Merge remote-tracking branch 'origin/TrackManager_SAMD' into PORTX_HAL

DCCEXParser.cpp

@@ -1,4 +1,5 @@
 /*
+ *  © 2022 Paul M Antoine
  *  © 2021 Neil McKechnie
  *  © 2021 Mike S
  *  © 2021 Herb Morton
@@ -906,9 +907,15 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
           wdt_enable( WDTO_15MS); // set Arduino watchdog timer for 15ms 
           delay(50);            // wait for the prescaller time to expire
 #else
-#ifdef ARDUINO_ARCH_ESP
+#if defined(ARDUINO_ARCH_ESP32)
 	  ESP.restart();
 #endif
+#if defined(ARDUINO_ARCH_SAMD)
+    // Disable all interrupts and reset uC
+    __disable_irq();
+    NVIC_SystemReset();
+    while(true);
+#endif
 #endif
           break; // and <X> if we didnt restart 
         }

DCCTimer.h

@@ -1,4 +1,5 @@
 /*
+ *  © 2022 Paul M Antoine
  *  © 2021 Mike S
  *  © 2021 Harald Barth
  *  © 2021 Fred Decker

DCCTimerSAMD.cpp

@@ -1,10 +1,10 @@
 /*
+ *  © 2022 Paul M Antoine
  *  © 2021 Mike S
  *  © 2021 Harald Barth
  *  © 2021 Fred Decker
  *  © 2021 Chris Harlow
  *  © 2021 David Cutting
- *  © 2022 Paul M. Antoine
  *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
@@ -23,7 +23,7 @@
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-// ATTENTION: this file only compiles on a TEENSY
+// ATTENTION: this file only compiles on a SAMD21 based board
 // Please refer to DCCTimer.h for general comments about how this class works
 // This is to avoid repetition and duplication.
 #ifdef ARDUINO_ARCH_SAMD
@@ -38,8 +38,9 @@ void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
   interruptHandler=callback;
   noInterrupts();
 
-  // PMA - Set up ADC to do faster reads... default for Arduino Zero platform configs is 436uS,
+  // Set up ADC to do faster reads... default for Arduino Zero platform configs is 436uS,
-  // and we need sub-100uS. This code sets it to a read speed of around 21uS, and enables 12-bit
+  // and we need sub-100uS. This code sets it to a read speed of around 21uS, and for now
+  // enables 10-bit mode, although 12-bit is possible
   ADC->CTRLA.bit.ENABLE = 0;              // disable ADC
   while( ADC->STATUS.bit.SYNCBUSY == 1 ); // wait for synchronization
 
@@ -54,8 +55,7 @@ void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
   ADC->CTRLA.bit.ENABLE = 1;                     // enable ADC
   while(ADC->STATUS.bit.SYNCBUSY == 1);          // wait for synchronization
 
-  // PMA - actual timer setup goo
+  // Timer setup - setup clock sources first
-  // Setup clock sources first
   REG_GCLK_GENDIV =   GCLK_GENDIV_DIV(1) |            // Divide 48MHz by 1
                       GCLK_GENDIV_ID(4);              // Apply to GCLK4
   while (GCLK->STATUS.bit.SYNCBUSY);                  // Wait for synchronization
@@ -70,32 +70,31 @@ void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
                       GCLK_CLKCTRL_ID_TCC0_TCC1;      // Feed GCLK to TCC0/1
   while (GCLK->STATUS.bit.SYNCBUSY);
 
-  // PMA - assume we're using TCC0... as we're bit-bashing the DCC waveform output pins anyway
+  // Assume we're using TCC0... as we're bit-bashing the DCC waveform output pins anyway
   // for "normal accuracy" DCC waveform generation. For high accuracy we're going to need
-  //       to a good deal more. The TCC waveform output pins are mux'd on the SAMD, and OP pins
+  // to a good deal more. The TCC waveform output pins are mux'd on the SAMD, and output
-  //       for each TCC are only available on certain pins
+  // pins for each TCC are only available on certain pins
   TCC0->WAVE.reg = TCC_WAVE_WAVEGEN_NPWM;     // Select NPWM as waveform
   while (TCC0->SYNCBUSY.bit.WAVE);            // Wait for sync
 
-  // PMA - set the frequency
+  // Set the frequency
   TCC0->CTRLA.reg |= TCC_CTRLA_PRESCALER(TCC_CTRLA_PRESCALER_DIV1_Val);
   TCC0->PER.reg = CLOCK_CYCLES * 2;
   while (TCC0->SYNCBUSY.bit.PER);
 
-  // PMA - start it
+  // Start the timer
   TCC0->CTRLA.bit.ENABLE = 1;
   while (TCC0->SYNCBUSY.bit.ENABLE);
 
-  // PMA - set interrupt condition, priority and enable
+  // Set the interrupt condition, priority and enable it in the NVIC
   TCC0->INTENSET.reg = TCC_INTENSET_OVF;      // Only interrupt on overflow
   NVIC_SetPriority((IRQn_Type)TCC0_IRQn, 0);  // Make this highest priority
   NVIC_EnableIRQ((IRQn_Type)TCC0_IRQn);       // Enable the interrupt
   interrupts();
 }
 
-// PMA - Timer IRQ handlers replace the dummy handlers (cortex_handlers)
+// Timer IRQ handlers replace the dummy handlers (in cortex_handlers)
 // copied from rf24 branch
-// TODO: test
 void TCC0_Handler() {
     if(TCC0->INTFLAG.bit.OVF) {
         TCC0->INTFLAG.bit.OVF = 1; // writing a 1 clears the flag
@@ -126,11 +125,15 @@ bool DCCTimer::isPWMPin(byte pin) {
 }
 
 void DCCTimer::setPWM(byte pin, bool high) {
-    // TODO: what are the relevant pins?
+    // TODO: High Accuracy mode is not supported as yet, and may never need to be
     (void) pin;
     (void) high;
 }
 
+void DCCTimer::clearPWM() {
+  return;
+}
+
 void   DCCTimer::getSimulatedMacAddress(byte mac[6]) {
   volatile uint32_t *serno1 = (volatile uint32_t *)0x0080A00C;
   volatile uint32_t *serno2 = (volatile uint32_t *)0x0080A040;

EEStore.h

@@ -26,7 +26,7 @@
 
 #include <Arduino.h>
 
-#if defined(ARDUINO_ARCH_SAMD)
+#if defined(ARDUINO_ARCH_SAMC)
 #include <SparkFun_External_EEPROM.h>
 extern ExternalEEPROM EEPROM;
 #else

MotorDriver.cpp

@@ -1,4 +1,5 @@
 /*
+ *  © 2022 Paul M Antoine
  *  © 2021 Mike S
  *  © 2021 Fred Decker
  *  © 2020-2022 Harald Barth

MotorDriver.h

@@ -1,4 +1,5 @@
 /*
+ *  © 2022 Paul M Antoine
  *  © 2021 Mike S
  *  © 2021 Fred Decker
  *  © 2020 Chris Harlow

MotorDrivers.h

@@ -1,4 +1,5 @@
 /*
+ *  © 2022 Paul M Antoine
  *  © 2021 Fred Decker
  *  © 2020-2022 Harald Barth
  *  (c) 2020 Chris Harlow. All rights reserved.
@@ -59,6 +60,13 @@
                               new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 2.99, 2000, UNUSED_PIN)
 #endif
 
+// Setup for SAMD21 Sparkfun DEV board using Arduino standard Motor Shield R3 (MUST be R3 for 3v3 compatibility!!)
+// senseFactor for 3.3v systems is 1.95 as calculated when using 10-bit A/D samples,
+// and for 12-bit samples it's more like 0.488, but we probably need to tweak both these
+#define SAMD_STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"),                                             \
+                              new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 1.95, 2000, UNUSED_PIN), \
+                              new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 1.95, 2000, UNUSED_PIN)
+
 // Pololu Motor Shield
 #define POLOLU_MOTOR_SHIELD F("POLOLU_MOTOR_SHIELD"),                                                 \
                             new MotorDriver( 9, 7, UNUSED_PIN,         -4, A0, 18, 3000, 12), \

SerialManager.cpp

@@ -1,4 +1,5 @@
  /*
+ *  © 2022 Paul M Antoine
  *  © 2021 Chris Harlow
  *  © 2022 Harald Barth
  *  All rights reserved.
@@ -33,13 +34,12 @@ SerialManager::SerialManager(Stream * myserial) {
 } 
 
 void SerialManager::init() {
-//  while (!Serial && millis() < 5000); // wait max 5s for Serial to start
 #if defined(ARDUINO_ARCH_SAMD)
   SerialUSB.begin(115200);
-  while (!SerialUSB); // PMA - temporary for debuggering purpoises
   new SerialManager(&SerialUSB);
 #else
   Serial.begin(115200);
+  while (!Serial && millis() < 5000); // wait max 5s for Serial to start
   new SerialManager(&Serial);
 #endif
 #ifdef SERIAL3_COMMANDS

defines.h

@@ -1,4 +1,5 @@
 /*
+ *  © 2022 Paul M Antoine
  *  © 2021 Neil McKechnie
  *  © 2021 Mike S
  *  © 2021 Fred Decker

platformio.ini

@@ -15,23 +15,47 @@ default_envs =
 	mega328
 	unowifiR2
 	nano
+	samd21-dev-usb
+	samd21-zero-usb
 src_dir = .
 include_dir = .
 
 [env]
 build_flags = -Wall -Wextra
 
-[env:samd21]
+[env:samd21-dev-usb]
 platform = atmelsam
 board = sparkfun_samd21_dev_usb
 framework = arduino
 upload_protocol = sam-ba
+lib_deps = 
+	${env.lib_deps}
+monitor_speed = 115200
+monitor_flags = --echo
+build_flags = -std=c++17 -DI2C_USE_WIRE -DDISABLE_EEPROM
+
+[env:samd21-zero-usb]
+platform = atmelsam
+board = zeroUSB
+framework = arduino
+upload_protocol = sam-ba
+lib_deps = 
+	${env.lib_deps}
+monitor_speed = 115200
+monitor_flags = --echo
+build_flags = -std=c++17 -DI2C_USE_WIRE -DDISABLE_EEPROM
+
+[env:samc21-firebox]
+platform = atmelsam
+board = firebox
+framework = arduino
+upload_protocol = atmel-ice
 lib_deps = 
 	${env.lib_deps}
 	SparkFun External EEPROM Arduino Library
 monitor_speed = 115200
 monitor_flags = --echo
-build_flags = -std=c++17
+build_flags = -std=c++17 -DI2C_USE_WIRE -DDISABLE_EEPROM
 
 [env:mega2560-debug]
 platform = atmelavr