feat: add lab-rv32i-freertos-queue card

2026-07-21 19:14:19 +02:00
commit e0e4078015
68 changed files with 37111 additions and 0 deletions
@@ -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
@@ -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 +1,15 @@
+#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
@@ -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
@@ -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