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 +1,117 @@
+#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