boards/arduino-zero: add initial support

boards/arduino-zero/Makefile

@@ -0,0 +1,3 @@
+MODULE = board
+
+include $(RIOTBASE)/Makefile.base

boards/arduino-zero/Makefile.dep

@@ -0,0 +1,3 @@
+ifneq (,$(filter saul_default,$(USEMODULE)))
+  USEMODULE += saul_gpio
+endif

boards/arduino-zero/Makefile.features

@@ -0,0 +1,17 @@
+# Put defined MCU peripherals here (in alphabetical order)
+FEATURES_PROVIDED += periph_cpuid
+FEATURES_PROVIDED += periph_gpio
+FEATURES_PROVIDED += periph_i2c
+FEATURES_PROVIDED += periph_pwm
+FEATURES_PROVIDED += periph_rtc
+FEATURES_PROVIDED += periph_rtt
+FEATURES_PROVIDED += periph_spi
+FEATURES_PROVIDED += periph_timer
+FEATURES_PROVIDED += periph_uart
+
+# Various other features (if any)
+FEATURES_PROVIDED += cpp
+FEATURES_PROVIDED += arduino
+
+# The board MPU family (used for grouping by the CI system)
+FEATURES_MCU_GROUP = cortex_m0_2

boards/arduino-zero/Makefile.include

@@ -0,0 +1,29 @@
+# define the cpu used by Arduino/Genuino Zero board
+export CPU = samd21
+export CPU_MODEL = samd21g18a
+export CFLAGS += -D__SAMD21G18A__
+
+# set default port depending on operating system
+PORT_LINUX ?= /dev/ttyACM0
+PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.usbmodem*)))
+
+# setup the boards dependencies
+include $(RIOTBOARD)/$(BOARD)/Makefile.dep
+
+# setup serial terminal
+include $(RIOTBOARD)/Makefile.include.serial
+
+# Add board selector (USB serial) to OpenOCD options if specified.
+# Use /dist/tools/usb-serial/list-ttys.sh to find out serial number.
+#   Usage: SERIAL="<SERIAL>" BOARD="arduino-zero" make flash
+ifneq (,$(SERIAL))
+    export OPENOCD_EXTRA_INIT += "-c cmsis_dap_serial $(SERIAL)"
+    SERIAL_TTY = $(shell $(RIOTBASE)/dist/tools/usb-serial/find-tty.sh $(SERIAL))
+    ifeq (,$(SERIAL_TTY))
+        $(error Did not find a device with serial $(SERIAL))
+    endif
+    PORT_LINUX := $(SERIAL_TTY)
+endif
+
+# this board uses openocd
+include $(RIOTBOARD)/Makefile.include.openocd

boards/arduino-zero/board.c

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C)  2016 Freie Universität Berlin
+ *                2016 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     boards_arduino-zero
+ * @{
+ *
+ * @file
+ * @brief       Board specific implementations for the Arduino Zero board
+ *
+ * @author      Hauke Pertersen  <hauke.pertersen@fu-berlin.de>
+ * @author      Alexandre Abadie <alexandre.abadie@inria.fr>
+ *
+ * @}
+ */
+
+#include "cpu.h"
+#include "board.h"
+#include "periph/gpio.h"
+
+void board_init(void)
+{
+    /* initialize the CPU */
+    cpu_init();
+    /* initialize the on-board Amber "L" LED on pin PA17 */
+    gpio_init(LED0_PIN, GPIO_OUT);
+}

boards/arduino-zero/dist/openocd.cfg

@@ -0,0 +1,7 @@
+source [find interface/cmsis-dap.cfg]
+
+set CHIPNAME at91samd21g18
+set ENDIAN little
+set telnet_port 0
+
+source [find target/at91samdXX.cfg]

boards/arduino-zero/include/arduino_board.h

@@ -0,0 +1,66 @@
+/*
+ * Copyright (C)  2016 Freie Universität Berlin
+ *                2016 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     boards_arduino-zero
+ * @{
+ *
+ * @file
+ * @brief       Board specific configuration for the Arduino API
+ *
+ * @author      Hauke Petersen  <hauke.petersen@fu-berlin.de>
+ * @author      Alexandre Abadie  <alexandre.abadie@inria.fr>
+ */
+
+#ifndef ARDUINO_BOARD_H
+#define ARDUINO_BOARD_H
+
+#include "arduino_pinmap.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   The on-board LED is connected to pin 13 on this board
+ */
+#define ARDUINO_LED         (13)
+
+/**
+ * @brief   Look-up table for the Arduino's digital pins
+ */
+static const gpio_t arduino_pinmap[] = {
+    ARDUINO_PIN_0,
+    ARDUINO_PIN_1,
+    ARDUINO_PIN_2,
+    ARDUINO_PIN_3,
+    ARDUINO_PIN_4,
+    ARDUINO_PIN_5,
+    ARDUINO_PIN_6,
+    ARDUINO_PIN_7,
+    ARDUINO_PIN_8,
+    ARDUINO_PIN_9,
+    ARDUINO_PIN_10,
+    ARDUINO_PIN_11,
+    ARDUINO_PIN_12,
+    ARDUINO_PIN_13,
+    ARDUINO_PIN_A0,
+    ARDUINO_PIN_A1,
+    ARDUINO_PIN_A2,
+    ARDUINO_PIN_A3,
+    ARDUINO_PIN_A4,
+    ARDUINO_PIN_A5,
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ARDUINO_BOARD_H */
+/** @} */

boards/arduino-zero/include/arduino_pinmap.h

@@ -0,0 +1,64 @@
+/*
+ * Copyright (C)  2016 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     boards_arduino-zero
+ * @{
+ *
+ * @file
+ * @brief       Mapping from MCU pins to Arduino pins
+ *
+ * You can use the defines in this file for simplified interaction with the
+ * Arduino specific pin numbers.
+ *
+ * @author      Alexandre Abadie <alexandre.abadie@inria.fr>
+ */
+
+#ifndef ARDUINO_PINMAP_H
+#define ARDUINO_PINMAP_H
+
+#include "periph/gpio.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Mapping of MCU pins to Arduino pins
+ * @{
+ */
+#define ARDUINO_PIN_0           GPIO_PIN(PA, 11)
+#define ARDUINO_PIN_1           GPIO_PIN(PA, 10)
+#define ARDUINO_PIN_2           GPIO_PIN(PA, 14)
+#define ARDUINO_PIN_3           GPIO_PIN(PA, 9)
+#define ARDUINO_PIN_4           GPIO_PIN(PA, 8)
+#define ARDUINO_PIN_5           GPIO_PIN(PA, 15)
+#define ARDUINO_PIN_6           GPIO_PIN(PA, 20)
+#define ARDUINO_PIN_7           GPIO_PIN(PA, 21)
+
+#define ARDUINO_PIN_8           GPIO_PIN(PA, 6)
+#define ARDUINO_PIN_9           GPIO_PIN(PA, 7)
+#define ARDUINO_PIN_10          GPIO_PIN(PA, 18)
+#define ARDUINO_PIN_11          GPIO_PIN(PA, 16)
+#define ARDUINO_PIN_12          GPIO_PIN(PA, 19)
+#define ARDUINO_PIN_13          GPIO_PIN(PA, 17) /* on-board LED */
+
+#define ARDUINO_PIN_A0          GPIO_PIN(PA, 2)
+#define ARDUINO_PIN_A1          GPIO_PIN(PB, 8)
+#define ARDUINO_PIN_A2          GPIO_PIN(PB, 9)
+#define ARDUINO_PIN_A3          GPIO_PIN(PA, 4)
+#define ARDUINO_PIN_A4          GPIO_PIN(PA, 5)
+#define ARDUINO_PIN_A5          GPIO_PIN(PB, 2)
+/** @ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ARDUINO_PINMAP_H */
+/** @} */

boards/arduino-zero/include/board.h

@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2016 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @defgroup    boards_arduino-zero Arduino Zero
+ * @ingroup     boards
+ * @brief       Support for the Arduino Zero board.
+ * @{
+ *
+ * @file
+ * @brief       Board specific definitions for the Arduino Zero
+ *              board
+ *
+ * @author      Alexandre Abadie <alexandre.abadie@inria.fr>
+ */
+
+#ifndef BOARD_H_
+#define BOARD_H_
+
+#include "cpu.h"
+#include "periph_conf.h"
+#include "periph_cpu.h"
+#include "arduino_pinmap.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   xtimer configuration
+ * @{
+ */
+#define XTIMER              TIMER_0
+#define XTIMER_CHAN         (0)
+/** @} */
+
+/**
+ * @brief   LED pin definitions and handlers
+ * @{
+ */
+#define LED0_PIN            GPIO_PIN(PA, 17)
+
+#define LED_PORT            PORT->Group[PA]
+#define LED0_MASK           (1 << 17)
+
+#define LED0_ON             (LED_PORT.OUTSET.reg = LED0_MASK)
+#define LED0_OFF            (LED_PORT.OUTCLR.reg = LED0_MASK)
+#define LED0_TOGGLE         (LED_PORT.OUTTGL.reg = LED0_MASK)
+/** @} */
+
+/**
+ * @brief Initialize board specific hardware, including clock, LEDs and std-IO
+ */
+void board_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* BOARD_H_ */
+/** @} */

boards/arduino-zero/include/gpio_params.h

@@ -0,0 +1,48 @@
+/*
+ * Copyright (C)  2016 Freie Universität Berlin
+ *                2016 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup   boards_arduino-zero
+ * @{
+ *
+ * @file
+ * @brief     Board specific configuration of direct mapped GPIOs
+ *
+ * @author    Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author    Alexandre Abadie <alexandre.abadie@inria.fr>
+ */
+
+#ifndef GPIO_PARAMS_H
+#define GPIO_PARAMS_H
+
+#include "board.h"
+#include "saul/periph.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief    GPIO pin configuration
+ */
+static const  saul_gpio_params_t saul_gpio_params[] =
+{
+    {
+        .name = "LED(orange)",
+        .pin = LED0_PIN,
+        .mode = GPIO_OUT
+    },
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* GPIO_PARAMS_H */
+/** @} */

boards/arduino-zero/include/periph_conf.h

@@ -0,0 +1,241 @@
+/*
+ * Copyright (C)  2016 Freie Universität Berlin
+ *                2016 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     boards_arduino-zero
+ * @{
+ *
+ * @file
+ * @brief       Configuration of CPU peripherals for Arduino Zero board
+ *
+ * @author      Thomas Eichinger <thomas.eichinger@fu-berlin.de>
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author      Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
+ * @author      Alexandre Abadie <alexandre.abadie@inria.fr>
+ */
+
+#ifndef PERIPH_CONF_H_
+#define PERIPH_CONF_H_
+
+#include <stdint.h>
+
+#include "cpu.h"
+#include "periph_cpu.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   External oscillator and clock configuration
+ *
+ * For selection of the used CORECLOCK, we have implemented two choices:
+ *
+ * - usage of the PLL fed by the internal 8MHz oscillator divided by 8
+ * - usage of the internal 8MHz oscillator directly, divided by N if needed
+ *
+ *
+ * The PLL option allows for the usage of a wider frequency range and a more
+ * stable clock with less jitter. This is why we use this option as default.
+ *
+ * The target frequency is computed from the PLL multiplier and the PLL divisor.
+ * Use the following formula to compute your values:
+ *
+ * CORECLOCK = ((PLL_MUL + 1) * 1MHz) / PLL_DIV
+ *
+ * NOTE: The PLL circuit does not run with less than 32MHz while the maximum PLL
+ *       frequency is 96MHz. So PLL_MULL must be between 31 and 95!
+ *
+ *
+ * The internal Oscillator used directly can lead to a slightly better power
+ * efficiency to the cost of a less stable clock. Use this option when you know
+ * what you are doing! The actual core frequency is adjusted as follows:
+ *
+ * CORECLOCK = 8MHz / DIV
+ *
+ * NOTE: A core clock frequency below 1MHz is not recommended
+ *
+ * @{
+ */
+#define CLOCK_USE_PLL       (1)
+
+#if CLOCK_USE_PLL
+/* edit these values to adjust the PLL output frequency */
+#define CLOCK_PLL_MUL       (47U)               /* must be >= 31 & <= 95 */
+#define CLOCK_PLL_DIV       (1U)                /* adjust to your needs */
+/* generate the actual used core clock frequency */
+#define CLOCK_CORECLOCK     (((CLOCK_PLL_MUL + 1) * 1000000U) / CLOCK_PLL_DIV)
+#else
+/* edit this value to your needs */
+#define CLOCK_DIV           (1U)
+/* generate the actual core clock frequency */
+#define CLOCK_CORECLOCK     (8000000 / CLOCK_DIV)
+#endif
+/** @} */
+
+/**
+ * @name Timer peripheral configuration
+ * @{
+ */
+#define TIMER_NUMOF         (2U)
+#define TIMER_0_EN          1
+#define TIMER_1_EN          1
+
+/* Timer 0 configuration */
+#define TIMER_0_DEV         TC3->COUNT16
+#define TIMER_0_CHANNELS    2
+#define TIMER_0_MAX_VALUE   (0xffff)
+#define TIMER_0_ISR         isr_tc3
+
+/* Timer 1 configuration */
+#define TIMER_1_DEV         TC4->COUNT32
+#define TIMER_1_CHANNELS    2
+#define TIMER_1_MAX_VALUE   (0xffffffff)
+#define TIMER_1_ISR         isr_tc4
+
+/** @} */
+
+/**
+ * @name UART configuration
+ * @{
+ */
+static const uart_conf_t uart_config[] = {
+    /* device, RX pin, TX pin, mux, RX pad, TX pad */
+    {&SERCOM5->USART, GPIO_PIN(PB,23), GPIO_PIN(PB,22), GPIO_MUX_D, SERCOM_RX_PAD_3, UART_TX_PAD_2},
+    {&SERCOM0->USART, GPIO_PIN(PA,11), GPIO_PIN(PA,10), GPIO_MUX_C, SERCOM_RX_PAD_3, UART_TX_PAD_2},
+};
+
+/* interrupt function name mapping */
+#define UART_0_ISR          isr_sercom5
+#define UART_1_ISR          isr_sercom0
+
+#define UART_NUMOF          (sizeof(uart_config) / sizeof(uart_config[0]))
+/** @} */
+
+/**
+ * @name PWM configuration
+ * @{
+ */
+#define PWM_0_EN            1
+#define PWM_1_EN            1
+#define PWM_MAX_CHANNELS    2
+/* for compatibility with test application */
+#define PWM_0_CHANNELS      PWM_MAX_CHANNELS
+#define PWM_1_CHANNELS      PWM_MAX_CHANNELS
+
+/* PWM device configuration */
+static const pwm_conf_t pwm_config[] = {
+#if PWM_0_EN
+    {TCC0, {
+        /* GPIO pin, MUX value, TCC channel */
+        { GPIO_PIN(PA, 8), GPIO_MUX_E,  0 },
+        { GPIO_PIN(PA, 9), GPIO_MUX_E,  1 },
+    }},
+#endif
+#if PWM_1_EN
+    {TCC1, {
+        /* GPIO pin, MUX value, TCC channel */
+        { GPIO_PIN(PA, 6), GPIO_MUX_E, 0 },
+        { GPIO_PIN(PA, 7), GPIO_MUX_E, 1 },
+    }},
+#endif
+};
+
+/* number of devices that are actually defined */
+#define PWM_NUMOF           (2U)
+/** @} */
+
+/**
+ * @name ADC configuration
+ * @{
+ */
+#define ADC_CONFIG {            \
+    { GPIO_PIN(PA, 2), 0, 0  }, \
+    { GPIO_PIN(PB, 8), 0, 2  }, \
+    { GPIO_PIN(PB, 9), 0, 3  }, \
+    { GPIO_PIN(PA, 4), 0, 4  }, \
+    { GPIO_PIN(PA, 5), 0, 5  }, \
+    { GPIO_PIN(PB, 2), 0, 10 }}
+
+#define ADC_NUMOF           (6)
+/** @} */
+
+/**
+ * @name SPI configuration
+ * @{
+ */
+#define SPI_NUMOF          (1)
+#define SPI_0_EN           1
+
+/*      SPI0             */
+#define SPI_0_DEV          SERCOM4->SPI
+#define SPI_IRQ_0          SERCOM4_IRQn
+#define SPI_0_GCLK_ID      SERCOM4_GCLK_ID_CORE
+/* SPI 0 pin configuration */
+#define SPI_0_SCLK         GPIO_PIN(PB, 11)
+#define SPI_0_SCLK_MUX     GPIO_MUX_D
+#define SPI_0_MISO         GPIO_PIN(PA, 12)
+#define SPI_0_MISO_MUX     GPIO_MUX_D
+#define SPI_0_MISO_PAD     SERCOM_RX_PAD_0
+#define SPI_0_MOSI         GPIO_PIN(PB, 10)
+#define SPI_0_MOSI_MUX     GPIO_MUX_D
+#define SPI_0_MOSI_PAD     SPI_PAD_2_SCK_3
+
+/** @} */
+
+/**
+ * @name I2C configuration
+ * @{
+ */
+#define I2C_NUMOF          (1U)
+#define I2C_0_EN            1
+#define I2C_1_EN            0
+#define I2C_2_EN            0
+#define I2C_3_EN            0
+#define I2C_IRQ_PRIO        1
+
+#define I2C_0_DEV           SERCOM3->I2CM
+#define I2C_0_IRQ           SERCOM3_IRQn
+#define I2C_0_ISR           isr_sercom3
+/* I2C 0 GCLK */
+#define I2C_0_GCLK_ID       SERCOM3_GCLK_ID_CORE
+#define I2C_0_GCLK_ID_SLOW  SERCOM3_GCLK_ID_SLOW
+/* I2C 0 pin configuration */
+#define I2C_0_SDA           GPIO_PIN(PA, 22)
+#define I2C_0_SCL           GPIO_PIN(PA, 23)
+#define I2C_0_MUX           GPIO_MUX_C
+
+/**
+ * @name RTC configuration
+ * @{
+ */
+#define RTC_NUMOF           (1U)
+#define RTC_DEV             RTC->MODE2
+/** @} */
+
+/**
+ * @name RTT configuration
+ * @{
+ */
+#define RTT_NUMOF           (1U)
+#define RTT_DEV             RTC->MODE0
+#define RTT_IRQ             RTC_IRQn
+#define RTT_IRQ_PRIO        10
+#define RTT_ISR             isr_rtc
+#define RTT_MAX_VALUE       (0xffffffff)
+#define RTT_FREQUENCY       (32768U)    /* in Hz. For changes see `rtt.c` */
+#define RTT_RUNSTDBY        (1)         /* Keep RTT running in sleep states */
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PERIPH_CONF_H_ */
+/** @} */

cpu/sam21_common/include/sam0.h

@@ -29,6 +29,8 @@ extern "C" {
 #include "cmsis/samr21/include/samr21e18a.h"
 #elif defined(__SAMD21J18A__) || defined(__ATSAMD21J18A__)
 #include "cmsis/samd21/include/samd21j18a.h"
+#elif defined(__SAMD21G18A__) || defined(__ATSAMD21G18A__)
+#include "cmsis/samd21/include/samd21g18a.h"
 #else
   #error "Unsupported SAM0 variant."
 #endif

cpu/samd21/ldscripts/samd21g18a.ld

@@ -0,0 +1,27 @@
+/*
+ * Copyright (C) 2015, 2016 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @addtogroup      cpu_samd21
+ * @{
+ *
+ * @file
+ * @brief           Memory definitions for the SAMD21DG18A
+ *
+ * @author          Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+
+MEMORY
+{
+    rom (rx)    : ORIGIN = 0x00000000, LENGTH = 256K
+    ram (rwx)   : ORIGIN = 0x20000000, LENGTH = 32K
+}
+
+INCLUDE cortexm_base.ld

tests/unittests/Makefile

@@ -7,7 +7,7 @@ BOARD_INSUFFICIENT_MEMORY := airfy-beacon cc2650stk chronos msb-430 msb-430h pca
                           nucleo-f334 yunjia-nrf51822 samr21-xpro \
                           arduino-mega2560 airfy-beacon nrf51dongle nrf6310 \
                           weio waspmote-pro nucleo-f072 arduino-uno \
-                          arduino-duemilanove sodaq-autonomo
+                          arduino-duemilanove sodaq-autonomo arduino-zero
 
 USEMODULE += embunit
 
@@ -25,7 +25,8 @@ ARM_CORTEX_M_BOARDS := airfy-beacon arduino-due cc2538dk ek-lm4f120xl f4vi1 fox
                        nucleo-f091 nucleo-f303 nucleo-f334 nucleo-f401 nucleo-l1 openmote-cc2538 \
                        pba-d-01-kw2x pca10000 pca10005 remote saml21-xpro samr21-xpro slwstk6220a \
                        spark-core stm32f0discovery stm32f3discovery stm32f4discovery udoo weio \
-                       yunjia-nrf51822 sodaq-autonomo
+                       yunjia-nrf51822 sodaq-autonomo arduino-zero
+
 DISABLE_TEST_FOR_ARM_CORTEX_M := tests-relic
 
 AVR_BOARDS := arduino-mega2560 waspmote-pro arduino-uno arduino-duemilanove