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 +1,77 @@
+/**
+ * @file test_adc.c
+ * @brief Hardware tests for ADC
+ */
+
+#include "unity.h"
+#include "kernel.h"
+#include "adc_driver.h"
+#include "board.h"
+
+/* Setup */
+void setUp(void) {
+    kernel_init();
+    board_init();
+}
+
+/* Teardown */
+void tearDown(void) {
+    kernel_stop();
+}
+
+/* ============================================================================
+ * Test Cases
+ * ============================================================================ */
+
+/**
+ * @brief Test ADC initialization
+ */
+void test_adc_init(void) {
+    AdcConfig_t config = {
+        .resolution = ADC_RESOLUTION_12BIT,
+        .mode = ADC_MODE_SINGLE,
+        .trigger_source = ADC_TRIGGER_SOFTWARE,
+        .reference = ADC_REFERENCE_VDD,
+        .enable_dma = false,
+        .conversion_frequency = 1000,
+        .channel_count = 1,
+        .channels = {
+            {.channel = 0, .sampling_time = ADC_SAMPLING_28_5_CYCLES}
+        }
+    };
+
+    TEST_ASSERT_EQUAL(KERNEL_OK, adc_init(0, &config));
+}
+
+/**
+ * @brief Test ADC conversion
+ */
+void test_adc_conversion(void) {
+    uint16_t value = 0;
+
+    TEST_ASSERT_EQUAL(KERNEL_OK, adc_read_channel(0, 0, &value, 1000));
+    TEST_ASSERT_GREATER_OR_EQUAL(0, value);
+    TEST_ASSERT_LESS_OR_EQUAL(4095, value);  /* 12-bit resolution */
+}
+
+/**
+ * @brief Test ADC voltage conversion
+ */
+void test_adc_voltage_conversion(void) {
+    /* Test voltage conversion */
+    float voltage = adc_convert_to_voltage(2048, ADC_RESOLUTION_12BIT, 3.3f);
+    TEST_ASSERT_FLOAT_WITHIN(0.1f, 1.65f, voltage);
+}
+
+/* ============================================================================
+ * Test Runner
+ * ============================================================================ */
+int main(void) {
+    UNITY_BEGIN();
+
+    RUN_TEST(test_adc_init);
+    RUN_TEST(test_adc_conversion);
+    RUN_TEST(test_adc_voltage_conversion);
+
+    return UNITY_END();
+}
@@ -0,0 +1,101 @@
+/**
+ * @file test_gpio.c
+ * @brief Hardware tests for GPIO
+ */
+
+#include "unity.h"
+#include "kernel.h"
+#include "gpio_driver.h"
+#include "board.h"
+
+/* Test pins */
+#define TEST_OUTPUT_PIN     0
+#define TEST_INPUT_PIN      1
+
+/* Setup */
+void setUp(void) {
+    kernel_init();
+    board_init();
+}
+
+/* Teardown */
+void tearDown(void) {
+    kernel_stop();
+}
+
+/* ============================================================================
+ * Test Cases
+ * ============================================================================ */
+
+/**
+ * @brief Test GPIO initialization
+ */
+void test_gpio_init(void) {
+    GpioPinConfig_t config = {
+        .port = 0,
+        .pin = TEST_OUTPUT_PIN,
+        .mode = GPIO_MODE_OUTPUT,
+        .output_type = GPIO_OUTPUT_PUSH_PULL,
+        .pull = GPIO_PULL_NONE,
+        .speed = GPIO_SPEED_HIGH
+    };
+
+    TEST_ASSERT_EQUAL(KERNEL_OK, gpio_init(&config));
+}
+
+/**
+ * @brief Test GPIO write and read
+ */
+void test_gpio_write_read(void) {
+    /* Configure output pin */
+    GpioPinConfig_t output_config = {
+        .port = 0,
+        .pin = TEST_OUTPUT_PIN,
+        .mode = GPIO_MODE_OUTPUT,
+        .output_type = GPIO_OUTPUT_PUSH_PULL,
+        .pull = GPIO_PULL_NONE,
+        .speed = GPIO_SPEED_HIGH
+    };
+    gpio_init(&output_config);
+
+    /* Write high */
+    TEST_ASSERT_EQUAL(KERNEL_OK, gpio_write(0, TEST_OUTPUT_PIN, true));
+    TEST_ASSERT_TRUE(gpio_read(0, TEST_OUTPUT_PIN));
+
+    /* Write low */
+    TEST_ASSERT_EQUAL(KERNEL_OK, gpio_write(0, TEST_OUTPUT_PIN, false));
+    TEST_ASSERT_FALSE(gpio_read(0, TEST_OUTPUT_PIN));
+}
+
+/**
+ * @brief Test GPIO toggle
+ */
+void test_gpio_toggle(void) {
+    GpioPinConfig_t config = {
+        .port = 0,
+        .pin = TEST_OUTPUT_PIN,
+        .mode = GPIO_MODE_OUTPUT,
+        .output_type = GPIO_OUTPUT_PUSH_PULL,
+        .pull = GPIO_PULL_NONE,
+        .speed = GPIO_SPEED_HIGH
+    };
+    gpio_init(&config);
+
+    bool initial_state = gpio_read(0, TEST_OUTPUT_PIN);
+
+    TEST_ASSERT_EQUAL(KERNEL_OK, gpio_toggle(0, TEST_OUTPUT_PIN));
+    TEST_ASSERT_NOT_EQUAL(initial_state, gpio_read(0, TEST_OUTPUT_PIN));
+}
+
+/* ============================================================================
+ * Test Runner
+ * ============================================================================ */
+int main(void) {
+    UNITY_BEGIN();
+
+    RUN_TEST(test_gpio_init);
+    RUN_TEST(test_gpio_write_read);
+    RUN_TEST(test_gpio_toggle);
+
+    return UNITY_END();
+}
@@ -0,0 +1,92 @@
+/**
+ * @file test_pwm.c
+ * @brief Hardware tests for PWM
+ */
+
+#include "unity.h"
+#include "kernel.h"
+#include "pwm_driver.h"
+#include "board.h"
+
+/* Setup */
+void setUp(void) {
+    kernel_init();
+    board_init();
+}
+
+/* Teardown */
+void tearDown(void) {
+    kernel_stop();
+}
+
+/* ============================================================================
+ * Test Cases
+ * ============================================================================ */
+
+/**
+ * @brief Test PWM initialization
+ */
+void test_pwm_init(void) {
+    PwmConfig_t config = {
+        .frequency_hz = 1000,
+        .alignment = PWM_ALIGNMENT_EDGE,
+        .period_ticks = 1000,
+        .prescaler = 100,
+        .channel_count = 1,
+        .channels = {
+            {.channel = 0, .duty_cycle = 0}
+        },
+        .enable_fault_protection = false,
+        .fault_action = PWM_FAULT_DISABLE
+    };
+
+    TEST_ASSERT_EQUAL(KERNEL_OK, pwm_init(0, &config));
+}
+
+/**
+ * @brief Test PWM duty cycle
+ */
+void test_pwm_duty_cycle(void) {
+    /* Set 50% duty cycle */
+    TEST_ASSERT_EQUAL(KERNEL_OK, pwm_set_duty_cycle(0, 0, 5000));
+    TEST_ASSERT_EQUAL(5000, pwm_get_duty_cycle(0, 0));
+
+    /* Set 0% duty cycle */
+    TEST_ASSERT_EQUAL(KERNEL_OK, pwm_set_duty_cycle(0, 0, 0));
+    TEST_ASSERT_EQUAL(0, pwm_get_duty_cycle(0, 0));
+
+    /* Set 100% duty cycle */
+    TEST_ASSERT_EQUAL(KERNEL_OK, pwm_set_duty_cycle(0, 0, 10000));
+    TEST_ASSERT_EQUAL(10000, pwm_get_duty_cycle(0, 0));
+}
+
+/**
+ * @brief Test PWM frequency
+ */
+void test_pwm_frequency(void) {
+    /* Set frequency */
+    TEST_ASSERT_EQUAL(KERNEL_OK, pwm_set_frequency(0, 2000));
+    TEST_ASSERT_EQUAL(2000, pwm_get_frequency(0));
+}
+
+/**
+ * @brief Test PWM start/stop
+ */
+void test_pwm_start_stop(void) {
+    TEST_ASSERT_EQUAL(KERNEL_OK, pwm_start(0));
+    TEST_ASSERT_EQUAL(KERNEL_OK, pwm_stop(0));
+}
+
+/* ============================================================================
+ * Test Runner
+ * ============================================================================ */
+int main(void) {
+    UNITY_BEGIN();
+
+    RUN_TEST(test_pwm_init);
+    RUN_TEST(test_pwm_duty_cycle);
+    RUN_TEST(test_pwm_frequency);
+    RUN_TEST(test_pwm_start_stop);
+
+    return UNITY_END();
+}