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 +1,132 @@
+#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