ports/snekboard: Add snekboard port

This is a custom SAMD21G board with 9V motor controllers designed to
operate Lego devices.

Signed-off-by: Keith Packard <keithp@keithp.com>

ports/snekboard/.gitignore

@@ -0,0 +1,6 @@
+snek-board*.bin
+snek-board*.map
+snek-board*.uf2
+snek-board*.elf
+*.o
+ao-product.h

ports/snekboard/Makefile

@@ -0,0 +1,58 @@
+#
+# Copyright © 2019 Keith Packard <keithp@keithp.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# General Public License for more details.
+#
+
+SNEK_ROOT = ../..
+
+SNEK_SAMD21 = $(SNEK_ROOT)/chips/samd21
+
+PROGNAME=snek-board
+PRODUCT_NAME=SnekBoard
+
+BOOTLOADER_BIN=bootloader-snekboard-v3.7.0.bin
+
+include $(SNEK_SAMD21)/snek-samd21.defs
+
+SNEK_LOCAL_SRC = \
+	$(SNEK_SAMD21_SRC)
+
+SNEK_LOCAL_INC = \
+	$(SNEK_SAMD21_INC)
+
+SNEK_LOCAL_BUILTINS = \
+	$(SNEK_SAMD21_BUILTINS) \
+	snek-board.builtin
+
+include $(SNEK_ROOT)/snek-install.defs
+
+SRC=$(SNEK_SRC)
+OBJ=$(SRC:.c=.o)
+
+all: $(ELF) $(BIN) $(UF2)
+
+$(PROG): Makefile $(OBJ)
+	$(call quiet,CC) $(LDFLAGS) -Wl,-M=$(MAP) -o $@ $(OBJ) $(LIBS)
+
+$(OBJ): $(SNEK_INC)
+
+distclean:	clean
+
+clean::
+	rm -f *.o $(PROGNAME)*.elf $(PROGNAME)*.bin $(PROGNAME)*.uf2 $(PROGNAME)*.map ao-product.h
+
+install:
+	install -d $(DESTDIR)$(SHAREDIR)
+	install -m 0644 $(UF2) $(DESTDIR)$(SHAREDIR)
+	install -m 0644 $(BOOTLOADER_BIN) $(DESTDIR)$(SHAREDIR)
+
+uninstall:

ports/snekboard/ao-pins.h

@@ -0,0 +1,250 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+/* Run dffl48m clock at 48MHz */
+#define AO_DFLL48M		48000000
+
+#define AO_AHB_PRESCALER	1
+#define AO_APBA_PRESCALER	1
+
+#define HAS_SERIAL_0		0
+#define USE_SERIAL_0_STDIN	0
+#define SERIAL_0_PA10_PA11	0
+
+#define HAS_USB			1
+#define AO_USB_OUT_HOOK		1
+#define USE_USB_FIFO		1
+#define HAS_BEEP		0
+
+#define AO_SNEK_TIMER_FUNC_E	0
+#define AO_SNEK_TIMER_FUNC_F	0x80
+#define AO_SNEK_TIMER_FUNC_MASK	0x80
+#define AO_SNEK_TIMER_DEV_TCC	0
+#define AO_SNEK_TIMER_DEV_TC	0x40
+#define AO_SNEK_TIMER_DEV_MASK	0x40
+#define AO_SNEK_TIMER_CH_MASK	0x0f
+
+#define AO_SNEK_TIMER_CH(ch,func,dev)	((ch) | (func) | (dev))
+
+/*
+ * Available timers:
+ *
+ *	TCC0.[0-7]	0-3 overlap 4-7		0,1,2,3
+ *	TCC1.[0-3]	0-1 overlap 2-3		0,1
+ *	TCC2.[0-1]				0,1
+ *	TC3.[0-1]				0,1
+ *	TC4.[0-1]				0,1
+ *	TC5.[0-1]
+ *
+ *	1	PA00
+ *	2	PA01
+ *	3	PA02	AIN0
+ *	4	PA03	AIN1
+ *	9	PA04	AIN4	TCC0.0/E
+ *	10	PA05	AIN5	TCC0.1/E
+ *	11	PA06	AIN6	TCC1.0/E		ANALOG3	TCC1.0/E
+ *	12	PA07	AIN7	TCC1.1/E		ANALOG4 TCC1.0/E
+ * 	13	PA08	AIN16	TCC0.0/E TCC1.2/F	ANALOG5 TCC0.0/E
+ * 	14	PA09	AIN17	TCC0.1/E TCC1.3/F	ANALOG6	TCC0.1/E
+ * 	15	PA10	AIN18	TCC1.0/E TCC0.2/F	ANALOG7 TCC0.2/F
+ * 	16	PA11	AIN19	TCC1.1/E TCC0.3/F	ANALOG8 TCC0.3/F
+ *	21	PA12		TCC2.0/E TCC0.6/F	M1_PWR	TCC2.0/E
+ *	22	PA13		TCC2.1/E TCC0.7/F	M2_PWR	TCC2.1/E
+ *	23	PA14					XOSC
+ *	24	PA15					XOSC
+ *	25	PA16		TCC2.0/E TCC0.6/F	M1_DIR
+ *	26	PA17		TCC2.1/E TCC0.7/F	M2_DIR
+ *	27	PA18		TC3.0/E TCC0.2/F	M3_PWR TC3.0/E
+ *	28	PA19		TC3.1/E TCC0.3/F	M4_PWR TC3.1/E
+ *	29	PA20					M3_DIR
+ *	30	PA21					M4_DIR
+ *	31	PA22					DIGITAL1
+ *	32	PA23					DIGITAL2
+ *	33	PA24		TC5.0			DATA-
+ *	34	PA25		TC5.1			DATA+
+ *	39	PA27					DIGITAL3
+ *	41	PA28					DIGITAL4
+ *	45	PA30					DIGITAL5
+ *	46	PA31					DIGITAL6
+ *	none		AIN8
+ *	none		AIN9
+ * 	47	PB02	AIN10				DIGITAL7
+ * 	48	PB03	AIN11				DIGITAL8
+ *	7	PB08	AIN2	TC4.0/E			ANALOG1 TC4.0/E
+ *	8	PB09	AIN3	TC4.1/E			ANALOG2 TC4.1/E
+ *	19	PB10		TC5.0
+ *	20	PB11		TC5.1
+ *	37	PB22
+ *	38	PB23
+
+ * ANALOG1	PB08	AIN2	TC4.0/E		0
+ * ANALOG2	PB09	AIN3	TC4.1/E		1
+ * ANALOG3	PA06	AIN6	TCC1.0/E	2
+ * ANALOG4	PA07	AIN7	TCC1.1/E	3
+ * ANALOG5	PA08	AIN16	TCC0.0/E	4
+ * ANALOG6	PA09	AIN17	TCC0.1/E	5
+ * ANALOG7	PA10	AIN18	TCC0.2/F	6
+ * ANALOG8	PA11	AIN19	TCC0.3/F	7
+ *
+ * M1_PWR	PA12		TCC2.0/E	8
+ * M1_DIR	PA16				9
+ * M2_PWR	PA13		TCC2.1/E	10
+ * M2_DIR	PA17				11
+ * M3_PWR	PA18		TC3.0/E		12
+ * M3_DIR	PA20				13
+ * M4_PWR	PA19		TC3.1/E		14
+ * M4_DIR	PA21				15
+ *
+ * NEOPIXEL	PB11				16
+ *
+ * LED		PA02
+ */
+
+/* ANALOG1 */
+#define AO_SNEK_GPIO_0		(&samd21_port_b)
+#define AO_SNEK_PIN_0		8
+#define AO_SNEK_TIMER_0		(&samd21_tc4)
+#define AO_SNEK_CHANNEL_0	AO_SNEK_TIMER_CH(0, AO_SNEK_TIMER_FUNC_E, AO_SNEK_TIMER_DEV_TC)
+#define AO_SNEK_ADC_0		2
+
+/* ANALOG2 */
+#define AO_SNEK_GPIO_1		(&samd21_port_b)
+#define AO_SNEK_PIN_1		9
+#define AO_SNEK_TIMER_1		(&samd21_tc4)
+#define AO_SNEK_CHANNEL_1	AO_SNEK_TIMER_CH(1, AO_SNEK_TIMER_FUNC_E, AO_SNEK_TIMER_DEV_TC)
+#define AO_SNEK_ADC_1		3
+
+/* ANALOG3 */
+#define AO_SNEK_GPIO_2		(&samd21_port_a)
+#define AO_SNEK_PIN_2		6
+#define AO_SNEK_TIMER_2		(&samd21_tcc1)
+#define AO_SNEK_CHANNEL_2	AO_SNEK_TIMER_CH(0, AO_SNEK_TIMER_FUNC_E, AO_SNEK_TIMER_DEV_TCC)
+#define AO_SNEK_ADC_2		6
+
+/* ANALOG4 */
+#define AO_SNEK_GPIO_3		(&samd21_port_a)
+#define AO_SNEK_PIN_3		7
+#define AO_SNEK_TIMER_3		(&samd21_tcc1)
+#define AO_SNEK_CHANNEL_3	AO_SNEK_TIMER_CH(1, AO_SNEK_TIMER_FUNC_E, AO_SNEK_TIMER_DEV_TCC)
+#define AO_SNEK_ADC_3		7
+
+/* ANALOG5 */
+#define AO_SNEK_GPIO_4		(&samd21_port_a)
+#define AO_SNEK_PIN_4		8
+#define AO_SNEK_TIMER_4		(&samd21_tcc0)
+#define AO_SNEK_CHANNEL_4	AO_SNEK_TIMER_CH(0, AO_SNEK_TIMER_FUNC_E, AO_SNEK_TIMER_DEV_TCC)
+#define AO_SNEK_ADC_4		16
+
+/* ANALOG6 */
+#define AO_SNEK_GPIO_5		(&samd21_port_a)
+#define AO_SNEK_PIN_5		9
+#define AO_SNEK_TIMER_5		(&samd21_tcc0)
+#define AO_SNEK_CHANNEL_5	AO_SNEK_TIMER_CH(1, AO_SNEK_TIMER_FUNC_E, AO_SNEK_TIMER_DEV_TCC)
+#define AO_SNEK_ADC_5		17
+
+/* ANALOG7 */
+#define AO_SNEK_GPIO_6		(&samd21_port_a)
+#define AO_SNEK_PIN_6		10
+#define AO_SNEK_TIMER_6		(&samd21_tcc0)
+#define AO_SNEK_CHANNEL_6	AO_SNEK_TIMER_CH(2, AO_SNEK_TIMER_FUNC_F, AO_SNEK_TIMER_DEV_TCC)
+#define AO_SNEK_ADC_6		18
+
+/* ANALOG8 */
+#define AO_SNEK_GPIO_7		(&samd21_port_a)
+#define AO_SNEK_PIN_7		11
+#define AO_SNEK_TIMER_7		(&samd21_tcc0)
+#define AO_SNEK_CHANNEL_7	AO_SNEK_TIMER_CH(3, AO_SNEK_TIMER_FUNC_F, AO_SNEK_TIMER_DEV_TCC)
+#define AO_SNEK_ADC_7		19
+
+/* MOTOR1_POWER */
+#define AO_SNEK_GPIO_8		(&samd21_port_a)
+#define AO_SNEK_PIN_8		12
+#define AO_SNEK_TIMER_8		(&samd21_tcc2)
+#define AO_SNEK_CHANNEL_8	AO_SNEK_TIMER_CH(0, AO_SNEK_TIMER_FUNC_E, AO_SNEK_TIMER_DEV_TCC)
+#define AO_SNEK_ADC_8		0xff
+
+/* MOTOR1_DIR */
+#define AO_SNEK_GPIO_9		(&samd21_port_a)
+#define AO_SNEK_PIN_9		16
+#define AO_SNEK_TIMER_9		NULL
+#define AO_SNEK_CHANNEL_9	0
+#define AO_SNEK_ADC_9		0xff
+
+/* MOTOR2_POWER */
+#define AO_SNEK_GPIO_10		(&samd21_port_a)
+#define AO_SNEK_PIN_10		13
+#define AO_SNEK_TIMER_10	(&samd21_tcc2)
+#define AO_SNEK_CHANNEL_10	AO_SNEK_TIMER_CH(1, AO_SNEK_TIMER_FUNC_E, AO_SNEK_TIMER_DEV_TCC)
+#define AO_SNEK_ADC_10		0xff
+
+/* MOTOR2_DIR */
+#define AO_SNEK_GPIO_11		(&samd21_port_a)
+#define AO_SNEK_PIN_11		17
+#define AO_SNEK_TIMER_11	NULL
+#define AO_SNEK_CHANNEL_11	0
+#define AO_SNEK_ADC_11		0xff
+
+/* MOTOR3_POWER */
+#define AO_SNEK_GPIO_12		(&samd21_port_a)
+#define AO_SNEK_PIN_12		18
+#define AO_SNEK_TIMER_12	(&samd21_tc3)
+#define AO_SNEK_CHANNEL_12	AO_SNEK_TIMER_CH(0, AO_SNEK_TIMER_FUNC_E, AO_SNEK_TIMER_DEV_TC)
+#define AO_SNEK_ADC_12		0xff
+
+/* MOTOR3_DIR */
+#define AO_SNEK_GPIO_13		(&samd21_port_a)
+#define AO_SNEK_PIN_13		20
+#define AO_SNEK_TIMER_13	NULL
+#define AO_SNEK_CHANNEL_13	0
+#define AO_SNEK_ADC_13		0xff
+
+/* MOTOR4_POWER */
+#define AO_SNEK_GPIO_14		(&samd21_port_a)
+#define AO_SNEK_PIN_14		19
+#define AO_SNEK_TIMER_14	(&samd21_tc3)
+#define AO_SNEK_CHANNEL_14	AO_SNEK_TIMER_CH(1, AO_SNEK_TIMER_FUNC_E, AO_SNEK_TIMER_DEV_TC)
+#define AO_SNEK_ADC_14		0xff
+
+/* MOTOR4_DIR */
+#define AO_SNEK_GPIO_15		(&samd21_port_a)
+#define AO_SNEK_PIN_15		21
+#define AO_SNEK_TIMER_15	NULL
+#define AO_SNEK_CHANNEL_15	0
+#define AO_SNEK_ADC_15		0xff
+
+/* NEOPIXEL */
+#define AO_SNEK_GPIO_16		(&samd21_port_b)
+#define AO_SNEK_PIN_16  	11
+#define AO_SNEK_TIMER_16	NULL
+#define AO_SNEK_CHANNEL_16	0
+#define AO_SNEK_ADC_16		0xff
+
+#define AO_SNEK_NUM_PIN		17
+
+#define LED_0_PORT		(&samd21_port_a)
+#define LED_0_PIN		2
+#define LED_PIN_TX		0
+#define AO_LED_TX		(1 << LED_PIN_TX)
+#define AO_LED_PANIC		AO_LED_TX
+
+#define LEDS_AVAILABLE		(AO_LED_TX)
+
+#endif /* _AO_PINS_H_ */

ports/snekboard/snek-board.builtin

@@ -0,0 +1,26 @@
+#
+# Copyright © 2019 Keith Packard <keithp@keithp.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# General Public License for more details.
+#
+ANALOG1,-2,	0
+ANALOG2,-2,	1
+ANALOG3,-2,	2
+ANALOG4,-2,	3
+ANALOG5,-2,	4
+ANALOG6,-2,	5
+ANALOG7,-2,	6
+ANALOG8,-2,	7
+MOTOR1,	-2,	= snek_list_build(snek_list_tuple, 2, snek_float_to_poly(8), snek_float_to_poly(9))
+MOTOR2,	-2,	= snek_list_build(snek_list_tuple, 2, snek_float_to_poly(10), snek_float_to_poly(11))
+MOTOR3,	-2,	= snek_list_build(snek_list_tuple, 2, snek_float_to_poly(12), snek_float_to_poly(13))
+MOTOR4,	-2,	= snek_list_build(snek_list_tuple, 2, snek_float_to_poly(14), snek_float_to_poly(15))
+NEOPIXEL, -2,	16

snek-install.defs

@@ -22,8 +22,10 @@ FIRMWARE ?= \
 	$(SNEK_PORTS)/itsybitsym0/snek-itsybitsym0-$(SNEK_VERSION).uf2 \
 	$(SNEK_PORTS)/mega/snek-mega-$(SNEK_VERSION).hex \
 	$(SNEK_PORTS)/metrom0/snek-metrom0-$(SNEK_VERSION).uf2 \
-	$(SNEK_PORTS)/playground/snek-playground-$(SNEK_VERSION).uf2
+	$(SNEK_PORTS)/playground/snek-playground-$(SNEK_VERSION).uf2 \
+	$(SNEK_PORTS)/snekboard/snek-board-$(SNEK_VERSION).uf2
 USBFIRMWARE ?= \
-	$(SNEK_PORTS)/mega/Arduino-usbserial-atmega16u2-Mega2560-Rev3.hex
+	$(SNEK_PORTS)/mega/Arduino-usbserial-atmega16u2-Mega2560-Rev3.hex \
+	$(SNEK_PORTS)/snekboard/bootloader-snekboard-v3.7.0.bin
 
 include $(SNEK_ROOT)/snek.defs