feat: publish FreeRTOS C FC04 card

include/FreeRTOSConfig.h

@@ -0,0 +1,67 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#define configCPU_CLOCK_HZ                       ( 1000000UL )
+#define configTICK_RATE_HZ                       ( 1000U )
+#define configMTIME_BASE_ADDRESS                 ( 0xC0000100UL )
+#define configMTIMECMP_BASE_ADDRESS              ( 0xC0000108UL )
+
+#define configUSE_PREEMPTION                     1
+#define configUSE_TIME_SLICING                   1
+#define configNUMBER_OF_CORES                    1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
+#define configUSE_IDLE_HOOK                      0
+#define configUSE_TICK_HOOK                      0
+#define configMAX_PRIORITIES                     5
+#define configMINIMAL_STACK_SIZE                 128
+#define configMAX_TASK_NAME_LEN                  16
+#define configTICK_TYPE_WIDTH_IN_BITS            TICK_TYPE_WIDTH_32_BITS
+#define configIDLE_SHOULD_YIELD                  1
+
+#define configSUPPORT_DYNAMIC_ALLOCATION         1
+#define configSUPPORT_STATIC_ALLOCATION          0
+#define configTOTAL_HEAP_SIZE                    ( 16U * 1024U )
+#define configAPPLICATION_ALLOCATED_HEAP         1
+#define configUSE_MALLOC_FAILED_HOOK             1
+#define configHEAP_CLEAR_MEMORY_ON_FREE          0
+
+#define configUSE_TIMERS                         0
+#define configUSE_MUTEXES                        0
+#define configUSE_RECURSIVE_MUTEXES              0
+#define configUSE_COUNTING_SEMAPHORES            0
+#define configUSE_TASK_NOTIFICATIONS             0
+#define configUSE_TRACE_FACILITY                 1
+#define configUSE_STATS_FORMATTING_FUNCTIONS     0
+#define configGENERATE_RUN_TIME_STATS            0
+#define configUSE_CO_ROUTINES                    0
+#define configUSE_NEWLIB_REENTRANT               0
+#define configUSE_POSIX_ERRNO                    0
+#define configCHECK_FOR_STACK_OVERFLOW           0
+#define configRECORD_STACK_HIGH_ADDRESS          1
+
+#define INCLUDE_vTaskDelay                       1
+#define INCLUDE_vTaskDelayUntil                  1
+#define INCLUDE_vTaskDelete                      1
+#define INCLUDE_vTaskSuspend                     1
+#define INCLUDE_eTaskGetState                    1
+#define INCLUDE_uxTaskPriorityGet                1
+#define INCLUDE_vTaskPrioritySet                 0
+#define INCLUDE_xTaskGetSchedulerState           1
+#define INCLUDE_uxTaskGetStackHighWaterMark      1
+
+#define configENABLE_FPU                         0
+#define configENABLE_VPU                         0
+#define configISR_STACK_SIZE_WORDS               128
+
+#ifndef __ASSEMBLER__
+    #ifdef __cplusplus
+extern "C" void lab_assert_fail( const char * file, int line );
+    #else
+void lab_assert_fail( const char * file, int line );
+    #endif
+    #define configASSERT( condition ) do { if( !( condition ) ) { lab_assert_fail( __FILE__, __LINE__ ); } } while( 0 )
+#else
+    #define configASSERT( condition )
+#endif
+
+#endif

include/freertos_risc_v_chip_specific_extensions.h

@@ -0,0 +1,15 @@
+#ifndef FREERTOS_RISC_V_CHIP_SPECIFIC_EXTENSIONS_H
+#define FREERTOS_RISC_V_CHIP_SPECIFIC_EXTENSIONS_H
+
+/* Hazard3 adds no architectural registers to the base RV32I context. */
+#define portasmHAS_MTIME                  1
+#define portasmHAS_SIFIVE_CLINT           0
+#define portasmADDITIONAL_CONTEXT_SIZE    0
+
+.macro portasmSAVE_ADDITIONAL_REGISTERS
+.endm
+
+.macro portasmRESTORE_ADDITIONAL_REGISTERS
+.endm
+
+#endif

include/stdlib.h

@@ -0,0 +1,11 @@
+#ifndef LAB_FREESTANDING_STDLIB_H
+#define LAB_FREESTANDING_STDLIB_H
+
+/*
+ * The selected FreeRTOS sources include <stdlib.h> for standard types, but the
+ * configuration used by this card does not call hosted stdlib functions.
+ * GCC's freestanding headers provide size_t through <stddef.h>.
+ */
+#include <stddef.h>
+
+#endif

include/string.h

@@ -0,0 +1,17 @@
+#ifndef LAB_FREESTANDING_STRING_H
+#define LAB_FREESTANDING_STRING_H
+
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+void * memcpy( void * destination, const void * source, size_t count );
+void * memset( void * destination, int value, size_t count );
+size_t strlen( const char * text );
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

include/task01_delay_state.h

@@ -0,0 +1,64 @@
+#ifndef TASK01_DELAY_STATE_H
+#define TASK01_DELAY_STATE_H
+
+#include <stdint.h>
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#define FC04_PERIOD_TICKS          2U
+#define FC04_RELEASE_COUNT         3U
+#define FC04_TASK_STACK_WORDS      192U
+#define FC04_PERIODIC_PRIORITY     3U
+#define FC04_SUSPEND_PRIORITY      2U
+#define FC04_OBSERVER_PRIORITY     1U
+#define FC04_TIMEOUT_TICKS         20U
+
+typedef enum
+{
+    FC04_PHASE_PREPARED = 0,
+    FC04_PHASE_READY,
+    FC04_PHASE_BLOCKED,
+    FC04_PHASE_SUSPENDED,
+    FC04_PHASE_RUNNING,
+    FC04_PHASE_COMPLETED
+} Fc04Phase;
+
+typedef struct
+{
+    TaskHandle_t handle;
+    uintptr_t created_handle;
+    volatile Fc04Phase phase;
+    TickType_t initial_tick;
+    TickType_t release_tick[ FC04_RELEASE_COUNT ];
+    volatile uint32_t release_count;
+    uintptr_t entry_sp;
+    uintptr_t stack_low;
+    uintptr_t stack_high;
+} PeriodicContext;
+
+typedef struct
+{
+    TaskHandle_t handle;
+    uintptr_t created_handle;
+    volatile Fc04Phase phase;
+    volatile uint32_t resumed;
+    uintptr_t entry_sp;
+} SuspendContext;
+
+typedef struct
+{
+    TaskHandle_t handle;
+    volatile Fc04Phase phase;
+    volatile eTaskState periodic_state;
+    volatile eTaskState suspend_state;
+    volatile uint32_t pass;
+} ObserverContext;
+
+void periodic_task_entry( void * context );
+void suspend_task_entry( void * context );
+void observer_task_entry( void * context );
+void fc04_checkpoint( uint32_t point, const void * subject );
+void fc04_checkpoint_committed( uint32_t point, const void * subject );
+
+#endif

include/task01_delay_state_model.h

@@ -0,0 +1,28 @@
+#ifndef TASK01_DELAY_STATE_MODEL_H
+#define TASK01_DELAY_STATE_MODEL_H
+
+#include <stddef.h>
+#include <stdint.h>
+
+static inline int fc04_periods_are_exact( const uint32_t * ticks,
+                                          size_t count,
+                                          uint32_t period )
+{
+    size_t index;
+
+    if( ticks == NULL || count < 2U )
+    {
+        return 0;
+    }
+
+    for( index = 1U; index < count; ++index )
+    {
+        if( ticks[ index ] - ticks[ index - 1U ] != period )
+        {
+            return 0;
+        }
+    }
+    return 1;
+}
+
+#endif