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Preliminary OS support

Eclipse Webmaster requested to merge github/fork/CKeilbar/os-support into master

Created by: CKeilbar

This PR includes initial changes that will be necessary to run an operating system on CVA5 in the future. In addition to clarity and QoL changes, this primarily includes:

  • Full support for the 20240411 RISC-V privileged architecture (previously a draft spec from ~2017-2019 was mostly supported)
  • New separate TLB's for instructions and data
  • Support for Sv32 virtual memory
  • Many significant bugfixes for interrupt and exception handling (can close #19)
  • Support for the RISC-V atomic extension (can close #21)
  • Simulation support for the latest version of Verilator

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