lora: Support RISC-V build, update to latest libtock-c and move to examples

[alistair23]

No description provided.

[bradjc]

I don't think this should be upstreamed in this form. Adding RadioLib as a library like all other libtock-c external libraries would be great.

But this is too different from our current structure (adding maintenance overhead) and is too reliant on an external repository. This can lead to problems, like updating newlib to a version not here: https://github.com/jgromes/RadioLib/blob/master/examples/NonArduino/Tock/CMakeLists.txt and then libtock-c CI doesn't pass.

[alistair23]

This feels a little like moving goal posts. This was moved to wip because it didn't build for RISC-V and would break the CI. Both of those issues are fixed. But now it has to include a custom build infrastructure.

The newlib path issue could easily be fixed by not using the version in the path, which is probably a good idea anyway.

I will have a look at re-implementing the build system, but I feel that this could be accepted in the meantime.

[alistair23]

I created #443 to help with the hardcoded version paths

I also updated this to use TockLibrary.mk which should address the current issue

[alistair23]

This builds locally for me, in the CI I see

 (insn 179 178 46 8 (set (reg:SI 3 r3 [168])
        (mem/u/c:SI (plus:SI (reg:SI 12 ip [169])
                (unspec:SI [
                        (symbol_ref/u:SI ("*.LC1") [flags 0x2])
                    ] UNSPEC_PIC_SYM)) [0  S4 A32])) "../../../examples/lora/RadioLib/src/modules/LR11x0/LR11x0.cpp":629:16 929 {*thumb1_movsi_insn}
     (expr_list:REG_EQUAL (symbol_ref/u:SI ("*.LC1") [flags 0x2])
        (nil)))
during RTL pass: postreload
../../../examples/lora/RadioLib/src/modules/LR11x0/LR11x0.cpp:641:1: internal compiler error: in extract_constrain_insn, at recog.c:2195
Please submit a full bug report,
with preprocessed source if appropriate.
See <https://gcc.gnu.org/bugs/> for instructions.
make: *** [../../..//TockLibrary.mk:175: ../../..//examples/lora/RadioLib/build/cortex-m0/RadioLib/examples/lora/RadioLib/src/modules/LR11x0/LR11x0.o] Error 1

So maybe a GCC bug in older versions that pops up when not using the cmake infrastructure? Thoughts @bradjc?

[lschuermann]

Okay, so this builds with libtock-c's Makefiles and with RadioLib's cmake? Is there a good reason for us to keep using cmake if the libtock-c Makefiles work?

[alistair23]

The cmake is a useful fall back. It's part of the RadioLib CI and tested regularly. The Tock system hits a GCC bug so it's isn't as robust

[bradjc]

It's fine to build with cmake out-of-tree, but we need PIC with our build system and want to avoid the overhead of supporting multiple build variations upstream.

[bradjc]

?

[alistair23]

9f7c65b

[alistair23]

Basically when running the formatter in the CI, the submodules aren't cloned. So no SRCs are found as there are no wildcards.

This avoids that error.

[alistair23]

It's fine to build with cmake out-of-tree, but we need PIC with our build system and want to avoid the overhead of supporting multiple build variations upstream.

Yeah, the cmake uses PIC as well.

The Tock system fails to build the LR11x0 module in the CI due to some GCC bug. So it's worth keeping the cmake around as an option for people who want to use the LR11x0 module.

[ppannuto]

Hmm.. I'm of two minds on the cmake issue.

I do think there is probably some utility in an example that shows how one could integrate libtock with an external build system, but I'm also very wary of keeping anything like that around as a first-class example that we have limited control over and an obligation to support :/.

If we keep it around, I'd want CI to test it. I also have gone through Herculean efforts to ensure that minimal/standard tooling (i.e. just vanilla make) is all that is needed to get up-and-running with Tock, which we've gotten a ton of positive feedback on over the years as a design choice, and requiring cmake would run against that. I also try very hard to make sure that anything that runs as CI in the cloud is 'easy' to run locally; though there it's probably easy to follow a path similar to qemu where the local CI can run it, but wouldn't pull it in by default.... /endStreamOfConsciousness

I think I lean at the moment towards:

• We should include the cmake as example
• It should be built in a separate, non-required-to-merge "third-party-build" or similar CI job; this lets us see when something goes awry, while de-risking a third-party change holding up core development

[alistair23]

I removed the cmake option

[alistair23]

Ready to go!

[bradjc]

This doesn't build for me.

First because there is no Radiolib library cloned (need Makefile.setup)

Then:

❯ make V=1

**************************************************
TOCK USERLAND BUILD SYSTEM -- VERBOSE BUILD
**************************************************
Config:
GIT: 2.x-legacy-api-446-gb17e1a9a
arm-none-eabi-gcc --version: arm-none-eabi-gcc (Arm GNU Toolchain 13.3.Rel1 (Build arm-13.24)) 13.3.1 20240614 Copyright (C) 2023 Free Software Foundation, Inc. This is free software; see the source for copying conditions.  There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
riscv64-unknown-elf-gcc --version: riscv64-unknown-elf-gcc (g2ee5e430018-dirty) 12.2.0 Copyright (C) 2022 Free Software Foundation, Inc. This is free software; see the source for copying conditions.  There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
LAYOUT=../../../userland_generic.ld
MAKEFLAGS= -r -R
PACKAGE_NAME=sensor-receive
TOCK_ARCHS=cortex-m0 cortex-m3 cortex-m4 cortex-m7 rv32imac rv32imc
TOCK_TARGETS=cortex-m0 cortex-m3 cortex-m4 cortex-m7 rv32imac|rv32imac.0x20040080.0x80002800|0x20040080|0x80002800 rv32imac|rv32imac.0x403B0080.0x3FCC0000|0x403B0080|0x3FCC0000 rv32imc|rv32imc.0x41000080.0x42008000|0x41000080|0x42008000 rv32imc|rv32imc.0x00080080.0x40008000|0x00080080|0x40008000 rv32imc|rv32imc.0x20030080.0x10005000|0x20030080|0x10005000 rv32imc|rv32imc.0x20030880.0x10008000|0x20030880|0x10008000 rv32imc|rv32imc.0x20032080.0x10008000|0x20032080|0x10008000 rv32imc|rv32imc.0x20034080.0x10008000|0x20034080|0x10008000 rv32imac|rv32imac.0x40430080.0x80004000|0x40430080|0x80004000 rv32imac|rv32imac.0x40440080.0x80007000|0x40440080|0x80007000 rv32imc|rv32imc.0x20300080.0x20602000|0x20300080|0x20602000
TOCK_USERLAND_BASE_DIR=../../..
TOOLCHAIN=
**************************************************

arm-none-eabi-gcc -std=gnu11 -Wbad-function-cast  -Wmissing-prototypes  -Wnested-externs  -Wold-style-definition  -Wjump-misses-init  -frecord-gcc-switches -gdwarf-2 -Os -fdata-sections -ffunction-sections -fstack-usage -D_FORTIFY_SOURCE=2 -Wall -Wextra -I../../.. -Wdate-time  -Wfloat-equal  -Wformat-nonliteral  -Wformat-security  -Wformat-y2k  -Winit-self  -Wmissing-declarations  -Wmissing-field-initializers  -Wmissing-format-attribute  -Wmissing-noreturn  -Wmultichar  -Wpointer-arith  -Wredundant-decls  -Wshadow  -Wunused-macros  -Wunused-parameter  -Wwrite-strings  -isystem ../../../RadioLib/RadioLib/src -isystem ../../../RadioLib/RadioLib/examples/NonArduino/Tock -Wstack-usage=2048 -Wlogical-op  -Wtrampolines  -Wl,--emit-relocs -fPIC -mthumb -mfloat-abi=soft -msingle-pic-base -mpic-register=r9 -mno-pic-data-is-text-relative -isystem ../../../lib/libtock-newlib-4.3.0.20230120/arm/arm-none-eabi/include -isystem ../../../lib/libtock-libc++-13.2.0/arm/arm-none-eabi/include/c++/13.2.0 -isystem ../../../lib/libtock-libc++-13.2.0/arm/arm-none-eabi/include/c++/13.2.0/arm-none-eabi -mcpu=cortex-m0 -march=armv6s-m -Wl,--warn-common -Wl,--gc-sections -Wl,--build-id=none  -Xlinker --defsym=STACK_SIZE=2048 -Xlinker --defsym=APP_HEAP_SIZE=1024 -Xlinker --defsym=KERNEL_HEAP_SIZE=1024 -T build/cortex-m0/cortex-m0.custom.ld -nostdlib -Wl,--start-group  build/cortex-m0/main.o    ../../../libtock/build/cortex-m0/libtock.a ../../../libtock-sync/build/cortex-m0/libtocksync.a ../../../RadioLib/build/cortex-m0/RadioLib.a ../../../lib/libtock-newlib-4.3.0.20230120/arm/arm-none-eabi/lib/thumb/v6-m/nofp/libc.a ../../../lib/libtock-newlib-4.3.0.20230120/arm/arm-none-eabi/lib/thumb/v6-m/nofp/libm.a ../../../lib/libtock-libc++-13.2.0/arm/arm-none-eabi/lib/thumb/v6-m/nofp/libstdc++.a ../../../lib/libtock-libc++-13.2.0/arm/arm-none-eabi/lib/thumb/v6-m/nofp/libsupc++.a ../../../lib/libtock-libc++-13.2.0/arm/lib/gcc/arm-none-eabi/13.2.0/thumb/v6-m/nofp/libgcc.a -Wl,--end-group -Wl,-Map=build/cortex-m0/cortex-m0.Map -o build/cortex-m0/cortex-m0.elf
/Applications/ArmGNUToolchain/13.3.rel1/arm-none-eabi/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: build/cortex-m0/main.o: in function `TockHal::TockHal()':
/Users/bradjc/git/libtock-c/examples/lora/sensor-receive/../../../RadioLib/RadioLib/examples/NonArduino/Tock/libtockHal.h:87:(.text.startup.main+0x28): undefined reference to `RadioLibHal::RadioLibHal(unsigned long, unsigned long, unsigned long, unsigned long, unsigned long, unsigned long)'
/Applications/ArmGNUToolchain/13.3.rel1/arm-none-eabi/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: build/cortex-m0/main.o: in function `main':
/Users/bradjc/git/libtock-c/examples/lora/sensor-receive/main.cc:32:(.text.startup.main+0x4a): undefined reference to `Module::Module(RadioLibHal*, unsigned long, unsigned long, unsigned long, unsigned long)'
/Applications/ArmGNUToolchain/13.3.rel1/arm-none-eabi/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/bradjc/git/libtock-c/examples/lora/sensor-receive/main.cc:33:(.text.startup.main+0x5a): undefined reference to `SX1262::SX1262(Module*)'
/Applications/ArmGNUToolchain/13.3.rel1/arm-none-eabi/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/bradjc/git/libtock-c/examples/lora/sensor-receive/main.cc:38:(.text.startup.main+0x86): undefined reference to `SX1262::begin(float, float, unsigned char, unsigned char, unsigned char, signed char, unsigned short, float, bool)'
/Applications/ArmGNUToolchain/13.3.rel1/arm-none-eabi/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: build/cortex-m0/main.o:(.data.rel.ro._ZTI7TockHal[_ZTI7TockHal]+0x8): undefined reference to `typeinfo for RadioLibHal'
/Applications/ArmGNUToolchain/13.3.rel1/arm-none-eabi/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: build/cortex-m0/main.o:(.data.rel.ro._ZTV7TockHal[_ZTV7TockHal]+0x4c): undefined reference to `RadioLibHal::tone(unsigned long, unsigned int, unsigned long)'
/Applications/ArmGNUToolchain/13.3.rel1/arm-none-eabi/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: build/cortex-m0/main.o:(.data.rel.ro._ZTV7TockHal[_ZTV7TockHal]+0x50): undefined reference to `RadioLibHal::noTone(unsigned long)'
/Applications/ArmGNUToolchain/13.3.rel1/arm-none-eabi/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: build/cortex-m0/main.o:(.data.rel.ro._ZTV7TockHal[_ZTV7TockHal]+0x58): undefined reference to `RadioLibHal::pinToInterrupt(unsigned long)'
collect2: error: ld returned 1 exit status
make: *** [build/cortex-m0/cortex-m0.elf] Error 1

Also I've seen

main.cc: In function 'int main()':
main.cc:53:38: warning: use of old-style cast to 'uint8_t*' {aka 'unsigned char*'} [-Wold-style-cast]
   53 |     state = radio->receive((uint8_t*)buffer, BUFFER_LEN);
      |                                      ^~~~~~
      |                            ----------------
      |                            reinterpret_cast<uint8_t*> (buffer)

[alistair23]

Weird. It builds fine in the CI and locally for me.

I pushed some updates that might help you

[alistair23]

Ping!

[ppannuto]

I did a fresh checkout of this on my laptop and my desktop, both built for me — Brad, do the most recent changes fix your local build, o/w can look at testing with your exact compiler version.

It is... unfortunate that there's such a flood of warnings from the RadioLib codebase, and it does bury the one real [ultimately benign] cast warning in the 'local' tock code Brad flagged; we should fix that at least probably.

[alistair23]

Fixed the reinterpret_cast warning in the Tock code