feat: add lab-rv32i-freertos-semaphore-notify card

2026-07-21 19:14:20 +02:00
commit 3ae96a0d06
67 changed files with 37159 additions and 0 deletions
@@ -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                        0
+#define configUSE_RECURSIVE_MUTEXES              0
+#define configUSE_COUNTING_SEMAPHORES            1
+#define configUSE_TASK_NOTIFICATIONS             1
+#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
@@ -0,0 +1,183 @@
+#ifndef FREERTOS_CPP_SYNCHRONIZATION_HPP
+#define FREERTOS_CPP_SYNCHRONIZATION_HPP
+
+#include <stdint.h>
+#include <type_traits>
+
+extern "C"
+{
+#include "FreeRTOS.h"
+#include "semphr.h"
+#include "task.h"
+}
+
+namespace freertos
+{
+
+struct StaticSemaphoreStorage final
+{
+    StaticSemaphore_t control {};
+};
+
+class BinarySemaphore final
+{
+public:
+    explicit BinarySemaphore( StaticSemaphoreStorage & storage ) noexcept
+        : handle_ { xSemaphoreCreateBinaryStatic( &storage.control ) }
+    {
+    }
+
+    ~BinarySemaphore() noexcept
+    {
+        if( handle_ != nullptr ) vSemaphoreDelete( handle_ );
+    }
+
+    BinarySemaphore( const BinarySemaphore & ) = delete;
+    BinarySemaphore & operator=( const BinarySemaphore & ) = delete;
+    BinarySemaphore( BinarySemaphore && ) = delete;
+    BinarySemaphore & operator=( BinarySemaphore && ) = delete;
+
+    [[nodiscard]] bool valid() const noexcept { return handle_ != nullptr; }
+    [[nodiscard]] bool give() noexcept
+    {
+        return handle_ != nullptr && xSemaphoreGive( handle_ ) == pdPASS;
+    }
+    [[nodiscard]] bool take( TickType_t timeout ) noexcept
+    {
+        return handle_ != nullptr &&
+               xSemaphoreTake( handle_, timeout ) == pdPASS;
+    }
+    [[nodiscard]] UBaseType_t count() const noexcept
+    {
+        return handle_ == nullptr ? 0U : uxSemaphoreGetCount( handle_ );
+    }
+    [[nodiscard]] SemaphoreHandle_t native_handle() const noexcept
+    {
+        return handle_;
+    }
+
+private:
+    SemaphoreHandle_t handle_ {};
+};
+
+template< UBaseType_t Maximum >
+class CountingSemaphore final
+{
+    static_assert( Maximum > 0U, "CountingSemaphore maximum must be positive" );
+
+public:
+    CountingSemaphore( StaticSemaphoreStorage & storage,
+                       UBaseType_t initial ) noexcept
+        : handle_ { initial <= Maximum ?
+              xSemaphoreCreateCountingStatic(
+                  Maximum, initial, &storage.control ) : nullptr }
+    {
+    }
+
+    ~CountingSemaphore() noexcept
+    {
+        if( handle_ != nullptr ) vSemaphoreDelete( handle_ );
+    }
+
+    CountingSemaphore( const CountingSemaphore & ) = delete;
+    CountingSemaphore & operator=( const CountingSemaphore & ) = delete;
+    CountingSemaphore( CountingSemaphore && ) = delete;
+    CountingSemaphore & operator=( CountingSemaphore && ) = delete;
+
+    [[nodiscard]] bool valid() const noexcept { return handle_ != nullptr; }
+    [[nodiscard]] bool give() noexcept
+    {
+        return handle_ != nullptr && xSemaphoreGive( handle_ ) == pdPASS;
+    }
+    [[nodiscard]] bool take( TickType_t timeout ) noexcept
+    {
+        return handle_ != nullptr &&
+               xSemaphoreTake( handle_, timeout ) == pdPASS;
+    }
+    [[nodiscard]] UBaseType_t count() const noexcept
+    {
+        return handle_ == nullptr ? 0U : uxSemaphoreGetCount( handle_ );
+    }
+    static constexpr UBaseType_t maximum() noexcept { return Maximum; }
+    [[nodiscard]] SemaphoreHandle_t native_handle() const noexcept
+    {
+        return handle_;
+    }
+
+private:
+    SemaphoreHandle_t handle_ {};
+};
+
+enum class NotificationAction : uint8_t
+{
+    no_action,
+    set_bits,
+    increment,
+    overwrite,
+    without_overwrite
+};
+
+class TaskNotification final
+{
+public:
+    explicit constexpr TaskNotification( TaskHandle_t target ) noexcept
+        : target_ { target }
+    {
+    }
+
+    [[nodiscard]] bool valid() const noexcept { return target_ != nullptr; }
+
+    [[nodiscard]] bool give() const noexcept
+    {
+        return target_ != nullptr && xTaskNotifyGive( target_ ) == pdPASS;
+    }
+
+    [[nodiscard]] bool notify( uint32_t value,
+                               NotificationAction action ) const noexcept
+    {
+        return target_ != nullptr &&
+               xTaskNotify( target_, value, raw_action( action ) ) == pdPASS;
+    }
+
+    [[nodiscard]] static uint32_t take( bool clear_on_exit,
+                                        TickType_t timeout ) noexcept
+    {
+        return ulTaskNotifyTake( clear_on_exit ? pdTRUE : pdFALSE, timeout );
+    }
+
+    [[nodiscard]] static bool wait_value( uint32_t & value,
+                                          TickType_t timeout,
+                                          uint32_t clear_on_entry = 0U,
+                                          uint32_t clear_on_exit = UINT32_MAX ) noexcept
+    {
+        return xTaskNotifyWait( clear_on_entry, clear_on_exit,
+                                &value, timeout ) == pdPASS;
+    }
+
+    [[nodiscard]] TaskHandle_t target() const noexcept { return target_; }
+
+private:
+    static eNotifyAction raw_action( NotificationAction action ) noexcept
+    {
+        switch( action )
+        {
+            case NotificationAction::no_action: return eNoAction;
+            case NotificationAction::set_bits: return eSetBits;
+            case NotificationAction::increment: return eIncrement;
+            case NotificationAction::overwrite: return eSetValueWithOverwrite;
+            case NotificationAction::without_overwrite:
+                return eSetValueWithoutOverwrite;
+        }
+        return eNoAction;
+    }
+
+    TaskHandle_t target_ {};
+};
+
+static_assert( !std::is_copy_constructible< BinarySemaphore >::value );
+static_assert( !std::is_move_constructible< CountingSemaphore< 2U > >::value );
+static_assert( std::is_trivially_copyable< TaskNotification >::value );
+
+} // 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