feat: add lab-rv32i-freertos-mutex card

include/FreeRTOSConfig.h

@@ -0,0 +1,72 @@
+#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                        1
+#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_xSemaphoreGetMutexHolder         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/mutex.hpp

@@ -0,0 +1,106 @@
+#ifndef FREERTOS_CPP_MUTEX_HPP
+#define FREERTOS_CPP_MUTEX_HPP
+
+#include <type_traits>
+
+extern "C"
+{
+#include "FreeRTOS.h"
+#include "semphr.h"
+#include "task.h"
+}
+
+namespace freertos
+{
+
+struct StaticMutexStorage final
+{
+    StaticSemaphore_t control {};
+};
+
+class Mutex final
+{
+public:
+    explicit Mutex( StaticMutexStorage & storage ) noexcept
+        : handle_ { xSemaphoreCreateMutexStatic( &storage.control ) }
+    {
+    }
+
+    ~Mutex() noexcept
+    {
+        if( handle_ != nullptr )
+        {
+            vSemaphoreDelete( handle_ );
+        }
+    }
+
+    Mutex( const Mutex & ) = delete;
+    Mutex & operator=( const Mutex & ) = delete;
+    Mutex( Mutex && ) = delete;
+    Mutex & operator=( Mutex && ) = delete;
+
+    [[nodiscard]] bool valid() const noexcept { return handle_ != nullptr; }
+
+    [[nodiscard]] bool lock( TickType_t timeout ) noexcept
+    {
+        return handle_ != nullptr &&
+               xSemaphoreTake( handle_, timeout ) == pdPASS;
+    }
+
+    [[nodiscard]] bool unlock() noexcept
+    {
+        return handle_ != nullptr && xSemaphoreGive( handle_ ) == pdPASS;
+    }
+
+    [[nodiscard]] TaskHandle_t owner() const noexcept
+    {
+        return handle_ == nullptr ? nullptr :
+            xSemaphoreGetMutexHolder( handle_ );
+    }
+
+    [[nodiscard]] SemaphoreHandle_t native_handle() const noexcept
+    {
+        return handle_;
+    }
+
+private:
+    SemaphoreHandle_t handle_ {};
+};
+
+template< typename Lockable >
+class LockGuard final
+{
+public:
+    explicit LockGuard( Lockable & lockable, TickType_t timeout ) noexcept
+        : lockable_ { &lockable }, owns_ { lockable.lock( timeout ) }
+    {
+    }
+
+    ~LockGuard() noexcept
+    {
+        if( owns_ )
+        {
+            ( void ) lockable_->unlock();
+        }
+    }
+
+    LockGuard( const LockGuard & ) = delete;
+    LockGuard & operator=( const LockGuard & ) = delete;
+    LockGuard( LockGuard && ) = delete;
+    LockGuard & operator=( LockGuard && ) = delete;
+
+    [[nodiscard]] bool owns_lock() const noexcept { return owns_; }
+
+private:
+    Lockable * const lockable_;
+    const bool owns_;
+};
+
+static_assert( !std::is_copy_constructible< Mutex >::value );
+static_assert( !std::is_move_constructible< Mutex >::value );
+static_assert( !std::is_copy_constructible< LockGuard< Mutex > >::value );
+static_assert( !std::is_move_constructible< LockGuard< Mutex > >::value );
+
+} // namespace freertos
+
+#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