Move to ASF4 and introduce SAMD51 support. (#258)

* 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.

Author: tannewt

README.md

@@ -166,6 +166,8 @@ CircuitPython:
   corresponding module.
 * `shared-module` Shared implementation of Python modules that may be
   based on `common-hal`.
+* `supervisor` Code and headers related to the supervisor which monitors and
+  runs individual MicroPython virtual machines (from code in `py`).
 * `tests` Test framework and test scripts.
 * `tools` Various tools, including the pyboard.py module.
 
@@ -210,4 +212,4 @@ rest are here to maintain compatibility with the
 [Adafruit Feather M0 Adalogger]: https://www.adafruit.com/product/2796
 [Arduino Zero]: https://www.arduino.cc/en/Main/ArduinoBoardZero
 [MicroPython]: https://github.com/micropython/micropython
-[Code of Conduct]: https://github.com/adafruit/circuitpython/blob/master/CODE_OF_CONDUCT.md
+[Code of Conduct]: https://github.com/adafruit/circuitpython/blob/master/CODE_OF_CONDUCT.md

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
 

atmel-samd/access_vfs.c

@@ -29,7 +29,6 @@
 #include "access_vfs.h"
 #include "autoreload.h"
 
-#include "asf/common/services/usb/class/msc/device/udi_msc.h"
 #include "extmod/vfs.h"
 #include "extmod/vfs_fat.h"
 #include "lib/oofatfs/ff.h"

atmel-samd/access_vfs.h

@@ -30,8 +30,6 @@
 #ifndef MICROPY_INCLUDED_ATMEL_SAMD_ROM_FS_H
 #define MICROPY_INCLUDED_ATMEL_SAMD_ROM_FS_H
 
-#include "asf/common/services/storage/ctrl_access/ctrl_access.h"
-
 Ctrl_status vfs_test_unit_ready(void);
 Ctrl_status vfs_read_capacity(uint32_t *u32_nb_sector);
 bool        vfs_wr_protect(void);