Support for NRF arm processors

.github/workflows/compile-all.yml

@@ -737,3 +737,29 @@ jobs:
         with:
           name: stm32h7-compile-all-2
           path: test/all/log
+
+  nrf52-compile-all:
+    if: github.event.label.name == 'ci:hal'
+    runs-on: ubuntu-24.04
+    container:
+      image: ghcr.io/modm-ext/modm-build-cortex-m:2025-05-18
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+      - name: Fix Git permission/ownership problem
+        run: |
+          git config --global --add safe.directory /__w/modm/modm
+      - name: Update lbuild
+        run: |
+          pip3 install --upgrade --upgrade-strategy=eager --break-system-packages modm
+      - name: Compile HAL for all nrf52
+        run: |
+          (cd test/all && python3 run_all.py nrf52 --quick-remaining)
+      - name: Upload log artifacts
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: nrf52-compile-all
+          path: test/all/log

.github/workflows/linux.yml

@@ -286,6 +286,26 @@ jobs:
           name: hal-compile-quick-avr
           path: test/all/log
 
+  nrf-examples:
+    runs-on: ubuntu-24.04
+    container:
+      image: ghcr.io/modm-ext/modm-build-cortex-m:2025-05-18
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+      - name: Fix Git permission/ownership problem
+        run: |
+          git config --global --add safe.directory /__w/modm/modm
+      - name: Update lbuild
+        run: |
+          pip3 install --upgrade --upgrade-strategy=eager --break-system-packages modm
+      - name: Examples NRF52840 Without Discovery Board
+        if: always()
+        run: |
+          (cd examples && ../tools/scripts/examples_compile.py nrf)
+
   hal-compile-quick-1:
     runs-on: ubuntu-24.04
     container:
@@ -304,7 +324,7 @@ jobs:
       - name: Quick compile HAL for Cortex-M Part 1
         if: always()
         run: |
-          (cd test/all && python3 run_all.py stm32 sam rp --quick --split 4 --part 0)
+          (cd test/all && python3 run_all.py stm32 sam rp nrf --quick --split 4 --part 0)
       - name: Upload log artifacts
         uses: actions/upload-artifact@v4
         with:
@@ -329,7 +349,7 @@ jobs:
       - name: Quick compile HAL for Cortex-M Part 2
         if: always()
         run: |
-          (cd test/all && python3 run_all.py stm32 sam rp --quick --split 4 --part 1)
+          (cd test/all && python3 run_all.py stm32 sam rp nrf --quick --split 4 --part 1)
       - name: Upload log artifacts
         uses: actions/upload-artifact@v4
         with:
@@ -354,7 +374,7 @@ jobs:
       - name: Quick compile HAL for Cortex-M Part 3
         if: always()
         run: |
-          (cd test/all && python3 run_all.py stm32 sam rp --quick --split 4 --part 2)
+          (cd test/all && python3 run_all.py stm32 sam rp nrf --quick --split 4 --part 2)
       - name: Upload log artifacts
         uses: actions/upload-artifact@v4
         with:
@@ -379,7 +399,7 @@ jobs:
       - name: Quick compile HAL for Cortex-M Part 4
         if: always()
         run: |
-          (cd test/all && python3 run_all.py stm32 sam rp --quick --split 4 --part 3)
+          (cd test/all && python3 run_all.py stm32 sam rp nrf --quick --split 4 --part 3)
       - name: Upload log artifacts
         uses: actions/upload-artifact@v4
         with:

.github/workflows/macos.yml

@@ -79,3 +79,8 @@ jobs:
         if: always()
         run: |
           (cd examples && ../tools/scripts/examples_compile.py avr)
+
+      - name: Compile NRF Examples
+        if: always()
+        run: |
+          (cd examples && ../tools/scripts/examples_compile.py nrf)

.github/workflows/windows.yml

@@ -135,3 +135,9 @@ jobs:
         shell: bash
         run: |
           (cd examples && ../tools/scripts/examples_compile.py avr arduino_nano arduino_uno srxe)
+
+      - name: Compile NRF Examples
+        if: always()
+        shell: bash
+        run: |
+          (cd examples && ../tools/scripts/examples_compile.py nrf)

.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/ros/ros-lib"]
 	path = ext/ros/ros-lib
 	url = https://github.com/modm-io/ros-lib

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 +1,81 @@
+#!/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
+    if device_name == "nrf51822":
+        device_header = "nrf51.h"
+    elif device_name == "nrf52832":
+        device_header = "nrf52.h"
+    else:
+        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

@@ -94,6 +94,7 @@ class DevicesCache(dict):
                      "same70", "sams70", "samv70", "samv71",
                      "samd51", "same51", "same53", "same54",
                      "rp2040",
+                     "nrf",
                      "hosted"]
         device_file_names = [dfn for dfn in device_file_names if any(s in dfn for s in supported)]
         # These files are ignored due to various issues

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));
+}
+
+}
+