Support for ATSAM arm processors

.circleci/config.yml

@@ -51,6 +51,10 @@ jobs:
           name: Generic Examples
           command: |
             (cd examples && ../tools/scripts/examples_compile.py generic)
+      - run:
+          name: Examples SAM Devices
+          command: |
+            (cd examples && ../tools/scripts/examples_compile.py samd)
       - run:
           name: Execute Python Scripts
           command: |
@@ -157,6 +161,23 @@ jobs:
           path: test/all/log
           destination: log
 
+  samd-compile-all:
+    docker:
+      - image: modm/modm-build:latest
+    steps:
+      - checkout
+      - run:
+          name: Checkout code and update modm tools
+          command: |
+            (git submodule sync && git submodule update --init --jobs 8) & pip3 install --upgrade --upgrade-strategy=eager modm & wait
+      - run:
+          name: Compile HAL for all SAMD
+          command: |
+            (cd test/all && python3 run_all.py samd)
+      - store_artifacts:
+          path: test/all/log
+          destination: log
+
   stm32f0-compile-all:
     docker:
       - image: modm/modm-build:latest
@@ -437,6 +458,12 @@ workflows:
           filters:
             branches:
               ignore: /^develop.*/
+      - samd-compile-all:
+          requires:
+            - unittests-linux-generic
+          filters:
+            branches:
+              ignore: /^develop.*/
       - stm32f0-compile-all:
           requires:
             - unittests-linux-generic
@@ -514,6 +541,7 @@ workflows:
               ignore: /^develop.*/
           requires:
             - avr-compile-all
+            - samd-compile-all
             - stm32f0-compile-all
             - stm32f1-compile-all
             - stm32f2-compile-all

.gitmodules

@@ -25,3 +25,6 @@
 [submodule "ext/adamgreen/crashcatcher"]
 	path = ext/adamgreen/crashcatcher
 	url = https://github.com/modm-ext/CrashCatcher-partial.git
+[submodule "ext/microchip/sam"]
+	path = ext/microchip/sam
+	url = https://github.com/modm-io/cmsis-header-sam.git

README.md

@@ -70,7 +70,8 @@ git clone --recurse-submodules https://github.com/modm-io/modm.git
 
 ## Targets
 
-modm can generate code for <!--avrcount-->530<!--/avrcount--> AVR and <!--stmcount-->1959<!--/stmcount-->
+modm can generate code for <!--avrcount-->530<!--/avrcount--> AVR,
+<!--samcount-->163<!--/samcount--> SAM and <!--stmcount-->1959<!--/stmcount-->
 STM32 devices, however, there are different levels of support and testing.
 
 <center>
@@ -81,6 +82,7 @@ STM32 devices, however, there are different levels of support and testing.
 | STM32F2       | ★★★★    | STM32F3       | ★★★★★   | STM32F4       | ★★★★★   |
 | STM32F7       | ★★★★    | STM32L1       | ★★★★    | STM32L4       | ★★★★    |
 | STM32L4+      | ★★★★    | STM32G0       | ★★★★    | STM32G4       | ★★★★    |
+| SAMD21        | ★       |               |         |               |         |
 
 </center>
 
@@ -130,31 +132,33 @@ documentation.
 <td align="center">DISCO-L152RC</td>
 <td align="center">DISCO-L476VG</td>
 </tr><tr>
+<td align="center">FEATHER-M0</td>
 <td align="center">MEGA-2560-PRO</td>
 <td align="center">MINI-F401</td>
 <td align="center">MINI-F411</td>
-<td align="center">NUCLEO-F031K6</td>
 </tr><tr>
+<td align="center">NUCLEO-F031K6</td>
 <td align="center">NUCLEO-F042K6</td>
 <td align="center">NUCLEO-F103RB</td>
 <td align="center">NUCLEO-F303K8</td>
-<td align="center">NUCLEO-F303RE</td>
 </tr><tr>
+<td align="center">NUCLEO-F303RE</td>
 <td align="center">NUCLEO-F401RE</td>
 <td align="center">NUCLEO-F411RE</td>
 <td align="center">NUCLEO-F429ZI</td>
-<td align="center">NUCLEO-F446RE</td>
 </tr><tr>
+<td align="center">NUCLEO-F446RE</td>
 <td align="center">NUCLEO-F746ZG</td>
 <td align="center">NUCLEO-G071RB</td>
 <td align="center">NUCLEO-G474RE</td>
-<td align="center">NUCLEO-L152RE</td>
 </tr><tr>
+<td align="center">NUCLEO-L152RE</td>
 <td align="center">NUCLEO-L432KC</td>
 <td align="center">NUCLEO-L476RG</td>
 <td align="center">OLIMEXINO-STM32</td>
-<td align="center">STM32F030F4P6-DEMO</td>
 </tr><tr>
+<td align="center">SAMD21-MINI</td>
+<td align="center">STM32F030F4P6-DEMO</td>
 </tr>
 </table>
 <!--/bsptable-->

docs/src/guide/installation.md

@@ -49,6 +49,10 @@ well:
 	brew install arm-gcc-bin
 	brew install openocd --HEAD
 
+To program Microchip SAM devices via the bootloader, install the `bossac` tool:
+
+	brew cask install bossa
+
 We recommend the use of a graphical frontend for GDB called [gdbgui][]:
 
 	pip3 install gdbgui

examples/samd/blink/main.cpp

@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2019, Ethan Slattery
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#include <modm/board.hpp>
+
+using namespace Board;
+using namespace std::chrono_literals;
+
+int
+main()
+{
+    Board::initialize();
+    LedRx::set();
+
+    while (1)
+    {
+        LedTx::toggle();
+        LedRx::toggle();
+        modm::delay(500ms);
+
+#ifdef MODM_BOARD_HAS_LOGGER
+        static uint32_t counter(0);
+        MODM_LOG_INFO << "Loop counter: " << (counter++) << modm::endl;
+#endif
+    }
+
+    return 0;
+}

examples/samd/blink/project.xml

@@ -0,0 +1,9 @@
+<library>
+  <extends>modm:samd21-mini</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/samd/blink</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

ext/microchip/device.hpp.in

@@ -0,0 +1,29 @@
+/*
+ * Copyright (c) 2019 Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#ifndef MODM_DEVICE_HPP
+#define MODM_DEVICE_HPP
+
+#define DONT_USE_CMSIS_INIT 1
+%% for define in defines
+#define {{ define }} 1
+%% endfor
+
+#include <stdint.h>
+// Defines for example the modm_always_inline macro
+#include <modm/architecture/utils.hpp>
+
+// Include external device headers:
+%% for header in headers
+#include <{{ header }}>
+%% endfor
+
+#endif  // MODM_DEVICE_HPP

ext/microchip/module.lb

@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2019, Niklas Hauser
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+# -----------------------------------------------------------------------------
+
+import re
+from pathlib import Path
+
+# -----------------------------------------------------------------------------
+def init(module):
+    module.name = ":cmsis:device"
+
+def prepare(module, options):
+    device = options[":target"]
+    if device.identifier["platform"] != "sam":
+        return False
+
+    module.depends(":cmsis:core")
+    return True
+
+pp = {}
+def validate(env):
+    device = env[":target"]
+    name = device.partname.split("-")[0]
+
+
+    define = "__{}__".format(name.upper())
+    family_file = None
+    for famfile in Path(localpath("sam")).glob("**/sam.h"):
+        content = famfile.read_text(encoding="utf-8", errors="replace")
+        match = re.findall(r"defined\((?P<define>__SAM.*?__)\)", content)
+        if match is not None and define in match:
+            family_file = famfile.relative_to(localpath("."))
+
+    if family_file is None:
+        raise ValidateException("No device define found for '{}'!".format(device.partname))
+
+    family_folder = family_file.parent
+    device_header = "{}.h".format(name)
+
+    global pp
+    pp = {
+        "define": define,
+        "folder": family_folder,
+        "device_header": device_header,
+    }
+
+def build(env):
+    global pp
+    env.collect(":build:path.include", "modm/ext")
+    env.collect(":build:path.include", "modm/ext/cmsis/device")
+
+    env.outbasepath = "modm/ext/cmsis/device"
+    files = ["sam.h", "component-version.h", "pio", "instance", "component", pp["device_header"]]
+    for file in files:
+        env.copy(localpath(pp["folder"], file), file)
+
+    env.substitutions = {
+        "headers": [pp["device_header"]],
+        "defines": [pp["define"]],
+    }
+    env.outbasepath = "modm/src/modm/platform"
+    env.template("device.hpp.in")

repo.lb

@@ -85,6 +85,7 @@ class DevicesCache(dict):
                      "stm32g0", "stm32g4",
                      "stm32l1", "stm32l4",
                      "at90", "attiny", "atmega",
+                     "samd21",
                      "hosted"]
         device_file_names = [dfn for dfn in device_file_names if any(s in dfn for s in supported)]
 

src/modm/board/feather_m0/board.hpp

@@ -0,0 +1,81 @@
+/*
+ * Copyright (c) 2016-2017, Sascha Schade
+ * Copyright (c) 2017-2018, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+#include <modm/platform.hpp>
+#include <modm/architecture/interface/clock.hpp>
+
+using namespace modm::platform;
+
+
+/// @ingroup modm_board_feather_m0
+namespace Board
+{
+	using namespace modm::literals;
+
+/// samd21g18a running at 48MHz generated from the external 32.768 KHz crystal
+struct SystemClock {
+	static constexpr uint32_t Frequency = 48_MHz;
+	// static constexpr uint32_t Ahb  = Frequency;
+	// static constexpr uint32_t Apba = Frequency;
+	// static constexpr uint32_t Apbb = Frequency;
+	// static constexpr uint32_t Apbc = Frequency;
+
+	// static constexpr uint32_t Adc = Apb2;
+
+	// static constexpr uint32_t SercomSlow = Apb2;
+	// static constexpr uint32_t Sercom0 = Apb2;
+	// static constexpr uint32_t Sercom1 = Apb2;
+	// static constexpr uint32_t Sercom2 = Apb2;
+	// static constexpr uint32_t Sercom3 = Apb2;
+	// static constexpr uint32_t Sercom4 = Apb2;
+	// static constexpr uint32_t Sercom5 = Apb2;
+
+	// static constexpr uint32_t Apb1Timer = Apb1 * 2;
+	// static constexpr uint32_t Apb2Timer = Apb2 * 1;
+	// static constexpr uint32_t Timer1  = Apb2Timer;
+	// static constexpr uint32_t Timer2  = Apb1Timer;
+	// static constexpr uint32_t Timer3  = Apb1Timer;
+	// static constexpr uint32_t Timer4  = Apb1Timer;
+
+	static bool inline
+	enable()
+	{
+		// GenericClockController::enableExternalCrystal(Frequency);
+
+		// switch system clock to PLL output
+		// GenericClockController::enableSystemClock(ClockControl::SystemClockSource::Pll);
+
+		// update frequencies for busy-wait delay functions
+		// GenericClockController::updateCoreFrequency<Frequency>();
+
+		return true;
+	}
+};
+
+// User LED (inverted, because connected to 3V3)
+// using LedRed = GpioOutputA17;
+// using Leds = SoftwareGpioPort< LedRed >;
+
+// using Button = GpioUnused;
+
+inline void
+initialize()
+{
+	SystemClock::enable();
+	SysTickTimer::initialize<SystemClock>();
+
+	// LedGreen::setOutput(modm::Gpio::Low);
+}
+
+} // Board namespace

src/modm/board/feather_m0/board.xml

@@ -0,0 +1,14 @@
+<library>
+  <repositories>
+    <repository>
+      <path>../../../../repo.lb</path>
+    </repository>
+  </repositories>
+
+  <options>
+    <option name="modm:target">samd21g18a-uu</option>
+  </options>
+  <modules>
+    <module>modm:board:feather-m0</module>
+  </modules>
+</library>