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boards: Add Arduino MKRZero
Built upon the existing SoC for Atmel's SAMD21 MCU but with support enabled for two newly added peripherals: - I2C port (SERCOM) - External Interrupt Controller Signed-off-by: Madani Lainani <[email protected]>
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‎boards/arm/arduino_mkrzero/CMakeLists.txt‎

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if(CONFIG_PINMUX_SAM0)
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zephyr_library()
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zephyr_library_sources(pinmux.c)
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endif()

‎boards/arm/arduino_mkrzero/Kconfig.board‎

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# Kconfig - Arduino MKRZero Board configuration
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#
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# Copyright (c) 2018 Madani Lainani.
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# SPDX-License-Identifier: Apache-2.0
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config BOARD_ARDUINO_MKRZERO
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bool "Arduino MKRZero"
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depends on SOC_PART_NUMBER_SAMD21G18A

‎boards/arm/arduino_mkrzero/Kconfig.defconfig‎

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# Kconfig - Arduino MKRZero board configuration
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#
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# Copyright (c) 2018 Madani Lainani.
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# SPDX-License-Identifier: Apache-2.0
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if BOARD_ARDUINO_MKRZERO
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config BOARD
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default "arduino_mkrzero"
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endif # BOARD_ARDUINO_MKRZERO

‎boards/arm/arduino_mkrzero/arduino_mkrzero.dts‎

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/*
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* Copyright (c) 2018 Madani Lainani.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/dts-v1/;
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#include <atmel/samd21.dtsi>
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#include <dt-bindings/i2c/i2c.h>
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/ {
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model = "Arduino MKRZero";
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compatible = "arduino,mkrzero", "atmel,samd21g18a", "atmel,samd21";
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chosen {
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zephyr,console = &sercom5;
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zephyr,sram = &sram0;
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zephyr,flash = &flash0;
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};
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};
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&sercom0 {
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status = "ok";
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compatible = "atmel,sam0-i2c";
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clock-frequency = <I2C_BITRATE_STANDARD>;
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};
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&sercom1 {
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status = "ok";
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compatible = "atmel,sam0-spi";
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#address-cells = <1>;
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#size-cells = <0>;
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};
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&sercom5 {
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status = "ok";
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compatible = "atmel,sam0-uart";
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current-speed = <115200>;
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};
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&flash0 {
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partitions {
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compatible = "fixed-partitions";
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#address-cells = <1>;
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#size-cells = <1>;
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/*
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* The final 16 KiB is reserved for the application
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* and is used by NFFS if enabled.
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*/
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#if defined(CONFIG_FS_FLASH_MAP_STORAGE)
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storage_partition: partition@3c000 {
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label = "storage";
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reg = <0x0003c000 0x00004000>;
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};
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#endif
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};
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};
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&usb0 {
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status = "ok";
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};
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&eic0 {
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status = "ok";
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};

‎boards/arm/arduino_mkrzero/arduino_mkrzero.yaml‎

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identifier: arduino_mkrzero
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name: Arduino MKRZero
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type: mcu
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arch: arm
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ram: 32
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flash: 256
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toolchain:
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- zephyr
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- gccarmemb

‎boards/arm/arduino_mkrzero/arduino_mkrzero_defconfig‎

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CONFIG_ARM=y
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CONFIG_SOC_FAMILY_SAM0=y
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CONFIG_SOC_SERIES_SAMD21=y
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CONFIG_SOC_PART_NUMBER_SAMD21G18A=y
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CONFIG_BOARD_ARDUINO_MKRZERO=y
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CONFIG_CORTEX_M_SYSTICK=y
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CONFIG_CONSOLE=y
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CONFIG_UART_CONSOLE=y
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CONFIG_SERIAL=y
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CONFIG_UART_SAM0=y
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CONFIG_UART_INTERRUPT_DRIVEN=y
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CONFIG_GPIO=y
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CONFIG_GPIO_SAM0=y
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CONFIG_WATCHDOG=y
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CONFIG_WDT_SAM0=y
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CONFIG_SOC_ATMEL_SAMD_XOSC32K=y
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CONFIG_SOC_ATMEL_SAMD_XOSC32K_AS_MAIN=y
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CONFIG_SPI=y
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CONFIG_SPI_SAM0=y
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# The below definition is not used in the SAM0 SERCOM SPI driver code. Its sole
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# purpose seems to be reflecting the board DTS configuration in the
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# configuration interface.
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CONFIG_SPI_1=y
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CONFIG_I2C=y
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CONFIG_I2C_SAM0=y
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# The below definition is not used in the SAM0 SERCOM I2C driver code. Its sole
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# purpose seems to be reflecting the board DTS configuration in the
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# configuration interface.
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CONFIG_I2C_0=y
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CONFIG_PINMUX=y
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CONFIG_PINMUX_SAM0=y
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CONFIG_USB=y
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CONFIG_USB_DC_SAM0=y
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# External Interrupt Controller
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# CONFIG_EIC_SAM0=y
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# Map External interrupt 2 to pin A1
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# CONFIG_GPIO_SAM0_PORTB_EXTINT_2=y
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# CONFIG_GPIO_SAM0_PORTB_EXTINT_2_PIN=2
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# FXAS21002C gyroscope I2C address on the Adafruit Precision NXP 9-DOF breakout
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# board
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# CONFIG_FXAS21002_I2C_NAME="SERCOM0"
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# CONFIG_FXAS21002_I2C_ADDRESS=0x21
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# CONFIG_FXAS21002_RANGE=3
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# CONFIG_FXAS21002_GPIO_NAME="PORTB"
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# CONFIG_FXAS21002_GPIO_PIN=2

‎boards/arm/arduino_mkrzero/board.cmake‎

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# Copyright (c) 2018 Madani Lainani.
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# SPDX-License-Identifier: Apache-2.0
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include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)

‎boards/arm/arduino_mkrzero/board.h‎

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/*
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* Copyright (c) 2018 Madani Lainani.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef __INC_BOARD_H
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#define __INC_BOARD_H
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#include <soc.h>
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/* On-board LED on PB08 */
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#define LED0_GPIO_PORT CONFIG_GPIO_SAM0_PORTB_LABEL
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#define LED0_GPIO_PIN 8
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/* Default rise time in nanoseconds, based on 4.7K ohm pull up resistors */
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#define CONFIG_I2C_SAM0_SERCOM0_RISE_TIME_NS 125
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#define CONFIG_SPI_SAM0_SERCOM1_PADS \
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(SERCOM_SPI_CTRLA_DIPO(3) | SERCOM_SPI_CTRLA_DOPO(0))
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#define CONFIG_UART_SAM0_SERCOM5_PADS \
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(SERCOM_USART_CTRLA_RXPO(3) | SERCOM_USART_CTRLA_TXPO(1))
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#endif /* __INC_BOARD_H */

‎boards/arm/arduino_mkrzero/doc/arduino_mkrzero.rst‎

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.. _arduino_mkrzero:
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Arduino MKRZero
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###############
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Overview
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********
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The Arduino MKRZero is built around Atmel’s SAMD21 MCU, which features
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a 32-bit ARM Cortex M0+ core. It comes in a smaller format than the
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Arduino Zero based on that same MCU.
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.. image:: img/arduino_mkrzero.jpg
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:width: 500px
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:align: center
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:alt: Arduino MKRZero
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Hardware
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********
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- ATSAMD21G18A ARM Cortex-M0+ processor at 48 MHz
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- 32.768 kHz crystal oscillator
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- 256 KiB flash memory and 32 KiB of RAM
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- 1 user LED
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- One reset button
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- Native USB port
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Supported Features
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==================
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The arduino_mkrzero board configuration supports the following hardware
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features:
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+-----------+------------+--------------------------------------+
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| Interface | Controller | Driver/Component |
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+===========+============+======================================+
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| NVIC | on-chip | nested vector interrupt controller |
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+-----------+------------+--------------------------------------+
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| Flash | on-chip | Can be used with NFFS to store files |
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+-----------+------------+--------------------------------------+
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| SYSTICK | on-chip | systick |
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+-----------+------------+--------------------------------------+
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| WDT | on-chip | Watchdog |
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+-----------+------------+--------------------------------------+
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| GPIO | on-chip | I/O ports |
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+-----------+------------+--------------------------------------+
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| USART | on-chip | Serial ports |
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+-----------+------------+--------------------------------------+
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| SPI | on-chip | Serial Peripheral Interface ports |
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+-----------+------------+--------------------------------------+
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| I2C | on-chip | I2C ports (experimental) |
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+-----------+------------+--------------------------------------+
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| USB | on-chip | USB device |
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+-----------+------------+--------------------------------------+
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| EIC | on-chip | External Interrupt Controller |
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+-----------+------------+--------------------------------------+
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Other hardware features are not currently supported by Zephyr.
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The default configuration can be found in the Kconfig
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:file:`boards/arm/arduino_mkrzero/arduino_mkrzero_defconfig`.
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Connections and IOs
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===================
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The `Arduino store`_ has detailed information about board
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connections. Download the `Arduino MKRZero Schematic`_ for more detail.
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System Clock
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============
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The SAMD21 MCU is configured to use the 32.768 kHz external oscillator
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with the on-chip PLL generating the 48 MHz system clock. The internal
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APB and GCLK unit are set up in the same way as the upstream Arduino
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libraries.
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Serial Port
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===========
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The SAMD21 MCU has 6 SERCOM peripherals, each configurable to operate as either:
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- USART
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- SPI
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- I2C
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SERCOM5 is configured as Arduino MKRZero's unique UART interface.
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SPI Port
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========
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SERCOM1 is configured as Arduino MKRZero's unique SPI interface.
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I2C Port
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========
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SERCOM0 is configured as Arduino MKRZero's unique I2C interface.
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USB Device Port
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===============
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The SAMD21 MCU has a USB device port that can be used to communicate
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with a host PC. See the :ref:`usb-samples` sample applications for
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more, such as the :ref:`usb_cdc-acm` sample which sets up a virtual
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serial port that echos characters back to the host PC.
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EIC
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===
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The External Interrupt Controller peripheral allows I/O pins to be configured as
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interrupt lines. It is enabled from the GPIO driver configuration menu. The
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interrupt -to- I/O pin mapping depends on both the MCU device variant pin count
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and the peripheral signals multiplexing to the I/O pins for the considered
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board. On Atmel SAMD21G for instance, both PA00 and PA16 can be assigned to
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external interrupt 0. On the Arduino MKR Zero, which is based on this device
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variant, PA00 is used for another purpose which leaves the user with PA16 as the
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only choice for this particular external interrupt. The value 16 would thus need
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to be configured for external interrupt 0. Below is the mapping table for the
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Arduino MKR Zero. Also note that, unlike for other peripherals, the pin
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multiplexing is performed by the GPIO driver as part of the I/O pin
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configuration, that is, no code is needed in pinmux.c.
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+--------+------------+------------+---------+
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| EXTINT | MKZero Pin | PORT Group | I/O Pin |
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+========+============+============+=========+
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| 0 | MOSI | PORTA | 16 |
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+--------+------------+------------+---------+
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| 1 | SCK | PORTA | 17 |
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+--------+------------+------------+---------+
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| 2 | A1 | PORTB | 2 |
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+--------+------------+------------+---------+
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| 3 | A2 | PORTB | 3 |
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+--------+------------+------------+---------+
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| 4 | D6 | PORTA | 20 |
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+--------+------------+------------+---------+
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| 5 | D7 | PORTA | 21 |
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+--------+------------+------------+---------+
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| 6 | D0 | PORTA | 22 |
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+--------+------------+------------+---------+
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| 7 | D1 | PORTA | 23 |
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+--------+------------+------------+---------+
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| 10 | D4 | PORTB | 10 |
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+--------+------------+------------+---------+
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| 11 | D5 | PORTB | 11 |
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+--------+------------+------------+---------+
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Programming and Debugging
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*************************
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Debugging and programming the Arduino MKRZero requires using the
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Atmel-ICE development tool with OpenOCD.
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Flashing
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========
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#. Build the Zephyr kernel and the :ref:`hello_world` sample application:
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.. zephyr-app-commands::
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:zephyr-app: samples/hello_world
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:board: arduino_mkrzero
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:goals: build
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:compact:
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#. Connect the Arduino MKRZero to your host computer using the USB debug
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port.
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#. Run your favorite terminal program to listen for output. Under Linux the
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terminal should be :code:`/dev/ttyACM0`. For example:
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.. code-block:: console
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$ minicom -D /dev/ttyACM0 -o
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The -o option tells minicom not to send the modem initialization
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string. Connection should be configured as follows:
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- Speed: 115200
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- Data: 8 bits
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- Parity: None
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- Stop bits: 1
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#. To flash an image:
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.. zephyr-app-commands::
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:zephyr-app: samples/hello_world
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:board: arduino_mkrzero
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:goals: flash
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:compact:
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You should see "Hello World! arm" in your terminal.
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References
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**********
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.. target-notes::
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.. _Arduino Store:
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https://store.arduino.cc/arduino-mkrzero
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.. _Arduino MKRZero Schematic:
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https://www.arduino.cc/en/uploads/Main/ArduinoMKRZero-schematic.pdf

‎boards/arm/arduino_mkrzero/doc/img/arduino_mkrzero.jpg‎

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