From bc4cd53946163e8908e5f5e1ce1c6d5b2b455f10 Mon Sep 17 00:00:00 2001 From: Travis Griggs Date: Thu, 30 Mar 2017 16:09:46 -0700 Subject: [PATCH] boards/samd21-xpro: add initial support --- boards/samd21-xpro/Makefile | 3 + boards/samd21-xpro/Makefile.dep | 3 + boards/samd21-xpro/Makefile.features | 16 ++ boards/samd21-xpro/Makefile.include | 25 +++ boards/samd21-xpro/board.c | 37 +++ boards/samd21-xpro/dist/openocd.cfg | 2 + boards/samd21-xpro/include/board.h | 76 +++++++ boards/samd21-xpro/include/gpio_params.h | 53 +++++ boards/samd21-xpro/include/periph_conf.h | 275 +++++++++++++++++++++++ 9 files changed, 490 insertions(+) create mode 100644 boards/samd21-xpro/Makefile create mode 100644 boards/samd21-xpro/Makefile.dep create mode 100644 boards/samd21-xpro/Makefile.features create mode 100644 boards/samd21-xpro/Makefile.include create mode 100644 boards/samd21-xpro/board.c create mode 100644 boards/samd21-xpro/dist/openocd.cfg create mode 100644 boards/samd21-xpro/include/board.h create mode 100644 boards/samd21-xpro/include/gpio_params.h create mode 100644 boards/samd21-xpro/include/periph_conf.h diff --git a/boards/samd21-xpro/Makefile b/boards/samd21-xpro/Makefile new file mode 100644 index 0000000000..f8fcbb53a0 --- /dev/null +++ b/boards/samd21-xpro/Makefile @@ -0,0 +1,3 @@ +MODULE = board + +include $(RIOTBASE)/Makefile.base diff --git a/boards/samd21-xpro/Makefile.dep b/boards/samd21-xpro/Makefile.dep new file mode 100644 index 0000000000..5472bf8b8d --- /dev/null +++ b/boards/samd21-xpro/Makefile.dep @@ -0,0 +1,3 @@ +ifneq (,$(filter saul_default,$(USEMODULE))) + USEMODULE += saul_gpio +endif diff --git a/boards/samd21-xpro/Makefile.features b/boards/samd21-xpro/Makefile.features new file mode 100644 index 0000000000..3b09ac148d --- /dev/null +++ b/boards/samd21-xpro/Makefile.features @@ -0,0 +1,16 @@ +# 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 + +# The board MPU family (used for grouping by the CI system) +FEATURES_MCU_GROUP = cortex_m0_2 diff --git a/boards/samd21-xpro/Makefile.include b/boards/samd21-xpro/Makefile.include new file mode 100644 index 0000000000..e8415c937e --- /dev/null +++ b/boards/samd21-xpro/Makefile.include @@ -0,0 +1,25 @@ +# define the cpu used by SAMD21 Xplained Pro board +export CPU = samd21 +export CPU_MODEL = samd21j18a + +# set default port depending on operating system +PORT_LINUX ?= /dev/ttyACM0 +PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.usbmodem*))) + +# setup serial terminal +include $(RIOTMAKE)/tools/serial.inc.mk + +# Add board selector (USB serial) to OpenOCD options if specified. +# Use /dist/tools/usb-serial/list-ttys.sh to find out serial number. +# Usage: SERIAL="ATML..." BOARD="samd21-xpro" make flash +ifneq (,$(SERIAL)) + export OPENOCD_EXTRA_INIT += "-c cmsis_dap_serial $(SERIAL)" + SERIAL_TTY = $(firstword $(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 $(RIOTMAKE)/tools/openocd.inc.mk diff --git a/boards/samd21-xpro/board.c b/boards/samd21-xpro/board.c new file mode 100644 index 0000000000..d783e6338d --- /dev/null +++ b/boards/samd21-xpro/board.c @@ -0,0 +1,37 @@ +/* + * Copyright (C) 2017 Travis Griggs + * Copyright (C) 2017 Dan Evans + * + * This file is subject to the terms and conditions of the GNU Lesser + * General Public License v2.1. See the file LICENSE in the top level + * directory for more details. + */ + +/** + * @ingroup boards_samd21-xpro + * @{ + * + * @file + * @brief Board specific implementations for the Atmel SAM D21 Xplained + * Pro board + * + * @author Travis Griggs + * @author Dan Evans + * + * @} + */ + +#include "board.h" +#include "periph/gpio.h" + +void board_init(void) +{ + /* initialize the on-board LED */ + gpio_init(LED0_PIN, GPIO_OUT); + + /* initialize the on-board button */ + gpio_init(BUTTON_GPIO, GPIO_IN_PU); + + /* initialize the CPU */ + cpu_init(); +} diff --git a/boards/samd21-xpro/dist/openocd.cfg b/boards/samd21-xpro/dist/openocd.cfg new file mode 100644 index 0000000000..6992633985 --- /dev/null +++ b/boards/samd21-xpro/dist/openocd.cfg @@ -0,0 +1,2 @@ +source [find board/atmel_samd21_xplained_pro.cfg] +$_TARGETNAME configure -rtos auto diff --git a/boards/samd21-xpro/include/board.h b/boards/samd21-xpro/include/board.h new file mode 100644 index 0000000000..bb900df619 --- /dev/null +++ b/boards/samd21-xpro/include/board.h @@ -0,0 +1,76 @@ +/* + * Copyright (C) 2017 Travis Griggs + * Copyright (C) 2017 Dan Evans + * + * 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_samd21-xpro Atmel SAM D21 Xplained Pro + * @ingroup boards + * @brief Support for the Atmel SAM D21 Xplained Pro board. + * @{ + * + * @file + * @brief Board specific definitions for the Atmel SAM D21 Xplained Pro + * board + * + * @author Travis Griggs + * @author Dan Evans + */ + +#ifndef BOARD_H +#define BOARD_H + +#include "cpu.h" +#include "periph_conf.h" +#include "periph_cpu.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @name xtimer configuration + * @{ + */ +#define XTIMER_DEV TIMER_1 +#define XTIMER_CHAN (0) +/** @} */ + +/** + * @name LED pin definitions and handlers + * @{ + */ +#define LED0_PIN GPIO_PIN(PB, 30) + +#define LED_PORT PORT->Group[PB] +#define LED0_MASK (1 << 30) + +#define LED0_ON (LED_PORT.OUTCLR.reg = LED0_MASK) +#define LED0_OFF (LED_PORT.OUTSET.reg = LED0_MASK) +#define LED0_TOGGLE (LED_PORT.OUTTGL.reg = LED0_MASK) +/** @} */ + +/** + * @name SW0 (Button) pin definitions + * @{ + */ +#define BUTTON_PORT PORT->Group[PA] +#define BUTTON_PIN (15) +#define BUTTON_GPIO GPIO_PIN(PA, BUTTON_PIN) +/** @} */ + +/** + * @brief Initialize board specific hardware, including clock, LEDs and std-IO + */ +void board_init(void); + +#ifdef __cplusplus +} +#endif + +#endif /* BOARD_H */ +/** @} */ diff --git a/boards/samd21-xpro/include/gpio_params.h b/boards/samd21-xpro/include/gpio_params.h new file mode 100644 index 0000000000..9617a99e7b --- /dev/null +++ b/boards/samd21-xpro/include/gpio_params.h @@ -0,0 +1,53 @@ +/* + * Copyright (C) 2017 Travis Griggs + * Copyright (C) 2017 Dan Evans + * + * 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_samd21-xpro + * @{ + * + * @file + * @brief Board specific configuration of direct mapped GPIOs + * + * @author Travis Griggs + * @author Dan Evans + */ + +#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 + }, + { + .name = "Button(SW0)", + .pin = BUTTON_GPIO, + .mode = GPIO_IN_PU + }, +}; + +#ifdef __cplusplus +} +#endif + +#endif /* GPIO_PARAMS_H */ +/** @} */ diff --git a/boards/samd21-xpro/include/periph_conf.h b/boards/samd21-xpro/include/periph_conf.h new file mode 100644 index 0000000000..722b327656 --- /dev/null +++ b/boards/samd21-xpro/include/periph_conf.h @@ -0,0 +1,275 @@ +/* + * Copyright (C) 2017 Travis Griggs + * Copyright (C) 2017 Dan Evans + * + * 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_samd21-xpro + * @{ + * + * @file + * @brief Configuration of CPU peripherals for the Atmel SAM D21 Xplained + * Pro board + * + * @author Travis Griggs + * @author Dan Evans + */ + +#ifndef PERIPH_CONF_H +#define PERIPH_CONF_H + +#include + +#include "cpu.h" +#include "periph_cpu.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @name External oscillator and clock configuration + * + * There are two choices for selection of CORECLOCK: + * + * - 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 this option is 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[] = { + { /* Virtual COM Port */ + .dev = &SERCOM3->USART, + .rx_pin = GPIO_PIN(PA,23), + .tx_pin = GPIO_PIN(PA,22), + .mux = GPIO_MUX_C, + .rx_pad = UART_PAD_RX_1, + .tx_pad = UART_PAD_TX_0 + }, + { /* EXT1 */ + .dev = &SERCOM4->USART, + .rx_pin = GPIO_PIN(PB,9), + .tx_pin = GPIO_PIN(PB,8), + .mux = GPIO_MUX_D, + .rx_pad = UART_PAD_RX_1, + .tx_pad = UART_PAD_TX_0 + }, + { /* EXT2/3 */ + .dev = &SERCOM4->USART, + .rx_pin = GPIO_PIN(PB,11), + .tx_pin = GPIO_PIN(PB,10), + .mux = GPIO_MUX_D, + .rx_pad = UART_PAD_RX_3, + .tx_pad = UART_PAD_TX_2 + } +}; + +/* interrupt function name mapping */ +#define UART_0_ISR isr_sercom3 +#define UART_1_ISR isr_sercom4 +#define UART_2_ISR isr_sercom5 + +#define UART_NUMOF (sizeof(uart_config) / sizeof(uart_config[0])) +/** @} */ + +/** + * @name PWM configuration + * @{ + */ +#define PWM_0_EN 1 +#define PWM_1_EN 0 +#define PWM_2_EN 0 +#define PWM_MAX_CHANNELS 2 +/* for compatibility with test application */ +#define PWM_0_CHANNELS PWM_MAX_CHANNELS +#define PWM_1_CHANNELS PWM_MAX_CHANNELS +#define PWM_2_CHANNELS PWM_MAX_CHANNELS + +/* PWM device configuration */ +static const pwm_conf_t pwm_config[] = { +#if PWM_0_EN + {TCC2, { + /* GPIO pin, MUX value, TCC channel */ + { GPIO_PIN(PA, 12), GPIO_MUX_E, 0 }, + { GPIO_PIN(PA, 13), GPIO_MUX_E, 1 }, + }}, +#endif +#if PWM_1_EN + {TC4, { + /* GPIO pin, MUX value, TCC channel */ + { GPIO_PIN(PB, 12), GPIO_MUX_E, 0 }, + { GPIO_PIN(PB, 13), GPIO_MUX_E, 1 }, + }} +#endif +#if PWM_2_EN + {TC6, { + /* GPIO pin, MUX value, TCC channel */ + { GPIO_PIN(PB, 02), GPIO_MUX_E, 0 }, + { GPIO_PIN(PB, 03), GPIO_MUX_E, 1 }, + }} +#endif +}; + +/* number of devices that are actually defined */ +#define PWM_NUMOF (3U) +/** @} */ + +/** + * @name SPI configuration + * @{ + */ +static const spi_conf_t spi_config[] = { + { + .dev = &SERCOM0->SPI, + .miso_pin = GPIO_PIN(PA, 4), + .mosi_pin = GPIO_PIN(PA, 6), + .clk_pin = GPIO_PIN(PA, 7), + .miso_mux = GPIO_MUX_D, + .mosi_mux = GPIO_MUX_D, + .clk_mux = GPIO_MUX_D, + .miso_pad = SPI_PAD_MISO_0, + .mosi_pad = SPI_PAD_MOSI_2_SCK_3 + }, + { + .dev = &SERCOM1->SPI, + .miso_pin = GPIO_PIN(PA, 16), + .mosi_pin = GPIO_PIN(PA, 18), + .clk_pin = GPIO_PIN(PA, 19), + .miso_mux = GPIO_MUX_C, + .mosi_mux = GPIO_MUX_C, + .clk_mux = GPIO_MUX_C, + .miso_pad = SPI_PAD_MISO_0, + .mosi_pad = SPI_PAD_MOSI_2_SCK_3 + }, + { + .dev = &SERCOM5->SPI, + .miso_pin = GPIO_PIN(PB, 16), + .mosi_pin = GPIO_PIN(PB, 22), + .clk_pin = GPIO_PIN(PB, 23), + .miso_mux = GPIO_MUX_C, + .mosi_mux = GPIO_MUX_C, + .clk_mux = GPIO_MUX_C, + .miso_pad = SPI_PAD_MISO_0, + .mosi_pad = SPI_PAD_MOSI_2_SCK_3 + } +}; + +#define SPI_NUMOF (sizeof(spi_config) / sizeof(spi_config[0])) +/** @} */ + +/** + * @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 SERCOM2->I2CM +#define I2C_0_IRQ SERCOM2_IRQn +#define I2C_0_ISR isr_sercom2 +/* I2C 0 GCLK */ +#define I2C_0_GCLK_ID SERCOM2_GCLK_ID_CORE +#define I2C_0_GCLK_ID_SLOW SERCOM2_GCLK_ID_SLOW +/* I2C 0 pin configuration */ +#define I2C_0_SDA GPIO_PIN(PA, 8) +#define I2C_0_SCL GPIO_PIN(PA, 9) +#define I2C_0_MUX GPIO_MUX_D + +/** + * @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 */ +/** @} */