diff --git a/boards/arduino-mkrzero/Makefile b/boards/arduino-mkrzero/Makefile new file mode 100644 index 0000000000..f8fcbb53a0 --- /dev/null +++ b/boards/arduino-mkrzero/Makefile @@ -0,0 +1,3 @@ +MODULE = board + +include $(RIOTBASE)/Makefile.base diff --git a/boards/arduino-mkrzero/Makefile.dep b/boards/arduino-mkrzero/Makefile.dep new file mode 100644 index 0000000000..5472bf8b8d --- /dev/null +++ b/boards/arduino-mkrzero/Makefile.dep @@ -0,0 +1,3 @@ +ifneq (,$(filter saul_default,$(USEMODULE))) + USEMODULE += saul_gpio +endif diff --git a/boards/arduino-mkrzero/Makefile.features b/boards/arduino-mkrzero/Makefile.features new file mode 100644 index 0000000000..9e10c5ba07 --- /dev/null +++ b/boards/arduino-mkrzero/Makefile.features @@ -0,0 +1,14 @@ +# 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 diff --git a/boards/arduino-mkrzero/Makefile.include b/boards/arduino-mkrzero/Makefile.include new file mode 100644 index 0000000000..cb85c132b0 --- /dev/null +++ b/boards/arduino-mkrzero/Makefile.include @@ -0,0 +1,18 @@ +# 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 $(RIOTMAKE)/tools/serial.inc.mk diff --git a/boards/arduino-mkrzero/board.c b/boards/arduino-mkrzero/board.c new file mode 100644 index 0000000000..9cc76bc07e --- /dev/null +++ b/boards/arduino-mkrzero/board.c @@ -0,0 +1,30 @@ +/* + * Copyright (C) 2017 Inria + * + * This file is subject to the terms and conditions of the GNU Lesser + * General Public License v2.1. See the file LICENSE in the top level + * directory for more details. + */ + +/** + * @ingroup boards_arduino-mkrzero + * + * @file + * @brief Board specific implementations for the Arduino MKRZERO board + * + * @author Alexandre Abadie + * + * @} + */ + +#include "cpu.h" +#include "board.h" +#include "periph/gpio.h" + +void board_init(void) +{ + /* initialize the CPU */ + cpu_init(); + /* initialize the on-board Amber "L" LED on pin PA17 */ + gpio_init(LED0_PIN, GPIO_OUT); +} diff --git a/boards/arduino-mkrzero/dist/bossac b/boards/arduino-mkrzero/dist/bossac new file mode 100755 index 0000000000..2a4fb679ff Binary files /dev/null and b/boards/arduino-mkrzero/dist/bossac differ diff --git a/boards/arduino-mkrzero/dist/bossac_osx b/boards/arduino-mkrzero/dist/bossac_osx new file mode 100755 index 0000000000..49a20b38a9 Binary files /dev/null and b/boards/arduino-mkrzero/dist/bossac_osx differ diff --git a/boards/arduino-mkrzero/dist/flash.sh b/boards/arduino-mkrzero/dist/flash.sh new file mode 100755 index 0000000000..cb9a41d31e --- /dev/null +++ b/boards/arduino-mkrzero/dist/flash.sh @@ -0,0 +1,16 @@ +#!/bin/sh + +# To put the board in update mode, manually double press the reset button before +# running `make flash`. + +if [ `uname` = "Linux" ]; then + stty -F "${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 + + diff --git a/boards/arduino-mkrzero/include/arduino_board.h b/boards/arduino-mkrzero/include/arduino_board.h new file mode 100644 index 0000000000..8f1f952985 --- /dev/null +++ b/boards/arduino-mkrzero/include/arduino_board.h @@ -0,0 +1,59 @@ +/* + * 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 + */ + +#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 */ +/** @} */ diff --git a/boards/arduino-mkrzero/include/arduino_pinmap.h b/boards/arduino-mkrzero/include/arduino_pinmap.h new file mode 100644 index 0000000000..849ac9f7ff --- /dev/null +++ b/boards/arduino-mkrzero/include/arduino_pinmap.h @@ -0,0 +1,58 @@ +/* + * 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 + */ + +#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 */ +/** @} */ diff --git a/boards/arduino-mkrzero/include/board.h b/boards/arduino-mkrzero/include/board.h new file mode 100644 index 0000000000..91a2eec626 --- /dev/null +++ b/boards/arduino-mkrzero/include/board.h @@ -0,0 +1,66 @@ +/* + * 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 + */ + +#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 */ +/** @} */ diff --git a/boards/arduino-mkrzero/include/gpio_params.h b/boards/arduino-mkrzero/include/gpio_params.h new file mode 100644 index 0000000000..87dd6dc3e4 --- /dev/null +++ b/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 + */ + +#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 */ +/** @} */ diff --git a/boards/arduino-mkrzero/include/periph_conf.h b/boards/arduino-mkrzero/include/periph_conf.h new file mode 100644 index 0000000000..9ccbec5c0a --- /dev/null +++ b/boards/arduino-mkrzero/include/periph_conf.h @@ -0,0 +1,234 @@ +/* + * 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 + * @author Hauke Petersen + * @author Peter Kietzmann + * @author Alexandre Abadie + */ + +#ifndef PERIPH_CONF_H +#define PERIPH_CONF_H + +#include + +#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 */ +/** @} */