Baremetal C++20 Co-Routines for RISC-V

Example of using baremetal C++ Co-routines with RISC-V.

The code will initialize the C++ run-time environment and jump to main and create a set of periodic co-routines. The co-routines will be timed using the machine mode timer and scheduled using the event loop interrupted by the machine mode timer.

Files

Source Code

• src/startup.cpp - Entry/Startup/Runtime
• src/main.cpp - Main Program, Interrupt Handler, Co-routine examples
• include/coro
• include/coro/nop_task.hpp - C++20 co-routine task
• include/coro/scheduler.hpp - C++20 co-routine scheduler
• include/coro/awaitable_timer.hpp - C++20 awaitable timer concept
• include/riscv
• include/riscv/timer.hpp - RISC-V Timer Driver
• include/riscv/riscv-csr.hpp /
• include/riscv/riscv-interrupts.hpp - RISC-V Hardware Support
• include/native

Platform IO:

• platformio.ini - IDE Configuration
• post_build.py - Example post build to create disassembly file

CMake Build Environment:

• Makefile
• CMakeLists.txt
• src/CMakeLists.txt
• tests/CMakeLists.txt
• cmake/riscv.cmake

GitHub/Docker CI

• Dockerfile
• docker_entrypoint.sh
• action.yml
• .github/workflows/main.yml

Source Code Check/Formatting

• make cppcheck - Run clang-tidy and cppcheck
• make clang_tidy_native - Run clang-tidy in native mode
• make clang_tidy_target - Run clang-tidy in target mode
• make format - Run clang-format

Building

Platform IO or CMake is used to build the project locally.

Docker is used to build the project on github.

PlatformIO

Platform IO will download the required toolchain to build and QEMU to run the target locally. This is using q quite an old GCC (8.3.0).

platformio run --target build

CMake

To build with CMake a RISC-V cross compiler must be installed. It will look for one of:

• riscv-none-embed-g++
• riscv-none-elf-g++
• riscv32-unknown-elf-g++

The tools can be found at: https://xpack.github.io/dev-tools/riscv-none-elf-gcc/

	cmake \
			${CMAKE_OPTIONS_${@}} \
            -DCMAKE_TOOLCHAIN_FILE=cmake/riscv.cmake \
	        -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
		    -B build_target \
	        -S .
	cmake --build build_target --verbose

Testing

The Makefile has targets to build with CMake and run tests with CTest.

make native
nake native_test

Docker

The included dockerfile installs the xpack RISC-V GCC toolchain and uses CMake to compile the project. This is using a recent GCC (12.2).

To build locally using the docker file use these commands:

docker build --tag=cxx_coro_riscv:latest .
docker run \
       -it \
       -v `pwd`:/work \
       cxx_coro_riscv:latest \
       /work \
       ./

Pre Commit

https://pre-commit.com/