interfaces-impl/arch_registers_impl.h

+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Niccolò Betto
+ *
+ * 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.
+ */
+
+#pragma once
+
+#ifndef COMPILE_FOR_HOST
+#error "Unsupported"
+#endif
+
+#define RCC_SYNC()

interfaces-impl/bsp_impl.h

+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Niccolò Betto
+ *
+ * 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.
+ */
+
+#pragma once
+
+#ifndef COMPILE_FOR_HOST
+#error "Unsupported"
+#endif
+
+namespace miosix
+{
+
+inline void configureSdram() {}
+
+inline void led1On() {}
+inline void led1Off() {}
+
+inline void led2On() {}
+inline void led2Off() {}
+
+inline void led3On() {}
+inline void led3Off() {}
+
+inline void led4On() {}
+inline void led4Off() {}
+
+inline void ledOn() {}
+inline void ledOff() {}
+
+inline bool sdCardSense() { return true; }
+
+}  // namespace miosix
\ No newline at end of file

interfaces-impl/gpio_impl.h

+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Niccolò Betto
+ *
+ * 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.
+ */
+
+#pragma once
+
+#ifndef COMPILE_FOR_HOST
+#error "Unsupported"
+#endif
+
+namespace miosix
+{
+
+class GpioPin
+{
+public:
+    GpioPin(unsigned int p, unsigned char n) {}
+};
+
+template <unsigned int P, unsigned char N>
+class Gpio
+{
+};
+
+}  // namespace miosix

interfaces-impl/portability_impl.h

+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Niccolò Betto
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include <thread>
+
+#ifndef COMPILE_FOR_HOST
+#error "Unsupported"
+#endif
+
+#define saveContext()
+#define restoreContext()
+
+namespace miosix_private
+{
+
+inline void doYield() { std::this_thread::yield(); }
+
+inline void doDisableInterrupts() {}
+inline void doEnableInterrupts() {}
+
+inline bool checkAreInterruptsEnabled() { return true; }
+
+}  // namespace miosix_private
\ No newline at end of file

kernel/kernel.cpp

@@ -51,7 +51,9 @@ void startKernel() {}
 
 bool isKernelRunning() { return true; }
 
-long long getTick() { return time(NULL); }
+long long getTime() { return time(NULL) * 1000; }
+
+long long IRQgetTime() { return time(NULL) * 1000; }
 
 Thread *Thread::create(void *(*startfunc)(void *), unsigned int stacksize,
                        Priority priority, void *argv, unsigned short options)
@@ -71,7 +73,9 @@ bool Thread::testTerminate() { return true; }
 
 void Thread::sleep(unsigned int ms) {}
 
-void Thread::sleepUntil(long long absoluteTime) {}
+void Thread::nanoSleep(unsigned int ns) {}
+
+void Thread::nanoSleepUntil(long long absoluteTime) {}
 
 Thread *Thread::getCurrentThread() { return new Thread(); }
 
@@ -101,6 +105,18 @@ Priority Thread::IRQgetPriority() { return Priority{}; }
 
 void Thread::IRQwait() {}
 
+TimedWaitResult Thread::IRQenableIrqAndTimedWait(
+    FastInterruptDisableLock &dLock, long long absoluteTimeNs)
+{
+    return TimedWaitResult::NoTimeout;
+}
+
+TimedWaitResult Thread::IRQenableIrqAndTimedWait(InterruptDisableLock &dLock,
+                                                 long long absoluteTimeNs)
+{
+    return TimedWaitResult::NoTimeout;
+}
+
 void Thread::IRQwakeup() {}
 
 bool Thread::IRQexists(Thread *p) { return true; }

kernel/kernel.h

@@ -33,8 +33,12 @@
 #include <functional>
 #include <new>
 
-#include "interfaces/portability.h"
-#include "kernel/scheduler/sched_types.h"
+#include "scheduler/sched_types.h"
+
+namespace miosix_private
+{
+class FaultData;
+}
 
 namespace miosix
 {
@@ -87,7 +91,15 @@ void startKernel();
 
 bool isKernelRunning();
 
-long long getTick();
+long long getTime();
+
+long long IRQgetTime();
+
+enum class TimedWaitResult
+{
+    NoTimeout,
+    Timeout
+};
 
 class Thread
 {
@@ -112,7 +124,9 @@ public:
 
     static void sleep(unsigned int ms);
 
-    static void sleepUntil(long long absoluteTime);
+    static void nanoSleep(unsigned int ns);
+
+    static void nanoSleepUntil(long long absoluteTime);
 
     static Thread *getCurrentThread();
 
@@ -142,6 +156,12 @@ public:
 
     static void IRQwait();
 
+    static TimedWaitResult IRQenableIrqAndTimedWait(
+        FastInterruptDisableLock &dLock, long long absoluteTimeNs);
+
+    static TimedWaitResult IRQenableIrqAndTimedWait(InterruptDisableLock &dLock,
+                                                    long long absoluteTimeNs);
+
     void IRQwakeup();
 
     static bool IRQexists(Thread *p);
@@ -157,7 +177,7 @@ public:
     static bool IRQreportFault(const miosix_private::FaultData &fault);
 };
 
-class LowerPriority : public std::binary_function<Thread *, Thread *, bool>
+class LowerPriority
 {
 public:
     bool operator()(Thread *a, Thread *b);