Merge pull request #567 from tuna-f1sh/due

Support for Arduino Due added

Author: sudar

Arduino.mk

@@ -832,6 +832,7 @@ ifeq ($(strip $(NO_CORE)),)
 
         # USB Core if samd or sam
         ifeq ($(findstring sam, $(strip $(ARCHITECTURE))), sam)
+            CORE_C_SRCS    += $(wildcard $(ARDUINO_CORE_PATH)/avr/*.c) # avr core emulation files
             CORE_C_SRCS    += $(wildcard $(ARDUINO_CORE_PATH)/USB/*.c)
             CORE_CPP_SRCS  += $(wildcard $(ARDUINO_CORE_PATH)/USB/*.cpp)
         endif
@@ -841,11 +842,22 @@ ifeq ($(strip $(NO_CORE)),)
             $(call show_config_info,NO_CORE_MAIN_CPP set so core library will not include main.cpp,[MANUAL])
         endif
 
-        # Put alt core variant file for M0 devices in OTHER_OJBS
-        ifdef ALT_CORE_CPP_SRCS
-            ALT_CORE_OBJ_FILES  = $(ALT_CORE_C_SRCS:.c=.c.o) $(ALT_CORE_CPP_SRCS:.cpp=.cpp.o) $(ALT_CORE_AS_SRCS:.S=.S.o)
-            OTHER_OBJS   := $(patsubst $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)/%,  \
-                $(OBJDIR)/core/%,$(ALT_CORE_OBJ_FILES))
+        # Add core files for sam devices in CORE_OJBS filtering specific paths
+        ifdef SAM_CORE_PATH
+            SAM_CORE_OBJ_FILES  = $(SAM_CORE_C_SRCS:.c=.c.o) $(SAM_CORE_CPP_SRCS:.cpp=.cpp.o) $(SAM_CORE_AS_SRCS:.S=.S.o)
+            # variant core files
+            CORE_OBJS   += $(patsubst $(SAM_CORE_PATH)/%,  \
+                $(OBJDIR)/core/%, $(filter $(SAM_CORE_PATH)/%, $(SAM_CORE_OBJ_FILES)))
+            # libsam on Due
+            ifdef SAM_LIBSAM_PATH
+            CORE_OBJS   += $(patsubst $(SAM_LIBSAM_PATH)/source/%,  \
+                $(OBJDIR)/core/%, $(filter $(SAM_LIBSAM_PATH)/source/%, $(SAM_CORE_OBJ_FILES)))
+            endif
+            # chip sources on Due
+            ifdef SAM_SYSTEM_PATH
+            CORE_OBJS   += $(patsubst $(SAM_SYSTEM_PATH)/source/%, \
+                $(OBJDIR)/core/%, $(filter $(SAM_SYSTEM_PATH)/source/%, $(SAM_CORE_OBJ_FILES)))
+            endif
         endif
 
         CORE_OBJ_FILES  = $(CORE_C_SRCS:.c=.c.o) $(CORE_CPP_SRCS:.cpp=.cpp.o) $(CORE_AS_SRCS:.S=.S.o)
@@ -1324,19 +1336,28 @@ $(OBJDIR)/core/%.S.o: $(ARDUINO_CORE_PATH)/%.S $(COMMON_DEPS) | $(OBJDIR)
 	@$(MKDIR) $(dir $@)
 	$(CC) -MMD -c $(CPPFLAGS) $(ASFLAGS) $< -o $@
 
-# alt core files
-$(OBJDIR)/core/%.c.o: $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)/%.c $(COMMON_DEPS) | $(OBJDIR)
+# sam core files
+$(OBJDIR)/core/%.c.o: $(SAM_CORE_PATH)/%.c $(COMMON_DEPS) | $(OBJDIR)
 	@$(MKDIR) $(dir $@)
 	$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
 
-$(OBJDIR)/core/%.cpp.o: $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)/%.cpp $(COMMON_DEPS) | $(OBJDIR)
+$(OBJDIR)/core/%.cpp.o: $(SAM_CORE_PATH)/%.cpp $(COMMON_DEPS) | $(OBJDIR)
 	@$(MKDIR) $(dir $@)
 	$(CXX) -MMD -c $(CPPFLAGS) $(CXXFLAGS) $< -o $@
 
-$(OBJDIR)/core/%.S.o: $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)/%.S $(COMMON_DEPS) | $(OBJDIR)
+$(OBJDIR)/core/%.S.o: $(SAM_CORE_PATH)/%.S $(COMMON_DEPS) | $(OBJDIR)
 	@$(MKDIR) $(dir $@)
 	$(CC) -MMD -c $(CPPFLAGS) $(ASFLAGS) $< -o $@
 
+# due specific sources from sam core as doesn't core doesn't have SystemInit startup file
+$(OBJDIR)/core/%.c.o: $(SAM_LIBSAM_PATH)/source/%.c $(COMMON_DEPS) | $(OBJDIR)
+	@$(MKDIR) $(dir $@)
+	$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
+
+$(OBJDIR)/core/%.c.o: $(SAM_SYSTEM_PATH)/source/%.c $(COMMON_DEPS) | $(OBJDIR)
+	@$(MKDIR) $(dir $@)
+	$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
+
 # various object conversions
 $(OBJDIR)/%.bin: $(OBJDIR)/%.elf $(COMMON_DEPS)
 	@$(MKDIR) $(dir $@)

HISTORY.md

@@ -20,7 +20,8 @@ I tried to give credit whenever possible. If I have missed anyone, kindly add it
 - New: Add template Makefile and project boilerplate initialise script, `ardmk-init`. (https://github.com/tuna-f1sh)
 - New: Support atmelice_isp JTAG tool as ISP programmer. (https://github.com/tuna-f1sh)
 - New: Compatibility with deprecated pgmspace.h API can now be disabled since it sometimes causes bogus compiler warnings (issue #546)
-- New: Support Arduino ARM-based (SAM/SAMD) devices. (https://github.com/tuna-f1sh)
+- New: Support Arduino ARM SAMD devices (Zero, M0 Pro, Feather M0). (https://github.com/tuna-f1sh)
+- New: Support Arduino ARM SAM devices (Due). (https://github.com/tuna-f1sh)
 
 ### 1.6.0 (2017-07-11)
 - Fix: Allowed for SparkFun's weird usb pid/vid submenu shenanigans (issue #499). (https://github.com/sej7278)

README.md

@@ -8,7 +8,7 @@ This is a very simple Makefile which knows how to build Arduino sketches. It def
 - Highly customizable
 - Supports all official AVR-based Arduino boards
 - Supports official ARM-based Arduino boards using Atmel SAM chip family
-  (Cortex M0) and includes on-device debugging targets.
+and includes on-device debugging targets.
 - Supports chipKIT
 - Supports Teensy 3.x (via Teensyduino)
 - Works on all three major OS (Mac, Linux, Windows)
@@ -318,14 +318,14 @@ For large Robotis projects, [libmaple](https://github.com/Rhoban/Maple) may be m
 ## Arduino ARM Boards
 
 For Arduino boards using ARM architechure, specifically the Atmel SAM series
-(Arduino M0 [Pro], Zero, MKR1000, Feather M0, etc.), first
+((SAM3X8E) Due; (SAMD21) Arduino M0 [Pro], Zero, MKR1000, Feather M0, etc.), first
 install the board support package from the IDE or other distribution channels.
 
 Define`ARDUINO_PACKAGE_DIR` as the root path containing the ARM support
 package (the manufacturer folder) and the `BOARD_TAG` (see `make show_boards`
 for help) within your project Makefile. Include 'Sam.mk' rather than
-  'Arduino.mk' at the end of your file - see examples/ZeroBlink and
-  examples/MZeroBlink for example usage.
+  'Arduino.mk' at the end of your file - see examples/ZeroBlink,
+  examples/MZeroBlink and examples/DueBlink for example usage.
 
 **Note**: The Arduino IDE does not install board support packages to
 the base Arduino installation directory (the directory that will work with AVR
@@ -351,7 +351,7 @@ bootloaders. External CMSIS tools such as Atmel Ice will also work with this
 method. Black Magic Probe (BMP) support is also included using GDB for both
 uploading and debugging.
 
-Native USB programing using Bossa (Zero, MKR1000, Feather style bootloaders)
+Native USB programing using Bossa (Due, Zero, MKR1000, Feather style bootloaders)
 and avrdude (M0 bootloaders) is supported. The bootloaders on these devices
 requires a double press of the reset button or open/closing the serial port at
 1200 BAUD. The automatic entry of the bootloader is attempted using

Sam.mk

@@ -53,7 +53,7 @@ endif
 
 ifndef CORE_VER
     CORE_VER := $(wildcard $(ARDUINO_PACKAGE_DIR)/$(ARDMK_VENDOR)/hardware/$(ARCHITECTURE)/1.*)
-    ifdef CORE_VER
+    ifneq ($(CORE_VER),)
         CORE_VER := $(shell basename $(CORE_VER))
         $(call show_config_variable,CORE_VER,[AUTODETECTED],(from ARDUINO_PACKAGE_DIR))
     endif
@@ -62,28 +62,42 @@ else
 endif
 
 ifndef CMSIS_VER
-    CMSIS_VER := $(shell basename $(wildcard $(ARDUINO_PACKAGE_DIR)/$(ARDMK_VENDOR)/tools/CMSIS/4.*))
-    $(call show_config_variable,CMSIS_VER,[AUTODETECTED],(from ARDUINO_PACKAGE_DIR))
+    CMSIS_VER := $(wildcard $(ARDUINO_PACKAGE_DIR)/$(ARDMK_VENDOR)/tools/CMSIS/4.*)
+    ifneq ($(CMSIS_VER),)
+        CMSIS_VER := $(shell basename $(CMSIS_VER))
+        $(call show_config_variable,CMSIS_VER,[AUTODETECTED],(from ARDUINO_PACKAGE_DIR))
+    endif
 else
     $(call show_config_variable,CMSIS_VER,[USER])
 endif
 
 ifndef CMSIS_ATMEL_VER
-    CMSIS_ATMEL_VER := $(shell basename $(wildcard $(ARDUINO_PACKAGE_DIR)/$(ARDMK_VENDOR)/tools/CMSIS-Atmel/1.*))
-    $(call show_config_variable,CMSIS_ATMEL_VER,[AUTODETECTED],(from ARDUINO_PACKAGE_DIR))
+    CMSIS_ATMEL_VER := $(wildcard $(ARDUINO_PACKAGE_DIR)/$(ARDMK_VENDOR)/tools/CMSIS-Atmel/1.*)
+    ifneq ($(CMSIS_ATMEL_VER),)
+        CMSIS_ATMEL_VER := $(shell basename $(CMSIS_ATMEL_VER))
+        $(call show_config_variable,CMSIS_ATMEL_VER,[AUTODETECTED],(from ARDUINO_PACKAGE_DIR))
+    endif
 else
     $(call show_config_variable,CMSIS_ATMEL_VER,[USER])
 endif
 
 ifndef CMSIS_DIR
-    CMSIS_DIR := $(ARDUINO_PACKAGE_DIR)/$(ARDMK_VENDOR)/tools/CMSIS/$(CMSIS_VER)/CMSIS
+    ifeq ($(findstring samd, $(strip $(ARCHITECTURE))), samd)
+        CMSIS_DIR := $(ARDUINO_PACKAGE_DIR)/$(ARDMK_VENDOR)/tools/CMSIS/$(CMSIS_VER)/CMSIS
+    else
+        CMSIS_DIR = $(ALTERNATE_CORE_PATH)/system/CMSIS/CMSIS
+    endif
     $(call show_config_variable,CMSIS_DIR,[AUTODETECTED],(from ARDUINO_PACKAGE_DIR))
 else
     $(call show_config_variable,CMSIS_DIR,[USER])
 endif
 
 ifndef CMSIS_ATMEL_DIR
-    CMSIS_ATMEL_DIR := $(ARDUINO_PACKAGE_DIR)/$(ARDMK_VENDOR)/tools/CMSIS-Atmel/$(CMSIS_ATMEL_VER)/CMSIS
+    ifeq ($(findstring samd, $(strip $(ARCHITECTURE))), samd)
+        CMSIS_ATMEL_DIR := $(ARDUINO_PACKAGE_DIR)/$(ARDMK_VENDOR)/tools/CMSIS-Atmel/$(CMSIS_ATMEL_VER)/CMSIS
+    else
+        CMSIS_ATMEL_DIR = $(ALTERNATE_CORE_PATH)/system/CMSIS
+    endif
     $(call show_config_variable,CMSIS_ATMEL_DIR,[AUTODETECTED],(from ARDUINO_PACKAGE_DIR))
 else
     $(call show_config_variable,CMSIS_ATMEL_DIR,[USER])
@@ -129,9 +143,27 @@ ifndef VARIANT
 endif
 
 # grab any sources in the variant core path (variant.cpp defines pin/port mapping on SAM devices)
-ALT_CORE_C_SRCS := $(wildcard $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)/*.c)
-ALT_CORE_CPP_SRCS := $(wildcard $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)/*.cpp)
-ALT_CORE_S_SRCS := $(wildcard $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)/*.S)
+ifndef SAM_CORE_PATH
+    SAM_CORE_PATH := $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)
+endif
+SAM_CORE_C_SRCS := $(wildcard $(SAM_CORE_PATH)/*.c)
+SAM_CORE_CPP_SRCS := $(wildcard $(SAM_CORE_PATH)/*.cpp)
+SAM_CORE_S_SRCS := $(wildcard $(SAM_CORE_PATH)/*.S)
+
+# due/sam specific paths hard define chip type for SystemInit function in system_CHIP.c as not included in core like samd
+ifeq ($(findstring arduino_due, $(strip $(VARIANT))), arduino_due)
+    ifndef SAM_SYSTEM_PATH
+        SAM_SYSTEM_PATH := $(CMSIS_ATMEL_DIR)/Device/ATMEL/sam3xa
+    endif
+    ifndef SAM_LIBSAM_PATH
+        SAM_LIBSAM_PATH := $(ALTERNATE_CORE_PATH)/system/libsam
+    endif
+    CPPFLAGS += -I$(SAM_SYSTEM_PATH)/include
+    CPPFLAGS += -I$(SAM_LIBSAM_PATH)
+    CPPFLAGS += -I$(SAM_LIBSAM_PATH)/include
+    SAM_CORE_C_SRCS += $(wildcard $(SAM_LIBSAM_PATH)/source/*.c)
+    SAM_CORE_C_SRCS += $(wildcard $(SAM_SYSTEM_PATH)/source/*.c)
+endif
 
 # Use arm-toolchain from Arduino install if exists and user has not defined global version
 ifndef ARM_TOOLS_DIR
@@ -160,7 +192,7 @@ ifndef CC_NAME
 endif
 
 ifndef CXX_NAME
-    CXX_NAME := $(call PARSE_BOARD,$(BOARD_TAG),build.command.g++)
+    CXX_NAME := $(call PARSE_BOARD,$(BOARD_TAG),build.command.g\+\+)
     ifndef CXX_NAME
         CXX_NAME := arm-none-eabi-g++
     else
@@ -330,6 +362,10 @@ endif
 
 ifndef BOSSA_OPTS
     BOSSA_OPTS += -d --info --erase --write --verify --reset
+    # Arduino Due forces RS-232 mode and boots from flash
+    ifeq ($(findstring arduino_due, $(strip $(VARIANT))), arduino_due)
+        BOSSA_OPTS += -U false -b
+    endif
 endif
 
 get_bootloader = $(shell $(RESET_CMD) | tail -1)
@@ -340,7 +376,7 @@ ifndef ISP_PORT
     ifeq ($(CURRENT_OS), WINDOWS)
         BOSSA_OPTS += --port=$(COM_STYLE_MONITOR_PORT)
     else
-        BOSSA_OPTS += --port=$(call get_monitor_port)
+        BOSSA_OPTS += --port=$(notdir $(call get_monitor_port))
     endif
 else
     BOSSA_OPTS += --port=$(ISP_PORT)
@@ -460,11 +496,20 @@ CXXFLAGS += -fno-rtti -fno-threadsafe-statics -std=gnu++11
 AMCU := $(call PARSE_BOARD,$(BOARD_TAG),build.mcu)
 BOARD_LINKER_SCRIPT := $(call PARSE_BOARD,$(BOARD_TAG),build.ldscript)
 OPENOCD_SCRIPT := $(call PARSE_BOARD,$(BOARD_TAG),build.openocdscript)
-# TODO Hard defines Cortex M0 math lib - should be dynamic
-LDFLAGS += --specs=nano.specs --specs=nosys.specs -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--start-group -L$(LIB_PATH) -larm_cortexM0l_math -lm
 LINKER_SCRIPTS := -T$(ALTERNATE_CORE_PATH)/variants/$(VARIANT)/$(BOARD_LINKER_SCRIPT)
 OTHER_LIBS := $(call PARSE_BOARD,$(BOARD_TAG),build.flags.libs)
 
+# Due and SAMD boards have different flags/chip specific libs
+ifeq ($(findstring arduino_due, $(strip $(VARIANT))), arduino_due)
+    CPPFLAGS += -Dprintf=iprintf -DARDUINO_SAM_DUE
+    LDFLAGS += -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--start-group -u _sbrk -u link -u _close -u _fstat -u _isatty -u _lseek -u _read -u _write -u _exit -u kill -u _getpid
+    LDFLAGS += -L$(LIB_PATH) -lm # -larm_cortexM3l_math # IDE doesn't include Cortex-M3 math lib on Due for some reason
+    OTHER_LIBS += $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)/libsam_sam3x8e_gcc_rel.a
+else
+    LDFLAGS += --specs=nano.specs --specs=nosys.specs -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--start-group
+    LDFLAGS += -larm_cortexM0l_math -L$(LIB_PATH) -lm
+endif
+
 # OpenOCD reset command only for now
 ifeq ($(strip $(UPLOAD_TOOL)), openocd)
     RESET_CMD = $(OPENOCD) $(OPENOCD_OPTS) -c "telnet_port disabled; init; targets; reset run; shutdown"
@@ -479,3 +524,5 @@ endif
 $(call show_separator)
 $(call arduino_output,Arduino.mk Configuration:)
 include $(ARDMK_DIR)/Arduino.mk
+
+print-%  : ; @echo $* = $($*)

examples/DueBlink/DueBlink.ino

@@ -0,0 +1,19 @@
+/*
+  Blink
+  Turns on an LED on for one second, then off for one second, repeatedly.
+
+  This example code is in the public domain.
+ */
+
+void setup() {
+  // initialize the digital pin as an output.
+  // Pin 13 has an LED connected on most Arduino boards:
+  pinMode(13, OUTPUT);
+}
+
+void loop() {
+  digitalWrite(13, HIGH);   // set the LED on
+  delay(1000);              // wait for a second
+  digitalWrite(13, LOW);    // set the LED off
+  delay(1000);              // wait for a second
+}

examples/DueBlink/Makefile

@@ -0,0 +1,19 @@
+# Arduino Due uses SAM3X8E SAM chip
+BOARD_TAG = arduino_due_x
+ARCHITECTURE = sam
+
+# Define ARM toolchain dir if not using Arduino supplied
+#ARM_TOOLS_DIR = /usr
+
+# Define AVR toolchain dir if not using Arduino supplied and using native port
+#AVR_TOOLS_DIR = /usr
+
+# Define Arduino support package installation path where SAM device support has been installed
+# Linux
+#ARDUINO_PACKAGE_DIR := $(HOME)/.arduino15/packages
+# macOS
+#ARDUINO_PACKAGE_DIR := $(HOME)/Library/Arduino15/packages
+# Windows
+#ARDUINO_PACKAGE_DIR := "C:/Users/$(USER)/AppData/Local/Arduino15/packages"
+
+include ../../Sam.mk

tests/script/runtests.sh

@@ -7,7 +7,7 @@ failures=()
 # These examples cannot be tested easily at the moment as they require
 # alternate cores. The MakefileExample doesn't actually contain any source code
 # to compile.
-NON_TESTABLE_EXAMPLES=(ATtinyBlink MakefileExample TinySoftWareSerial BlinkOpenCM BlinkTeensy BlinkNetworkRPi BlinkInAVRC MZeroBlink ZeroBlink)
+NON_TESTABLE_EXAMPLES=(ATtinyBlink MakefileExample TinySoftWareSerial BlinkOpenCM BlinkTeensy BlinkNetworkRPi BlinkInAVRC MZeroBlink ZeroBlink DueBlink)
 
 for dir in $TESTS_DIR/*/
 do