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>

.github/workflows/build.yml

@@ -31,9 +31,9 @@ jobs:
       - name: cargo xtask fmt
         run:  cargo xtask --verbose fmt -c
 
-  # Compilation check
-  check:
-    name: check
+  # Compilation check (lm3s6965)
+  checklm3s6965:
+    name: check (lm3s6965)
     runs-on: ubuntu-22.04
     strategy:
       matrix:
@@ -62,11 +62,14 @@ jobs:
       - name: Cache Dependencies
         uses: Swatinem/rust-cache@v2
 
-      - run: cargo xtask --deny-warnings --backend ${{ matrix.backend }} check
+      - run: cargo xtask --deny-warnings --platform lm3s6965 --backend ${{ matrix.backend }} check
 
-  # Clippy
-  clippy:
-    name: clippy
+  # Compilation check (hifive1) TODO
+  # checkhifive1:
+
+  # Clippy (lm3s6965)
+  clippylm3s6965:
+    name: clippy (lm3s6965)
     runs-on: ubuntu-22.04
     strategy:
       matrix:
@@ -98,11 +101,14 @@ jobs:
       - name: Cache Dependencies
         uses: Swatinem/rust-cache@v2
 
-      - run: cargo xtask --deny-warnings --backend ${{ matrix.backend }} clippy
+      - run: cargo xtask --deny-warnings --platform lm3s6965 --backend ${{ matrix.backend }} clippy
 
-  # Verify all examples, checks
-  checkexamples:
-    name: check examples
+  # Clippy (hifive1) TODO
+  # clippyhifive1:
+
+  # Platform lm3s6965: verify all examples, checks
+  checkexampleslm3s6965:
+    name: check examples (lm3s6965)
     runs-on: ubuntu-22.04
     strategy:
       matrix:
@@ -133,44 +139,46 @@ jobs:
 
       - name: Check the examples
         if: ${{ matrix.backend == 'thumbv8-base' }}
-        run: cargo xtask --backend ${{ matrix.backend }} --exampleexclude pool example-check
+        run: cargo xtask --platform lm3s6965 --backend ${{ matrix.backend }} --exampleexclude pool example-check
 
       - name: Check the examples
         if: ${{ matrix.backend != 'thumbv8-base' }}
-        run: cargo xtask --backend ${{ matrix.backend }} example-check
+        run: cargo xtask --platform lm3s6965 --backend ${{ matrix.backend }} example-check
   
-  # Check that the usage examples build
-  usageexamples:
-    name: Build usage examples
+  # Platform hifive1: verify all examples, checks
+  checkexampleshifive1:
+    name: check examples (hifive1)
     runs-on: ubuntu-22.04
     strategy:
       matrix:
+        backend:
+          - riscv32-imc-clint
+          - riscv32-imac-clint
         toolchain:
           - stable
     steps:
       - name: Checkout
         uses: actions/checkout@v4
 
-      - name: Install rust ${{ matrix.toolchain }}
+      - name: Install Rust ${{ matrix.toolchain }}
         run: |
-          rustup set profile minimal
           rustup override set ${{ matrix.toolchain }}
 
-      - name: Configure rust target (v6, v7)
+      - name: Configure Rust target
         run: |
-          rustup target add thumbv7em-none-eabihf
-          rustup target add thumbv7m-none-eabi
-          rustup target add thumbv6m-none-eabi
-          rustup component add rust-src
+          rustup target add riscv32imac-unknown-none-elf
+          rustup target add riscv32imc-unknown-none-elf
 
       - name: Cache Dependencies
         uses: Swatinem/rust-cache@v2
       
-      - name: Install flip-link
-        run: cargo install flip-link
+      - name: Check the examples
+        if: ${{ matrix.backend == 'riscv32-imc-clint' }}
+        run: cargo xtask --platform hifive1 --backend ${{ matrix.backend }} --exampleexclude static example-check
 
       - name: Check the examples
-        run: cargo xtask usage-example-build
+        if: ${{ matrix.backend != 'riscv32-imc-clint' }}
+        run: cargo xtask --platform hifive1 --backend ${{ matrix.backend }} example-check
 
   buildqemu:
     name: Get modern QEMU, build and store
@@ -192,7 +200,7 @@ jobs:
       - name: Install QEMU to get dependencies
         run: |
           sudo apt update
-          sudo apt install -y qemu-system-arm
+          sudo apt install -y qemu-system-arm qemu-system-riscv32
           sudo apt-get install git libglib2.0-dev libfdt-dev libpixman-1-dev zlib1g-dev ninja-build
 
       - if: ${{ steps.cache-qemu.outputs.cache-hit != 'true' }}
@@ -226,9 +234,9 @@ jobs:
           name: qemu
           path: qemu.tar
 
-  # Verify the example output with run-pass tests
-  testexamples:
-    name: QEMU run
+  # Platform lm3s6965: verify the example output with run-pass tests
+  testexampleslm3s6965:
+    name: QEMU run (lm3s6965)
     needs: buildqemu
     runs-on: ubuntu-22.04
     strategy:
@@ -283,7 +291,71 @@ jobs:
           which qemu-system-riscv32
 
       - name: Run-pass tests
-        run: cargo xtask --deny-warnings --backend ${{ matrix.backend }} qemu
+        run: cargo xtask --deny-warnings --platform lm3s6965 --backend ${{ matrix.backend }} qemu
+  
+  # Platform hifive1: verify the example output with run-pass tests
+  testexampleshifive1:
+    name: QEMU run (hifive1)
+    needs: buildqemu
+    runs-on: ubuntu-22.04
+    strategy:
+      matrix:
+        backend:
+          - riscv32-imc-clint
+          - riscv32-imac-clint
+        toolchain:
+          - stable
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Install Rust ${{ matrix.toolchain }}
+        run: |
+          rustup set profile minimal
+          rustup override set ${{ matrix.toolchain }}
+
+      - name: Configure Rust target
+        run: |
+          rustup target add riscv32imac-unknown-none-elf
+          rustup target add riscv32imc-unknown-none-elf
+
+      - name: Add Rust component llvm-tools-preview
+        run: rustup component add llvm-tools-preview
+
+      # Use precompiled binutils
+      - name: Install cargo-binutils
+        uses: taiki-e/install-action@v2
+        with:
+          tool: cargo-binutils
+
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v2
+      
+      - name: Install QEMU to get dependencies
+        run: |
+          sudo apt update
+          sudo apt install -y qemu-system-riscv32
+
+      - name: Download built QEMU
+        uses: actions/download-artifact@v4
+        with:
+          name: qemu
+      
+      - name: Extract QEMU into local path
+        run: tar -xf qemu.tar -C /usr/local/bin
+
+      - name: Check which QEMU is used
+        run: |
+          which qemu-system-arm
+          which qemu-system-riscv32
+      
+      - name: Run-pass tests
+        if: ${{ matrix.backend == 'riscv32-imc-clint' }}
+        run: cargo xtask --deny-warnings --platform hifive1 --backend ${{ matrix.backend }} --exampleexclude static qemu
+
+      - name: Run-pass tests
+        if: ${{ matrix.backend != 'riscv32-imc-clint' }}
+        run: cargo xtask --deny-warnings --platform hifive1 --backend ${{ matrix.backend }} qemu
 
   # Run test suite
   tests:
@@ -719,10 +791,14 @@ jobs:
     if: github.event_name == 'push' && success()
     needs:
       - formatcheck
-      - check
-      - clippy
-      - checkexamples
-      - testexamples
+      - checklm3s6965
+      # checkhifive1 TODO
+      - clippylm3s6965
+      # clippyhifive1 TODO
+      - checkexampleslm3s6965
+      - checkexampleshifive1
+      - testexampleslm3s6965
+      - testexampleshifive1
       - tests
       - docs
       - mdbook

.gitignore

@@ -6,3 +6,6 @@
 Cargo.lock
 *.hex
 book-target/
+
+.DS_Store
+.vscode/

ci/expected/hifive1/prio_inheritance.run

@@ -0,0 +1,17 @@
+[Idle]: Started
+    [SoftMedium]: Started
+    [SoftMedium]: Shared: 1
+      [SoftHigh]: Started
+      [SoftHigh]: Shared: 2
+      [SoftHigh]: Finished
+    [SoftMedium]: Finished
+  [SoftLow1]: Started
+  [SoftLow1]: Shared: 3
+  [SoftLow1]: Yield
+  [SoftLow2]: Started
+  [SoftLow2]: Shared: 4
+  [SoftLow2]: Yield
+  [SoftLow1]: Finished
+  [SoftLow2]: Finished
+[Idle]: Shared: 4
+[Idle]: Finished

ci/expected/lm3s6965/static.run

@@ -0,0 +1,3 @@
+received message: 1
+received message: 2
+received message: 3

ci/expected/lm3s6965/task.run

@@ -0,0 +1,5 @@
+foo - start
+foo - middle
+baz
+foo - end
+bar

ci/expected/lm3s6965/zero-prio-task.run

@@ -0,0 +1,3 @@
+init
+hello from async
+hello from async2

examples/hifive1/.cargo/config.toml

@@ -0,0 +1,11 @@
+[target.'cfg(all(target_arch = "riscv32", target_os = "none"))']
+runner = "qemu-system-riscv32 -machine sifive_e,revb=true -nographic -semihosting-config enable=on,target=native -kernel"
+# runner = "riscv64-unknown-elf-gdb -q -x gdb_init"
+rustflags = [
+  "-C", "link-arg=-Thifive1-link.x",
+]
+
+[build]
+# Pick ONE of these compilation targets
+# target = "riscv32imc-unknown-none-elf"    # non-atomic support
+target = "riscv32imac-unknown-none-elf" # atomic support (partial)

examples/hifive1/Cargo.lock

@@ -0,0 +1,364 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "atomic-polyfill"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
+dependencies = [
+ "critical-section",
+]
+
+[[package]]
+name = "bare-metal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
+
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
+[[package]]
+name = "critical-section"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+
+[[package]]
+name = "e310x"
+version = "0.11.0"
+source = "git+https://github.com/greenlsi/e310x.git?branch=master#50536cc5be2fd6adf7f879f002fdd98f66fb05f9"
+dependencies = [
+ "critical-section",
+ "riscv-pac",
+ "riscv-peripheral",
+ "vcell",
+]
+
+[[package]]
+name = "e310x"
+version = "0.11.0"
+source = "git+https://github.com/greenlsi/e310x.git#50536cc5be2fd6adf7f879f002fdd98f66fb05f9"
+dependencies = [
+ "riscv-pac",
+ "riscv-peripheral",
+ "vcell",
+]
+
+[[package]]
+name = "e310x-hal"
+version = "0.11.0"
+source = "git+https://github.com/greenlsi/e310x-hal.git?branch=master#931aea7ab142c1eb9eaadd4150946d8452229f27"
+dependencies = [
+ "e310x 0.11.0 (git+https://github.com/greenlsi/e310x.git?branch=master)",
+ "embedded-hal 0.2.7",
+ "nb 1.1.0",
+ "portable-atomic",
+ "riscv",
+]
+
+[[package]]
+name = "embedded-hal"
+version = "0.2.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "35949884794ad573cf46071e41c9b60efb0cb311e3ca01f7af807af1debc66ff"
+dependencies = [
+ "nb 0.1.3",
+ "void",
+]
+
+[[package]]
+name = "embedded-hal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
+[[package]]
+name = "hash32"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
+
+[[package]]
+name = "hashbrown"
+version = "0.14.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
+
+[[package]]
+name = "heapless"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+dependencies = [
+ "hash32",
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "hifive1"
+version = "0.11.0"
+source = "git+https://github.com/romancardenas/hifive1.git#ef8cea8b90bddb04509785d3e148ff145137520a"
+dependencies = [
+ "e310x-hal",
+ "embedded-hal 0.2.7",
+ "nb 1.1.0",
+ "riscv",
+]
+
+[[package]]
+name = "indexmap"
+version = "2.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "233cf39063f058ea2caae4091bf4a3ef70a653afbc026f5c4a4135d114e3c177"
+dependencies = [
+ "equivalent",
+ "hashbrown",
+]
+
+[[package]]
+name = "nb"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
+dependencies = [
+ "nb 1.1.0",
+]
+
+[[package]]
+name = "nb"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
+
+[[package]]
+name = "portable-atomic"
+version = "1.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
+
+[[package]]
+name = "proc-macro-error"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
+dependencies = [
+ "proc-macro-error-attr",
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+ "version_check",
+]
+
+[[package]]
+name = "proc-macro-error-attr"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "version_check",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.78"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2422ad645d89c99f8f3e6b88a9fdeca7fabeac836b1002371c4367c8f984aae"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "riscv"
+version = "0.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2f5c1b8bf41ea746266cdee443d1d1e9125c86ce1447e1a2615abd34330d33a9"
+dependencies = [
+ "critical-section",
+ "embedded-hal 1.0.0",
+]
+
+[[package]]
+name = "riscv-pac"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "18ceb4af23fdad434f938afdc35ce895a63d84f7333bb127d8065030848eb6a6"
+
+[[package]]
+name = "riscv-peripheral"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "07c799fe4e144bd4dd0c68fa33a41c1485f19730eea505d195124636e1253358"
+dependencies = [
+ "embedded-hal 1.0.0",
+ "riscv",
+ "riscv-pac",
+]
+
+[[package]]
+name = "riscv-rt"
+version = "0.12.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c0d35e32cf1383183e8885d8a9aa4402a087fd094dc34c2cb6df6687d0229dfe"
+dependencies = [
+ "riscv",
+ "riscv-rt-macros",
+]
+
+[[package]]
+name = "riscv-rt-macros"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8d100d466dbb76681ef6a9386f3da9abc570d57394e86da0ba5af8c4408486d"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
+[[package]]
+name = "riscv-slic"
+version = "0.1.0"
+source = "git+https://github.com/romancardenas/riscv-slic.git?rev=2a91edb#2a91edbff50bcc73169549923d278ff953d0986e"
+dependencies = [
+ "critical-section",
+ "heapless",
+ "riscv",
+ "riscv-slic-macros",
+]
+
+[[package]]
+name = "riscv-slic-macros"
+version = "0.1.0"
+source = "git+https://github.com/romancardenas/riscv-slic.git?rev=2a91edb#2a91edbff50bcc73169549923d278ff953d0986e"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.49",
+]
+
+[[package]]
+name = "rtic"
+version = "2.1.0"
+dependencies = [
+ "atomic-polyfill",
+ "bare-metal",
+ "critical-section",
+ "riscv",
+ "riscv-slic",
+ "rtic-core",
+ "rtic-macros",
+]
+
+[[package]]
+name = "rtic-core"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
+
+[[package]]
+name = "rtic-macros"
+version = "2.1.0"
+dependencies = [
+ "indexmap",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.49",
+]
+
+[[package]]
+name = "rtic_hifive1"
+version = "0.1.0"
+dependencies = [
+ "e310x 0.11.0 (git+https://github.com/greenlsi/e310x.git)",
+ "heapless",
+ "hifive1",
+ "riscv",
+ "riscv-rt",
+ "rtic",
+ "semihosting",
+]
+
+[[package]]
+name = "semihosting"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bab7a0be8d9e9893dfb5ce313aa0324396936d8bf788f5ef493c9f122ad84fd8"
+
+[[package]]
+name = "stable_deref_trait"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
+
+[[package]]
+name = "syn"
+version = "1.0.109"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "syn"
+version = "2.0.49"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "915aea9e586f80826ee59f8453c1101f9d1c4b3964cd2460185ee8e299ada496"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
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examples/hifive1/Cargo.toml

@@ -0,0 +1,22 @@
+[package]
+name = "rtic_hifive1"
+categories = ["embedded", "no-std"]
+description = "Examples of RTIC apps for the HiFive1 board"
+license = "MIT OR Apache-2.0"
+version = "0.1.0"
+edition = "2021"
+
+[workspace]
+
+[dependencies]
+rtic = { path = "../../rtic" }
+heapless = "0.8.0"
+hifive1 = { git = "https://github.com/romancardenas/hifive1.git", features = ["board-redv"] }
+e310x = { git = "https://github.com/greenlsi/e310x.git", features = ["rt"]}
+riscv-rt = {version = "0.12.1", features = ["single-hart"]}
+riscv = "0.11.0"
+semihosting = { version = "0.1", features = ["stdio", "panic-handler"] }
+
+[features]
+riscv-clint-backend = ["rtic/riscv-clint-backend"]
+test-critical-section = []

examples/hifive1/examples/prio_inheritance.rs

@@ -0,0 +1,140 @@
+#![no_main]
+#![no_std]
+
+use riscv_rt as _;
+
+#[rtic::app(device = e310x, backend = HART0)]
+mod app {
+    use core::{future::Future, pin::Pin, task::Context, task::Poll};
+    use hifive1::hal::prelude::*;
+    use semihosting::{println, process::exit};
+
+    /// Dummy asynchronous function to showcase SW tasks
+    pub async fn yield_now(task: &str) {
+        /// Yield implementation
+        struct YieldNow {
+            yielded: bool,
+        }
+        println!("  [{}]: Yield", task);
+
+        impl Future for YieldNow {
+            type Output = ();
+
+            fn poll(mut self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<()> {
+                if self.yielded {
+                    return Poll::Ready(());
+                }
+
+                self.yielded = true;
+                cx.waker().wake_by_ref();
+
+                Poll::Pending
+            }
+        }
+
+        YieldNow { yielded: false }.await
+    }
+
+    #[shared]
+    struct Shared {
+        counter: u32,
+    }
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local) {
+        // Pends the SoftLow interrupt but its handler won't run until *after*
+        // `init` returns because interrupts are disabled
+        let resources = unsafe { hifive1::hal::DeviceResources::steal() };
+        let peripherals = resources.peripherals;
+
+        let clocks =
+            hifive1::configure_clocks(peripherals.PRCI, peripherals.AONCLK, 64.mhz().into());
+        let gpio = resources.pins;
+
+        // Configure UART for stdout
+        hifive1::stdout::configure(
+            peripherals.UART0,
+            hifive1::pin!(gpio, uart0_tx),
+            hifive1::pin!(gpio, uart0_rx),
+            115_200.bps(),
+            clocks,
+        );
+
+        (Shared { counter: 0 }, Local {})
+    }
+
+    #[idle(shared = [counter])]
+    fn idle(mut cx: idle::Context) -> ! {
+        println!("[Idle]: Started");
+        // pend the medium priority SW task only once
+        soft_medium::spawn().unwrap();
+        cx.shared.counter.lock(|counter| {
+            println!("[Idle]: Shared: {}", *counter);
+        });
+        // exit QEMU simulator
+        println!("[Idle]: Finished");
+        exit(0);
+    }
+
+    /// Medium priority SW task. It is triggered by the idle and spawns the rest of the SW tasks
+    #[task(shared = [counter], priority = 2)]
+    async fn soft_medium(mut cx: soft_medium::Context) {
+        // Safe access to local `static mut` variable
+        println!("    [SoftMedium]: Started");
+        cx.shared.counter.lock(|counter| {
+            // Spawn the other SW tasks INSIDE the critical section (just for showing priority inheritance)
+            soft_low_1::spawn().unwrap();
+            soft_high::spawn().unwrap();
+            soft_low_2::spawn().unwrap();
+
+            *counter += 1;
+            println!("    [SoftMedium]: Shared: {}", *counter);
+        });
+        println!("    [SoftMedium]: Finished");
+    }
+
+    /// Low priority SW task. It runs cooperatively with soft_low_2
+    #[task(shared = [counter], priority = 1)]
+    async fn soft_low_1(mut cx: soft_low_1::Context) {
+        println!("  [SoftLow1]: Started");
+        cx.shared.counter.lock(|counter| {
+            *counter += 1;
+            println!("  [SoftLow1]: Shared: {}", *counter);
+        });
+        // Yield to the other SW task
+        yield_now("SoftLow1").await;
+
+        println!("  [SoftLow1]: Finished");
+    }
+
+    /// Low priority SW task. It runs cooperatively with soft_low_2
+    #[task(shared = [counter], priority = 1)]
+    async fn soft_low_2(mut cx: soft_low_2::Context) {
+        println!("  [SoftLow2]: Started");
+        cx.shared.counter.lock(|counter| {
+            *counter += 1;
+            println!("  [SoftLow2]: Shared: {}", *counter);
+        });
+
+        // Yield to the other SW task
+        yield_now("SoftLow2").await;
+
+        println!("  [SoftLow2]: Finished");
+    }
+
+    /// High priority SW task
+    #[task(shared = [counter], priority = 3)]
+    async fn soft_high(mut cx: soft_high::Context) {
+        println!("      [SoftHigh]: Started");
+
+        cx.shared.counter.lock(|counter| {
+            *counter += 1;
+            println!("      [SoftHigh]: Shared: {}", counter);
+        });
+
+        println!("      [SoftHigh]: Finished");
+    }
+}

examples/hifive1/examples/static.rs

@@ -0,0 +1,60 @@
+//! zero priority task
+#![no_main]
+#![no_std]
+#![deny(warnings)]
+#![deny(unsafe_code)]
+#![deny(missing_docs)]
+
+use hifive1 as _;
+use riscv_rt as _;
+
+#[rtic::app(device = e310x, backend = HART0)]
+mod app {
+    use semihosting::{process::exit, println};
+    use heapless::spsc::{Consumer, Producer, Queue};
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        p: Producer<'static, u32, 5>,
+        c: Consumer<'static, u32, 5>,
+    }
+
+    #[init(local = [q: Queue<u32, 5> = Queue::new()])]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        // q has 'static life-time so after the split and return of `init`
+        // it will continue to exist and be allocated
+        let (p, c) = cx.local.q.split();
+
+        foo::spawn().unwrap();
+
+        (Shared {}, Local { p, c })
+    }
+
+    #[idle(local = [c])]
+    fn idle(c: idle::Context) -> ! {
+        loop {
+            // Lock-free access to the same underlying queue!
+            if let Some(data) = c.local.c.dequeue() {
+                println!("received message: {}", data);
+
+                // Run foo until data
+                if data == 3 {
+                    exit(0); // Exit QEMU simulator
+                } else {
+                    foo::spawn().unwrap();
+                }
+            }
+        }
+    }
+
+    #[task(local = [p, state: u32 = 0], priority = 1)]
+    async fn foo(c: foo::Context) {
+        *c.local.state += 1;
+
+        // Lock-free access to the same underlying queue!
+        c.local.p.enqueue(*c.local.state).unwrap();
+    }
+}

examples/hifive1/examples/task.rs

@@ -0,0 +1,57 @@
+//! zero priority task
+#![no_main]
+#![no_std]
+#![deny(warnings)]
+#![deny(unsafe_code)]
+#![deny(missing_docs)]
+
+use hifive1 as _;
+use riscv_rt as _;
+
+#[rtic::app(device = e310x, backend = HART0)]
+mod app {
+    use semihosting::{println, process::exit};
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local) {
+        foo::spawn().unwrap();
+
+        (Shared {}, Local {})
+    }
+
+    #[task]
+    async fn foo(_: foo::Context) {
+        println!("foo - start");
+
+        // spawns `bar` onto the task scheduler
+        // `foo` and `bar` have the same priority so `bar` will not run until
+        // after `foo` terminates
+        bar::spawn().unwrap();
+
+        println!("foo - middle");
+
+        // spawns `baz` onto the task scheduler
+        // `baz` has higher priority than `foo` so it immediately preempts `foo`
+        baz::spawn().unwrap();
+
+        println!("foo - end");
+    }
+
+    #[task]
+    async fn bar(_: bar::Context) {
+        println!("bar");
+
+        exit(0); // Exit QEMU simulator
+    }
+
+    #[task(priority = 2)]
+    async fn baz(_: baz::Context) {
+        println!("baz");
+    }
+}

examples/hifive1/examples/zero_prio_task.rs

@@ -0,0 +1,61 @@
+//! zero priority task
+#![no_main]
+#![no_std]
+#![deny(warnings)]
+#![deny(unsafe_code)]
+#![deny(missing_docs)]
+
+use core::marker::PhantomData;
+use hifive1 as _;
+use riscv_rt as _;
+
+/// Does not impl send
+pub struct NotSend {
+    _0: PhantomData<*const ()>,
+}
+
+#[rtic::app(device = e310x, backend = HART0)]
+mod app {
+    use super::NotSend;
+    use core::marker::PhantomData;
+    use semihosting::{println, process::exit};
+
+    #[shared]
+    struct Shared {
+        x: NotSend,
+    }
+
+    #[local]
+    struct Local {
+        y: NotSend,
+    }
+
+    #[init]
+    fn init(_cx: init::Context) -> (Shared, Local) {
+        println!("init");
+
+        async_task::spawn().unwrap();
+        async_task2::spawn().unwrap();
+
+        (
+            Shared {
+                x: NotSend { _0: PhantomData },
+            },
+            Local {
+                y: NotSend { _0: PhantomData },
+            },
+        )
+    }
+
+    #[task(priority = 0, shared = [x], local = [y])]
+    async fn async_task(_: async_task::Context) {
+        println!("hello from async");
+    }
+
+    #[task(priority = 0, shared = [x])]
+    async fn async_task2(_: async_task2::Context) {
+        println!("hello from async2");
+
+        exit(0); // Exit QEMU simulator
+    }
+}

examples/hifive1/rust-toolchain.toml

@@ -0,0 +1,4 @@
+[toolchain]
+channel = "stable"
+components = [ "rust-src", "rustfmt" ]
+targets = [ "riscv32imc-unknown-none-elf", "riscv32imac-unknown-none-elf" ]

examples/lm3s6965/.cargo/config.toml

@@ -0,0 +1,13 @@
+[target.thumbv6m-none-eabi]
+runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
+
+[target.thumbv7m-none-eabi]
+runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
+
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+rustflags = [
+  "-C", "link-arg=-Tlink.x",
+]
+
+[build]
+target = "thumbv7m-none-eabi"

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@@ -0,0 +1,527 @@
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examples/lm3s6965/Cargo.toml

@@ -0,0 +1,36 @@
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+categories = ["embedded", "no-std"]
+description = "Examples of RTIC apps for the lm3s6965 chip"
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+edition = "2021"
+
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+
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+rtic-sync = { path = "../../rtic-sync" }
+rtic-monotonics = { path = "../../rtic-monotonics", features = ["cortex-m-systick"] }
+rtic = { path = "../../rtic" }
+
+[dependencies.futures]
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+default-features = false
+features = ["async-await"]
+
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+version = "0.6.0"
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+thumbv7-backend = ["rtic/thumbv7-backend"]
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