Merge pull request #2246 from hathach/add-cmake-samd

Add cmake support for samd21 and samd51

.github/workflows/build_arm.yml

@@ -39,9 +39,7 @@ jobs:
         - 'lpc51 lpc54'
         - 'mm32 msp432e4'
         - 'nrf'
-        - 'samd11 samd21'
-        - 'samd51 same5x'
-        - 'saml2x'
+        - 'samd11 same5x saml2x'
         - 'stm32f2 stm32f3'
         - 'stm32l0 stm32u5 stm32wb'
         - 'tm4c123 xmc4000'

.github/workflows/cmake_arm.yml

@@ -40,6 +40,8 @@ jobs:
           - 'mcx'
           - 'ra'
           - 'rp2040'
+          - 'samd21'
+          - 'samd51'
           - 'stm32f0'
           - 'stm32f1'
           - 'stm32f4'

hw/bsp/samd21/FreeRTOSConfig/FreeRTOSConfig.h

@@ -0,0 +1,165 @@
+/*
+ * FreeRTOS Kernel V10.0.0
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software. If you wish to use our Amazon
+ * FreeRTOS name, please do so in a fair use way that does not cause confusion.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+// skip if included from IAR assembler
+#ifndef __IASMARM__
+  #include "sam.h"
+#endif
+
+/* Cortex M23/M33 port configuration. */
+#define configENABLE_MPU                        0
+#define configENABLE_FPU                        1
+#define configENABLE_TRUSTZONE                  0
+#define configMINIMAL_SECURE_STACK_SIZE         (1024)
+
+#define configUSE_PREEMPTION                    1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configCPU_CLOCK_HZ                      SystemCoreClock
+#define configTICK_RATE_HZ                      ( 1000 )
+#define configMAX_PRIORITIES                    ( 5 )
+#define configMINIMAL_STACK_SIZE                ( 128 )
+#define configTOTAL_HEAP_SIZE                   ( configSUPPORT_DYNAMIC_ALLOCATION*4*1024 )
+#define configMAX_TASK_NAME_LEN                 16
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configQUEUE_REGISTRY_SIZE               4
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  0
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP   0
+
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK                    0
+#define configUSE_TICK_HOOK                    0
+#define configUSE_MALLOC_FAILED_HOOK           0 // cause nested extern warning
+#define configCHECK_FOR_STACK_OVERFLOW         2
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS          0
+#define configRECORD_STACK_HIGH_ADDRESS        1
+#define configUSE_TRACE_FACILITY               1 // legacy trace
+#define configUSE_STATS_FORMATTING_FUNCTIONS   0
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                  0
+#define configMAX_CO_ROUTINE_PRIORITIES        2
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                       1
+#define configTIMER_TASK_PRIORITY              (configMAX_PRIORITIES-2)
+#define configTIMER_QUEUE_LENGTH               32
+#define configTIMER_TASK_STACK_DEPTH           configMINIMAL_STACK_SIZE
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet               0
+#define INCLUDE_uxTaskPriorityGet              0
+#define INCLUDE_vTaskDelete                    0
+#define INCLUDE_vTaskSuspend                   1 // required for queue, semaphore, mutex to be blocked indefinitely with portMAX_DELAY
+#define INCLUDE_xResumeFromISR                 0
+#define INCLUDE_vTaskDelayUntil                1
+#define INCLUDE_vTaskDelay                     1
+#define INCLUDE_xTaskGetSchedulerState         0
+#define INCLUDE_xTaskGetCurrentTaskHandle      1
+#define INCLUDE_uxTaskGetStackHighWaterMark    0
+#define INCLUDE_xTaskGetIdleTaskHandle         0
+#define INCLUDE_xTimerGetTimerDaemonTaskHandle 0
+#define INCLUDE_pcTaskGetTaskName              0
+#define INCLUDE_eTaskGetState                  0
+#define INCLUDE_xEventGroupSetBitFromISR       0
+#define INCLUDE_xTimerPendFunctionCall         0
+
+/* Define to trap errors during development. */
+// Halt CPU (breakpoint) when hitting error, only apply for Cortex M3, M4, M7
+#if defined(__ARM_ARCH_7M__) || defined (__ARM_ARCH_7EM__)
+  #define configASSERT(_exp) \
+    do {\
+      if ( !(_exp) ) { \
+        volatile uint32_t* ARM_CM_DHCSR =  ((volatile uint32_t*) 0xE000EDF0UL); /* Cortex M CoreDebug->DHCSR */ \
+        if ( (*ARM_CM_DHCSR) & 1UL ) {  /* Only halt mcu if debugger is attached */ \
+          taskDISABLE_INTERRUPTS(); \
+           __asm("BKPT #0\n"); \
+        }\
+      }\
+    } while(0)
+#else
+  #define configASSERT( x )
+#endif
+
+/* FreeRTOS hooks to NVIC vectors */
+#define xPortPendSVHandler    PendSV_Handler
+#define xPortSysTickHandler   SysTick_Handler
+#define vPortSVCHandler       SVC_Handler
+
+//--------------------------------------------------------------------+
+// Interrupt nesting behavior configuration.
+//--------------------------------------------------------------------+
+
+// For Cortex-M specific: __NVIC_PRIO_BITS is defined in mcu header
+#define configPRIO_BITS       2
+
+/* The lowest interrupt priority that can be used in a call to a "set priority" function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			  ((1<<configPRIO_BITS) - 1)
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	2
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		          ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	        ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+#endif

hw/bsp/samd21/boards/atsamd21_xpro/board.cmake

@@ -0,0 +1,9 @@
+set(JLINK_DEVICE ATSAMD21J18)
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/samd21j18a_flash.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    __SAMD21J18A__
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
+endfunction()

hw/bsp/samd21/boards/circuitplayground_express/board.cmake

@@ -0,0 +1,9 @@
+set(JLINK_DEVICE ATSAMD21G18)
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/${BOARD}.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    __SAMD21G18A__
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
+endfunction()

hw/bsp/samd21/boards/curiosity_nano/board.cmake

@@ -0,0 +1,10 @@
+set(JLINK_DEVICE atsamd21g17a)
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/samd21g17a_flash.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    __SAMD21G17A__
+    CFG_EXAMPLE_MSC_READONLY
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
+endfunction()

hw/bsp/samd21/boards/cynthion_d21/board.cmake

@@ -0,0 +1,12 @@
+set(JLINK_DEVICE ATSAMD21G18)
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/samd21g18a_flash.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    __SAMD21G18A__
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
+  target_link_options(${TARGET} PUBLIC
+    "LINKER:--defsym=BOOTLOADER_SIZE=0x800"
+    )
+endfunction()

hw/bsp/samd21/boards/feather_m0_express/board.cmake

@@ -0,0 +1,9 @@
+set(JLINK_DEVICE ATSAMD21G18)
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/${BOARD}.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    __SAMD21G18A__
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
+endfunction()

hw/bsp/samd21/boards/itsybitsy_m0/board.cmake

@@ -0,0 +1,9 @@
+set(JLINK_DEVICE ATSAMD21G18)
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/${BOARD}.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    __SAMD21G18A__
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
+endfunction()

hw/bsp/samd21/boards/metro_m0_express/board.cmake

@@ -0,0 +1,9 @@
+set(JLINK_DEVICE ATSAMD21G18)
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/${BOARD}.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    __SAMD21G18A__
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
+endfunction()

hw/bsp/samd21/boards/qtpy/board.cmake

@@ -0,0 +1,9 @@
+set(JLINK_DEVICE ATSAMD21E18)
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/${BOARD}.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    __SAMD21E18A__
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
+endfunction()

hw/bsp/samd21/boards/seeeduino_xiao/board.cmake

@@ -0,0 +1,9 @@
+set(JLINK_DEVICE ATSAMD21G18)
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/${BOARD}.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    __SAMD21G18A__
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
+endfunction()

hw/bsp/samd21/boards/trinket_m0/board.cmake

@@ -0,0 +1,9 @@
+set(JLINK_DEVICE ATSAMD21E18)
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/${BOARD}.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    __SAMD21E18A__
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
+endfunction()

hw/bsp/samd21/family.c

@@ -28,6 +28,12 @@
 #include "bsp/board_api.h"
 #include "board.h"
 
+// Suppress warning caused by mcu driver
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-qual"
+#endif
+
 #include "hal/include/hal_gpio.h"
 #include "hal/include/hal_init.h"
 #include "hri/hri_nvmctrl_d21.h"
@@ -36,6 +42,10 @@
 #include "hpl_pm_config.h"
 #include "hpl/pm/hpl_pm_base.h"
 
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+
 //--------------------------------------------------------------------+
 // Forward USB interrupt events to TinyUSB IRQ Handler
 //--------------------------------------------------------------------+