From 9f52fe4e4a35dc4c77866ccac520678c406f3d6d Mon Sep 17 00:00:00 2001 From: sago35 Date: Fri, 16 Apr 2021 09:02:01 +0900 Subject: atsame51: add initial support for feather-m4-can --- Makefile | 2 + README.md | 3 +- src/machine/board_feather-m4-can.go | 142 ++++++++++++++++++++++++++++++++++++ src/machine/machine_atsame51j19.go | 59 +++++++++++++++ src/runtime/runtime_atsame51j19.go | 43 +++++++++++ targets/atsame51j19a.json | 10 +++ targets/atsame5xx19.ld | 10 +++ targets/feather-m4-can.json | 8 ++ 8 files changed, 276 insertions(+), 1 deletion(-) create mode 100644 src/machine/board_feather-m4-can.go create mode 100644 src/machine/machine_atsame51j19.go create mode 100644 src/runtime/runtime_atsame51j19.go create mode 100644 targets/atsame51j19a.json create mode 100644 targets/atsame5xx19.ld create mode 100644 targets/feather-m4-can.json diff --git a/Makefile b/Makefile index ac6f82715..284e4a959 100644 --- a/Makefile +++ b/Makefile @@ -338,6 +338,8 @@ smoketest: @$(MD5SUM) test.hex $(TINYGO) build -size short -o test.hex -target=atsame54-xpro examples/blinky1 @$(MD5SUM) test.hex + $(TINYGO) build -size short -o test.hex -target=feather-m4-can examples/blinky1 + @$(MD5SUM) test.hex # test pwm $(TINYGO) build -size short -o test.hex -target=itsybitsy-m0 examples/pwm @$(MD5SUM) test.hex diff --git a/README.md b/README.md index 40643fc5f..aa61e1c45 100644 --- a/README.md +++ b/README.md @@ -43,13 +43,14 @@ See the [getting started instructions](https://tinygo.org/getting-started/) for You can compile TinyGo programs for microcontrollers, WebAssembly and Linux. -The following 56 microcontroller boards are currently supported: +The following 57 microcontroller boards are currently supported: * [Adafruit Circuit Playground Bluefruit](https://www.adafruit.com/product/4333) * [Adafruit Circuit Playground Express](https://www.adafruit.com/product/3333) * [Adafruit CLUE](https://www.adafruit.com/product/4500) * [Adafruit Feather M0](https://www.adafruit.com/product/2772) * [Adafruit Feather M4](https://www.adafruit.com/product/3857) +* [Adafruit Feather M4 CAN](https://www.adafruit.com/product/4759) * [Adafruit Feather nRF52840 Express](https://www.adafruit.com/product/4062) * [Adafruit Feather STM32F405 Express](https://www.adafruit.com/product/4382) * [Adafruit ItsyBitsy M0](https://www.adafruit.com/product/3727) diff --git a/src/machine/board_feather-m4-can.go b/src/machine/board_feather-m4-can.go new file mode 100644 index 000000000..536e4b62e --- /dev/null +++ b/src/machine/board_feather-m4-can.go @@ -0,0 +1,142 @@ +// +build feather_m4_can + +package machine + +import ( + "device/sam" + "runtime/interrupt" +) + +// used to reset into bootloader +const RESET_MAGIC_VALUE = 0xf01669ef + +// GPIO Pins +const ( + D0 = PB17 // UART0 RX/PWM available + D1 = PB16 // UART0 TX/PWM available + D4 = PA14 // PWM available + D5 = PA16 // PWM available + D6 = PA18 // PWM available + D7 = PB03 // neopixel power + D8 = PB02 // built-in neopixel + D9 = PA19 // PWM available + D10 = PA20 // can be used for PWM or UART1 TX + D11 = PA21 // can be used for PWM or UART1 RX + D12 = PA22 // PWM available + D13 = PA23 // PWM available + D21 = PA13 // PWM available + D22 = PA12 // PWM available + D23 = PB22 // PWM available + D24 = PB23 // PWM available + D25 = PA17 // PWM available +) + +// Analog pins +const ( + A0 = PA02 // ADC/AIN[0] + A1 = PA05 // ADC/AIN[2] + A2 = PB08 // ADC/AIN[3] + A3 = PB09 // ADC/AIN[4] + A4 = PA04 // ADC/AIN[5] + A5 = PA06 // ADC/AIN[10] +) + +const ( + LED = D13 + NEOPIXELS = D8 +) + +// UART0 aka USBCDC pins +const ( + USBCDC_DM_PIN = PA24 + USBCDC_DP_PIN = PA25 +) + +const ( + UART_TX_PIN = D1 + UART_RX_PIN = D0 +) + +const ( + UART2_TX_PIN = A4 + UART2_RX_PIN = A5 +) + +// I2C pins +const ( + SDA_PIN = D22 // SDA: SERCOM2/PAD[0] + SCL_PIN = D21 // SCL: SERCOM2/PAD[1] +) + +// SPI pins +const ( + SPI0_SCK_PIN = D25 // SCK: SERCOM1/PAD[1] + SPI0_SDO_PIN = D24 // SDO: SERCOM1/PAD[3] + SPI0_SDI_PIN = D23 // SDI: SERCOM1/PAD[2] +) + +// CAN pins +const ( + CAN0_TX = PA22 + CAN0_RX = PA23 + + CAN1_STANDBY = PB12 + CAN1_TX = PB14 + CAN1_RX = PB15 + BOOST_EN = PB13 // power control of CAN1's TCAN1051HGV (H: enable) + + CAN_STANDBY = CAN1_STANDBY + CAN_S = CAN1_STANDBY + CAN_TX = CAN1_TX + CAN_RX = CAN1_RX +) + +// USB CDC identifiers +const ( + usb_STRING_PRODUCT = "Adafruit Feather M4 CAN" + usb_STRING_MANUFACTURER = "Adafruit" +) + +var ( + usb_VID uint16 = 0x239A + usb_PID uint16 = 0x80CD +) + +var ( + UART1 = UART{ + Buffer: NewRingBuffer(), + Bus: sam.SERCOM5_USART_INT, + SERCOM: 5, + } + + UART2 = UART{ + Buffer: NewRingBuffer(), + Bus: sam.SERCOM0_USART_INT, + SERCOM: 0, + } +) + +func init() { + UART1.Interrupt = interrupt.New(sam.IRQ_SERCOM5_2, UART1.handleInterrupt) + UART2.Interrupt = interrupt.New(sam.IRQ_SERCOM0_2, UART2.handleInterrupt) + + // turn on neopixel + D7.Configure(PinConfig{Mode: PinOutput}) + D7.High() +} + +// I2C on the Feather M4. +var ( + I2C0 = &I2C{ + Bus: sam.SERCOM2_I2CM, + SERCOM: 2, + } +) + +// SPI on the Feather M4. +var ( + SPI0 = SPI{ + Bus: sam.SERCOM1_SPIM, + SERCOM: 1, + } +) diff --git a/src/machine/machine_atsame51j19.go b/src/machine/machine_atsame51j19.go new file mode 100644 index 000000000..4a2021bd1 --- /dev/null +++ b/src/machine/machine_atsame51j19.go @@ -0,0 +1,59 @@ +// +build sam,atsame51,atsame51j19 + +// Peripheral abstraction layer for the atsame51. +// +// Datasheet: +// http://ww1.microchip.com/downloads/en/DeviceDoc/SAM_D5xE5x_Family_Data_Sheet_DS60001507F.pdf +// +package machine + +import "device/sam" + +const HSRAM_SIZE = 0x00030000 + +// This chip has five TCC peripherals, which have PWM as one feature. +var ( + TCC0 = (*TCC)(sam.TCC0) + TCC1 = (*TCC)(sam.TCC1) + TCC2 = (*TCC)(sam.TCC2) + TCC3 = (*TCC)(sam.TCC3) + TCC4 = (*TCC)(sam.TCC4) +) + +func (tcc *TCC) configureClock() { + // Turn on timer clocks used for the TCC and use generic clock generator 0. + switch tcc.timer() { + case sam.TCC0: + sam.MCLK.APBBMASK.SetBits(sam.MCLK_APBBMASK_TCC0_) + sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_TCC0].Set((sam.GCLK_PCHCTRL_GEN_GCLK0 << sam.GCLK_PCHCTRL_GEN_Pos) | sam.GCLK_PCHCTRL_CHEN) + case sam.TCC1: + sam.MCLK.APBBMASK.SetBits(sam.MCLK_APBBMASK_TCC1_) + sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_TCC1].Set((sam.GCLK_PCHCTRL_GEN_GCLK0 << sam.GCLK_PCHCTRL_GEN_Pos) | sam.GCLK_PCHCTRL_CHEN) + case sam.TCC2: + sam.MCLK.APBCMASK.SetBits(sam.MCLK_APBCMASK_TCC2_) + sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_TCC2].Set((sam.GCLK_PCHCTRL_GEN_GCLK0 << sam.GCLK_PCHCTRL_GEN_Pos) | sam.GCLK_PCHCTRL_CHEN) + case sam.TCC3: + sam.MCLK.APBCMASK.SetBits(sam.MCLK_APBCMASK_TCC3_) + sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_TCC3].Set((sam.GCLK_PCHCTRL_GEN_GCLK0 << sam.GCLK_PCHCTRL_GEN_Pos) | sam.GCLK_PCHCTRL_CHEN) + case sam.TCC4: + sam.MCLK.APBDMASK.SetBits(sam.MCLK_APBDMASK_TCC4_) + sam.GCLK.PCHCTRL[sam.PCHCTRL_GCLK_TCC4].Set((sam.GCLK_PCHCTRL_GEN_GCLK0 << sam.GCLK_PCHCTRL_GEN_Pos) | sam.GCLK_PCHCTRL_CHEN) + } +} + +func (tcc *TCC) timerNum() uint8 { + switch tcc.timer() { + case sam.TCC0: + return 0 + case sam.TCC1: + return 1 + case sam.TCC2: + return 2 + case sam.TCC3: + return 3 + case sam.TCC4: + return 4 + default: + return 0x0f // should not happen + } +} diff --git a/src/runtime/runtime_atsame51j19.go b/src/runtime/runtime_atsame51j19.go new file mode 100644 index 000000000..76dce7332 --- /dev/null +++ b/src/runtime/runtime_atsame51j19.go @@ -0,0 +1,43 @@ +// +build sam,atsame51,atsame51j19 + +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) +} diff --git a/targets/atsame51j19a.json b/targets/atsame51j19a.json new file mode 100644 index 000000000..98136769d --- /dev/null +++ b/targets/atsame51j19a.json @@ -0,0 +1,10 @@ +{ + "inherits": ["cortex-m4"], + "build-tags": ["atsame51j19a", "atsame51j19", "atsame51", "atsame5x", "sam"], + "linkerscript": "targets/atsame5xx19.ld", + "extra-files": [ + "src/device/sam/atsame51j19a.s" + ], + "openocd-transport": "swd", + "openocd-target": "atsame5x" +} diff --git a/targets/atsame5xx19.ld b/targets/atsame5xx19.ld new file mode 100644 index 000000000..908ce6a84 --- /dev/null +++ b/targets/atsame5xx19.ld @@ -0,0 +1,10 @@ + +MEMORY +{ + FLASH_TEXT (rw) : ORIGIN = 0x00000000+0x4000, LENGTH = 0x00080000-0x4000 /* First 16KB used by bootloader */ + RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 0x00030000 +} + +_stack_size = 4K; + +INCLUDE "targets/arm.ld" diff --git a/targets/feather-m4-can.json b/targets/feather-m4-can.json new file mode 100644 index 000000000..0480eb8f0 --- /dev/null +++ b/targets/feather-m4-can.json @@ -0,0 +1,8 @@ +{ + "inherits": ["atsame51j19a"], + "build-tags": ["feather_m4_can"], + "flash-1200-bps-reset": "true", + "flash-method": "msd", + "msd-volume-name": "FTHRCANBOOT", + "msd-firmware-name": "firmware.uf2" +} -- cgit v1.2.3