Mkrzero update (atsamd-rs#697)

* Update atsamd-hal to 0.16 and add built-in pin definitions

* Add LED and VBatt sensor pins. Update each of 3 examples to use new atsamd-hal API

* Update version number and changelog

* arduino_mkrzero: add blinky_rtic example

Signed-off-by: Arne Kappen <[email protected]>

* fix fmt

Signed-off-by: Arne Kappen <[email protected]>

* Update blinky RTIC example to work with latest BSP changes

---------

Signed-off-by: Arne Kappen <[email protected]>
Co-authored-by: Arne Kappen <[email protected]>

boards/arduino_mkrzero/CHANGELOG.md

@@ -1,5 +1,10 @@
 # Unreleased
 
+# v0.12.1
+
+- update to `atsamd-hal-0.16`, along with redefining pins using the bsp_pins! macro
+- split up library into pin definitions and peripheral & USB setup function definitions
+
 # v0.12.0
 
 - update to `atsamd-hal-0.14` and other latest dependencies (#564)

boards/arduino_mkrzero/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "arduino_mkrzero"
-version = "0.12.0"
+version = "0.12.1"
 authors = ["Wez Furlong <[email protected]>", "David McGillicuddy <[email protected]>"]
 description = "Board Support crate for the Arduino MKRZERO"
 keywords = ["no-std", "arm", "cortex-m", "embedded-hal", "arduino"]
@@ -15,18 +15,23 @@ version = "0.7"
 optional = true
 
 [dependencies.atsamd-hal]
-version = "0.14"
+version = "0.16"
 default-features = false
 
 [dependencies.usb-device]
 version = "0.2"
 optional = true
 
+[dependencies.embedded-sdmmc]
+version = "0.3"
+optional = true
+
 [dev-dependencies]
 cortex-m = "0.7"
 usbd-serial = "0.1"
 panic-halt = "0.2"
 panic-semihosting = "0.5"
+cortex-m-rtic = "1.0"
 
 [features]
 # ask the HAL to enable atsamd21g support
@@ -35,14 +40,22 @@ rt = ["cortex-m-rt", "atsamd-hal/samd21g-rt"]
 usb = ["atsamd-hal/usb", "usb-device"]
 unproven = ["atsamd-hal/unproven"]
 use_semihosting = []
+rtic = ["atsamd-hal/rtic"]
 
 # for cargo flash
 [package.metadata]
 chip = "ATSAMD21G18A"
 
+[dependencies]
+embedded-hal = "0.2.7"
+
 [[example]]
 name = "blinky_basic"
 
+[[example]]
+name = "blinky_rtic"
+required-features = ["rtic", "unproven"]
+
 [[example]]
 name = "usb_logging"
 required-features = ["usb"]

boards/arduino_mkrzero/examples/blinky_basic.rs

@@ -25,8 +25,8 @@ fn main() -> ! {
         &mut peripherals.SYSCTRL,
         &mut peripherals.NVMCTRL,
     );
-    let mut pins = bsp::Pins::new(peripherals.PORT);
-    let mut led = pins.led_builtin.into_open_drain_output(&mut pins.port);
+    let pins = bsp::pins::Pins::new(peripherals.PORT);
+    let mut led = bsp::pin_alias!(pins.led).into_push_pull_output();
     let mut delay = Delay::new(core.SYST, &mut clocks);
 
     loop {

boards/arduino_mkrzero/examples/blinky_rtic.rs

@@ -0,0 +1,73 @@
+//! Uses RTIC with the RTC as time source to blink an LED.
+//!
+//! The idle task is sleeping the CPU, so in practice this gives similar power
+//! figure as the "sleeping_timer_rtc" example.
+#![no_std]
+#![no_main]
+
+use arduino_mkrzero as bsp;
+
+#[cfg(not(feature = "use_semihosting"))]
+use panic_halt as _;
+#[cfg(feature = "use_semihosting")]
+use panic_semihosting as _;
+use rtic::app;
+
+#[app(device = bsp::pac, peripherals = true, dispatchers = [EVSYS])]
+mod app {
+    use super::*;
+    use bsp::hal;
+    use hal::clock::{ClockGenId, ClockSource, GenericClockController};
+    use hal::pac::Peripherals;
+    use hal::prelude::*;
+    use hal::rtc::{Count32Mode, Duration, Rtc};
+
+    #[local]
+    struct Local {}
+
+    #[shared]
+    struct Shared {
+        // The LED could be a local resource, since it is only used in one task
+        // But we want to showcase shared resources and locking
+        led: bsp::pins::Led,
+    }
+
+    #[monotonic(binds = RTC, default = true)]
+    type RtcMonotonic = Rtc<Count32Mode>;
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+        let mut peripherals: Peripherals = cx.device;
+        let pins = bsp::pins::Pins::new(peripherals.PORT);
+        let mut core: rtic::export::Peripherals = cx.core;
+        let mut clocks = GenericClockController::with_external_32kosc(
+            peripherals.GCLK,
+            &mut peripherals.PM,
+            &mut peripherals.SYSCTRL,
+            &mut peripherals.NVMCTRL,
+        );
+        let _gclk = clocks.gclk0();
+        let rtc_clock_src = clocks
+            .configure_gclk_divider_and_source(ClockGenId::GCLK2, 1, ClockSource::XOSC32K, false)
+            .unwrap();
+        clocks.configure_standby(ClockGenId::GCLK2, true);
+        let rtc_clock = clocks.rtc(&rtc_clock_src).unwrap();
+        let rtc = Rtc::count32_mode(peripherals.RTC, rtc_clock.freq(), &mut peripherals.PM);
+        let led = bsp::pin_alias!(pins.led).into();
+
+        // We can use the RTC in standby for maximum power savings
+        core.SCB.set_sleepdeep();
+
+        // Start the blink task
+        blink::spawn().unwrap();
+
+        (Shared { led }, Local {}, init::Monotonics(rtc))
+    }
+
+    #[task(shared = [led])]
+    fn blink(mut cx: blink::Context) {
+        // If the LED were a local resource, the lock would not be necessary
+        let _ = cx.shared.led.lock(|led| led.toggle());
+        blink::spawn_after(Duration::secs(3)).ok();
+    }
+}

boards/arduino_mkrzero/examples/pwm.rs

@@ -12,6 +12,7 @@ use panic_semihosting as _;
 use bsp::entry;
 use hal::clock::{GenericClockController, Tcc0Tcc1Clock};
 use hal::delay::Delay;
+use hal::gpio::AlternateE;
 use hal::pac::{CorePeripherals, Peripherals};
 use hal::prelude::*;
 use hal::pwm::{Channel, Pwm0};
@@ -27,18 +28,18 @@ fn main() -> ! {
         &mut peripherals.NVMCTRL,
     );
     let mut delay = Delay::new(core.SYST, &mut clocks);
-    let mut pins = bsp::Pins::new(peripherals.PORT);
+    let pins = bsp::pins::Pins::new(peripherals.PORT);
 
     // PWM0_CH1 is A4 on the board - pin 19 or PA05
     // see: https://github.com/arduino/ArduinoCore-samd/blob/master/variants/mkrzero/variant.cpp
-    let _a4 = pins.a4.into_function_e(&mut pins.port);
+    let _a4 = pins.pa04.into_mode::<AlternateE>();
     let gclk0 = clocks.gclk0();
 
     let tcc0_tcc1_clock: &Tcc0Tcc1Clock = &clocks.tcc0_tcc1(&gclk0).unwrap();
 
     let mut pwm0 = Pwm0::new(
         &tcc0_tcc1_clock,
-        1.khz(),
+        1u32.kHz(),
         peripherals.TCC0,
         &mut peripherals.PM,
     );

boards/arduino_mkrzero/examples/usb_logging.rs

@@ -3,8 +3,6 @@
 
 use arduino_mkrzero as bsp;
 use bsp::hal;
-use usb_device;
-use usbd_serial;
 
 #[cfg(not(feature = "use_semihosting"))]
 use panic_halt as _;
@@ -38,25 +36,28 @@ fn main() -> ! {
         &mut peripherals.SYSCTRL,
         &mut peripherals.NVMCTRL,
     );
-    let mut pins = bsp::Pins::new(peripherals.PORT);
-    let mut led = pins.led_builtin.into_open_drain_output(&mut pins.port);
+    let pins = bsp::pins::Pins::new(peripherals.PORT);
+    let mut led = bsp::pin_alias!(pins.led).into_push_pull_output();
     let mut delay = Delay::new(core.SYST, &mut clocks);
 
+    let usb_n = bsp::pin_alias!(pins.usb_n);
+    let usb_p = bsp::pin_alias!(pins.usb_p);
+
     let bus_allocator = unsafe {
-        USB_ALLOCATOR = Some(bsp::usb_allocator(
+        USB_ALLOCATOR = Some(bsp::usb::usb_allocator(
             peripherals.USB,
             &mut clocks,
             &mut peripherals.PM,
-            pins.usb_n, // PA24, also usb_dm
-            pins.usb_p, // PA24 also usb_dp
+            usb_n.into(),
+            usb_p.into(),
         ));
         USB_ALLOCATOR.as_ref().unwrap()
     };
 
     unsafe {
-        USB_SERIAL = Some(SerialPort::new(&bus_allocator));
+        USB_SERIAL = Some(SerialPort::new(bus_allocator));
         USB_BUS = Some(
-            UsbDeviceBuilder::new(&bus_allocator, UsbVidPid(0x2222, 0x3333))
+            UsbDeviceBuilder::new(bus_allocator, UsbVidPid(0x2222, 0x3333))
                 .manufacturer("Fake company")
                 .product("Serial port")
                 .serial_number("TEST")
@@ -78,27 +79,23 @@ fn main() -> ! {
 
         // Turn off interrupts so we don't fight with the interrupt
         cortex_m::interrupt::free(|_| unsafe {
-            USB_BUS.as_mut().map(|_| {
-                USB_SERIAL.as_mut().map(|serial| {
-                    // Skip errors so we can continue the program
-                    let _ = serial.write("log line\r\n".as_bytes());
-                });
-            })
+            if let Some(serial) = USB_SERIAL.as_mut() {
+                let _ = serial.write("log line\r\n".as_bytes());
+            }
         });
     }
 }
 
 fn poll_usb() {
     unsafe {
-        USB_BUS.as_mut().map(|usb_dev| {
-            USB_SERIAL.as_mut().map(|serial| {
+        if let Some(usb_dev) = USB_BUS.as_mut() {
+            if let Some(serial) = USB_SERIAL.as_mut() {
                 usb_dev.poll(&mut [serial]);
-
                 // Make the other side happy
                 let mut buf = [0u8; 16];
                 let _ = serial.read(&mut buf);
-            });
-        });
+            }
+        }
     };
 }
 

boards/arduino_mkrzero/src/lib.rs

@@ -7,126 +7,9 @@ extern crate cortex_m_rt;
 #[cfg(feature = "rt")]
 pub use cortex_m_rt::entry;
 
-#[cfg(feature = "usb")]
-use gpio::v2::{AnyPin, PA24, PA25};
-#[cfg(feature = "usb")]
-use hal::clock::GenericClockController;
-#[cfg(feature = "usb")]
-use hal::usb::usb_device::bus::UsbBusAllocator;
-#[cfg(feature = "usb")]
-pub use hal::usb::UsbBus;
-
-use hal::prelude::*;
-use hal::*;
-
-pub use hal::common::*;
-
 pub use hal::pac;
 
-use gpio::{Floating, Input, Port};
-
-// The docs could be further improved with details of the specific channels etc
-define_pins!(
-    /// Maps the pins to their arduino names and the numbers printed on the board.
-    /// Information from: <https://github.com/arduino/ArduinoCore-samd/blob/master/variants/mkrzero/variant.cpp>
-    struct Pins,
-    pac: pac,
-
-    /// Digital 0: PWM, TC
-    pin d0 = a22,
-
-    /// Digital 1: PWM, TC
-    pin d1 = a23,
-
-    /// Digital 2: PWM, TCC, ADC
-    pin d2 = a10,
-
-    /// Digital 3: PWM, TCC, ADC
-    pin d3 = a11,
-
-    /// Digital 4: PWM, TC
-    pin d4 = b10,
-
-    /// Digital 5: PWM, TC
-    pin d5 = b11,
-
-    /// Digital 6: PWM, TCC
-    pin d6 = a20,
-
-    /// Digital 7: PWM, TCC
-    pin d7 = a21,
-
-    /// SPI MOSI: PWM, TCC
-    pin mosi = a16,
-
-    /// SPI SCK
-    pin sck = a17,
-
-    /// SPI MISO: PWM, TC
-    pin miso = a19,
-
-    /// SDA
-    pin sda = a8,
-
-    /// SCL
-    pin scl = a9,
-
-    /// RX
-    pin rx = b23,
-
-    /// TX
-    pin tx = b22,
-
-    /// Analog 0: DAC
-    pin a0 = a2,
-
-    /// Analog 1
-    pin a1 = b2,
-
-    /// Analog 2
-    pin a2 = b3,
-
-    /// Analog 3: PWM, TCC
-    pin a3 = a4,
-
-    /// Analog 4: PWM, TCC
-    pin a4 = a5,
-
-    /// Analog 5
-    pin a5 = a6,
-
-    /// Analog 6
-    pin a6 = a7,
-
-    pin usb_n = a24,
-    pin usb_p = a25,
-    pin usb_id = a18,
-    pin aref = a3,
-    pin sd_sck = a12,
-    pin sd_mosi = a13,
-    pin sd_ss = a14,
-    pin sd_miso = a15,
-    pin sd_cd = a27,
-
-    /// LED built into the board
-    pin led_builtin = b8,
-
-    pin bottom_pad = a28,
-    pin adc_battery = b9,
-    pin xin32 = a0,
-    pin xout32 = a1,
-);
-
+pub mod pins;
+pub mod sercom;
 #[cfg(feature = "usb")]
-pub fn usb_allocator(
-    usb: pac::USB,
-    clocks: &mut GenericClockController,
-    pm: &mut pac::PM,
-    dm: impl AnyPin<Id = PA24>,
-    dp: impl AnyPin<Id = PA25>,
-) -> UsbBusAllocator<UsbBus> {
-    let gclk0 = clocks.gclk0();
-    let usb_clock = &clocks.usb(&gclk0).unwrap();
-
-    UsbBusAllocator::new(UsbBus::new(usb_clock, pm, dm, dp, usb))
-}
+pub mod usb;