanTpMessage_t current_message;
+    uint16_t current_index;
+    uint8_t sequence_number;
+    uint8_t block_counter;
+    uint32_t timeout_timer;
+    uint8_t stmin;
+    uint8_t block_size;
+    bool is_sender;
+    Semaphore_t flow_control_semaphore;
+    Semaphore_t complete_semaphore;
+    Mutex_t connection_mutex;
+} CanTpConnection_t;
+
+/* CAN TP Configuration */
+typedef struct {
+    CanTpAddressingFormat_t addressing_format;
+    uint32_t source_address;
+    uint32_t target_address;
+    uint32_t timeout_ms;
+    uint8_t stmin;
+    uint8_t block_size;
+    bool padding_enabled;
+    uint8_t padding_byte;
+} CanTpConfig_t;
+
+/* CAN TP Callbacks */
+typedef void (*CanTpMessageReceivedCallback_t)(const CanTpMessage_t* message);
+typedef void (*CanTpMessageSentCallback_t)(uint8_t connection_id, bool success);
+typedef void (*CanTpErrorCallback_t)(uint8_t connection_id, uint32_t error_code);
+
+/* CAN TP Functions */
+KernelStatus_t can_tp_init(const CanTpConfig_t* config);
+KernelStatus_t can_tp_deinit(void);
+KernelStatus_t can_tp_send_message(const CanTpMessage_t* message,
+                                   uint32_t timeout_ms);
+KernelStatus_t can_tp_receive_message(CanTpMessage_t* message,
+                                      uint32_t timeout_ms);
+KernelStatus_t can_tp_register_callbacks(
+    CanTpMessageReceivedCallback_t rx_callback,
+    CanTpMessageSentCallback_t tx_callback,
+    CanTpErrorCallback_t error_callback);
+void can_tp_process_rx_indication(const CanMessage_t* can_message);
+void can_tp_process_tx_confirmation(uint8_t mailbox);
+void can_tp_main_function(void);  /* Periodic processing */
+CanTpState_t can_tp_get_state(uint8_t connection_id);
+
+#endif /* CAN_TP_H */