RISC-V support over CLINT (#815)

* Rebase to master

* using interrupt_mod

* bug fixes

* fix other backends

* Add changelog

* forgot about rtic-macros

* backend-specific configuration

* core peripherals optional over macro argument

* pre_init_preprocessing binding

* CI for RISC-V (WIP)

* separation of concerns

* add targets for RISC-V examples

* remove qemu feature

* prepare examples folder

* move examples all together

* move ci out of examples

* minor changes

* add cortex-m

* new xtask: proof of concept

* fix build.yml

* feature typo

* clean rtic examples

* reproduce weird issue

* remove unsafe code in user app

* update dependencies

* allow builds on riscv32imc

* let's fix QEMU

* Update .github/workflows/build.yml

Co-authored-by: Henrik Tjäder <henrik@tjaders.com>

* New build.rs

* removing test features

* adapt ui test to new version of clippy

* add more examples to RISC-V backend

* proper configuration of heapless for riscv32imc

* opt-out examples for riscv32imc

* point to new version of riscv-slic

* adapt new macro bindings

* adapt examples and CI to stable

* fix cortex-m CI

* Review

---------

Co-authored-by: Henrik Tjäder <henrik@tjaders.com>

62 files changed, 229 insertions, 0 deletions

diff --git a/ci/expected/lm3s6965/async-channel-done.run b/ci/expected/lm3s6965/async-channel-done.run
new file mode 100644
index 0000000..525962a
--- /dev/null
+++ b/ci/expected/lm3s6965/async-channel-done.run
@@ -0,0 +1,9 @@
+Sender 1 sending: 1
+Sender 1 done
+Sender 2 sending: 2
+Sender 3 sending: 3
+Receiver got: 1
+Sender 2 done
+Receiver got: 2
+Sender 3 done
+Receiver got: 3
diff --git a/ci/expected/lm3s6965/async-channel-no-receiver.run b/ci/expected/lm3s6965/async-channel-no-receiver.run
new file mode 100644
index 0000000..34624e1
--- /dev/null
+++ b/ci/expected/lm3s6965/async-channel-no-receiver.run
@@ -0,0 +1 @@
+Sender 1 sending: 1 Err(NoReceiver(1))
diff --git a/ci/expected/lm3s6965/async-channel-no-sender.run b/ci/expected/lm3s6965/async-channel-no-sender.run
new file mode 100644
index 0000000..237f2f1
--- /dev/null
+++ b/ci/expected/lm3s6965/async-channel-no-sender.run
@@ -0,0 +1 @@
+Receiver got: Err(NoSender)
diff --git a/ci/expected/lm3s6965/async-channel-try.run b/ci/expected/lm3s6965/async-channel-try.run
new file mode 100644
index 0000000..c3a4092
--- /dev/null
+++ b/ci/expected/lm3s6965/async-channel-try.run
@@ -0,0 +1,2 @@
+Sender 1 sending: 1
+Sender 1 try sending: 2 Err(Full(2))
diff --git a/ci/expected/lm3s6965/async-channel.run b/ci/expected/lm3s6965/async-channel.run
new file mode 100644
index 0000000..4e313a1
--- /dev/null
+++ b/ci/expected/lm3s6965/async-channel.run
@@ -0,0 +1,6 @@
+Sender 1 sending: 1
+Sender 2 sending: 2
+Sender 3 sending: 3
+Receiver got: 1
+Receiver got: 2
+Receiver got: 3
diff --git a/ci/expected/lm3s6965/async-delay.run b/ci/expected/lm3s6965/async-delay.run
new file mode 100644
index 0000000..61852ab
--- /dev/null
+++ b/ci/expected/lm3s6965/async-delay.run
@@ -0,0 +1,7 @@
+init
+hello from bar
+hello from baz
+hello from foo
+bye from foo
+bye from bar
+bye from baz
diff --git a/ci/expected/lm3s6965/async-infinite-loop.run b/ci/expected/lm3s6965/async-infinite-loop.run
new file mode 100644
index 0000000..f9fd4e4
--- /dev/null
+++ b/ci/expected/lm3s6965/async-infinite-loop.run
@@ -0,0 +1,6 @@
+init
+hello from async 0
+hello from async 1
+hello from async 2
+hello from async 3
+hello from async 4
diff --git a/ci/expected/lm3s6965/async-task-multiple-prios.run b/ci/expected/lm3s6965/async-task-multiple-prios.run
new file mode 100644
index 0000000..0b42df0
--- /dev/null
+++ b/ci/expected/lm3s6965/async-task-multiple-prios.run
@@ -0,0 +1,6 @@
+init
+hello from async 3 a 1
+hello from async 4 a 2
+hello from async 1 a 3
+hello from async 2 a 4
+idle
diff --git a/ci/expected/lm3s6965/async-task.run b/ci/expected/lm3s6965/async-task.run
new file mode 100644
index 0000000..1f93a4c
--- /dev/null
+++ b/ci/expected/lm3s6965/async-task.run
@@ -0,0 +1,5 @@
+init
+hello from async2
+hello from async
+hello from async with args a: 1, b: 2
+idle
diff --git a/ci/expected/lm3s6965/async-timeout.run b/ci/expected/lm3s6965/async-timeout.run
new file mode 100644
index 0000000..6b4c089
--- /dev/null
+++ b/ci/expected/lm3s6965/async-timeout.run
@@ -0,0 +1,16 @@
+init
+the hal takes a duration of Duration { ticks: 45 }
+timeout
+the hal takes a duration of Duration { ticks: 45 }
+hal returned 5
+the hal takes a duration of Duration { ticks: 45 }
+hal returned 5
+now is Instant { ticks: 213 }, timeout at Instant { ticks: 263 }
+the hal takes a duration of Duration { ticks: 35 }
+hal returned 5 at time Instant { ticks: 249 }
+now is Instant { ticks: 313 }, timeout at Instant { ticks: 363 }
+the hal takes a duration of Duration { ticks: 45 }
+hal returned 5 at time Instant { ticks: 359 }
+now is Instant { ticks: 413 }, timeout at Instant { ticks: 463 }
+the hal takes a duration of Duration { ticks: 55 }
+timeout
diff --git a/ci/expected/lm3s6965/big-struct-opt.run b/ci/expected/lm3s6965/big-struct-opt.run
new file mode 100644
index 0000000..7fdef35
--- /dev/null
+++ b/ci/expected/lm3s6965/big-struct-opt.run
@@ -0,0 +1,3 @@
+async_task data:[22, 22, 22, 22, 22]
+uart0 data:[22, 22, 22, 22, 22]
+idle
diff --git a/ci/expected/lm3s6965/binds.run b/ci/expected/lm3s6965/binds.run
new file mode 100644
index 0000000..f84cff0
--- /dev/null
+++ b/ci/expected/lm3s6965/binds.run
@@ -0,0 +1,4 @@
+init
+foo called 1 time
+idle
+foo called 2 times
diff --git a/ci/expected/lm3s6965/cancel-reschedule.run b/ci/expected/lm3s6965/cancel-reschedule.run
new file mode 100644
index 0000000..5a94752
--- /dev/null
+++ b/ci/expected/lm3s6965/cancel-reschedule.run
@@ -0,0 +1,3 @@
+init
+foo
+bar
diff --git a/ci/expected/lm3s6965/capacity.run b/ci/expected/lm3s6965/capacity.run
new file mode 100644
index 0000000..f96815d
--- /dev/null
+++ b/ci/expected/lm3s6965/capacity.run
@@ -0,0 +1,5 @@
+foo(0)
+foo(1)
+foo(2)
+foo(3)
+bar
diff --git a/ci/expected/lm3s6965/cfg-whole-task.run b/ci/expected/lm3s6965/cfg-whole-task.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/cfg-whole-task.run
diff --git a/ci/expected/lm3s6965/common.run b/ci/expected/lm3s6965/common.run
new file mode 100644
index 0000000..4f1d350
--- /dev/null
+++ b/ci/expected/lm3s6965/common.run
@@ -0,0 +1,3 @@
+bar: local_to_bar = 1
+foo: local_to_foo = 1
+idle: local_to_idle = 1
diff --git a/ci/expected/lm3s6965/complex.run b/ci/expected/lm3s6965/complex.run
new file mode 100644
index 0000000..5df884d
--- /dev/null
+++ b/ci/expected/lm3s6965/complex.run
@@ -0,0 +1,47 @@
+init
+idle p0 started
+t2 p4 called 1 time
+enter lock s4 0
+t3 p4 exit
+idle enter lock s3 0
+idle pend t0
+idle pend t1
+idle pend t2
+t2 p4 called 2 times
+enter lock s4 1
+t3 p4 exit
+idle still in lock s3 0
+t1 p3 called 1 time
+t1 enter lock s4 2
+t1 pend t0
+t1 pend t2
+t1 still in lock s4 2
+t2 p4 called 3 times
+enter lock s4 2
+t3 p4 exit
+t1 p3 exit
+t0 p2 called 1 time
+t0 p2 exit
+
+back in idle
+enter lock s2 0
+idle pend t0
+idle pend t1
+t1 p3 called 2 times
+t1 enter lock s4 3
+t1 pend t0
+t1 pend t2
+t1 still in lock s4 3
+t2 p4 called 4 times
+enter lock s4 3
+t3 p4 exit
+t1 p3 exit
+idle pend t2
+t2 p4 called 5 times
+enter lock s4 4
+t3 p4 exit
+idle still in lock s2 0
+t0 p2 called 2 times
+t0 p2 exit
+
+idle exit
diff --git a/ci/expected/lm3s6965/declared_locals.run b/ci/expected/lm3s6965/declared_locals.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/declared_locals.run
diff --git a/ci/expected/lm3s6965/destructure.run b/ci/expected/lm3s6965/destructure.run
new file mode 100644
index 0000000..25a4b1b
--- /dev/null
+++ b/ci/expected/lm3s6965/destructure.run
@@ -0,0 +1,2 @@
+bar: a = 0, b = 1, c = 2
+foo: a = 0, b = 1, c = 2
diff --git a/ci/expected/lm3s6965/executor-size.run b/ci/expected/lm3s6965/executor-size.run
new file mode 100644
index 0000000..2bb0d06
--- /dev/null
+++ b/ci/expected/lm3s6965/executor-size.run
@@ -0,0 +1 @@
+init, total executor size = 9
diff --git a/ci/expected/lm3s6965/extern_binds.run b/ci/expected/lm3s6965/extern_binds.run
new file mode 100644
index 0000000..9d925d5
--- /dev/null
+++ b/ci/expected/lm3s6965/extern_binds.run
@@ -0,0 +1,4 @@
+init
+foo called
+idle
+foo called
diff --git a/ci/expected/lm3s6965/extern_spawn.run b/ci/expected/lm3s6965/extern_spawn.run
new file mode 100644
index 0000000..257cc56
--- /dev/null
+++ b/ci/expected/lm3s6965/extern_spawn.run
@@ -0,0 +1 @@
+foo
diff --git a/ci/expected/lm3s6965/generics.run b/ci/expected/lm3s6965/generics.run
new file mode 100644
index 0000000..fb31731
--- /dev/null
+++ b/ci/expected/lm3s6965/generics.run
@@ -0,0 +1,6 @@
+UART1(STATE = 0)
+shared: 0 -> 1
+UART0(STATE = 0)
+shared: 1 -> 2
+UART1(STATE = 1)
+shared: 2 -> 4
diff --git a/ci/expected/lm3s6965/hardware.run b/ci/expected/lm3s6965/hardware.run
new file mode 100644
index 0000000..ef00864
--- /dev/null
+++ b/ci/expected/lm3s6965/hardware.run
@@ -0,0 +1,4 @@
+init
+UART0 called 1 time
+idle
+UART0 called 2 times
diff --git a/ci/expected/lm3s6965/idle-wfi.run b/ci/expected/lm3s6965/idle-wfi.run
new file mode 100644
index 0000000..4307776
--- /dev/null
+++ b/ci/expected/lm3s6965/idle-wfi.run
@@ -0,0 +1,2 @@
+init
+idle
diff --git a/ci/expected/lm3s6965/idle.run b/ci/expected/lm3s6965/idle.run
new file mode 100644
index 0000000..4307776
--- /dev/null
+++ b/ci/expected/lm3s6965/idle.run
@@ -0,0 +1,2 @@
+init
+idle
diff --git a/ci/expected/lm3s6965/init.run b/ci/expected/lm3s6965/init.run
new file mode 100644
index 0000000..b1b7161
--- /dev/null
+++ b/ci/expected/lm3s6965/init.run
@@ -0,0 +1 @@
+init
diff --git a/ci/expected/lm3s6965/locals.run b/ci/expected/lm3s6965/locals.run
new file mode 100644
index 0000000..4f1d350
--- /dev/null
+++ b/ci/expected/lm3s6965/locals.run
@@ -0,0 +1,3 @@
+bar: local_to_bar = 1
+foo: local_to_foo = 1
+idle: local_to_idle = 1
diff --git a/ci/expected/lm3s6965/lock-free.run b/ci/expected/lm3s6965/lock-free.run
new file mode 100644
index 0000000..18de0ec
--- /dev/null
+++ b/ci/expected/lm3s6965/lock-free.run
@@ -0,0 +1,2 @@
+  foo = 1
+  bar = 2
diff --git a/ci/expected/lm3s6965/lock.run b/ci/expected/lm3s6965/lock.run
new file mode 100644
index 0000000..a987b37
--- /dev/null
+++ b/ci/expected/lm3s6965/lock.run
@@ -0,0 +1,5 @@
+A
+B - shared = 1
+C
+D - shared = 2
+E
diff --git a/ci/expected/lm3s6965/message.run b/ci/expected/lm3s6965/message.run
new file mode 100644
index 0000000..11814db
--- /dev/null
+++ b/ci/expected/lm3s6965/message.run
@@ -0,0 +1,6 @@
+foo
+bar(0)
+baz(1, 2)
+foo
+bar(1)
+baz(2, 3)
diff --git a/ci/expected/lm3s6965/multilock.run b/ci/expected/lm3s6965/multilock.run
new file mode 100644
index 0000000..dd8c1f2
--- /dev/null
+++ b/ci/expected/lm3s6965/multilock.run
@@ -0,0 +1 @@
+Multiple locks, s1: 1, s2: 1, s3: 1
diff --git a/ci/expected/lm3s6965/not-sync.run b/ci/expected/lm3s6965/not-sync.run
new file mode 100644
index 0000000..cd91476
--- /dev/null
+++ b/ci/expected/lm3s6965/not-sync.run
@@ -0,0 +1,3 @@
+init
+bar a 13
+foo a 13
diff --git a/ci/expected/lm3s6965/only-shared-access.run b/ci/expected/lm3s6965/only-shared-access.run
new file mode 100644
index 0000000..dcc73e6
--- /dev/null
+++ b/ci/expected/lm3s6965/only-shared-access.run
@@ -0,0 +1,2 @@
+bar(key = 0xdeadbeef)
+foo(key = 0xdeadbeef)
diff --git a/ci/expected/lm3s6965/periodic-at.run b/ci/expected/lm3s6965/periodic-at.run
new file mode 100644
index 0000000..bf5bb06
--- /dev/null
+++ b/ci/expected/lm3s6965/periodic-at.run
@@ -0,0 +1,4 @@
+foo Instant { ticks: 0 }
+foo Instant { ticks: 10 }
+foo Instant { ticks: 20 }
+foo Instant { ticks: 30 }
diff --git a/ci/expected/lm3s6965/periodic-at2.run b/ci/expected/lm3s6965/periodic-at2.run
new file mode 100644
index 0000000..6e56421
--- /dev/null
+++ b/ci/expected/lm3s6965/periodic-at2.run
@@ -0,0 +1,7 @@
+foo Instant { ticks: 0 }
+bar Instant { ticks: 10 }
+foo Instant { ticks: 30 }
+bar Instant { ticks: 40 }
+foo Instant { ticks: 60 }
+bar Instant { ticks: 70 }
+foo Instant { ticks: 90 }
diff --git a/ci/expected/lm3s6965/periodic.run b/ci/expected/lm3s6965/periodic.run
new file mode 100644
index 0000000..a1f8944
--- /dev/null
+++ b/ci/expected/lm3s6965/periodic.run
@@ -0,0 +1,4 @@
+foo
+foo
+foo
+foo
diff --git a/ci/expected/lm3s6965/peripherals-taken.run b/ci/expected/lm3s6965/peripherals-taken.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/peripherals-taken.run
diff --git a/ci/expected/lm3s6965/pool.run b/ci/expected/lm3s6965/pool.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/pool.run
diff --git a/ci/expected/lm3s6965/preempt.run b/ci/expected/lm3s6965/preempt.run
new file mode 100644
index 0000000..932b2b3
--- /dev/null
+++ b/ci/expected/lm3s6965/preempt.run
@@ -0,0 +1,5 @@
+foo - start
+ baz - start
+ baz - end
+ bar
+foo - end
diff --git a/ci/expected/lm3s6965/prio-inversion.run b/ci/expected/lm3s6965/prio-inversion.run
new file mode 100644
index 0000000..9191436
--- /dev/null
+++ b/ci/expected/lm3s6965/prio-inversion.run
@@ -0,0 +1,6 @@
+foo - start
+pre baz spawn 0 0
+post baz spawn 0 0
+ baz - start
+ baz - end
+foo - end
diff --git a/ci/expected/lm3s6965/ramfunc.run b/ci/expected/lm3s6965/ramfunc.run
new file mode 100644
index 0000000..257cc56
--- /dev/null
+++ b/ci/expected/lm3s6965/ramfunc.run
@@ -0,0 +1 @@
+foo
diff --git a/ci/expected/lm3s6965/ramfunc.run.grep.bar b/ci/expected/lm3s6965/ramfunc.run.grep.bar
new file mode 100644
index 0000000..33e002f
--- /dev/null
+++ b/ci/expected/lm3s6965/ramfunc.run.grep.bar
@@ -0,0 +1 @@
+20000000 t ramfunc::bar::h9d6714fe5a3b0c89
diff --git a/ci/expected/lm3s6965/ramfunc.run.grep.foo b/ci/expected/lm3s6965/ramfunc.run.grep.foo
new file mode 100644
index 0000000..44e8822
--- /dev/null
+++ b/ci/expected/lm3s6965/ramfunc.run.grep.foo
@@ -0,0 +1 @@
+00000162 t ramfunc::foo::h30e7789b08c08e19
diff --git a/ci/expected/lm3s6965/resource-user-struct.run b/ci/expected/lm3s6965/resource-user-struct.run
new file mode 100644
index 0000000..a587a94
--- /dev/null
+++ b/ci/expected/lm3s6965/resource-user-struct.run
@@ -0,0 +1,2 @@
+UART0: shared = 1
+UART1: shared = 2
diff --git a/ci/expected/lm3s6965/schedule.run b/ci/expected/lm3s6965/schedule.run
new file mode 100644
index 0000000..1dbd445
--- /dev/null
+++ b/ci/expected/lm3s6965/schedule.run
@@ -0,0 +1,4 @@
+init
+foo
+bar
+baz
diff --git a/ci/expected/lm3s6965/shared.run b/ci/expected/lm3s6965/shared.run
new file mode 100644
index 0000000..6d3d3e4
--- /dev/null
+++ b/ci/expected/lm3s6965/shared.run
@@ -0,0 +1 @@
+received message: 42
diff --git a/ci/expected/lm3s6965/smallest.run b/ci/expected/lm3s6965/smallest.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/smallest.run
diff --git a/ci/expected/lm3s6965/spawn.run b/ci/expected/lm3s6965/spawn.run
new file mode 100644
index 0000000..240cd18
--- /dev/null
+++ b/ci/expected/lm3s6965/spawn.run
@@ -0,0 +1,2 @@
+init
+foo
diff --git a/ci/expected/lm3s6965/spawn_arguments.run b/ci/expected/lm3s6965/spawn_arguments.run
new file mode 100644
index 0000000..9085e13
--- /dev/null
+++ b/ci/expected/lm3s6965/spawn_arguments.run
@@ -0,0 +1 @@
+foo 1, 1
diff --git a/ci/expected/lm3s6965/spawn_err.run b/ci/expected/lm3s6965/spawn_err.run
new file mode 100644
index 0000000..97c4112
--- /dev/null
+++ b/ci/expected/lm3s6965/spawn_err.run
@@ -0,0 +1,3 @@
+init
+Cannot spawn a spawned (running) task!
+foo
diff --git a/ci/expected/lm3s6965/spawn_loop.run b/ci/expected/lm3s6965/spawn_loop.run
new file mode 100644
index 0000000..ee6e1e3
--- /dev/null
+++ b/ci/expected/lm3s6965/spawn_loop.run
@@ -0,0 +1,7 @@
+init
+foo
+idle
+foo
+idle
+foo
+idle
diff --git a/ci/expected/lm3s6965/static.run b/ci/expected/lm3s6965/static.run
new file mode 100644
index 0000000..3d3f46f
--- /dev/null
+++ b/ci/expected/lm3s6965/static.run
@@ -0,0 +1,3 @@
+received message: 1
+received message: 2
+received message: 3
diff --git a/ci/expected/lm3s6965/t-binds.run b/ci/expected/lm3s6965/t-binds.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/t-binds.run
diff --git a/ci/expected/lm3s6965/t-cfg-resources.run b/ci/expected/lm3s6965/t-cfg-resources.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/t-cfg-resources.run
diff --git a/ci/expected/lm3s6965/t-htask-main.run b/ci/expected/lm3s6965/t-htask-main.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/t-htask-main.run
diff --git a/ci/expected/lm3s6965/t-idle-main.run b/ci/expected/lm3s6965/t-idle-main.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/t-idle-main.run
diff --git a/ci/expected/lm3s6965/t-late-not-send.run b/ci/expected/lm3s6965/t-late-not-send.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/t-late-not-send.run
diff --git a/ci/expected/lm3s6965/t-schedule.run b/ci/expected/lm3s6965/t-schedule.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/t-schedule.run
diff --git a/ci/expected/lm3s6965/t-spawn.run b/ci/expected/lm3s6965/t-spawn.run
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ci/expected/lm3s6965/t-spawn.run
diff --git a/ci/expected/lm3s6965/task.run b/ci/expected/lm3s6965/task.run
new file mode 100644
index 0000000..de45dce
--- /dev/null
+++ b/ci/expected/lm3s6965/task.run
@@ -0,0 +1,5 @@
+foo - start
+foo - middle
+baz
+foo - end
+bar
diff --git a/ci/expected/lm3s6965/zero-prio-task.run b/ci/expected/lm3s6965/zero-prio-task.run
new file mode 100644
index 0000000..123b0f2
--- /dev/null
+++ b/ci/expected/lm3s6965/zero-prio-task.run
@@ -0,0 +1,3 @@
+init
+hello from async
+hello from async2