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 +1,197 @@
+/**
+ * @file test_full_system.c
+ * @brief Full system integration tests
+ */
+
+#include "unity.h"
+#include "kernel.h"
+#include "task.h"
+#include "semaphore.h"
+#include "mutex.h"
+#include "queue.h"
+#include "can_driver.h"
+#include "gpio_driver.h"
+#include "adc_driver.h"
+#include "pwm_driver.h"
+#include "dtc_manager.h"
+#include "watchdog_manager.h"
+#include <string.h>
+
+/* System test variables */
+static volatile bool system_running = false;
+static volatile uint32_t system_ticks = 0;
+static Queue_t command_queue;
+static Semaphore_t system_semaphore;
+
+/* System tasks */
+static void sensor_task(void* params) {
+    (void)params;
+    while (1) {
+        /* Read sensors */
+        uint16_t adc_value;
+        adc_read_channel(0, 0, &adc_value, 10);
+
+        kernel_delay(10);
+    }
+}
+
+static void control_task(void* params) {
+    (void)params;
+    while (1) {
+        /* Control loop */
+        pwm_set_duty_cycle(0, 0, 5000);  /* 50% duty */
+
+        kernel_delay(5);
+    }
+}
+
+static void communication_task(void* params) {
+    (void)params;
+    while (1) {
+        CanMessage_t msg = {
+            .id = {.id = 0x100, .is_extended = false},
+            .length = 8,
+            .data = {1, 2, 3, 4, 5, 6, 7, 8}
+        };
+
+        can_send_message(&msg, 100);
+        kernel_delay(50);
+    }
+}
+
+static void monitor_task(void* params) {
+    (void)params;
+    while (1) {
+        system_ticks++;
+        watchdog_task_alive(scheduler_get_current_task());
+        kernel_delay(100);
+    }
+}
+
+/* Setup */
+void setUp(void) {
+    kernel_init();
+    system_running = false;
+    system_ticks = 0;
+
+    /* Initialize subsystems */
+    dtc_manager_init();
+    watchdog_manager_init(1000);
+}
+
+/* Teardown */
+void tearDown(void) {
+    kernel_stop();
+}
+
+/* ============================================================================
+ * Test Cases
+ * ============================================================================ */
+
+/**
+ * @brief Test full system startup
+ */
+void test_system_startup(void) {
+    /* Create all system tasks */
+    TaskConfig_t sensor_config = {
+        .name = "sensor",
+        .function = sensor_task,
+        .parameters = NULL,
+        .stack_size = 1024,
+        .priority = 2,
+        .period_ticks = 0
+    };
+    task_create(&sensor_config);
+
+    TaskConfig_t control_config = {
+        .name = "control",
+        .function = control_task,
+        .parameters = NULL,
+        .stack_size = 1024,
+        .priority = 1,
+        .period_ticks = 0
+    };
+    task_create(&control_config);
+
+    TaskConfig_t comm_config = {
+        .name = "comm",
+        .function = communication_task,
+        .parameters = NULL,
+        .stack_size = 2048,
+        .priority = 3,
+        .period_ticks = 0
+    };
+    task_create(&comm_config);
+
+    TaskConfig_t monitor_config = {
+        .name = "monitor",
+        .function = monitor_task,
+        .parameters = NULL,
+        .stack_size = 1024,
+        .priority = 4,
+        .period_ticks = 0
+    };
+    task_create(&monitor_config);
+
+    /* Start system */
+    kernel_start();
+    system_running = true;
+
+    /* Let system run */
+    kernel_delay(500);
+
+    TEST_ASSERT_TRUE(system_running);
+    TEST_ASSERT_GREATER_THAN(0, system_ticks);
+}
+
+/**
+ * @brief Test system communication
+ */
+void test_system_communication(void) {
+    /* Create communication test */
+    CanMessage_t test_msg = {
+        .id = {.id = 0x200, .is_extended = false},
+        .length = 4,
+        .data = {0xAA, 0xBB, 0xCC, 0xDD}
+    };
+
+    TEST_ASSERT_EQUAL(KERNEL_OK, can_send_message(&test_msg, 1000));
+
+    kernel_delay(10);
+
+    CanStatistics_t stats;
+    can_get_statistics(&stats);
+    TEST_ASSERT_GREATER_THAN(0, stats.tx_messages);
+}
+
+/**
+ * @brief Test system diagnostics
+ */
+void test_system_diagnostics(void) {
+    /* Add test DTC */
+    DtcCode_t dtc = {
+        .high_byte = 0x01,
+        .middle_byte = 0x02,
+        .low_byte = 0x03
+    };
+
+    TEST_ASSERT_EQUAL(KERNEL_OK, dtc_manager_add_dtc(&dtc, 3));
+    TEST_ASSERT_EQUAL(1, dtc_manager_get_count());
+
+    /* Clear DTCs */
+    TEST_ASSERT_EQUAL(KERNEL_OK, dtc_manager_clear_all());
+    TEST_ASSERT_EQUAL(0, dtc_manager_get_count());
+}
+
+/* ============================================================================
+ * Test Runner
+ * ============================================================================ */
+int main(void) {
+    UNITY_BEGIN();
+
+    RUN_TEST(test_system_startup);
+    RUN_TEST(test_system_communication);
+    RUN_TEST(test_system_diagnostics);
+
+    return UNITY_END();
+}