.gitignore

@@ -13,3 +13,6 @@ main.map
 # Exclude Mac OS X temporary
 ._*
 .DS_Store
+
+# CMake build directory
+build

.gitlab-ci.yml

+# Copyright (C) 2023 by Skyward
+#
+# This program is free software; you can redistribute it and/or 
+# it under the terms of the GNU General Public License as published 
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# As a special exception, if other files instantiate templates or use
+# macros or inline functions from this file, or you compile this file
+# and link it with other works to produce a work based on this file,
+# this file does not by itself cause the resulting work to be covered
+# by the GNU General Public License. However the source code for this
+# file must still be made available in accordance with the GNU 
+# Public License. This exception does not invalidate any other 
+# why a work based on this file might be covered by the GNU General
+# Public License.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, see <http://www.gnu.org/licenses/>
+
+variables:
+  GIT_SUBMODULE_STRATEGY: recursive
+
+stages:
+  - build
+
+build:
+  stage: build
+  tags:
+    - miosix
+  script:
+    - ./mbs

CMakeLists.txt

+# Copyright (C) 2023 by Skyward
+#
+# This program is free software; you can redistribute it and/or 
+# it under the terms of the GNU General Public License as published 
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# As a special exception, if other files instantiate templates or use
+# macros or inline functions from this file, or you compile this file
+# and link it with other works to produce a work based on this file,
+# this file does not by itself cause the resulting work to be covered
+# by the GNU General Public License. However the source code for this
+# file must still be made available in accordance with the GNU 
+# Public License. This exception does not invalidate any other 
+# why a work based on this file might be covered by the GNU General
+# Public License.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, see <http://www.gnu.org/licenses/>
+
+cmake_minimum_required(VERSION 3.25)
+include(miosix/cmake/mbs.cmake)
+
+project(MiosixExamples)
+
+#-----------------------------------------------------------------------------#
+#                                  Examples                                   #
+#-----------------------------------------------------------------------------#
+
+add_executable(asm miosix/_examples/asm/main.s)
+mbs_target(asm stm32f407vg_stm32f4discovery)
+
+add_executable(atsam4l_lcd miosix/_examples/atsam4l_lcd/main.cpp)
+mbs_target(atsam4l_lcd atsam4lc2aa_generic)
+
+add_executable(blinking_led miosix/_examples/blinking_led/simple.cpp)
+mbs_target(blinking_led stm32f429zi_stm32f4discovery)
+
+add_executable(datalogger
+    ${KPATH}/_examples/datalogger/main.cpp
+    ${KPATH}/_examples/datalogger/Logger.cpp
+    ${KPATH}/_examples/datalogger/tscpp/buffer.cpp
+)
+target_include_directories(datalogger PUBLIC miosix/_examples/datalogger/)
+mbs_target(datalogger stm32f407vg_stm32f4discovery)
+
+add_executable(hd44780 miosix/_examples/hd44780/hd44780.cpp)
+mbs_target(hd44780 stm32f407vg_stm32f4discovery)
+
+add_executable(ir_decoder miosix/_examples/ir_decoder/ir_decoder.cpp)
+mbs_target(ir_decoder stm32f407vg_stm32f4discovery)
+
+add_executable(led_display miosix/_examples/led_display/main.cpp)
+mbs_target(led_display stm32f100rb_stm32vldiscovery)
+
+add_executable(sad_trombone
+    miosix/_examples/sad_trombone/main.cpp
+    miosix/_examples/sad_trombone/player.cpp
+    miosix/_examples/sad_trombone/adpcm.c
+)
+mbs_target(sad_trombone stm32f407vg_stm32f4discovery)
+
+add_executable(servo-prompt miosix/_examples/servo/prompt.cpp)
+mbs_target(servo-prompt stm32f407vg_stm32f4discovery)
+
+add_executable(servo-sweep miosix/_examples/servo/sweep.cpp)
+mbs_target(servo-sweep stm32f407vg_stm32f4discovery)
+
+add_executable(streamwriter miosix/_examples/streamwriter/streamwriter.cpp)
+mbs_target(streamwriter stm32f407vg_stm32f4discovery)
+
+add_executable(termios miosix/_examples/termios/main.cpp)
+mbs_target(termios stm32f407vg_stm32f4discovery)
+
+add_executable(thread_native miosix/_examples/thread_native/native_thread_example.cpp)
+mbs_target(thread_native stm32f407vg_stm32f4discovery)
+
+add_executable(thread_pthread miosix/_examples/thread_pthread/pthread_example.cpp)
+mbs_target(thread_pthread stm32f407vg_stm32f4discovery)
+
+#-----------------------------------------------------------------------------#
+#                                   Others                                    #
+#-----------------------------------------------------------------------------#
+
+add_executable(delay_test miosix/_tools/delay_test/delay_test.cpp)
+mbs_target(delay_test stm32f407vg_stm32f4discovery)
+
+add_executable(feedforward_profiling miosix/_tools/feedforward_profiling/test.cpp)
+mbs_target(feedforward_profiling stm32f407vg_stm32f4discovery)
+
+add_executable(fs_backend miosix/_tools/fs_backend/backend_benchmark.cpp)
+mbs_target(fs_backend stm32f407vg_stm32f4discovery)
+
+add_executable(fs_misc_testcode miosix/_tools/fs_misc_testcode/dirlist.cpp)
+mbs_target(fs_misc_testcode stm32f407vg_stm32f4discovery)
+
+# To build this entrypoint remember to define WITH_PROCESSES in miosix_settings.h
+# add_executable(processes miosix/_tools/processes/main_processes.cpp)
+# target_include_directories(processes PUBLIC miosix/_tools/processes/)
+# add_custom_command(
+#   TARGET processes
+#   COMMAND make
+#   WORKING_DIRECTORY ${KPATH}/_tools/processes/process_template
+# )
+# mbs_target(processes stm32f407vg_stm32f4discovery)
+
+add_executable(ram_test
+    miosix/_tools/ram_test/main.cpp
+    miosix/_tools/ram_test/sha1.cpp
+)
+mbs_target(ram_test stm32f407vg_stm32f4discovery)
+
+# If you want to test the MPU remember to run build.sh in miosix/_tools/testsuite
+# add_executable(testsuite miosix/_tools/testsuite/testsuite.cpp)
+# mbs_target(testsuite stm32f407vg_stm32f4discovery)
+
+# Build the testsuite for all supported boards to test compilation
+set(TESTSUITE_BOARDS
+    lpc2138_miosix_board
+    # stm32f072rb_stm32f0discovery
+    efm32gg332f1024_wandstem
+    # stm32f100c8_microboard
+    # stm32f100c8_vaisala_rs41
+    # stm32f100cb_tempsensor
+    # stm32f100cx_generic
+    # stm32f100rb_stm32vldiscovery
+    stm32f100rc_solertegiard
+    # stm32f103c8_breakout
+    # stm32f103cb_als_mainboard_rev2
+    # stm32f103cx_generic
+    stm32f103ve_mp3v2
+    stm32f103ve_strive_mini
+    stm32f103ze_redbull_v2
+    stm32f103ze_stm3210e-eval
+    stm32f205_generic
+    stm32f205rc_skyward_stormtrooper
+    stm32f205rg_sony-newman
+    stm32f207ig_stm3220g-eval
+    stm32f207ze_als_camboard
+    stm32f207zg_EthBoardV2
+    stm32f207zg_nucleo
+    # stm32l151c8_als_mainboard
+    # atsam4lcc
+    stm32f303vc_stm32f3discovery
+    stm32f401re_nucleo
+    stm32f401vc_stm32f4discovery
+    stm32f407vg_bitsboard
+    stm32f407vg_stm32f4discovery
+    stm32f407vg_thermal_test_chip
+    stm32f411ce_blackpill
+    stm32f411re_nucleo
+    stm32f429zi_oledboard2
+    stm32f429zi_skyward_anakin
+    stm32f429zi_skyward_homeone
+    stm32f429zi_stm32f4discovery
+    stm32f469ni_stm32f469i-disco
+    stm32l4r9zi_sensortile
+    stm32l476rg_nucleo
+    stm32f746zg_nucleo
+    stm32f767zi_nucleo
+    # stm32f769ni_discovery
+    stm32h753xi_eval
+)
+foreach(OPT_BOARD ${TESTSUITE_BOARDS})
+    add_executable(testsuite-${OPT_BOARD} miosix/_tools/testsuite/testsuite.cpp)
+    mbs_target(testsuite-${OPT_BOARD} ${OPT_BOARD})
+endforeach()

Makefile

 ##
 ## Makefile for Miosix embedded OS
 ##
-MAKEFILE_VERSION := 1.09
-GCCMAJOR := $(shell arm-miosix-eabi-gcc --version | \
-                    perl -e '$$_=<>;/\(GCC\) (\d+)/;print "$$1"')
+MAKEFILE_VERSION := 1.10
 ## Path to kernel directory (edited by init_project_out_of_git_repo.pl)
 KPATH := miosix
 ## Path to config directory (edited by init_project_out_of_git_repo.pl)
@@ -59,12 +57,7 @@ LFLAGS   := $(LFLAGS_BASE)
 DFLAGS   := -MMD -MP
 
 ## libmiosix.a is among stdlibs because needs to be within start/end group
-STDLIBS  := -lmiosix -lstdc++ -lc -lm -lgcc
-
-ifneq ($(GCCMAJOR),4)
-	STDLIBS += -latomic
-endif
-
+STDLIBS  := -lmiosix -lstdc++ -lc -lm -lgcc -latomic
 LINK_LIBS := $(LIBS) -L$(KPATH) -Wl,--start-group $(STDLIBS) -Wl,--end-group
 
 all: all-recursive main

mbs

+#!/bin/bash
+
+# Copyright (C) 2023 by Skyward
+#
+# This program is free software; you can redistribute it and/or 
+# it under the terms of the GNU General Public License as published 
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# As a special exception, if other files instantiate templates or use
+# macros or inline functions from this file, or you compile this file
+# and link it with other works to produce a work based on this file,
+# this file does not by itself cause the resulting work to be covered
+# by the GNU General Public License. However the source code for this
+# file must still be made available in accordance with the GNU 
+# Public License. This exception does not invalidate any other 
+# why a work based on this file might be covered by the GNU General
+# Public License.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, see <http://www.gnu.org/licenses/>
+
+print_banner() {
+    cat <<EOF
++---------------------------------------------------------------+
+|   __  __ _           _                                        |
+|  |  \\/  (_) ___  ___(_)_  __                                  |
+|  | |\\/| | |/ _ \\/ __| \\ \\/ /                                  |
+|  | |  | | | (_) \\__ \\ |>  <                                   |
+|  |_|  |_|_|\\___/|___/_/_/\\_\\                                  |
+|   ____        _ _     _   ____            _                   |
+|  | __ ) _   _(_) | __| | / ___| _   _ ___| |_ ___ _ __ ___    |
+|  |  _ \\| | | | | |/ _\` | \\___ \\| | | / __| __/ _ \\ '_ \` _ \\   |
+|  | |_) | |_| | | | (_| |  ___) | |_| \\__ \\ ||  __/ | | | | |  |
+|  |____/ \\__,_|_|_|\\__,_| |____/ \\__, |___/\\__\\___|_| |_| |_|  |
++----------------------------------|___/-------------------v1.0-+
+EOF
+}
+
+usage() {
+    echo
+    cat <<EOF
+Usage: $(basename "$0") [OPTIONS]
+
+OPTIONS:
+  General Options:
+    -h, --help            Show this help message and exit
+    -j JOBS, --jobs JOBS  Build or lint in parallel using a specific number of jobs
+    -l, --list_targets    List all targets available
+    -r, --list_boards     List all boards available
+
+  Build Options:
+    -b TARGET, --build TARGET
+                          Build a specific target
+    -f TARGET, --flash TARGET
+                          Build and flash a specific target
+    -c, --clean           Clean the working tree
+    -u, --configure       Force configure and do not build
+    -d, --debug           Enable debug
+    -v, --verbose         Print a verbose output
+EOF
+}
+
+ohai() {
+    printf "\n${TTY_BLUE}==>${TTY_RESET}${TTY_BOLD} %s${TTY_RESET}\n" "$@"
+}
+
+init_dirs() {
+    msb_base=$(cd -- $(dirname "$0") > /dev/null 2>&1 && pwd -P)
+    source_dir="$PWD"
+    build_dir="$source_dir/$BUILD_DEFAULT_DIRNAME"
+    toolchain_file="$msb_base/miosix/cmake/toolchain.cmake"
+}
+
+find_deps() {
+    ohai "Find dependencies"
+    
+    command -v cmake               > /dev/null 2>&1 && found_cmake=true
+    command -v arm-miosix-eabi-g++ > /dev/null 2>&1 && found_miosixgpp=true
+    command -v ccache              > /dev/null 2>&1 && found_ccache=true
+    command -v ninja               > /dev/null 2>&1 && found_ninja=true
+    command -v st-flash            > /dev/null 2>&1 && found_stflash=true
+    
+    printf "Found CMake: ";               [ "$found_cmake" = true ]     && echo "yes" || echo "no"
+    printf "Found arm-miosix-eabi-g++: "; [ "$found_miosixgpp" = true ] && echo "yes" || echo "no"
+    printf "Found Ccache: ";              [ "$found_ccache" = true ]    && echo "yes" || echo "no"
+    printf "Found Ninja: ";               [ "$found_ninja" = true ]     && echo "yes" || echo "no"
+    printf "Found st-flash: ";            [ "$found_stflash" = true ]   && echo "yes" || echo "no"
+    
+    [ "$found_cmake" = true ]     || { echo "Error: CMake must be installed"; return 1; }
+    [ "$found_miosixgpp" = true ] || { echo "Error: arm-miosix-eabi-g++ must be installed"; return 1; }
+
+    # TODO: Maybe prompt the user to download and intall miosix?
+}
+
+configure() {
+    declare build_dir="$1"
+    
+    ohai "Configure"
+    
+    [ -f "$toolchain_file" ] || { echo "Error: CMake Toolchain File for Miosix was not found"; return 1; }
+    
+    # Always use colors when possible
+    defs+=(-DCMAKE_C_FLAGS=-fdiagnostics-color=always -DCMAKE_CXX_FLAGS=-fdiagnostics-color=always)
+    
+    # Toolchain files
+    defs+=(-DCMAKE_TOOLCHAIN_FILE="$toolchain_file")
+
+    # Use ccache when available
+    [ "$found_ccache" = true ]   && defs+=(-DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache)
+
+    # Debug or release build types
+    [ "$config_debug" = true ]   && defs+=(-DCMAKE_BUILD_TYPE=Debug) || defs+=(-DCMAKE_BUILD_TYPE=Release)
+
+    # Verbose output
+    [ "$config_verbose" = true ] && defs+=(-DCMAKE_VERBOSE_MAKEFILE=ON)
+    
+    # CMake generator
+    declare gen
+    [ "$found_ninja" = true ] && gen=-GNinja || gen=-G"Unix Makefiles"
+    
+    # Configure build
+    cmake -B"$build_dir" "${defs[@]}" "$gen" "$source_dir" || return
+
+    # Save configuration to avoid reconfiguring each time
+    { [ "$config_debug" = true ]   && touch "$build_dir/$DEBUG_FILENAME";   } || rm -f "$build_dir/$DEBUG_FILENAME"
+    { [ "$config_verbose" = true ] && touch "$build_dir/$VERBOSE_FILENAME"; } || rm -f "$build_dir/$VERBOSE_FILENAME"
+}
+
+check_configured() {
+    declare build_dir="$1"
+    
+    declare to_reconfigure=false
+    if [ ! -d "$build_dir" ]; then
+        to_reconfigure=true
+    elif [ ! -f "$build_dir/$CMAKE_FILENAME" ]; then
+        rm -rf "$build_dir"
+        to_reconfigure=true
+    else
+        [ -f "$build_dir/$DEBUG_FILENAME" ]   && found_debug=true   || found_debug=false
+        [ -f "$build_dir/$VERBOSE_FILENAME" ] && found_verbose=true || found_verbose=false
+        if [ "$config_debug" != "$found_debug" ] \
+        || [ "$config_verbose" != "$found_verbose" ]; then
+            to_reconfigure=true
+        fi
+    fi
+    
+    if [ "$to_reconfigure" = true ]; then
+        configure "$build_dir"
+    fi
+}
+
+build() {
+    declare build_dir="$1"
+    declare target="$2"
+    
+    check_configured "$build_dir" || return
+    
+    ohai "Build"
+    
+    get_build_opts
+    
+    cmake --build "$build_dir" "${opts[@]}" --target "$target"
+}
+
+build_all() {
+    build "$build_dir" all
+}
+
+clean() {
+    ohai "Cleaning build files"
+    
+    if [ -f "$build_dir/$CMAKE_FILENAME" ]; then
+        get_build_opts
+        
+        cmake --build "$build_dir" "${opts[@]}" --target clean
+    fi
+    
+    echo "Removing build folder..."
+    rm -rf "$build_dir"
+}
+
+flash() {
+    declare target="$1"
+    build "$build_dir" "$target" || return
+
+    # This variable will be evaluated in the command
+    declare binary=$build_dir/$target.bin
+    declare hex=$build_dir/$target.hex
+
+    # Check if the target has a custom build command
+    declare custom_command_file=$build_dir/flash-$target.txt
+    if [[ -f "$custom_command_file" ]]; then
+        ohai "Flash via custom command"
+        eval $(cat $custom_command_file)
+    elif [ "$found_stflash" = true ]; then
+        ohai "Flash via st-flash"
+        st-flash --reset write "$build_dir/$target.bin" 0x8000000
+    else
+        echo "Error: No flashing software found!"
+        return 1
+    fi
+}
+
+list_targets() {
+    check_configured "$build_dir" || return
+    
+    ohai "List targets"
+    
+    echo "[1/1] All MBS targets available:"
+    cmake --build "$build_dir" --target help \
+    | grep -o '^[^/]*\.bin' | cut -f 1 -d '.'
+}
+
+list_boards() {
+    check_configured "$build_dir" || return
+    
+    ohai "List boards"
+    
+    cmake --build "$build_dir" --target help-boards
+}
+
+set_debug() {
+    config_debug=true
+}
+
+set_verbose() {
+    config_verbose=true
+}
+
+set_jobs() {
+    jobs="$1"
+}
+
+get_build_opts() {
+    declare -a opts
+    [ -n "$jobs" ] && opts=("-j $jobs")
+}
+
+CMAKE_FILENAME="CMakeCache.txt"
+DEBUG_FILENAME=".sbs_debug"
+VERBOSE_FILENAME=".sbs_verbose"
+BUILD_DEFAULT_DIRNAME="build"
+TTY_BLUE="\033[34m"
+TTY_BOLD="\033[1m"
+TTY_RESET="\033[0m"
+
+msb_base=
+source_dir=
+build_dir=
+toolchain_file=
+found_cmake=false
+found_miosixgpp=false
+found_ccache=false
+found_ninja=false
+found_stflash=false
+config_debug=false
+config_verbose=false
+jobs=
+
+print_banner
+init_dirs
+
+for arg in "$@"; do
+    shift
+    case "$arg" in
+        --help)         set -- "$@" "-h";;
+        --jobs)         set -- "$@" "-j";;
+        --list_targets) set -- "$@" "-l";;
+        --list_boards)  set -- "$@" "-r";;
+        --build)        set -- "$@" "-b";;
+        --flash)        set -- "$@" "-f";;
+        --clean)        set -- "$@" "-c";;
+        --configure)  set -- "$@" "-u";;
+        --debug)        set -- "$@" "-d";;
+        --verbose)      set -- "$@" "-v";;
+        *)              set -- "$@" "$arg"
+    esac
+done
+
+while getopts b:cdef:hj:lnrt:uv opt; do
+    case "$opt" in
+        h) usage; exit 0;;
+        j) set_jobs "$OPTARG";;
+        l) find_deps && list_targets; exit;;
+        r) find_deps && list_boards; exit;;
+        b) find_deps && build "$build_dir" "$OPTARG"; exit;;
+        f) find_deps && flash "$OPTARG"; exit;;
+        c) find_deps && clean; exit;;
+        u) find_deps && configure "$build_dir"; exit;;
+        d) set_debug;;
+        v) set_verbose;;
+        ?) usage; exit 2;;
+    esac
+done
+shift $((OPTIND - 1))
+
+find_deps && build_all

miosix/Makefile

@@ -2,9 +2,7 @@
 ## Makefile for Miosix embedded OS
 ## This makefile builds the whole kernel
 ##
-MAKEFILE_VERSION := 1.09
-GCCMAJOR := $(shell arm-miosix-eabi-gcc --version | \
-                    perl -e '$$_=<>;/\(GCC\) (\d+)/;print "$$1"')
+MAKEFILE_VERSION := 1.10
 ## KPATH and CONFPATH are forwarded by the parent Makefile
 include $(CONFPATH)/config/Makefile.inc
 
@@ -21,7 +19,9 @@ kernel/elf_program.cpp                                                     \
 kernel/process.cpp                                                         \
 kernel/process_pool.cpp                                                    \
 kernel/timeconversion.cpp                                                  \
+kernel/intrusive.cpp                                                       \
 kernel/SystemMap.cpp                                                       \
+kernel/cpu_time_counter.cpp                                                \
 kernel/scheduler/priority/priority_scheduler.cpp                           \
 kernel/scheduler/control/control_scheduler.cpp                             \
 kernel/scheduler/edf/edf_scheduler.cpp                                     \

miosix/_doc/doxygen/Doxyfile

@@ -2024,6 +2024,7 @@ INCLUDE_FILE_PATTERNS  =
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
 PREDEFINED             = WITH_FILESYSTEM \
+                         WITH_CPU_TIME_COUNTER \
                          _MIOSIX \
                          MIOSIX_LITTLE_ENDIAN \
                          __DOXYGEN__

miosix/_doc/textdoc/stm32-bootloader.txt

@@ -76,7 +76,7 @@ interrupts @ 0x6800000, or Miosix will fail at the first interrupt.
 
 Then run openocd in a shell:
 
-sudo openocd -f miosix/arch/cortexM3_stm32/stm32f103ze_stm3210e-eval/stm32f10x_eval.cfg
+sudo openocd -f miosix/arch/cortexM3_stm32f1/stm32f103ze_stm3210e-eval/stm32f10x_eval.cfg
 
 and in another shell type:
 

miosix/_examples/datalogger/Makefile

 ##
 ## Makefile for Miosix embedded OS
 ##
-MAKEFILE_VERSION := 1.09
-GCCMAJOR := $(shell arm-miosix-eabi-gcc --version | \
-                    perl -e '$$_=<>;/\(GCC\) (\d+)/;print "$$1"')
+MAKEFILE_VERSION := 1.10
 ## Path to kernel directory (edited by init_project_out_of_git_repo.pl)
 KPATH := miosix
 ## Path to config directory (edited by init_project_out_of_git_repo.pl)
@@ -59,12 +57,7 @@ LFLAGS   := $(LFLAGS_BASE)
 DFLAGS   := -MMD -MP
 
 ## libmiosix.a is among stdlibs because needs to be within start/end group
-STDLIBS  := -lmiosix -lstdc++ -lc -lm -lgcc
-
-ifneq ($(GCCMAJOR),4)
-	STDLIBS += -latomic
-endif
-
+STDLIBS  := -lmiosix -lstdc++ -lc -lm -lgcc -latomic
 LINK_LIBS := $(LIBS) -L$(KPATH) -Wl,--start-group $(STDLIBS) -Wl,--end-group
 
 all: all-recursive main

miosix/_examples/deep_sleep/main-test.cpp

+/***************************************************************************
+ *   Copyright (C) 2019 by Marsella Daniele                                *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   As a special exception, if other files instantiate templates or use   *
+ *   macros or inline functions from this file, or you compile this file   *
+ *   and link it with other works to produce a work based on this file,    *
+ *   this file does not by itself cause the resulting work to be covered   *
+ *   by the GNU General Public License. However the source code for this   *
+ *   file must still be made available in accordance with the GNU General  *
+ *   Public License. This exception does not invalidate any other reasons  *
+ *   why a work based on this file might be covered by the GNU General     *
+ *   Public License.                                                       *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, see <http://www.gnu.org/licenses/>   *
+ ***************************************************************************/ 
+
+#include <cstdio>
+#include "miosix.h"
+
+using namespace std;
+using namespace miosix;
+
+int main()
+{
+    long long int timeBefore, timeAfter;
+    using sleepLed = Gpio<GPIOD_BASE, 13>;     // orange
+    using deepSleepLed = Gpio<GPIOD_BASE, 15>; // blue
+    sleepLed::mode(Mode::OUTPUT);
+    deepSleepLed::mode(Mode::OUTPUT);
+    int i=1;
+    for(;;)
+    {
+        printf("Going into deep sleep\n");
+        fflush(stdout);
+        delayMs(500);
+        deepSleepLed::high();
+        timeBefore = getTime();
+        Thread::sleep(i * 1000);
+        timeAfter = getTime();
+        deepSleepLed::low();
+        printf("Elapsed time: %lld \n", timeAfter - timeBefore);
+        {
+            DeepSleepLock dl;
+            printf("Going into normal sleep\n");
+            fflush(stdout);
+            delayMs(500);
+            sleepLed::high();
+            timeBefore = getTime();
+            Thread::sleep(i * 1000);
+            timeAfter = getTime();
+            sleepLed::low();
+            printf("Elapsed time: %lld \n", timeAfter - timeBefore);
+        }
+        i++;
+    }
+}

miosix/_examples/sad_trombone/Makefile

 ##
 ## Makefile for Miosix embedded OS
 ##
-MAKEFILE_VERSION := 1.09
-GCCMAJOR := $(shell arm-miosix-eabi-gcc --version | \
-                    perl -e '$$_=<>;/\(GCC\) (\d+)/;print "$$1"')
+MAKEFILE_VERSION := 1.10
 ## Path to kernel directory (edited by init_project_out_of_git_repo.pl)
 KPATH := miosix
 ## Path to config directory (edited by init_project_out_of_git_repo.pl)
@@ -59,12 +57,7 @@ LFLAGS   := $(LFLAGS_BASE)
 DFLAGS   := -MMD -MP
 
 ## libmiosix.a is among stdlibs because needs to be within start/end group
-STDLIBS  := -lmiosix -lstdc++ -lc -lm -lgcc
-
-ifneq ($(GCCMAJOR),4)
-	STDLIBS += -latomic
-endif
-
+STDLIBS  := -lmiosix -lstdc++ -lc -lm -lgcc -latomic
 LINK_LIBS := $(LIBS) -L$(KPATH) -Wl,--start-group $(STDLIBS) -Wl,--end-group
 
 all: all-recursive main

miosix/_examples/sad_trombone/player.cpp

@@ -28,7 +28,7 @@
 #include <algorithm>
 #include <stdexcept>
 #include <cstring>
-#include "miosix/kernel/scheduler/scheduler.h"
+#include <kernel/scheduler/scheduler.h>
 #include "util/software_i2c.h"
 #include "adpcm.h"
 #include "player.h"

miosix/_examples/thread_native/native_thread_example.cpp

@@ -33,11 +33,11 @@ int main()
     thread=Thread::create(threadfunc,2048,1,(void*)strlen(str),Thread::JOINABLE);
     {
         Lock<Mutex> lock(mutex);
-        for(int i=0;i<strlen(str);i++)
+        for(int i=0;i<(int)strlen(str);i++)
         {
             c=str[i];
             cond.signal();
-            if(i<strlen(str)-1) ack.wait(lock);
+            if(i<(int)strlen(str)-1) ack.wait(lock);
         }
     }
     thread->join();

miosix/_examples/thread_pthread/pthread_example.cpp

@@ -24,6 +24,7 @@ void *threadfunc(void *argv)
         c=0;
     }
     pthread_mutex_unlock(&mutex);
+    return nullptr;
 }
 
 int main()
@@ -33,11 +34,11 @@ int main()
     pthread_t thread;
     pthread_create(&thread,NULL,threadfunc,(void*)strlen(str));
     pthread_mutex_lock(&mutex);
-    for(int i=0;i<strlen(str);i++)
+    for(int i=0;i<(int)strlen(str);i++)
     {
         c=str[i];
         pthread_cond_signal(&cond);
-        if(i<strlen(str)-1) pthread_cond_wait(&ack,&mutex);
+        if(i<(int)strlen(str)-1) pthread_cond_wait(&ack,&mutex);
     }
     pthread_mutex_unlock(&mutex);
     pthread_join(thread,NULL);

miosix/_tools/bootloaders/stm32/pc_loader/.gitignore

+build

miosix/_tools/bootloaders/stm32/pc_loader/CMakeLists.txt

@@ -16,6 +16,7 @@ endif()
 ## Link libraries
 set(BOOST_LIBS system)
 find_package(Boost COMPONENTS ${BOOST_LIBS} REQUIRED)
+target_include_directories(pc_loader PRIVATE ${Boost_INCLUDE_DIRS})
 target_link_libraries(pc_loader ${Boost_LIBRARIES})
 find_package(Threads REQUIRED)
 target_link_libraries(pc_loader ${CMAKE_THREAD_LIBS_INIT})

miosix/_tools/compiler/gcc-9.2.0-mp3.1/TODO

+
+Update sys/lock.h make pthread_mutex_t compatible with future decisions to
+replace the custom list with IntrusiveList.
+Update _pthreadtypes.h removing the forward declaration of WaitingList and
+change pthread_cond_t to be two opaque pointers, comment that it should have
+a memory layout compatible with IntrusiveList.
+
+In libstdc++ header condition_variable the __wait_until_impl checks for timeout
+in this way:
+__gthread_cond_timedwait(&_M_cond, __lock.mutex()->native_handle(), &__ts);
+return (__clock_t::now() < __atime ? cv_status::no_timeout : cv_status::timeout);
+use the return value of pthread_cond_timedwait instead to optimize code
+
+In libstdc++ header condition_variable condition_variable::wait_for calls both clock_gettime(CLOCK_REALTIME... and clock_gettime(CLOCK_MONOTONIC...
+This is not needed as pthread_cond_timedwait in Miosix refuses to follow the
+(broken) standard on purpose and accepts the timeout directly in terms of
+CLOCK_MONOTONIC.
+defiitions are in time.h, CLOCK_REALTIME is 1, wile CLOCK_MONOTONIC is 4
+Some test code:
+
+#include <cstdio>
+#include <cstring>
+#include <chrono>
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+#include "miosix.h"
+
+using namespace std;
+using namespace std::chrono;
+using namespace miosix;
+
+mutex t25_m1;
+condition_variable t25_c1;
+
+void fail(const char *s) { iprintf("Fail %s\n",s); for(;;) ; }
+
+int main()
+{
+    {
+        unique_lock<mutex> l(t25_m1);
+        auto a=chrono::steady_clock::now().time_since_epoch().count();
+        if(t25_c1.wait_for(l,10ms)!=cv_status::timeout) fail("timedwait (1)");
+        auto b=chrono::steady_clock::now().time_since_epoch().count();
+        //iprintf("delta=%lld\n",b-a-10000000);
+        if(llabs(b-a-10000000)>200000) fail("timedwait (2)");
+    }
+    {
+        unique_lock<mutex> l(t25_m1);
+        auto start=chrono::steady_clock::now();
+        auto a=start.time_since_epoch().count();
+        if(t25_c1.wait_until(l,start+10ms)!=cv_status::timeout) fail("timedwait (3)");
+        auto b=chrono::steady_clock::now().time_since_epoch().count();
+        //iprintf("delta=%lld\n",b-a-10000000);
+        if(llabs(b-a-10000000)>200000) fail("timedwait (4)");
+    }
+    {
+        thread t([]{
+            this_thread::sleep_for(30ms);
+            t25_c1.notify_one();
+        });
+        auto a=chrono::steady_clock::now().time_since_epoch().count();
+        unique_lock<mutex> l(t25_m1);
+        if(t25_c1.wait_for(l,100ms)!=cv_status::no_timeout) fail("timedwait (5)");
+        auto b=chrono::steady_clock::now().time_since_epoch().count();
+        //iprintf("delta=%lld\n",b-a-30000000);
+        if(llabs(b-a-30000000)>500000) fail("timedwait (6)");
+        t.join();
+    }
+
+    for(;;) ;
+}

miosix/_tools/fs_misc_testcode/dirlist.cpp

@@ -22,7 +22,7 @@ void printStat(struct dirent *de, struct stat *st)
             close(fd);
         }
     } else st2.st_ino=st->st_ino; //Can't fstat() an fd to a directory
-    printf("%13s iD=%d iS=%d iF=%d dev=%d mode=%#o size=%d\n",
+    printf("%13s iD=%ld iS=%ld iF=%ld dev=%d mode=%#lo size=%lld\n",
         de->d_name,de->d_ino,st->st_ino,st2.st_ino,st->st_dev,st->st_mode,st->st_size);
 }
 
@@ -40,7 +40,7 @@ int main()
         if(d==NULL) perror("opendir");
         else {
             struct dirent *de;
-            while(de=readdir(d))
+            while((de=readdir(d)))
             {
                 struct stat st;
                 if(stat(de->d_name,&st)<0) perror(de->d_name);

miosix/_tools/ram_test/main.cpp

@@ -31,8 +31,10 @@ bool shaCmp(unsigned int a[5], unsigned int b[5])
 {
     if(memcmp(a,b,20)==0) return false;
     iprintf("Mismatch\n");
-    for(int i=0;i<5;i++) iprintf("%04x",a[i]); iprintf("\n");
-    for(int i=0;i<5;i++) iprintf("%04x",b[i]); iprintf("\n");
+    for(int i=0;i<5;i++) iprintf("%04x",a[i]);
+    iprintf("\n");
+    for(int i=0;i<5;i++) iprintf("%04x",b[i]);
+    iprintf("\n");
     return true;
 }