💥 Move to libhal/3.0.0

.github/workflows/ci.yml

@@ -3,61 +3,23 @@ name: ✅ CI
 on:
   workflow_dispatch:
   pull_request:
-  release:
-    types:
-      - published
-      - deleted
   push:
     branches:
       - main
+      # Remove before merging with main
+      - exceptions
   schedule:
     - cron: "0 12 * * 0"
 
 jobs:
   ci:
-    uses: libhal/ci/.github/workflows/[email protected]
-    with:
-      library: libhal-armcortex
-    secrets: inherit
-
-  cortex-m0:
-    uses: libhal/ci/.github/workflows/[email protected]
-    with:
-      profile: cortex-m0
-      upload: true
-    secrets: inherit
-
-  cortex-m0plus:
-    uses: libhal/ci/.github/workflows/[email protected]
-    with:
-      profile: cortex-m0plus
-      upload: true
-    secrets: inherit
-
-  cortex-m1:
-    uses: libhal/ci/.github/workflows/[email protected]
-    with:
-      profile: cortex-m1
-      upload: true
-    secrets: inherit
-
-  cortex-m3:
-    uses: libhal/ci/.github/workflows/[email protected]
-    with:
-      profile: cortex-m3
-      upload: true
-    secrets: inherit
-
-  cortex-m4:
-    uses: libhal/ci/.github/workflows/[email protected]
-    with:
-      profile: cortex-m4
-      upload: true
+    uses: libhal/ci/.github/workflows/[email protected]
     secrets: inherit
 
-  cortex-m4f:
-    uses: libhal/ci/.github/workflows/platform_deploy.yml@4.x.y
+  test-cortex-m0:
+    uses: libhal/ci/.github/workflows/deploy.yml@5.x.y
     with:
-      profile: cortex-m4f
-      upload: true
+      arch: cortex-m0
+      os: baremetal
+      compiler_package: arm-gnu-toolchain
     secrets: inherit

conan/profiles/cortex

@@ -0,0 +1,16 @@
+[settings]
+compiler=gcc
+compiler.cppstd=20
+compiler.libcxx=libstdc++
+compiler.version=12.2
+os=baremetal
+arch={{ cpu }}
+
+[tool_requires]
+arm-gnu-toolchain/12.2.1
+picolibc/12.2.1
+
+[conf]
+tools.build:cflags=["-mcpu={{ cpu }}", "-mfloat-abi=hard", "-mthumb", "-ffunction-sections", "-fdata-sections"]
+tools.build:cxxflags=["-mcpu={{ cpu }}", "-fno-rtti", "-mfloat-abi=hard", "-mthumb", "-ffunction-sections", "-fdata-sections"]
+tools.build:exelinkflags=["--specs=nosys.specs", "--specs=picolibc.specs", "-mcpu={{ cpu }}", "-mfloat-abi=hard", "-mthumb", "-fno-rtti", "-Wl,--gc-sections", "-Wl,--print-memory-usage"]

conan/profiles/cortex-m4+nofp

@@ -0,0 +1,2 @@
+{% set cpu = "cortex-m4+nofp" %}
+{% include "cortex" %}

conanfile.py

@@ -26,7 +26,6 @@
 
 class libhal_arm_cortex_conan(ConanFile):
     name = "libhal-armcortex"
-    version = "2.2.1"
     license = "Apache-2.0"
     url = "https://github.com/conan-io/conan-center-index"
     homepage = "https://libhal.github.io/libhal-armcortex"
@@ -63,12 +62,15 @@ def validate(self):
 
     def build_requirements(self):
         self.tool_requires("cmake/3.27.1")
+        if self._bare_metal:
+            self.tool_requires(
+                f"arm-gnu-toolchain/{self.settings.compiler.version}")
         self.tool_requires("libhal-cmake-util/3.0.1")
         self.test_requires("boost-ext-ut/1.1.9")
 
     def requirements(self):
-        self.requires("libhal/[^2.0.3]", transitive_headers=True)
-        self.requires("libhal-util/[^3.0.1]")
+        self.requires("libhal/3.0.0-alpha.1", transitive_headers=True)
+        self.requires("libhal-util/4.0.0-alpha.1")
 
     def layout(self):
         cmake_layout(self)
@@ -109,9 +111,7 @@ def package_info(self):
         if (
             self._bare_metal and
             self.settings.compiler == "gcc" and
-            (self.settings.arch == "thumbv6" or
-             self.settings.arch == "thumbv7" or
-             self.settings.arch == "thumbv8")
+            "cortex-" in str(self.settings.arch)
         ):
             linker_path = os.path.join(self.package_folder, "linker_scripts")
             self.cpp_info.exelinkflags.append("-L" + linker_path)

include/libhal-armcortex/systick_timer.hpp

@@ -81,10 +81,10 @@ class systick_timer : public hal::timer
   ~systick_timer();
 
 private:
-  result<is_running_t> driver_is_running() override;
-  result<cancel_t> driver_cancel() override;
-  result<schedule_t> driver_schedule(hal::callback<void(void)> p_callback,
-                                     hal::time_duration p_delay) override;
+  is_running_t driver_is_running() override;
+  cancel_t driver_cancel() override;
+  schedule_t driver_schedule(hal::callback<void(void)> p_callback,
+                             hal::time_duration p_delay) override;
 
   hertz m_frequency = 1'000'000.0f;
 };

linker_scripts/libhal-armcortex/third_party/standard.ld

@@ -42,18 +42,18 @@ ENTRY(_start)
 
 MEMORY
 {
-  flash (rxai!w) : ORIGIN = DEFINED(__flash) ? __flash : 0x10000000, LENGTH = DEFINED(__flash_size) ? __flash_size : 0x10000
-  ram (wxa!ri)   : ORIGIN = DEFINED(__ram  ) ? __ram   : 0x20000000, LENGTH = DEFINED(__ram_size  ) ? __ram_size   : 0x08000
+  flash : ORIGIN = __flash, LENGTH = __flash_size
+  ram : ORIGIN = __ram, LENGTH = __ram_size
 }
 
 ENTRY(_start)
 
 PHDRS
 {
-  text PT_LOAD;
-  ram PT_LOAD;
-  ram_init PT_LOAD;
-  tls PT_TLS;
+  text PT_LOAD FLAGS(5);
+  ram PT_LOAD FLAGS(6);
+  ram_init PT_LOAD FLAGS(6);
+  tls PT_TLS FLAGS(6);
 }
 
 SECTIONS

src/systick_timer.cpp

@@ -76,38 +76,38 @@ systick_timer::~systick_timer()
   cortex_m::interrupt(event_number).disable();
 }
 
-result<systick_timer::is_running_t> systick_timer::driver_is_running()
+systick_timer::is_running_t systick_timer::driver_is_running()
 {
   auto running_bit = static_cast<bool>(
     hal::bit_extract<systick_control_register::enable_counter>(
       sys_tick->control));
   return is_running_t{ .is_running = running_bit };
 }
 
-result<systick_timer::cancel_t> systick_timer::driver_cancel()
+systick_timer::cancel_t systick_timer::driver_cancel()
 {
   // All that is needed is to stop the timer. When the timer is started again
   // via `schedule()`, the timer value will be reloaded/reset.
   stop();
   return cancel_t{};
 }
 
-result<systick_timer::schedule_t> systick_timer::driver_schedule(
+systick_timer::schedule_t systick_timer::driver_schedule(
   hal::callback<void(void)> p_callback,
   hal::time_duration p_delay)
 {
-  static constexpr std::int64_t maximum = 0x00FFFFFF;
+  constexpr std::int64_t maximum = 0x00FFFFFF;
 
   auto cycle_count = cycles_per(m_frequency, p_delay);
   if (cycle_count <= 1) {
     cycle_count = 1;
   } else if (cycle_count > maximum) {
     auto tick_period = wavelength<std::nano>(m_frequency);
-    auto max_duration = HAL_CHECK(duration_from_cycles(m_frequency, maximum));
-    return hal::new_error(out_of_bounds_error{
+    auto max_duration = duration_from_cycles(m_frequency, maximum);
+    throw out_of_bounds_error{
       .tick_period = tick_period,
-      .maximum = max_duration,
-    });
+      .maximum = max_duration.value_or(std::chrono::nanoseconds(-1)),
+    };
   }
 
   // Stop the previously scheduled event

test_package/CMakeLists.txt

@@ -18,6 +18,5 @@ project(test_package LANGUAGES CXX)
 find_package(libhal-armcortex CONFIG REQUIRED)
 
 add_executable(test_package main.cpp)
-target_include_directories(test_package PUBLIC .)
 target_compile_features(test_package PRIVATE cxx_std_20)
 target_link_libraries(test_package PRIVATE libhal::armcortex)

test_package/conanfile.py

@@ -22,10 +22,6 @@ class TestPackageConan(ConanFile):
     settings = "os", "compiler", "arch", "build_type"
     generators = "CMakeToolchain", "CMakeDeps", "VirtualRunEnv"
 
-    @property
-    def _bare_metal(self):
-        return self.settings.os == "baremetal"
-
     def build_requirements(self):
         self.tool_requires("cmake/3.27.1")
 
@@ -37,7 +33,7 @@ def layout(self):
 
     def build(self):
         cmake = CMake(self)
-        cmake.configure(variables={"BAREMETAL": self._bare_metal})
+        cmake.configure()
         cmake.build()
 
     def test(self):

test_package/linker.ld

@@ -0,0 +1,23 @@
+/*
+ * Copyright 2023 Google LLC
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+__flash = 0x00000000;
+__flash_size = 64K;
+__ram = 0x10000000;
+__ram_size = 8K;
+__stack_size = 1K;
+
+INCLUDE "libhal-armcortex/standard.ld"

test_package/main.cpp

@@ -12,17 +12,34 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <array>
+#include <exception>
+#include <span>
+
 #include <libhal-armcortex/dwt_counter.hpp>
 
-int main()
+// Demonstrate function that throws
+void foo()
 {
-  hal::cortex_m::dwt_counter counter(1'000'000.0f);
-  return counter.uptime().ticks;
+  // volatile integer used to keep
+  static volatile int a = 0;
+  a = a + 1;
+  throw 5;
 }
 
-namespace boost {
-void throw_exception(std::exception const& e)
+int main()
 {
-  hal::halt();
+  try {
+    hal::cortex_m::dwt_counter counter(1'000'000.0f);
+    counter.uptime().ticks;
+  } catch (...) {
+    std::terminate();
+  }
+  try {
+    foo();
+  } catch (...) {
+    std::terminate();
+  }
+
+  return 0;
 }
-}  // namespace boost