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 +1,212 @@
+#!/bin/bash
+/**
+ * @file build_all.sh
+ * @brief Build all targets for Automotive RTOS
+ */
+
+set -e  # Exit on error
+
+# Script directory
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
+
+# Color codes
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' # No Color
+
+# Build configuration
+BUILD_DIR="${PROJECT_ROOT}/build"
+LOG_DIR="${BUILD_DIR}/logs"
+TARGETS=("stm32f407_discovery" "nxp_s32k144_evb" "custom_ecu")
+BUILD_TYPES=("debug" "release")
+
+# Create directories
+mkdir -p "${BUILD_DIR}"
+mkdir -p "${LOG_DIR}"
+
+# Print banner
+echo -e "${GREEN}========================================${NC}"
+echo -e "${GREEN}  Automotive RTOS Build System${NC}"
+echo -e "${GREEN}========================================${NC}"
+echo ""
+
+# Function to build target
+build_target() {
+    local target=$1
+    local build_type=$2
+
+    echo -e "${YELLOW}Building ${target} (${build_type})...${NC}"
+
+    local build_dir="${BUILD_DIR}/${target}/${build_type}"
+    mkdir -p "${build_dir}"
+
+    # Change to build directory
+    cd "${build_dir}"
+
+    # Run CMake
+    cmake "${PROJECT_ROOT}" \
+        -DTARGET_BOARD=${target} \
+        -DCMAKE_BUILD_TYPE=${build_type} \
+        -DCMAKE_TOOLCHAIN_FILE="${PROJECT_ROOT}/cmake/toolchain-${target}.cmake" \
+        -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+        2>&1 | tee "${LOG_DIR}/${target}_${build_type}_configure.log"
+
+    # Build
+    make -j$(nproc) 2>&1 | tee "${LOG_DIR}/${target}_${build_type}_build.log"
+
+    # Check build result
+    if [ $? -eq 0 ]; then
+        echo -e "${GREEN}✓ ${target} (${build_type}) built successfully${NC}"
+    else
+        echo -e "${RED}✗ ${target} (${build_type}) build failed${NC}"
+        return 1
+    fi
+
+    # Generate artifacts
+    echo -e "${YELLOW}Generating artifacts...${NC}"
+
+    # Create hex file
+    arm-none-eabi-objcopy -O ihex "${build_dir}/automotive_rtos.elf" \
+        "${build_dir}/automotive_rtos.hex"
+
+    # Create binary file
+    arm-none-eabi-objcopy -O binary "${build_dir}/automotive_rtos.elf" \
+        "${build_dir}/automotive_rtos.bin"
+
+    # Generate size report
+    arm-none-eabi-size "${build_dir}/automotive_rtos.elf" > \
+        "${build_dir}/size_report.txt"
+
+    # Generate map file
+    arm-none-eabi-nm -n "${build_dir}/automotive_rtos.elf" > \
+        "${build_dir}/symbols.txt"
+
+    echo -e "${GREEN}✓ Artifacts generated${NC}"
+    echo ""
+
+    return 0
+}
+
+# Function to run tests
+run_tests() {
+    echo -e "${YELLOW}Running unit tests...${NC}"
+
+    local test_dir="${BUILD_DIR}/tests"
+    mkdir -p "${test_dir}"
+
+    # Run each test
+    for test_file in "${PROJECT_ROOT}"/tests/unit/test_*.c; do
+        test_name=$(basename "${test_file}" .c)
+        echo -e "  Testing ${test_name}..."
+
+        # Compile test
+        gcc -I"${PROJECT_ROOT}/kernel/include" \
+            -I"${PROJECT_ROOT}/tests" \
+            -I"${PROJECT_ROOT}/third_party/unity" \
+            "${test_file}" \
+            "${PROJECT_ROOT}/tests/unity/unity.c" \
+            -o "${test_dir}/${test_name}" \
+            -Wall -Wextra -g
+
+        # Run test
+        if "${test_dir}/${test_name}" > "${LOG_DIR}/${test_name}.log" 2>&1; then
+            echo -e "${GREEN}  ✓ ${test_name} passed${NC}"
+        else
+            echo -e "${RED}  ✗ ${test_name} failed${NC}"
+            cat "${LOG_DIR}/${test_name}.log"
+            return 1
+        fi
+    done
+
+    echo -e "${GREEN}✓ All tests passed${NC}"
+    echo ""
+}
+
+# Main build process
+main() {
+    local build_failed=0
+
+    # Parse arguments
+    local clean_build=false
+    local run_all_tests=false
+
+    while [[ $# -gt 0 ]]; do
+        case $1 in
+            --clean)
+                clean_build=true
+                shift
+                ;;
+            --test)
+                run_all_tests=true
+                shift
+                ;;
+            --target)
+                TARGETS=("$2")
+                shift 2
+                ;;
+            --type)
+                BUILD_TYPES=("$2")
+                shift 2
+                ;;
+            *)
+                echo "Unknown option: $1"
+                exit 1
+                ;;
+        esac
+    done
+
+    # Clean build if requested
+    if [ "${clean_build}" = true ]; then
+        echo -e "${YELLOW}Cleaning build directory...${NC}"
+        rm -rf "${BUILD_DIR}"
+        mkdir -p "${BUILD_DIR}"
+        echo -e "${GREEN}✓ Clean complete${NC}"
+        echo ""
+    fi
+
+    # Build all targets
+    for target in "${TARGETS[@]}"; do
+        for build_type in "${BUILD_TYPES[@]}"; do
+            if ! build_target "${target}" "${build_type}"; then
+                build_failed=1
+            fi
+        done
+    done
+
+    # Run tests if requested
+    if [ "${run_all_tests}" = true ]; then
+        if ! run_tests; then
+            build_failed=1
+        fi
+    fi
+
+    # Print summary
+    echo -e "${GREEN}========================================${NC}"
+    echo -e "${GREEN}  Build Summary${NC}"
+    echo -e "${GREEN}========================================${NC}"
+
+    if [ ${build_failed} -eq 0 ]; then
+        echo -e "${GREEN}✓ All builds successful${NC}"
+    else
+        echo -e "${RED}✗ Some builds failed${NC}"
+        exit 1
+    fi
+
+    # Print size reports
+    echo ""
+    echo -e "${YELLOW}Size Reports:${NC}"
+    for target in "${TARGETS[@]}"; do
+        for build_type in "${BUILD_TYPES[@]}"; do
+            size_file="${BUILD_DIR}/${target}/${build_type}/size_report.txt"
+            if [ -f "${size_file}" ]; then
+                echo -e "  ${target} (${build_type}):"
+                cat "${size_file}" | tail -n 2
+            fi
+        done
+    done
+}
+
+# Run main
+main "$@"
@@ -0,0 +1,219 @@
+#!/bin/bash
+/**
+ * @file build_target.sh
+ * @brief Build specific target
+ */
+
+set -e
+
+# Script directory
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
+
+# Default values
+TARGET=""
+BUILD_TYPE="debug"
+CLEAN=false
+VERBOSE=false
+JOBS=$(nproc)
+
+# Color codes
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m'
+
+# Function to print usage
+print_usage() {
+    echo "Usage: $0 [OPTIONS]"
+    echo ""
+    echo "Options:"
+    echo "  -t, --target <target>    Target board (required)"
+    echo "                           Available: stm32f407_discovery"
+    echo "                                     nxp_s32k144_evb"
+    echo "                                     custom_ecu"
+    echo "  -b, --build-type <type>  Build type (default: debug)"
+    echo "                           Available: debug, release"
+    echo "  -c, --clean              Clean build"
+    echo "  -v, --verbose            Verbose output"
+    echo "  -j, --jobs <number>      Number of parallel jobs"
+    echo "  -h, --help               Show this help"
+    echo ""
+}
+
+# Parse arguments
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        -t|--target)
+            TARGET="$2"
+            shift 2
+            ;;
+        -b|--build-type)
+            BUILD_TYPE="$2"
+            shift 2
+            ;;
+        -c|--clean)
+            CLEAN=true
+            shift
+            ;;
+        -v|--verbose)
+            VERBOSE=true
+            shift
+            ;;
+        -j|--jobs)
+            JOBS="$2"
+            shift 2
+            ;;
+        -h|--help)
+            print_usage
+            exit 0
+            ;;
+        *)
+            echo "Unknown option: $1"
+            print_usage
+            exit 1
+            ;;
+    esac
+done
+
+# Validate target
+if [ -z "${TARGET}" ]; then
+    echo -e "${RED}Error: Target not specified${NC}"
+    print_usage
+    exit 1
+fi
+
+# Validate build type
+case "${BUILD_TYPE}" in
+    debug|release)
+        ;;
+    *)
+        echo -e "${RED}Error: Invalid build type: ${BUILD_TYPE}${NC}"
+        exit 1
+        ;;
+esac
+
+# Build directories
+BUILD_DIR="${PROJECT_ROOT}/build/${TARGET}/${BUILD_TYPE}"
+LOG_DIR="${PROJECT_ROOT}/build/logs"
+
+# Create directories
+mkdir -p "${BUILD_DIR}"
+mkdir -p "${LOG_DIR}"
+
+# Print build info
+echo -e "${BLUE}========================================${NC}"
+echo -e "${BLUE}  Building Automotive RTOS${NC}"
+echo -e "${BLUE}========================================${NC}"
+echo -e "  Target:     ${YELLOW}${TARGET}${NC}"
+echo -e "  Build Type: ${YELLOW}${BUILD_TYPE}${NC}"
+echo -e "  Jobs:       ${YELLOW}${JOBS}${NC}"
+echo ""
+
+# Clean if requested
+if [ "${CLEAN}" = true ]; then
+    echo -e "${YELLOW}Cleaning build directory...${NC}"
+    rm -rf "${BUILD_DIR}"/*
+    echo -e "${GREEN}✓ Clean complete${NC}"
+    echo ""
+fi
+
+# Configure
+echo -e "${YELLOW}Configuring build...${NC}"
+
+# Set CMake arguments
+CMAKE_ARGS=(
+    "${PROJECT_ROOT}"
+    "-DTARGET_BOARD=${TARGET}"
+    "-DCMAKE_BUILD_TYPE=${BUILD_TYPE}"
+    "-DCMAKE_TOOLCHAIN_FILE=${PROJECT_ROOT}/cmake/toolchain-${TARGET}.cmake"
+    "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON"
+)
+
+if [ "${VERBOSE}" = true ]; then
+    CMAKE_ARGS+=("-DCMAKE_VERBOSE_MAKEFILE=ON")
+fi
+
+# Run CMake
+cd "${BUILD_DIR}"
+cmake "${CMAKE_ARGS[@]}" 2>&1 | tee "${LOG_DIR}/${TARGET}_${BUILD_TYPE}_configure.log"
+
+if [ $? -ne 0 ]; then
+    echo -e "${RED}✗ Configuration failed${NC}"
+    exit 1
+fi
+
+echo -e "${GREEN}✓ Configuration complete${NC}"
+echo ""
+
+# Build
+echo -e "${YELLOW}Building...${NC}"
+
+make -j${JOBS} 2>&1 | tee "${LOG_DIR}/${TARGET}_${BUILD_TYPE}_build.log"
+
+if [ $? -ne 0 ]; then
+    echo -e "${RED}✗ Build failed${NC}"
+    exit 1
+fi
+
+echo -e "${GREEN}✓ Build complete${NC}"
+echo ""
+
+# Generate artifacts
+echo -e "${YELLOW}Generating artifacts...${NC}"
+
+ELF_FILE="${BUILD_DIR}/automotive_rtos.elf"
+HEX_FILE="${BUILD_DIR}/automotive_rtos.hex"
+BIN_FILE="${BUILD_DIR}/automotive_rtos.bin"
+MAP_FILE="${BUILD_DIR}/automotive_rtos.map"
+SIZE_FILE="${BUILD_DIR}/size_report.txt"
+
+# Generate hex file
+arm-none-eabi-objcopy -O ihex "${ELF_FILE}" "${HEX_FILE}"
+
+# Generate binary file
+arm-none-eabi-objcopy -O binary "${ELF_FILE}" "${BIN_FILE}"
+
+# Generate map file
+arm-none-eabi-nm -n "${ELF_FILE}" > "${MAP_FILE}"
+
+# Generate size report
+arm-none-eabi-size "${ELF_FILE}" > "${SIZE_FILE}"
+
+echo -e "${GREEN}✓ Artifacts generated:${NC}"
+echo -e "  ELF: ${BLUE}${ELF_FILE}${NC}"
+echo -e "  HEX: ${BLUE}${HEX_FILE}${NC}"
+echo -e "  BIN: ${BLUE}${BIN_FILE}${NC}"
+echo -e "  MAP: ${BLUE}${MAP_FILE}${NC}"
+echo ""
+
+# Print size report
+echo -e "${YELLOW}Size Report:${NC}"
+cat "${SIZE_FILE}"
+echo ""
+
+# Run static analysis if available
+if command -v cppcheck >/dev/null 2>&1; then
+    echo -e "${YELLOW}Running static analysis...${NC}"
+
+    cppcheck \
+        --enable=all \
+        --inconclusive \
+        --std=c11 \
+        --platform=arm32 \
+        -I"${PROJECT_ROOT}/kernel/include" \
+        -I"${PROJECT_ROOT}/drivers/include" \
+        -I"${PROJECT_ROOT}/middleware/include" \
+        "${PROJECT_ROOT}/kernel/src" \
+        "${PROJECT_ROOT}/drivers/src" \
+        "${PROJECT_ROOT}/middleware/src" \
+        2>&1 | tee "${LOG_DIR}/${TARGET}_${BUILD_TYPE}_cppcheck.log"
+
+    echo -e "${GREEN}✓ Static analysis complete${NC}"
+    echo ""
+fi
+
+echo -e "${GREEN}========================================${NC}"
+echo -e "${GREEN}  Build Successful${NC}"
+echo -e "${GREEN}========================================${NC}"
@@ -0,0 +1,189 @@
+#!/bin/bash
+/**
+ * @file flash_target.sh
+ * @brief Flash firmware to target board
+ */
+
+set -e
+
+# Script directory
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
+
+# Default values
+TARGET=""
+BUILD_TYPE="debug"
+PROGRAMMER=""
+INTERFACE=""
+
+# Color codes
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m'
+
+# Function to print usage
+print_usage() {
+    echo "Usage: $0 [OPTIONS]"
+    echo ""
+    echo "Options:"
+    echo "  -t, --target <target>    Target board (required)"
+    echo "  -b, --build-type <type>  Build type (default: debug)"
+    echo "  -p, --programmer <prog>  Programmer type"
+    echo "                           Available: stlink, jlink, openocd"
+    echo "  -i, --interface <iface>  Debug interface"
+    echo "                           Available: swd, jtag"
+    echo "  -h, --help               Show this help"
+    echo ""
+}
+
+# Parse arguments
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        -t|--target)
+            TARGET="$2"
+            shift 2
+            ;;
+        -b|--build-type)
+            BUILD_TYPE="$2"
+            shift 2
+            ;;
+        -p|--programmer)
+            PROGRAMMER="$2"
+            shift 2
+            ;;
+        -i|--interface)
+            INTERFACE="$2"
+            shift 2
+            ;;
+        -h|--help)
+            print_usage
+            exit 0
+            ;;
+        *)
+            echo "Unknown option: $1"
+            print_usage
+            exit 1
+            ;;
+    esac
+done
+
+# Validate target
+if [ -z "${TARGET}" ]; then
+    echo -e "${RED}Error: Target not specified${NC}"
+    print_usage
+    exit 1
+fi
+
+# Set default programmer based on target
+if [ -z "${PROGRAMMER}" ]; then
+    case "${TARGET}" in
+        stm32f407_discovery)
+            PROGRAMMER="stlink"
+            INTERFACE="swd"
+            ;;
+        nxp_s32k144_evb)
+            PROGRAMMER="jlink"
+            INTERFACE="swd"
+            ;;
+        custom_ecu)
+            PROGRAMMER="openocd"
+            INTERFACE="swd"
+            ;;
+    esac
+fi
+
+# Firmware file
+FIRMWARE_FILE="${PROJECT_ROOT}/build/${TARGET}/${BUILD_TYPE}/automotive_rtos.elf"
+HEX_FILE="${PROJECT_ROOT}/build/${TARGET}/${BUILD_TYPE}/automotive_rtos.hex"
+
+# Check if firmware exists
+if [ ! -f "${FIRMWARE_FILE}" ]; then
+    echo -e "${RED}Error: Firmware not found: ${FIRMWARE_FILE}${NC}"
+    echo -e "${YELLOW}Run build_target.sh first${NC}"
+    exit 1
+fi
+
+# Print flash info
+echo -e "${BLUE}========================================${NC}"
+echo -e "${BLUE}  Flashing Firmware${NC}"
+echo -e "${BLUE}========================================${NC}"
+echo -e "  Target:     ${YELLOW}${TARGET}${NC}"
+echo -e "  Programmer: ${YELLOW}${PROGRAMMER}${NC}"
+echo -e "  Interface:  ${YELLOW}${INTERFACE}${NC}"
+echo -e "  Firmware:   ${YELLOW}${FIRMWARE_FILE}${NC}"
+echo ""
+
+# Flash based on programmer
+case "${PROGRAMMER}" in
+    stlink)
+        echo -e "${YELLOW}Flashing with ST-Link...${NC}"
+        st-flash --reset write "${HEX_FILE}" 0x08000000
+        ;;
+
+    jlink)
+        echo -e "${YELLOW}Flashing with J-Link...${NC}"
+
+        # Create J-Link script
+        JLINK_SCRIPT="${PROJECT_ROOT}/build/flash.jlink"
+        cat > "${JLINK_SCRIPT}" << EOF
+device ${TARGET}
+si ${INTERFACE}
+speed 4000
+loadfile ${HEX_FILE}
+r
+g
+q
+EOF
+
+        JLinkExe -CommanderScript "${JLINK_SCRIPT}"
+        ;;
+
+    openocd)
+        echo -e "${YELLOW}Flashing with OpenOCD...${NC}"
+
+        # OpenOCD configuration
+        case "${TARGET}" in
+            stm32f407_discovery)
+                OOCD_CFG="board/stm32f4discovery.cfg"
+                ;;
+            *)
+                OOCD_CFG="board/${TARGET}.cfg"
+                ;;
+        esac
+
+        openocd \
+            -f "interface/${INTERFACE}.cfg" \
+            -f "${OOCD_CFG}" \
+            -c "program ${FIRMWARE_FILE} verify reset exit"
+        ;;
+
+    *)
+        echo -e "${RED}Error: Unknown programmer: ${PROGRAMMER}${NC}"
+        exit 1
+        ;;
+esac
+
+if [ $? -eq 0 ]; then
+    echo -e "${GREEN}✓ Flash successful${NC}"
+else
+    echo -e "${RED}✗ Flash failed${NC}"
+    exit 1
+fi
+
+# Verify flash
+echo -e "${YELLOW}Verifying flash...${NC}"
+
+case "${PROGRAMMER}" in
+    stlink)
+        st-flash verify "${HEX_FILE}"
+        ;;
+    *)
+        echo -e "${YELLOW}Verification not supported for ${PROGRAMMER}${NC}"
+        ;;
+esac
+
+echo -e "${GREEN}========================================${NC}"
+echo -e "${GREEN}  Flash Complete${NC}"
+echo -e "${GREEN}========================================${NC}"