Support for NRF arm processors

.circleci/config.yml

@@ -140,6 +140,20 @@ jobs:
           command: |
             (cd examples && ../tools/scripts/examples_compile.py avr arduino_uno)
 
+  nrf-examples:
+    docker:
+      - image: modm/modm-build:latest
+    steps:
+      - checkout
+      - run:
+          name: Checkout code and update modm tools
+          command: |
+            (git submodule sync && git submodule update --init --jobs 8) & pip3 install --upgrade --upgrade-strategy=eager modm & wait
+      - run:
+          name: Examples NRF Series
+          command: |
+            (cd examples && ../tools/scripts/examples_compile.py nrf)
+
   avr-compile-all:
     docker:
       - image: modm/modm-build:latest
@@ -424,6 +438,10 @@ workflows:
           filters:
             branches:
               ignore: /^develop.*/
+      - nrf-examples:
+          filters:
+            branches:
+              ignore: /^develop.*/
       - stm32-examples:
           filters:
             branches:

.gitmodules

@@ -1,9 +1,12 @@
 [submodule "ext/st/stm32"]
 	path = ext/st/stm32
 	url = https://github.com/modm-io/cmsis-header-stm32.git
+[submodule "ext/nordic/nrf"]
+	path = ext/nordic/nrf
+	url = https://github.com/elli89/cmsis-header-nrf.git
 [submodule "ext/modm-devices"]
 	path = ext/modm-devices
-	url = https://github.com/modm-io/modm-devices.git
+	url = https://github.com/elli89/modm-devices.git
 [submodule "ext/dlr/scons-build-tools"]
 	path = ext/dlr/scons-build-tools
 	url = https://github.com/modm-io/scons-build-tools.git

examples/nrf/blink/main.cpp

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c) 2010-2011, Fabian Greif
+ * Copyright (c) 2013-2014, 2016-2017, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/platform.hpp>
+
+using namespace modm::platform;
+
+typedef GpioOutputP0_22 Led;
+
+int
+main()
+{
+	Led::setOutput();
+
+	while (true)
+	{
+		Led::toggle();
+
+		modm::delay_ms(1000);
+	}
+}
+

examples/nrf/blink/project.xml

@@ -0,0 +1,14 @@
+<library>
+  <options>
+    <option name="modm:target">nrf52840-xxaa</option>
+    <option name="modm:build:build.path">../../../../build/nrf/blink</option>
+  </options>
+  <modules>
+    <module>modm:architecture:delay</module>
+    <module>modm:platform:core</module>
+    <module>modm:platform:clock</module>
+    <module>modm:platform:hfclk</module>
+    <module>modm:platform:gpio</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

ext/nordic/device.hpp.in

@@ -0,0 +1,29 @@
+/*
+ * Copyright (c) 2019 Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#ifndef MODM_DEVICE_HPP
+#define MODM_DEVICE_HPP
+
+#define DONT_USE_CMSIS_INIT 1
+%% for define in defines
+#define {{ define }} 1
+%% endfor
+
+#include <stdint.h>
+// Defines for example the modm_always_inline macro
+#include <modm/architecture/utils.hpp>
+
+// Include external device headers:
+%% for header in headers
+#include <{{ header }}>
+%% endfor
+
+#endif  // MODM_DEVICE_HPP

ext/nordic/module.lb

@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2019, Niklas Hauser
+# Copyright (c) 2020, Hannes Ellinger
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+# -----------------------------------------------------------------------------
+
+import re
+from pathlib import Path
+
+# -----------------------------------------------------------------------------
+def init(module):
+    module.name = ":cmsis:device"
+
+def prepare(module, options):
+    device = options[":target"]
+    if device.identifier["platform"] != "nrf":
+        return False
+
+    module.depends(":cmsis:core")
+    return True
+
+pp = {}
+def validate(env):
+    device = env[":target"]
+    device_name = device.identifier.string.split("-")[0]
+
+    define = "{}".format(device_name.upper())
+    family_file = None
+    famfile = Path(localpath("nrf/nrf.h"))
+    content = famfile.read_text(encoding="utf-8", errors="replace")
+    match = re.findall(r"defined \((?P<define>_?.*)\)", content)
+    for m in match:
+        if define in m:
+            family_file = famfile.relative_to(localpath("."))
+
+    if family_file is None:
+        raise ValidateException("No device define found for '{}'!".format(device.partname))
+
+    family_folder = family_file.parent
+    device_header = "{}.h".format(device_name)
+
+    global pp
+    pp = {
+        "define": define,
+        "folder": family_folder,
+        "device_header": device_header,
+    }
+
+def build(env):
+    global pp
+    env.collect(":build:path.include", "modm/ext/cmsis/device")
+
+    env.outbasepath = "modm/ext/cmsis/device"
+    files = [pp["device_header"], "system_"+pp["device_header"]]
+    for file in files:
+        env.copy(localpath(pp["folder"], file), file)
+
+    env.substitutions = {
+        "headers": [pp["device_header"]],
+        "defines": [pp["define"]],
+    }
+    env.outbasepath = "modm/src/modm/platform"
+    env.template("device.hpp.in")

repo.lb

@@ -85,6 +85,7 @@ class DevicesCache(dict):
                      "stm32g0", "stm32g4",
                      "stm32l1", "stm32l4",
                      "at90", "attiny", "atmega",
+                     "nrf",
                      "hosted"]
         device_file_names = [dfn for dfn in device_file_names if any(s in dfn for s in supported)]
 

src/modm/platform/clock/nrf/hfclk.cpp.in

@@ -0,0 +1,20 @@
+/*
+ * Copyright (c) 2013-2014, Kevin Läufer
+ * Copyright (c) 2014-2017, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include "../device.hpp"
+#include "hfclk.hpp"
+
+namespace modm::platform
+{
+uint16_t modm_fastdata delay_fcpu_MHz(64);
+uint16_t modm_fastdata delay_ns_per_loop({{ loops * 1000 / 64 }});
+}

src/modm/platform/clock/nrf/hfclk.hpp

@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2019, Ethan Slattery
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+#include <stdint.h>
+#include "../device.hpp"
+
+namespace modm::platform
+{
+
+/**
+ * Clock management
+ *
+ * \ingroup modm_platform_hfclk
+ */
+class HighFrequencyClockController
+{
+public:
+    template< uint32_t Core_Hz >
+	void
+	updateCoreFrequency();
+};
+
+}
+
+#include "hfclk_impl.hpp"

src/modm/platform/clock/nrf/hfclk_impl.hpp.in

@@ -0,0 +1,30 @@
+/*
+ * Copyright (c) 2019, Ethan Slattery
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <cmath>
+
+namespace modm::platform
+{
+/// @cond
+extern uint16_t delay_fcpu_MHz;
+extern uint16_t delay_ns_per_loop;
+/// @endcond
+
+template< uint32_t Core_Hz >
+void
+HighFrequencyClockController::updateCoreFrequency()
+{
+	delay_fcpu_MHz = Core_Hz / 64'000'000;
+	delay_ns_per_loop = ::round({{loops}}000.f / (Core_Hz / 64'000'000));
+}
+
+}
+

src/modm/platform/clock/nrf/module.lb

@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2016-2018, Niklas Hauser
+# Copyright (c) 2017, Fabian Greif
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+# -----------------------------------------------------------------------------
+
+def init(module):
+    module.name = ":platform:hfclk"
+    module.description = "High Frequency Clock Controller (HFCLK)"
+
+def prepare(module, options):
+    if not options[":target"].has_driver("clock", ["nrf51", "nrf52"]):
+        return False
+
+    module.depends(":cmsis:device")
+    return True
+
+def build(env):
+    device = env[":target"]
+    core = device.get_driver("core")["type"]
+
+    if "m0" in core:
+        loops = 4
+    elif "m7" in core:
+        loops = 1
+    else:
+        loops = 3
+
+    env.substitutions = {"loops": loops}
+    env.outbasepath = "modm/src/modm/platform/clock"
+    env.copy("hfclk.hpp")
+    env.template("hfclk.cpp.in")
+    env.template("hfclk_impl.hpp.in")

src/modm/platform/core/nrf/linkerscript/nrf.ld.in

@@ -0,0 +1,50 @@
+%% import "../../cortex/linker.macros" as linker with context
+{{ linker.copyright() }}
+
+{{ linker.prefix() }}
+
+%% if vector_table_location == "ram"
+/* Round up the number of vector table entries to the nearest power-of-two and multiply by 8. */
+VECTOR_TABLE_ALIGNMENT = (1 << LOG2CEIL({{ number_of_interrupts + 16 }})) * 8;
+/* compute the vector table offset from start of RAM */
+VECTOR_TABLE_OFFSET = ALIGN(TOTAL_STACK_SIZE, VECTOR_TABLE_ALIGNMENT);
+%% else
+VECTOR_TABLE_OFFSET = TOTAL_STACK_SIZE;
+%% endif
+
+SECTIONS
+{
+{{ linker.section_rom_start("FLASH") }}
+
+{{ linker.section_vector_rom("FLASH") }}
+
+{{ linker.section_stack("RAM", "VECTOR_TABLE_OFFSET - TOTAL_STACK_SIZE") }}
+
+{{ linker.section_vector_ram("RAM") }}
+
+{{ linker.section_rom("FLASH") }}
+
+{{ linker.section("FLASH", "fastcode") }}
+
+{{ linker.section_ram("RAM", "FLASH") }}
+
+{{ linker.section("RAM AT >FLASH", "fastdata") }}
+
+{{ linker.section_heap("RAM", "heap1") }}
+
+{{ linkerscript_sections | indent(first=True) }}
+
+    /* TABLES! TABLES! ALL THE TABLES YOU COULD EVER WANT! TABLES! */
+{{ linker.section_table_zero("FLASH") }}
+
+{{ linker.section_table_copy("FLASH") }}
+
+{{ linker.section_table_extern("FLASH") }}
+
+%% set heap_table = [{"name": "heap1", "prop": "0x000f"}]
+{{ linker.section_table_heap("FLASH", heap_table) }}
+
+{{ linker.section_rom_end("FLASH") }}
+
+{{ linker.section_debug() }}
+}