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>

.github/workflows/main.yml

@@ -247,7 +247,7 @@ jobs:
         run: |
           cd $PWD/examples/NonArduino/Tock
           git clone https://github.com/tock/libtock-c.git
-          cd libtock-c; git checkout dbee65a56d74b4bad166317f199e80b959f7c82c; cd ../
+          cd libtock-c; git checkout c0202f9ab78da4a6e95f136cf5250701e3778f63; cd ../
           LIBTOCK_C_DIRECTORY="$(pwd)/libtock-c" ./build.sh
 
   rpi-build:

examples/NonArduino/Tock/CMakeLists.txt

@@ -50,7 +50,21 @@ add_executable(${PROJECT_NAME} main.cpp)
 # The build system for libtock-c is a bit odd and the version of libraries
 # built changes based on compiler version.
 if (RISCV_BUILD)
-    if(EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-13.2.0")
+    if(EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0")
+        target_link_libraries(${PROJECT_NAME} PUBLIC
+            RadioLib
+            $ENV{LIBTOCK_C_DIRECTORY}/libtock/build/rv32imc/libtock.a
+            $ENV{LIBTOCK_C_DIRECTORY}/libtock-sync/build/rv32imc/libtocksync.a
+            $ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0/riscv/lib/gcc/riscv64-unknown-elf/14.1.0/rv32i/ilp32/libgcc.a
+            $ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libstdc++.a
+            $ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-newlib-4.4.0.20231231/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libc.a
+            $ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-newlib-4.4.0.20231231/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libm.a
+        )
+
+        target_include_directories(RadioLib AFTER PUBLIC
+            $ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-newlib-4.3.0.20230120/riscv/riscv64-unknown-elf/include/
+        )
+    elseif(EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-13.2.0")
         target_link_libraries(${PROJECT_NAME} PUBLIC
             RadioLib
             $ENV{LIBTOCK_C_DIRECTORY}/libtock/build/rv32imc/libtock.a
@@ -80,7 +94,17 @@ if (RISCV_BUILD)
         )
     endif()
 else()
-    if(EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-13.2.0")
+    if (EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0")
+        target_link_libraries(${PROJECT_NAME} PUBLIC
+            RadioLib
+            $ENV{LIBTOCK_C_DIRECTORY}/libtock/build/cortex-m4/libtock.a
+            $ENV{LIBTOCK_C_DIRECTORY}/libtock-sync/build/cortex-m4/libtocksync.a
+            $ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0/arm/lib/gcc/arm-none-eabi/14.1.0/libgcc.a
+            $ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-14.1.0/arm/arm-none-eabi/lib/libstdc++.a
+            $ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-newlib-4.4.0.20231231/arm/arm-none-eabi/lib/libc.a
+            $ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-newlib-4.4.0.20231231/arm/arm-none-eabi/lib/libm.a
+        )
+    elseif(EXISTS "$ENV{LIBTOCK_C_DIRECTORY}/lib/libtock-libc++-13.2.0")
         target_link_libraries(${PROJECT_NAME} PUBLIC
             RadioLib
             $ENV{LIBTOCK_C_DIRECTORY}/libtock/build/cortex-m4/libtock.a

examples/NonArduino/Tock/README.md

@@ -23,7 +23,7 @@ The RadioLib example can be built with:
 $ git clone https://github.com/jgromes/RadioLib.git
 $ cd RadioLib/examples/NonArduino/Tock/
 $ git clone https://github.com/tock/libtock-c.git
-$ cd libtock-c; git checkout dbee65a56d74b4bad166317f199e80b959f7c82c; cd ../
+$ cd libtock-c; git checkout c0202f9ab78da4a6e95f136cf5250701e3778f63; cd ../
 $ LIBTOCK_C_DIRECTORY="$(pwd)/libtock-c" ./build.sh
 ```
 

examples/NonArduino/Tock/build.sh

@@ -3,9 +3,9 @@ set -e
 
 rm -rf ./build-*
 
-cd libtock-c/examples/cxx_hello
+pushd ${LIBTOCK_C_DIRECTORY}/examples/cxx_hello
 make -j4
-cd ../../../
+popd
 
 mkdir -p build-arm
 cd build-arm

examples/NonArduino/Tock/main.cpp

@@ -28,14 +28,14 @@
 #include <RadioLib.h>
 
 // include the hardware abstraction layer
-#include "hal/Tock/libtockHal.h"
+#include "RadioLib/libtockHal.h"
 
 // the entry point for the program
 int main(void) {
   printf("[SX1261] Initialising Radio ... \r\n");
 
   // create a new instance of the HAL class
-  TockHal* hal = new TockHal();
+  TockRadioLibHal* hal = new TockRadioLibHal();
 
   // now we can create the radio module
   // pinout corresponds to the SparkFun LoRa Thing Plus - expLoRaBLE
@@ -43,7 +43,7 @@ int main(void) {
   // DIO1 pin:  2
   // NRST pin:  4
   // BUSY pin:  1
-  Module* tock_module = new Module(hal, RADIO_NSS, RADIO_DIO_1, RADIO_RESET, RADIO_BUSY);
+  Module* tock_module = new Module(hal, RADIOLIB_RADIO_NSS, RADIOLIB_RADIO_DIO_1, RADIOLIB_RADIO_RESET, RADIOLIB_RADIO_BUSY);
   SX1262* radio = new SX1262(tock_module);
 
   // Setup the radio

src/hal/Tock/libtockHal.h

@@ -1,226 +0,0 @@
-/*
-  RadioLib Non-Arduino Tock Library helper functions
-
-  Licensed under the MIT License
-
-  Copyright (c) 2023 Alistair Francis <alistair@alistair23.me>
-
-  Permission is hereby granted, free of charge, to any person obtaining a copy
-  of this software and associated documentation files (the "Software"), to deal
-  in the Software without restriction, including without limitation the rights
-  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-  copies of the Software, and to permit persons to whom the Software is
-  furnished to do so, subject to the following conditions:
-
-  The above copyright notice and this permission notice shall be included in all
-  copies or substantial portions of the Software.
-
-  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-  SOFTWARE.
-*/
-
-#ifndef TOCK_HAL_H
-#define TOCK_HAL_H
-
-// include RadioLib
-#include <RadioLib.h>
-
-// include all the dependencies
-#include "libtock/net/lora_phy.h"
-#include "libtock/net/syscalls/lora_phy_syscalls.h"
-#include "libtock-sync/net/lora_phy.h"
-#include "libtock/peripherals/gpio.h"
-#include "libtock-sync/services/alarm.h"
-#include "libtock/kernel/read_only_state.h"
-
-#define RADIO_BUSY   1
-#define RADIO_DIO_1  2
-#define RADIO_DIO_3  3
-#define RADIO_RESET  4
-// Skip the chips select as Tock handles this for us
-#define RADIO_NSS   RADIOLIB_NC
-
-// define Arduino-style macros
-#define PIN_LOW                         (0x0)
-#define PIN_HIGH                        (0x1)
-#define PIN_INPUT                       (0x01)
-#define PIN_OUTPUT                      (0x03)
-#define PIN_RISING                      (0x01)
-#define PIN_FALLING                     (0x02)
-
-typedef void (*gpioIrqFn)(void);
-
-gpioIrqFn gpio_funcs[4] = { NULL, NULL, NULL, NULL};
-uint32_t frequency = 0;
-
-/*
- * Get the the timer frequency in Hz.
- */
-int alarm_internal_frequency(uint32_t* frequency) {
-  syscall_return_t rval = command(0x0, 1, 0, 0);
-  return tock_command_return_u32_to_returncode(rval, frequency);
-}
-
-int alarm_internal_read(uint32_t* time) {
-  syscall_return_t rval = command(0x0, 2, 0, 0);
-  return tock_command_return_u32_to_returncode(rval, time);
-}
-
-static void lora_phy_gpio_Callback (int gpioPin,
-                                    __attribute__ ((unused)) int arg2,
-                                    __attribute__ ((unused)) int arg3,
-                                    void* userdata)
-{
-    gpioIrqFn fn = gpio_funcs[gpioPin - 1];
-
-    if (fn != NULL ) {
-        fn();
-    }
-}
-
-class TockHal : public RadioLibHal {
-  public:
-    // default constructor - initializes the base HAL and any needed private members
-    TockHal()
-      : RadioLibHal(PIN_INPUT, PIN_OUTPUT, PIN_LOW, PIN_HIGH, PIN_RISING, PIN_FALLING)  {
-    }
-
-    void init() override {
-    }
-
-    void term() override {
-    }
-
-    // GPIO-related methods (pinMode, digitalWrite etc.) should check
-    // RADIOLIB_NC as an alias for non-connected pins
-    void pinMode(uint32_t pin, uint32_t mode) override {
-      if(pin == RADIOLIB_NC) {
-        return;
-      }
-
-      if (mode == PIN_OUTPUT) {
-          libtock_lora_phy_gpio_enable_output(pin);
-      } else if (mode == PIN_INPUT) {
-          libtock_lora_phy_gpio_enable_input(pin, libtock_pull_down);
-      }
-    }
-
-    void digitalWrite(uint32_t pin, uint32_t value) override {
-      if(pin == RADIOLIB_NC) {
-        return;
-      }
-
-      if (value) {
-          libtock_lora_phy_gpio_set(pin);
-      } else {
-          libtock_lora_phy_gpio_clear(pin);
-      }
-    }
-
-    uint32_t digitalRead(uint32_t pin) override {
-      int value;
-
-      if(pin == RADIOLIB_NC) {
-        return 0;
-      }
-
-      libtock_lora_phy_gpio_read(pin, &value);
-
-      return value;
-    }
-
-    void attachInterrupt(uint32_t interruptNum, gpioIrqFn interruptCb, uint32_t mode) override {
-      if(interruptNum == RADIOLIB_NC) {
-        return;
-      }
-
-      gpio_funcs[interruptNum - 1] = interruptCb;
-      libtock_lora_phy_gpio_command_interrupt_callback(lora_phy_gpio_Callback, NULL);
-
-      // set GPIO as input and enable interrupts on it
-      libtock_lora_phy_gpio_enable_input(interruptNum, libtock_pull_down);
-      libtock_lora_phy_gpio_enable_interrupt(interruptNum, libtock_change);
-    }
-
-    void detachInterrupt(uint32_t interruptNum) override {
-      if(interruptNum == RADIOLIB_NC) {
-        return;
-      }
-
-      gpio_funcs[interruptNum - 1] = NULL;
-      libtock_lora_phy_gpio_disable_interrupt(interruptNum);
-      libtock_lora_phy_gpio_enable_input(interruptNum, libtock_pull_down);
-    }
-
-    void delay(unsigned long ms) override {
-#if !defined(RADIOLIB_CLOCK_DRIFT_MS)
-      libtocksync_alarm_delay_ms(ms);
-#else
-      libtocksync_alarm_delay_ms(ms * 1000 / (1000 + RADIOLIB_CLOCK_DRIFT_MS));
-#endif
-    }
-
-    void delayMicroseconds(unsigned long us) override {
-#if !defined(RADIOLIB_CLOCK_DRIFT_MS)
-      libtocksync_alarm_delay_ms(us / 1000);
-#else
-      libtocksync_alarm_delay_ms((us * 1000 / (1000 + RADIOLIB_CLOCK_DRIFT_MS)) / 1000);
-#endif
-    }
-
-    unsigned long millis() override {
-      uint32_t now;
-      unsigned long ms;
-
-      if (frequency == 0) {
-        alarm_internal_frequency(&frequency);
-      }
-
-      alarm_internal_read(&now);
-
-      ms = now / (frequency / 1000);
-
-#if !defined(RADIOLIB_CLOCK_DRIFT_MS)
-      return ms;
-#else
-      return ms * 1000 / (1000 + RADIOLIB_CLOCK_DRIFT_MS);
-#endif
-    }
-
-    unsigned long micros() override {
-      return millis() / 1000;
-    }
-
-    long pulseIn(uint32_t pin, uint32_t state, unsigned long timeout) override {
-      return 0;
-    }
-
-    void spiBegin() {
-    }
-
-    void spiBeginTransaction() {
-    }
-
-    void spiTransfer(uint8_t* out, size_t len, uint8_t* in) {
-      libtocksync_lora_phy_read_write(out, in, len);
-    }
-
-    void spiEndTransaction() {
-    }
-
-    void spiEnd() {
-    }
-
-    void yield() {
-      ::yield_no_wait();
-    }
-
-  private:
-};
-
-#endif