feat: add lab-rv32i-freertos-kernel-facade card

include/FreeRTOSConfig.h

@@ -0,0 +1,71 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/* Hazard3 testbench: mtime advances once per simulated cycle. */
+#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                  12
+#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          1
+#define configKERNEL_PROVIDED_STATIC_MEMORY      1
+#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                     0
+#define INCLUDE_eTaskGetState                    1
+#define INCLUDE_uxTaskPriorityGet                1
+#define INCLUDE_vTaskPrioritySet                 1
+#define INCLUDE_xTaskGetSchedulerState           1
+#define INCLUDE_uxTaskGetStackHighWaterMark      1
+
+/* Hazard3 is RV32I: no floating-point or vector register file to save. */
+#define configENABLE_FPU                         0
+#define configENABLE_VPU                         0
+
+/* Required by the pinned RISC-V port. */
+#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/kernel.hpp

@@ -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

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