feat(HAL/ZEPHYR): Zephyr core + serial-network HAL bound to a radio byte PHY

engine/HAL/ZEPHYR/luos_hal.c

@@ -0,0 +1,40 @@
+/******************************************************************************
+ * @file luosHAL
+ * @brief Luos Hardware Abstraction Layer for Zephyr (Cortex-M).
+ ******************************************************************************/
+#include "luos_hal.h"
+#include <zephyr/kernel.h>
+#include <cmsis_core.h>
+
+void LuosHAL_Init(void)
+{
+    /* Zephyr owns the system tick and cycle counter; nothing to start. */
+}
+
+/* Mask all interrupts (including the radio IRQ) so the engine can guard its RX
+ * ring against Serial_ReceptionWrite running from the radio ISR. Paired
+ * (false then true) by the engine; not nested. */
+void LuosHAL_SetIrqState(bool Enable)
+{
+    if (Enable)
+    {
+        __enable_irq();
+    }
+    else
+    {
+        __disable_irq();
+    }
+}
+
+uint32_t LuosHAL_GetSystick(void)
+{
+    return k_uptime_get_32(); /* milliseconds */
+}
+
+uint64_t LuosHAL_GetTimestamp(void)
+{
+    return k_cyc_to_ns_floor64(k_cycle_get_64()); /* nanoseconds */
+}
+
+void LuosHAL_StartTimestamp(void) {}
+void LuosHAL_StopTimestamp(void) {}

engine/HAL/ZEPHYR/luos_hal.h

@@ -0,0 +1,35 @@
+/******************************************************************************
+ * @file luosHAL
+ * @brief Luos Hardware Abstraction Layer for Zephyr (Cortex-M).
+ * @MCU Family Zephyr / nRF54L15
+ ******************************************************************************/
+#ifndef _LUOSHAL_H_
+#define _LUOSHAL_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "luos_hal_config.h"
+
+#define _CRITICAL
+
+#define BOOT_MODE_MASK   0x000000FF
+#define BOOT_MODE_OFFSET 0
+#define NODE_ID_MASK     0x00FFFF00
+#define NODE_ID_OFFSET   8
+
+typedef struct ll_timestamp
+{
+    uint32_t lower_timestamp;
+    uint64_t higher_timestamp;
+    uint32_t start_offset;
+} ll_timestamp_t;
+
+void LuosHAL_Init(void);
+void LuosHAL_SetIrqState(bool Enable);
+uint32_t LuosHAL_GetSystick(void);
+
+uint64_t LuosHAL_GetTimestamp(void);
+void LuosHAL_StartTimestamp(void);
+void LuosHAL_StopTimestamp(void);
+
+#endif /* _LUOSHAL_H_ */

engine/HAL/ZEPHYR/luos_hal_config.h

@@ -0,0 +1,31 @@
+/******************************************************************************
+ * @file luos_hal_config
+ * @brief Luos HAL config for Zephyr. No bus peripheral is reserved here; the
+ *        serial network's radio HAL owns the physical layer.
+ ******************************************************************************/
+#ifndef _LUOSHAL_CONFIG_H_
+#define _LUOSHAL_CONFIG_H_
+
+#ifndef MCUFREQ
+    #define MCUFREQ 128000000 /* nRF54L15 application core max */
+#endif
+
+/*******************************************************************************
+ * DEFINE THREAD MUTEX LOCKING AND UNLOCKING FUNCTIONS
+ * Engine runs in a single cooperative loop here; no-op like the bare-metal HALs.
+ ******************************************************************************/
+#ifndef MSGALLOC_MUTEX_LOCK
+    #define MSGALLOC_MUTEX_LOCK
+#endif
+#ifndef MSGALLOC_MUTEX_UNLOCK
+    #define MSGALLOC_MUTEX_UNLOCK
+#endif
+
+#ifndef LUOS_MUTEX_LOCK
+    #define LUOS_MUTEX_LOCK
+#endif
+#ifndef LUOS_MUTEX_UNLOCK
+    #define LUOS_MUTEX_UNLOCK
+#endif
+
+#endif /* _LUOSHAL_CONFIG_H_ */

network/serial_network/HAL/ZEPHYR/serial_network_hal.c

@@ -0,0 +1,65 @@
+/******************************************************************************
+ * @file serial_network_hal (ZEPHYR / radio)
+ * @brief The radio is a best-effort byte pipe; the serial network handles all
+ *        framing (0x7E/size/0x81) and reassembles from the engine RX ring.
+ *        One Luos frame (<=139 B) fits one radio packet (<=255 B): SerialHAL_Send
+ *        issues exactly one radio_send().
+ *
+ *        TX completion is SYNCHRONOUS: serial_network.c busy-waits on its
+ *        `sending` flag in places that never pump this HAL (notably the
+ *        `while (sending == true);` spin at the top of Serial_RunTopology), and
+ *        every other Luos serial HAL clears `sending` from the TX-complete IRQ.
+ *        So SerialHAL_Send must leave `sending` cleared on return: it transmits,
+ *        waits for the radio TX-done IRQ, then calls Serial_TransmissionEnd()
+ *        from this (caller) context. It must NOT be called from the radio ISR,
+ *        which would re-enter radio_send and corrupt the radio state machine.
+ ******************************************************************************/
+#include "serial_network_hal.h"
+#include "_serial_network.h"
+#include "radio.h"
+
+static volatile bool tx_done;
+
+/* Radio IRQ context: push received bytes straight into the engine RX ring. */
+static void on_radio_rx(const uint8_t *data, uint8_t len)
+{
+    Serial_ReceptionWrite((uint8_t *)data, (uint32_t)len);
+}
+
+/* Radio IRQ context: a transmit has completed. */
+static void on_radio_tx_done(void)
+{
+    tx_done = true;
+}
+
+void SerialHAL_Init(uint8_t *rx_buffer, uint32_t buffer_size)
+{
+    (void)rx_buffer;    /* the engine owns the ring; bytes arrive via Serial_ReceptionWrite */
+    (void)buffer_size;
+    tx_done = false;
+    radio_init(on_radio_rx, on_radio_tx_done);
+}
+
+void SerialHAL_Loop(void)
+{
+    /* TX completion is handled synchronously in SerialHAL_Send. */
+}
+
+void SerialHAL_Send(uint8_t *data, uint16_t size)
+{
+    tx_done = false;
+    while (!radio_send(data, (uint8_t)size))
+    {
+        /* a previous transmit is still draining; wait for the radio to free up */
+    }
+    while (!tx_done)
+    {
+        /* wait for this transmit to complete (tx_done set in the radio IRQ) */
+    }
+    Serial_TransmissionEnd();
+}
+
+uint8_t SerialHAL_GetPort(void)
+{
+    return 0;
+}

network/serial_network/HAL/ZEPHYR/serial_network_hal.h

@@ -0,0 +1,15 @@
+/******************************************************************************
+ * @file serial_network_hal (ZEPHYR / radio)
+ * @brief Binds the Luos serial network to the 2.4 GHz radio byte PHY.
+ ******************************************************************************/
+#ifndef _SERIAL_NETWORK_HAL_H_
+#define _SERIAL_NETWORK_HAL_H_
+
+#include <stdint.h>
+
+void SerialHAL_Init(uint8_t *rx_buffer, uint32_t buffer_size);
+void SerialHAL_Loop(void);
+void SerialHAL_Send(uint8_t *data, uint16_t size);
+uint8_t SerialHAL_GetPort(void);
+
+#endif /* _SERIAL_NETWORK_HAL_H_ */