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 +1,176 @@
+/**
+ * @file test_can_communication.c
+ * @brief Integration tests for CAN communication
+ */
+
+#include "unity.h"
+#include "kernel.h"
+#include "can_driver.h"
+#include "can_tp.h"
+#include "can_nm.h"
+#include <string.h>
+
+/* CAN test variables */
+static CanMessage_t test_message;
+static volatile bool message_received = false;
+static volatile bool message_sent = false;
+static volatile uint32_t rx_count = 0;
+
+/* Callback functions */
+static void test_rx_callback(const CanMessage_t* message) {
+    message_received = true;
+    rx_count++;
+    memcpy(&test_message, message, sizeof(CanMessage_t));
+}
+
+static void test_tx_callback(uint32_t mailbox, bool success) {
+    message_sent = success;
+}
+
+/* Setup */
+void setUp(void) {
+    kernel_init();
+    message_received = false;
+    message_sent = false;
+    rx_count = 0;
+
+    /* Initialize CAN */
+    CanConfig_t config = {
+        .nominal_baudrate = CAN_BAUD_500K,
+        .data_baudrate = CAN_BAUD_500K,
+        .frame_type = CAN_FRAME_CLASSIC,
+        .enable_fd = false,
+        .enable_automatic_retransmission = true,
+        .rx_callback = test_rx_callback,
+        .tx_callback = test_tx_callback,
+        .filter_count = 0
+    };
+
+    can_init(&config);
+}
+
+/* Teardown */
+void tearDown(void) {
+    can_deinit();
+    kernel_stop();
+}
+
+/* ============================================================================
+ * Test Cases
+ * ============================================================================ */
+
+/**
+ * @brief Test CAN initialization
+ */
+void test_can_init(void) {
+    CanStatistics_t stats;
+    TEST_ASSERT_EQUAL(KERNEL_OK, can_get_statistics(&stats));
+    TEST_ASSERT_EQUAL(0, stats.tx_messages);
+    TEST_ASSERT_EQUAL(0, stats.rx_messages);
+}
+
+/**
+ * @brief Test CAN message send
+ */
+void test_can_send(void) {
+    CanMessage_t msg = {
+        .id = {.id = 0x100, .is_extended = false},
+        .length = 8,
+        .data = {1, 2, 3, 4, 5, 6, 7, 8}
+    };
+
+    TEST_ASSERT_EQUAL(KERNEL_OK, can_send_message(&msg, 1000));
+
+    /* Wait for transmission */
+    kernel_delay(10);
+
+    TEST_ASSERT_TRUE(message_sent);
+}
+
+/**
+ * @brief Test CAN message receive
+ */
+void test_can_receive(void) {
+    CanMessage_t msg = {
+        .id = {.id = 0x200, .is_extended = false},
+        .length = 4,
+        .data = {0xAA, 0xBB, 0xCC, 0xDD}
+    };
+
+    /* Simulate received message */
+    can_process_interrupt();
+
+    TEST_ASSERT_TRUE(message_received);
+    TEST_ASSERT_EQUAL(0x200, test_message.id.id);
+    TEST_ASSERT_EQUAL(4, test_message.length);
+}
+
+/**
+ * @brief Test CAN TP multi-frame message
+ */
+void test_can_tp_multiframe(void) {
+    CanTpConfig_t tp_config = {
+        .addressing_format = CAN_TP_ADDRESSING_NORMAL,
+        .source_address = 0x100,
+        .target_address = 0x200,
+        .timeout_ms = 1000,
+        .stmin = 10,
+        .block_size = 8,
+        .padding_enabled = true,
+        .padding_byte = 0xAA
+    };
+
+    can_tp_init(&tp_config);
+
+    /* Create test message */
+    uint8_t data[100];
+    for (int i = 0; i < 100; i++) {
+        data[i] = i;
+    }
+
+    CanTpMessage_t tp_msg = {
+        .message_id = 0x300,
+        .data = data,
+        .length = 100,
+        .addressing_format = CAN_TP_ADDRESSING_NORMAL
+    };
+
+    TEST_ASSERT_EQUAL(KERNEL_OK, can_tp_send_message(&tp_msg, 5000));
+}
+
+/**
+ * @brief Test CAN network management
+ */
+void test_can_nm(void) {
+    CanNmConfig_t nm_config = {
+        .node_id = 1,
+        .network_id = 0,
+        .message_id = 0x400,
+        .timeout_ms = 2000,
+        .repeat_message_time_ms = 500,
+        .is_coordinator = false,
+        .sleep_ack_timeout_ms = 100
+    };
+
+    TEST_ASSERT_EQUAL(KERNEL_OK, can_nm_init(&nm_config));
+    TEST_ASSERT_EQUAL(KERNEL_OK, can_nm_start());
+
+    kernel_delay(100);
+
+    TEST_ASSERT_EQUAL(CAN_NM_NORMAL_OPERATION, can_nm_get_state());
+}
+
+/* ============================================================================
+ * Test Runner
+ * ============================================================================ */
+int main(void) {
+    UNITY_BEGIN();
+
+    RUN_TEST(test_can_init);
+    RUN_TEST(test_can_send);
+    RUN_TEST(test_can_receive);
+    RUN_TEST(test_can_tp_multiframe);
+    RUN_TEST(test_can_nm);
+
+    return UNITY_END();
+}