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
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+/**
+ * @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();
+}