Move to ASF4 and introduce SAMD51 support. (#258)3.0.0-alpha.0

* atmel-samd: Remove ASF3. This will break builds.

* atmel-samd: Add ASF4 for the SAMD21 and SAMD51.

* Introduce the supervisor concept to facilitate porting.

The supervisor is the code which runs individual MicroPython VMs. By
splitting it out we make it more consistent and easier to find.

This also adds very basic SAMD21 and SAMD51 support using the
supervisor. Only the REPL currently works.

This begins the work for #178.

1 files changed, 123 insertions, 145 deletions

diff --git a/atmel-samd/Makefile b/atmel-samd/Makefile
index 1e5fe110d..7792b3bdc 100644
--- a/atmel-samd/Makefile
+++ b/atmel-samd/Makefile
@@ -1,6 +1,6 @@
 # Select the board to build for: if not given on the command line,
 # then default to PYBV10.
-BOARD ?= arduino_zero
+BOARD ?= metro_m0_express
 ifeq ($(wildcard boards/$(BOARD)/.),)
 $(error Invalid BOARD specified)
 endif
@@ -14,76 +14,44 @@ include ../py/mkenv.mk
 include boards/$(BOARD)/mpconfigboard.mk
 
 # qstr definitions (must come before including py.mk)
-# TODO(tannewt): Support friendly pin names like the stmhal implementations do.
-# Add $(BUILD)/pins_qstr.h $(BUILD)/modstm_qstr.h
 QSTR_DEFS = qstrdefsport.h
 
 # include py core make definitions
 include $(TOP)/py/py.mk
 
+include $(TOP)/supervisor/supervisor.mk
+
 CROSS_COMPILE = arm-none-eabi-
 
 BOSSAC := tools/bossac_osx
 
 HAL_DIR=hal/$(MCU_SERIES)
 
-INC += -I.
-INC += -I$(TOP)
-INC += -I$(TOP)/lib/mp-readline
-INC += -I$(TOP)/lib/timeutils
-INC += -Iasf_conf/
-INC += -Iasf/common/boards/
-INC += -Iasf/common/services/sleepmgr/
-INC += -Iasf/common/services/storage/ctrl_access/
-INC += -Iasf/common/services/usb/
-INC += -Iasf/common/services/usb/class/cdc/
-INC += -Iasf/common/services/usb/class/cdc/device/
-INC += -Iasf/common/services/usb/class/hid/
-INC += -Iasf/common/services/usb/class/hid/device/
-INC += -Iasf/common/services/usb/class/hid/device/kbd/
-INC += -Iasf/common/services/usb/class/hid/device/mouse/
-INC += -Iasf/common/services/usb/class/msc/
-INC += -Iasf/common/services/usb/class/msc/device/
-INC += -Iasf/common/services/usb/udc/
-INC += -Iasf/common/utils
-INC += -Iasf/common2/services/delay/
-INC +=  $(addprefix -Iasf/sam0/,\
-	drivers/events \
-	drivers/extint \
-	drivers/port \
-	drivers/system \
-	drivers/adc/adc_sam_d_r \
-	drivers/dac \
-	drivers/dac/dac_sam_d_c \
-	drivers/sercom \
-	drivers/sercom/i2c \
-	drivers/system/clock \
-	drivers/system/clock/clock_samd21_r21_da \
-	drivers/system/interrupt \
-	drivers/system/interrupt/system_interrupt_samd21 \
-	drivers/system/pinmux \
-	drivers/system/power/power_sam_d_r \
-	drivers/system/reset/reset_sam_d_r \
-	drivers/tc \
-	drivers/usb \
-	utils \
-	utils/cmsis/samd21/include \
-	utils/cmsis/samd21/source \
-	utils/header_files \
-	utils/preprocessor \
-	)
-INC += -Iasf/thirdparty/CMSIS/Include
-INC += -Iboards
-INC += -Iboards/$(BOARD)/
-INC += -Ifreetouch/
-INC += -I$(BUILD)
-
-CFLAGS_CORTEX_M0 = \
-	-mthumb \
-	-mabi=aapcs-linux \
-	-mcpu=cortex-m0plus \
-	-msoft-float \
-	-mfloat-abi=soft \
+INC += -I. \
+       -I.. \
+       -I../lib/mp-readline \
+       -I../lib/timeutils \
+       -Iasf4/$(CHIP_FAMILY) \
+       -Iasf4/$(CHIP_FAMILY)/hal/include \
+       -Iasf4/$(CHIP_FAMILY)/hal/utils/include \
+       -Iasf4/$(CHIP_FAMILY)/hri \
+       -Iasf4/$(CHIP_FAMILY)/hpl/core \
+       -Iasf4/$(CHIP_FAMILY)/hpl/pm \
+       -Iasf4/$(CHIP_FAMILY)/hpl/port \
+       -Iasf4/$(CHIP_FAMILY)/hpl/tc \
+       -Iasf4/$(CHIP_FAMILY)/include \
+       -Iasf4/$(CHIP_FAMILY)/CMSIS/Include \
+       -Iasf4/$(CHIP_FAMILY)/usb \
+       -Iasf4/$(CHIP_FAMILY)/usb/class/cdc \
+       -Iasf4/$(CHIP_FAMILY)/usb/class/hid \
+       -Iasf4/$(CHIP_FAMILY)/usb/device \
+       -Iasf4_conf/$(CHIP_FAMILY) \
+       -Iboards/$(BOARD) \
+       -Iboards/ \
+       -Ifreetouch \
+       -I$(BUILD)
+
+BASE_CFLAGS = \
 	-fsingle-precision-constant \
 	-fno-strict-aliasing \
 	-Wdouble-promotion \
@@ -102,42 +70,49 @@ CFLAGS_CORTEX_M0 = \
 	-Wnested-externs \
 	-Wunreachable-code \
 	-Wcast-align \
+	-Wno-error=lto-type-mismatch \
 	-D__$(CHIP_VARIANT)__ \
-	-DUSB_DEVICE_PRODUCT_ID=$(USB_PID) \
-	-DUSB_DEVICE_VENDOR_ID=$(USB_VID) \
-	-DBOARD=USER_BOARD \
+	-DCONF_USB_COMPOSITE_IDPRODUCT=$(USB_PID) \
+	-DCONF_USB_COMPOSITE_IDVENDER=$(USB_VID) \
 	-ffunction-sections \
 	-fdata-sections \
 	-fshort-enums \
-	-D ARM_MATH_CM0PLUS=true \
-	-DSYSTICK_MODE \
-	-DEXTINT_CALLBACK_MODE=true \
-	-DUDD_ENABLE \
-	-DUSART_CALLBACK_MODE=false \
-	-DSPI_CALLBACK_MODE=false \
-	-DI2C_MASTER_CALLBACK_MODE=false \
-	-DDAC_CALLBACK_MODE=false \
-	-DTCC_ASYNC=false \
-	-DADC_CALLBACK_MODE=false \
-	-DEVENTS_INTERRUPT_HOOKS_MODE=false \
-	-DI2S_CALLBACK_MODE=false \
-	-DTC_ASYNC=true \
-	-DUSB_DEVICE_LPM_SUPPORT \
-	-DCIRCUITPY_CANARY_WORD=0xADAF00 \
-	-DCIRCUITPY_SAFE_RESTART_WORD=0xDEADBEEF \
 	--param max-inline-insns-single=500
-CFLAGS = $(INC) -Wall -Werror -std=gnu11 -nostdlib $(CFLAGS_CORTEX_M0) $(CFLAGS_MOD) $(COPT)
 
 #Debugging/Optimization
 ifeq ($(DEBUG), 1)
 # NDEBUG disables assert() statements. This reduces code size pretty dramatically, per tannewt.
 # Turn on Python modules useful for debugging (e.g. uheap, ustack).
-# -DMICROPY_DEBUG_MODULES may also be added to an -flto build, if you wish.
-CFLAGS += -Os -ggdb -DNDEBUG -DENABLE_MICRO_TRACE_BUFFER -DMICROPY_DEBUG_MODULES
+CFLAGS = -O1 -ggdb -DNDEBUG
+ifeq ($(CHIP_FAMILY), samd21)
+CFLAGS += -DENABLE_MICRO_TRACE_BUFFER
+endif
 else
 # -finline-limit can shrink the image size. -finline-limit=80 or so is similar to not having it on.
 # There is no simple default value, though.
-CFLAGS += -Os -DNDEBUG -flto -finline-limit=49
+CFLAGS = -Os -DNDEBUG -flto -finline-limit=49
+endif
+
+CFLAGS += $(INC) -Wall -Werror -std=gnu11 -nostdlib $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT)
+
+ifeq ($(CHIP_FAMILY), samd21)
+CFLAGS += \
+	-mthumb \
+	-mabi=aapcs-linux \
+	-mcpu=cortex-m0plus \
+	-msoft-float \
+	-mfloat-abi=soft \
+	-DSAMD21
+endif
+ifeq ($(CHIP_FAMILY), samd51)
+CFLAGS += \
+	-mthumb \
+	-mabi=aapcs-linux \
+	-mlong-calls \
+	-mcpu=cortex-m4 \
+	-mfloat-abi=softfp \
+	-mfpu=fpv4-sp-d16 \
+	-DSAMD51
 endif
 
 ifneq ($(FROZEN_DIR),)
@@ -158,69 +133,71 @@ CFLAGS += -Wno-error=lto-type-mismatch
 endif
 
 #LIBM_FILE_NAME   = $(shell $(CC) $(CFLAGS) -print-file-name=libm.a)
-LDFLAGS = $(CFLAGS) -nostartfiles -fshort-enums -mthumb -mcpu=cortex-m0plus -Lasf/thirdparty/CMSIS/Lib/GCC/ -Wl,-nostdlib -Wl,-T,$(LD_FILE) -Wl,-Map=$@.map -Wl,-cref -Wl,-gc-sections -specs=nano.specs
-LIBS = -larm_cortexM0l_math -lm -lgcc -lc
-
-SRC_ASF = $(addprefix asf/sam0/,\
-	drivers/adc/adc_sam_d_r/adc.c \
-	drivers/dac/dac_sam_d_c/dac.c \
-	drivers/dma/dma.c \
-	drivers/events/events_sam_d_r/events.c \
-	drivers/extint/extint_callback.c \
-	drivers/extint/extint_sam_d_r/extint.c \
-	drivers/i2s/i2s.c \
-	drivers/nvm/nvm.c \
-	drivers/port/port.c \
-	drivers/sercom/i2c/i2c_sam0/i2c_master.c \
-	drivers/sercom/sercom.c \
-	drivers/sercom/sercom_interrupt.c \
-	drivers/sercom/spi/spi.c \
-	drivers/sercom/usart/usart.c \
-	drivers/system/clock/clock_samd21_r21_da/clock.c \
-	drivers/system/clock/clock_samd21_r21_da/gclk.c \
-	drivers/system/interrupt/system_interrupt.c   \
-	drivers/system/pinmux/pinmux.c \
-	drivers/system/system.c \
-	drivers/tc/tc_interrupt.c \
-	drivers/tc/tc_sam_d_r/tc.c \
-	drivers/tcc/tcc.c \
-	drivers/usb/stack_interface/usb_device_udd.c \
-	drivers/usb/stack_interface/usb_dual.c \
-	drivers/usb/usb_sam_d_r/usb.c \
-	)
+LDFLAGS = $(CFLAGS) -nostartfiles -fshort-enums -Wl,-nostdlib -Wl,-T,$(LD_FILE) -Wl,-Map=$@.map -Wl,-cref -Wl,-gc-sections -specs=nano.specs
+LIBS := -lgcc -lc
+
+
+ifeq ($(CHIP_FAMILY), samd21)
+LDFLAGS += -mthumb -mcpu=cortex-m0plus -Lasf/thirdparty/CMSIS/Lib/GCC/
+LIBS :=  -lm $(LIBS) # -larm_cortexM0l_math
+else ifeq ($(CHIP_FAMILY), samd51)
+LDFLAGS += -mthumb -mcpu=cortex-m4
+LIBS := -lm $(LIBS)
+endif
+
+SRC_ASF := \
+	gcc/gcc/startup_$(CHIP_FAMILY).c \
+	gcc/system_$(CHIP_FAMILY).c \
+	hal/src/hal_atomic.c \
+	hal/src/hal_delay.c \
+	hal/src/hal_sleep.c \
+	hal/src/hal_timer.c \
+	hal/src/hal_usb_device.c \
+	hpl/core/hpl_init.c \
+	hpl/gclk/hpl_gclk.c \
+	hpl/pm/hpl_pm.c \
+	hpl/rtc/hpl_rtc.c \
+	hpl/systick/hpl_systick.c \
+	hpl/tc/hpl_tc.c \
+	hpl/usb/hpl_usb.c \
+	usb/class/cdc/device/cdcdf_acm.c \
+	usb/device/usbdc.c \
+	usb/usb_protocol.c \
+	hal/utils/src/utils_list.c \
+
+ifeq ($(CHIP_FAMILY), samd21)
+SRC_ASF += \
+	hpl/core/hpl_core_m0plus_base.c \
+	hpl/sysctrl/hpl_sysctrl.c \
+
+else ifeq ($(CHIP_FAMILY), samd51)
+SRC_ASF += \
+	hpl/core/hpl_core_m4.c \
+	hpl/mclk/hpl_mclk.c \
+	hpl/osc32kctrl/hpl_osc32kctrl.c \
+	hpl/oscctrl/hpl_oscctrl.c \
+
+endif
+
+SRC_ASF := $(addprefix asf4/$(CHIP_FAMILY)/, $(SRC_ASF))
+
+# Skip this source for now.
+#	access_vfs.c \
+	shared_dma.c \
+	$(FLASH_IMPL) \
 
 SRC_C = \
-	access_vfs.c \
-	autoreload.c \
 	background.c \
 	fatfs_port.c \
 	flash_api.c \
-	main.c \
 	mphalport.c \
 	reset.c \
-	samd21_pins.c \
-	shared_dma.c \
-	rgb_led_status.c \
+	$(CHIP_FAMILY)_pins.c \
 	tick.c \
-	$(FLASH_IMPL) \
+	usb.c \
 	bindings/samd/__init__.c \
-	asf/common/services/sleepmgr/samd/sleepmgr.c \
-	asf/common/services/storage/ctrl_access/ctrl_access.c  \
-	asf/common/services/usb/class/cdc/device/udi_cdc.c \
-	asf/common/services/usb/class/composite/device/udi_composite_desc.c \
-	asf/common/services/usb/class/hid/device/udi_hid.c \
-	asf/common/services/usb/class/hid/device/mouse/udi_hid_mouse.c \
-	asf/common/services/usb/class/hid/device/kbd/udi_hid_kbd.c \
-	asf/common/services/usb/class/msc/device/udi_msc.c     \
-	asf/common/services/usb/udc/udc.c \
-	asf/common/utils/interrupt/interrupt_sam_nvic.c \
-	asf/common2/services/delay/sam0/systick_counter.c \
-	asf/sam0/utils/cmsis/samd21/source/gcc/startup_samd21.c \
-	asf/sam0/utils/cmsis/samd21/source/system_samd21.c \
-	asf/sam0/utils/syscalls/gcc/syscalls.c \
 	boards/$(BOARD)/board.c \
 	boards/$(BOARD)/pins.c \
-	freetouch/adafruit_ptc.c \
 	lib/oofatfs/ff.c \
 	lib/oofatfs/option/ccsbcs.c \
 	lib/timeutils/timeutils.c \
@@ -231,26 +208,27 @@ SRC_C = \
 	lib/utils/stdout_helpers.c \
 	lib/utils/sys_stdio_mphal.c \
 	lib/libc/string0.c \
-	lib/mp-readline/readline.c
+	lib/mp-readline/readline.c \
+	# freetouch/adafruit_ptc.c \
 
 SRC_COMMON_HAL = \
-	analogio/__init__.c \
+	board/__init__.c \
+	microcontroller/__init__.c \
+	microcontroller/Pin.c \
+	microcontroller/Processor.c \
+	digitalio/__init__.c \
+	digitalio/DigitalInOut.c
+#	analogio/__init__.c \
 	analogio/AnalogIn.c \
 	analogio/AnalogOut.c \
 	audiobusio/__init__.c \
 	audiobusio/PDMIn.c \
 	audioio/__init__.c \
 	audioio/AudioOut.c \
-	board/__init__.c \
 	busio/__init__.c \
 	busio/I2C.c \
 	busio/SPI.c \
 	busio/UART.c \
-	digitalio/__init__.c \
-	digitalio/DigitalInOut.c \
-	microcontroller/__init__.c \
-	microcontroller/Pin.c \
-	microcontroller/Processor.c \
 	neopixel_write/__init__.c \
 	nvm/__init__.c \
 	nvm/ByteArray.c \
@@ -293,12 +271,12 @@ SRC_SHARED_MODULE = \
 SRC_SHARED_MODULE_EXPANDED = $(addprefix shared-bindings/, $(SRC_SHARED_MODULE)) \
                              $(addprefix shared-module/, $(SRC_SHARED_MODULE))
 
-OBJ = $(PY_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
+OBJ = $(PY_O) $(SUPERVISOR_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(SRC_ASF:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(SRC_COMMON_HAL_EXPANDED:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(SRC_SHARED_MODULE_EXPANDED:.c=.o))
 
-SRC_QSTR += $(SRC_C) $(SRC_COMMON_HAL_EXPANDED) $(SRC_SHARED_MODULE_EXPANDED) $(STM_SRC_C)
+SRC_QSTR += $(SRC_C) $(SRC_SUPERVISOR) $(SRC_COMMON_HAL_EXPANDED) $(SRC_SHARED_MODULE_EXPANDED) $(STM_SRC_C)
 
 all: $(BUILD)/firmware.bin $(BUILD)/firmware.uf2