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Add board support for Adafruit Grand Central M4 (SAMD51) (#1714) 

machine/grandcentral-m4: implementation for Adafruit Grand Central M4 board.
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ardnew 4 years ago
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  1. 243
      src/machine/board_grandcentral-m4.go
  2. 63
      src/machine/board_grandcentral-m4_baremetal.go
  3. 70
      src/machine/machine_atsamd51p20.go
  4. 53
      src/runtime/runtime_atsamd51p20.go
  5. 13
      targets/atsamd51p20a.json
  6. 10
      targets/atsamd51p20a.ld
  7. 9
      targets/grandcentral-m4.json

243
src/machine/board_grandcentral-m4.go
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// +build grandcentral_m4
package machine
// Digital pins
const (
// = Pin Alt. Function SERCOM PWM Timer Interrupt
// ------ -------------------- -------- ----------- -----------
D0 = PB25 // UART1 RX 0[1] EXTI9
D1 = PB24 // UART1 TX 0[0] EXTI8
D2 = PC18 // TCC0[2] EXTI2
D3 = PC19 // TCC0[3] EXTI3
D4 = PC20 // TCC0[4] EXTI4
D5 = PC21 // TCC0[5] EXTI5
D6 = PD20 // TCC1[0] EXTI10
D7 = PD21 // TCC1[1] EXTI11
D8 = PB18 // TCC1[0] EXTI2
D9 = PB02 // TC6[0] EXTI3
D10 = PB22 // TC7[0] EXTI6
D11 = PB23 // EXTI7
D12 = PB00 // TC7[0] EXTI0
D13 = PB01 // On-board LED TC7[1] EXTI1
D14 = PB16 // UART4 TX, I2S0 SCK 5[0] TC6[0] EXTI0
D15 = PB17 // UART4 RX, I2S0 MCK 5[1] EXTI1
D16 = PC22 // UART3 TX 1[0] EXTI6
D17 = PC23 // UART3 RX 1[1] EXTI6
D18 = PB12 // UART2 TX 4[0] TCC3[0] EXTI12
D19 = PB13 // UART2 RX 4[1] TCC3[1] EXTI13
D20 = PB20 // I2C0 SDA 3[0] EXTI4
D21 = PB21 // I2C0 SCL 3[1] EXTI5
D22 = PD12 // EXTI7
D23 = PA15 // TCC2[1] EXTI15
D24 = PC17 // I2C1 SCL 6[1] TCC0[1] EXTI1
D25 = PC16 // I2C1 SDA 6[0] TCC0[0] EXTI0
D26 = PA12 // PCC DEN1 TC2[0] EXTI12
D27 = PA13 // PCC DEN2 TC2[1] EXTI13
D28 = PA14 // PCC CLK TCC2[0] EXTI14
D29 = PB19 // PCC XCLK EXTI3
D30 = PA23 // PCC D7 TC4[1] EXTI7
D31 = PA22 // PCC D6, I2S0 SDI TC4[0] EXTI6
D32 = PA21 // PCC D5, I2S0 SDO EXTI5
D33 = PA20 // PCC D4, I2S0 FS EXTI4
D34 = PA19 // PCC D3 TC3[1] EXTI3
D35 = PA18 // PCC D2 TC3[0] EXTI2
D36 = PA17 // PCC D1 EXTI1
D37 = PA16 // PCC D0 EXTI0
D38 = PB15 // PCC D9 TCC4[1] EXTI15
D39 = PB14 // PCC D8 TCC4[0] EXTI14
D40 = PC13 // PCC D11 EXTI13
D41 = PC12 // PCC D10 EXTI12
D42 = PC15 // PCC D13 EXTI15
D43 = PC14 // PCC D12 EXTI14
D44 = PC11 // EXTI11
D45 = PC10 // EXTI10
D46 = PC06 // EXTI6
D47 = PC07 // EXTI5
D48 = PC04 // EXTI4
D49 = PC05 // EXTI5
D50 = PD11 // SPI0 SDI 7[3] EXTI11
D51 = PD08 // SPI0 SDO 7[0] EXTI8
D52 = PD09 // SPI0 SCK 7[1] EXTI9
D53 = PD10 // SPI0 CS EXTI10
D54 = PB05 // ADC1 (A8) EXTI5
D55 = PB06 // ADC1 (A9) EXTI6
D56 = PB07 // ADC1 (A10) EXTI7
D57 = PB08 // ADC1 (A11) EXTI8
D58 = PB09 // ADC1 (A12) EXTI9
D59 = PA04 // ADC0 (A13) TC0[0] EXTI4
D60 = PA06 // ADC0 (A14) TC1[0] EXTI6
D61 = PA07 // ADC0 (A15) TC1[1] EXTI7
D62 = PB20 // I2C0 SDA 3[0] TCC1[2] EXTI4
D63 = PB21 // I2C0 SCL 3[1] TCC1[3] EXTI5
D64 = PD11 // SPI0 SDI 7[3] EXTI6
D65 = PD08 // SPI0 SDO 7[0] EXTI3
D66 = PD09 // SPI0 SCK 7[1] EXTI4
D67 = PA02 // ADC0 (A0), DAC0 EXTI2
D68 = PA05 // ADC0 (A1), DAC1 EXTI5
D69 = PB03 // ADC0 (A2) TC6[1] EXTI3
D70 = PC00 // ADC1 (A3) EXTI0
D71 = PC01 // ADC1 (A4) EXTI1
D72 = PC02 // ADC1 (A5) EXTI2
D73 = PC03 // ADC1 (A6) EXTI3
D74 = PB04 // ADC1 (A7) EXTI4
D75 = PC31 // UART RX LED
D76 = PC30 // UART TX LED
D77 = PA27 // USB HOST EN
D78 = PA24 // USB DM EXTI8
D79 = PA25 // USB DP EXTI9
D80 = PB29 // SD/SPI1 SDI 2[3]
D81 = PB27 // SD/SPI1 SCK 2[1]
D82 = PB26 // SD/SPI1 SDO 2[0]
D83 = PB28 // SD/SPI1 CS
D84 = PA03 // AREF EXTI3
D85 = PA02 // DAC0 EXTI2
D86 = PA05 // DAC1 EXTI5
D87 = PB01 // On-board LED (D13) TC7[1] EXTI1
D88 = PC24 // On-board NeoPixel
D89 = PB10 // QSPI SCK EXTI10
D90 = PB11 // QSPI CS EXTI11
D91 = PA08 // QSPI ID0 EXTI(NMI)
D92 = PA09 // QSPI ID1 EXTI9
D93 = PA10 // QSPI ID2 EXTI10
D94 = PA11 // QSPI ID3 EXTI11
D95 = PB31 // SD Detect EXTI15
D96 = PB30 // SWO EXTI14
)
// Analog pins
const (
A0 = D67 // (PA02) ADC0 ch. 0,
A1 = D68 // (PA05) ADC0 ch. 5,
A2 = D69 // (PB03) ADC0 ch. 15
A3 = D70 // (PC00) ADC1 ch. 10
A4 = D71 // (PC01) ADC1 ch. 11
A5 = D72 // (PC02) ADC1 ch. 4
A6 = D73 // (PC03) ADC1 ch. 5
A7 = D74 // (PB04) ADC1 ch. 6
A8 = D54 // (PB05) ADC1 ch. 7
A9 = D55 // (PB06) ADC1 ch. 8
A10 = D56 // (PB07) ADC1 ch. 9
A11 = D57 // (PB08) ADC1 ch. 0
A12 = D58 // (PB09) ADC1 ch. 1
A13 = D59 // (PA04) ADC0 ch. 4
A14 = D60 // (PA06) ADC0 ch. 6
A15 = D61 // (PA07) ADC0 ch. 7
AREF = D84 // (PA03)
)
// LED pins
const (
LED_PIN = D13 // (PB01), also on D87
UART_RX_LED_PIN = D75 // (PC31)
UART_TX_LED_PIN = D76 // (PC30)
NEOPIXEL_PIN = D88 // (PC24)
// aliases used by examples and drivers
LED = LED_PIN
LED_RX = UART_RX_LED_PIN
LED_TX = UART_TX_LED_PIN
NEOPIXEL = NEOPIXEL_PIN
)
// UART pins
const (
UART1_RX_PIN = D0 // (PB25)
UART1_TX_PIN = D1 // (PB24)
UART2_RX_PIN = D19 // (PB13)
UART2_TX_PIN = D18 // (PB12)
UART3_RX_PIN = D17 // (PC23)
UART3_TX_PIN = D16 // (PC22)
UART4_RX_PIN = D15 // (PB17)
UART4_TX_PIN = D14 // (PB16)
UART_RX_PIN = UART1_RX_PIN // default pins
UART_TX_PIN = UART1_TX_PIN //
)
// SPI pins
const (
SPI0_SCK_PIN = D66 // (PD09), also on D52
SPI0_SDO_PIN = D65 // (PD08), also on D51
SPI0_SDI_PIN = D64 // (PD11), also on D50
SPI0_CS_PIN = D53 // (PD10)
SPI1_SCK_PIN = D81 // (PB27)
SPI1_SDO_PIN = D82 // (PB26)
SPI1_SDI_PIN = D80 // (PB29)
SPI_SCK_PIN = SPI0_SCK_PIN // default pins
SPI_SDO_PIN = SPI0_SDO_PIN //
SPI_SDI_PIN = SPI0_SDI_PIN //
SPI_CS_PIN = SPI0_CS_PIN //
)
// I2C pins
const (
I2C0_SDA_PIN = D62 // (PB20), also on D20
I2C0_SCL_PIN = D63 // (PB21), also on D21
I2C1_SDA_PIN = D25 // (PC16)
I2C1_SCL_PIN = D24 // (PC17)
I2C_SDA_PIN = I2C0_SDA_PIN // default pins
I2C_SCL_PIN = I2C0_SCL_PIN //
SDA_PIN = I2C_SDA_PIN // unconventional pin names
SCL_PIN = I2C_SCL_PIN // (required by machine_atsamd51.go)
)
// I2S pins
const (
I2S0_SCK_PIN = D14 // (PB16)
I2S0_MCK_PIN = D15 // (PB17)
I2S0_FS_PIN = D33 // (PA20)
I2S0_SDO_PIN = D32 // (PA21)
I2S0_SDI_PIN = D31 // (PA22)
I2S_SCK_PIN = I2S0_SCK_PIN // default pins
I2S_WS_PIN = I2S0_FS_PIN //
I2S_SD_PIN = I2S0_SDO_PIN //
)
// SD card pins
const (
SD0_SCK_PIN = D81 // (PB27)
SD0_SDO_PIN = D82 // (PB26)
SD0_SDI_PIN = D80 // (PB29)
SD0_CS_PIN = D83 // (PB28)
SD0_DET_PIN = D95 // (PB31)
SDCARD_SCK_PIN = SD0_SCK_PIN // default pins
SDCARD_SDO_PIN = SD0_SDO_PIN //
SDCARD_SDI_PIN = SD0_SDI_PIN //
SDCARD_CS_PIN = SD0_CS_PIN //
SDCARD_DET_PIN = SD0_DET_PIN //
)
// Other peripheral constants
const (
RESET_MAGIC_VALUE = 0xF01669EF // Used to reset into bootloader
)
// USB CDC pins
const (
USBCDC_HOSTEN_PIN = D77 // (PA27) host enable
USBCDC_DM_PIN = D78 // (PA24) D-
USBCDC_DP_PIN = D79 // (PA25) D+
)
// USB CDC identifiers
const (
usb_STRING_PRODUCT = "Adafruit Grand Central M4"
usb_STRING_MANUFACTURER = "Adafruit"
)
var (
usb_VID uint16 = 0x239A
usb_PID uint16 = 0x8031
)

63
src/machine/board_grandcentral-m4_baremetal.go
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// +build grandcentral_m4
package machine
import (
"device/sam"
"runtime/interrupt"
)
func init() {
UART1.Interrupt = interrupt.New(sam.IRQ_SERCOM0_2, UART1.handleInterrupt)
UART2.Interrupt = interrupt.New(sam.IRQ_SERCOM4_2, UART2.handleInterrupt)
UART3.Interrupt = interrupt.New(sam.IRQ_SERCOM1_2, UART3.handleInterrupt)
UART4.Interrupt = interrupt.New(sam.IRQ_SERCOM5_2, UART4.handleInterrupt)
}
// UART on the Grand Central M4
var (
UART1 = UART{
Buffer: NewRingBuffer(),
Bus: sam.SERCOM0_USART_INT,
SERCOM: 0,
}
UART2 = UART{
Buffer: NewRingBuffer(),
Bus: sam.SERCOM4_USART_INT,
SERCOM: 4,
}
UART3 = UART{
Buffer: NewRingBuffer(),
Bus: sam.SERCOM1_USART_INT,
SERCOM: 1,
}
UART4 = UART{
Buffer: NewRingBuffer(),
Bus: sam.SERCOM5_USART_INT,
SERCOM: 5,
}
)
// I2C on the Grand Central M4
var (
I2C0 = I2C{
Bus: sam.SERCOM3_I2CM,
SERCOM: 3,
}
I2C1 = I2C{
Bus: sam.SERCOM6_I2CM,
SERCOM: 6,
}
)
// SPI on the Grand Central M4
var (
SPI0 = SPI{
Bus: sam.SERCOM7_SPIM,
SERCOM: 7,
}
SPI1 = SPI{ // SD card
Bus: sam.SERCOM2_SPIM,
SERCOM: 2,
}
)

70
src/machine/machine_atsamd51p20.go
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// +build sam,atsamd51,atsamd51p20
// Peripheral abstraction layer for the atsamd51.
//
// Datasheet:
// http://ww1.microchip.com/downloads/en/DeviceDoc/60001507C.pdf
//
package machine
import "device/sam"
const HSRAM_SIZE = 0x00040000
// InitPWM initializes the PWM interface.
func InitPWM() {
// turn on timer clocks used for PWM
sam.MCLK.APBBMASK.SetBits(sam.MCLK_APBBMASK_TCC0_ | sam.MCLK_APBBMASK_TCC1_)
sam.MCLK.APBCMASK.SetBits(sam.MCLK_APBCMASK_TCC2_ | sam.MCLK_APBCMASK_TCC3_)
sam.MCLK.APBDMASK.SetBits(sam.MCLK_APBDMASK_TCC4_)
//use clock generator 0
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_TCC0].Set((sam.GCLK_PCHCTRL_GEN_GCLK0 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_TCC2].Set((sam.GCLK_PCHCTRL_GEN_GCLK0 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_TCC4].Set((sam.GCLK_PCHCTRL_GEN_GCLK0 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
}
// getTimer returns the timer to be used for PWM on this pin
func (pwm PWM) getTimer() *sam.TCC_Type {
switch pwm.Pin {
case PC18:
return sam.TCC0
case PC19:
return sam.TCC0
case PC20:
return sam.TCC0
case PC21:
return sam.TCC0
case PD20:
return sam.TCC1
case PD21:
return sam.TCC1
case PB18:
return sam.TCC1
case PB12:
return sam.TCC3
case PB13:
return sam.TCC3
case PA15:
return sam.TCC2
case PC17:
return sam.TCC0
case PC16:
return sam.TCC0
case PA14:
return sam.TCC2
case PB15:
return sam.TCC4
case PB14:
return sam.TCC4
case PB20:
return sam.TCC1
case PB21:
return sam.TCC1
default:
return nil // not supported on this pin
}
}

53
src/runtime/runtime_atsamd51p20.go
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// +build sam,atsamd51,atsamd51p20
package runtime
import (
"device/sam"
)
func initSERCOMClocks() {
// Turn on clock to SERCOM0 for UART0
sam.MCLK.APBAMASK.SetBits(sam.MCLK_APBAMASK_SERCOM0_)
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_SERCOM0_CORE].Set((sam.GCLK_PCHCTRL_GEN_GCLK1 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
// sets the "slow" clock shared by all SERCOM
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_SERCOMX_SLOW].Set((sam.GCLK_PCHCTRL_GEN_GCLK1 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
// Turn on clock to SERCOM1
sam.MCLK.APBAMASK.SetBits(sam.MCLK_APBAMASK_SERCOM1_)
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_SERCOM1_CORE].Set((sam.GCLK_PCHCTRL_GEN_GCLK1 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
// Turn on clock to SERCOM2
sam.MCLK.APBBMASK.SetBits(sam.MCLK_APBBMASK_SERCOM2_)
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_SERCOM2_CORE].Set((sam.GCLK_PCHCTRL_GEN_GCLK1 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
// Turn on clock to SERCOM3
sam.MCLK.APBBMASK.SetBits(sam.MCLK_APBBMASK_SERCOM3_)
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_SERCOM3_CORE].Set((sam.GCLK_PCHCTRL_GEN_GCLK1 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
// Turn on clock to SERCOM4
sam.MCLK.APBDMASK.SetBits(sam.MCLK_APBDMASK_SERCOM4_)
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_SERCOM4_CORE].Set((sam.GCLK_PCHCTRL_GEN_GCLK1 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
// Turn on clock to SERCOM5
sam.MCLK.APBDMASK.SetBits(sam.MCLK_APBDMASK_SERCOM5_)
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_SERCOM5_CORE].Set((sam.GCLK_PCHCTRL_GEN_GCLK1 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
// Turn on clock to SERCOM6
sam.MCLK.APBDMASK.SetBits(sam.MCLK_APBDMASK_SERCOM6_)
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_SERCOM6_CORE].Set((sam.GCLK_PCHCTRL_GEN_GCLK1 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
// Turn on clock to SERCOM7
sam.MCLK.APBDMASK.SetBits(sam.MCLK_APBDMASK_SERCOM7_)
sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_SERCOM7_CORE].Set((sam.GCLK_PCHCTRL_GEN_GCLK1 << sam.GCLK_PCHCTRL_GEN_Pos) |
sam.GCLK_PCHCTRL_CHEN)
}

13
targets/atsamd51p20a.json
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{
"inherits": ["cortex-m4"],
"build-tags": ["sam", "atsamd51", "atsamd51p20", "atsamd51p20a"],
"cflags": [
"-Qunused-arguments"
],
"linkerscript": "targets/atsamd51p20a.ld",
"extra-files": [
"src/device/sam/atsamd51p20a.s"
],
"openocd-transport": "swd",
"openocd-target": "atsame5x"
}

10
targets/atsamd51p20a.ld
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MEMORY
{
FLASH_TEXT (rw) : ORIGIN = 0x00000000+0x4000, LENGTH = 0x00100000-0x4000 /* First 16KB used by bootloader */
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 0x00040000
}
_stack_size = 4K;
INCLUDE "targets/arm.ld"

9
targets/grandcentral-m4.json
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{
"inherits": ["atsamd51p20a"],
"build-tags": ["grandcentral_m4"],
"flash-1200-bps-reset": "true",
"flash-method": "msd",
"msd-volume-name": "GCM4BOOT",
"msd-firmware-name": "firmware.uf2",
"openocd-interface": "jlink"
}
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