Merge pull request #6092 from neiljay/pr/add_mips_pic32mx

cpu: Add PIC32MX Support

boards/pic32-clicker/Makefile

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

boards/pic32-clicker/Makefile.features

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+# Put defined MCU peripherals here (in alphabetical order)
+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 = mips32r2

boards/pic32-clicker/Makefile.include

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+export CPU = mips_pic32mx
+export CPU_MODEL=p32mx470f512h
+export INCLUDES += -I$(RIOTBOARD)/$(BOARD)/include/
+export APPDEPS += $(RIOTCPU)/$(CPU)/$(CPU_MODEL)/$(CPU_MODEL).S

boards/pic32-clicker/clicker.c

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+/*
+ * Copyright(C) 2016,2017, Imagination Technologies Limited and/or its
+ *                 affiliated group companies.
+ *
+ * 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.
+ *
+ */
+#include <stdio.h>
+#include <stdint.h>
+#include "periph/uart.h"
+#include "bitarithm.h"
+#include "board.h"
+#include "periph_conf.h"
+
+extern void dummy(void);
+
+void board_init(void)
+{
+    /*
+     * Setup pin mux for UART3 this is the one connected
+     * to the mickroBUS
+     */
+    U3RXREG =  0x2;          /*connect pin RPF5 to UART3 RX*/
+    RPF4R =    0x1;          /*connect pin RPF4 to UART3 TX*/
+    PORTFCLR = BIT5 | BIT4;  /*set '0' on Porf F pins 4 and 5 */
+    TRISFCLR = BIT4;         /*set PortF pin 4 for output */
+    TRISFSET = BIT5;         /*set PortF pin 5 for input */
+    ODCFCLR =  BIT5 | BIT4;  /*set PortF pin 4 and 5 as not open-drain */
+
+    /* intialise UART used for debug (printf) */
+#ifdef DEBUG_VIA_UART
+    uart_init(DEBUG_VIA_UART, DEBUG_UART_BAUD, NULL, 0);
+#endif
+
+    /* Stop the linker from throwing away the PIC32 config register settings */
+    dummy();
+}
+
+void pm_reboot(void)
+{
+    /* TODO, note this is needed to get 'default' example to build */
+}

boards/pic32-clicker/include/board.h

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+/*
+ * Copyright(C) 2016,2017, Imagination Technologies Limited and/or its
+ *                 affiliated group companies.
+ *
+ * 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_pic32-clicker MikroE PIC32 Clicker
+ * @ingroup     boards
+ * @brief       board configuration for the MikroE PIC32 Clicker
+ * @details
+ * see:
+ * http://www.mikroe.com/pic32/pic32mx-clicker/
+ * For more information on the board.
+ *
+ * @{
+ *
+ * @file
+ * @brief       board configuration for the MikroE PIC32 Clicker
+ *
+ * @author      Neil Jones <Neil.Jones@imgtec.com>
+ */
+
+#ifndef _BOARD_H_
+#define _BOARD_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "vendor/p32mx470f512h.h"
+
+/**
+ * @brief Set how many increments of the count register per uS
+ *        needed by the timer code.
+ */
+#define TICKS_PER_US (48)
+
+/**
+ * @brief We are using an External Interrupt Controller (all pic32 devices use this mode)
+ */
+#define EIC_IRQ (1)
+
+/**
+ * @brief   Board level initialisation
+ */
+void board_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* _BOARD_H_ */
+/** @} */

boards/pic32-clicker/include/periph_conf.h

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+/*
+ * Copyright(C) 2016,2017, Imagination Technologies Limited and/or its
+ *                 affiliated group companies.
+ *
+ * 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_pic32-clicker MikroE PIC32 Clicker
+ * @ingroup     boards
+ * @brief       peripheral configuration for the MikroE PIC32 Clicker
+ * @{
+ *
+ * @file
+ * @brief       peripheral configuration for the MikroE PIC32 Clicker
+ *
+ * @author       Neil Jones <Neil.Jones@imgtec.com>
+ */
+
+#ifndef _PERIPH_CONF_H_
+#define _PERIPH_CONF_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/**
+ * @brief The peripheral clock is required for the UART Baud rate calculation
+ *        It is configured by the 'config' registers (see pic32_config_settings.c)
+ *        Note 120MHz is the max F for this device.
+ */
+#define PERIPHERAL_CLOCK (96000000)  /* Hz */
+
+/**
+ * @brief   Timer definitions
+ * @{
+ */
+#define TIMER_NUMOF         (1)
+#define TIMER_0_CHANNELS    (3)
+/** @} */
+
+/**
+  * @brief   UART Definitions
+  *          There are 4 UARTS available on this CPU.
+  *          We route debug via UART3 on this board,
+  *          this is the UART connected to the MikroBUS
+  *
+  *          Note Microchip number the UARTS 1->4
+  * @{
+  */
+#define UART_NUMOF          (4)
+#define DEBUG_VIA_UART      (3)
+#define DEBUG_UART_BAUD     (9600)
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+/** @} */

boards/pic32-clicker/pic32_config_settings.c

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+/*
+ * Copyright(C) 2016,2017, Imagination Technologies Limited and/or its
+ *                 affiliated group companies.
+ *
+ * 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.
+ *
+ */
+
+#include <stdint.h>
+#include "vendor/p32mx470f512h.h"
+/*
+ *  DEVCFG3  @ 0x1FC02FF0
+ *
+ *
+ *  USERID
+ *  FSRSSEL     7   Assign IPL 7 to a shadow register set.
+ *  PMDLIWAY    1
+ *  IOL1WAY     1
+ *  FUSBIDIO    OFF USB USBID Selection Controlled by Port Function
+ *  FVBUSONIO   ON  VBUSON pin is controlled by the USB module function
+
+ */
+volatile uint32_t _DEVCFG3 __attribute__((used, section(".devcfg3"))) =
+    0x0 /* unused bits must be 0 */
+    | (_DEVCFG3_USERID_MASK     &  0xFFFF   << _DEVCFG3_USERID_POSITION)
+    | (_DEVCFG3_FSRSSEL_MASK    &  7        << _DEVCFG3_FSRSSEL_POSITION)
+    | (_DEVCFG3_PMDL1WAY_MASK   &  1        << _DEVCFG3_PMDL1WAY_POSITION)
+    | (_DEVCFG3_IOL1WAY_MASK    &  1        << _DEVCFG3_IOL1WAY_POSITION)
+    | (_DEVCFG3_FUSBIDIO_MASK   &  0        << _DEVCFG3_FUSBIDIO_POSITION)
+    | (_DEVCFG3_FVBUSONIO_MASK  &  1        << _DEVCFG3_FVBUSONIO_POSITION);
+
+
+
+/* Note this sets the PLL to 96MHz (8/2 * 24) which is only supported by 3xx
+ * and 4xx parts and assumes an 8MHz XTAL.
+ *
+ * 1xx/2xx/53x/57x only support 50MHz (use 8/2 x 24 / 2 = 48Mhz)
+ * 5xx/6xx/7xx only support 80Mhz (use 8/2 * 20 = 80MHz).
+ *
+ *
+ * DEVCFG2  @ 0x1FC02FF4 (
+ *
+ *  FPLLIDIV    DIV_2     System PLL Input Divider  2x Divider
+ *  FPLLMUL     24x       System PLL Multiplier PLL Multiply by 24, 8/2 x 24 = 96MHz
+ *  UPLLIDIV    DIV_12x   USB PLL divider
+ *  UPLLEN      OFF       USB PLL disabled
+ *  FPLLODIV    DIV_1     System PLL Output Clock Divider   1x Divider
+ */
+
+volatile uint32_t _DEVCFG2 __attribute__ ((used, section(".devcfg2"))) =
+    0xffffffff /* unused bits must be 1 */
+    & (~_DEVCFG2_FPLLIDIV_MASK   |  1        << _DEVCFG2_FPLLIDIV_POSITION)
+    & (~_DEVCFG2_FPLLMUL_MASK    |  7        << _DEVCFG2_FPLLMUL_POSITION)
+    & (~_DEVCFG2_UPLLIDIV_MASK   |  7        << _DEVCFG2_UPLLIDIV_POSITION)
+    & (~_DEVCFG2_UPLLEN_MASK     |  0        << _DEVCFG2_UPLLEN_POSITION)
+    & (~_DEVCFG2_FPLLODIV_MASK   |  0        << _DEVCFG2_FPLLODIV_POSITION);
+
+/*
+ * DEVCFG1  @ 0x1FC02FF8
+ *
+ * FNOSC     PRIPLL   Oscillator Selection Bits Primary Osc w/PLL (XT+,HS+,EC+PLL)
+ * FSOSCEN   ON       Secondary Oscillator Enable Enabled
+ * IESO      ON       Internal/External Switch Over Enabled
+ * OSCIOFNC  OFF CLKO Output Signal Active on the OSCO Pin Disabled
+ * FPBDIV    DIV_1    Peripheral Clock Divisor  Pb_Clk is Sys_Clk/1
+ * FCKSM     CSDCMD   Clock Switching and Monitor Selection Clock Switch Disable, FSCM Disabled
+ * WDTPS     PS2      Watchdog Timer Postscaler 1:2
+ * WINDIS    OFF      Watchdog Timer Window Enable Watchdog Timer is in Non-Window Mode
+ * FWDTEN    OFF      Watchdog Timer Enable WDT Disabled (SWDTEN Bit Controls)
+ * FWDTWINSZ 25%
+ */
+
+volatile uint32_t _DEVCFG1 __attribute__ ((used, section(".devcfg1"))) =
+    0xffffffff /* unused bits must be 1 */
+    & (~_DEVCFG1_FNOSC_MASK     |  3        << _DEVCFG1_FNOSC_POSITION)
+    & (~_DEVCFG1_FSOSCEN_MASK   |  1        << _DEVCFG1_FSOSCEN_POSITION)
+    & (~_DEVCFG1_IESO_MASK      |  1        << _DEVCFG1_IESO_POSITION)
+    & (~_DEVCFG1_POSCMOD_MASK   |  1        << _DEVCFG1_POSCMOD_POSITION)
+    & (~_DEVCFG1_OSCIOFNC_MASK  |  1        << _DEVCFG1_OSCIOFNC_POSITION)
+    & (~_DEVCFG1_FPBDIV_MASK    |  0        << _DEVCFG1_FPBDIV_POSITION)
+    & (~_DEVCFG1_FCKSM_MASK     |  3        << _DEVCFG1_FCKSM_POSITION)
+    & (~_DEVCFG1_WDTPS_MASK     |  1        << _DEVCFG1_WDTPS_POSITION)
+    & (~_DEVCFG1_WINDIS_MASK    |  0        << _DEVCFG1_WINDIS_POSITION)
+    & (~_DEVCFG1_FWDTEN_MASK    |  0        << _DEVCFG1_FWDTEN_POSITION)
+    & (~_DEVCFG1_FWDTWINSZ_MASK |  3        << _DEVCFG1_FWDTWINSZ_POSITION);
+
+
+/*
+ * DEVCFG0  @ 0x1FC02FFC
+ *
+ * DEBUG    OFF      Background Debugger Enable Debugger is disabled
+ * JTAGEN   ON       JTAG Enable    JTAG Port Enabled
+ * ICESEL   ICS_PGx1 CE/ICD Comm Channel Select Communicate on PGEC1/PGED1
+ * PWP      OFF      Program Flash Write Protect Disable
+ * BWP      OFF      Boot Flash Write Protect bit Protection Disabled
+ * CP       OFF      Code Protect Protection Disabled
+ */
+
+volatile uint32_t _DEVCFG0 __attribute__ ((used, section(".devcfg0"))) =
+    0x7fffffff /* unused bits must be 1 except MSB which is 0 for some odd reason */
+    & (~_DEVCFG0_DEBUG_MASK     |  3        << _DEVCFG0_DEBUG_POSITION)
+    & (~_DEVCFG0_JTAGEN_MASK    |  1        << _DEVCFG0_JTAGEN_POSITION)
+    & (~_DEVCFG0_ICESEL_MASK    |  3        << _DEVCFG0_ICESEL_POSITION)
+    & (~_DEVCFG0_PWP_MASK       |  0xff     << _DEVCFG0_PWP_POSITION)
+    & (~_DEVCFG0_BWP_MASK       |  1        << _DEVCFG0_BWP_POSITION)
+    & (~_DEVCFG0_CP_MASK        |  1        << _DEVCFG0_CP_POSITION);
+
+/*
+ * Without a reference to this function from elsewhere LD throws the whole
+ * compile unit away even though the data is 'volatile' and 'used' !!!
+ */
+void dummy(void)
+{
+    (void)1;
+}

cpu/mips_pic32mx/Makefile

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+MODULE = cpu
+
+USEMODULE += mips_pic32_common
+USEMODULE += mips32r2_common
+
+DIRS += $(RIOTCPU)/mips_pic32_common $(RIOTCPU)/mips32r2_common
+
+include $(RIOTBASE)/Makefile.base

cpu/mips_pic32mx/Makefile.include

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+export MEMORY_BASE=0x80000000
+export MEMORY_SIZE=128K
+export APP_START=0x80000000
+export ROMABLE = 1
+
+include $(RIOTCPU)/Makefile.include.mips_common
+
+# define build specific options
+export CFLAGS += -march=m4k -DSKIP_COPY_TO_RAM
+
+export USEMODULE += periph
+
+export LINKFLAGS += -Wl,--defsym,__use_excpt_boot=0 $(CFLAGS)
+export LINKFLAGS += -T$(RIOTCPU)/$(CPU)/ldscripts/pic32mx512_12_128_uhi.ld
+
+# the pickit programmer (MPLAB-IPE) wants physical addresses in the hex file!!
+export OBJCOPY = objcopy #use system objcopy as toolchain one is broken.
+export OFLAGS += -O ihex \
+				--change-section-lma .bootflash-0xA0000000 \
+				--change-section-lma .exception_vector-0x80000000 \
+				--change-section-lma .text-0x80000000 \
+				--change-section-lma .init-0x80000000 \
+				--change-section-lma .fini-0x80000000 \
+				--change-section-lma .eh_frame-0x80000000 \
+				--change-section-lma .gcc_except_table-0x80000000 \
+				--change-section-lma .jcr-0x80000000 \
+				--change-section-lma .ctors-0x80000000 \
+				--change-section-lma .dtors-0x80000000 \
+				--change-section-lma .rodata-0x80000000 \
+				--change-section-lma .data-0x80000000 \
+				--change-section-lma .bss-0x80000000 \
+				--change-section-lma .startdata-0x80000000 \