Add BSP for Adafruit Feather M4 CAN Express

README.md

@@ -21,7 +21,7 @@ In addition to the PACs and HAL, there numerous **B**oard **S**upport **P**ackag
 | [atsame51n](https://docs.rs/atsame51n/) | [![Crates.io](https://img.shields.io/crates/v/atsame51n.svg)](https://crates.io/crates/atsame51n) |  |
 | [atsamd51p](https://docs.rs/atsamd51p/) | [![Crates.io](https://img.shields.io/crates/v/atsamd51p.svg)](https://crates.io/crates/atsamd51p) | [Grand Central M4 Express][grand_central_m4], [Wio Terminal][wio_terminal] |
 | [atsame51g](https://docs.rs/atsame51g/) | [![Crates.io](https://img.shields.io/crates/v/atsame51g.svg)](https://crates.io/crates/atsame51g) |  |
-| [atsame51j](https://docs.rs/atsame51j/) | [![Crates.io](https://img.shields.io/crates/v/atsame51j.svg)](https://crates.io/crates/atsame51j) |  |
+| [atsame51j](https://docs.rs/atsame51j/) | [![Crates.io](https://img.shields.io/crates/v/atsame51j.svg)](https://crates.io/crates/atsame51j) | [Feather M4 CAN][feather_m4_can] |
 | [atsame51n](https://docs.rs/atsame51n/) | [![Crates.io](https://img.shields.io/crates/v/atsame51n.svg)](https://crates.io/crates/atsame51n) |  |
 | [atsame53j](https://docs.rs/atsame53j/) | [![Crates.io](https://img.shields.io/crates/v/atsame53j.svg)](https://crates.io/crates/atsame53j) |  |
 | [atsame53n](https://docs.rs/atsame53n/) | [![Crates.io](https://img.shields.io/crates/v/atsame53n.svg)](https://crates.io/crates/atsame53n) |  |
@@ -38,6 +38,7 @@ In addition to the PACs and HAL, there numerous **B**oard **S**upport **P**ackag
 [edgebadge]: https://github.com/atsamd-rs/atsamd/tree/master/boards/edgebadge
 [feather_m0]: https://github.com/atsamd-rs/atsamd/tree/master/boards/feather_m0/
 [feather_m4]: https://github.com/atsamd-rs/atsamd/tree/master/boards/feather_m4/
+[feather_m4_can]: https://github.com/atsamd-rs/atsamd/tree/master/boards/feather_m4_can/
 [gemma_m0]: https://github.com/atsamd-rs/atsamd/tree/master/boards/gemma_m0/
 [grand_central_m4]: https://github.com/atsamd-rs/atsamd/tree/master/boards/grand_central_m4/
 [itsybitsy_m0]: https://github.com/atsamd-rs/atsamd/tree/master/boards/itsybitsy_m0/

boards/feather_m4_can/.cargo/config

@@ -0,0 +1,14 @@
+# vim:ft=toml:
+[target.thumbv7em-none-eabihf]
+runner = 'arm-none-eabi-gdb'
+
+[build]
+target = "thumbv7em-none-eabihf"
+rustflags = [
+
+   # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+   # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+   "-C", "link-arg=--nmagic",
+
+   "-C", "link-arg=-Tlink.x",
+]

boards/feather_m4_can/CHANGELOG.md

@@ -0,0 +1,5 @@
+# Unreleased
+
+# v0.0.1
+
+- Initial version

boards/feather_m4_can/Cargo.toml

@@ -0,0 +1,70 @@
+[package]
+name = "feather_m4_can"
+version = "0.0.1"
+edition = "2021"
+authors = ["Jeremy Boynes <[email protected]>"]
+description = "Board Support crate for the Adafruit Feather M4 CAN Express"
+keywords = ["no-std", "arm", "cortex-m", "embedded-hal"]
+categories = ["embedded", "hardware-support", "no-std"]
+license = "MIT OR Apache-2.0"
+repository = "https://github.com/atsamd-rs/atsamd"
+readme = "README.md"
+documentation = "https://atsamd-rs.github.io/atsamd/atsame51j/feather_m4_can/"
+
+# for cargo flash
+[package.metadata]
+chip = "ATSAME51J19A"
+
+[dependencies.cortex-m-rt]
+version = "0.7"
+optional = true
+
+[dependencies.atsamd-hal]
+path = "../../hal"
+version = "0.15.1"
+default-features = false
+
+[dependencies.usb-device]
+version = "0.2"
+optional = true
+
+[dev-dependencies]
+cortex-m = "0.7"
+usbd-serial = "0.1"
+cortex-m-rtic = "0.6.0-rc.2"
+panic-halt = "0.2"
+panic-semihosting = "0.5"
+smart-leds = "0.3"
+ws2812-timer-delay = "0.3"
+heapless = "0.7"
+
+[features]
+# ask the HAL to enable atsame51j support
+default = ["rt", "atsamd-hal/same51j", "atsamd-hal/unproven"]
+rt = ["cortex-m-rt", "atsamd-hal/same51j-rt"]
+unproven = ["atsamd-hal/unproven"]
+usb = ["atsamd-hal/usb", "usb-device"]
+dma = ["atsamd-hal/dma", "unproven"]
+max-channels = ["dma", "atsamd-hal/dma"]
+
+
+[profile.dev]
+incremental = false
+codegen-units = 1
+debug = true
+lto = true
+
+[profile.release]
+debug = true
+lto = true
+opt-level = "s"
+
+[[example]]
+name = "blinky_basic"
+
+[[example]]
+name = "neopixel_rainbow"
+
+[[example]]
+name = "usb_echo"
+required-features = ["usb"]

boards/feather_m4_can/README.md

@@ -0,0 +1,26 @@
+# Adafruit Feather M4 CAN Express Board Support Crate
+
+This crate provides a type-safe API for working with the 
+[Adafruit Feather M4 CAN Express board](https://www.adafruit.com/product/4759).
+
+## Prerequisites
+* Install the cross compile toolchain `rustup target add thumbv7em-none-eabihf`
+* Install [cargo-hf2 the hf2 bootloader flasher tool](https://crates.io/crates/cargo-hf2) however your platform requires
+
+## Uploading an example
+Check out the repository for examples:
+
+https://github.com/atsamd-rs/atsamd/tree/master/boards/feather_m4_can/examples
+
+* Be in this directory `cd boards/feather_m4_can`
+* Put your device in bootloader mode usually by hitting the reset button twice.
+* Build and upload in one step
+```
+$ cargo hf2 --release --example blinky_basic
+    Finished release [optimized + debuginfo] target(s) in 15.80s
+    Searching for a connected device with known vid/pid pair.
+    Trying  Ok(Some("Adafruit Industries")) Ok(Some("Feather M4 CAN Express"))
+    Flashing ".../atsamd-rs/atsamd/boards/feather_m4_can/target/thumbv7em-none-eabihf/release/examples/blinky_basic"
+    Finished in 0.104s
+$
+```

boards/feather_m4_can/build.rs

@@ -0,0 +1,16 @@
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+fn main() {
+    if env::var_os("CARGO_FEATURE_RT").is_some() {
+        let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+        File::create(out.join("memory.x"))
+            .unwrap()
+            .write_all(include_bytes!("memory.x"))
+            .unwrap();
+        println!("cargo:rustc-link-search={}", out.display());
+        println!("cargo:rerun-if-changed=memory.x");
+    }
+    println!("cargo:rerun-if-changed=build.rs");
+}

boards/feather_m4_can/examples/blinky_basic.rs

@@ -0,0 +1,37 @@
+#![no_std]
+#![no_main]
+
+use feather_m4_can as bsp;
+#[cfg(not(feature = "use_semihosting"))]
+use panic_halt as _;
+#[cfg(feature = "use_semihosting")]
+use panic_semihosting as _;
+
+use bsp::entry;
+use bsp::hal;
+use hal::clock::GenericClockController;
+use hal::delay::Delay;
+use hal::pac::{CorePeripherals, Peripherals};
+use hal::prelude::*;
+
+#[entry]
+fn main() -> ! {
+    let mut peripherals = Peripherals::take().unwrap();
+    let core = CorePeripherals::take().unwrap();
+    let mut clocks = GenericClockController::with_external_32kosc(
+        peripherals.GCLK,
+        &mut peripherals.MCLK,
+        &mut peripherals.OSC32KCTRL,
+        &mut peripherals.OSCCTRL,
+        &mut peripherals.NVMCTRL,
+    );
+    let pins = bsp::Pins::new(peripherals.PORT);
+    let mut red_led = pins.d13.into_push_pull_output();
+    let mut delay = Delay::new(core.SYST, &mut clocks);
+    loop {
+        delay.delay_ms(2000u16);
+        red_led.set_high().unwrap();
+        delay.delay_ms(2000u16);
+        red_led.set_low().unwrap();
+    }
+}

boards/feather_m4_can/examples/neopixel_rainbow.rs

@@ -0,0 +1,72 @@
+#![no_std]
+#![no_main]
+
+// Neopixel Rainbow
+// This only functions when the --release version is compiled. Using the debug
+// version leads to slow pulse durations which results in a straight white LED
+// output.
+//
+// // Needs to be compiled with --release for the timing to be correct
+
+use bsp::hal;
+use feather_m4_can as bsp;
+
+#[cfg(not(feature = "use_semihosting"))]
+use panic_halt as _;
+#[cfg(feature = "use_semihosting")]
+use panic_semihosting as _;
+
+use bsp::entry;
+use hal::clock::GenericClockController;
+use hal::delay::Delay;
+use hal::pac::{CorePeripherals, Peripherals};
+use hal::prelude::*;
+use hal::timer::*;
+
+use smart_leds::{
+    hsv::{hsv2rgb, Hsv},
+    SmartLedsWrite,
+};
+use ws2812_timer_delay::Ws2812;
+
+#[entry]
+fn main() -> ! {
+    let mut peripherals = Peripherals::take().unwrap();
+    let core = CorePeripherals::take().unwrap();
+    let mut clocks = GenericClockController::with_external_32kosc(
+        peripherals.GCLK,
+        &mut peripherals.MCLK,
+        &mut peripherals.OSC32KCTRL,
+        &mut peripherals.OSCCTRL,
+        &mut peripherals.NVMCTRL,
+    );
+    let pins = bsp::Pins::new(peripherals.PORT);
+    let mut delay = Delay::new(core.SYST, &mut clocks);
+
+    let gclk0 = clocks.gclk0();
+    let timer_clock = clocks.tc2_tc3(&gclk0).unwrap();
+    let mut timer = TimerCounter::tc3_(&timer_clock, peripherals.TC3, &mut peripherals.MCLK);
+    timer.start(3.mhz());
+
+    // Power up the Neopixel just in case it wasn't done by the bootloader.
+    let mut neopixel_power = pins.neopixel_power.into_push_pull_output();
+    neopixel_power.set_drive_strength(true);
+    neopixel_power.set_high().unwrap();
+
+    let neopixel_pin = pins.neopixel.into_push_pull_output();
+    let mut neopixel = Ws2812::new(timer, neopixel_pin);
+
+    // Loop through all of the available hue values (colors) to make a
+    // rainbow effect from the onboard neopixel
+    loop {
+        for j in 0..255u8 {
+            let colors = [hsv2rgb(Hsv {
+                hue: j,
+                sat: 255,
+                val: 2,
+            })];
+            neopixel.write(colors.iter().cloned()).unwrap();
+            delay.delay_ms(5u8);
+        }
+    }
+}

boards/feather_m4_can/examples/usb_echo.rs

@@ -0,0 +1,114 @@
+#![no_std]
+#![no_main]
+
+use bsp::hal;
+use feather_m4_can as bsp;
+
+#[cfg(not(feature = "use_semihosting"))]
+use panic_halt as _;
+#[cfg(feature = "use_semihosting")]
+use panic_semihosting as _;
+
+use bsp::entry;
+use hal::clock::GenericClockController;
+use hal::pac::{interrupt, CorePeripherals, Peripherals};
+use hal::prelude::*;
+use hal::usb::UsbBus;
+
+use usb_device::bus::UsbBusAllocator;
+use usb_device::prelude::*;
+use usbd_serial::{SerialPort, USB_CLASS_CDC};
+
+use cortex_m::asm::delay as cycle_delay;
+use cortex_m::peripheral::NVIC;
+
+#[entry]
+fn main() -> ! {
+    let mut peripherals = Peripherals::take().unwrap();
+    let mut core = CorePeripherals::take().unwrap();
+    let mut clocks = GenericClockController::with_external_32kosc(
+        peripherals.GCLK,
+        &mut peripherals.MCLK,
+        &mut peripherals.OSC32KCTRL,
+        &mut peripherals.OSCCTRL,
+        &mut peripherals.NVMCTRL,
+    );
+    let pins = bsp::Pins::new(peripherals.PORT);
+    let mut red_led: bsp::RedLed = pins.d13.into();
+
+    let bus_allocator = unsafe {
+        USB_ALLOCATOR = Some(bsp::usb_allocator(
+            pins.usb_dm,
+            pins.usb_dp,
+            peripherals.USB,
+            &mut clocks,
+            &mut peripherals.MCLK,
+        ));
+        USB_ALLOCATOR.as_ref().unwrap()
+    };
+
+    unsafe {
+        USB_SERIAL = Some(SerialPort::new(bus_allocator));
+        USB_BUS = Some(
+            UsbDeviceBuilder::new(bus_allocator, UsbVidPid(0x16c0, 0x27dd))
+                .manufacturer("Fake company")
+                .product("Serial port")
+                .serial_number("TEST")
+                .device_class(USB_CLASS_CDC)
+                .build(),
+        );
+    }
+
+    unsafe {
+        core.NVIC.set_priority(interrupt::USB_OTHER, 1);
+        core.NVIC.set_priority(interrupt::USB_TRCPT0, 1);
+        core.NVIC.set_priority(interrupt::USB_TRCPT1, 1);
+        NVIC::unmask(interrupt::USB_OTHER);
+        NVIC::unmask(interrupt::USB_TRCPT0);
+        NVIC::unmask(interrupt::USB_TRCPT1);
+    }
+
+    loop {
+        cycle_delay(5 * 1024 * 1024);
+        red_led.toggle().unwrap();
+    }
+}
+
+static mut USB_ALLOCATOR: Option<UsbBusAllocator<UsbBus>> = None;
+static mut USB_BUS: Option<UsbDevice<UsbBus>> = None;
+static mut USB_SERIAL: Option<SerialPort<UsbBus>> = None;
+
+fn poll_usb() {
+    unsafe {
+        if let Some(usb_dev) = USB_BUS.as_mut() {
+            if let Some(serial) = USB_SERIAL.as_mut() {
+                usb_dev.poll(&mut [serial]);
+                let mut buf = [0u8; 64];
+
+                if let Ok(count) = serial.read(&mut buf) {
+                    for (i, c) in buf.iter().enumerate() {
+                        if i >= count {
+                            break;
+                        }
+                        serial.write(&[*c]).unwrap();
+                    }
+                };
+            };
+        };
+    };
+}
+
+#[interrupt]
+fn USB_OTHER() {
+    poll_usb();
+}
+
+#[interrupt]
+fn USB_TRCPT0() {
+    poll_usb();
+}
+
+#[interrupt]
+fn USB_TRCPT1() {
+    poll_usb();
+}

boards/feather_m4_can/memory.x

@@ -0,0 +1,8 @@
+MEMORY
+{
+  /* Leave 16k for the default bootloader on the Feather M4 */
+  FLASH (rx) : ORIGIN = 0x00000000 + 16K, LENGTH = 512K - 16K
+  RAM (xrw)  : ORIGIN = 0x20000000, LENGTH = 192K
+}
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);
+