feat: add lab-rv32i-freertos-task-wrapper card

2026-07-21 19:14:20 +02:00
commit 50c425c88e
65 changed files with 33756 additions and 0 deletions
@@ -0,0 +1,70 @@
+#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          0
+#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 +1,134 @@
+#ifndef FREERTOS_CPP_EXPLICIT_TASK_HPP
+#define FREERTOS_CPP_EXPLICIT_TASK_HPP
+
+#include <stdint.h>
+#include <type_traits>
+
+extern "C"
+{
+#include "FreeRTOS.h"
+#include "task.h"
+}
+
+#ifndef FREERTOS_TASK_CHECKPOINT
+#define FREERTOS_TASK_CHECKPOINT( point, object ) \
+    do                                             \
+    {                                              \
+        ( void ) ( point );                        \
+        ( void ) ( object );                       \
+    } while( 0 )
+#endif
+
+namespace freertos
+{
+
+enum class TaskState : uint8_t
+{
+    constructed,
+    starting,
+    ready,
+    running,
+    completed,
+    start_failed
+};
+
+template< typename Derived >
+class Task
+{
+public:
+    constexpr Task( const char * name,
+                    configSTACK_DEPTH_TYPE stack_words,
+                    UBaseType_t priority ) noexcept
+        : name_ { name },
+          stack_words_ { stack_words },
+          priority_ { priority }
+    {
+    }
+
+    Task( const Task & ) = delete;
+    Task & operator=( const Task & ) = delete;
+    Task( Task && ) = delete;
+    Task & operator=( Task && ) = delete;
+
+    bool start() noexcept
+    {
+        static_assert( std::is_base_of< Task< Derived >, Derived >::value,
+                       "Derived must inherit Task<Derived>" );
+        if( state_ != TaskState::constructed )
+        {
+            return false;
+        }
+
+        state_ = TaskState::starting;
+        FREERTOS_TASK_CHECKPOINT( 2U, this );
+
+        /*
+         * Mark ready before entering the kernel: with a live scheduler a
+         * higher-priority new task may complete before xTaskCreate returns.
+         */
+        state_ = TaskState::ready;
+        FREERTOS_TASK_CHECKPOINT( 3U, this );
+        const BaseType_t created = xTaskCreate(
+            &Task::trampoline,
+            name_,
+            stack_words_,
+            static_cast< Derived * >( this ),
+            priority_,
+            &handle_ );
+
+        if( created != pdPASS )
+        {
+            handle_ = nullptr;
+            state_ = TaskState::start_failed;
+            return false;
+        }
+
+        FREERTOS_TASK_CHECKPOINT( 4U, this );
+        return true;
+    }
+
+    TaskHandle_t native_handle() const noexcept
+    {
+        return handle_;
+    }
+
+    TaskState state() const noexcept
+    {
+        return state_;
+    }
+
+    const char * name() const noexcept
+    {
+        return name_;
+    }
+
+private:
+    static void trampoline( void * context )
+    {
+        Derived * const derived = static_cast< Derived * >( context );
+        Task & base = *static_cast< Task * >( derived );
+        FREERTOS_TASK_CHECKPOINT( 6U, derived );
+
+        base.state_ = TaskState::running;
+        FREERTOS_TASK_CHECKPOINT( 7U, derived );
+        derived->run();
+
+        base.state_ = TaskState::completed;
+        base.handle_ = nullptr;
+        FREERTOS_TASK_CHECKPOINT( 10U, derived );
+        vTaskDelete( nullptr );
+        for( ;; )
+        {
+        }
+    }
+
+    TaskHandle_t handle_ {};
+    const char * const name_;
+    const configSTACK_DEPTH_TYPE stack_words_;
+    const UBaseType_t priority_;
+    volatile TaskState state_ { TaskState::constructed };
+};
+
+} // 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