examples/NonArduino/Tock: Support RISC-V and bump libtock-c

.github/workflows/main.yml

@@ -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

examples/NonArduino/Tock/.gitignore

@@ -1,2 +1,2 @@
-build/
+build-*
 TockApp.tab

examples/NonArduino/Tock/CMakeLists.txt

@@ -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)
@@ -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
 )
 

examples/NonArduino/Tock/README.md

@@ -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
@@ -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
 ```

examples/NonArduino/Tock/build.sh

@@ -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

examples/NonArduino/Tock/tock.cmake → examples/NonArduino/Tock/tock-arm.cmake

@@ -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)
@@ -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")
 

examples/NonArduino/Tock/tock-riscv.cmake

@@ -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")

src/protocols/FSK4/FSK4.cpp

@@ -1,4 +1,5 @@
 #include "FSK4.h"
+#include <stdlib.h>
 #include <math.h>
 #if !RADIOLIB_EXCLUDE_FSK4