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 +1,134 @@
+#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