Merge #19411 #19436 #19450 #19476

19411: cpu/gd32v: add riotboot support r=benpicco a=gschorcht

### Contribution description

This PR provides `riotboot` support for GD32V.

### Testing procedure

Use any GD32V board with a JTAG adapter and flash the bootloader:
```python
PROGRAMMER=openocd BOARD=sipeed-longan-nano make -C bootloaders/riotboot flash
```
Flash slot 0 and set `RIOT_VERSION` to 1
```python
USEMODULE=stdio_uart FEATURES_REQUIRED=riotboot RIOT_VERSION=1 \
PROGRAMMER=openocd BOARD=sipeed-longan-nano make -C tests/shell riotboot/flash-slot0
...
### Flashing Target ###
Binfile detected, adding ROM base address: 0x08000000
Flashing with IMAGE_OFFSET: 0x08001000
```
```python
> main(): This is RIOT! (Version: 1)
test_shell.
```
Flash slot 1 and set `RIOT_VERSION` to 2
```python
USEMODULE=stdio_uart FEATURES_REQUIRED=riotboot RIOT_VERSION=2 \
PROGRAMMER=openocd BOARD=sipeed-longan-nano make -C tests/shell riotboot/flash-slot1
...
### Flashing Target ###
Binfile detected, adding ROM base address: 0x08000000
Flashing with IMAGE_OFFSET: 0x08010800
```
```python
> main(): This is RIOT! (Version: 2)
test_shell.
```

### Issues/PRs references


19436: cpp11-compat: thread::sleep_for in microseconds r=benpicco a=kfessel

### Contribution description

after reviewing #19369  i found that there is a conversion to nanoseconds just to convert it to microseconds some instrunctions later for ztimer64_usec to handle it this removes one of the conversions (convert once direct to microseconds)

### Testing procedure

run the cpp tests

### Issues/PRs references

#19369

19450: cpu/esp32: fix compilation issues with GCC 12.2 r=benpicco a=gschorcht

### Contribution description

This PR provides the changes in `cpu/esp32` and `cpu/esp_common` to fix the compilation issues with GCC v12.2.  It is required as the first step in the preparation of the upgrade to ESP-IDF version 5.1.

**Please note**: Insead of fixing the ESP-IDF 4.4 code itself by a big bunch of patches to fix the compilation problems with GCC v12.2, it temporarily disables some warnings. The reason is that the ESP-IDF 5.1 requires GCC v12.2 and should be fixed for this compiler version by the vendor.

### Testing procedure

Green CI

The change were already tested with all ESP-specific modules like `esp_now`, `esp_wifi`, `esp_spi`  and `esp_ble` for all supported ESP platforms.

### Issues/PRs references

Prerequisite for RIOT-OS/riotdocker#227
Fixes issue #19421

19476: native/syscalls: rename real_clock_gettime to clock_gettime r=benpicco a=Teufelchen1

### Contribution description

When compiling RIOT for native using a recent LLVM and enabling ASAN, one might encounter "Duplicated symbol".

This is due to a name clash with `real_clock_gettime()` in compiler-rt from [LLVM](llvm/llvm-project@f50246d), I renamed RIOTs `real_clock_gettime` and just default to the posix function `clock_gettime`. The wrapper existed, most likely, for consistency only.

(The best solution would probably to convince the LLVM folks to declare their symbol as `static` and refactor a bit)

### Testing procedure

Passing CI should be enough.


Co-authored-by: Gunar Schorcht <gunar@schorcht.net>
Co-authored-by: Karl Fessel <karl.fessel@ovgu.de>
Co-authored-by: Teufelchen1 <bennet.blischke@haw-hamburg.de>

boards/common/gd32v/Makefile.features

@@ -1 +1,3 @@
 CPU = gd32v
+
+FEATURES_PROVIDED += riotboot

cpu/cortexm_common/Makefile.include

@@ -76,13 +76,6 @@ ifneq (,$(filter usbus_dfu tinyusb_dfu,$(USEMODULE)))
 else
   RIOTBOOT_LEN ?= 0x1000
 endif
-# Currently 2 slots are supported by default, equals in length
-NUM_SLOTS ?= 2
-# Take the whole flash minus RIOTBOOT_LEN and divide it by NUM_SLOTS
-SLOT0_LEN ?= $(shell printf "0x%x" $$((($(ROM_LEN:%K=%*1024)-$(RIOTBOOT_LEN)) / $(NUM_SLOTS))))
-SLOT1_LEN ?= $(SLOT0_LEN)
-SLOT0_LEN := $(SLOT0_LEN)
-SLOT1_LEN := $(SLOT1_LEN)
 
 # JLink is able to flash any ARM CPUs
 PROGRAMMERS_SUPPORTED += jlink

cpu/esp32/Makefile.include

@@ -207,6 +207,13 @@ CFLAGS += -D_CONST=const
 # TODO no relaxation yet
 ifneq (,$(filter riscv%,$(TARGET_ARCH)))
   CFLAGS += -mno-relax -march=rv32imc -mabi=ilp32 -DRISCV_NO_RELAX
+  GCC_NEW_RISCV_ISA ?= $(shell echo "typedef int dont_be_pedantic;" | \
+                               $(TARGET_ARCH)-gcc -march=rv32imac -mabi=ilp32 \
+                                                  -misa-spec=2.2 -E - > /dev/null 2>&1 && \
+                               echo 1 || echo 0)
+  ifeq (1,$(GCC_NEW_RISCV_ISA))
+    CFLAGS += -misa-spec=2.2
+  endif
 endif
 
 ifneq (,$(filter xtensa%,$(TARGET_ARCH)))
@@ -243,6 +250,12 @@ endif
 
 LINKFLAGS += -nostdlib -lgcc -Wl,-gc-sections
 
+# all ESP32x SoCs have to load executable code into IRAM
+# warning 'LOAD segment with RWX permissions' has to be disabled therefore
+ifeq (1,$(GCC_NEW_RISCV_ISA))
+  LINKFLAGS += -Wl,--no-warn-rwx-segments
+endif
+
 # Libraries needed when using esp_wifi_any pseudomodule
 ifneq (,$(filter esp_wifi_any,$(USEMODULE)))
   LINKFLAGS += -L$(ESP32_SDK_LIB_WIFI_DIR)/$(CPU_FAM)

cpu/esp32/bootloader/Makefile

@@ -164,13 +164,24 @@ INCLUDES = \
 # CONFIG_ESPTOOLPY_FLASHFREQ_* and CONFIG_FLASHMODE_*
 CFLAGS = -include '$(RIOTBUILD_CONFIG_HEADER_C)' \
 
+# TODO: required to be able to compile with GCC 12.1, remove them after upgrade to ESP-IDF 5.1
+CFLAGS += -Wno-error=format=
+CFLAGS += -Wno-format
+
 ifneq (,$(filter riscv32%,$(TARGET_ARCH)))
   INCLUDES += -I$(ESP32_SDK_DIR)/components/riscv/include
   CFLAGS += -DCONFIG_IDF_TARGET_ARCH_RISCV
   CFLAGS += -march=rv32imc
   CFLAGS += -Wno-error=format=
   CFLAGS += -nostartfiles
   CFLAGS += -Wno-format
+  GCC_NEW_RISCV_ISA ?= $(shell echo "typedef int dont_be_pedantic;" | \
+                               $(TARGET_ARCH)-gcc -march=rv32imac -mabi=ilp32 \
+                                                  -misa-spec=2.2 -E - > /dev/null 2>&1 && \
+                               echo 1 || echo 0)
+  ifeq (1,$(GCC_NEW_RISCV_ISA))
+    CFLAGS += -misa-spec=2.2
+  endif
 endif
 
 ifneq (,$(filter xtensa%,$(TARGET_ARCH)))

cpu/esp32/esp-idf/esp_idf_cflags.mk

@@ -34,6 +34,14 @@ CFLAGS += -Wno-enum-compare
 # those are false positives.
 CFLAGS += -Wno-cast-align
 
+# TODO: required to be able to compile with GCC 12.1, remove them after upgrade to ESP-IDF 5.1
+CFLAGS += -Wno-attributes
+CFLAGS += -Wno-enum-conversion
+CFLAGS += -Wno-error=format=
+CFLAGS += -Wno-format
+CFLAGS += -Wno-use-after-free
+CFLAGS += -Wno-incompatible-pointer-types
+
 # additional CFLAGS required for RISC-V architecture
 ifneq (,$(filter riscv32%,$(TARGET_ARCH)))
   INCLUDES += -I$(ESP32_SDK_DIR)/components/riscv/include
@@ -42,4 +50,11 @@ ifneq (,$(filter riscv32%,$(TARGET_ARCH)))
   CFLAGS += -Wno-error=format=
   CFLAGS += -nostartfiles
   CFLAGS += -Wno-format
+  GCC_NEW_RISCV_ISA ?= $(shell echo "typedef int dont_be_pedantic;" | \
+                               $(TARGET_ARCH)-gcc -march=rv32imac -mabi=ilp32 \
+                                                  -misa-spec=2.2 -E - > /dev/null 2>&1 && \
+                               echo 1 || echo 0)
+  ifeq (1,$(GCC_NEW_RISCV_ISA))
+    CFLAGS += -misa-spec=2.2
+  endif
 endif

cpu/esp32/esp-idf/esp_idf_support.c

@@ -111,7 +111,7 @@ void IRAM_ATTR esp_log_writev(esp_log_level_t level,
      * We use the log level set for the given tag instead of using
      * the given log level.
      */
-    esp_log_level_t act_level = LOG_DEBUG;
+    esp_log_level_t act_level = (esp_log_level_t)LOG_DEBUG;
     size_t i;
     for (i = 0; i < ARRAY_SIZE(_log_levels); i++) {
         if (strcmp(tag, _log_levels[i].tag) == 0) {

cpu/esp32/esp-idf/nvs_flash/Makefile

@@ -30,6 +30,10 @@ include ../esp_idf.mk
 # those are false positives.
 CFLAGS += -Wno-cast-align
 
+# TODO: required to be able to compile with GCC 12.1, remove them after upgrade to ESP-IDF 5.1
+CFLAGS += -Wno-error=format=
+CFLAGS += -Wno-format
+
 # additional CFLAGS required for RISC-V architecture
 ifneq (,$(filter riscv32%,$(TARGET_ARCH)))
   CFLAGS += -Wno-error=format=

cpu/esp32/include/periph_cpu.h

@@ -212,16 +212,6 @@ typedef enum {
 #define GPIO_DRIVE_20   GPIO_DRIVE_STRONG       /**< 20 mA (default) */
 #define GPIO_DRIVE_30   GPIO_DRIVE_STRONGEST    /**< 30 mA */
 
-#define HAVE_GPIO_IRQ_TRIG_T
-typedef enum {
-    GPIO_TRIGGER_NONE = 0,
-    GPIO_TRIGGER_EDGE_RISING = 1,
-    GPIO_TRIGGER_EDGE_FALLING = 2,
-    GPIO_TRIGGER_EDGE_BOTH = 3,
-    GPIO_TRIGGER_LEVEL_LOW = 4,
-    GPIO_TRIGGER_LEVEL_HIGH = 5
-} gpio_irq_trig_t;
-
 /* END: GPIO LL overwrites */
 
 #endif /* ndef DOXYGEN */

cpu/esp32/periph/adc.c

@@ -131,16 +131,22 @@ int adc_init(adc_t line)
     }
 
     if (_adc_hw[rtcio].adc_ctrl == ADC_UNIT_1) {
+        /* ensure compatibility of given adc_channel_t with adc1_channel_t */
+        assert(_adc_hw[rtcio].adc_channel < (adc_channel_t)ADC1_CHANNEL_MAX);
         /* initialize the ADC1 unit if needed */
         _adc1_ctrl_init();
         /* set the attenuation and configure its associated GPIO pin mux */
-        adc1_config_channel_atten(_adc_hw[rtcio].adc_channel, ADC_ATTEN_DB_11);
+        adc1_config_channel_atten((adc1_channel_t)_adc_hw[rtcio].adc_channel,
+                                  ADC_ATTEN_DB_11);
     }
     else if (_adc_hw[rtcio].adc_ctrl == ADC_UNIT_2) {
+        /* ensure compatibility of given adc_channel_t with adc2_channel_t */
+        assert(_adc_hw[rtcio].adc_channel < (adc_channel_t)ADC2_CHANNEL_MAX);
         /* initialize the ADC2 unit if needed */
         _adc2_ctrl_init();
         /* set the attenuation and configure its associated GPIO pin mux */
-        adc2_config_channel_atten(_adc_hw[rtcio].adc_channel, ADC_ATTEN_DB_11);
+        adc2_config_channel_atten((adc2_channel_t)_adc_hw[rtcio].adc_channel,
+                                  ADC_ATTEN_DB_11);
     }
     else {
         return -1;
@@ -165,13 +171,17 @@ int32_t adc_sample(adc_t line, adc_res_t res)
 
     if (_adc_hw[rtcio].adc_ctrl == ADC_UNIT_1) {
         adc1_config_width(_adc_esp_res_map[res].res);
-        raw = adc1_get_raw(_adc_hw[rtcio].adc_channel);
+         /* ensure compatibility of given adc_channel_t with adc1_channel_t */
+        assert(_adc_hw[rtcio].adc_channel < (adc_channel_t)ADC1_CHANNEL_MAX);
+        raw = adc1_get_raw((adc1_channel_t)_adc_hw[rtcio].adc_channel);
         if (raw < 0) {
             return -1;
         }
     }
     else if (_adc_hw[rtcio].adc_ctrl == ADC_UNIT_2) {
-        if (adc2_get_raw(_adc_hw[rtcio].adc_channel,
+         /* ensure compatibility of given adc_channel_t with adc2_channel_t */
+        assert(_adc_hw[rtcio].adc_channel < (adc_channel_t)ADC2_CHANNEL_MAX);
+        if (adc2_get_raw((adc2_channel_t)_adc_hw[rtcio].adc_channel,
                          _adc_esp_res_map[res].res, &raw) < 0) {
             return -1;
         }
@@ -189,10 +199,14 @@ int adc_set_attenuation(adc_t line, adc_atten_t atten)
     assert(rtcio != RTCIO_NA);
 
     if (_adc_hw[rtcio].adc_ctrl == ADC_UNIT_1) {
-        return adc1_config_channel_atten(_adc_hw[rtcio].adc_channel, atten);
+         /* ensure compatibility of given adc_channel_t with adc1_channel_t */
+        assert(_adc_hw[rtcio].adc_channel < (adc_channel_t)ADC1_CHANNEL_MAX);
+        return adc1_config_channel_atten((adc1_channel_t)_adc_hw[rtcio].adc_channel, atten);
     }
     else if (_adc_hw[rtcio].adc_ctrl == ADC_UNIT_2) {
-        return adc2_config_channel_atten(_adc_hw[rtcio].adc_channel, atten);
+         /* ensure compatibility of given adc_channel_t with adc2_channel_t */
+        assert(_adc_hw[rtcio].adc_channel < (adc_channel_t)ADC2_CHANNEL_MAX);
+        return adc2_config_channel_atten((adc2_channel_t)_adc_hw[rtcio].adc_channel, atten);
     }
 
     return -1;

cpu/esp32/periph/flashpage.c

@@ -76,8 +76,8 @@ void IRAM_ATTR esp_flashpage_init(void)
                                  p_addr, 64, p_numof, 0);
     Cache_Resume_ICache(autoload);
 
-    DEBUG("%s DCache MMU set paddr=%08x vaddr=%08x size=%d n=%u\n", __func__,
-           p_addr, (uint32_t)&_fp_mem_start, CONFIG_ESP_FLASHPAGE_CAPACITY,
+    DEBUG("%s DCache MMU set paddr=%08"PRIx32" vaddr=%08"PRIx32" size=%d n=%"PRIu32"\n",
+           __func__, p_addr, (uint32_t)&_fp_mem_start, CONFIG_ESP_FLASHPAGE_CAPACITY,
            p_numof);
 
     if (res != ESP_OK) {

cpu/esp32/periph/gpio.c

@@ -229,8 +229,8 @@ int gpio_init(gpio_t pin, gpio_mode_t mode)
                       (mode == GPIO_OD_PU) ||
                       (mode == GPIO_IN_OD_PU)) ? GPIO_PULLUP_ENABLE
                                                : GPIO_PULLUP_DISABLE;
-    cfg.pull_down_en = (mode == GPIO_IN_PD) ? GPIO_PULLUP_ENABLE
-                                            : GPIO_PULLUP_DISABLE;
+    cfg.pull_down_en = (mode == GPIO_IN_PD) ? GPIO_PULLDOWN_ENABLE
+                                            : GPIO_PULLDOWN_DISABLE;
     cfg.intr_type = GPIO_INTR_DISABLE;
 
 #ifdef ESP_PM_WUP_PINS

cpu/esp32/periph/gpio_ll.c

@@ -149,9 +149,25 @@ int gpio_ll_init(gpio_port_t port, uint8_t pin, const gpio_conf_t *conf)
     }
 
     /* if output pin, try to set drive strength */
+    gpio_drive_cap_t strength;
+    switch (conf->drive_strength) {
+    case GPIO_DRIVE_WEAKEST:
+        strength = GPIO_DRIVE_CAP_0;
+        break;
+    case GPIO_DRIVE_WEAK:
+        strength = GPIO_DRIVE_CAP_1;
+        break;
+    case GPIO_DRIVE_STRONG:
+        strength = GPIO_DRIVE_CAP_2;
+        break;
+    case GPIO_DRIVE_STRONGEST:
+        strength = GPIO_DRIVE_CAP_3;
+        break;
+    default:
+        strength = GPIO_DRIVE_CAP_DEFAULT;
+    }
     if ((cfg.pin_bit_mask & SOC_GPIO_VALID_OUTPUT_GPIO_MASK) &&
-        (esp_idf_gpio_set_drive_capability(gpio,
-                                           conf->drive_strength) != ESP_OK)) {
+        (esp_idf_gpio_set_drive_capability(gpio, strength) != ESP_OK)) {
         return -ENOTSUP;
     }
 

cpu/esp32/periph/gpio_ll_irq.c

@@ -75,7 +75,27 @@ int gpio_ll_irq(gpio_port_t port, uint8_t pin, gpio_irq_trig_t trig,
     gpio_isr_service_installed = true;
 
     /* set the interrupt type for the pin */
-    if (esp_idf_gpio_set_intr_type(gpio, trig) != ESP_OK) {
+    gpio_int_type_t type;
+    switch (trig) {
+    case GPIO_TRIGGER_EDGE_FALLING:
+        type = GPIO_INTR_NEGEDGE;
+        break;
+    case GPIO_TRIGGER_EDGE_RISING:
+        type = GPIO_INTR_POSEDGE;
+        break;
+    case GPIO_TRIGGER_EDGE_BOTH:
+        type = GPIO_INTR_ANYEDGE;
+        break;
+    case GPIO_TRIGGER_LEVEL_HIGH:
+        type = GPIO_INTR_HIGH_LEVEL;
+        break;
+    case GPIO_TRIGGER_LEVEL_LOW:
+        type = GPIO_INTR_LOW_LEVEL;
+        break;
+    default:
+        type = GPIO_INTR_DISABLE;
+    }
+    if (esp_idf_gpio_set_intr_type(gpio, type) != ESP_OK) {
         return -1;
     }
 

cpu/esp32/periph/rtt.c

@@ -58,7 +58,7 @@ extern uint32_t rtc_clk_slow_freq_get_hz(void);
 /* forward declaration of functions */
 void rtt_restore_counter(bool sys_time);
 static void _rtt_update_hw_alarm(void);
-static void IRAM_ATTR _rtt_isr(void *arg);
+static void _rtt_isr(void *arg);
 
 /* forward declarations of driver functions */
 uint64_t _rtc_get_counter(void);

cpu/esp32/periph/rtt_hw_rtc.c

@@ -135,13 +135,8 @@ static void _rtc_set_alarm(uint32_t alarm, rtt_cb_t cb, void *arg)
     RTCCNTL.slp_timer0 = rtc_alarm & 0xffffffff;
     RTCCNTL.slp_timer1.slp_val_hi = rtc_alarm >> 32;
 
-#if __xtensa__
-    DEBUG("%s %08x%08x \n", __func__,
-          RTCCNTL.slp_timer1.slp_val_hi, RTCCNTL.slp_timer0);
-#else
     DEBUG("%s %08x%08x \n", __func__,
           (unsigned)RTCCNTL.slp_timer1.slp_val_hi, (unsigned)RTCCNTL.slp_timer0);
-#endif
 
     /* enable RTC timer alarm */
     RTCCNTL.slp_timer1.main_timer_alarm_en = 1;

cpu/esp32/startup.c

@@ -240,8 +240,8 @@ static NORETURN void IRAM system_init (void)
 
     /* set log levels for SDK library outputs */
     extern void esp_log_level_set(const char* tag, esp_log_level_t level);
-    esp_log_level_set("wifi", LOG_DEBUG);
-    esp_log_level_set("gpio", LOG_DEBUG);
+    esp_log_level_set("wifi", (esp_log_level_t)LOG_DEBUG);
+    esp_log_level_set("gpio", (esp_log_level_t)LOG_DEBUG);
 
     /* init watchdogs */
     system_wdt_init();

cpu/esp32/syscalls.c

@@ -382,8 +382,9 @@ void system_wdt_init(void)
     wdt_hal_write_protect_enable(&rwdt);
 
 #if defined(CPU_FAM_ESP32)
-    DEBUG("%s TIMERG0 wdtconfig0=%08x wdtconfig1=%08x wdtconfig2=%08x "
-          "wdtconfig3=%08x wdtconfig4=%08x regclk=%08x\n", __func__,
+    DEBUG("%s TIMERG0 wdtconfig0=%08"PRIx32" wdtconfig1=%08"PRIx32
+          " wdtconfig2=%08"PRIx32" wdtconfig3=%08"PRIx32
+          " wdtconfig4=%08"PRIx32" regclk=%08"PRIx32"\n", __func__,
           TIMERG0.wdt_config0.val, TIMERG0.wdt_config1.val,
           TIMERG0.wdt_config2, TIMERG0.wdt_config3,
           TIMERG0.wdt_config4, TIMERG0.clk.val);

cpu/esp_common/esp-now/esp_now_netdev.c

@@ -79,7 +79,7 @@ static bool _esp_now_add_peer(const uint8_t* bssid, uint8_t channel, const uint8
 
     memcpy(peer.peer_addr, bssid, ESP_NOW_ETH_ALEN);
     peer.channel = channel;
-    peer.ifidx = ESP_IF_WIFI_AP;
+    peer.ifidx = WIFI_IF_AP;
 
     if (esp_now_params.key) {
         peer.encrypt = true;
@@ -391,13 +391,13 @@ esp_now_netdev_t *netdev_esp_now_setup(void)
     }
 
     /* set the Station and SoftAP configuration */
-    result = esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config_sta);
+    result = esp_wifi_set_config(WIFI_IF_STA, &wifi_config_sta);
     if (result != ESP_OK) {
         LOG_TAG_ERROR("esp_now", "esp_wifi_set_config station failed with "
                       "return value %d\n", result);
         return NULL;
     }
-    result = esp_wifi_set_config(ESP_IF_WIFI_AP, &wifi_config_ap);
+    result = esp_wifi_set_config(WIFI_IF_AP, &wifi_config_ap);
     if (result != ESP_OK) {
         LOG_TAG_ERROR("esp_now",
                       "esp_wifi_set_config softap failed with return value %d\n",
@@ -416,7 +416,7 @@ esp_now_netdev_t *netdev_esp_now_setup(void)
 
 #if !ESP_NOW_UNICAST
     /* all ESP-NOW nodes get the shared mac address on their station interface */
-    esp_wifi_set_mac(ESP_IF_WIFI_STA, (uint8_t*)_esp_now_mac);
+    esp_wifi_set_mac(WIFI_IF_STA, (uint8_t*)_esp_now_mac);
 #endif
 
 #endif /* MODULE_ESP_WIFI */
@@ -471,7 +471,7 @@ int esp_now_set_channel(uint8_t channel)
     /* channel is controlled by `esp_now`, try to reconfigure SoftAP */
     uint8_t old_channel = wifi_config_ap.ap.channel;
     wifi_config_ap.ap.channel = channel;
-    esp_err_t result = esp_wifi_set_config(ESP_IF_WIFI_AP, &wifi_config_ap);
+    esp_err_t result = esp_wifi_set_config(WIFI_IF_AP, &wifi_config_ap);
     if (result != ESP_OK) {
         LOG_TAG_ERROR("esp_now",
                       "esp_wifi_set_config softap failed with return value %d\n",