SAMD Cortex M0 device support (Zero, MKR1000, etc)

Compilation improvements by adding variant as other obj but not working on device

Arduino Zero devices with OpenOCD working

Created ARM_TOOLS_DIR and define arm toolchain executables in Sam.mk

Check avr-gcc on last AVR_TOOLS_DIR detect and indenting formatting

GDB debugging and programming added

Documentation updates and define ARDMK_VENDOR rather than include Sam.mk

Expand all parse_boards when defined rather than when used

Trim extra defines regex working on both macOS and Linux but need better fix

Print USB ids and added debug usage to readme

Add note on Arduino package dir and made board.txt work

Do ARM ARDUINO_ARCH define in Arduino.mk]

Add MZeroBlink to non-testable examples for now

Remove \B from extra defines grep

Add ARDUINO_PACKAGE_DIR for board support files

Fix a typo in the README

Fix typo in arduino-mk-vars.md

Prevent re-including Arduino.mk from Sam.mk when make restarts for upload

Add catrina to ARD_REST_OPTS if/else

Remove realpath in Sam.mk for cygwin compatability

SAMD bootloader support in ard-reset using --zero

Enters bootloader using open/close of port at 1200 BAUD, then polls the
attached devices for new port enumerating (bootloader). This is how the
Arduino IDE operates

Bossa support for Zero, MKR1000 etc

Re-word Arm README section after Native USB development

Reset for zero refactored like IDE

Zero bootloader reset tested on macOS and comments added

Re-word ARM bootloader and remove imports from testing

Patch changes ARDMK_VENDOR->ARCHITECHTURE, show_config_vars, ignore CORE_VER if emtpy

Common.mk header guard, openocd/bossac avoid separator, typos

Documentation update for patch changes

Move ARM tools to Sam.mk and auto-detect include

Correct accidental commit of Blink Makefile change

Lib fix with alternative core and documentation

Append zero to ARD_RESET_OPTS rather than set

Prioritise package ARM upload tools over path installed

Add note in README on ARM tools versions

Move openocd variant config script flag to OPTS

Author: tuna-f1sh

Arduino.mk

@@ -261,7 +261,9 @@ else
 endif
 
 # include Common.mk now we know where it is
-include $(ARDMK_DIR)/Common.mk
+ifndef COMMON_INCLUDED
+    include $(ARDMK_DIR)/Common.mk
+endif
 
 # show_config_variable macro is available now. So let's print config details for ARDMK_DIR
 ifndef ARDMK_DIR_MSG
@@ -317,11 +319,7 @@ else
     ifeq ($(ARCHITECTURE),avr)
         ARDUINO_ARCH_FLAG = -DARDUINO_ARCH_AVR
     else
-        ifeq ($(ARCHITECTURE),sam)
-            ARDUINO_ARCH_FLAG = -DARDUINO_ARCH_SAM
-        else
-            ARDUINO_ARCH_FLAG = -DARDUINO_ARCH_$(shell echo $(ARCHITECTURE) | tr '[:lower:]' '[:upper:]')
-        endif
+        ARDUINO_ARCH_FLAG = -DARDUINO_ARCH_$(shell echo $(ARCHITECTURE) | tr '[:lower:]' '[:upper:]')
     endif
 endif
 
@@ -454,7 +452,14 @@ ifndef AVR_TOOLS_DIR
             AVR_TOOLS_DIR = $(SYSTEMPATH_AVR_TOOLS_DIR)
             $(call show_config_variable,AVR_TOOLS_DIR,[AUTODETECTED],(found in $$PATH))
         else
-            echo $(error No AVR tools directory found)
+            # One last attempt using avr-gcc in case using arm
+            SYSTEMPATH_AVR_TOOLS_DIR := $(call dir_if_exists,$(abspath $(dir $(shell which $(avr-gcc)))/..))
+            ifdef SYSTEMPATH_AVR_TOOLS_DIR
+                AVR_TOOLS_DIR = $(SYSTEMPATH_AVR_TOOLS_DIR)
+                $(call show_config_variable,AVR_TOOLS_DIR,[AUTODETECTED],(found in $$PATH))
+            else
+                echo $(error No AVR tools directory found)
+            endif
         endif # SYSTEMPATH_AVR_TOOLS_DIR
 
     endif # BUNDLED_AVR_TOOLS_DIR
@@ -644,6 +649,9 @@ ifeq ($(strip $(NO_CORE)),)
                 USB_PID := $(call PARSE_BOARD,$(BOARD_TAG),menu.(chip|cpu).$(BOARD_SUB).build.pid)
             endif
         endif
+
+        # add caterina flag to ARD_RESET_OPTS
+        ARD_RESET_OPTS += --caterina
     endif
 
     # normal programming info
@@ -745,34 +753,21 @@ endif
 # Reset
 
 ifndef RESET_CMD
-	ARD_RESET_ARDUINO := $(shell which ard-reset-arduino 2> /dev/null)
-	ifndef ARD_RESET_ARDUINO
-		# same level as *.mk in bin directory when checked out from git
-		# or in $PATH when packaged
-		ARD_RESET_ARDUINO = $(ARDMK_DIR)/bin/ard-reset-arduino
-	endif
-    ifneq ($(CATERINA),)
-        ifneq (,$(findstring CYGWIN,$(shell uname -s)))
-          # confirm user is using default cygwin unix Python (which uses ttySx) and not Windows Python (which uses COMx)
-          ifeq ($(shell which python),/usr/bin/python)
-            RESET_CMD = $(ARD_RESET_ARDUINO) --caterina $(ARD_RESET_OPTS) $(DEVICE_PATH)
-          else
-            RESET_CMD = $(ARD_RESET_ARDUINO) --caterina $(ARD_RESET_OPTS) $(call get_monitor_port)
-          endif
-        else
-            RESET_CMD = $(ARD_RESET_ARDUINO) --caterina $(ARD_RESET_OPTS) $(call get_monitor_port)
-        endif
+  ARD_RESET_ARDUINO := $(shell which ard-reset-arduino 2> /dev/null)
+  ifndef ARD_RESET_ARDUINO
+    # same level as *.mk in bin directory when checked out from git
+    # or in $PATH when packaged
+    ARD_RESET_ARDUINO = $(ARDMK_DIR)/bin/ard-reset-arduino
+  endif
+  ifneq (,$(findstring CYGWIN,$(shell uname -s)))
+      # confirm user is using default cygwin unix Python (which uses ttySx) and not Windows Python (which uses COMx)
+      ifeq ($(shell which python),/usr/bin/python)
+        RESET_CMD = $(ARD_RESET_ARDUINO) $(ARD_RESET_OPTS) $(DEVICE_PATH)
+      else
+        RESET_CMD = $(ARD_RESET_ARDUINO) $(ARD_RESET_OPTS) $(call get_monitor_port)
+      endif
     else
-        ifneq (,$(findstring CYGWIN,$(shell uname -s)))
-          # confirm user is using default cygwin unix Python (which uses ttySx) and not Windows Python (which uses COMx)
-          ifeq ($(shell which python),/usr/bin/python)
-            RESET_CMD = $(ARD_RESET_ARDUINO) $(ARD_RESET_OPTS) $(DEVICE_PATH)
-          else
-            RESET_CMD = $(ARD_RESET_ARDUINO) $(ARD_RESET_OPTS) $(call get_monitor_port)
-          endif
-        else
-            RESET_CMD = $(ARD_RESET_ARDUINO) $(ARD_RESET_OPTS) $(call get_monitor_port)
-        endif
+        RESET_CMD = $(ARD_RESET_ARDUINO) $(ARD_RESET_OPTS) $(call get_monitor_port)
     endif
 endif
 
@@ -815,7 +810,7 @@ ifeq ($(strip $(CHK_SOURCES)),)
                 $(call show_config_info,No .pde or .ino files found. If you are compiling .c or .cpp files then you need to explicitly include Arduino header files)
             else
                 #TODO: Support more than one file. https://github.com/sudar/Arduino-Makefile/issues/49
-                $(error Need exactly one .pde or .ino file. This makefile doesn't support multiple .ino/.pde files yet)
+                $(error Need exactly one .pde or .ino file. This makefile doesn\'t support multiple .ino/.pde files yet)
             endif
         endif
 
@@ -830,13 +825,26 @@ ifeq ($(strip $(NO_CORE)),)
         CORE_CPP_SRCS   = $(wildcard $(ARDUINO_CORE_PATH)/*.cpp)
         CORE_AS_SRCS    = $(wildcard $(ARDUINO_CORE_PATH)/*.S)
 
+        # USB Core if samd or sam
+        ifeq ($(findstring sam, $(strip $(ARCHITECTURE))), sam)
+            CORE_C_SRCS    += $(wildcard $(ARDUINO_CORE_PATH)/USB/*.c)
+            CORE_CPP_SRCS  += $(wildcard $(ARDUINO_CORE_PATH)/USB/*.cpp)
+        endif
+
         ifneq ($(strip $(NO_CORE_MAIN_CPP)),)
             CORE_CPP_SRCS := $(filter-out %main.cpp, $(CORE_CPP_SRCS))
             $(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))
+        endif
+
         CORE_OBJ_FILES  = $(CORE_C_SRCS:.c=.c.o) $(CORE_CPP_SRCS:.cpp=.cpp.o) $(CORE_AS_SRCS:.S=.S.o)
-        CORE_OBJS       = $(patsubst $(ARDUINO_CORE_PATH)/%,  \
+        CORE_OBJS       += $(patsubst $(ARDUINO_CORE_PATH)/%,  \
                 $(OBJDIR)/core/%,$(CORE_OBJ_FILES))
     endif
 else
@@ -908,6 +916,7 @@ endif
 TARGET_HEX = $(OBJDIR)/$(TARGET).hex
 TARGET_ELF = $(OBJDIR)/$(TARGET).elf
 TARGET_EEP = $(OBJDIR)/$(TARGET).eep
+TARGET_BIN = $(OBJDIR)/$(TARGET).bin
 CORE_LIB   = $(OBJDIR)/libcore.a
 
 # Names of executables - chipKIT needs to override all to set paths to PIC32
@@ -1023,6 +1032,7 @@ endif
 
 # SoftwareSerial requires -Os (some delays are tuned for this optimization level)
 %SoftwareSerial.cpp.o : OPTIMIZATION_FLAGS = -Os
+%Uart.cpp.o : OPTIMIZATION_FLAGS = -Os
 
 ifndef MCU_FLAG_NAME
     MCU_FLAG_NAME = mmcu
@@ -1094,7 +1104,7 @@ ifeq ($(shell expr $(CC_VERNUM) '>' 490), 1)
 endif
 LDFLAGS       += -$(MCU_FLAG_NAME)=$(MCU) -Wl,--gc-sections -O$(OPTIMIZATION_LEVEL)
 ifeq ($(shell expr $(CC_VERNUM) '>' 490), 1)
-    LDFLAGS += -flto -fuse-linker-plugin
+		LDFLAGS += -flto -fuse-linker-plugin
 endif
 SIZEFLAGS     ?= --mcu=$(MCU) -C
 
@@ -1302,7 +1312,24 @@ $(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) | $(OBJDIR)
+	@$(MKDIR) $(dir $@)
+	$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
+
+$(OBJDIR)/core/%.cpp.o: $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)/%.cpp $(COMMON_DEPS) | $(OBJDIR)
+	@$(MKDIR) $(dir $@)
+	$(CXX) -MMD -c $(CPPFLAGS) $(CXXFLAGS) $< -o $@
+
+$(OBJDIR)/core/%.S.o: $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)/%.S $(COMMON_DEPS) | $(OBJDIR)
+	@$(MKDIR) $(dir $@)
+	$(CC) -MMD -c $(CPPFLAGS) $(ASFLAGS) $< -o $@
+
 # various object conversions
+$(OBJDIR)/%.bin: $(OBJDIR)/%.elf $(COMMON_DEPS)
+	@$(MKDIR) $(dir $@)
+	-$(OBJCOPY) -O binary $< $@
+
 $(OBJDIR)/%.hex: $(OBJDIR)/%.elf $(COMMON_DEPS)
 	@$(MKDIR) $(dir $@)
 	$(OBJCOPY) -O ihex -R .eeprom $< $@
@@ -1442,12 +1469,21 @@ endif
 # so we do not set it by default.
 AVRDUDE_ISP_OPTS = -c $(ISP_PROG) -b $(AVRDUDE_ISP_BAUDRATE)
 
-ifndef $(ISP_PORT)
+ifndef ISP_PORT
     ifneq ($(strip $(ISP_PROG)),$(filter $(ISP_PROG), atmelice_isp usbasp usbtiny gpio linuxgpio avrispmkii dragon_isp dragon_dw))
-        AVRDUDE_ISP_OPTS += -P $(call get_isp_port)
+        # switch for sam devices as bootloader will be on usb serial if using stk500_v2
+        ifeq ($(findstring sam, $(strip $(ARCHITECTURE))), sam)
+            AVRDUDE_ISP_OPTS += -P $(call get_monitor_port)
+        else
+            AVRDUDE_ISP_OPTS += -P $(call get_isp_port)
+        endif
     endif
 else
-	AVRDUDE_ISP_OPTS += -P $(call get_isp_port)
+    ifeq ($(CURRENT_OS), WINDOWS)
+        AVRDUDE_ISP_OPT += -P ISP_PORT
+    else
+        AVRDUDE_ISP_OPTS += -P $(call get_isp_port)
+    endif
 endif
 
 ifndef ISP_EEPROM
@@ -1465,7 +1501,7 @@ endif
 ########################################################################
 # Explicit targets start here
 
-all: 		$(TARGET_EEP) $(TARGET_HEX)
+all: 		$(TARGET_EEP) $(TARGET_BIN) $(TARGET_HEX)
 
 # Rule to create $(OBJDIR) automatically. All rules with recipes that
 # create a file within it, but do not already depend on a file within it
@@ -1479,30 +1515,63 @@ $(OBJDIR): pre-build
 pre-build:
 		$(call runscript_if_exists,$(PRE_BUILD_HOOK))
 
+# copied from arduino with start-group, end-group
 $(TARGET_ELF): 	$(LOCAL_OBJS) $(CORE_LIB) $(OTHER_OBJS)
+# sam devices need start and end group
+ifeq ($(findstring sam, $(strip $(ARCHITECTURE))), sam)
+		$(CC) $(LINKER_SCRIPTS) -Wl,-Map=$(OBJDIR)/$(TARGET).map -o $@ $(LOCAL_OBJS) $(OTHER_OBJS) $(OTHER_LIBS) $(LDFLAGS) $(CORE_LIB) -Wl,--end-group
+# otherwise traditional
+else
 		$(CC) $(LDFLAGS) -o $@ $(LOCAL_OBJS) $(CORE_LIB) $(OTHER_OBJS) $(OTHER_LIBS) -lc -lm $(LINKER_SCRIPTS)
+endif
 
 $(CORE_LIB):	$(CORE_OBJS) $(LIB_OBJS) $(PLATFORM_LIB_OBJS) $(USER_LIB_OBJS)
 		$(AR) rcs $@ $(CORE_OBJS) $(LIB_OBJS) $(PLATFORM_LIB_OBJS) $(USER_LIB_OBJS)
 
 error_on_caterina:
 		$(ERROR_ON_CATERINA)
 
-
 # Use submake so we can guarantee the reset happens
 # before the upload, even with make -j
 upload:		$(TARGET_HEX) verify_size
+ifeq ($(findstring sam, $(strip $(ARCHITECTURE))), sam)
+# do reset toggle at 1200 BAUD to enter bootloader if using avrdude or bossa
+ifeq ($(strip $(UPLOAD_TOOL)), avrdude)
+		$(MAKE) reset
+else ifeq ($(findstring bossac, $(strip $(UPLOAD_TOOL))), bossac)
+		$(MAKE) reset
+endif
+		$(MAKE) do_sam_upload
+else
 		$(MAKE) reset
 		$(MAKE) do_upload
+endif
 
 raw_upload:	$(TARGET_HEX) verify_size
+ifeq ($(findstring sam, $(strip $(ARCHITECTURE))), sam)
+		$(MAKE) do_sam_upload
+else
 		$(MAKE) error_on_caterina
 		$(MAKE) do_upload
+endif
 
 do_upload:
 		$(AVRDUDE) $(AVRDUDE_COM_OPTS) $(AVRDUDE_ARD_OPTS) \
 			$(AVRDUDE_UPLOAD_HEX)
 
+do_sam_upload:  $(TARGET_BIN) verify_size
+ifeq ($(findstring openocd, $(strip $(UPLOAD_TOOL))), openocd)
+		$(OPENOCD) $(OPENOCD_OPTS) -c "telnet_port disabled; program {{$(TARGET_BIN)}} verify reset $(BOOTLOADER_SIZE); shutdown"
+else ifeq ($(findstring bossac, $(strip $(UPLOAD_TOOL))), bossac)
+		$(BOSSA) $(BOSSA_OPTS) $(TARGET_BIN)
+else ifeq ($(findstring gdb, $(strip $(UPLOAD_TOOL))), gdb)
+		$(GDB) $(GDB_UPLOAD_OPTS)
+else ifeq ($(strip $(UPLOAD_TOOL)), avrdude)
+		$(MAKE) ispload
+else
+		@$(ECHO) "$(BOOTLOADER_UPLOAD_TOOL) not currently supported!\n\n"
+endif
+
 do_eeprom:	$(TARGET_EEP) $(TARGET_HEX)
 		$(AVRDUDE) $(AVRDUDE_COM_OPTS) $(AVRDUDE_ARD_OPTS) \
 			$(AVRDUDE_UPLOAD_EEP)
@@ -1535,14 +1604,22 @@ ispload:	$(TARGET_EEP) $(TARGET_HEX) verify_size
 			$(AVRDUDE_ISPLOAD_OPTS)
 
 burn_bootloader:
-ifneq ($(strip $(AVRDUDE_ISP_FUSES_PRE)),)
-		$(AVRDUDE) $(AVRDUDE_COM_OPTS) $(AVRDUDE_ISP_OPTS) -e $(AVRDUDE_ISP_FUSES_PRE)
-endif
-ifneq ($(strip $(AVRDUDE_ISP_BURN_BOOTLOADER)),)
-		$(AVRDUDE) $(AVRDUDE_COM_OPTS) $(AVRDUDE_ISP_OPTS) $(AVRDUDE_ISP_BURN_BOOTLOADER)
-endif
-ifneq ($(strip $(AVRDUDE_ISP_FUSES_POST)),)
-		$(AVRDUDE) $(AVRDUDE_COM_OPTS) $(AVRDUDE_ISP_OPTS) $(AVRDUDE_ISP_FUSES_POST)
+ifeq ($(findstring sam, $(strip $(ARCHITECTURE))), sam)
+    ifeq ($(strip $(BOOTLOADER_UPLOAD_TOOL)), openocd)
+				$(OPENOCD) $(OPENOCD_OPTS) -c "telnet_port disabled; init; halt; $(BOOTLOADER_UNPROTECT); program {{$(BOOTLOADER_PARENT)/$(BOOTLOADER_FILE)}} verify reset; shutdown"
+    else
+				@$(ECHO) "$(BOOTLOADER_UPLOAD_TOOL) not currently supported!\n\n"
+    endif
+else
+    ifneq ($(strip $(AVRDUDE_ISP_FUSES_PRE)),)
+				$(AVRDUDE) $(AVRDUDE_COM_OPTS) $(AVRDUDE_ISP_OPTS) -e $(AVRDUDE_ISP_FUSES_PRE)
+    endif
+    ifneq ($(strip $(AVRDUDE_ISP_BURN_BOOTLOADER)),)
+				$(AVRDUDE) $(AVRDUDE_COM_OPTS) $(AVRDUDE_ISP_OPTS) $(AVRDUDE_ISP_BURN_BOOTLOADER)
+    endif
+    ifneq ($(strip $(AVRDUDE_ISP_FUSES_POST)),)
+				$(AVRDUDE) $(AVRDUDE_COM_OPTS) $(AVRDUDE_ISP_OPTS) $(AVRDUDE_ISP_FUSES_POST)
+    endif
 endif
 
 set_fuses:
@@ -1580,6 +1657,12 @@ else
 		$(MONITOR_CMD) $(call get_monitor_port) $(MONITOR_BAUDRATE)
 endif
 
+debug_init:
+	$(OPENOCD)
+
+debug:
+	$(GDB) $(GDB_OPTS)
+
 disasm: $(OBJDIR)/$(TARGET).lss
 		@$(ECHO) "The compiled ELF file has been disassembled to $(OBJDIR)/$(TARGET).lss\n\n"
 
@@ -1599,7 +1682,6 @@ generate_assembly: $(OBJDIR)/$(TARGET).s
 generated_assembly: generate_assembly
 		@$(ECHO) "\"generated_assembly\" target is deprecated. Use \"generate_assembly\" target instead\n\n"
 
-.PHONY: tags
 tags:
 ifneq ($(words $(wildcard $(TAGS_FILE))), 0)
 	rm -f $(TAGS_FILE)
@@ -1634,6 +1716,8 @@ help:
   make show_boards       - list all the boards defined in boards.txt\n\
   make show_submenu      - list all board submenus defined in boards.txt\n\
   make monitor           - connect to the Arduino's serial port\n\
+  make debug_init        - start openocd gdb server\n\
+  make debug             - connect to gdb target and begin debugging\n\
   make size              - show the size of the compiled output (relative to\n\
                            resources, if you have a patched avr-size).\n\
   make verify_size       - verify that the size of the final file is less than\n\
@@ -1655,7 +1739,7 @@ help:
 
 .PHONY: all upload raw_upload raw_eeprom error_on_caterina reset reset_stty ispload \
         clean depends size show_boards monitor disasm symbol_sizes generated_assembly \
-        generate_assembly verify_size burn_bootloader help pre-build
+        generate_assembly verify_size burn_bootloader help pre-build tags debug debug_init
 
 # added - in the beginning, so that we don't get an error if the file is not present
 -include $(DEPS)

Common.mk

@@ -1,3 +1,4 @@
+COMMON_INCLUDED = TRUE
 # Useful functions
 # Returns the first argument (typically a directory), if the file or directory
 # named by concatenating the first and optionally second argument
@@ -26,8 +27,11 @@ show_config_variable = $(call show_config_info,$(1) = $($(1)) $(3),$(2))
 # Just a nice simple visual separator
 show_separator = $(call arduino_output,-------------------------)
 
+# Master Arduino Makefile include (after user Makefile)
+ardmk_include = $(shell basename $(word 2,$(MAKEFILE_LIST)))
+
 $(call show_separator)
-$(call arduino_output,Arduino.mk Configuration:)
+$(call arduino_output,$(call ardmk_include) Configuration:)
 
 ########################################################################
 #

HISTORY.md

@@ -18,6 +18,7 @@ I tried to give credit whenever possible. If I have missed anyone, kindly add it
 - New: Add generation of tags file using ctags, which automatically includes project libs and Arduino core. (https://github.com/tuna-f1sh)
 - 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: Support Arduino ARM-based (SAM/SAMD) devices. (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)