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.
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#!/usr/bin/env python3
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"""
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@file config_generator.py
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@brief Configuration file generator for Automotive RTOS
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"""
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import os
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import sys
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import argparse
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import json
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from pathlib import Path
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from typing import Dict, List, Any
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class ConfigGenerator:
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"""Generate RTOS configuration files"""
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def __init__(self, project_root):
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self.project_root = Path(project_root)
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self.config_dir = self.project_root / 'config'
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def load_configuration(self, config_file):
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"""Load configuration from JSON file"""
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with open(config_file, 'r') as f:
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return json.load(f)
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def generate_kernel_config(self, config: Dict[str, Any]):
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"""Generate kernel_config.h"""
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print("Generating kernel_config.h...")
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kernel = config.get('kernel', {})
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content = f"""/**
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* @file kernel_config.h
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* @brief Kernel configuration (auto-generated)
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* @note This file is auto-generated. Do not modify manually.
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*/
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#ifndef KERNEL_CONFIG_H
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#define KERNEL_CONFIG_H
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/* ============================================================================
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* Basic Kernel Configuration
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* ============================================================================ */
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#define MAX_TASKS {kernel.get('max_tasks', 32)}
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#define MAX_PRIORITY_LEVELS {kernel.get('max_priorities', 16)}
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#define TICK_RATE_HZ {kernel.get('tick_rate', 1000)}
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#define MAX_TASK_NAME_LENGTH {kernel.get('max_task_name_length', 16)}
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/* ============================================================================
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* Scheduler Configuration
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* ============================================================================ */
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#define SCHEDULER_TYPE SCHEDULER_PRIORITY_PREEMPTIVE
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#define ENABLE_ROUND_ROBIN {1 if kernel.get('round_robin', True) else 0}
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#define ROUND_ROBIN_TIME_SLICE {kernel.get('time_slice', 10)}
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#define ENABLE_DEADLINE_MONITORING {1 if kernel.get('deadline_monitoring', True) else 0}
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/* ============================================================================
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* Synchronization Configuration
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* ============================================================================ */
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#define MAX_SEMAPHORES {kernel.get('max_semaphores', 32)}
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#define MAX_MUTEXES {kernel.get('max_mutexes', 16)}
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#define MAX_QUEUES {kernel.get('max_queues', 16)}
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#define MAX_TIMERS {kernel.get('max_timers', 16)}
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/* ============================================================================
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* Memory Configuration
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* ============================================================================ */
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#define ENABLE_MEMORY_PROTECTION {1 if kernel.get('memory_protection', True) else 0}
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#define ENABLE_STACK_CHECK {1 if kernel.get('stack_check', True) else 0}
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#define DEFAULT_TASK_STACK_SIZE {kernel.get('default_stack_size', 1024)}
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#define HEAP_SIZE {kernel.get('heap_size', 65536)}
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#endif /* KERNEL_CONFIG_H */
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"""
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self._write_file(self.config_dir / 'kernel_config.h', content)
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def generate_task_config(self, config: Dict[str, Any]):
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"""Generate task_config.h"""
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print("Generating task_config.h...")
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tasks = config.get('tasks', [])
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content = f"""/**
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* @file task_config.h
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* @brief Task configuration (auto-generated)
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* @note This file is auto-generated. Do not modify manually.
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*/
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#ifndef TASK_CONFIG_H
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#define TASK_CONFIG_H
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#include "kernel_config.h"
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/* ============================================================================
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* Task Priority Definitions
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* ============================================================================ */
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"""
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# Generate priority definitions
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for task in tasks:
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name = task['name'].upper().replace(' ', '_')
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priority = task.get('priority', 0)
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content += f"#define TASK_PRIORITY_{name:<30s} {priority}\n"
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content += "\n/* ============================================================================\n"
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content += " * Task Period Definitions (ms)\n"
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content += " * ============================================================================ */\n"
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# Generate period definitions
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for task in tasks:
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name = task['name'].upper().replace(' ', '_')
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period = task.get('period_ms', 10)
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content += f"#define TASK_PERIOD_{name:<30s} {period}\n"
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content += "\n/* ============================================================================\n"
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content += " * Task Stack Sizes (bytes)\n"
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content += " * ============================================================================ */\n"
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# Generate stack size definitions
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for task in tasks:
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name = task['name'].upper().replace(' ', '_')
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stack_size = task.get('stack_size', 1024)
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content += f"#define TASK_STACK_{name:<30s} {stack_size}\n"
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content += "\n/* ============================================================================\n"
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content += " * Task Configuration Table\n"
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content += " * ============================================================================ */\n\n"
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content += "static const TaskConfigEntry_t task_config_table[] = {\n"
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content += " /* Name, Priority, Period, Stack, Deadline, Periodic, Critical */\n"
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for task in tasks:
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name = task['name']
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priority = task.get('priority', 0)
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period = task.get('period_ms', 10)
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stack_size = task.get('stack_size', 1024)
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deadline = task.get('deadline_ms', period)
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periodic = 'true' if task.get('periodic', True) else 'false'
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critical = 'true' if task.get('critical', False) else 'false'
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content += f' {{"{name}", {priority}, {period}, {stack_size}, '
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content += f'{deadline}, {periodic}, {critical}}},\n'
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content += "};\n\n"
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content += f"#define TASK_CONFIG_COUNT {len(tasks)}\n\n"
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content += "#endif /* TASK_CONFIG_H */\n"
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self._write_file(self.config_dir / 'task_config.h', content)
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def generate_can_config(self, config: Dict[str, Any]):
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"""Generate can_config.h"""
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print("Generating can_config.h...")
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can_config = config.get('can', {})
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content = f"""/**
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* @file can_config.h
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* @brief CAN configuration (auto-generated)
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*/
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#ifndef CAN_CONFIG_H
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#define CAN_CONFIG_H
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/* CAN Baudrate */
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#define CAN_BAUDRATE {can_config.get('baudrate', 500000)}
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#define CAN_FD_BAUDRATE {can_config.get('fd_baudrate', 2000000)}
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#define CAN_FD_ENABLED {1 if can_config.get('fd_enabled', False) else 0}
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/* CAN Message IDs */
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"""
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# Generate message ID definitions
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messages = can_config.get('messages', [])
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for msg in messages:
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name = msg['name'].upper().replace(' ', '_')
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msg_id = msg.get('id', 0x100)
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content += f"#define CAN_ID_{name:<30s} 0x{msg_id:03X}\n"
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content += "\n#endif /* CAN_CONFIG_H */\n"
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self._write_file(self.config_dir / 'can_config.h', content)
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def _write_file(self, file_path: Path, content: str):
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"""Write content to file"""
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file_path.parent.mkdir(parents=True, exist_ok=True)
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with open(file_path, 'w') as f:
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f.write(content)
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print(f" Generated: {file_path}")
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def generate(self, config_file: str):
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"""Generate all configuration files"""
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print("=" * 60)
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print("Configuration Generator")
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print("=" * 60)
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config = self.load_configuration(config_file)
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# Generate configuration files
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self.generate_kernel_config(config)
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self.generate_task_config(config)
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self.generate_can_config(config)
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print("\nConfiguration generation complete")
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def main():
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parser = argparse.ArgumentParser(description='Configuration generator')
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parser.add_argument('config_file', help='Configuration JSON file')
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parser.add_argument('--project', default='.', help='Project root directory')
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args = parser.parse_args()
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generator = ConfigGenerator(args.project)
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generator.generate(args.config_file)
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if __name__ == '__main__':
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main()
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+205
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#!/usr/bin/env python3
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"""
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@file task_priority_calculator.py
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@brief Task priority calculator for Rate Monotonic Scheduling
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"""
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import sys
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import argparse
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from collections import defaultdict
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from math import ceil
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class TaskPriorityCalculator:
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"""Calculate task priorities using RMS/DMS algorithms"""
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def __init__(self):
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self.tasks = []
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def add_task(self, name, period_ms, execution_time_ms, deadline_ms=None):
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"""Add task for analysis"""
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if deadline_ms is None:
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deadline_ms = period_ms
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self.tasks.append({
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'name': name,
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'period': period_ms,
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'execution_time': execution_time_ms,
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'deadline': deadline_ms
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})
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def calculate_utilization(self):
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"""Calculate CPU utilization"""
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total_utilization = 0
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for task in self.tasks:
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utilization = task['execution_time'] / task['period']
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task['utilization'] = utilization
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total_utilization += utilization
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return total_utilization
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def rate_monotonic_priority(self):
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"""Assign priorities using Rate Monotonic Scheduling"""
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# Sort by period (shortest period = highest priority)
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sorted_tasks = sorted(self.tasks, key=lambda x: x['period'])
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for i, task in enumerate(sorted_tasks):
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task['rms_priority'] = i
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return sorted_tasks
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def deadline_monotonic_priority(self):
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"""Assign priorities using Deadline Monotonic Scheduling"""
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# Sort by deadline (shortest deadline = highest priority)
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sorted_tasks = sorted(self.tasks, key=lambda x: x['deadline'])
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for i, task in enumerate(sorted_tasks):
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task['dms_priority'] = i
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return sorted_tasks
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def check_schedulability(self):
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"""Check if task set is schedulable"""
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n = len(self.tasks)
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total_utilization = self.calculate_utilization()
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# Liu & Layland bound for RMS
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rms_bound = n * (2 ** (1/n) - 1)
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# Exact schedulability test
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schedulable = True
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for i, task in enumerate(sorted(self.tasks, key=lambda x: x['priority'])):
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# Calculate response time
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response_time = task['execution_time']
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while True:
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interference = 0
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for j in range(i):
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higher_task = self.tasks[j]
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interference += ceil(response_time / higher_task['period']) * \
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higher_task['execution_time']
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new_response = task['execution_time'] + interference
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if new_response == response_time:
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break
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response_time = new_response
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if response_time > task['deadline']:
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schedulable = False
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break
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task['response_time'] = response_time
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if not schedulable:
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break
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return schedulable, total_utilization, rms_bound
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def generate_report(self):
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"""Generate priority assignment report"""
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print("=" * 80)
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print("Task Priority Calculation Report")
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print("=" * 80)
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print()
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# Calculate utilization
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total_utilization = self.calculate_utilization()
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print("Task Set:")
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print("-" * 80)
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print(f"{'Task':20s} {'Period':>8s} {'Exec Time':>10s} {'Deadline':>8s} {'Util':>8s}")
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print("-" * 80)
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for task in self.tasks:
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print(f"{task['name']:20s} {task['period']:8d} "
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f"{task['execution_time']:10d} {task['deadline']:8d} "
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f"{task['utilization']*100:7.2f}%")
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print("-" * 80)
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print(f"{'Total':20s} {'':>8s} {'':>10s} {'':>8s} {total_utilization*100:7.2f}%")
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print()
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# Rate Monotonic
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print("Rate Monotonic Priority Assignment:")
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print("-" * 40)
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rms_tasks = self.rate_monotonic_priority()
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for task in rms_tasks:
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print(f" Priority {task['rms_priority']}: {task['name']}")
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print()
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# Deadline Monotonic
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print("Deadline Monotonic Priority Assignment:")
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print("-" * 40)
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dms_tasks = self.deadline_monotonic_priority()
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for task in dms_tasks:
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print(f" Priority {task['dms_priority']}: {task['name']}")
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print()
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# Schedulability
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schedulable, utilization, bound = self.check_schedulability()
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print("Schedulability Analysis:")
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print("-" * 40)
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print(f"CPU Utilization: {utilization*100:.2f}%")
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print(f"Theoretical Bound: {bound*100:.2f}%")
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if schedulable:
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print("✓ Task set is schedulable")
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else:
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print("✗ Task set is NOT schedulable")
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print()
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print("Response Times:")
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print("-" * 40)
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for task in self.tasks:
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if 'response_time' in task:
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print(f" {task['name']}: {task['response_time']}ms "
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f"(deadline: {task['deadline']}ms)")
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def main():
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parser = argparse.ArgumentParser(description='Task priority calculator')
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parser.add_argument('--tasks', nargs='+', help='Task definitions: name:period:exec[:deadline]')
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parser.add_argument('--file', help='Task definition file')
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args = parser.parse_args()
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calculator = TaskPriorityCalculator()
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# Load tasks from file or command line
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if args.file:
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with open(args.file, 'r') as f:
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for line in f:
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line = line.strip()
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if line and not line.startswith('#'):
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parts = line.split(':')
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if len(parts) >= 3:
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name = parts[0]
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period = int(parts[1])
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exec_time = int(parts[2])
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deadline = int(parts[3]) if len(parts) > 3 else period
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calculator.add_task(name, period, exec_time, deadline)
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elif args.tasks:
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for task_def in args.tasks:
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parts = task_def.split(':')
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if len(parts) >= 3:
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name = parts[0]
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period = int(parts[1])
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exec_time = int(parts[2])
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deadline = int(parts[3]) if len(parts) > 3 else period
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calculator.add_task(name, period, exec_time, deadline)
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else:
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# Example tasks
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print("Using example task set:")
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calculator.add_task("Engine Control", 1, 0.5)
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calculator.add_task("Brake Control", 5, 1)
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calculator.add_task("CAN Communication", 10, 2)
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calculator.add_task("Sensor Reading", 2, 0.3)
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calculator.add_task("Display Update", 50, 10)
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calculator.generate_report()
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if __name__ == '__main__':
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main()
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