feat: add lab-rv32i-freertos-integration card

2026-07-21 19:14:19 +02:00
commit b66bfe52e6
179 changed files with 59299 additions and 0 deletions
@@ -0,0 +1,151 @@
+#ifndef FREERTOS_CPP_EVENT_GROUP_HPP
+#define FREERTOS_CPP_EVENT_GROUP_HPP
+
+#include <stdint.h>
+#include <type_traits>
+
+extern "C"
+{
+#include "FreeRTOS.h"
+#include "event_groups.h"
+}
+
+namespace freertos
+{
+
+enum class WaitMode : uint8_t
+{
+    any,
+    all
+};
+
+enum class ClearMode : uint8_t
+{
+    keep,
+    clear_on_exit
+};
+
+template< typename Bit >
+class EventMask final
+{
+    static_assert( std::is_enum< Bit >::value,
+                   "EventMask requires an enum bit type" );
+
+public:
+    constexpr EventMask() noexcept = default;
+    explicit constexpr EventMask( Bit bit ) noexcept
+        : value_ { static_cast< EventBits_t >( bit ) }
+    {
+    }
+
+    [[nodiscard]] static constexpr EventMask from_raw(
+        EventBits_t value ) noexcept
+    {
+        return EventMask { value, RawTag {} };
+    }
+
+    [[nodiscard]] constexpr EventBits_t raw() const noexcept { return value_; }
+    [[nodiscard]] constexpr bool contains( EventMask other ) const noexcept
+    {
+        return ( value_ & other.value_ ) == other.value_;
+    }
+
+    friend constexpr EventMask operator|( EventMask left,
+                                          EventMask right ) noexcept
+    {
+        return from_raw( left.value_ | right.value_ );
+    }
+
+private:
+    struct RawTag {};
+    constexpr EventMask( EventBits_t value, RawTag ) noexcept : value_ { value } {}
+    EventBits_t value_ {};
+};
+
+template< typename Bit >
+struct WaitResult final
+{
+    EventMask< Bit > observed {};
+
+    [[nodiscard]] constexpr bool satisfied( EventMask< Bit > wanted,
+                                            WaitMode mode ) const noexcept
+    {
+        const EventBits_t matched = observed.raw() & wanted.raw();
+        return mode == WaitMode::all ? matched == wanted.raw() : matched != 0U;
+    }
+};
+
+struct StaticEventGroupStorage final
+{
+    StaticEventGroup_t control {};
+};
+
+template< typename Bit >
+class EventGroup final
+{
+    static_assert( std::is_enum< Bit >::value,
+                   "EventGroup requires an enum bit type" );
+
+public:
+    explicit EventGroup( StaticEventGroupStorage & storage ) noexcept
+        : handle_ { xEventGroupCreateStatic( &storage.control ) }
+    {
+    }
+
+    ~EventGroup() noexcept
+    {
+        if( handle_ != nullptr ) vEventGroupDelete( handle_ );
+    }
+
+    EventGroup( const EventGroup & ) = delete;
+    EventGroup & operator=( const EventGroup & ) = delete;
+    EventGroup( EventGroup && ) = delete;
+    EventGroup & operator=( EventGroup && ) = delete;
+
+    [[nodiscard]] bool valid() const noexcept { return handle_ != nullptr; }
+
+    [[nodiscard]] EventMask< Bit > set( EventMask< Bit > bits ) noexcept
+    {
+        return EventMask< Bit >::from_raw(
+            xEventGroupSetBits( handle_, bits.raw() ) );
+    }
+
+    [[nodiscard]] EventMask< Bit > clear( EventMask< Bit > bits ) noexcept
+    {
+        return EventMask< Bit >::from_raw(
+            xEventGroupClearBits( handle_, bits.raw() ) );
+    }
+
+    [[nodiscard]] EventMask< Bit > bits() const noexcept
+    {
+        return EventMask< Bit >::from_raw( xEventGroupGetBits( handle_ ) );
+    }
+
+    [[nodiscard]] WaitResult< Bit > wait( EventMask< Bit > wanted,
+                                          WaitMode mode,
+                                          ClearMode clear,
+                                          TickType_t timeout ) noexcept
+    {
+        const EventBits_t result = xEventGroupWaitBits(
+            handle_, wanted.raw(),
+            clear == ClearMode::clear_on_exit ? pdTRUE : pdFALSE,
+            mode == WaitMode::all ? pdTRUE : pdFALSE,
+            timeout );
+        return { EventMask< Bit >::from_raw( result ) };
+    }
+
+    [[nodiscard]] EventGroupHandle_t native_handle() const noexcept
+    {
+        return handle_;
+    }
+
+private:
+    EventGroupHandle_t handle_ {};
+};
+
+static_assert( !std::is_copy_constructible<
+               EventGroup< WaitMode > >::value );
+
+} // namespace freertos
+
+#endif
@@ -0,0 +1,278 @@
+#ifndef FREERTOS_ISR_DRIVERS_HPP
+#define FREERTOS_ISR_DRIVERS_HPP
+
+#include <cstddef>
+#include <cstdint>
+#include <type_traits>
+
+extern "C"
+{
+#include "FreeRTOS.h"
+#include "queue.h"
+#include "task.h"
+}
+
+namespace freertos
+{
+
+class IsrContext final
+{
+public:
+    void merge_wake_request( BaseType_t local_request ) noexcept
+    {
+        if( local_request != pdFALSE )
+        {
+            higher_priority_task_woken_ = pdTRUE;
+        }
+    }
+
+    [[nodiscard]] bool wake_requested() const noexcept
+    {
+        return higher_priority_task_woken_ != pdFALSE;
+    }
+
+    [[nodiscard]] std::uint32_t yield_calls() const noexcept
+    {
+        return yield_calls_;
+    }
+
+    [[nodiscard]] bool yield_if_needed() noexcept
+    {
+        ++yield_calls_;
+        bool const requested = wake_requested();
+        portYIELD_FROM_ISR( higher_priority_task_woken_ );
+        return requested;
+    }
+
+private:
+    BaseType_t higher_priority_task_woken_{ pdFALSE };
+    std::uint32_t yield_calls_{ 0U };
+};
+
+enum class IsrSendResult
+{
+    queued,
+    dropped_newest
+};
+
+template< typename T, std::size_t Capacity >
+class StaticIsrQueue final
+{
+    static_assert( Capacity > 0U );
+    static_assert( std::is_trivially_copyable_v< T > );
+
+public:
+    StaticIsrQueue( StaticQueue_t & control, std::uint8_t * bytes ) noexcept
+        : handle_( xQueueCreateStatic( static_cast< UBaseType_t >( Capacity ),
+                                       static_cast< UBaseType_t >( sizeof( T ) ),
+                                       bytes,
+                                       &control ) )
+    {
+    }
+
+    StaticIsrQueue( const StaticIsrQueue & ) = delete;
+    StaticIsrQueue & operator=( const StaticIsrQueue & ) = delete;
+
+    [[nodiscard]] bool valid() const noexcept
+    {
+        return handle_ != nullptr;
+    }
+
+    [[nodiscard]] IsrSendResult send_from_isr( const T & item,
+                                               IsrContext & context ) noexcept
+    {
+        BaseType_t local_wake = pdFALSE;
+        BaseType_t const result = xQueueSendFromISR( handle_, &item, &local_wake );
+        context.merge_wake_request( local_wake );
+        return result == pdPASS ? IsrSendResult::queued
+                                : IsrSendResult::dropped_newest;
+    }
+
+    [[nodiscard]] bool receive( T & item, TickType_t timeout ) noexcept
+    {
+        return xQueueReceive( handle_, &item, timeout ) == pdPASS;
+    }
+
+private:
+    QueueHandle_t handle_;
+};
+
+class TaskNotificationRef final
+{
+public:
+    explicit constexpr TaskNotificationRef( TaskHandle_t task ) noexcept
+        : task_( task )
+    {
+    }
+
+    [[nodiscard]] bool give_from_isr( IsrContext & context ) const noexcept
+    {
+        BaseType_t local_wake = pdFALSE;
+        vTaskNotifyGiveFromISR( task_, &local_wake );
+        context.merge_wake_request( local_wake );
+        return true;
+    }
+
+private:
+    TaskHandle_t task_;
+};
+
+struct UartRegisters
+{
+    volatile std::uint32_t status;
+    volatile std::uint32_t rx_data[ 2 ];
+    volatile std::uint32_t rx_count;
+    volatile std::uint32_t control;
+};
+
+class UartTaskView final
+{
+public:
+    explicit constexpr UartTaskView( UartRegisters & registers ) noexcept
+        : registers_( &registers )
+    {
+    }
+
+    void enable_rx_irq() const noexcept { registers_->control = 1U; }
+
+    void inject_rx_pair_for_test( std::uint8_t first,
+                                  std::uint8_t second ) const noexcept
+    {
+        registers_->rx_data[ 0 ] = first;
+        registers_->rx_data[ 1 ] = second;
+        registers_->rx_count = 2U;
+        registers_->status = 1U;
+    }
+
+private:
+    UartRegisters * registers_;
+};
+
+class UartIsrView final
+{
+public:
+    explicit constexpr UartIsrView( UartRegisters & registers ) noexcept
+        : registers_( &registers )
+    {
+    }
+
+    [[nodiscard]] bool rx_ready_from_isr() const noexcept
+    {
+        return ( registers_->status & 1U ) != 0U &&
+               registers_->rx_count != 0U;
+    }
+
+    [[nodiscard]] std::uint8_t read_rx_from_isr() const noexcept
+    {
+        configASSERT( rx_ready_from_isr() );
+        std::uint8_t const byte =
+            static_cast< std::uint8_t >( registers_->rx_data[ 0 ] );
+        registers_->rx_data[ 0 ] = registers_->rx_data[ 1 ];
+        --registers_->rx_count;
+        if( registers_->rx_count == 0U )
+        {
+            registers_->status = 0U;
+        }
+        return byte;
+    }
+
+private:
+    UartRegisters * registers_;
+};
+
+class Uart final
+{
+public:
+    explicit constexpr Uart( UartRegisters & registers ) noexcept
+        : registers_( &registers ) {}
+
+    [[nodiscard]] UartTaskView task_view() const noexcept
+    {
+        return UartTaskView{ *registers_ };
+    }
+
+    [[nodiscard]] UartIsrView isr_view() const noexcept
+    {
+        return UartIsrView{ *registers_ };
+    }
+
+private:
+    UartRegisters * registers_;
+};
+
+struct GpioRegisters
+{
+    volatile std::uint32_t direction;
+    volatile std::uint32_t data;
+    volatile std::uint32_t edge_status;
+};
+
+class GpioTaskView final
+{
+public:
+    explicit constexpr GpioTaskView( GpioRegisters & registers ) noexcept
+        : registers_( &registers ) {}
+
+    void configure_output( std::uint32_t mask ) const noexcept
+    {
+        registers_->direction |= mask;
+    }
+
+    void write_output( std::uint32_t mask, bool high ) const noexcept
+    {
+        if( high ) { registers_->data |= mask; }
+        else { registers_->data &= ~mask; }
+    }
+
+    void inject_edge_for_test( std::uint32_t mask ) const noexcept
+    {
+        registers_->edge_status |= mask;
+    }
+
+private:
+    GpioRegisters * registers_;
+};
+
+class GpioIsrView final
+{
+public:
+    explicit constexpr GpioIsrView( GpioRegisters & registers ) noexcept
+        : registers_( &registers ) {}
+
+    [[nodiscard]] bool edge_pending_from_isr( std::uint32_t mask ) const noexcept
+    {
+        return ( registers_->edge_status & mask ) != 0U;
+    }
+
+    void clear_edge_from_isr( std::uint32_t mask ) const noexcept
+    {
+        registers_->edge_status &= ~mask;
+    }
+
+private:
+    GpioRegisters * registers_;
+};
+
+class GpioPin final
+{
+public:
+    explicit constexpr GpioPin( GpioRegisters & registers ) noexcept
+        : registers_( &registers ) {}
+
+    [[nodiscard]] GpioTaskView task_view() const noexcept
+    {
+        return GpioTaskView{ *registers_ };
+    }
+
+    [[nodiscard]] GpioIsrView isr_view() const noexcept
+    {
+        return GpioIsrView{ *registers_ };
+    }
+
+private:
+    GpioRegisters * registers_;
+};
+
+} // namespace freertos
+
+#endif
@@ -0,0 +1,132 @@
+#ifndef FREERTOS_CPP_KERNEL_HPP
+#define FREERTOS_CPP_KERNEL_HPP
+
+#include <stdint.h>
+#include <type_traits>
+
+extern "C"
+{
+#include "FreeRTOS.h"
+#include "task.h"
+}
+
+#if defined( __GNUC__ )
+    #define FREERTOS_CPP_ALWAYS_INLINE inline __attribute__( ( always_inline ) )
+#else
+    #define FREERTOS_CPP_ALWAYS_INLINE inline
+#endif
+
+namespace freertos
+{
+
+enum class SchedulerState : uint8_t
+{
+    suspended,
+    not_started,
+    running
+};
+
+class Scheduler final
+{
+public:
+    Scheduler() = delete;
+
+    static FREERTOS_CPP_ALWAYS_INLINE void start() noexcept
+    {
+        vTaskStartScheduler();
+    }
+
+    static FREERTOS_CPP_ALWAYS_INLINE SchedulerState state() noexcept
+    {
+        const BaseType_t raw = xTaskGetSchedulerState();
+        if( raw == taskSCHEDULER_RUNNING )
+        {
+            return SchedulerState::running;
+        }
+        if( raw == taskSCHEDULER_NOT_STARTED )
+        {
+            return SchedulerState::not_started;
+        }
+        return SchedulerState::suspended;
+    }
+
+    static FREERTOS_CPP_ALWAYS_INLINE void suspend() noexcept
+    {
+        vTaskSuspendAll();
+    }
+
+    [[nodiscard]] static FREERTOS_CPP_ALWAYS_INLINE bool resume() noexcept
+    {
+        return xTaskResumeAll() != pdFALSE;
+    }
+};
+
+namespace this_task
+{
+
+FREERTOS_CPP_ALWAYS_INLINE TaskHandle_t current() noexcept
+{
+    return xTaskGetCurrentTaskHandle();
+}
+
+FREERTOS_CPP_ALWAYS_INLINE TickType_t tick_count() noexcept
+{
+    return xTaskGetTickCount();
+}
+
+FREERTOS_CPP_ALWAYS_INLINE void yield() noexcept
+{
+    taskYIELD();
+}
+
+} // namespace this_task
+
+class CriticalSection final
+{
+public:
+    FREERTOS_CPP_ALWAYS_INLINE CriticalSection() noexcept
+    {
+        taskENTER_CRITICAL();
+    }
+
+    FREERTOS_CPP_ALWAYS_INLINE ~CriticalSection() noexcept
+    {
+        taskEXIT_CRITICAL();
+    }
+
+    CriticalSection( const CriticalSection & ) = delete;
+    CriticalSection & operator=( const CriticalSection & ) = delete;
+    CriticalSection( CriticalSection && ) = delete;
+    CriticalSection & operator=( CriticalSection && ) = delete;
+};
+
+class SchedulerSuspendGuard final
+{
+public:
+    FREERTOS_CPP_ALWAYS_INLINE SchedulerSuspendGuard() noexcept
+    {
+        Scheduler::suspend();
+    }
+
+    FREERTOS_CPP_ALWAYS_INLINE ~SchedulerSuspendGuard() noexcept
+    {
+        ( void ) Scheduler::resume();
+    }
+
+    SchedulerSuspendGuard( const SchedulerSuspendGuard & ) = delete;
+    SchedulerSuspendGuard & operator=( const SchedulerSuspendGuard & ) = delete;
+    SchedulerSuspendGuard( SchedulerSuspendGuard && ) = delete;
+    SchedulerSuspendGuard & operator=( SchedulerSuspendGuard && ) = delete;
+};
+
+static_assert( !std::is_default_constructible< Scheduler >::value );
+static_assert( !std::is_copy_constructible< CriticalSection >::value );
+static_assert( !std::is_move_constructible< CriticalSection >::value );
+static_assert( !std::is_copy_constructible< SchedulerSuspendGuard >::value );
+static_assert( !std::is_move_constructible< SchedulerSuspendGuard >::value );
+
+} // namespace freertos
+
+#undef FREERTOS_CPP_ALWAYS_INLINE
+
+#endif
@@ -0,0 +1,148 @@
+#ifndef FREERTOS_CPP_QUEUE_HPP
+#define FREERTOS_CPP_QUEUE_HPP
+
+#include <stddef.h>
+#include <stdint.h>
+#include <type_traits>
+
+extern "C"
+{
+#include "FreeRTOS.h"
+#include "queue.h"
+}
+
+namespace freertos
+{
+
+template< typename T >
+class Queue final
+{
+    static_assert( std::is_trivially_copyable< T >::value,
+                   "Queue<T> requires T to be trivially copyable" );
+
+public:
+    explicit Queue( UBaseType_t capacity ) noexcept
+        : handle_ { xQueueCreate( capacity, sizeof( T ) ) },
+          capacity_ { capacity }
+    {
+    }
+
+    ~Queue() noexcept
+    {
+        if( handle_ != nullptr )
+        {
+            vQueueDelete( handle_ );
+        }
+    }
+
+    Queue( const Queue & ) = delete;
+    Queue & operator=( const Queue & ) = delete;
+    Queue( Queue && ) = delete;
+    Queue & operator=( Queue && ) = delete;
+
+    [[nodiscard]] bool valid() const noexcept { return handle_ != nullptr; }
+
+    [[nodiscard]] bool send( const T & item,
+                             TickType_t timeout = 0U ) noexcept
+    {
+        return handle_ != nullptr &&
+               xQueueSend( handle_, &item, timeout ) == pdPASS;
+    }
+
+    [[nodiscard]] bool receive( T & item,
+                                TickType_t timeout = 0U ) noexcept
+    {
+        return handle_ != nullptr &&
+               xQueueReceive( handle_, &item, timeout ) == pdPASS;
+    }
+
+    [[nodiscard]] UBaseType_t size() const noexcept
+    {
+        return handle_ == nullptr ? 0U : uxQueueMessagesWaiting( handle_ );
+    }
+
+    [[nodiscard]] UBaseType_t capacity() const noexcept { return capacity_; }
+    [[nodiscard]] QueueHandle_t native_handle() const noexcept { return handle_; }
+
+private:
+    QueueHandle_t handle_ {};
+    const UBaseType_t capacity_;
+};
+
+template< typename T, size_t Capacity >
+struct StaticQueueStorage final
+{
+    static_assert( std::is_trivially_copyable< T >::value,
+                   "Queue<T> requires T to be trivially copyable" );
+    static_assert( Capacity > 0U, "StaticQueue capacity must be positive" );
+
+    StaticQueue_t control {};
+    alignas( T ) uint8_t bytes[ Capacity * sizeof( T ) ] {};
+};
+
+template< typename T, size_t Capacity >
+class StaticQueue final
+{
+    static_assert( std::is_trivially_copyable< T >::value,
+                   "Queue<T> requires T to be trivially copyable" );
+    static_assert( Capacity > 0U, "StaticQueue capacity must be positive" );
+
+public:
+    explicit StaticQueue( StaticQueueStorage< T, Capacity > & storage ) noexcept
+        : handle_ { xQueueCreateStatic(
+              static_cast< UBaseType_t >( Capacity ), sizeof( T ),
+              storage.bytes, &storage.control ) },
+          storage_ { storage }
+    {
+    }
+
+    ~StaticQueue() noexcept
+    {
+        if( handle_ != nullptr )
+        {
+            vQueueDelete( handle_ );
+        }
+    }
+
+    StaticQueue( const StaticQueue & ) = delete;
+    StaticQueue & operator=( const StaticQueue & ) = delete;
+    StaticQueue( StaticQueue && ) = delete;
+    StaticQueue & operator=( StaticQueue && ) = delete;
+
+    [[nodiscard]] bool valid() const noexcept { return handle_ != nullptr; }
+
+    [[nodiscard]] bool send( const T & item,
+                             TickType_t timeout = 0U ) noexcept
+    {
+        return handle_ != nullptr &&
+               xQueueSend( handle_, &item, timeout ) == pdPASS;
+    }
+
+    [[nodiscard]] bool receive( T & item,
+                                TickType_t timeout = 0U ) noexcept
+    {
+        return handle_ != nullptr &&
+               xQueueReceive( handle_, &item, timeout ) == pdPASS;
+    }
+
+    [[nodiscard]] UBaseType_t size() const noexcept
+    {
+        return handle_ == nullptr ? 0U : uxQueueMessagesWaiting( handle_ );
+    }
+
+    static constexpr size_t capacity() noexcept { return Capacity; }
+    static constexpr size_t item_size() noexcept { return sizeof( T ); }
+    [[nodiscard]] QueueHandle_t native_handle() const noexcept { return handle_; }
+    [[nodiscard]] const StaticQueueStorage< T, Capacity > & storage() const noexcept
+    {
+        return storage_;
+    }
+
+private:
+    QueueHandle_t handle_ {};
+    StaticQueueStorage< T, Capacity > & storage_;
+};
+
+} // namespace freertos
+
+#endif
@@ -0,0 +1,117 @@
+#ifndef FREERTOS_SOFTWARE_TIMER_HPP
+#define FREERTOS_SOFTWARE_TIMER_HPP
+
+#include <type_traits>
+
+extern "C"
+{
+#include "FreeRTOS.h"
+#include "timers.h"
+}
+
+namespace freertos
+{
+
+enum class TimerPolicy
+{
+    one_shot,
+    periodic
+};
+
+enum class TimerCommand
+{
+    rejected = 0,
+    accepted = 1
+};
+
+template< typename Context, TimerPolicy Policy >
+class SoftwareTimer final
+{
+public:
+    SoftwareTimer( StaticTimer_t & storage,
+                   const char * name,
+                   TickType_t period,
+                   Context & context ) noexcept
+        : handle_( xTimerCreateStatic( name,
+                                       period,
+                                       Policy == TimerPolicy::periodic ? pdTRUE : pdFALSE,
+                                       &context,
+                                       &SoftwareTimer::trampoline,
+                                       &storage ) )
+    {
+    }
+
+    SoftwareTimer( const SoftwareTimer & ) = delete;
+    SoftwareTimer & operator=( const SoftwareTimer & ) = delete;
+    SoftwareTimer( SoftwareTimer && ) = delete;
+    SoftwareTimer & operator=( SoftwareTimer && ) = delete;
+
+    [[nodiscard]] bool valid() const noexcept
+    {
+        return handle_ != nullptr;
+    }
+
+    [[nodiscard]] TimerCommand start( TickType_t queue_wait = 0U ) noexcept
+    {
+        return command_result( xTimerStart( handle_, queue_wait ) );
+    }
+
+    [[nodiscard]] TimerCommand reset( TickType_t queue_wait = 0U ) noexcept
+    {
+        return command_result( xTimerReset( handle_, queue_wait ) );
+    }
+
+    [[nodiscard]] TimerCommand change_period( TickType_t period,
+                                               TickType_t queue_wait = 0U ) noexcept
+    {
+        return command_result( xTimerChangePeriod( handle_, period, queue_wait ) );
+    }
+
+    [[nodiscard]] TimerCommand stop( TickType_t queue_wait = 0U ) noexcept
+    {
+        return command_result( xTimerStop( handle_, queue_wait ) );
+    }
+
+    [[nodiscard]] bool active() const noexcept
+    {
+        return xTimerIsTimerActive( handle_ ) != pdFALSE;
+    }
+
+    [[nodiscard]] TickType_t period() const noexcept
+    {
+        return xTimerGetPeriod( handle_ );
+    }
+
+    [[nodiscard]] TimerHandle_t native_handle() const noexcept
+    {
+        return handle_;
+    }
+
+private:
+    static TimerCommand command_result( BaseType_t result ) noexcept
+    {
+        return result == pdPASS ? TimerCommand::accepted : TimerCommand::rejected;
+    }
+
+    static void trampoline( TimerHandle_t timer ) noexcept
+    {
+        auto * const context = static_cast< Context * >( pvTimerGetTimerID( timer ) );
+        configASSERT( context != nullptr );
+        context->on_timer( timer );
+    }
+
+    TimerHandle_t handle_;
+};
+
+template< typename Context >
+using OneShotTimer = SoftwareTimer< Context, TimerPolicy::one_shot >;
+
+template< typename Context >
+using PeriodicTimer = SoftwareTimer< Context, TimerPolicy::periodic >;
+
+static_assert( !std::is_copy_constructible_v< OneShotTimer< int > > );
+static_assert( !std::is_move_constructible_v< OneShotTimer< int > > );
+
+} // namespace freertos
+
+#endif
@@ -0,0 +1,183 @@
+#ifndef FREERTOS_CPP_TASK_STORAGE_HPP
+#define FREERTOS_CPP_TASK_STORAGE_HPP
+
+#include <stddef.h>
+#include <stdint.h>
+#include <type_traits>
+
+extern "C"
+{
+#include "FreeRTOS.h"
+#include "task.h"
+}
+
+#ifndef FREERTOS_STORAGE_CHECKPOINT
+#define FREERTOS_STORAGE_CHECKPOINT( point, object ) \
+    do                                                \
+    {                                                 \
+        ( void ) ( point );                           \
+        ( void ) ( object );                          \
+    } while( 0 )
+#endif
+
+namespace freertos
+{
+
+enum class StorageTaskState : uint8_t
+{
+    constructed,
+    ready,
+    running,
+    completed,
+    start_failed
+};
+
+template< typename Derived >
+class DynamicTask
+{
+public:
+    constexpr DynamicTask( const char * name,
+                           configSTACK_DEPTH_TYPE stack_words,
+                           UBaseType_t priority ) noexcept
+        : name_ { name }, stack_words_ { stack_words }, priority_ { priority }
+    {
+    }
+
+    DynamicTask( const DynamicTask & ) = delete;
+    DynamicTask & operator=( const DynamicTask & ) = delete;
+    DynamicTask( DynamicTask && ) = delete;
+    DynamicTask & operator=( DynamicTask && ) = delete;
+
+    bool start() noexcept
+    {
+        static_assert( std::is_base_of< DynamicTask< Derived >,
+                                        Derived >::value );
+        if( state_ != StorageTaskState::constructed )
+        {
+            return false;
+        }
+        state_ = StorageTaskState::ready;
+        const BaseType_t result = xTaskCreate(
+            &DynamicTask::trampoline, name_, stack_words_,
+            static_cast< Derived * >( this ), priority_, &handle_ );
+        if( result != pdPASS )
+        {
+            handle_ = nullptr;
+            state_ = StorageTaskState::start_failed;
+            return false;
+        }
+        FREERTOS_STORAGE_CHECKPOINT( 2U, this );
+        return true;
+    }
+
+    TaskHandle_t native_handle() const noexcept { return handle_; }
+    StorageTaskState state() const noexcept { return state_; }
+
+private:
+    static void trampoline( void * context )
+    {
+        auto * const derived = static_cast< Derived * >( context );
+        auto & base = *static_cast< DynamicTask * >( derived );
+        base.state_ = StorageTaskState::running;
+        FREERTOS_STORAGE_CHECKPOINT( 5U, derived );
+        derived->run();
+        base.state_ = StorageTaskState::completed;
+        base.handle_ = nullptr;
+        FREERTOS_STORAGE_CHECKPOINT( 7U, derived );
+        vTaskDelete( nullptr );
+        for( ;; ) {}
+    }
+
+    TaskHandle_t handle_ {};
+    const char * const name_;
+    const configSTACK_DEPTH_TYPE stack_words_;
+    const UBaseType_t priority_;
+    volatile StorageTaskState state_ { StorageTaskState::constructed };
+};
+
+template< size_t StackWords >
+struct StaticTaskStorage final
+{
+    StaticTask_t tcb {};
+    StackType_t stack[ StackWords ] {};
+};
+
+template< typename Derived, size_t StackWords >
+class StaticTask
+{
+public:
+    static_assert( StackWords > 0U, "static task needs stack storage" );
+
+    constexpr StaticTask( const char * name,
+                          UBaseType_t priority,
+                          StaticTaskStorage< StackWords > & storage ) noexcept
+        : name_ { name }, priority_ { priority }, storage_ { storage }
+    {
+    }
+
+    StaticTask( const StaticTask & ) = delete;
+    StaticTask & operator=( const StaticTask & ) = delete;
+    StaticTask( StaticTask && ) = delete;
+    StaticTask & operator=( StaticTask && ) = delete;
+
+    bool start() noexcept
+    {
+        static_assert( std::is_base_of< StaticTask< Derived, StackWords >,
+                                        Derived >::value );
+        if( state_ != StorageTaskState::constructed )
+        {
+            return false;
+        }
+        state_ = StorageTaskState::ready;
+        handle_ = xTaskCreateStatic(
+            &StaticTask::trampoline,
+            name_,
+            static_cast< configSTACK_DEPTH_TYPE >( StackWords ),
+            static_cast< Derived * >( this ),
+            priority_,
+            storage_.stack,
+            &storage_.tcb );
+        if( handle_ == nullptr )
+        {
+            state_ = StorageTaskState::start_failed;
+            return false;
+        }
+        FREERTOS_STORAGE_CHECKPOINT( 4U, this );
+        return true;
+    }
+
+    TaskHandle_t native_handle() const noexcept { return handle_; }
+    StorageTaskState state() const noexcept { return state_; }
+    const StaticTask_t * tcb_storage() const noexcept { return &storage_.tcb; }
+    const StackType_t * stack_storage() const noexcept { return storage_.stack; }
+    static constexpr size_t stack_words() noexcept { return StackWords; }
+    static constexpr size_t stack_bytes() noexcept
+    {
+        return StackWords * sizeof( StackType_t );
+    }
+
+private:
+    static void trampoline( void * context )
+    {
+        auto * const derived = static_cast< Derived * >( context );
+        auto & base = *static_cast< StaticTask * >( derived );
+        base.state_ = StorageTaskState::running;
+        FREERTOS_STORAGE_CHECKPOINT( 6U, derived );
+        derived->run();
+        base.state_ = StorageTaskState::completed;
+        base.handle_ = nullptr;
+        FREERTOS_STORAGE_CHECKPOINT( 8U, derived );
+        vTaskDelete( nullptr );
+        for( ;; ) {}
+    }
+
+    TaskHandle_t handle_ {};
+    const char * const name_;
+    const UBaseType_t priority_;
+    StaticTaskStorage< StackWords > & storage_;
+    volatile StorageTaskState state_ { StorageTaskState::constructed };
+};
+
+} // namespace freertos
+
+#endif