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samr21-xpro: initial import for the samr21-xpro board

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dev/timer
Thomas Eichinger 9 years ago
parent 408eb3dc6e
commit bf256f63a3
92 changed files with 24569 additions and 8 deletions
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5
boards/samr21-xpro/Makefile
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# tell the Makefile.base which module to build
MODULE = $(BOARD)_base
include $(RIOTBASE)/Makefile.base

39
boards/samr21-xpro/Makefile.include
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# define the cpu used by the arduino due board
export CPU = samd21
export CPU_MODEL = samr21g18a
# set the default port
export PORT ?= /dev/ttyACM0
# define tools used for building the project
export PREFIX = arm-none-eabi-
export CC = $(PREFIX)gcc
export AR = $(PREFIX)ar
export AS = $(PREFIX)as
export LINK = $(PREFIX)gcc
export SIZE = $(PREFIX)size
export OBJCOPY = $(PREFIX)objcopy
export TERMPROG = $(RIOTBASE)/dist/tools/pyterm/pyterm -p
export FLASHER = $(RIOTBOARD)/$(BOARD)/dist/flash.sh
export DEBUGGER = $(RIOTBOARD)/$(BOARD)/dist/debug.sh
# define build specific options
export CPU_USAGE = -mcpu=cortex-m0plus
FPU_USAGE =
export CFLAGS += -ggdb -g3 -std=gnu99 -O0 -Wall -Wstrict-prototypes $(CPU_USAGE) $(FPU_USAGE) -mlittle-endian -mthumb -mthumb-interwork -nostartfiles
export CFLAGS += -ffunction-sections -fdata-sections -fno-builtin
export ASFLAGS += -ggdb -g3 $(CPU_USAGE) $(FPU_USAGE) -mlittle-endian
export LINKFLAGS += -g3 -ggdb -std=gnu99 $(CPU_USAGE) $(FPU_USAGE) -mlittle-endian -static -lgcc -mthumb -mthumb-interwork -nostartfiles
# linkerscript specified in cpu/Makefile.include
export LINKFLAGS += -T$(LINKERSCRIPT)
export OFLAGS += -O binary
export FFLAGS += $(HEXFILE)
export TERMFLAGS += "$(PORT)"
# use the nano-specs of the NewLib when available
ifeq ($(shell $(LINK) -specs=nano.specs -E - 2>/dev/null >/dev/null </dev/null ; echo $$?),0)
export LINKFLAGS += -specs=nano.specs -lc -lnosys
endif
# export board specific includes to the global includes-listing
export INCLUDES += -I$(RIOTBOARD)/$(BOARD)/include

53
boards/samr21-xpro/board.c
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/*
* Copyright (C) 2014 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup board_samr21-xpro
* @{
*
* @file board.c
* @brief Board specific implementations for the Atem SAM R21 Xplained Pro board
*
* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de>
*
* @}
*/
#include <stdio.h>
#include "board.h"
#include "cpu.h"
void led_init(void);
void board_init(void)
{
/* initialize the CPU */
cpu_init();
/* initialize the boards LEDs */
led_init();
}
/**
* @brief Initialize the boards on-board LED
*
* The LED initialization is hard-coded in this function. As the LED is soldered
* onto the board it is fixed to its CPU pins.
*
* The LED is connected to the following pin:
* - LED: PA19
*/
void led_init(void)
{
LED_PORT.DIRSET.reg = LED_PIN;
LED_PORT.OUTSET.reg = LED_PIN;
}

8
boards/samr21-xpro/dist/debug.sh vendored
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#!/bin/bash
openocd -f "board/atmel_samr21_xplained_pro.cfg" \
-c "tcl_port 6333" \
-c "telnet_port 4444" \
-c "init" \
-c "targets" \
-c "reset halt"

11
boards/samr21-xpro/dist/flash.sh vendored
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#!/bin/bash
openocd -f "board/atmel_samr21_xplained_pro.cfg" \
-c "init" \
-c "targets" \
-c "reset halt" \
-c "reset init" \
-c "flash write_image erase $1" \
-c "verify_image $1" \
-c "reset run" \
-c "shutdown"

79
boards/samr21-xpro/include/board.h
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/*
* Copyright (C) 2014 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @defgroup board_samr21-xpro Atmel SAM R21 Xplained Pro
* @ingroup boards
* @brief Support for the Atmel SAM R21 Xplained Pro board.
* @{
*
* @file board.h
* @brief Board specific definitions for the Atmel SAM R21 Xplained Pro board.
*
* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de>
*/
#ifndef __BOARD_H
#define __BOARD_H
#include "cpu.h"
/**
* Define the nominal CPU core clock in this board
*/
#define F_CPU (48000000UL)
/**
* Assign the hardware timer
*/
#define HW_TIMER TIMER_0
/**
* @name Define UART device and baudrate for stdio
* @{
*/
#define STDIO UART_0
#define STDIO_BAUDRATE (115200U)
#define STDIO_BUFSIZE (64U)
/** @} */
/**
* @name LED pin definitions
* @{
*/
#define LED_PORT PORT->Group[0]
#define LED_PIN PORT_PA19
/** @} */
/**
* @name Macros for controlling the on-board LEDs.
* @{
*/
#define LED_ON (LED_PORT.OUTCLR.reg = LED_PIN)
#define LED_OFF (LED_PORT.OUTSET.reg = LED_PIN)
#define LED_TOGGLE (LED_PORT.OUTTGL.reg = LED_PIN)
/* for compatability to other boards */
#define LED_GREEN_ON /* not available */
#define LED_GREEN_OFF /* not available */
#define LED_GREEN_TOGGLE /* not available */
#define LED_ORANGE_ON /* not available */
#define LED_ORANGE_OFF /* not available */
#define LED_ORANGE_TOGGLE /* not available */
#define LED_RED_ON LED_ON
#define LED_RED_OFF LED_OFF
#define LED_RED_TOGGLE LED_TOGGLE
/** @} */
/**
* @brief Initialize board specific hardware, including clock, LEDs and std-IO
*/
void board_init(void);
#endif /** __BOARD_H */
/** @} */

120
boards/samr21-xpro/include/periph_conf.h
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/*
* Copyright (C) 2014 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup board_samr21-xpro
* @{
*
* @file periph_conf.h
* @brief Peripheral MCU configuration for the Atmel SAM R21 Xplained Pro board
*
* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de>
*/
#ifndef __PERIPH_CONF_H
#define __PERIPH_CONF_H
/**
* @name Timer peripheral configuration
* @{
*/
#define TIMER_NUMOF (3U)
#define TIMER_0_EN 1
#define TIMER_1_EN 1
#define TIMER_2_EN 1
/* Timer 0 configuration */
#define TIMER_0_DEV TC3->COUNT16
#define TIMER_0_CHANNELS 2
#define TIMER_0_MAX_VALUE (0xffff)
#define TIMER_0_ISR isr_tc3
/* Timer 1 configuration */
#define TIMER_1_DEV TC4->COUNT16
#define TIMER_1_CHANNELS 2
#define TIMER_1_MAX_VALUE (0xffff)
#define TIMER_1_ISR isr_tc4
/* Timer 2 configuration */
#define TIMER_2_DEV TC5->COUNT16
#define TIMER_2_CHANNELS 2
#define TIMER_2_MAX_VALUE (0xffff)
#define TIMER_2_ISR isr_tc5
/** @} */
/**
* @name UART configuration
* @{
*/
#define UART_NUMOF (1U)
#define UART_0_EN 1
#define UART_1_EN 0
#define UART_2_EN 0
#define UART_3_EN 0
#define UART_IRQ_PRIO 1
/* UART 0 device configuration */
#define UART_0_DEV SERCOM0->USART
#define UART_0_IRQ SERCOM0_IRQn
#define UART_0_ISR isr_sercom0
/* UART 0 pin configuration */
#define UART_0_PORT (PORT->Group[0])
#define UART_0_TX_PIN PIN_PA04
#define UART_0_RX_PIN PIN_PA05
#define UART_0_PINS (PORT_PA04 | PORT_PA05)
#define UART_0_REF_F (8000000UL)
/* UART 1 device configuration */
#define UART_1_DEV
#define UART_1_IRQ
#define UART_1_ISR
/* UART 1 pin configuration */
#define UART_1_PORT
#define UART_1_PINS
/** @} */
/**
* @name Random Number Generator configuration
* @{
*/
#define RANDOM_NUMOF (0U)
/** @} */
/**
* @name GPIO configuration
* @{
*/
#define GPIO_NUMOF (4U)
#define GPIO_0_EN 1
#define GPIO_1_EN 1
#define GPIO_2_EN 1
#define GPIO_3_EN 1
/* GPIO channel 0 config */
#define GPIO_0_DEV PORT->Group[0]
#define GPIO_0_PIN PIN_PA13
#define GPIO_0_EXTINT 13
/* GPIO channel 1 config */
/* SW0 Button, configure w/ GPIO_PULLUP and GPIO_FALLING */
#define GPIO_1_DEV PORT->Group[0]
#define GPIO_1_PIN PIN_PA28
#define GPIO_1_EXTINT 8
/* GPIO channel 2 config */
#define GPIO_2_DEV PORT->Group[0]
#define GPIO_2_PIN PIN_PA15
#define GPIO_2_EXTINT 15
/* GPIO channel 3 config */
#define GPIO_3_DEV PORT->Group[0]
#define GPIO_3_PIN PIN_PA19
#define GPIO_3_EXTINT 3
/** @} */
#endif /* __PERIPH_CONF_H */
/** @} */

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cpu/cortex-m0_common/include/core_cm0plus.h
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/**************************************************************************//**
* @file core_cm0plus.h
* @brief CMSIS Cortex-M0+ Core Peripheral Access Layer Header File
* @version V3.01
* @date 22. March 2012
*
* @note
* Copyright (C) 2009-2012 ARM Limited. All rights reserved.
*
* @par
* ARM Limited (ARM) is supplying this software for use with Cortex-M
* processor based microcontrollers. This file can be freely distributed
* within development tools that are supporting such ARM based processors.
*
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
* ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
* CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
*
******************************************************************************/
#if defined ( __ICCARM__ )
#pragma system_include /* treat file as system include file for MISRA check */
#endif
#ifdef __cplusplus
extern "C" {
#endif
#ifndef __CORE_CM0PLUS_H_GENERIC
#define __CORE_CM0PLUS_H_GENERIC
/** \page CMSIS_MISRA_Exceptions MISRA-C:2004 Compliance Exceptions
CMSIS violates the following MISRA-C:2004 rules:
\li Required Rule 8.5, object/function definition in header file.<br>
Function definitions in header files are used to allow 'inlining'.
\li Required Rule 18.4, declaration of union type or object of union type: '{...}'.<br>
Unions are used for effective representation of core registers.
\li Advisory Rule 19.7, Function-like macro defined.<br>
Function-like macros are used to allow more efficient code.
*/
/*******************************************************************************
* CMSIS definitions
******************************************************************************/
/** \ingroup Cortex-M0+
@{
*/
/* CMSIS CM0P definitions */
#define __CM0PLUS_CMSIS_VERSION_MAIN (0x03) /*!< [31:16] CMSIS HAL main version */
#define __CM0PLUS_CMSIS_VERSION_SUB (0x01) /*!< [15:0] CMSIS HAL sub version */
#define __CM0PLUS_CMSIS_VERSION ((__CM0PLUS_CMSIS_VERSION_MAIN << 16) | \
__CM0PLUS_CMSIS_VERSION_SUB) /*!< CMSIS HAL version number */
#define __CORTEX_M (0x00) /*!< Cortex-M Core */
#if defined ( __CC_ARM )
#define __ASM __asm /*!< asm keyword for ARM Compiler */
#define __INLINE __inline /*!< inline keyword for ARM Compiler */
#define __STATIC_INLINE static __inline
#elif defined ( __ICCARM__ )
#define __ASM __asm /*!< asm keyword for IAR Compiler */
#define __INLINE inline /*!< inline keyword for IAR Compiler. Only available in High optimization mode! */
#define __STATIC_INLINE static inline
#elif defined ( __GNUC__ )
#define __ASM __asm /*!< asm keyword for GNU Compiler */
#define __INLINE inline /*!< inline keyword for GNU Compiler */
#define __STATIC_INLINE static inline
#elif defined ( __TASKING__ )
#define __ASM __asm /*!< asm keyword for TASKING Compiler */
#define __INLINE inline /*!< inline keyword for TASKING Compiler */
#define __STATIC_INLINE static inline
#endif
/** __FPU_USED indicates whether an FPU is used or not. This core does not support an FPU at all
*/
#define __FPU_USED 0
#if defined ( __CC_ARM )
#if defined __TARGET_FPU_VFP
#warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __ICCARM__ )
#if defined __ARMVFP__
#warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __GNUC__ )
#if defined (__VFP_FP__) && !defined(__SOFTFP__)
#warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __TASKING__ )
#if defined __FPU_VFP__
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#endif
#include <stdint.h> /* standard types definitions */
#include <core_cmInstr.h> /* Core Instruction Access */
#include <core_cmFunc.h> /* Core Function Access */
#endif /* __CORE_CM0PLUS_H_GENERIC */
#ifndef __CMSIS_GENERIC
#ifndef __CORE_CM0PLUS_H_DEPENDANT
#define __CORE_CM0PLUS_H_DEPENDANT
/* check device defines and use defaults */
#if defined __CHECK_DEVICE_DEFINES
#ifndef __CM0PLUS_REV
#define __CM0PLUS_REV 0x0000
#warning "__CM0PLUS_REV not defined in device header file; using default!"
#endif
#ifndef __MPU_PRESENT
#define __MPU_PRESENT 0
#warning "__MPU_PRESENT not defined in device header file; using default!"
#endif
#ifndef __VTOR_PRESENT
#define __VTOR_PRESENT 0
#warning "__VTOR_PRESENT not defined in device header file; using default!"
#endif
#ifndef __NVIC_PRIO_BITS
#define __NVIC_PRIO_BITS 2
#warning "__NVIC_PRIO_BITS not defined in device header file; using default!"
#endif
#ifndef __Vendor_SysTickConfig
#define __Vendor_SysTickConfig 0
#warning "__Vendor_SysTickConfig not defined in device header file; using default!"
#endif
#endif
/* IO definitions (access restrictions to peripheral registers) */
/**
\defgroup CMSIS_glob_defs CMSIS Global Defines
<strong>IO Type Qualifiers</strong> are used
\li to specify the access to peripheral variables.
\li for automatic generation of peripheral register debug information.
*/
#ifdef __cplusplus
#define __I volatile /*!< Defines 'read only' permissions */
#else
#define __I volatile const /*!< Defines 'read only' permissions */
#endif
#define __O volatile /*!< Defines 'write only' permissions */
#define __IO volatile /*!< Defines 'read / write' permissions */
/*@} end of group Cortex-M0+ */
/*******************************************************************************
* Register Abstraction
Core Register contain:
- Core Register
- Core NVIC Register
- Core SCB Register
- Core SysTick Register
- Core MPU Register
******************************************************************************/
/** \defgroup CMSIS_core_register Defines and Type Definitions
\brief Type definitions and defines for Cortex-M processor based devices.
*/
/** \ingroup CMSIS_core_register
\defgroup CMSIS_CORE Status and Control Registers
\brief Core Register type definitions.
@{
*/
/** \brief Union type to access the Application Program Status Register (APSR).
*/
typedef union
{
struct
{
#if (__CORTEX_M != 0x04)
uint32_t _reserved0:27; /*!< bit: 0..26 Reserved */
#else
uint32_t _reserved0:16; /*!< bit: 0..15 Reserved */
uint32_t GE:4; /*!< bit: 16..19 Greater than or Equal flags */
uint32_t _reserved1:7; /*!< bit: 20..26 Reserved */
#endif
uint32_t Q:1; /*!< bit: 27 Saturation condition flag */
uint32_t V:1; /*!< bit: 28 Overflow condition code flag */
uint32_t C:1; /*!< bit: 29 Carry condition code flag */
uint32_t Z:1; /*!< bit: 30 Zero condition code flag */
uint32_t N:1; /*!< bit: 31 Negative condition code flag */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} APSR_Type;
/** \brief Union type to access the Interrupt Program Status Register (IPSR).
*/
typedef union
{
struct
{
uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */
uint32_t _reserved0:23; /*!< bit: 9..31 Reserved */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} IPSR_Type;
/** \brief Union type to access the Special-Purpose Program Status Registers (xPSR).
*/
typedef union
{
struct
{
uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */
#if (__CORTEX_M != 0x04)
uint32_t _reserved0:15; /*!< bit: 9..23 Reserved */
#else
uint32_t _reserved0:7; /*!< bit: 9..15 Reserved */
uint32_t GE:4; /*!< bit: 16..19 Greater than or Equal flags */
uint32_t _reserved1:4; /*!< bit: 20..23 Reserved */
#endif
uint32_t T:1; /*!< bit: 24 Thumb bit (read 0) */
uint32_t IT:2; /*!< bit: 25..26 saved IT state (read 0) */
uint32_t Q:1; /*!< bit: 27 Saturation condition flag */
uint32_t V:1; /*!< bit: 28 Overflow condition code flag */
uint32_t C:1; /*!< bit: 29 Carry condition code flag */
uint32_t Z:1; /*!< bit: 30 Zero condition code flag */
uint32_t N:1; /*!< bit: 31 Negative condition code flag */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} xPSR_Type;
/** \brief Union type to access the Control Registers (CONTROL).
*/
typedef union
{
struct
{
uint32_t nPRIV:1; /*!< bit: 0 Execution privilege in Thread mode */
uint32_t SPSEL:1; /*!< bit: 1 Stack to be used */
uint32_t FPCA:1; /*!< bit: 2 FP extension active flag */
uint32_t _reserved0:29; /*!< bit: 3..31 Reserved */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} CONTROL_Type;
/*@} end of group CMSIS_CORE */
/** \ingroup CMSIS_core_register
\defgroup CMSIS_NVIC Nested Vectored Interrupt Controller (NVIC)
\brief Type definitions for the NVIC Registers
@{
*/
/** \brief Structure type to access the Nested Vectored Interrupt Controller (NVIC).
*/
typedef struct
{
__IO uint32_t ISER[1]; /*!< Offset: 0x000 (R/W) Interrupt Set Enable Register */
uint32_t RESERVED0[31];
__IO uint32_t ICER[1]; /*!< Offset: 0x080 (R/W) Interrupt Clear Enable Register */
uint32_t RSERVED1[31];
__IO uint32_t ISPR[1]; /*!< Offset: 0x100 (R/W) Interrupt Set Pending Register */
uint32_t RESERVED2[31];
__IO uint32_t ICPR[1]; /*!< Offset: 0x180 (R/W) Interrupt Clear Pending Register */
uint32_t RESERVED3[31];
uint32_t RESERVED4[64];
__IO uint32_t IP[8]; /*!< Offset: 0x300 (R/W) Interrupt Priority Register */
} NVIC_Type;
/*@} end of group CMSIS_NVIC */
/** \ingroup CMSIS_core_register
\defgroup CMSIS_SCB System Control Block (SCB)
\brief Type definitions for the System Control Block Registers
@{
*/
/** \brief Structure type to access the System Control Block (SCB).
*/
typedef struct
{
__I uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */
__IO uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */
#if (__VTOR_PRESENT == 1)
__IO uint32_t VTOR; /*!< Offset: 0x008 (R/W) Vector Table Offset Register */
#else
uint32_t RESERVED0;
#endif
__IO uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */
__IO uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */
__IO uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */
uint32_t RESERVED1;
__IO uint32_t SHP[2]; /*!< Offset: 0x01C (R/W) System Handlers Priority Registers. [0] is RESERVED */
__IO uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */
} SCB_Type;
/* SCB CPUID Register Definitions */
#define SCB_CPUID_IMPLEMENTER_Pos 24 /*!< SCB CPUID: IMPLEMENTER Position */
#define SCB_CPUID_IMPLEMENTER_Msk (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */
#define SCB_CPUID_VARIANT_Pos 20 /*!< SCB CPUID: VARIANT Position */
#define SCB_CPUID_VARIANT_Msk (0xFUL << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */
#define SCB_CPUID_ARCHITECTURE_Pos 16 /*!< SCB CPUID: ARCHITECTURE Position */
#define SCB_CPUID_ARCHITECTURE_Msk (0xFUL << SCB_CPUID_ARCHITECTURE_Pos) /*!< SCB CPUID: ARCHITECTURE Mask */
#define SCB_CPUID_PARTNO_Pos 4 /*!< SCB CPUID: PARTNO Position */
#define SCB_CPUID_PARTNO_Msk (0xFFFUL << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */
#define SCB_CPUID_REVISION_Pos 0 /*!< SCB CPUID: REVISION Position */
#define SCB_CPUID_REVISION_Msk (0xFUL << SCB_CPUID_REVISION_Pos) /*!< SCB CPUID: REVISION Mask */
/* SCB Interrupt Control State Register Definitions */
#define SCB_ICSR_NMIPENDSET_Pos 31 /*!< SCB ICSR: NMIPENDSET Position */
#define SCB_ICSR_NMIPENDSET_Msk (1UL << SCB_ICSR_NMIPENDSET_Pos) /*!< SCB ICSR: NMIPENDSET Mask */
#define SCB_ICSR_PENDSVSET_Pos 28 /*!< SCB ICSR: PENDSVSET Position */
#define SCB_ICSR_PENDSVSET_Msk (1UL << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */
#define SCB_ICSR_PENDSVCLR_Pos 27 /*!< SCB ICSR: PENDSVCLR Position */
#define SCB_ICSR_PENDSVCLR_Msk (1UL << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */
#define SCB_ICSR_PENDSTSET_Pos 26 /*!< SCB ICSR: PENDSTSET Position */
#define SCB_ICSR_PENDSTSET_Msk (1UL << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */
#define SCB_ICSR_PENDSTCLR_Pos 25 /*!< SCB ICSR: PENDSTCLR Position */
#define SCB_ICSR_PENDSTCLR_Msk (1UL << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */
#define SCB_ICSR_ISRPREEMPT_Pos 23 /*!< SCB ICSR: ISRPREEMPT Position */
#define SCB_ICSR_ISRPREEMPT_Msk (1UL << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */
#define SCB_ICSR_ISRPENDING_Pos 22 /*!< SCB ICSR: ISRPENDING Position */
#define SCB_ICSR_ISRPENDING_Msk (1UL << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */
#define SCB_ICSR_VECTPENDING_Pos 12 /*!< SCB ICSR: VECTPENDING Position */
#define SCB_ICSR_VECTPENDING_Msk (0x1FFUL << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */
#define SCB_ICSR_VECTACTIVE_Pos 0 /*!< SCB ICSR: VECTACTIVE Position */
#define SCB_ICSR_VECTACTIVE_Msk (0x1FFUL << SCB_ICSR_VECTACTIVE_Pos) /*!< SCB ICSR: VECTACTIVE Mask */
#if (__VTOR_PRESENT == 1)
/* SCB Interrupt Control State Register Definitions */
#define SCB_VTOR_TBLOFF_Pos 7 /*!< SCB VTOR: TBLOFF Position */
#define SCB_VTOR_TBLOFF_Msk (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos) /*!< SCB VTOR: TBLOFF Mask */
#endif
/* SCB Application Interrupt and Reset Control Register Definitions */
#define SCB_AIRCR_VECTKEY_Pos 16 /*!< SCB AIRCR: VECTKEY Position */
#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */
#define SCB_AIRCR_VECTKEYSTAT_Pos 16 /*!< SCB AIRCR: VECTKEYSTAT Position */
#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */
#define SCB_AIRCR_ENDIANESS_Pos 15 /*!< SCB AIRCR: ENDIANESS Position */
#define SCB_AIRCR_ENDIANESS_Msk (1UL << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */
#define SCB_AIRCR_SYSRESETREQ_Pos 2 /*!< SCB AIRCR: SYSRESETREQ Position */
#define SCB_AIRCR_SYSRESETREQ_Msk (1UL << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */
#define SCB_AIRCR_VECTCLRACTIVE_Pos 1 /*!< SCB AIRCR: VECTCLRACTIVE Position */
#define SCB_AIRCR_VECTCLRACTIVE_Msk (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */
/* SCB System Control Register Definitions */
#define SCB_SCR_SEVONPEND_Pos 4 /*!< SCB SCR: SEVONPEND Position */
#define SCB_SCR_SEVONPEND_Msk (1UL << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */
#define SCB_SCR_SLEEPDEEP_Pos 2 /*!< SCB SCR: SLEEPDEEP Position */
#define SCB_SCR_SLEEPDEEP_Msk (1UL << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */
#define SCB_SCR_SLEEPONEXIT_Pos 1 /*!< SCB SCR: SLEEPONEXIT Position */
#define SCB_SCR_SLEEPONEXIT_Msk (1UL << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */
/* SCB Configuration Control Register Definitions */
#define SCB_CCR_STKALIGN_Pos 9 /*!< SCB CCR: STKALIGN Position */
#define SCB_CCR_STKALIGN_Msk (1UL << SCB_CCR_STKALIGN_Pos) /*!< SCB CCR: STKALIGN Mask */
#define SCB_CCR_UNALIGN_TRP_Pos 3 /*!< SCB CCR: UNALIGN_TRP Position */
#define SCB_CCR_UNALIGN_TRP_Msk (1UL << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */
/* SCB System Handler Control and State Register Definitions */
#define SCB_SHCSR_SVCALLPENDED_Pos 15 /*!< SCB SHCSR: SVCALLPENDED Position */
#define SCB_SHCSR_SVCALLPENDED_Msk (1UL << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */
/*@} end of group CMSIS_SCB */
/** \ingroup CMSIS_core_register
\defgroup CMSIS_SysTick System Tick Timer (SysTick)
\brief Type definitions for the System Timer Registers.
@{
*/
/** \brief Structure type to access the System Timer (SysTick).
*/
typedef struct
{
__IO uint32_t CTRL; /*!< Offset: 0x000 (R/W) SysTick Control and Status Register */
__IO uint32_t LOAD; /*!< Offset: 0x004 (R/W) SysTick Reload Value Register */
__IO uint32_t VAL; /*!< Offset: 0x008 (R/W) SysTick Current Value Register */
__I uint32_t CALIB; /*!< Offset: 0x00C (R/ ) SysTick Calibration Register */
} SysTick_Type;
/* SysTick Control / Status Register Definitions */
#define SysTick_CTRL_COUNTFLAG_Pos 16 /*!< SysTick CTRL: COUNTFLAG Position */
#define SysTick_CTRL_COUNTFLAG_Msk (1UL << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */
#define SysTick_CTRL_CLKSOURCE_Pos 2 /*!< SysTick CTRL: CLKSOURCE Position */
#define SysTick_CTRL_CLKSOURCE_Msk (1UL << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */
#define SysTick_CTRL_TICKINT_Pos 1 /*!< SysTick CTRL: TICKINT Position */
#define SysTick_CTRL_TICKINT_Msk (1UL << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */
#define SysTick_CTRL_ENABLE_Pos 0 /*!< SysTick CTRL: ENABLE Position */
#define SysTick_CTRL_ENABLE_Msk (1UL << SysTick_CTRL_ENABLE_Pos) /*!< SysTick CTRL: ENABLE Mask */
/* SysTick Reload Register Definitions */
#define SysTick_LOAD_RELOAD_Pos 0 /*!< SysTick LOAD: RELOAD Position */
#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFUL << SysTick_LOAD_RELOAD_Pos) /*!< SysTick LOAD: RELOAD Mask */
/* SysTick Current Register Definitions */
#define SysTick_VAL_CURRENT_Pos 0 /*!< SysTick VAL: CURRENT Position */
#define SysTick_VAL_CURRENT_Msk (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos) /*!< SysTick VAL: CURRENT Mask */
/* SysTick Calibration Register Definitions */
#define SysTick_CALIB_NOREF_Pos 31 /*!< SysTick CALIB: NOREF Position */
#define SysTick_CALIB_NOREF_Msk (1UL << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */
#define SysTick_CALIB_SKEW_Pos 30 /*!< SysTick CALIB: SKEW Position */
#define SysTick_CALIB_SKEW_Msk (1UL << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */
#define SysTick_CALIB_TENMS_Pos 0 /*!< SysTick CALIB: TENMS Position */
#define SysTick_CALIB_TENMS_Msk (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos) /*!< SysTick CALIB: TENMS Mask */
/*@} end of group CMSIS_SysTick */
#if (__MPU_PRESENT == 1)
/** \ingroup CMSIS_core_register
\defgroup CMSIS_MPU Memory Protection Unit (MPU)
\brief Type definitions for the Memory Protection Unit (MPU)
@{
*/
/** \brief Structure type to access the Memory Protection Unit (MPU).
*/
typedef struct
{
__I uint32_t TYPE; /*!< Offset: 0x000 (R/ ) MPU Type Register */
__IO uint32_t CTRL; /*!< Offset: 0x004 (R/W) MPU Control Register */
__IO uint32_t RNR; /*!< Offset: 0x008 (R/W) MPU Region RNRber Register */
__IO uint32_t RBAR; /*!< Offset: 0x00C (R/W) MPU Region Base Address Register */
__IO uint32_t RASR; /*!< Offset: 0x010 (R/W) MPU Region Attribute and Size Register */
} MPU_Type;
/* MPU Type Register */
#define MPU_TYPE_IREGION_Pos 16 /*!< MPU TYPE: IREGION Position */
#define MPU_TYPE_IREGION_Msk (0xFFUL << MPU_TYPE_IREGION_Pos) /*!< MPU TYPE: IREGION Mask */
#define MPU_TYPE_DREGION_Pos 8 /*!< MPU TYPE: DREGION Position */
#define MPU_TYPE_DREGION_Msk (0xFFUL << MPU_TYPE_DREGION_Pos) /*!< MPU TYPE: DREGION Mask */
#define MPU_TYPE_SEPARATE_Pos 0 /*!< MPU TYPE: SEPARATE Position */
#define MPU_TYPE_SEPARATE_Msk (1UL << MPU_TYPE_SEPARATE_Pos) /*!< MPU TYPE: SEPARATE Mask */
/* MPU Control Register */
#define MPU_CTRL_PRIVDEFENA_Pos 2 /*!< MPU CTRL: PRIVDEFENA Position */
#define MPU_CTRL_PRIVDEFENA_Msk (1UL << MPU_CTRL_PRIVDEFENA_Pos) /*!< MPU CTRL: PRIVDEFENA Mask */
#define MPU_CTRL_HFNMIENA_Pos 1 /*!< MPU CTRL: HFNMIENA Position */
#define MPU_CTRL_HFNMIENA_Msk (1UL << MPU_CTRL_HFNMIENA_Pos) /*!< MPU CTRL: HFNMIENA Mask */
#define MPU_CTRL_ENABLE_Pos 0 /*!< MPU CTRL: ENABLE Position */
#define MPU_CTRL_ENABLE_Msk (1UL << MPU_CTRL_ENABLE_Pos) /*!< MPU CTRL: ENABLE Mask */
/* MPU Region Number Register */
#define MPU_RNR_REGION_Pos 0 /*!< MPU RNR: REGION Position */
#define MPU_RNR_REGION_Msk (0xFFUL << MPU_RNR_REGION_Pos) /*!< MPU RNR: REGION Mask */
/* MPU Region Base Address Register */
#define MPU_RBAR_ADDR_Pos 8 /*!< MPU RBAR: ADDR Position */
#define MPU_RBAR_ADDR_Msk (0xFFFFFFUL << MPU_RBAR_ADDR_Pos) /*!< MPU RBAR: ADDR Mask */
#define MPU_RBAR_VALID_Pos 4 /*!< MPU RBAR: VALID Position */
#define MPU_RBAR_VALID_Msk (1UL << MPU_RBAR_VALID_Pos) /*!< MPU RBAR: VALID Mask */
#define MPU_RBAR_REGION_Pos 0 /*!< MPU RBAR: REGION Position */
#define MPU_RBAR_REGION_Msk (0xFUL << MPU_RBAR_REGION_Pos) /*!< MPU RBAR: REGION Mask */
/* MPU Region Attribute and Size Register */
#define MPU_RASR_ATTRS_Pos 16 /*!< MPU RASR: MPU Region Attribute field Position */
#define MPU_RASR_ATTRS_Msk (0xFFFFUL << MPU_RASR_ATTRS_Pos) /*!< MPU RASR: MPU Region Attribute field Mask */
#define MPU_RASR_XN_Pos 28 /*!< MPU RASR: ATTRS.XN Position */
#define MPU_RASR_XN_Msk (1UL << MPU_RASR_XN_Pos) /*!< MPU RASR: ATTRS.XN Mask */
#define MPU_RASR_AP_Pos 24 /*!< MPU RASR: ATTRS.AP Position */
#define MPU_RASR_AP_Msk (0x7UL << MPU_RASR_AP_Pos) /*!< MPU RASR: ATTRS.AP Mask */
#define MPU_RASR_TEX_Pos 19 /*!< MPU RASR: ATTRS.TEX Position */
#define MPU_RASR_TEX_Msk (0x7UL << MPU_RASR_TEX_Pos) /*!< MPU RASR: ATTRS.TEX Mask */
#define MPU_RASR_S_Pos 18 /*!< MPU RASR: ATTRS.S Position */
#define MPU_RASR_S_Msk (1UL << MPU_RASR_S_Pos) /*!< MPU RASR: ATTRS.S Mask */
#define MPU_RASR_C_Pos 17 /*!< MPU RASR: ATTRS.C Position */
#define MPU_RASR_C_Msk (1UL << MPU_RASR_C_Pos) /*!< MPU RASR: ATTRS.C Mask */
#define MPU_RASR_B_Pos 16 /*!< MPU RASR: ATTRS.B Position */
#define MPU_RASR_B_Msk (1UL << MPU_RASR_B_Pos) /*!< MPU RASR: ATTRS.B Mask */
#define MPU_RASR_SRD_Pos 8 /*!< MPU RASR: Sub-Region Disable Position */
#define MPU_RASR_SRD_Msk (0xFFUL << MPU_RASR_SRD_Pos) /*!< MPU RASR: Sub-Region Disable Mask */
#define MPU_RASR_SIZE_Pos 1 /*!< MPU RASR: Region Size Field Position */
#define MPU_RASR_SIZE_Msk (0x1FUL << MPU_RASR_SIZE_Pos) /*!< MPU RASR: Region Size Field Mask */
#define MPU_RASR_ENABLE_Pos 0 /*!< MPU RASR: Region enable bit Position */
#define MPU_RASR_ENABLE_Msk (1UL << MPU_RASR_ENABLE_Pos) /*!< MPU RASR: Region enable bit Disable Mask */
/*@} end of group CMSIS_MPU */
#endif
/** \ingroup CMSIS_core_register
\defgroup CMSIS_CoreDebug Core Debug Registers (CoreDebug)
\brief Cortex-M0+ Core Debug Registers (DCB registers, SHCSR, and DFSR)
are only accessible over DAP and not via processor. Therefore
they are not covered by the Cortex-M0 header file.
@{
*/
/*@} end of group CMSIS_CoreDebug */
/** \ingroup CMSIS_core_register
\defgroup CMSIS_core_base Core Definitions
\brief Definitions for base addresses, unions, and structures.
@{
*/
/* Memory mapping of Cortex-M0+ Hardware */
#define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */
#define SysTick_BASE (SCS_BASE + 0x0010UL) /*!< SysTick Base Address */
#define NVIC_BASE (SCS_BASE + 0x0100UL) /*!< NVIC Base Address */
#define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */
#define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */
#define SysTick ((SysTick_Type *) SysTick_BASE ) /*!< SysTick configuration struct */
#define NVIC ((NVIC_Type *) NVIC_BASE ) /*!< NVIC configuration struct */
#if (__MPU_PRESENT == 1)
#define MPU_BASE (SCS_BASE + 0x0D90UL) /*!< Memory Protection Unit */
#define MPU ((MPU_Type *) MPU_BASE ) /*!< Memory Protection Unit */
#endif
/*@} */
/*******************************************************************************
* Hardware Abstraction Layer
Core Function Interface contains:
- Core NVIC Functions
- Core SysTick Functions
- Core Register Access Functions
******************************************************************************/
/** \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference
*/
/* ########################## NVIC functions #################################### */
/** \ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_NVICFunctions NVIC Functions
\brief Functions that manage interrupts and exceptions via the NVIC.
@{
*/
/* Interrupt Priorities are WORD accessible only under ARMv6M */
/* The following MACROS handle generation of the register offset and byte masks */
#define _BIT_SHIFT(IRQn) ( (((uint32_t)(IRQn) ) & 0x03) * 8 )
#define _SHP_IDX(IRQn) ( ((((uint32_t)(IRQn) & 0x0F)-8) >> 2) )
#define _IP_IDX(IRQn) ( ((uint32_t)(IRQn) >> 2) )
/** \brief Enable External Interrupt
The function enables a device-specific interrupt in the NVIC interrupt controller.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
{
NVIC->ISER[0] = (1 << ((uint32_t)(IRQn) & 0x1F));
}
/** \brief Disable External Interrupt
The function disables a device-specific interrupt in the NVIC interrupt controller.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)
{
NVIC->ICER[0] = (1 << ((uint32_t)(IRQn) & 0x1F));
}
/** \brief Get Pending Interrupt
The function reads the pending register in the NVIC and returns the pending bit
for the specified interrupt.
\param [in] IRQn Interrupt number.
\return 0 Interrupt status is not pending.
\return 1 Interrupt status is pending.
*/
__STATIC_INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn)
{
return((uint32_t) ((NVIC->ISPR[0] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0));
}
/** \brief Set Pending Interrupt
The function sets the pending bit of an external interrupt.
\param [in] IRQn Interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn)
{
NVIC->ISPR[0] = (1 << ((uint32_t)(IRQn) & 0x1F));
}
/** \brief Clear Pending Interrupt
The function clears the pending bit of an external interrupt.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn)
{
NVIC->ICPR[0] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* Clear pending interrupt */
}
/** \brief Set Interrupt Priority
The function sets the priority of an interrupt.
\note The priority cannot be set for every core interrupt.
\param [in] IRQn Interrupt number.
\param [in] priority Priority to set.
*/
__STATIC_INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
{
if(IRQn < 0) {
SCB->SHP[_SHP_IDX(IRQn)] = (SCB->SHP[_SHP_IDX(IRQn)] & ~(0xFF << _BIT_SHIFT(IRQn))) |
(((priority << (8 - __NVIC_PRIO_BITS)) & 0xFF) << _BIT_SHIFT(IRQn)); }
else {
NVIC->IP[_IP_IDX(IRQn)] = (NVIC->IP[_IP_IDX(IRQn)] & ~(0xFF << _BIT_SHIFT(IRQn))) |
(((priority << (8 - __NVIC_PRIO_BITS)) & 0xFF) << _BIT_SHIFT(IRQn)); }
}
/** \brief Get Interrupt Priority
The function reads the priority of an interrupt. The interrupt
number can be positive to specify an external (device specific)
interrupt, or negative to specify an internal (core) interrupt.
\param [in] IRQn Interrupt number.
\return Interrupt Priority. Value is aligned automatically to the implemented
priority bits of the microcontroller.
*/
__STATIC_INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn)
{
if(IRQn < 0) {
return((uint32_t)((SCB->SHP[_SHP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) >> (8 - __NVIC_PRIO_BITS))); } /* get priority for Cortex-M0+ system interrupts */
else {
return((uint32_t)((NVIC->IP[ _IP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) >> (8 - __NVIC_PRIO_BITS))); } /* get priority for device specific interrupts */
}
/** \brief System Reset
The function initiates a system reset request to reset the MCU.
*/
__STATIC_INLINE void NVIC_SystemReset(void)
{
__DSB(); /* Ensure all outstanding memory accesses included
buffered write are completed before reset */
SCB->AIRCR = ((0x5FA << SCB_AIRCR_VECTKEY_Pos) |
SCB_AIRCR_SYSRESETREQ_Msk);
__DSB(); /* Ensure completion of memory access */
while(1); /* wait until reset */
}
/*@} end of CMSIS_Core_NVICFunctions */
/* ################################## SysTick function ############################################ */
/** \ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_SysTickFunctions SysTick Functions
\brief Functions that configure the System.
@{
*/
#if (__Vendor_SysTickConfig == 0)
/** \brief System Tick Configuration
The function initializes the System Timer and its interrupt, and starts the System Tick Timer.
Counter is in free running mode to generate periodic interrupts.
\param [in] ticks Number of ticks between two interrupts.
\return 0 Function succeeded.
\return 1 Function failed.
\note When the variable <b>__Vendor_SysTickConfig</b> is set to 1, then the
function <b>SysTick_Config</b> is not included. In this case, the file <b><i>device</i>.h</b>
must contain a vendor-specific implementation of this function.
*/
__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)
{
if (ticks > SysTick_LOAD_RELOAD_Msk) return (1); /* Reload value impossible */
SysTick->LOAD = (ticks & SysTick_LOAD_RELOAD_Msk) - 1; /* set reload register */
NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1); /* set Priority for Systick Interrupt */
SysTick->VAL = 0; /* Load the SysTick Counter Value */
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
SysTick_CTRL_TICKINT_Msk |
SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */
return (0); /* Function successful */
}
#endif
/*@} end of CMSIS_Core_SysTickFunctions */
#endif /* __CORE_CM0PLUS_H_DEPENDANT */
#endif /* __CMSIS_GENERIC */
#ifdef __cplusplus
}
#endif

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cpu/samd21/Makefile
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# define the module that is build
MODULE = cpu
# add a list of subdirectories, that should also be build
DIRS = periph $(CORTEX_COMMON)
include $(RIOTBASE)/Makefile.base

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cpu/samd21/Makefile.include
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# this CPU implementation is using the new core/CPU interface
export CFLAGS += -DCOREIF_NG=1
# this CPU implementation doesn't use CMSIS initialisation
export CFLAGS += -DDONT_USE_CMSIS_INIT
# tell the build system that the CPU depends on the Cortex-M common files
export USEMODULE += cortex-m0_common
# define path to cortex-m common module, which is needed for this CPU
export CORTEX_COMMON = $(RIOTCPU)/cortex-m0_common/
# this CPU implementation makes use of the ringbuffer, so include the lib module
export USEMODULE += lib
# define the linker script to use for this CPU
export LINKERSCRIPT = $(RIOTCPU)/$(CPU)/samd21_linkerscript.ld
# include CPU specific includes
export INCLUDES += -I$(RIOTCPU)/$(CPU)/include
# explicitly tell the linker to link the syscalls and startup code.
# Without this the interrupt vectors will not be linked correctly!
export UNDEF += $(BINDIR)cpu/syscalls.o
export UNDEF += $(BINDIR)cpu/startup.o
# export the peripheral drivers to be linked into the final binary
export USEMODULE += periph
# CPU depends on the cortex-m common module, so include it
include $(CORTEX_COMMON)Makefile.include

66
cpu/samd21/cpu.c
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/*
* Copyright (C) 2014 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_samd21
* @{
*
* @file cpu.c
* @brief Implementation of the CPU initialization
*
* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de>
* @}
*/
#include "cpu.h"
void clk_init(void);
/**
* @brief Initialize the CPU, set IRQ priorities
*/
void cpu_init(void)
{
/* pm clk enable */
PM->APBAMASK.reg = PM_APBAMASK_PM;
/* port clk enable */
PM->APBBMASK.reg |= PM_APBBMASK_PORT;
/* disable the watchdog timer */
WDT->CTRL.bit.ENABLE = 0;
/* set pendSV interrupt to lowest possible priority */
NVIC_SetPriority(PendSV_IRQn, 0xff);
/* Initialise clock sources and generic clocks */
clk_init();
}
/**
* @brief Initialise clock sources and generic clocks
*/
void clk_init(void)
{
PM->APBAMASK.reg |= PM_APBAMASK_SYSCTRL;
PM->APBAMASK.reg |= PM_APBAMASK_GCLK;
SYSCTRL->OSC8M.bit.PRESC = 0;
SYSCTRL->OSC8M.bit.ONDEMAND = 1;
SYSCTRL->OSC8M.bit.RUNSTDBY = 0;
SYSCTRL->OSC8M.bit.ENABLE = 1;
/* Software reset the module to ensure it is re-initialized correctly */
GCLK->CTRL.reg = GCLK_CTRL_SWRST;
while (GCLK->CTRL.reg & GCLK_CTRL_SWRST);
while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY);
/* Select the correct generator */
*((uint8_t*)&GCLK->GENDIV.reg) = 0;
while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY);
GCLK->GENCTRL.reg = (GCLK_GENCTRL_GENEN | GCLK_GENCTRL_SRC_OSC8M | GCLK_CLKCTRL_GEN_GCLK0);
while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY);
}

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cpu/samd21/hwtimer_arch.c
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/*
* Copyright (C) 2014 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_samd21
* @{
*
* @file hwtimer_arch.c
* @brief Implementation of the kernels hwtimer interface
*
* The hardware timer implementation uses the Cortex build-in system timer as back-end.
*
* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de>
*
* @}
*/
#include "arch/hwtimer_arch.h"
#include "board.h"
#include "periph/timer.h"
#include "thread.h"
void irq_handler(int channel);
void (*timeout_handler)(int);
void hwtimer_arch_init(void (*handler)(int), uint32_t fcpu)
{
timeout_handler = handler;
timer_init(HW_TIMER, 1, &irq_handler);
}
void hwtimer_arch_enable_interrupt(void)
{
timer_irq_enable(HW_TIMER);
}
void hwtimer_arch_disable_interrupt(void)
{
timer_irq_disable(HW_TIMER);
}
void hwtimer_arch_set(unsigned long offset, short timer)
{
timer_set(HW_TIMER, timer, offset);
}
void hwtimer_arch_set_absolute(unsigned long value, short timer)
{
timer_set_absolute(HW_TIMER, timer, value);
}
void hwtimer_arch_unset(short timer)
{
timer_clear(HW_TIMER, timer);
}
unsigned long hwtimer_arch_now(void)
{
return timer_read(HW_TIMER);
}
void irq_handler(int channel)
{
timeout_handler((short)(channel));
}

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cpu/samd21/include/component/component_ac.h
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/**
* \file
*
* \brief Component description for AC
*
* Copyright (c) 2014 Atmel Corporation. All rights reserved.
*
* \asf_license_start
*
* \page License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. The name of Atmel may not be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* 4. This software may only be redistributed and used in connection with an
* Atmel microcontroller product.
*
* THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
* EXPRESSLY AND SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* \asf_license_stop
*
*/
#ifndef _SAMR21_AC_COMPONENT_
#define _SAMR21_AC_COMPONENT_
/* ========================================================================== */
/** SOFTWARE API DEFINITION FOR AC */
/* ========================================================================== */
/** \addtogroup SAMR21_AC Analog Comparators */
/*@{*/
#define AC_U2205
#define REV_AC 0x111
/* -------- AC_CTRLA : (AC Offset: 0x00) (R/W 8) Control A -------- */
#if !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__))
typedef union {
struct {
uint8_t SWRST:1; /*!< bit: 0 Software Reset */
uint8_t ENABLE:1; /*!< bit: 1 Enable */
uint8_t RUNSTDBY:1; /*!< bit: 2 Run in Standby */
uint8_t :4; /*!< bit: 3.. 6 Reserved */
uint8_t LPMUX:1; /*!< bit: 7 Low-Power Mux */
} bit; /*!< Structure used for bit access */
uint8_t reg; /*!< Type used for register access */
} AC_CTRLA_Type;
#endif /* !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__)) */
#define AC_CTRLA_OFFSET 0x00 /**< \brief (AC_CTRLA offset) Control A */
#define AC_CTRLA_RESETVALUE 0x00 /**< \brief (AC_CTRLA reset_value) Control A */
#define AC_CTRLA_SWRST_Pos 0 /**< \brief (AC_CTRLA) Software Reset */
#define AC_CTRLA_SWRST (0x1u << AC_CTRLA_SWRST_Pos)
#define AC_CTRLA_ENABLE_Pos 1 /**< \brief (AC_CTRLA) Enable */
#define AC_CTRLA_ENABLE (0x1u << AC_CTRLA_ENABLE_Pos)
#define AC_CTRLA_RUNSTDBY_Pos 2 /**< \brief (AC_CTRLA) Run in Standby */
#define AC_CTRLA_RUNSTDBY_Msk (0x1u << AC_CTRLA_RUNSTDBY_Pos)
#define AC_CTRLA_RUNSTDBY(value) ((AC_CTRLA_RUNSTDBY_Msk & ((value) << AC_CTRLA_RUNSTDBY_Pos)))
#define AC_CTRLA_LPMUX_Pos 7 /**< \brief (AC_CTRLA) Low-Power Mux */
#define AC_CTRLA_LPMUX (0x1u << AC_CTRLA_LPMUX_Pos)
#define AC_CTRLA_MASK 0x87u /**< \brief (AC_CTRLA) MASK Register */
/* -------- AC_CTRLB : (AC Offset: 0x01) ( /W 8) Control B -------- */
#if !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__))
typedef union {
struct {
uint8_t START0:1; /*!< bit: 0 Comparator 0 Start Comparison */
uint8_t START1:1; /*!< bit: 1 Comparator 1 Start Comparison */
uint8_t :6; /*!< bit: 2.. 7 Reserved */
} bit; /*!< Structure used for bit access */
struct {
uint8_t START:2; /*!< bit: 0.. 1 Comparator x Start Comparison */
uint8_t :6; /*!< bit: 2.. 7 Reserved */
} vec; /*!< Structure used for vec access */
uint8_t reg; /*!< Type used for register access */
} AC_CTRLB_Type;
#endif /* !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__)) */
#define AC_CTRLB_OFFSET 0x01 /**< \brief (AC_CTRLB offset) Control B */
#define AC_CTRLB_RESETVALUE 0x00 /**< \brief (AC_CTRLB reset_value) Control B */
#define AC_CTRLB_START0_Pos 0 /**< \brief (AC_CTRLB) Comparator 0 Start Comparison */
#define AC_CTRLB_START0 (1 << AC_CTRLB_START0_Pos)
#define AC_CTRLB_START1_Pos 1 /**< \brief (AC_CTRLB) Comparator 1 Start Comparison */
#define AC_CTRLB_START1 (1 << AC_CTRLB_START1_Pos)
#define AC_CTRLB_START_Pos 0 /**< \brief (AC_CTRLB) Comparator x Start Comparison */
#define AC_CTRLB_START_Msk (0x3u << AC_CTRLB_START_Pos)
#define AC_CTRLB_START(value) ((AC_CTRLB_START_Msk & ((value) << AC_CTRLB_START_Pos)))
#define AC_CTRLB_MASK 0x03u /**< \brief (AC_CTRLB) MASK Register */
/* -------- AC_EVCTRL : (AC Offset: 0x02) (R/W 16) Event Control -------- */
#if !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__))
typedef union {
struct {
uint16_t COMPEO0:1; /*!< bit: 0 Comparator 0 Event Output Enable */
uint16_t COMPEO1:1; /*!< bit: 1 Comparator 1 Event Output Enable */
uint16_t :2; /*!< bit: 2.. 3 Reserved */
uint16_t WINEO0:1; /*!< bit: 4 Window 0 Event Output Enable */
uint16_t :3; /*!< bit: 5.. 7 Reserved */
uint16_t COMPEI0:1; /*!< bit: 8 Comparator 0 Event Input */
uint16_t COMPEI1:1; /*!< bit: 9 Comparator 1 Event Input */
uint16_t :6; /*!< bit: 10..15 Reserved */
} bit; /*!< Structure used for bit access */
struct {
uint16_t COMPEO:2; /*!< bit: 0.. 1 Comparator x Event Output Enable */
uint16_t :2; /*!< bit: 2.. 3 Reserved */
uint16_t WINEO:1; /*!< bit: 4 Window x Event Output Enable */
uint16_t :3; /*!< bit: 5.. 7 Reserved */
uint16_t COMPEI:2; /*!< bit: 8.. 9 Comparator x Event Input */
uint16_t :6; /*!< bit: 10..15 Reserved */
} vec; /*!< Structure used for vec access */
uint16_t reg; /*!< Type used for register access */
} AC_EVCTRL_Type;
#endif /* !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__)) */
#define AC_EVCTRL_OFFSET 0x02 /**< \brief (AC_EVCTRL offset) Event Control */
#define AC_EVCTRL_RESETVALUE 0x0000 /**< \brief (AC_EVCTRL reset_value) Event Control */
#define AC_EVCTRL_COMPEO0_Pos 0 /**< \brief (AC_EVCTRL) Comparator 0 Event Output Enable */
#define AC_EVCTRL_COMPEO0 (1 << AC_EVCTRL_COMPEO0_Pos)
#define AC_EVCTRL_COMPEO1_Pos 1 /**< \brief (AC_EVCTRL) Comparator 1 Event Output Enable */
#define AC_EVCTRL_COMPEO1 (1 << AC_EVCTRL_COMPEO1_Pos)
#define AC_EVCTRL_COMPEO_Pos 0 /**< \brief (AC_EVCTRL) Comparator x Event Output Enable */
#define AC_EVCTRL_COMPEO_Msk (0x3u << AC_EVCTRL_COMPEO_Pos)
#define AC_EVCTRL_COMPEO(value) ((AC_EVCTRL_COMPEO_Msk & ((value) << AC_EVCTRL_COMPEO_Pos)))
#define AC_EVCTRL_WINEO0_Pos 4 /**< \brief (AC_EVCTRL) Window 0 Event Output Enable */
#define AC_EVCTRL_WINEO0 (1 << AC_EVCTRL_WINEO0_Pos)
#define AC_EVCTRL_WINEO_Pos 4 /**< \brief (AC_EVCTRL) Window x Event Output Enable */
#define AC_EVCTRL_WINEO_Msk (0x1u << AC_EVCTRL_WINEO_Pos)
#define AC_EVCTRL_WINEO(value) ((AC_EVCTRL_WINEO_Msk & ((value) << AC_EVCTRL_WINEO_Pos)))
#define AC_EVCTRL_COMPEI0_Pos 8 /**< \brief (AC_EVCTRL) Comparator 0 Event Input */
#define AC_EVCTRL_COMPEI0 (1 << AC_EVCTRL_COMPEI0_Pos)
#define AC_EVCTRL_COMPEI1_Pos 9 /**< \brief (AC_EVCTRL) Comparator 1 Event Input */
#define AC_EVCTRL_COMPEI1 (1 << AC_EVCTRL_COMPEI1_Pos)
#define AC_EVCTRL_COMPEI_Pos 8 /**< \brief (AC_EVCTRL) Comparator x Event Input */
#define AC_EVCTRL_COMPEI_Msk (0x3u << AC_EVCTRL_COMPEI_Pos)
#define AC_EVCTRL_COMPEI(value) ((AC_EVCTRL_COMPEI_Msk & ((value) << AC_EVCTRL_COMPEI_Pos)))
#define AC_EVCTRL_MASK 0x0313u /**< \brief (AC_EVCTRL) MASK Register */
/* -------- AC_INTENCLR : (AC Offset: 0x04) (R/W 8) Interrupt Enable Clear -------- */
#if !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__))
typedef union {
struct {
uint8_t COMP0:1; /*!< bit: 0 Comparator 0 Interrupt Enable */
uint8_t COMP1:1; /*!< bit: 1 Comparator 1 Interrupt Enable */
uint8_t :2; /*!< bit: 2.. 3 Reserved */
uint8_t WIN0:1; /*!< bit: 4 Window 0 Interrupt Enable */
uint8_t :3; /*!< bit: 5.. 7 Reserved */
} bit; /*!< Structure used for bit access */
struct {
uint8_t COMP:2; /*!< bit: 0.. 1 Comparator x Interrupt Enable */
uint8_t :2; /*!< bit: 2.. 3 Reserved */
uint8_t WIN:1; /*!< bit: 4 Window x Interrupt Enable */
uint8_t :3; /*!< bit: 5.. 7 Reserved */
} vec; /*!< Structure used for vec access */
uint8_t reg; /*!< Type used for register access */
} AC_INTENCLR_Type;
#endif /* !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__)) */
#define AC_INTENCLR_OFFSET 0x04 /**< \brief (AC_INTENCLR offset) Interrupt Enable Clear */
#define AC_INTENCLR_RESETVALUE 0x00 /**< \brief (AC_INTENCLR reset_value) Interrupt Enable Clear */
#define AC_INTENCLR_COMP0_Pos 0 /**< \brief (AC_INTENCLR) Comparator 0 Interrupt Enable */
#define AC_INTENCLR_COMP0 (1 << AC_INTENCLR_COMP0_Pos)
#define AC_INTENCLR_COMP1_Pos 1 /**< \brief (AC_INTENCLR) Comparator 1 Interrupt Enable */
#define AC_INTENCLR_COMP1 (1 << AC_INTENCLR_COMP1_Pos)
#define AC_INTENCLR_COMP_Pos 0 /**< \brief (AC_INTENCLR) Comparator x Interrupt Enable */
#define AC_INTENCLR_COMP_Msk (0x3u << AC_INTENCLR_COMP_Pos)
#define AC_INTENCLR_COMP(value) ((AC_INTENCLR_COMP_Msk & ((value) << AC_INTENCLR_COMP_Pos)))
#define AC_INTENCLR_WIN0_Pos 4 /**< \brief (AC_INTENCLR) Window 0 Interrupt Enable */
#define AC_INTENCLR_WIN0 (1 << AC_INTENCLR_WIN0_Pos)
#define AC_INTENCLR_WIN_Pos 4 /**< \brief (AC_INTENCLR) Window x Interrupt Enable */
#define AC_INTENCLR_WIN_Msk (0x1u << AC_INTENCLR_WIN_Pos)
#define AC_INTENCLR_WIN(value) ((AC_INTENCLR_WIN_Msk & ((value) << AC_INTENCLR_WIN_Pos)))
#define AC_INTENCLR_MASK 0x13u /**< \brief (AC_INTENCLR) MASK Register */
/* -------- AC_INTENSET : (AC Offset: 0x05) (R/W 8) Interrupt Enable Set -------- */
#if !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__))
typedef union {
struct {
uint8_t COMP0:1; /*!< bit: 0 Comparator 0 Interrupt Enable */
uint8_t COMP1:1; /*!< bit: 1 Comparator 1 Interrupt Enable */
uint8_t :2; /*!< bit: 2.. 3 Reserved */
uint8_t WIN0:1; /*!< bit: 4 Window 0 Interrupt Enable */
uint8_t :3; /*!< bit: 5.. 7 Reserved */
} bit; /*!< Structure used for bit access */
struct {
uint8_t COMP:2; /*!< bit: 0.. 1 Comparator x Interrupt Enable */
uint8_t :2; /*!< bit: 2.. 3 Reserved */
uint8_t WIN:1; /*!< bit: 4 Window x Interrupt Enable */
uint8_t :3; /*!< bit: 5.. 7 Reserved */
} vec; /*!< Structure used for vec access */
uint8_t reg; /*!< Type used for register access */
} AC_INTENSET_Type;
#endif /* !(defined(__ASSEMBLY__) || defined(__IAR_SYSTEMS_ASM__)) */
#define AC_INTENSET_OFFSET 0x05 /**< \brief (AC_INTENSET offset) Interrupt Enable Set */
#define AC_INTENSET_RESETVALUE 0x00 /**< \brief (AC_INTENSET reset_value) Interrupt Enable Set */
#define AC_INTENSET_COMP0_Pos 0 /**< \brief (AC_INTENSET) Comparator 0 Interrupt Enable */
#define AC_INTENSET_COMP0 (1 << AC_INTENSET_COMP0_Pos)
#define AC_INTENSET_COMP1_Pos 1 /**< \brief (AC_INTENSET) Comparator 1 Interrupt Enable */
#define AC_INTENSET_COMP1 (1 << AC_INTENSET_COMP1_Pos)
#define AC_INTENSET_COMP_Pos 0 /**< \brief (AC_INTENSET) Comparator x Interrupt Enable */
#define AC_INTENSET_COMP_Msk (0x3u << AC_INTENSET_COMP_Pos)
#define AC_INTENSET_COMP(value) ((AC_INTENSET_COMP_Msk & ((value) << AC_INTENSET_COMP_Pos)))
#define AC_INTENSET_WIN0_Pos 4 /**< \brief (AC_INTENSET) Window 0 Interrupt Enable */
#define AC_INTENSET_WIN0 (1 << AC_INTENSET_WIN0_Pos)
#define AC_INTENSET_WIN_Pos 4 /**< \brief (AC_INTENSET) Window x Interrupt Enable */