hal: Tock: Namespace HAL, update timer implementation and update libtock-c (#1313)
* tock: use native time getter, remove globals Tock has direct support for querying time. The prior `millis()` method here replicated the same functionality, but missed some corner case concerns around overflow/wrapping. Instead, just use the native Tock time getter method. This also removes unneeded global variables and methods. * NonArduino/Tock: Update to latest libtock-c Update to the latest libtock-c commit. libtock-c now includes a libtockHal.h, so we can use that instead of the version here. Signed-off-by: Alistair Francis <alistair@alistair23.me> --------- Signed-off-by: Alistair Francis <alistair@alistair23.me> Co-authored-by: Pat Pannuto <pat.pannuto@gmail.com>
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Alistair Francis
GitHub
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6 changed files with 33 additions and 235 deletions
2
.github/workflows/main.yml
vendored
2
.github/workflows/main.yml
vendored
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@ -247,7 +247,7 @@ jobs:
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run: |
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cd $PWD/examples/NonArduino/Tock
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git clone https://github.com/tock/libtock-c.git
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cd libtock-c; git checkout dbee65a56d74b4bad166317f199e80b959f7c82c; cd ../
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cd libtock-c; git checkout c0202f9ab78da4a6e95f136cf5250701e3778f63; cd ../
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LIBTOCK_C_DIRECTORY="$(pwd)/libtock-c" ./build.sh
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rpi-build:
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@ -50,7 +50,21 @@ add_executable(${PROJECT_NAME} main.cpp)
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# The build system for libtock-c is a bit odd and the version of libraries
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# built changes based on compiler version.
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if (RISCV_BUILD)
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if(EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-13.2.0")
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if(EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0")
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target_link_libraries(${PROJECT_NAME} PUBLIC
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RadioLib
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$ENV{LIBTOCK_C_DIRECTORY}/libtock/build/rv32imc/libtock.a
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$ENV{LIBTOCK_C_DIRECTORY}/libtock-sync/build/rv32imc/libtocksync.a
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$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0/riscv/lib/gcc/riscv64-unknown-elf/14.1.0/rv32i/ilp32/libgcc.a
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$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libstdc++.a
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$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-newlib-4.4.0.20231231/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libc.a
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$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-newlib-4.4.0.20231231/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libm.a
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)
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target_include_directories(RadioLib AFTER PUBLIC
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$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-newlib-4.3.0.20230120/riscv/riscv64-unknown-elf/include/
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)
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elseif(EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-13.2.0")
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target_link_libraries(${PROJECT_NAME} PUBLIC
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RadioLib
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$ENV{LIBTOCK_C_DIRECTORY}/libtock/build/rv32imc/libtock.a
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@ -80,7 +94,17 @@ if (RISCV_BUILD)
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)
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endif()
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else()
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if(EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-13.2.0")
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if (EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0")
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target_link_libraries(${PROJECT_NAME} PUBLIC
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RadioLib
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$ENV{LIBTOCK_C_DIRECTORY}/libtock/build/cortex-m4/libtock.a
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$ENV{LIBTOCK_C_DIRECTORY}/libtock-sync/build/cortex-m4/libtocksync.a
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$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0/arm/lib/gcc/arm-none-eabi/14.1.0/libgcc.a
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$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0/arm/arm-none-eabi/lib/libstdc++.a
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$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-newlib-4.4.0.20231231/arm/arm-none-eabi/lib/libc.a
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$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-newlib-4.4.0.20231231/arm/arm-none-eabi/lib/libm.a
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)
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elseif(EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-13.2.0")
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target_link_libraries(${PROJECT_NAME} PUBLIC
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RadioLib
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$ENV{LIBTOCK_C_DIRECTORY}/libtock/build/cortex-m4/libtock.a
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@ -23,7 +23,7 @@ The RadioLib example can be built with:
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$ git clone https://github.com/jgromes/RadioLib.git
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$ cd RadioLib/examples/NonArduino/Tock/
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$ git clone https://github.com/tock/libtock-c.git
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$ cd libtock-c; git checkout dbee65a56d74b4bad166317f199e80b959f7c82c; cd ../
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$ cd libtock-c; git checkout c0202f9ab78da4a6e95f136cf5250701e3778f63; cd ../
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$ LIBTOCK_C_DIRECTORY="$(pwd)/libtock-c" ./build.sh
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```
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@ -3,9 +3,9 @@ set -e
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rm -rf ./build-*
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cd libtock-c/examples/cxx_hello
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pushd ${LIBTOCK_C_DIRECTORY}/examples/cxx_hello
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make -j4
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cd ../../../
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popd
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mkdir -p build-arm
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cd build-arm
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@ -28,14 +28,14 @@
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#include <RadioLib.h>
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// include the hardware abstraction layer
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#include "hal/Tock/libtockHal.h"
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#include "RadioLib/libtockHal.h"
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// the entry point for the program
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int main(void) {
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printf("[SX1261] Initialising Radio ... \r\n");
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// create a new instance of the HAL class
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TockHal* hal = new TockHal();
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TockRadioLibHal* hal = new TockRadioLibHal();
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// now we can create the radio module
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// pinout corresponds to the SparkFun LoRa Thing Plus - expLoRaBLE
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@ -43,7 +43,7 @@ int main(void) {
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// DIO1 pin: 2
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// NRST pin: 4
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// BUSY pin: 1
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Module* tock_module = new Module(hal, RADIO_NSS, RADIO_DIO_1, RADIO_RESET, RADIO_BUSY);
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Module* tock_module = new Module(hal, RADIOLIB_RADIO_NSS, RADIOLIB_RADIO_DIO_1, RADIOLIB_RADIO_RESET, RADIOLIB_RADIO_BUSY);
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SX1262* radio = new SX1262(tock_module);
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// Setup the radio
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@ -1,226 +0,0 @@
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/*
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RadioLib Non-Arduino Tock Library helper functions
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Licensed under the MIT License
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Copyright (c) 2023 Alistair Francis <alistair@alistair23.me>
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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*/
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#ifndef TOCK_HAL_H
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#define TOCK_HAL_H
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// include RadioLib
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#include <RadioLib.h>
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// include all the dependencies
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#include "libtock/net/lora_phy.h"
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#include "libtock/net/syscalls/lora_phy_syscalls.h"
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#include "libtock-sync/net/lora_phy.h"
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#include "libtock/peripherals/gpio.h"
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#include "libtock-sync/services/alarm.h"
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#include "libtock/kernel/read_only_state.h"
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#define RADIO_BUSY 1
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#define RADIO_DIO_1 2
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#define RADIO_DIO_3 3
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#define RADIO_RESET 4
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// Skip the chips select as Tock handles this for us
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#define RADIO_NSS RADIOLIB_NC
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// define Arduino-style macros
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#define PIN_LOW (0x0)
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#define PIN_HIGH (0x1)
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#define PIN_INPUT (0x01)
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#define PIN_OUTPUT (0x03)
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#define PIN_RISING (0x01)
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#define PIN_FALLING (0x02)
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typedef void (*gpioIrqFn)(void);
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gpioIrqFn gpio_funcs[4] = { NULL, NULL, NULL, NULL};
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uint32_t frequency = 0;
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/*
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* Get the the timer frequency in Hz.
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*/
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int alarm_internal_frequency(uint32_t* frequency) {
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syscall_return_t rval = command(0x0, 1, 0, 0);
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return tock_command_return_u32_to_returncode(rval, frequency);
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}
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int alarm_internal_read(uint32_t* time) {
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syscall_return_t rval = command(0x0, 2, 0, 0);
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return tock_command_return_u32_to_returncode(rval, time);
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}
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static void lora_phy_gpio_Callback (int gpioPin,
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__attribute__ ((unused)) int arg2,
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__attribute__ ((unused)) int arg3,
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void* userdata)
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{
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gpioIrqFn fn = gpio_funcs[gpioPin - 1];
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if (fn != NULL ) {
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fn();
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}
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}
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class TockHal : public RadioLibHal {
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public:
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// default constructor - initializes the base HAL and any needed private members
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TockHal()
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: RadioLibHal(PIN_INPUT, PIN_OUTPUT, PIN_LOW, PIN_HIGH, PIN_RISING, PIN_FALLING) {
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}
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void init() override {
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}
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void term() override {
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}
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// GPIO-related methods (pinMode, digitalWrite etc.) should check
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// RADIOLIB_NC as an alias for non-connected pins
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void pinMode(uint32_t pin, uint32_t mode) override {
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if(pin == RADIOLIB_NC) {
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return;
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}
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if (mode == PIN_OUTPUT) {
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libtock_lora_phy_gpio_enable_output(pin);
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} else if (mode == PIN_INPUT) {
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libtock_lora_phy_gpio_enable_input(pin, libtock_pull_down);
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}
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}
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void digitalWrite(uint32_t pin, uint32_t value) override {
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if(pin == RADIOLIB_NC) {
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return;
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}
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if (value) {
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libtock_lora_phy_gpio_set(pin);
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} else {
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libtock_lora_phy_gpio_clear(pin);
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}
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}
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uint32_t digitalRead(uint32_t pin) override {
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int value;
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if(pin == RADIOLIB_NC) {
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return 0;
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}
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libtock_lora_phy_gpio_read(pin, &value);
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return value;
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}
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void attachInterrupt(uint32_t interruptNum, gpioIrqFn interruptCb, uint32_t mode) override {
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if(interruptNum == RADIOLIB_NC) {
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return;
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}
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gpio_funcs[interruptNum - 1] = interruptCb;
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libtock_lora_phy_gpio_command_interrupt_callback(lora_phy_gpio_Callback, NULL);
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// set GPIO as input and enable interrupts on it
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libtock_lora_phy_gpio_enable_input(interruptNum, libtock_pull_down);
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libtock_lora_phy_gpio_enable_interrupt(interruptNum, libtock_change);
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}
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void detachInterrupt(uint32_t interruptNum) override {
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if(interruptNum == RADIOLIB_NC) {
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return;
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}
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gpio_funcs[interruptNum - 1] = NULL;
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libtock_lora_phy_gpio_disable_interrupt(interruptNum);
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libtock_lora_phy_gpio_enable_input(interruptNum, libtock_pull_down);
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}
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void delay(unsigned long ms) override {
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#if !defined(RADIOLIB_CLOCK_DRIFT_MS)
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libtocksync_alarm_delay_ms(ms);
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#else
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libtocksync_alarm_delay_ms(ms * 1000 / (1000 + RADIOLIB_CLOCK_DRIFT_MS));
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#endif
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}
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void delayMicroseconds(unsigned long us) override {
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#if !defined(RADIOLIB_CLOCK_DRIFT_MS)
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libtocksync_alarm_delay_ms(us / 1000);
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#else
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libtocksync_alarm_delay_ms((us * 1000 / (1000 + RADIOLIB_CLOCK_DRIFT_MS)) / 1000);
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#endif
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}
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unsigned long millis() override {
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uint32_t now;
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unsigned long ms;
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if (frequency == 0) {
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alarm_internal_frequency(&frequency);
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}
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alarm_internal_read(&now);
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ms = now / (frequency / 1000);
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#if !defined(RADIOLIB_CLOCK_DRIFT_MS)
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return ms;
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#else
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return ms * 1000 / (1000 + RADIOLIB_CLOCK_DRIFT_MS);
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#endif
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}
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unsigned long micros() override {
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return millis() / 1000;
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}
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long pulseIn(uint32_t pin, uint32_t state, unsigned long timeout) override {
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return 0;
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}
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void spiBegin() {
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}
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void spiBeginTransaction() {
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}
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void spiTransfer(uint8_t* out, size_t len, uint8_t* in) {
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libtocksync_lora_phy_read_write(out, in, len);
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}
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void spiEndTransaction() {
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}
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void spiEnd() {
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}
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void yield() {
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::yield_no_wait();
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}
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private:
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};
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#endif
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