feat: add lab-rv32i-freertos-sw-timer card

include/FreeRTOSConfig.h

@@ -0,0 +1,70 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#define configCPU_CLOCK_HZ                       ( 10000000UL )
+#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                  16
+#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                         1
+#define configTIMER_TASK_PRIORITY                3
+#define configTIMER_QUEUE_LENGTH                 8
+#define configTIMER_TASK_STACK_DEPTH             256
+#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                  0
+#define INCLUDE_vTaskDelete                      1
+#define INCLUDE_vTaskSuspend                     0
+#define INCLUDE_eTaskGetState                    1
+#define INCLUDE_uxTaskPriorityGet                1
+#define INCLUDE_vTaskPrioritySet                 0
+#define INCLUDE_xTaskGetSchedulerState           1
+#define INCLUDE_uxTaskGetStackHighWaterMark      1
+#define INCLUDE_xTimerPendFunctionCall           0
+
+#define configENABLE_FPU                         0
+#define configENABLE_VPU                         0
+#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/software_timer.hpp

@@ -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

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