boards: add arduino uno and duemilanove support

Uno and Duemilanove(atmega328p version) are nearly the same boards.
The only difference is that the Duemilanove use an FTDI usb chip,
while the Uno use an Atmel which acts as USB/Serial converter.
All of the code needed to support these boards is in arduino-common.

boards/arduino-common/Makefile

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+MODULE = arduino-common
+
+include $(RIOTBASE)/Makefile.base

boards/arduino-common/Makefile.features

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+# Put defined MCU peripherals here (in alphabetical order)
+FEATURES_PROVIDED += periph_gpio
+FEATURES_PROVIDED += periph_spi
+FEATURES_PROVIDED += periph_timer
+FEATURES_PROVIDED += periph_uart
+
+# Various other features (if any)
+
+# The board MPU family (used for grouping by the CI system)
+FEATURES_MCU_GROUP = avr8

boards/arduino-common/Makefile.include

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+# define the cpu used by the arduino uno and duemilanove boards
+export CPU = atmega328p
+
+# define port used to flash the board
+OS = $(shell uname)
+ifeq ($(OS),Linux)
+		PORT = $(LINUX_PORT)
+else ifeq ($(OS),Darwin)
+  PORT ?= $(firstword $(sort $(wildcard /dev/tty.usbmodem*)))
+else
+  $(info CAUTION: No flash tool for your host system found!)
+  # TODO: fix for building under windows
+endif
+
+export TERMPROG = $(RIOTBASE)/dist/tools/pyterm/pyterm
+export TERMFLAGS = -b 9600 -p $(PORT)
+export FLASHER = avrdude
+export PORT
+export DIST_PATH = $(RIOTBOARD)/$(BOARD)/dist
+export DEBUGSERVER_PORT = 4242
+export DEBUGSERVER = $(DIST_PATH)/debug_srv.sh
+export DEBUGSERVER_FLAGS = "-g -j usb :$(DEBUGSERVER_PORT)"
+export DEBUGGER_FLAGS = "-x $(RIOTBOARD)/$(BOARD)/dist/gdb.conf $(ELFFILE)"
+export DEBUGGER = $(DIST_PATH)/debug.sh $(DEBUGSERVER_FLAGS) $(DIST_PATH) $(DEBUGSERVER_PORT)
+
+# PROGRAMMER defaults to arduino which is the internal flasher via USB. Can be
+# overridden for debugging (which requires changes that require to use an ISP)
+export PROGRAMMER ?= arduino
+
+ifeq ($(PROGRAMMER), arduino)
+  export PROGRAMMER_FLAGS = -P $(PORT) -b $(PROGRAMMER_SPEED)
+endif
+
+# define build specific options
+export CFLAGS_CPU   = -mmcu=atmega328p  $(CFLAGS_FPU)
+export CFLAGS_LINK  = -ffunction-sections -fdata-sections -fno-builtin -fshort-enums
+export CFLAGS_DBG   = -ggdb -g3
+export CFLAGS_OPT  ?= -Os
+
+export CFLAGS += $(CFLAGS_CPU) $(CFLAGS_LINK) $(CFLAGS_DBG) $(CFLAGS_OPT)
+export ASFLAGS += $(CFLAGS_CPU) $(CFLAGS_DBG)
+export LINKFLAGS += $(CFLAGS_CPU) $(CFLAGS_DBG) $(CFLAGS_OPT) -static -lgcc -e reset_handler
+export OFLAGS += -j .text -j .data -O ihex
+export FFLAGS += -p atmega328p -c $(PROGRAMMER) $(PROGRAMMER_FLAGS) -F -D -U flash:w:bin/$(BOARD)/$(PROJECT)$(APPLICATION).hex

boards/arduino-common/board.c

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+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *               2015 Kaspar Schleiser <kaspar@schleiser.de>
+ *               2016 Laurent Navet <laurent.navet@gmail.com>
+ *
+ * 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-common
+ * @{
+ *
+ * @file
+ * @brief       Board specific implementations for the arduino Uno
+ * @brief       and Duemilanove boards.
+ *
+ * @author      Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ * @author      Kaspar Schleiser <kaspar@schleiser.de>
+ * @author      Laurent Navet <laurent.navet@gmail.com>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+#include <avr/io.h>
+
+#include "board.h"
+#include "cpu.h"
+#include "uart_stdio.h"
+
+void led_init(void);
+void SystemInit(void);
+static int uart_putchar(char c, FILE *stream);
+static int uart_getchar(FILE *stream);
+
+static FILE uart_stdout = FDEV_SETUP_STREAM(uart_putchar, NULL, _FDEV_SETUP_WRITE);
+static FILE uart_stdin = FDEV_SETUP_STREAM(NULL, uart_getchar, _FDEV_SETUP_READ);
+
+void board_init(void)
+{
+    /* initialize stdio via USART_0 */
+    SystemInit();
+
+    /* initialize the CPU */
+    cpu_init();
+
+    /* initialize the board LED (connected to pin PB5) */
+    DDRB |= (1 << DDB5);
+    PORTB &= ~(1 << 5);
+
+    irq_enable();
+}
+
+/**
+ * @brief Initialize the System, initialize IO via UART_0
+ */
+void SystemInit(void)
+{
+    /* initialize UART_0 for use as stdout */
+    uart_stdio_init();
+
+    stdout = &uart_stdout;
+    stdin = &uart_stdin;
+
+    /* Flush stdout */
+    puts("\f");
+}
+
+static int uart_putchar(char c, FILE *stream)
+{
+    (void) stream;
+    uart_stdio_write(&c, 1);
+    return 0;
+}
+
+int uart_getchar(FILE *stream)
+{
+    (void) stream;
+    char c;
+    uart_stdio_read(&c, 1);
+    return (int)c;
+}

boards/arduino-common/dist/debug.sh

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+#!/usr/bin/env bash
+sleep 2
+setsid -w avarice $1 &
+#sleep 2 && $2/avr-gdb-wrapper -ex "target remote localhost:$3" $4
+sleep 3 && avr-gdb -ex "target remote localhost:$3" $4
+
+# avarice exits with 1 if the connection is released, therefore we always exit with 0
+exit 0

boards/arduino-common/dist/debug_srv.sh

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+#!/usr/bin/env bash
+
+sleep 2
+avarice $1
+
+# avarice exits with 1 if the connection is released, therefore we always exit with 0
+exit 0

boards/arduino-common/dist/gdb.conf

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+set $pc=0x00

boards/arduino-common/include/arduino_board.h

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+/*
+ * Copyright (C) 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.
+ */
+
+/**
+ * @ingroup     boards_arduino-common
+ * @{
+ *
+ * @file
+ * @brief       Board specific configuration for the Arduino API
+ *
+ * @author      Hauke Petersen  <hauke.petersen@fu-berlin.de>
+ * @author      Laurent Navet   <laurent.navet@gmail.com>
+ */
+
+#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_14,
+    ARDUINO_PIN_15,
+    ARDUINO_PIN_16,
+    ARDUINO_PIN_17,
+    ARDUINO_PIN_18,
+    ARDUINO_PIN_19
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ARDUINO_BOARD_H */
+/** @} */

boards/arduino-common/include/arduino_pinmap.h

@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2015 Freie Universität Berlin
+ *               2016 Laurent Navet <laurent.navet@gmail.com>
+ *
+ * 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-common
+ * @{
+ *
+ * @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      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author      Daniel Nordahl <nordahl.d@gmail.com>
+ * @author      Laurent Navet <laurent.navet@gmail.com>
+ */
+
+#ifndef ARDUINO_PINMAP_H
+#define ARDUINO_PINMAP_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Mapping of MCU pins to Arduino pins
+ *
+ * @note    ISCP pins are not mapped.
+ */
+
+/* Digital pins */
+#define ARDUINO_PIN_0           GPIO_PIN(PORT_D, 0)
+#define ARDUINO_PIN_1           GPIO_PIN(PORT_D, 1)
+#define ARDUINO_PIN_2           GPIO_PIN(PORT_D, 2)
+#define ARDUINO_PIN_3           GPIO_PIN(PORT_D, 3)
+#define ARDUINO_PIN_4           GPIO_PIN(PORT_D, 4)
+#define ARDUINO_PIN_5           GPIO_PIN(PORT_D, 5)
+#define ARDUINO_PIN_6           GPIO_PIN(PORT_D, 6)
+#define ARDUINO_PIN_7           GPIO_PIN(PORT_D, 7)
+#define ARDUINO_PIN_8           GPIO_PIN(PORT_B, 0)
+#define ARDUINO_PIN_9           GPIO_PIN(PORT_B, 1)
+#define ARDUINO_PIN_10          GPIO_PIN(PORT_B, 2)
+#define ARDUINO_PIN_11          GPIO_PIN(PORT_B, 3)
+#define ARDUINO_PIN_12          GPIO_PIN(PORT_B, 4)
+#define ARDUINO_PIN_13          GPIO_PIN(PORT_B, 5)
+/* Analog pins */
+#define ARDUINO_PIN_14          GPIO_PIN(PORT_C, 0)
+#define ARDUINO_PIN_15          GPIO_PIN(PORT_C, 1)
+#define ARDUINO_PIN_16          GPIO_PIN(PORT_C, 2)
+#define ARDUINO_PIN_17          GPIO_PIN(PORT_C, 3)
+#define ARDUINO_PIN_18          GPIO_PIN(PORT_C, 4)
+#define ARDUINO_PIN_19          GPIO_PIN(PORT_C, 5)
+/* Analog input */
+#define ARDUINO_PIN_A0          ARDUINO_PIN_14
+#define ARDUINO_PIN_A1          ARDUINO_PIN_15
+#define ARDUINO_PIN_A2          ARDUINO_PIN_16
+#define ARDUINO_PIN_A3          ARDUINO_PIN_17
+#define ARDUINO_PIN_A4          ARDUINO_PIN_18
+#define ARDUINO_PIN_A5          ARDUINO_PIN_19
+/** @ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ARDUINO_PINMAP_H */
+/** @} */

boards/arduino-common/include/board.h

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+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *               2016 Laurent Navet <laurent.navet@gmail.com>
+ *
+ * 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-common Arduino common
+ * @ingroup     boards
+ * @brief       Board specific files for the arduino Uno and
+ * @brief       Duemilanove boards.
+ * @{
+ *
+ * @file
+ * @brief       Board specific definitions for the arduino Uno and
+ * @brief       Duemilanove boards.
+ *
+ * @author      Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ * @author      Laurent Navet <laurent.navet@gmail.com>
+ */
+
+#ifndef BOARD_H_
+#define BOARD_H_
+
+#include "cpu.h"
+#include "arduino_pinmap.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief As the CPU is too slow to handle 115200 baud, we set the default
+ *        baudrate to 9600 for this board
+ * @{
+ */
+#define UART_STDIO_BAUDRATE (9600U)
+/** @} */
+
+/**
+ * @brief   LED pin definitions and handlers
+ * @{
+ */
+#define LED0_PIN            GPIO_PIN(1, 5)
+
+#define LED0_MASK           (1 << DDB5)
+
+#define LED0_ON             (PORTB |=  LED0_MASK)
+#define LED0_OFF            (PORTB &= ~LED0_MASK)
+#define LED0_TOGGLE         (PORTB ^=  LED0_MASK)
+/** @} */
+
+/**
+ * @brief xtimer configuration values
+ * @{
+ */
+#define XTIMER_WIDTH                (16)
+#define XTIMER_SHIFT                (2)
+#define XTIMER_BACKOFF              (40)
+/** @} */
+
+/**
+ * @brief Initialize board specific hardware, including clock, LEDs and std-IO
+ */
+void board_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* BOARD_H_ */
+/** @} */

boards/arduino-common/include/periph_conf.h

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+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *               2016 Laurent Navet <laurent.navet@gmail.com>
+ *
+ * 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-common
+ * @{
+ *
+ * @file
+ * @brief       Peripheral MCU configuration for the arduino Uno and
+ * @brief       Dumilanove boards.
+ *
+ * @author      Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ * @author      Laurent Navet <laurent.navet@gmail.com>
+ */
+
+#ifndef PERIPH_CONF_H_
+#define PERIPH_CONF_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Clock configuration
+ * @{
+ */
+#define CLOCK_CORECLOCK     (16000000L)
+/** @} */
+
+/**
+ * @brief   Timer configuration
+ *
+ * The timer driver only supports the 16-bit timer (Timer1)
+ * so this is the only one we can use here.
+ *
+ * @{
+ */
+#define TIMER_NUMOF         (2U)
+
+#define TIMER_0             MEGA_TIMER1
+#define TIMER_0_MASK        &TIMSK1
+#define TIMER_0_FLAG        &TIFR1
+#define TIMER_0_ISRA        TIMER1_COMPA_vect
+#define TIMER_0_ISRB        TIMER1_COMPB_vect
+/** @} */
+
+/**
+ * @brief   UART configuration
+ *
+ * Uno has only one UART, look in atmega_common
+ * This is where magic happens
+ *
+ * @{
+ */
+#define UART_NUMOF          (1U)
+
+#define UART_0              MEGA_UART0
+#define UART_0_ISR          USART_RX_vect
+/** @} */
+
+/**
+ * @brief SPI configuration
+ *
+ * The atmega2560 has only one hardware SPI with fixed pin configuration, so all
+ * we can do here, is to enable or disable it...
+ *
+ * The fixed pins used, are:
+ * MOSI - PB3 (Arduino pin 11)
+ * MISO - PB4 (Arduino pin 12)
+ * SCK  - PB5 (Arduino pin 13)
+ * SS   - PB2 (Arduino pin 10) -> this pin is configured as output, but not used
+ *
+ * @{
+ */
+#define SPI_NUMOF           1           /* set to 0 to disable SPI */
+#define SPI_0_EN            1           /* remove once SPI rework is done */
+#define MEGA_PRR            PRR         /* Power Reduction Register is PRR */
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PERIPH_CONF_H_ */

boards/arduino-duemilanove/Makefile

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+MODULE = board
+
+DIRS = $(RIOTBOARD)/arduino-common
+
+include $(RIOTBASE)/Makefile.base

boards/arduino-duemilanove/Makefile.features

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+include $(RIOTBOARD)/arduino-common/Makefile.features

boards/arduino-duemilanove/Makefile.include

@@ -0,0 +1,10 @@
+USEMODULE += arduino-common
+
+# add arduino-common include path
+INCLUDES += -I$(RIOTBOARD)/arduino-common/include
+
+#export needed for flash rule
+export LINUX_PORT = /dev/ttyUSB0
+export PROGRAMMER_SPEED = 57600
+
+include $(RIOTBOARD)/arduino-common/Makefile.include

boards/arduino-uno/Makefile

@@ -0,0 +1,5 @@
+MODULE = board
+
+DIRS = $(RIOTBOARD)/arduino-common
+
+include $(RIOTBASE)/Makefile.base

boards/arduino-uno/Makefile.features

@@ -0,0 +1 @@
+include $(RIOTBOARD)/arduino-common/Makefile.features

boards/arduino-uno/Makefile.include

@@ -0,0 +1,10 @@
+USEMODULE += arduino-common
+
+# add arduino-common include path
+INCLUDES += -I$(RIOTBOARD)/arduino-common/include
+
+# export needed for flash rule
+export LINUX_PORT = /dev/ttyACM0
+export PROGRAMMER_SPEED = 115200
+
+include $(RIOTBOARD)/arduino-common/Makefile.include