boards/arduino-mkrzero: add initial support

boards/arduino-mkrzero/Makefile

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+MODULE = board
+
+include $(RIOTBASE)/Makefile.base

boards/arduino-mkrzero/Makefile.dep

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+ifneq (,$(filter saul_default,$(USEMODULE)))
+  USEMODULE += saul_gpio
+endif

boards/arduino-mkrzero/Makefile.features

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+# Put defined MCU peripherals here (in alphabetical order)
+FEATURES_PROVIDED += periph_cpuid
+FEATURES_PROVIDED += periph_gpio
+FEATURES_PROVIDED += periph_i2c
+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-mkrzero/Makefile.include

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+# define the cpu used by Arduino/Genuino MKRZERO board
+export CPU = samd21
+export CPU_MODEL = samd21g18a_mkr
+export CFLAGS += -D__SAMD21G18A__
+
+# set default port depending on operating system
+PORT_LINUX ?= /dev/ttyACM0
+PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.usbmodem*)))
+
+# define board specific flasher options
+export FLASHER = $(RIOTBOARD)/$(BOARD)/dist/flash.sh
+export OFLAGS = -O binary
+
+# setup the boards dependencies
+include $(RIOTBOARD)/$(BOARD)/Makefile.dep
+
+# setup serial terminal
+include $(RIOTMAKE)/tools/serial.inc.mk

boards/arduino-mkrzero/board.c

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+/*
+ * Copyright (C)  2017 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-mkrzero
+ *
+ * @file
+ * @brief       Board specific implementations for the Arduino MKRZERO board
+ *
+ * @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-mkrzero/dist/flash.sh

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+#!/bin/sh
+
+# To put the board in update mode, manually double press the reset button before
+# running `make flash`.
+
+if [ `uname` = "Linux" ]; then
+    stty -F "${PORT}" raw ispeed 1200 ospeed 1200 cs8 -cstopb ignpar eol 255 eof 255
+    "${RIOTBOARD}"/"${BOARD}"/dist/bossac --port=${PORT} -i -b -U true -i -e -w -v "${HEXFILE}" -R
+elif [ `uname` = "Darwin" ]; then
+    stty -f ${PORT} raw ispeed 1200 ospeed 1200 cs8 -cstopb ignpar eol 255 eof 255
+    "${RIOTBOARD}"/"${BOARD}"/dist/bossac_osx --port=${PORT} -i -b -U true -i -e -w -v "${HEXFILE}" -R
+else
+    echo "CAUTION: No flash tool for your host system found!"
+fi
+
+

boards/arduino-mkrzero/include/arduino_board.h

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+/*
+ * Copyright (C)  2017 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-mkzero
+ * @{
+ *
+ * @file
+ * @brief       Board specific configuration for the Arduino API
+ *
+ * @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 6 on this board
+ */
+#define ARDUINO_LED         (6)
+
+/**
+ * @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_A0,
+    ARDUINO_PIN_A1,
+    ARDUINO_PIN_A2,
+    ARDUINO_PIN_A3,
+    ARDUINO_PIN_A4,
+    ARDUINO_PIN_A5,
+    ARDUINO_PIN_A6,
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ARDUINO_BOARD_H */
+/** @} */

boards/arduino-mkrzero/include/arduino_pinmap.h

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+/*
+ * Copyright (C)  2017 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-mkrzero
+ * @{
+ *
+ * @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, 22)
+#define ARDUINO_PIN_1           GPIO_PIN(PA, 23)
+#define ARDUINO_PIN_2           GPIO_PIN(PA, 10)
+#define ARDUINO_PIN_3           GPIO_PIN(PA, 11)
+#define ARDUINO_PIN_4           GPIO_PIN(PB, 10)
+#define ARDUINO_PIN_5           GPIO_PIN(PB, 11)
+#define ARDUINO_PIN_6           GPIO_PIN(PA, 20) /* on-board LED */
+#define ARDUINO_PIN_7           GPIO_PIN(PA, 21)
+
+#define ARDUINO_PIN_A0          GPIO_PIN(PA, 2)
+#define ARDUINO_PIN_A1          GPIO_PIN(PB, 2)
+#define ARDUINO_PIN_A2          GPIO_PIN(PB, 3)
+#define ARDUINO_PIN_A3          GPIO_PIN(PA, 4)
+#define ARDUINO_PIN_A4          GPIO_PIN(PA, 5)
+#define ARDUINO_PIN_A5          GPIO_PIN(PA, 6)
+#define ARDUINO_PIN_A6          GPIO_PIN(PA, 7)
+/** @ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ARDUINO_PINMAP_H */
+/** @} */

boards/arduino-mkrzero/include/board.h

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+/*
+ * Copyright (C) 2017 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-mkrzero Arduino MKRZERO
+ * @ingroup     boards
+ * @brief       Support for the Arduino MKRZERO board.
+ * @{
+ *
+ * @file
+ * @brief       Board specific definitions for the Arduino MKRZERO
+ *              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, 20)
+
+#define LED_PORT            PORT->Group[PA]
+#define LED0_MASK           (1 << 20)
+
+#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-mkrzero/include/gpio_params.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (C)  2017 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-mkrzero
+ * @{
+ *
+ * @file
+ * @brief     Board specific configuration of direct mapped GPIOs
+ *
+ * @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-mkrzero/include/periph_conf.h

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+/*
+ * Copyright (C)  2016 Freie Universität Berlin
+ *                2017 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-mkrzero
+ * @{
+ *
+ * @file
+ * @brief       Configuration of CPU peripherals for Arduino MKRZERO 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[] = {
+    {
+        .dev    = &SERCOM5->USART,
+        .rx_pin = GPIO_PIN(PB,23),
+        .tx_pin = GPIO_PIN(PB,22),
+        .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_sercom5
+
+#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, 2), 0, 2  }, \
+    { GPIO_PIN(PB, 3), 0, 3  }, \
+    { GPIO_PIN(PA, 4), 0, 4  }, \
+    { GPIO_PIN(PA, 5), 0, 5  }, \
+    { GPIO_PIN(PA, 6), 0, 10 }, \
+    { GPIO_PIN(PA, 7), 0, 10 }}
+
+#define ADC_NUMOF           (6)
+/** @} */
+
+/**
+ * @name SPI configuration
+ * @{
+ */
+static const spi_conf_t spi_config[] = {
+    {
+        .dev      = &SERCOM1->SPI,
+        .miso_pin = GPIO_PIN(PA, 19),
+        .mosi_pin = GPIO_PIN(PB, 16),
+        .clk_pin  = GPIO_PIN(PB, 17),
+        .miso_mux = GPIO_MUX_D,
+        .mosi_mux = GPIO_MUX_D,
+        .clk_mux  = GPIO_MUX_D,
+        .miso_pad = SPI_PAD_MISO_3,
+        .mosi_pad = SPI_PAD_MOSI_0_SCK_1
+    },
+    {
+        .dev      = &SERCOM2->SPI,
+        .miso_pin = GPIO_PIN(PA, 15),
+        .mosi_pin = GPIO_PIN(PA, 12),
+        .clk_pin  = GPIO_PIN(PA, 13),
+        .miso_mux = GPIO_MUX_D,
+        .mosi_mux = GPIO_MUX_D,
+        .clk_mux  = GPIO_MUX_D,
+        .miso_pad = SPI_PAD_MISO_3,
+        .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           SERCOM0->I2CM
+#define I2C_0_IRQ           SERCOM0_IRQn
+#define I2C_0_ISR           isr_sercom0
+/* I2C 0 GCLK */
+#define I2C_0_GCLK_ID       SERCOM0_GCLK_ID_CORE
+#define I2C_0_GCLK_ID_SLOW  SERCOM0_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_C
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PERIPH_CONF_H */
+/** @} */