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examples/NonArduino/Tock: Support RISC-V and bump libtock-c (#1082)
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* examples/NonArduino/Tock: Support building for RISC-V

Signed-off-by: Alistair Francis <[email protected]>

* examples/NonArduino/Tock: Update to newer libtock-c

Signed-off-by: Alistair Francis <[email protected]>

---------

Signed-off-by: Alistair Francis <[email protected]>
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alistair23 authored May 1, 2024
1 parent 1b2b8bd commit 2f85326
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Showing 10 changed files with 174 additions and 111 deletions.
2 changes: 1 addition & 1 deletion .github/workflows/main.yml
Original file line number Diff line number Diff line change
Expand Up @@ -226,7 +226,7 @@ jobs:

- name: Install dependencies
run: |
sudo apt-get install -y gcc-arm-none-eabi
sudo apt-get install -y gcc-arm-none-eabi gcc-riscv64-unknown-elf
cargo install elf2tab
- name: Build the example
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2 changes: 1 addition & 1 deletion examples/NonArduino/Tock/.gitignore
Original file line number Diff line number Diff line change
@@ -1,2 +1,2 @@
build/
build-*
TockApp.tab
66 changes: 57 additions & 9 deletions examples/NonArduino/Tock/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,11 @@ project(tock-sx1261)

set(LINKER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/userland_generic.ld)

include("tock.cmake")
if (RISCV_BUILD)
include("tock-riscv.cmake")
else()
include("tock-arm.cmake")
endif()

# when using debuggers such as gdb, the following line can be used
#set(CMAKE_BUILD_TYPE Debug)
Expand All @@ -43,17 +47,61 @@ add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/../../../../RadioLib" "${CMAKE_CUR
add_executable(${PROJECT_NAME} main.cpp)

# link with RadioLib and libtock-c
target_link_libraries(${PROJECT_NAME} PUBLIC
RadioLib
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/libtock/build/cortex-m4/libtock.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/libc++/cortex-m/libgcc.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/libc++/cortex-m/libstdc++.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/newlib/cortex-m/v7-m/libc.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/newlib/cortex-m/v7-m/libm.a
)
# The build system for libtock-c is a bit odd and the version of libraries
# built changes based on compiler version.
if (RISCV_BUILD)
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-libc++-13.2.0")
target_link_libraries(${PROJECT_NAME} PUBLIC
RadioLib
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/libtock/build/rv32imc/libtock.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-libc++-13.2.0/riscv/lib/gcc/riscv64-unknown-elf/13.2.0/rv32i/ilp32/libgcc.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-libc++-13.2.0/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libstdc++.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-newlib-4.3.0.20230120/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libc.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-newlib-4.3.0.20230120/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libm.a
)

target_include_directories(RadioLib AFTER PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-newlib-4.3.0.20230120/riscv/riscv64-unknown-elf/include/
)
else()
target_link_libraries(${PROJECT_NAME} PUBLIC
RadioLib
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/libtock/build/rv32imc/libtock.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-libc++-10.5.0/riscv/lib/gcc/riscv64-unknown-elf/10.5.0/rv32i/ilp32/libgcc.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-libc++-10.5.0/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libstdc++.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-newlib-4.2.0.20211231/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libc.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-newlib-4.2.0.20211231/riscv/riscv64-unknown-elf/lib/rv32i/ilp32/libm.a
)

target_include_directories(RadioLib AFTER PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-newlib-4.2.0.20211231/riscv/riscv64-unknown-elf/include/
)
endif()
else()
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-libc++-13.2.0")
target_link_libraries(${PROJECT_NAME} PUBLIC
RadioLib
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/libtock/build/cortex-m4/libtock.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-libc++-13.2.0/arm/lib/gcc/arm-none-eabi/13.2.0/libgcc.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-libc++-13.2.0/arm/arm-none-eabi/lib/libstdc++.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-newlib-4.3.0.20230120/arm/arm-none-eabi/lib/libc.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-newlib-4.3.0.20230120/arm/arm-none-eabi/lib/libm.a
)
else()
target_link_libraries(${PROJECT_NAME} PUBLIC
RadioLib
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/libtock/build/cortex-m4/libtock.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-libc++-10.5.0/arm/lib/gcc/arm-none-eabi/10.5.0/libgcc.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-libc++-10.5.0/arm/arm-none-eabi/lib/libstdc++.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-newlib-4.2.0.20211231/arm/arm-none-eabi/lib/libc.a
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c/lib/libtock-newlib-4.2.0.20211231/arm/arm-none-eabi/lib/libm.a
)
endif()
endif()

target_include_directories(${PROJECT_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_CURRENT_SOURCE_DIR}/../../../src/
${CMAKE_CURRENT_SOURCE_DIR}/libtock-c
)

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6 changes: 5 additions & 1 deletion examples/NonArduino/Tock/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,10 @@ This has been tested on the
but will work on any LoRa compatible Tock board (currently only the
expLoRaBLE board).

libtock-c by default is bulit for RISC-V and ARM. RadioLib is also built
for both architectures by default. You can skip the RISC-V RadioLib build
by setting the `SKIP_RISCV` varaible.

The RadioLib example can be built with:

```shell
Expand All @@ -24,5 +28,5 @@ $ ./build.sh
Then in the Tock repo you can flash the kernel and app with:

```shell
$ make flash; APP=RadioLib/examples/NonArduino/Tock/build/tock-sx1261.tbf make flash-app
$ make flash; APP=RadioLib/examples/NonArduino/Tock/build-arm/tock-sx1261.tbf make flash-app
```
22 changes: 16 additions & 6 deletions examples/NonArduino/Tock/build.sh
Original file line number Diff line number Diff line change
@@ -1,20 +1,30 @@
#!/bin/bash
set -e

rm -rf ./build
rm -rf ./build-*

cd libtock-c/libtock
cd libtock-c/examples/cxx_hello
make -j4
cd ../../
cd ../../../

mkdir -p build
cd build
mkdir -p build-arm
cd build-arm

cmake -G "CodeBlocks - Unix Makefiles" ..
make -j4

cd ..

if ! env | grep SKIP_RISCV; then
mkdir -p build-riscv
cd build-riscv

cmake -G "CodeBlocks - Unix Makefiles" -DRISCV_BUILD=1 ..
make -j4

cd ..
fi

elf2tab -n radio-lib --stack 4096 --app-heap 2048 --kernel-heap 2048 \
--kernel-major 2 --kernel-minor 1 \
-v ./build/tock-sx1261
-v ./build-arm/tock-sx1261
2 changes: 1 addition & 1 deletion examples/NonArduino/Tock/libtock-c
Submodule libtock-c updated 233 files
Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,6 @@
# This is copied from https://github.com/Lora-net/LoRaMac-node/pull/1390
# and has been relicensed by the original author

include("toolchain-arm-none-eabi.cmake")

if(NOT DEFINED LINKER_SCRIPT)
message(FATAL_ERROR "No linker script defined")
endif(NOT DEFINED LINKER_SCRIPT)
Expand All @@ -40,6 +38,22 @@ set(STACK_SIZE 4096)
set(APP_HEAP_SIZE 2048)
set(KERNEL_HEAP_SIZE 2048)

set(TOOLCHAIN arm-none-eabi)

find_program(TOOLCHAIN_PREFIX ${TOOLCHAIN}-gcc NO_CACHE)
get_filename_component(TOOLCHAIN_PREFIX ${TOOLCHAIN_PREFIX} DIRECTORY)

set(TOOLCHAIN_BIN_DIR ${TOOLCHAIN_PREFIX}/../bin)
set(TOOLCHAIN_INC_DIR ${TOOLCHAIN_PREFIX}/../${TOOLCHAIN}/include)
set(TOOLCHAIN_LIB_DIR ${TOOLCHAIN_PREFIX}/../${TOOLCHAIN}/lib)

#---------------------------------------------------------------------------------------
# Set compilers
#---------------------------------------------------------------------------------------
set(CMAKE_C_COMPILER ${TOOLCHAIN_BIN_DIR}/${TOOLCHAIN}-gcc CACHE INTERNAL "C Compiler")
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_BIN_DIR}/${TOOLCHAIN}-g++ CACHE INTERNAL "C++ Compiler")
set(CMAKE_ASM_COMPILER ${TOOLCHAIN_BIN_DIR}/${TOOLCHAIN}-gcc CACHE INTERNAL "ASM Compiler")

# Object build options
set(OBJECT_GEN_FLAGS "-mthumb -g2 -fno-builtin -mcpu=cortex-m4 -Wall -Wextra -pedantic -Wno-unused-parameter -ffunction-sections -fdata-sections -fomit-frame-pointer -mabi=aapcs -fno-unroll-loops -ffast-math -ftree-vectorize -frecord-gcc-switches -gdwarf-2 -Os -fdata-sections -ffunction-sections -fstack-usage -Wl,--emit-relocs -fPIC -mthumb -mfloat-abi=soft -msingle-pic-base -mpic-register=r9 -mno-pic-data-is-text-relative -D__TOCK__ -DSVCALL_AS_NORMAL_FUNCTION -DSOFTDEVICE_s130")

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76 changes: 76 additions & 0 deletions examples/NonArduino/Tock/tock-riscv.cmake
Original file line number Diff line number Diff line change
@@ -0,0 +1,76 @@
# Tock target specific CMake file
#
# Licensed under the MIT License
#
# Copyright (c) 2023 Alistair Francis <[email protected]>
#
# 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.
#
# This is copied from https://github.com/Lora-net/LoRaMac-node/pull/1390
# and has been relicensed by the original author

if(NOT DEFINED LINKER_SCRIPT)
message(FATAL_ERROR "No linker script defined")
endif(NOT DEFINED LINKER_SCRIPT)
message("Linker script: ${LINKER_SCRIPT}")

#---------------------------------------------------------------------------------------
# Set compiler/linker flags
#---------------------------------------------------------------------------------------

set(STACK_SIZE 4096)
set(APP_HEAP_SIZE 2048)
set(KERNEL_HEAP_SIZE 2048)

find_program(TOOLCHAIN
NAMES
riscv64-none-elf-gcc
riscv32-none-elf-gcc
riscv64-elf-gcc
riscv32-unknown-elf-gcc
riscv64-unknown-elf-gcc
riscv64-unknown-elf-clang
riscv32-unknown-elf-clang
NO_CACHE)

get_filename_component(TOOLCHAIN_PREFIX ${TOOLCHAIN} DIRECTORY)

get_filename_component(TOOLCHAIN ${TOOLCHAIN} NAME)
string(REPLACE "-gcc" "" TOOLCHAIN ${TOOLCHAIN})

set(TOOLCHAIN_BIN_DIR ${TOOLCHAIN_PREFIX}/../bin)
set(TOOLCHAIN_INC_DIR ${TOOLCHAIN_PREFIX}/../${TOOLCHAIN}/include)
set(TOOLCHAIN_LIB_DIR ${TOOLCHAIN_PREFIX}/../${TOOLCHAIN}/lib)

#---------------------------------------------------------------------------------------
# Set compilers
#---------------------------------------------------------------------------------------
set(CMAKE_C_COMPILER ${TOOLCHAIN_BIN_DIR}/${TOOLCHAIN}-gcc CACHE INTERNAL "C Compiler")
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_BIN_DIR}/${TOOLCHAIN}-g++ CACHE INTERNAL "C++ Compiler")
set(CMAKE_ASM_COMPILER ${TOOLCHAIN_BIN_DIR}/${TOOLCHAIN}-gcc CACHE INTERNAL "ASM Compiler")

# Object build options
set(OBJECT_GEN_FLAGS "-march=rv32i -mabi=ilp32 -mcmodel=medlow -g2 -fno-builtin -Wall -Wextra -pedantic -Wno-unused-parameter -ffunction-sections -fdata-sections -fomit-frame-pointer -fno-unroll-loops -ffast-math -ftree-vectorize -frecord-gcc-switches -gdwarf-2 -Os -fdata-sections -ffunction-sections -fstack-usage -Wl,--emit-relocs -D__TOCK__ -DSVCALL_AS_NORMAL_FUNCTION -DSOFTDEVICE_s130")

set(CMAKE_C_FLAGS "${OBJECT_GEN_FLAGS} -std=gnu99 " CACHE INTERNAL "C Compiler options")
set(CMAKE_CXX_FLAGS "${OBJECT_GEN_FLAGS} -std=c++20 " CACHE INTERNAL "C++ Compiler options")
set(CMAKE_ASM_FLAGS "${OBJECT_GEN_FLAGS} -x assembler-with-cpp " CACHE INTERNAL "ASM Compiler options")

# Linker flags
set(CMAKE_EXE_LINKER_FLAGS "-Wl,--gc-sections -march=rv32i -mabi=ilp32 -mcmodel=medlow -T${LINKER_SCRIPT} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Xlinker --defsym=STACK_SIZE=${STACK_SIZE} -Xlinker --defsym=APP_HEAP_SIZE=${APP_HEAP_SIZE} -Xlinker --defsym=KERNEL_HEAP_SIZE=${KERNEL_HEAP_SIZE} -nostdlib -Wl,--start-group" CACHE INTERNAL "Linker options")
90 changes: 0 additions & 90 deletions examples/NonArduino/Tock/toolchain-arm-none-eabi.cmake

This file was deleted.

1 change: 1 addition & 0 deletions src/protocols/FSK4/FSK4.cpp
Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
#include "FSK4.h"
#include <stdlib.h>
#include <math.h>
#if !RADIOLIB_EXCLUDE_FSK4

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